Double-sided heat dissipation numerical modeling of an embedded half-bridge power module with multiple chips

Thermal management has always played a significant role in power module design. Double-sided heat dissipation is more efficient at transferring heat than the traditional package. Although there are several thermal modeling approaches to power modules, the application of the numerical models, which are computationally fast and accurate, has...

Model and Control of R-Soft Inverted Pendulum

Soft robots enable safe and robust operations in unstructured environments. However, the nonlinearities of their continuum structure complicate the accomplishment of classic robotic tasks, such as pick and place. In this work, we propose the R-Soft Inverted Pendulum, a Soft Inverted Pendulum (SIP) actuated only by a revolute joint at the base...

Modeling Pedestrian Tactical and Operational Decisions Under Risk and Uncertainty: A Two-Layer Model Framework

Pedestrian tactical choices and operational movement in evacuations essentially pertain to decision-making under risk and uncertainty. However, in microscopic evacuation models, this attribute has been greatly overlooked, even lacking a methodology to delineate the related decision characteristics (bounded rationality and risk attitudes), let...

Efficient Jacobian-Based Inverse Kinematics With Sim-to-Real Transfer of Soft Robots by Learning

This article presents an efficient learning-based method to solve the <italic>inverse kinematic</italic> (IK) problem on soft robots with highly nonlinear deformation. The major challenge of efficiently computing IK for such robots is due to the lack of analytical formulation for either forward or inverse kinematics. To address...

Approximate solutions to the optimal flow problem of multi-area integrated electrical and gas systems

We formulate the optimal flow problem in a multi-area integrated electrical and gas system as a mixed-integer optimization problem by approximating the non-linear gas flows with piece-wise affine functions, thus resulting in a set of mixed-integer linear constraints. For its solution, we propose a novel algorithm that consists in one stage for...

Stability and Accuracy Analysis of a Distributed Digital Real-Time Co-simulation Infrastructure

Cosimulation techniques are gaining popularity amongst the power system research community to analyze future scalable smart grid solutions. However, complications such as multiple communication protocols, uncertainty in latencies are holding up the widespread usage of these techniques for the power system analysis. These issues are even...

Simulation of ultrasonic beam propagation from phased arrays in anisotropic media using linearly phased multi-Gaussian beams

Phased array ultrasonic testing is widely used to test structures for flaws due to its ability to produce steered and focused beams. The inherent anisotropic nature of some materials, however, leads to skewing and distortion of the phased array beam and consequently measurement errors. To overcome this, a quantitative model of phased array...

MOHA: A Multi-Mode Hybrid Automaton Model for Learning Car-Following Behaviors

This paper proposes a novel hybrid model for learning discrete and continuous dynamics of car-following behaviors. Multiple modes representing driving patterns are identified by partitioning the model into groups of states. The model is visualizable and interpretable for car-following behavior recognition, traffic simulation, and human-like...

A generalized model for short-term forecasting of solar irradiance

In recent years, as the share of solar power in the electrical grid has been increasing, accurate methods for forecasting solar irradiance have become necessary to manage the electrical grid. More specifically, as solar generators are geographically dispersed, it is very important to have general models that can predict solar irradiance without...