Manipulation planning is the problem of finding a sequence robot configurations that involves interactions with objects in scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions, traditional approaches require hand-engineering object representations interaction constraints, which easily becomes tedious when complex objects/interactions are considered...

Run-to-run optimization exploits the repetitive nature of batch processes to adapt the operating policy in the presence of uncertainty. For problems where terminal constraints play a dominant role in the optimization, the system can be operated close to the optimum simply by satisfying terminal constraints. The input is parameterized by using the knowledge of the shape of the optimal solution a...

We propose a position-based approach for largescale simulations of rigid bodies at interactive frame-rates. Our method solves positional constraints between rigid bodies and therefore integrates nicely with other position-based methods. Interaction of particles and rigid bodies through common constraints enables two-way coupling with deformables. The method exhibits exceptional performance and ...

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Max–plus–linear systems efficiently describe the dynamics of event time sequences of a class of discrete event systems. The present contribution addresses the problem of designing adequate input signals for state space identification of max–plus–linear systems. It is shown that the input signal design problem can be rewritten as a set of upper bound constraints and therefore solved using an exi...

We hypothesise that all electroweak symmetry breaking terms such as fermion masses and the W and Z gauge boson masses arise radiatively from just one explicit symmetry breaking term in the Lagrangian. Our hypothesis is motivated by the lack of experimental support and the lack of predictivity of the standard symmetry breaking scenario. We construct a simple model which illustrates our ideas. We...