scholarly journals Simultaneous Optimization of Mechanism and Control in Cooperative Work of Multiple Robot Arms

2021 ◽  
Vol 29 (1) ◽  
pp. 161-167
Author(s):  
Fumiya KITANO ◽  
Hidetoshi UCHIKATA ◽  
Kojiro MATSUSITA ◽  
Motoki SHIGA ◽  
Minoru SASAKI
Keyword(s):  
Cooperative Work ◽  
Simultaneous Optimization ◽  
Robot Arms ◽  
Multiple Robot ◽  
And Control

scholarly journals Trajectory Tracking and Control of Multiple Robot Arms on a Free-Floating Spacecraft for Debris Removal

2020 ◽  
Author(s):  
Ashith Shyam ◽  
◽  
Arunkumar Rathinam ◽  
Zhou Hao ◽  
◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Robot Arms ◽  
Debris Removal ◽  
Multiple Robot ◽  
And Control

Simultaneous Optimization of Configuration and Control for a Passive SCR System

2018 ◽  
Author(s):  
Pingen Chen ◽  
Qinghua Lin
Keyword(s):  
Catalytic Reduction ◽  
Simultaneous Optimization ◽  
Computationally Efficient ◽  
System Architectures ◽  
Aftertreatment System ◽  
In Series ◽  
System Configurations ◽  
Scr System ◽  
And Control ◽  
Passive Scr

The configuration and control of aftertreatment systems have a significant impact on their functionalities and emission control performance. The traditional aftertreatment system configurations, i.e., connections from one aftertreatment subsystem to another subsystem in series, are simple but generally do not yield the optimal aftertreatment system performance. New aftertreatment configurations, in conjunction with new engine and aftertreatment control, can significantly improve engine efficiency and emission reduction performance. However, new configuration design requires human intuition and in-depth knowledge of engine and aftertreatment system design and control. The purpose of this study is to develop a general systematic and computationally-efficient method which enables automated and simultaneous optimization of passive selective catalytic reduction (SCR) system architectures and the associated non-uniform cylinder-to-cylinder combustion (NUCCC) controls based on a newly proposed highly reconfigurable passive SCR model structure and integer partition theory. The proposed method is general enough to account for passive SCR systems with two or more TWC stages. We demonstrate through this case study that the optimized passive SCR configuration, in conjunction with the optimized NUCCC control, can reduce the NH3 specific fuel consumption by up to 21.90%.

Control Proxy Functions for Sequential Design and Control Optimization

2011 ◽  
Vol 133 (9) ◽  
Author(s):  
Diane L. Peters ◽  
P. Y. Papalambros ◽  
A. G. Ulsoy
Keyword(s):  
Simultaneous Optimization ◽  
Sequential Optimization ◽  
Control Optimization ◽  
Smart Products ◽  
System Solution ◽  
Optimal System Design ◽  
Problem Formulations ◽  
And Control ◽  
Sequential Strategy ◽  
Selection Of

Optimal system design of “smart” products requires optimization of both the artifact and its controller. When the artifact and the controller designs are independent, the system solution is straightforward through sequential optimization. When the designs are coupled, combined simultaneous optimization can produce system-optimal results, but presents significant computational and organizational complexity. This paper presents a method that produces results comparable with those found with a simultaneous solution strategy, but with the simplicity of the sequential strategy. The artifact objective function is augmented by a control proxy function (CPF), representing the artifact’s ease of control. The key to successful use of this method is the selection of an appropriate CPF. Four theorems that govern the choice and evaluation of a CPF are given. Each theorem is illustrated using a simple mathematical example. Specific CPFs are then presented for particular problem formulations, and the method is applied to the optimal design and control of a micro-electrical mechanical system actuator.

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