相关论文: Numerical Algorithm Development for Optimizing the…

Electric vehicles with multiple motors provide a flexibility in meeting the driver torque demand, which calls for minimizing the battery energy consumption through torque allocation. In this paper, we present an approach to this problem…

The ability to convert reciprocating, i.e., alternating, actuation into rotary motion using linkages is hindered fundamentally by their poor torque transmission capability around kinematic singularity configurations. Here, we harness the…

Industrial robots are designed as general-purpose hardware with limited ability to adapt to changing task requirements or environments. Modular robots, on the other hand, offer flexibility and can be easily customized to suit diverse needs.…

The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…

A formulation for the automated generation of algorithms via mathematical programming (optimization) is proposed. The formulation is based on the concept of optimizing within a parameterized family of algorithms, or equivalently a family of…

The efficiency of a quantum heat engine is maximum when the unitary strokes are adiabatic. On the other hand, this may not be always possible due to small energy gaps in the system, especially at the critical point where the gap vanishes.…

The increased dominance of intra-die process variations has motivated the field of Statistical Static Timing Analysis (SSTA) and has raised the need for SSTA-based circuit optimization. In this paper, we propose a new sensitivity based,…

This work presents a novel and efficient nonlinear programming framework that tightly integrates hierarchical decision-making with whole-body inverse kinematic planning and control. Decision-making plays a central role in many aspects of…

The optimal control input for linear systems can be solved from algebraic Riccati equation (ARE), from which it remains questionable to get the form of the exact solution. In engineering, the acceptable numerical solutions of ARE can be…

To maintain full autonomy, autonomous robotic systems must have the ability to self-repair. Self-repairing via compensatory mechanisms appears in nature: for example, some fish can lose even 76% of their propulsive surface without loss of…

Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged…

We consider many-body problems in classical mechanics where a wide range of time scales limits what can be computed. We apply the method of optimal prediction to obtain equations which are easier to solve numerically. We demonstrate by…

Randomized algorithms for very large matrix problems have received a great deal of attention in recent years. Much of this work was motivated by problems in large-scale data analysis, and this work was performed by individuals from many…

Central Force Optimization is a global search and optimization algorithm that searches a decision space by flying "probes" whose trajectories are deterministically computed using two equations of motion. Because it is possible for a probe…

This short paper describes a numerical method for optimising the conservative confidence bound on the reliability of a system based on tests of its individual components. This is an alternative to the algorithmic approaches identified in…

The paper is devoted to the geometrical calibration of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design…

We study the dynamical behavior of a single degree of freedom mechanical system with a particle damper. The particle (granular) damping was optimized for the primary system operating condition by using an appropriate gap size for a…

In this paper two formulations for the robust optimization of the size of the permanent magnet in a synchronous machine are discussed. The optimization is constrained by a partial differential equation to describe the electromagnetic…

Optimization plays a significant role in many areas of science and technology. Most of the industrial optimization problems have inordinately complex structures that render finding their global minima a daunting task. Therefore, designing…

Instances generation is crucial for linear programming algorithms, which is necessary either to find the optimal pivot rules by training learning method or to evaluate and verify corresponding algorithms. This study proposes a general…