Searched for: subject%3A%22model%255C-based%255C+control%22
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Bhatti, Ghanishtha (author)
Soft robots are characterized by compliant elements that introduce heightened kinematic complexity compared to their rigid counterparts. Such systems, with infinite degrees of freedom, are inherently underactuated, making precise real-time shape regulation a challenging task. Model-based controllers, utilizing tractable reduced-order modelling...
master thesis 2024
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Liu, J. (author), Borja, Pablo (author), Della Santina, C. (author)
This work concerns the application of physics-informed neural networks to the modeling and control of complex robotic systems. Achieving this goal requires extending physics-informed neural networks to handle nonconservative effects. These learned models are proposed to combine with model-based controllers originally developed with first...
journal article 2024
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Tiburzio, Seb (author)
In robotic manipulation of deformable objects, the continuum nature of the object state leads to prohibitively high degrees of freedom when traditional modelling techniques are applied, leading to much research focusing on approaches that avoid an explicit object model. However, without such a model the opportunities for long horizon planning...
master thesis 2023
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van Biert, L. (author), Segovia Castillo, P. (author), Haseltalab, A. (author), Negenborn, R.R. (author)
The maritime industry is actively exploring alternative fuels and drive train technology to reduce the emissions of hazardous air pollutants and greenhouse gases. High temperature solid oxide fuel cells (SOFCs) represent a promising technology to generate electric power on ships from a variety of renewable fuels with high efficiencies and no...
journal article 2022
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De Schutter, B.H.K. (author), van den Boom, A.J.J. (author), Xu, J. (author), Safaei Farahani, S. (author)
The objective of this paper is to provide a concise introduction to the max-plus algebra and to max-plus linear discrete-event systems. We present the basic concepts of the max-plus algebra and explain how it can be used to model a specific class of discrete-event systems with synchronization but no concurrency. Such systems are called max...
journal article 2020
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Martinez Garcia, M. (author), Sahovic, B. (author), Sattar, M.A. (author), Atmani, H. (author), Schleicher, E. (author), Hampel, U. (author), Babout, L. (author), Legendre, D. (author), Portela, L. (author)
This text structures the application of Wire-Mesh sensors and Electrical Resistance Tomography in the control of an Inline Swirl Separator. It introduces a mechanistic model of the two-phase flow inside the device, which is linearized around an ideal perfect operation, and implemented in a Model Predictive Controller. The whole text is...
journal article 2020
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Claassen, Eva (author)
The Ampelmann system offers a safe and reliable solution for offshore access. As safety is a key factor, an extensive safety and warning management system is employed which accommodates for different fault types that may occur. Accommodation of sensor failure in the Ampelmann system is currently done through switching to a redundant component....
master thesis 2018
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Desouza, Gerson (author)
One of the main goals of laminar flow control is to reduce skin-friction drag by delaying the onset of laminar to turbulent transition. Over unswept wings, the leading cause of this is the growth of flow instabilities called Tollmien-Schlichting(TS) waves. This thesis aims to test the feasibility and performance of a designed Linear Quadratic...
master thesis 2018
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Taams, Hugo (author)
This thesis report proposes a framework to implement Navigation, Guidance and Control (GNC) systems, that enable point-to-point autonomy for displacement vessels. A model-based control approach is chosen as the basis of the GNC systems. The resulting algorithms are implemented for verification in a 1:25 scale model of a Azimuth Stern Drive (ASD)...
master thesis 2018
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Duan, Wuyang (author)
Representation learning is a central topic in the field of deep learning. It aims at extracting useful state representations directly from raw data. In deep learning, state representations are usually used for classification or inferences. For example, image embedding that provides similarity metrics can be used for face recognition. Recent...
master thesis 2017
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Mendez Blanco, Carlos Samuel (author)
Nowadays in large-scale process industry, high purity of products is not only desired but crucial. Products must meet high-purity standards to conform with market and customers’ requirements. Two chemical processes, reaction and distillation, are essential to achieve these objectives. To overcome certain disadvantages and/or limitations that...
master thesis 2017
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Kubalík, Jiří (author), Alibekov, Eduard (author), Babuska, R. (author)
Model-based reinforcement learning (RL) algorithms can be used to derive optimal control laws for nonlinear dynamic systems. With continuous-valued state and input variables, RL algorithms have to rely on function approximators to represent the value function and policy mappings. This paper addresses the problem of finding a smooth policy...
journal article 2017
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Zhang, X. (author)
Model predictive control (MPC) is an advanced control technique that offers an elegant framework to solve a wide range of control problems (regulation, tracking, supervision, etc) and handle constraints on the plant. The control objectives and constraints are usually formulated as an optimization problem that the MPC controller has to solve ...
master thesis 2016
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Leskens, M. (author)
The combustion of municipal solid waste (MSW) is used for its inertisation, reduction of its volume and the conversion of its energy content into heat and/or electricity. Operation and control of modern large scale MSW combustion (MSWC) plants is determined by economic and environmental objectives and constraints that have to be fulfilled in the...
doctoral thesis 2013
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Kuiper, S. (author)
This research is focused on improving the mechatronic design and control strategies of Atomic Force Microscopes (AFM) in order to increase the imaging speed of these instruments, while maintaining the resolution and accuracy of AFM. Different techniques are developed which have led to a faster lateral scanning speed, higher bandwidth control of...
doctoral thesis 2012
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Zegeye, S.K. (author)
Computationally efficient dynamic fuel consumption, emissions, and dispersion of emissions models are developed. Fast and practically feasible model-based controller is proposed. Using the developed models, the controller steers the traffic flow in such a way that a balanced trade-off between the travel times, fuel consumption, and emissions (to...
doctoral thesis 2011
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Lombaerts, T.J.J. (author)
Safety is of paramount importance in all transportation systems, but especially in civil aviation. Therefore, in civil aviation, a lot of developments focus on the improvement of safety levels and reducing the risks that critical failures occur. When one analyses recent aircraft accident statistics, it is clear that a significant portion is...
doctoral thesis 2010
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Tarau, A.N. (author)
In this thesis we focus on two specific transportation systems, namely postal automation and baggage handling. Postal automation: During the last decades the volume of magazines, catalogs, and other plastic wrapped mail items that have to be processed by post sorting centers has increased considerably. In order to be able to handle the large...
doctoral thesis 2010
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Kalbasenka, A.N. (author)
Crystallization is one of the oldest separation and purification techniques. Batch crystallizers are widely used in production of fine chemicals, food ingredients, specialty chemicals, and active pharmaceutical ingredients. Control of the crystalline material properties is a challenging task due to complexity and nonlinearity of batch...
doctoral thesis 2009
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Koekebakker, S.H. (author)
doctoral thesis 2001
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