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STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation [article]

Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan Ratliff, Dieter Fox, Fabio Ramos, Byron Boots
2021 arXiv   pre-print
In this paper, we develop a system for fast, joint space sampling-based MPC for manipulators that is efficiently parallelized using GPUs.  ...  Sampling-based model-predictive control (MPC) is a promising tool for feedback control of robots with complex, non-smooth dynamics, and cost functions.  ...  However, manipulation tasks often involve Our sampling-based model-predictive control framework operates in the joint space to enable a robot to achieve manipulation objectives such as tracking a moving  ... 
arXiv:2104.13542v2 fatcat:3tfrs3eh3nex7fwicravdvr62a

2020 Index IEEE Transactions on Smart Grid Vol. 11

2020 IEEE Transactions on Smart Grid  
., Small-Signal Stability Analysis and Active Damping Control of DC Microgrids Integrated With Distributed Electric Springs; 3737-3747 Hou, K., see Liu, X., TSG Nov. 2020 5431-5441 Hou, Y., see Liang  ...  3291-3301 Huang, A.Q., see Chang, F., TSG Nov. 2020 5273-5287 Huang, C., see Kosen, I., TSG Jan. 2020 739-748 Huang, C., Wang, C., Xie, N., and Wang, Y., Robust Coordination Expansion Planning for  ...  Shahbazian, A., +, TSG Nov. 2020 5009-5018 Reliability Modeling and Assessment of Cyber Space in Cyber-Physical Model Predictive Power Control Method for PV and Energy Storage Systems With Voltage Support  ... 
doi:10.1109/tsg.2020.3044227 fatcat:qp5iogfnrnambc3qzuwvj4aega

Report on the first workshop on innovative querying of streams

Michael Benedikt, Dan Olteanu
2013 SIGMOD record  
both support for declarative data manipulation languages (e.g. for view definitions) and control structures for parallel and distributed programming.  ...  Themis Palpanas surveyed techniques for modeling and processing data series with value uncertainty, an important model for temporal data, where each data point in the series is represented by an independent  ... 
doi:10.1145/2503792.2503807 fatcat:akhynstt7za2bmi3iwznsru6oe

Science, society and biosafety of a field trial with transgenic biofuel poplars

Rebecca Van Acker, Véronique Storme, Geert Goeminne, Bart Ivens, René Custers, Dirk Aerts, Wim Soetaert, John Ralph, Nicholas Santoro, Jean-Charles Leplé, Gilles Pilate, Wout Boerjan
2011 BMC Proceedings  
The black box surrounds the sampling area for Douglas-fir, while the entire range for loblolly pine was sampled.  ...  A long history of quantitative genetic experimentation has established the genetic basis for many traits, which are likely adaptive since many of them are also correlated with environmental heterogeneity  ...  This integrated paradigm further incorporates an engineering perspective and describes the integrated data as predictive mathematical models, subject to experimental test and manipulation.  ... 
doi:10.1186/1753-6561-5-s7-i23 fatcat:ulkxqgdupfdktkhsx2kba7pcn4

Wide area smart grid architectural model and control: A survey

S.M. Ali, M. Jawad, B. Khan, C.A. Mehmood, N. Zeb, A. Tanoli, U. Farid, J. Glower, S.U. Khan
2016 Renewable & Sustainable Energy Reviews  
Acknowledgements The authors are grateful to Osman Khalid, Ahmad Fayyaz, and Kashif Bilal for providing valuable reviews, suggestions, and comments.  ...  Various control models are for the stability enhancement of the inter-connected system namely: (a) Proportional Integral (PI) control, (b) Neural Network (NN) control, (c) Neural Network Predictive Control  ...  Time delay incorporation in control law plays an essential role for fast and robust controls of the WASs.  ... 
doi:10.1016/j.rser.2016.06.006 fatcat:4h3gt32rhvfize7bjyxljsqsra

Geomagnetically induced currents: Science, engineering, and applications readiness

A. Pulkkinen, E. Bernabeu, A. Thomson, A. Viljanen, R. Pirjola, D. Boteler, J. Eichner, P. J. Cilliers, D. Welling, N. P. Savani, R. S. Weigel, J. J. Love (+9 others)
2017 Space Weather: The international journal of research and applications  
Science is understood here as the basic space and Earth sciences research that allows improved understanding and physics-based modeling of the physical processes behind GIC.  ...  Applications are understood as the models, tools, and activities that can provide actionable information to entities such as power systems operators for mitigating the effects of GIC and government agencies  ...  also scoring extra blankets for the team when the hotel lost heat midwinter.  ... 
doi:10.1002/2016sw001501 fatcat:oqtpkltwzjhq3kqsah6k2vckmq

Present State of CFD Softwares Application for Launch Vehicle Analysis
발사체 해석을 위한 CFD 소프트웨어 적용 현황

Hwanghui Jeong, Jae Yeol Kim, Jae-Ryul Shin
2020 Journal of the Korean Society of Propulsion Engineers  
Please visit the following URL for additional information: http://opensource .gsfc .nasa .gov/projects/xml2he/index .  ...  This software program takes an XML representation of the contents of a Hierarchical Data Format-Earth Observing System (HDF-EOS) file and recreates the file from that description .  ...  It provides an integrated software environment to perform kinematic and dynamics analysis of space structures and robotic manipulators, including their control elements .  ... 
doi:10.6108/kspe.2020.24.3.071 fatcat:trxkhiuqrjakll32bcjxskgwju

Certifying Unstability of Switched Systems Using Sum of Squares Programming

Benoît Legat, Pablo Parrilo, Raphaël Jungers
2020 SIAM Journal of Control and Optimization  
An example of a classical mechanical system having the structure of (3) is a flexible-joint robot [3].  ...  From an analysis and controller design point of view, it is known that GSPT and its adaptation to control systems [4], provide mathematical tools to understand the dynamics, and design controllers from  ...  are interested in the model predictive control (MPC) of (1).  ... 
doi:10.1137/18m1173460 fatcat:ytlzbwk7vbampbuyo6snenz33m

Defense Advanced Research Projects Agency (Darpa) Fiscal Year 2015 Budget Estimates

Department Of Defense Comptroller's Office
2014 Zenodo  
An emphasis in the FY 2015 budget request focuses on research to tailor treatments to patients' unique characteristics, known as "precision medicine."  ...  DARPA seeks to improve the analysis of large neural data sets by creating interfaces that will allow researchers to generate new models across multiple scales.  ...  -Demonstrated fabrication and functionality of an integrated calibration micro-stage. -Explored and developed predictive models of error sources for gyroscope and accelerometers.  ... 
doi:10.5281/zenodo.1215345 fatcat:fjzhmynqjbaafk67q2ckcblj2m

Defense Advanced Research Projects Agency (Darpa) Fiscal Year 2016 Budget Estimates

Department Of Defense Comptroller's Office
2015 Zenodo  
-Develop an initial mathematical modeling framework for predicting the emergence of quantum behavior in complex systems.  ...  -Develop an initial mathematical modeling framework for modeling complex systems applicable to many domains.  ... 
doi:10.5281/zenodo.1215366 fatcat:cqn5tyfixjanzp5x3tgfkpedri

Meshless techniques for anisotropic diffusion

Annamaria Mazzia, Giorgio Pini, Flavio Sartoretto
2014 Applied Mathematics and Computation  
Moreover, it would be good for the methods to be of high order accuracy.  ...  Transport processes are common in geoscience applications, and find their way into models of, e.g., the atmosphere, oceans, shallow water, subsurface, seismic inversion, and deep earth.  ...  We show how to solve the equations using a global implicit approach in an efficient way, and we present the derived computational results.  ... 
doi:10.1016/j.amc.2014.03.032 fatcat:c527226gyfgbffnq4p67qxd7wi

Harmful algae on tropical coral reefs: Bottom-up eutrophication and top-down herbivory

Mark M. Littler, Diane S. Littler, Barrett L. Brooks
2006 Harmful Algae  
A conceptual paradigm, the "Relative Dominance Model", provides the perspective to assess the interactive external forcingmechanisms controlling phase shifts among the dominant benthic functional groups  ...  Manipulative experiments, analyses of existing communities and bioassays tested hypotheses that the relative dominances of these functional groups are mediated by two principal controlling factors: nutrients  ...  Thanks are extended to Randall Glaholt and Joseph Smith for refilling the nutrient diffusers in our absence.  ... 
doi:10.1016/j.hal.2005.11.003 fatcat:dfcdzsd6mbgiznolhlsnzzu3la

Parameter identifiablity in the IAWQ Model No. 1 for modelling activated sludge plants for enhanced nitrogen removal

S.R. Weijers, J.J. Kok, H.A. Preisig, A. Buunen, T.W.M. Wouda
1996 Computers and Chemical Engineering  
Model Predictive Control is selected as a suitable framework, which we will further motivate in Sections 5.2.2 and 5.2.3.  ...  For implementation of this integrated control, on-line optimisation using nonlinear Model Predictive Control is a conceptually appealing method.  ...  The net reaction rate for each component is obtained by summation over the respective column. The Task Group preferred to use COD for modelling for the following reasons.  ... 
doi:10.1016/0098-1354(96)00249-9 fatcat:euv6w2u7bbe6noovqayglnyigi

From data to decisions: Processing information, biases, and beliefs for improved management of natural resources and environments

Pierre D. Glynn, Alexey A. Voinov, Carl D. Shapiro, Paul A. White
2017 Earth's Future  
Lastly, we suggest that an "Open Traceable Accountable Policy" initiative that followed our suggested adaptive framework could beneficially complement recent Open Data/Model science initiatives.  ...  The paper presents a science-infused adaptive framework for such governance, and discusses the types of issues and systems that it would be best suited to address.  ...  The recent trend toward providing Open Access to data and models used by scientists is admirable because it allows greater transparency and possible reproducibility checks, and because it is an essential  ... 
doi:10.1002/2016ef000487 fatcat:ut7oearkcbcxda3t2zrlrnqbxm

Making sense of sensing systems

Victoria Bellotti, Maribeth Back, W. Keith Edwards, Rebecca E. Grinter, Austin Henderson, Cristina Lopes
2002 Proceedings of the SIGCHI conference on Human factors in computing systems Changing our world, changing ourselves - CHI '02  
We will look for unifying ideas, frameworks, and theories that provide common ground for discussing, analyzing, connecting, inventing, comparing, and making predictions about emerging new interaction styles  ...  The NSF project will also serve as a nexus for continuing and collecting work in this topic after the workshop. Finally, work that helped define the GUI generation is a model for us.  ...  And we thank the National Science Foundation for support for our research project on this topic (NSF grant IIS-0414389).  ... 
doi:10.1145/503376.503450 dblp:conf/chi/BellottiBEGHL02 fatcat:qraobvd44jadjfq4faprxdwue4
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