Concept

Linear system

Related publications (317)

3LP: a linear 3D-walking model including torso and swing dynamics

In this paper, we present a new mechanical model for biped locomotion, composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to a double support phase, this model has dif ...

Sage Publications Ltd2017

On infinite dimensional linear programming approach to stochastic control * *This research is partially supported by M. Kamgarpour’s European Union ERC Starting Grant, CONENE and by T. Summers’ the US National Science Foundation under grant CNS-1566127.

Maryam Kamgarpour, Tyler Summers

We consider the infinite dimensional linear programming (inf-LP) approach for solving stochastic control problems. The inf-LP corresponding to problems with uncountable state and input spaces is in general computationally intractable. By focusing on linear ...

2017

Laser-Induced Transition between Nonlinear and Linear Resonant Behaviors of a Micromechanical Oscillator

Yves Bellouard, Tao Yang

We investigate both theoretically and experimentally a laser-based controlled tuning of the nonlinear behaviors of a single mechanical resonator. Thanks to localized three-dimensional modifications induced by femtosecond-laser irradiation, a Duffing-like o ...

2017

MATHICSE Technical Report : A numerical investigation of multi space reduced basis preconditioners for parametrized elliptic advection-diffusion

Simone Deparis, Andrea Manzoni, Niccolò Dal Santo

We analyze the numerical performance of a preconditioning technique recently proposed in [4] for the ecient solution of parametrized linear systems arising from the finite element (FE) discretization of parameter-dependent elliptic partial differential equ ...

MATHICSE2017

A numerical investigation of multi space reduced basis preconditioners for parametrized elliptic advection-diffusion equations

Simone Deparis, Andrea Manzoni, Niccolò Dal Santo

We analyze the numerical performance of a preconditioning technique recently proposed in [1] for the efficient solution of parametrized linear systems arising from the finite element (FE) discretization of parameter-dependent elliptic partial differential ...

Walter de Gruyter GmbH2017

Adaptive Natural Oscillator to Exploit Natural Dynamics for Energy Efficiency

Auke Ijspeert, Mahdi Khoramshahi

We present a novel adaptive oscillator, called Adaptive Natural Oscillator (ANO), to exploit the natural dynamics of a given robotic system. This tool is built upon the Adaptive Frequency Oscillator (AFO), and it can be used as a pattern generator in robot ...

Elsevier2017

Efficient Linear Programming for Dense CRFs

Mathieu Salzmann

The fully connected conditional random field (CRF) with Gaussian pairwise potentials has proven popular and effective for multi-class semantic segmentation. While the energy of a dense CRF can be minimized accurately using a linear programming (LP) relaxat ...

2017

Distributed synthesis and stability of cooperative distributed model predictive control for linear systems

Colin Neil Jones, Melanie Nicole Zeilinger

This paper presents a new formulation and synthesis approach for stabilizing cooperative distributed model predictive control (MPC) for networks of linear systems, which are coupled in their dynamics. The controller is defined by a network-wide constrained ...

Elsevier2016

Time-Projection control on 3LP, a simple idea to deal with intermittent pushes online

Auke Ijspeert, Salman Faraji

In this article, we propose a new controller for recovering intermittent pushes during bipedal locomotion. We use 3LP as a template model which can provide closed-form solutions for state evolution. The idea behind our controller is to project the perturbe ...

2016

Reduced Basis Methods: From Low-Rank Matrices To Low-Rank Tensors

Daniel Kressner, Jonas Ballani

We propose a novel combination of the reduced basis method with low-rank tensor techniques for the efficient solution of parameter-dependent linear systems in the case of several parameters. This combination, called rbTensor, consists of three ingredients. ...

Siam Publications2016

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