Results 31 to 40 of about 903 (207)

Data-Driven Koopman Model Predictive Control for Optimal Operation of High-Speed Trains

IEEE Access, 2021
Automatic train operation systems of high-speed trains are critical to guarantee operational safety, comfort, and parking accuracy. However, implementing optimal automatic operation control is challenging due to the train’s uncertain dynamics and ...
Bin Chen, Zhiwu Huang, Rui Zhang, Weirong Liu, Heng Li, Jing Wang, Yunsheng Fan, Jun Peng   +7 more
doaj   +1 more source

K-SMPC: Koopman Operator-Based Stochastic Model Predictive Control for Enhanced Lateral Control of Autonomous Vehicles

IEEE Access
This paper proposes Koopman operator-based Stochastic Model Predictive Control (K-SMPC) for enhanced lateral control of autonomous vehicles. The Koopman operator is a linear map representing the nonlinear dynamics in an infinite-dimensional space.
Jin Sung Kim, Ying Shuai Quan, Chung Choo Chung, Woo Young Choi   +3 more
doaj   +1 more source

Identification of Nonlinear Systems Using the Infinitesimal Generator of the Koopman Semigroup—A Numerical Implementation of the Mauroy–Goncalves Method

Mathematics, 2021
Inferring the latent structure of complex nonlinear dynamical systems in a data driven setting is a challenging mathematical problem with an ever increasing spectrum of applications in sciences and engineering.
Zlatko Drmač, Igor Mezić, Ryan Mohr
doaj   +1 more source

Robot Manipulator Control Using a Robust Data-Driven Method

Fractal and Fractional, 2023
Robotic manipulators with diverse structures find widespread use in both industrial and medical applications. Therefore, designing an appropriate controller is of utmost importance when utilizing such robots.
Mehran Rahmani, Sangram Redkar
doaj   +1 more source

Analog and symbolic computation through the Koopman framework

Journal of Physics: Complexity
We develop a Koopman operator framework for studying the computational structure of dynamical systems. Specifically, we show that the resolvent of the Koopman operator provides a natural abstraction of halting, yielding a ‘Koopman halting problem’ that ...
Francesco Caravelli, Jean-Charles Delvenne   +1 more
doaj   +1 more source

A State‐Adaptive Koopman Control Framework for Real‐Time Deformable Tool Manipulation in Robotic Environmental Swabbing

Advanced Robotics Research, EarlyView.
This work presents a state‐adaptive Koopman linear quadratic regulator framework for real‐time manipulation of a deformable swab tool in robotic environmental sampling. By combining Koopman linearization, tactile sensing, and centroid‐based force regulation, the system maintains stable contact forces and high coverage across flat and inclined surfaces.
Siavash Mahmoudi, Amirreza Davar, Dongyi Wang   +2 more
wiley   +1 more source

Propagation of Uncertainty with the Koopman Operator

2024 27th International Conference on Information Fusion (FUSION)
27th Conference of Information Fusion ID ...
Servadio, Simone, Lavezzi, Giovanni, Hofmann, Christian, Wu, Di, Linares, Richard   +4 more
openaire   +4 more sources

Koopman Operators in Robot Learning

IEEE Transactions on Robotics
Koopman operator theory offers a rigorous treatment of dynamics and has been emerging as an alternative modeling and learning-based control method across various robotics sub-domains. Due to its ability to represent nonlinear dynamics as a linear (but higher-dimensional) operator, Koopman theory offers a fresh lens through which to understand and ...
Lu Shi, Masih Haseli, Giorgos Mamakoukas, Daniel Bruder, Ian Abraham, Todd D. Murphey, Jorge Cortés 0001, Konstantinos Karydis   +7 more
openaire   +2 more sources

Data-Driven Congestion Control of Micro Smart Sensor Networks for Transparent Substations

IEEE Access, 2021
Micro smart sensors and sensor networks are the key bases for building a fully visible, perceptible and controllable transparent substation in power grid.
Ke Zhou, Xiaoming Wang, Xiaoyin Qiu, Wenwei Li   +3 more
doaj   +1 more source

Stable Magnetic Nanodomains Engineered Via Ga+‐ion Irradiation For Deterministic Sequential Switching

Advanced Electronic Materials, EarlyView.
Tiny magnetic regions separated by domain walls can store data, but controlling them precisely is difficult. We use focused ion beams to create nanoscale “anisotropy wells” that pin these walls from both sides. This bidirectional pinning holds domains stable in either direction, even with no field applied.
Gijs W.A. Simons, Rik F.J. van Haren, Bert Koopmans   +2 more
wiley   +1 more source