An important technique for computing motions for robot systems is to conduct a numerical search for a trajectory that minimizes a physical criteria like energy, control effort, jerk, or time. In this paper, we provide example solutions of these types of optimal control problems, and develop a framework to solve these problems reliably. Our approach uses an efficient solver for both inverse and ...

The problem of minimum-fuel, time-fixed, low-thrust rendezvous is addressed with the particular aim of developing a solver to determine optimal low-thrust Peer-to-Peer (P2P) maneuvers, which will be an integral part of distributed lowthrust servicing missions for multiple satellites. We develop the solver based on an indirect optimization technique and utilize the well-known shooting method to ...

Diffuse optical tomography is modelled as an optimization problem to find the absorption and scattering coefficients that minimize the error between the measured photon density function and the approximated one computed using the coefficients. The problem is composed of two steps: the forward solver to compute the photon density function and its Jacobian (with respect to the coefficients), and ...

The problem of estimating the dielectric permittivity and the electric conductivity of the soil starting from GPR measurements is addressed. A new estimation procedure is proposed and checked against synthetic data generated by a FDTD forward solver. A two-dimensional geometry and a two-layered background medium are considered.

The atomic force microscope (AFM) is a versatile, high-resolution tool used to characterize the topography and material properties of a large variety of specimens at nano-scale. The interaction of the micro-cantilever tip with the specimen causes cantilever deflections that are measured by an optical sensing mechanism and subsequently utilized to construct the sample topography. Recent years ha...

In this paper we propose a forward-backward improvement heuristic for the variant of resource-constrained project scheduling problem aiming to maximise the net present value of a project. It relies on the Lagrangian relaxation method to generate an initial set of schedules which are then improved by the iterative forward/backward scheduling technique. It greatly improves the performance of the ...

A 3D shape reconstruction algorithm for multiple PEC objects immersed in air is presented. The Hamilton-Jacobi PDE is solved in the entire computational domain with employing the marching cubes method to retrieve the unknown objects. The method of moment surface integral equation is used as the forward solver. An appropriate form of the deformation velocity, based on the forward and adjoint fie...

In this study, we discuss the capacitated facility location-allocation problem with uncertain parameters in which the uncertainty is characterized by given finite numbers of scenarios. In this model, the objective function minimizes the total expected costs of transportation and opening facilities subject to the robustness constraint. To tackle the problem efficiently and effectively, an effici...