In this paper, we examine closed-loop operation of an HVAC central plant to demonstrate that closed-loop movinghorizon scheduling provides robustness to inaccurate forecasts, and that economic performance is not seriously impaired by shortened prediction horizons or inaccurate forecasts when feedback is employed. Using a general mixedinteger linear programming formulation for the scheduling pro...

transformation models are able to be extended unlimitedly in both the horizontal and vertical directions. Fig. 6: Recursive Models: (a)recursive visualizations; (b)recursive queries; (c)iterative model. Figure 7 not only shows the result of visualizing a visualization, but also gives a visualization for the mapping itself. Figure 8 presents querying on queries by specifying query terms on the q...

[1] Estimation of the rangeand height-dependent index of refraction over the sea surface facilitates prediction of ducted microwave propagation loss. In this paper, refractivity estimation from radar clutter returns is performed using a Markov state space model for microwave propagation. Specifically, the parabolic approximation for numerical solution of the wave equation is used to formulate t...

We develop general recursive methods to solve for optimal contracts in dynamic principal-agent environments with hidden states and hidden actions. In our baseline model, the principal observes nothing other than transfers. Nevertheless, optimal incentive-constrained insurance can be attained. Starting from a general mechanism with arbitrary communication, randomization, full history dependence,...

Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of inverse dynamics solution, which algorithms proposed. Trajectory parallel kinematics manipulators (PKM) equipped with SEAs has not yet been pursued. Key element this is computationally efficient evaluation derivative solution. This present...

Abstract In study this paper, a geometric formulation is proposed to describe the workspace of parallel manipulators by using recursive approach as an extension volume generation for solids revolution. approach, and boundary each limb manipulator obtained with algebraic derived from kinematic chain motion constraints on its joints. Then, overall mechanism can be determined intersection workspac...

Abstract Derivatives of equations motion (EOM) describing the dynamics rigid body systems are becoming increasingly relevant for robotics community and find many applications in design control robotic systems. Controlling robots, multibody comprising elastic components particular, not only requires smooth trajectories but also time derivatives forces/torques, hence EOM. This paper presents EOM ...

Abstract We derive a numerical method, based on operator splitting, to abstract parabolic semilinear boundary coupled systems. The method decouples the linear components that describe coupling and dynamics in bulk- surface-spaces, treats nonlinear terms similarly an exponential integrator. convergence proof is estimates for recursive formulation of error, using smoothing property analytic semig...