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Solves the same problem as iLQG, with an added constraint on the KL-divergence between the new trajectory distribution and the distribution induced by a previous controller. This feature can be used in an outer loop with repeated experiments between the iterations if the model used for optimization is uncertain.
This toolbox works similar to that of other major computer-aided control systems design (CACSD) toolboxes. Systems can be created in either a transfer function or a state space representation. These systems can then be combined into larger architectures, simulated in both time and frequency domain, and analyzed for stability/performance properties.
Future district heating systems (so called 4th Generation District Heating (4GDH) systems) have to address challenges such as integration of (de)centralized renewable energy sources and storage, low system temperatures and high fluctuation of the supply temperature. This paper presents a novel framework for representing and simplifying on-grid energy systems as well as for dynamic thermo-hydraulic
In conventional seismic surveys, there is a waiting time between sequentially fired shots. This time is determined such that the deepest reflection of interest is recorded before the following source is fired. In a survey with simultaneous or blended sources, the waiting time between the firing of shots is not dependent on the deepest reflection of interest, it is usually much shorter and/or can h
An algorithm for high-performance path tracking for robot manipulators in the presence of model uncertainties and actuator constraints is presented. The path to be tracked is assumed given, and the nominal trajectories are computed using, for example, well-known algorithms for time-optimal path tracking. For online path tracking, the nominal, feedforward trajectories are combined with feedback in
Changes in the characteristics of cyclone activity (frequency, depth and size) in the Arctic are analyzed based on simulations with state-of-the-art regional climate models (RCMs) from the Arctic-CORDEX initiative and global climate models (GCMs) from CMIP5 under the Representative Concentration Pathway (RCP) 8.5 scenario. Most of RCMs show an increase of cyclone frequency in winter (DJF) and a de
The recent explosion in size and complexity of datasets and the increased availability of computational resources has led us to what is sometimes called the big data era. In many big data fields, mathematical optimization has over the last decade emerged as a vital tool in extracting information from the data sets and creating predictors for unseen data. The large dimension of these data sets and
We present an accurate analysis of phase noise in ring oscillators, where each stage in the ring is a CMOS inverter loaded by a capacitance. Closed-form phase noise expressions are obtained in both 1/f2 and 1/f3 offset frequency regions, displaying an excellent agreement with numerical simulations using either ideal Verilog-A MOS models (allowing theoretical predictions to be tested with exactly t
In this thesis, we draw inspiration from both classical system identification and modern machine learning in order to solve estimation problems for real-world, physical systems. The main approach to estimation and learning adopted is optimization based. Concepts such as regularization will be utilized for encoding of prior knowledge and basis-function expansions will be used to add nonlinear model
Friction stir welding (FSW) is a solid-state welding process where metals are joined without melting. Heat is generated by friction between a rotating non-consumable tool and the work-piece material, and by mechanical deformation of the material. The process, invented in 1991, provides several benefits over arc welding and other fusion processes: No filler material has to be added, low energy cons
In this chapter, we discuss the open challenges in building self-aware computing systems that are still being faced by the research and development community. The challenges can be theoretical, technical, computational, or even sociological. First, we highlight the challenges associated with each of the earlier parts of the book and summarize on respective future research directions. We then offer
In networked control systems it is desirable to have efficient wireless communication (saving energy and bandwidth) while still ensuring good control performance. By abandoning periodic sampling, communication can be made more efficient by sampling and updating the control signal only "when required" based on the system’s behaviour. This is the concept of event-based control. In this work we consi
Nowadays, we live in a society with billions of devices that are interconnected and interact together to improve the quality of our lives. The management and processing of information and knowledge have by now become our main resources, and the fundamental factors of economic and social development, and it is achieved through Big Data Frameworks (BDFs). The amount of such data is becoming larger e
The “wooded-meadows system” is a multifunctional use of vegetation resources widespread in Europesince the Neolithic, and well documented in the Ligurian Apennines (NW Italy) between the MiddleAges and the first half of the 19th century. The management of wooded-meadows included: collectionof fallen and dead branches in spring, later used for fuel; mowing and grazing in summer; collection ofsecond
Cloud computing has emerged as an inexpensive and powerful computing paradigm, to the point that now even applications with hard deadlines are executed in the cloud. It may happen, due to unexpected events, that an application becomes popular and receives a lot of attention and client requests in a short period of time. Provisioning computing capacity for such applications is quite a difficult tas
Sufficient and necessary conditions for the stability of positive feedback interconnections of negative imaginary systems are derived via an integral quadratic constraint (IQC) approach. The IQC framework accommodates distributed-parameter systems with irrational transfer function representations, while generalising existing results in the literature and allowing exploitation of flexibility at zer
Harmonic periods have wide applicability in industrial real-time systems. Rate monotonic (RM) is able to schedule task sets with harmonic periods up to 100% utilization. Also, if there is no release jitter and execution time variation, RM and EDF generate the same schedule for each instance of a task. As a result, all instances of a task are interfered by the same amount of workload. This property
