Zobrazeno 1 - 10
of 2 052
pro vyhledávání: '"Crevecoeur A"'
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints, given the
Externí odkaz:
http://arxiv.org/abs/2412.15756
In recent years, there has been a notable evolution in various multidisciplinary design methodologies for dynamic systems. Among these approaches, a noteworthy concept is that of concurrent conceptual and control design or co-design. This approach in
Externí odkaz:
http://arxiv.org/abs/2409.09820
In this work, we establish an optimal control framework for airborne wind energy systems (AWESs) with flexible tethers. The AWES configuration, consisting of a six-degree-of-freedom aircraft, a flexible tether, and a winch, is formulated as an index-
Externí odkaz:
http://arxiv.org/abs/2407.14258
In this article, we discuss two algorithms tailored to discrete-time deterministic finite-horizon nonlinear optimal control problems or so-called deterministic trajectory optimization problems. Both algorithms can be derived from an emerging theoreti
Externí odkaz:
http://arxiv.org/abs/2407.13316
We present a novel variational framework for performing inference in (neural) stochastic differential equations (SDEs) driven by Markov-approximate fractional Brownian motion (fBM). SDEs offer a versatile tool for modeling real-world continuous-time
Externí odkaz:
http://arxiv.org/abs/2310.12975
Autor:
Camélia Marchand, Isabelle Royer, Rachel Gervais, Christiane L. Girard, Chaouki Benchaar, Fadi Hassanat, Arthur Zastepa, Sophie Crevecoeur, Mélissa Duplessis
Publikováno v:
Journal of Dairy Science, Vol 107, Iss 10, Pp 7983-7995 (2024)
ABSTRACT: Most trace minerals (TM) are fed above dairy cow requirements in commercial herds but their fate and effects on dairy cows have not been well documented. In this study, we evaluated the effects of feeding short-term sulfate TM above recomme
Externí odkaz:
https://doaj.org/article/0522b4ba3b2b45a28010a9fdc45aacc5
This work discusses the use of model predictive control (MPC) for the manipulation of a pusher-slider system. In particular we leverage the differential flatness of the pusher-slider in combination with a B-splines transcription to address the comput
Externí odkaz:
http://arxiv.org/abs/2302.11860
In this work we show that the differential kinematics of slider-pusher systems are differentially flat assuming quasi-static behaviour and frictionless contact. Second we demonstrate that the state trajectories are invariant to time-differential tran
Externí odkaz:
http://arxiv.org/abs/2302.11246
We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control of multi-a
Externí odkaz:
http://arxiv.org/abs/2302.11491
Autor:
Askari, Ehsan, Crevecoeur, Guillaume
The value of unknown parameters of multibody systems is crucial for prediction, monitoring, and control, sometimes estimated using a biased physics-based model leading to incorrect outcomes. Discovering motion equations of multibody systems from time
Externí odkaz:
http://arxiv.org/abs/2210.11656