scholarly journals Solution for Nonlinear Three-Dimensional Intercept Problem with Minimum Energy

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Henzeh Leeghim ◽  
Donghoon Kim ◽  
James Turner
Keyword(s):  
Optimization Problem ◽  
Minimum Energy ◽  
Three Dimensional ◽  
Problem Formulation ◽  
Initial Position ◽  
Iteration Algorithm ◽  
Trajectory Design ◽  
Interplanetary Trajectory ◽  
Classical Orbit ◽  
Hohmann Transfer

Classical orbit intercept applications are commonly formulated and solved as Lambert-type problems, where the time-of-flight (TOF) is prescribed. For general three-dimensional intercept problems, selecting a meaningful TOF is often a difficult and an iterative process. This work overcomes this limitation of classical Lambert’s problem by reformulating the intercept problem in terms of a minimum-energy application, which then generates both the desired initial interceptor velocity and the TOF for the minimum-energy transfer. The optimization problem is formulated by using the classical Lagrangianfandgcoefficients, which map initial position and velocity vectors to future times, and a universal time variablex. A Newton-Raphson iteration algorithm is introduced for iteratively solving the problem. A generalized problem formulation is introduced for minimizing the TOF as part of the optimization problem. Several examples are presented, and the results are compared with the Hohmann transfer solution approaches. The resulting minimum-energy intercept solution algorithm is expected to be broadly useful as a starting iterative for applications spanning: targeting, rendezvous, interplanetary trajectory design, and so on.

scholarly journals Path Tracking Algorithms for Non-Convex Waiter Motion Problem

2018 ◽  
Vol 62 (1) ◽  
pp. 16-23
Author(s):  
Ákos Nagy ◽  
Gábor Csorvási ◽  
István Vajk
Keyword(s):  
Motion Planning ◽  
Optimization Problem ◽  
Minimum Energy ◽  
Real Life ◽  
Problem Formulation ◽  
Energy Planning ◽  
Special Area ◽  
Time Optimal ◽  
Motion Problem ◽  
Optimal Approach

Originally, motion planning was concerned with problems such as how to move an object from a start to a goal position without hitting anything. Later, it has extended with complications such as kinematics, dynamics, uncertainties, and also with some optimality purpose such as minimum-time, minimum-energy planning. The paper presents a time-optimal approach for robotic manipulators. A special area of motion planning is the waiter motion problem, in which a tablet is moved from one place to another as fastas possible, avoiding the slip of the object that is placed upon it. The presented method uses the direct transcription approach for the waiter problem, which means a optimization problem is formed in order to obtain a time-optimal control for the robot. Problem formulation is extended with a non-convex jerk constraints to avoid unwanted oscillations during the motion. The possible local and global solver approaches for the presented formulation are discussed, and the waiter motion problem is validated by real-life experimental results with a 6-DoF robotic arm.

scholarly journals Hypervolume scalarization for shape optimization to improve reliability and cost of ceramic components

2021 ◽  
Author(s):  
Johanna Schultes ◽  
Michael Stiglmayr ◽  
Kathrin Klamroth ◽  
Camilla Hahn
Keyword(s):  
Shape Optimization ◽  
Optimization Problem ◽  
Mechanical Stability ◽  
Adjoint Equation ◽  
Tensile Load ◽  
Problem Formulation ◽  
State Equation ◽  
Efficient Solutions ◽  
Volume Stability ◽  
Shape Optimization Problem

AbstractIn engineering applications one often has to trade-off among several objectives as, for example, the mechanical stability of a component, its efficiency, its weight and its cost. We consider a biobjective shape optimization problem maximizing the mechanical stability of a ceramic component under tensile load while minimizing its volume. Stability is thereby modeled using a Weibull-type formulation of the probability of failure under external loads. The PDE formulation of the mechanical state equation is discretized by a finite element method on a regular grid. To solve the discretized biobjective shape optimization problem we suggest a hypervolume scalarization, with which also unsupported efficient solutions can be determined without adding constraints to the problem formulation. FurthIn this section, general properties of the hypervolumeermore, maximizing the dominated hypervolume supports the decision maker in identifying compromise solutions. We investigate the relation of the hypervolume scalarization to the weighted sum scalarization and to direct multiobjective descent methods. Since gradient information can be efficiently obtained by solving the adjoint equation, the scalarized problem can be solved by a gradient ascent algorithm. We evaluate our approach on a 2 D test case representing a straight joint under tensile load.

scholarly journals Optimization-Based Formulations for Short-Circuit Studies with Inverter-Interfaced Generation in PowerModelsProtection.jl

Energies ◽  
2021 ◽  
Vol 14 (8) ◽  
pp. 2160
Author(s):  
Arthur K. Barnes ◽  
Jose E. Tabarez ◽  
Adam Mate ◽  
Russell W. Bent
Keyword(s):  
Optimization Problem ◽  
Short Circuit ◽  
Problem Formulation ◽  
Power Delivery ◽  
Fault Current ◽  
Protective Device ◽  
Protective Relaying ◽  
Overcurrent Protection ◽  
Short Circuits ◽  
Optimization Problem Formulation

Protecting inverter-interfaced microgrids is challenging as conventional time-overcurrent protection becomes unusable due to the lack of fault current. There is a great need for novel protective relaying methods that enable the application of protection coordination on microgrids, thereby allowing for microgrids with larger areas and numbers of loads while not compromising reliable power delivery. Tools for modeling and analyzing such microgrids under fault conditions are necessary in order to help design such protective relaying and operate microgrids in a configuration that can be protected, though there is currently a lack of tools applicable to inverter-interfaced microgrids. This paper introduces the concept of applying an optimization problem formulation to the topic of inverter-interfaced microgrid fault modeling, and discusses how it can be employed both for simulating short-circuits and as a set of constraints for optimal microgrid operation to ensure protective device coordination.

scholarly journals Asymmetry in Three-Dimensional Sprinting with and without Running-Specific Prostheses

Symmetry ◽  
2021 ◽  
Vol 13 (4) ◽  
pp. 580
Author(s):  
Anna Lena Emonds ◽  
Katja Mombaur
Keyword(s):  
Degrees Of Freedom ◽  
Body Position ◽  
Three Dimensional ◽  
Problem Formulation ◽  
Contact Phase ◽  
Individual Level ◽  
Lower Trunk ◽  
Floating Base ◽  
The Asymmetry ◽  
Limb Asymmetry

As a whole, human sprinting seems to be a completely periodic and symmetrical motion. This view is changed when a person runs with a running-specific prosthesis after a unilateral amputation. The aim of our study is to investigate differences and similarities between unilateral below-knee amputee and non-amputee sprinters—especially with regard to whether asymmetry is a distracting factor for sprint performance. We established three-dimensional rigid multibody models of one unilateral transtibial amputee athlete and for reference purposes of three non-amputee athletes. They consist of 16 bodies (head, ipper, middle and lower trunk, upper and lower arms, hands, thighs, shanks and feet/running specific prosthesis) with 30 or 31 degrees of freedom (DOFs) for the amputee and the non-amputee athletes, respectively. Six DOFs are associated with the floating base, the remaining ones are rotational DOFs. The internal joints are equipped with torque actuators except for the prosthetic ankle joint. To model the spring-like properties of the prosthesis, the actuator is replaced by a linear spring-damper system. We consider a pair of steps which is modeled as a multiphase problem with each step consisting of a flight, touchdown and single-leg contact phase. Each phase is described by its own set of differential equations. By combining motion capture recordings with a least squares optimal control problem formulation including constraints, we reconstructed the dynamics of one sprinting trial for each athlete. The results show that even the non-amputee athletes showed less symmetrical sprinting than expected when examined on an individual level. Nevertheless, the asymmetry is much more pronounced in the amputee athlete. The amputee athlete applies larger torques in the arm and trunk joints to compensate the asymmetry and experiences a destabilizing influence of the trunk movement. Hence, the inter-limb asymmetry of the amputee has a significant effect on the control of the sprint movement and the maintenance of an upright body position.

Simulation on Torpedo Unsteady Hydrodynamic with the Movement in the Longitudinal Plane

2013 ◽  
Vol 791-793 ◽  
pp. 1073-1076
Author(s):  
Ming Yang ◽  
Shi Ping Zhao ◽  
Han Ping Wang ◽  
Lin Peng Wang ◽  
Shao Zhu Wang
Keyword(s):  
Three Dimensional ◽  
Engineering Application ◽  
Calculation Model ◽  
Trajectory Design ◽  
Design Calculation ◽  
Variable Speed ◽  
Accurate Calculation ◽  
Longitudinal Plane ◽  
Submerged Body ◽  
Mesh Method

The unsteady hydrodynamic accurate calculation is the premise of submerged body trajectory design and maneuverability design. Calculation model of submerged body unsteady hydrodynamic with the movement in the longitudinal plane was established, which based on unsteady three-dimensional incompressible fluid dynamics theory. Variable speed translational and variable angular velocity of the pitching motion in the longitudinal plane of submerged body was achieved by dynamic mesh method. The unsteady hydrodynamic could be obtained by model under the premise of good quality grid by the results. Modeling methods can learn from other similar problems, which has engineering application value.

Trajectory planning for coordinately operating robots

1990 ◽  
Vol 4 (3) ◽  
pp. 165-177 ◽  
Author(s):  
Y. P. Chien ◽  
Qing Xue
Keyword(s):  
Trajectory Planning ◽  
Three Dimensional ◽  
Initial Position ◽  
Minimum Time ◽  
Future Research ◽  
Rigid Object ◽  
Redundant Robots ◽  
Planning Algorithm ◽  
The Common ◽  
Joint Velocity

An efficient locally minimum-time trajectory planning algorithm for coordinately operating multiple robots is introduced. The task of the robots is to carry a common rigid object from an initial position to a final position along a given path in three-dimensional workspace in minimum time. The number of robots in the system is arbitrary. In the proposed algorithm, the desired motion of the common object carried by the robots is used as the key to planning of the trajectories of all the non-redundant robots involved. The search method is used in the trajectory planning. The planned robot trajectories satisfy the joint velocity, acceleration and torque constraints as well as the path constraints. The other constraints such as collision-free constraints, can be easily incorporated into the trajectory planning in future research.

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