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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.
The goal of this work is to explore ways of generating state trajectories for dynamical systems subject to computational constraints, obstacles and priority assignment. The algorithms are developed for a miniature unmanned aerial vehicle (UAV) in a modular fashion and include (1) a genetic algorithm (GA) for solving the traveling salesman problem (TSP) with respect to priorities and obstacle avoid
This paper proposes a method for structural enhancement of a 3D sampled curve. The curve is assumed to be organized, but corrupted with low frequency noise. The proposed method approaches the notion of curve reconstruction in a novel way, where information about the structure in a scanned surface is used to reconstruct the curve. Principal Component Analysis is carried out on successive neighborho
We present a novel approach to model the diffusion of a mutant in a geographical network. This is a key issue in the control of epidemics, since many diseases are transmitted by intermediate hosts that could be substituted with genetically modified organisms (GMOs) with a mutation that prevents them from spreading the pathogen. The main strength of our model lies in making analytically tractable t
In this paper we study the problem of automatically generatingpolynomial solvers for minimal problems. The maincontribution is a new method for finding small eliminationtemplates by making use of the syzygies (i.e. the polynomialrelations) that exist between the original equations. Usingthese syzygies we can essentially parameterize the setof possible elimination templates.We evaluate our method o
When local control strategies are used to arrange a platoon into a string like formation, there is mounting evidence that a poorly regulated accordion like motion will emerge. In this paper we prove that this is an inevitable consequence of using local distance measurements to design the control. More specifically we demonstrate that no controller, irrespective of its dynamical complexity, sparsit
The passivity approach to the design of large networks is based on preserving the passivity property under different types of interconnection: parallel and negative feedback. Since the passivity property implies stability, this allows large and topologically complex networks to be constructed on the basis of simple local rules without the need for global stability analysis. In this paper we charac
Implementing frequency response using grid-connected inverters is one of the popular proposed alternatives to mitigate the dynamic degradation experienced in low inertia power systems. However, such solution faces several challenges as inverters do not intrinsically possess the natural response to power fluctuations that synchronous generators have. Thus, to synthetically generate this response, i
A method for designing a set of controllers to robustly stabilise a network of linear systems is presented. The method allows the design of each controller to be posed as a loopshaping problem. Critically each loopshaping problem requires only local knowledge of the overall system model to formulate, and may be solved separately. Furthermore the approach is inherently scalable, as any local change
In this paper two novel autotuners are compared with two industrially available ones. The aim is to see if the research frontline can improve the industry standard of today. Experiments are made on three laboratory processes with different characteristics. Two lag-dominated processes of which one is a level control problem with fast dynamics, and one a temperature control problem with slow dynamic
We use Markov state models (MSMs) to analyze the dynamics of a β-hairpin-forming peptide in Monte Carlo (MC) simulations with interacting protein crowders, for two different types of crowder proteins [bovine pancreatic trypsin inhibitor (BPTI) and GB1]. In these systems, at the temperature used, the peptide can be folded or unfolded and bound or unbound to crowder molecules. Four or five major fre
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
Driven by the increasing demands on data rate from applications, the wireless communication standard has for decades been evolving approximately at a pace of one generation per ten years. Following this trend, the ambitious plan to replace the current cellular mobile network standard (4G) with the next generation standard (5G) is going through the standardization phase and is getting close to its
We establish a connection between trend filtering and system identification which results in a family of new identification methods for linear, time-varying (LTV) dynamical models based on convex optimization. We demonstrate how the design of the cost function promotes a model with either a continuous change in dynamics over time, or causes discontinuous changes in model coefficients occurring at
In this research, it is shown that robot joint torques can be used to recognize contact force transients induced during robotic manipulation, thus detecting when a task is completed. The approach does not assume any external sensor, which is a benefit compared to the state of the art. The joint torque data are used as input to a recurrent neural network (RNN), and the output of the RNN indicates w
In this paper, it is shown that temporally coupled dynamical movement primitives (DMPs), used to model and execute robot movements, are globally exponentially stable. It follows that DMPs converge to their goal configurations, which is necessary to accomplish most tasks. The convergence is proven mathematically, and then verified in simulations as well as experimentally on an industrial robot.
This report describes a method to estimate the video bandwidth for IP cameras using the H.264 standard. The precise determination of bandwidth allows us to model the network access as a scheduling problem and/or estimate the amount of data that would traverse it during different periods. The paper is written to be as didactic as possible and presents a set of experiments, conducted in an industria
