During the flight, aircraft produces several pollutant emissions and the amount is deeply related to the atmospheric conditions (especially pressure, humidity, temperature, air density and wind), the aircraft performance and the phase of flight. In this paper an approach, based on Dijkstra algorithm, to calculate optimized trajectory in terms of several emission reduction (multi-objective traje...

This work deals with on-line gait-pattern adaptation algorithms for an active lower limbs orthosis based on neural networks (NN). Stable trajectories are generated during the optimization process, considering a trajectory generator based on the Zero Moment Point criterion and the inverse dynamic model. Additionally, a set of neural networks are used to decrease the time-consuming computation of...

No legged walking robot yet approaches the high reliability and the low power usage of a walking person, even on flat ground. Here we describe a robot which makes small progress towards that goal. Ranger is a knee-less 4-legged ‘bipedal’ robot which is energetically and computationally autonomous, except for radio controled steering. It has a total cost of transport [TCOT ≡ P/mgv] of 0.19, less...

This paper is an introductory tutorial for numerical trajectory optimization with a focus on direct collocation methods. These methods are relatively simple to understand and effectively solve a wide variety of trajectory optimization problems. Throughout the paper we illustrate each new set of concepts by working through a sequence of four example problems. We start by using trapezoidal colloc...

At the intersection between computer science and astrodynamics lies a fertile ground for improving methodologies and performances of spacecraft trajectory computations. In this paper we present two open source projects (written in C++ and exposed to Python) that are focussed around computational efficiency and that allow to script massively parallel optimization of aerospace related problems. I...