In environmental acoustics, sound propagates in open air and can be mathematically modelled in terms of a semi-infinite domain. The calculations for accurate numerical solutions for outdoor acoustics are computational...
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Existing communication hardware is being exerted to its limits to accommodate for the ever increasing internet usage globally. This leads to non-linear distortion in the communication link that requires non-linear equ...
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MSC Codes 49M15, 70Q05, 93A30We propose a procedure for the numerical approximation of invariance equations arising in the moment matching technique associated with reduced-order modeling of high-dimensional dynamical...
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Image captioning is a challenging task that requires a computer vision system to generate natural language descriptions for images. The aim is to build a model that can comprehend the visual content of an image and pr...
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The proper functioning of a high-temperature superconducting (HTS) electromagnet requests a DC of 300 A supply to obtain a magnetic flux density of 5 T. The current must be applied to the HTS electromagnet through the...
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We consider the problem of designing control protocols for nonlinear network systems affected by heterogeneous, time-varying delays and disturbances. For these networks, the goal is to reject polynomial disturbances a...
We consider the problem of designing control protocols for nonlinear network systems affected by heterogeneous, time-varying delays and disturbances. For these networks, the goal is to reject polynomial disturbances affecting the agents and to guarantee the fulfilment of some desired network behaviour. To satisfy these requirements, we propose an integral control design implemented via a multiplex architecture. We give sufficient conditions for the desired disturbance rejection and stability properties by leveraging tools from contraction theory. We illustrate the effectiveness of the results via a numerical example that involves the control of a multi-terminal high-voltage DC grid.
We present the principled design of a control pipeline for the synthesis of policies from examples data. The pipeline, based on a discretized design, expounds the algorithm introduced in [1] to synthesize policies fro...
We present the principled design of a control pipeline for the synthesis of policies from examples data. The pipeline, based on a discretized design, expounds the algorithm introduced in [1] to synthesize policies from examples for constrained, stochastic and nonlinear systems. The pipeline: (i) does not need the constraints to be fulfilled in the possibly noisy example data; (ii) enables control synthesis even when the data are collected from an example system that is different from the one under control. The design is benchmarked on an example that involves controlling an inverted pendulum with actuation constraints. The data that are used to synthesize the policy are collected from a pendulum that: (i) is different from the one under control; (ii) does not satisfy the actuation constraints.
In this work, we establish that discontinuous Galerkin methods are capable of producing reliable approximations for a broad class of nonlinear variational problems. In particular, we demonstrate that these schemes pro...
In the paper, a porous-Si/Si solar element with single- and double-layer anti-reflective coatings is simulated using PC1D simulation software. The reflection of eight monolayers (Si3N4, ZnO, ZnS, TiO2, SiO2, SiC, MgF2...
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The problem of time-optimal planning of redundant robots is commonly solved with a decoupled two-stage approach. Starting from a task space path, at the first stage, the kinematic redundancy is locally optimized accor...
The problem of time-optimal planning of redundant robots is commonly solved with a decoupled two-stage approach. Starting from a task space path, at the first stage, the kinematic redundancy is locally optimized according to some performance index, then, at the second stage, the time-optimal parametrization of the resulting joint space path is performed. The performance indices to consider, as well as the redundancy resolution technique to adopt, impact the overall trajectory duration. First- or second-order Jacobian-based local redundancy resolution does not always guarantee satisfactory results at the second stage, in terms of trajectory duration, due to the choice of the initial positions, tuning of algorithm parameters, difficult joint limits management, non-convexity of the optimization problem. In this paper, we propose a global (or integral) approach for redundancy resolution, based on discrete dynamic programming, which further reduces the trajectory tracking time. To cope with the discretization of the redundancy space, the proposed methodology includes a post-processing optimization stage, aimed at smoothing the resulting joint space trajectory, guaranteeing technical feasibility. The approach is validated, in simulation, on a three-degrees-of-freedom planar robot executing two-dimensional tasks.
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