from renewable sources in 2030 [ 23 , 24 ]. Different source types are interested in this program: solar thermal, solar photovoltaic, wind, geothermal and biomass. Algerian power system will profit from solar photovoltaic about 1,168 MW in 2020, while 20 MW will be injected into distribution network of GHARDAIA state [ 25 , 26 ]. Our contribution will optimize the PV farm location, by considering static and dynamicconstraints, the PV farm chosen is integrated in different buses of distribution part of IEEE-14 bus network, by considering stability margin, power
This paper presents a two layered control architecture - Superior hand control (SHC) followed by Local hand control (LHC) for an extreme upper limb prosthesis. The control architecture is for executing grasping operations involved in 70% of daily living activities. Forearm electromyogram actuated SHC is for recognition of user’s intended grasp. LHC control the fingers to be actuated for the recognized grasp. The finger actuation is controlled through a proportionalintegral- derivative controller customized with fingertip force sensor. LHC controls joint angles and velocities of the fingers in the prosthetic hand. Fingers in the prosthetic hand emulate the dynamic constraints of human hand fingers. The joint angle trajectories and velocity profiles of the prosthetic hand finger are in close approximation to those of the human finger
standard driving cycles (ECE 15)
and (EUDS) are adopted for the simulation work while respecting the energetic and
dynamicconstraints of the hybrid source.
Keywords: Fuel Cell, Ultra-Capacitor, Energy Management, Charge Sustaining, Ant
Colony Optimization, Optimal Parameters.
Novel vehicular technologies such plug-in hybrid electric vehicles and hybrid electric
vehicles are gaining an increasing interest as green alternatives instead of classical
internal combustion engine vehicles. This work focuses in particular on Fuel Cell (FC)
Human Motion Imitation
by a Humanoid Robot
Prädiktionsbasierte synchronisierte Imitation menschlicher Bewegungen
für einen humanoiden Roboter
Kai Hu, Dongheui Lee∗, Technische Universität München
∗ Correspondence author: firstname.lastname@example.org
Summary In this paper we propose a framework of real-
time whole-body human motion imitation for humanoid robots.
The approach starts with a kinematic mapping in combina-
tion with a balancing algorithm in order to ensure the dynamicconstraints during different stance phases. In
This paper proposes a reliability-based economic model predictive control (MPC) strategy for the management of generalised flow-based networks, integrating some ideas on network service reliability, dynamic safety stock planning, and degradation of equipment health. The proposed strategy is based on a single-layer economic optimisation problem with dynamic constraints, which includes two enhancements with respect to existing approaches. The first enhancement considers chance-constraint programming to compute an optimal inventory replenishment policy based on a desired risk acceptability level, leading to dynamical allocation of safety stocks in flow-based networks to satisfy non-stationary flow demands. The second enhancement computes a smart distribution of the control effort and maximises actuators’ availability by estimating their degradation and reliability. The proposed approach is illustrated with an application of water transport networks using the Barcelona network as the case study considered.
In this paper, we address the pursuit-evasion problem of tracking an Omnidirectional Agent (OA) at a bounded variable distance using a Differential Drive Robot (DDR), in an Euclidean plane without obstacles. We assume that both players have bounded speeds, and that the DDR is faster than the evader, but due to its nonholonomic constraints it cannot change its motion direction instantaneously. Only a purely kinematic problem is considered, and any effect due to dynamic constraints (e.g., acceleration bounds) is neglected. We provide a criterion for partitioning the conﬁguration space of the problem into two regions, so that in one of them the DDR is able to control the system, in the sense that, by applying a speciﬁc strategy (also provided), the DDR can achieve any inter-agent distance (within an error bound), regardless of the actions taken by the OA. Particular applications of these results include the capture of the OA by the DDR and maintaining surveillance of the OA at a bounded variable distance.
In this paper, we apply the classical control theory to a variable order fractional differential system in a bounded domain. The Fractional Optimal Control Problem (FOCP) for variable order differential system is considered. The fractional time derivative is considered in a Caputo sense. We first study by using the Lax-Milgram Theorem, the existence and the uniqueness of the solution of the variable order fractional differential system in a Hilbert space. Then we show that the considered optimal control problem has a unique solution. The performance index of a (FOCP) is considered as a function of both state and control variables, and the dynamic constraints are expressed by a Partial Fractional Differential Equation (PFDE) with variable order. The time horizon is fixed. Finally, we impose some constraints on the boundary control. Interpreting the Euler-Lagrange first order optimality condition with an adjoint problem defined by means of right fractional Caputo derivative, we obtain an optimality system for the optimal control. Some examples are analyzed in details.
. Applied Soft Computing. 62:987–1002. Kaveh A, Talatahari S, 2010. A novel heuristic optimization method: charged system search. Acta Machanica. 213:267–86. Kaveh A, Khayatazad M, 2012. A new meta-heuristic method: ray optimization. Computers and Structures. 112-113, 283–294. Kaveh A, Mahdavi V R, 2015. A hybrid CBO-PSO algorithm for optimal design of truss structures with dynamicconstraints. Applied Soft Computing. 34:260-273. Kaveh A, Bakhshpoori T, 2016. A new metaheuristic for continuous structural optimization: water evaporation optimization. Springer-Verlag Berlin
Loss Prevention in the Process Industries, 22(5), pp. 634-638. Farfan, J. and Breyer, C. (2017). Structural changes of global power generation capacity towards sustainability and the risk of stranded investments supported by a sustainability indicator. Journal of Cleaner Production, 141, pp. 370-384. Krata, P. and Szlapczynska, J. (2017). Ship weather routing optimization with dynamicconstraints based on reliable synchronous roll prediction. Ocean Engineering, 150, pp. 124-137. Landucci, G., Antonini, A., Tugnoli, A., Bonvicini, S., Molag, M. and Cozanni, V. (2017
of Loss Prevention in the Process Industries, 22(5), pp. 634-638. Farfan, J. and Breyer, C. (2017). Structural changes of global power generation capacity towards sustainability and the risk of stranded investments supported by a sustainability indicator. Journal of Cleaner Production, 141, pp. 370-384. Krata, P. and Szlapczynska, J. (2017). Ship weather routing optimization with dynamicconstraints based on reliable synchronous roll prediction. Ocean Engineering, 150, pp. 124-137. Landucci, G., Antonini, A., Tugnoli, A., Bonvicini, S., Molag, M. and Cozanni, V