The optimal motion generation problem is solved subject to various actuator constraints while the motion is constrained to an arbitrary path. The considered objective function is a weighted time energy Jitnction while most of existing methods consider only the time-optimal problem. We present some simulation results using a mathematical programming technique (Sequential Quadratic Programming) e...

This work provides generalized notions and analysis methods for the hitting time of random walks on graphs. The hitting time, also known as the Kemeny constant or the mean first passage time, of a random walk is widely studied; however, only limited work is available for the multiple random walker scenario. In this work we provide a novel method for calculating the hitting time for a single ran...

In this short note a sensitivity result for quadratic semidefinite programming is presented under a weak form of second order sufficient condition. Based on this result, also the local convergence of a sequential quadratic semidefinite programming algorithm extends to this weak second order sufficient condition. Mathematical subject classification: 90C22, 90C30, 90C31, 90C55.

In this paper we present an interior point algorithm for solving both convex and nonconvex quadratic programs. The method, which is an extension of our interior point work on linear programming problems, efficiently solves a wide class of large scale problems and forms the basis for a sequential quadratic programming (SQP) solver for general large scale nonlinear programs. The key to the algori...

Closed-loop, asymptotically stable walking motions are designed for a 5-link, planar bipedal robot model with one degree of underactuation. Parameter optimization is applied to the hybrid zero dynamics, a 1-DOF invariant subdynamics of the full robot model, in order to create asymptotically stable orbits. Tuning the dynamics of this 1 DOF subsystem via optimization is interesting because asympt...

In this paper we describe a new version of a sequential equality constrained quadratic programming method for general nonlinear programs with mixed equality and inequality constraints. Compared with an older version 34] it is much simpler to implement and allows any kind of changes of the working set in every step. Our method relies on a strong regularity condition. As far as it is applicable t...

Identifying a maximally-separated set of signals is important in the design of modems. The notion of optimality is dependent on the model chosen to describe noise in the measurements; while some analytic results can be derived under the assumption of Gaussian noise, no such techniques are known for choosing signal sets in the non-Gaussian case. To obtain numerical solutions for non-Gaussian det...

A peak to average power ratio (PAPR) reduction method is proposed that exploits the precoding or beamforming mode in WiMAX. The method is applicable to any OFDM/A systems that implements beamforming using dedicated pilots which use the same beamforming antenna weights for both pilots and data. Beamforming performance depends on the relative phase shift between antennas, but is unaffected by a p...

A proper selection of a work-in-process (WIP) inventory level has great impact onto the productivity of wafer fabrication processes, which can be properly used to trigger the decision of when to release specific wafer lots. However, the selection of an optimal WIP is always a tradeoff amongst the throughput rate, the cycle time and the standard deviation of the cycle time. This study focused on...

A Sequential Quadratic Programming algorithm designed to eeciently solve nonlinear optimization problems with many inequality constraints, e.g. problems arising from nely discretized Semi-Innnite Programming, is described and analyzed. The key features of the algorithm are (i) that only a few of the constraints are used in the QP sub-problems at each iteration, and (ii) that every iterate satis...