相关论文: Numerical Algorithm Development for Optimizing the…

We investigate the potential of numerical algorithms to decipher the kinetic parameters involved in multi-step chemical reactions. To this end we study a dimerization kinetics of protein as a model system. We follow the dimerization…

In this paper, a reduced-rank scheme with joint iterative optimization is presented for direction of arrival estimation. A rank-reduction matrix and an auxiliary reduced-rank parameter vector are jointly optimized to calculate the output…

We present a numerical algorithm for finding real non-negative solutions to polynomial equations. Our methods are based on the expectation maximization and iterative proportional fitting algorithms, which are used in statistics to find…

Reversible algorithms are algorithms in which each step represents a partial injective function; they are useful for performance optimization in reversible systems. In this study, using Janus, a reversible imperative high-level programming…

The problem of optimal motion planing and control is fundamental in robotics. However, this problem is intractable for continuous-time stochastic systems in general and the solution is difficult to approximate if non-instantaneous nonlinear…

Geometric numerical integration has recently been exploited to design symplectic accelerated optimization algorithms by simulating the Lagrangian and Hamiltonian systems from the variational framework introduced in Wibisono et al. In this…

The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…

A reinforcement algorithm solves a classical optimization problem by introducing a feedback to the system which slowly changes the energy landscape and converges the algorithm to an optimal solution in the configuration space. Here, we use…

Servo error pre-compensation and feedrate optimization are often performed independently to improve the accuracy and speed of manufacturing machines. However, this independent approach leads to unnecessary trade-offs between productivity…

Machine learning algorithms, and more in particular neural networks, arguably experience a revolution in terms of performance. Currently, the best systems we have for speech recognition, computer vision and similar problems are based on…

Many applications of computational fluid dynamics require multiple simulations of a flow under different input conditions. In this paper, a numerical algorithm is developed to efficiently determine a set of such simulations in which the…

Differential Dynamic Programming is an optimal control technique often used for trajectory generation. Many variations of this algorithm have been developed in the literature, including algorithms for stochastic dynamics or state and input…

The Sinkhorn algorithm is a numerical method for the solution of optimal transport problems. Here, I give a brief survey of this algorithm, with a strong emphasis on its geometric origin: it is natural to view it as a discretization, by…

Stochastic optimization algorithms have been successfully applied in several domains to find optimal solutions. Because of the ever-growing complexity of the integrated systems, novel stochastic algorithms are being proposed, which makes…

This document describes an algorithm to scale a complex vector by the reciprocal of a complex value. The algorithm computes the reciprocal of the complex value and then scales the vector by the reciprocal. Some scaling may be necessary due…

Series elastic robots are best able to follow trajectories which obey the limitations of their actuators, since they cannot instantly change their joint forces. In fact, the performance of series elastic actuators can surpass that of ideal…

This paper addresses the question of whether it can be beneficial for an optimization algorithm to follow directions of negative curvature. Although prior work has established convergence results for algorithms that integrate both descent…

This paper develops a sequential-linearization feedback optimization framework for driving nonlinear dynamical systems to an optimal steady state. A fundamental challenge in feedback optimization is the requirement of accurate first-order…

This paper considers an optimal impulse control problem of dynamical systems generated by a flow. The performance criteria are total costs over the infinite time horizon. Apart from the main performance to be minimized, there are multiple…

In this paper we discuss a sequential algorithm for the computation of a minimum-time speed profile over a given path, under velocity, acceleration and jerk constraints. Such a problem arises in industrial contexts such as automated…