Bouncing between model and data: stability, passivity, and optimality in hybrid dynamics

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Coupling Movement Primitives: Interaction With the Environment and Bimanual Tasks

Auke Ijspeert

The framework of dynamic movement primitives (DMPs) contains many favorable properties for the execution of robotic trajectories, such as indirect dependence on time, response to perturbations, and the ability to easily modulate the given trajectories, but ...

Ieee-Inst Electrical Electronics Engineers Inc2014

An Economic Model Predictive Control scheme with terminal penalty for continuous-time systems

Colin Neil Jones, Andrea Alessandretti

In this paper, convergence and performance properties of a sample-data continuous time model predictive control (MPC) scheme with economic performance index are developed. In particular, we provide sufficient conditions for convergence of the close loop st ...

2014

Open-loop control of noise amplification in separated boundary layers

François Gallaire, Edouard Boujo

Linear optimal gains are computed for the subcritical two-dimensional separated boundary-layer flow past a bump. Very large optimal gain values are found, making it possible for small-amplitude noise to be strongly amplified and to destabilize the flow. Th ...

2013

Superior GRAPPA reconstruction with reduced g-factor noise using 2D CAIPIRINHA for 3D EPI

Rolf Gruetter, José Pedro Rebelo Ferreira Marques, Mayur Narsude, Daniel Gallichan

Efficient GRAPPA or SENSE reconstruction is largely dependent on coil geometry in the direction in which phase encoding steps reduction is performed during partially parallel acquisition. In this study we demonstrate the ability to perform a 2D CAIPIRINHA ...

2013

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