Robust optimal temperature trajectories for seeded batch crystallization processes under size-dependent crystallization kinetics are proposed, which minimize the amount of fine crystals. First, a deterministic optimal temperature-swing trajectory is calculated by Particle Swarm Optimization (PSO). Furthermore, robust trajectories are proposed by considering parametric perturbations in the proce...

The learning-from-demonstration method is focused on for a novel robot-programming style. It consists of two parts: to recognize human performance from observation as sequential motion primitives and to execute the same performance. We already proposed a method to recognize assembly tasks. However, execution requires the ability to convert motion primitives to collision free paths. In this pape...

Adiabatic quantum computation employs a slow change of a time-dependent control function (or functions) to interpolate between an initial and final Hamiltonian, which helps to keep the system in the instantaneous ground state. When the evolution time is finite, the degree of adiabaticity (quantified in this work as the average ground-state population during evolution) depends on the particulars...

This paper considers a nonlinear constrained optimal control problem (NCOCP) originated from energy optimal trajectory planning of servomotor systems. Solving the exact optimal solution is challenging because of the nonlinear and switching cost function, and various constraints. This paper proposes a method to manage the switching cost function to establish a set of necessary conditions of an N...

We present a method for computing energy optimal trajectories for an overactuated wheeled robot under quasistatic conditions, enabling it to climb over discontinuous terrain. The trajectories can be arbitrarily close to optimal with respect to energy, depending on available computing resources. We apply our approach to control the Goes-Over-All-Terrain (GOAT) vehicle. The GOAT has four active w...

This paper presents a strategy for designing noise abatement procedures aimed at reducing the global annoyance perceived for the population living around the airports. By using fuzzy logic techniques it is shown how annoyance can be modelled in function of the maximum perceived noise level at a specific noise sensitive location and the time of the day when the departure takes place. Thus, the a...

Graph theoretic methods of optimal control in the presence of uncertainty are applied to a celestial mechanics problem. We find a fuel-efficient spacecraft trajectory which starts at infinity and is captured by the smaller member of a binary system, e.g., a moon of Jupiter, using multiple gravity assists.

This manuscript has been reproduced from the microfilm master. UMI films the text directly from the original or copy submitted. Thus, some thesis and dissertation copies are in typewriter face, while others may be from any type of computer printer. The quality of this reproduction is dependent upon the quality of the copy submitted. Broken or indistinct print, colored or poor quality illustrati...