相关论文: Energy-Cautious Designation of Kinematic Parameter…
The autonomous operation of tracked mobile manipulators in rescue missions requires not only ensuring the reachability and safety of robot motion but also maintaining stable end-effector manipulation under diverse task demands. However,…
Parallel kinematic manipulators (PKM) are characterized by closed kinematic loops, due to the parallel arrangement of limbs but also due to the existence of kinematic loops within the limbs. Moreover, many PKM are built with limbs…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
This paper addresses optimal battery thermal management (BTM), charging, and eco-driving of a battery electric vehicle (BEV) with the goal of improving its grid-to-meter energy efficiency. Thus, an optimisation problem is formulated, aiming…
The sustainability of Machine Learning-Enabled Systems (MLS), particularly with regard to energy efficiency, is an important challenge in their development and deployment. Self-adaptation techniques, recognized for their potential in energy…
Continuum robots, inspired by octopus arms and elephant trunks, combine dexterity with intrinsic compliance, making them well suited for unstructured and confined environments. Yet their continuously deformable morphology poses challenges…
A sizable part of the fleet of heavy-duty machinery in the construction equipment industry uses the conventional valve-controlled load-sensing hydraulics. Rigorous climate actions towards reducing CO$_{2}$ emissions has sparked the…
Skeletal muscle-based biohybrid actuators have proved to be a promising component in soft robotics, offering efficient movement. However, their intrinsic biological variability and nonlinearity pose significant challenges for…
This article proposes a transfer reinforcement learning (RL) based adaptive energy managing approach for a hybrid electric vehicle (HEV) with parallel topology. This approach is bi-level. The up-level characterizes how to transform the…
Energy management strategies (EMSs) are the most significant components in hybrid electric vehicles (HEVs) because they decide the potential of energy conservation and emission reduction. This work presents a transferred EMS for a parallel…
Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in…
In this paper, a complete eco-driving strategy for heavy-duty trucks (HDT) based on a finite number of driving modes with corresponding gear shifting is developed to cope with different route events and with road slope data. The problem is…
Online ride-hailing platforms aim to deliver efficient mobility-on-demand services, often facing challenges in balancing dynamic and spatially heterogeneous supply and demand. Existing methods typically fall into two categories:…
Modular manipulators composed of pre-manufactured and interchangeable modules offer high adaptability across diverse tasks. However, their deployment requires generating feasible motions while jointly optimizing morphology and mounted pose…
In this paper we demonstrate a novel alternating direction method of multipliers (ADMM) algorithm for the solution of the hybrid vehicle energy management problem considering both power split and engine on/off decisions. The solution of a…
Achieving stable and energy-efficient locomotion is essential for humanoid robots to operate continuously in real-world applications. Existing MPC and RL approaches often rely on energy-related metrics embedded within a multi-objective…
Hybrid electric vehicles (HEVs) have an over-actuated system by including two power sources, a battery pack and an internal combustion engine. This feature of HEV is exploited in this paper to simultaneously achieve accurate identification…
Identifying and managing high-emitters among heavy-duty diesel vehicles is a key to mitigating urban air pollution, as a small number of such vehicles could contribute a significant amount of total transport emissions. On-board monitoring…
This paper presents development of an optimal feedback linearization control (OFLC) for interior permanent magnet (PM) synchronous machines operating in a non steady-sate operating point, i.e., varying torque and speed, to achieve precision…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can…