in this paper standing balance control of a biped with toe-joint is presented. the model consists of an inverted pendulum as the upper body and the foot contains toe-joint. the biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. to model the interaction between foot and the ground, configuration constraints are defined and utilized. to s...

The vehicle electrification will have a significant impact on the power grid due to the increase in electricity consumption. It is important to perform intelligent scheduling for charging and discharging of Electric Vehicles (EVs). However, there are two major challenges in the scheduling problem. First, it is challenging to find the globally optimal scheduling solution which can minimize the t...

Mobile-edge computation offloading (MECO) is an emerging technology for enhancing mobiles’ computation capabilities and prolonging their battery lives, by offloading intensive computation from mobiles to nearby servers such as base stations. In this paper, we study the energy-efficient resourcemanagement policy for the asynchronous MECO system, where the mobiles have heterogeneous inputdata arr...

Fast convergecast is a critical functionality for data collection in wireless networks deployed for industrial monitoring and control. We address the joint link scheduling and channel hopping problem for convergecast in networks operating according to the recent WirelessHART standard. We first demonstrate that the minimum time to complete convergecast in networks with multi-line/tree routing to...

In this paper, we investigate dynamic resource scheduling (i.e., joint user, subchannel, and power scheduling) for downlink multi-channel non-orthogonal multiple access (MC-NOMA) systems over time-varying fading channels. Specifically, address the weighted average sum rate maximization problem with quality-of-service (QoS) constraints. particular, to facilitate fast scheduling, focus on develop...

In this paper, a multi-product single machine scheduling problem with the possibility of producing defected jobs, is considered. We concern rework in the scheduling environment and propose a mixed-integer programming (MIP) model for the problem.  Based on the philosophy of just-in-time production, minimization of the sum of earliness and tardiness costs is taken into account as the objective fu...

this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

Instruction scheduling is one of the most important code optimizations because of its role in increasing processor utilization. Instruction scheduling reorders instructions to minimize pipeline stalls while preserving program semantics. For realistic processor models, this problem is NP-hard, and numerous heuristic and optimal (enumerative) techniques have been proposed. Heuristics can sometime...

The well documented growth in mobile traffic is mainly driven by increasingly sophisticated smart phone applications. Simultaneously, user preference for lighter phones has resulted in more battery power constrained hand-helds that offload computations to resource intensive cloud. This second trend exacerbates the bandwidth crunch often experienced over wireless networks. Our idea (joint cognit...

In this paper we revisit strategies for joint radio link buffer management and scheduling for wireless video streaming. Based on previous work [1], we search for an optimal combination of scheduler and drop strategy for different end–to–end streaming options. We will show that a performance gain vs. the two best drop strategies in [1], ie drop the HOL packet or drop the lowest priority packet s...