http://yetl.yabesh.ir/yetl1/handle/yetl/19047 Tue, 07 Apr 2026 12:41:40 GMT 2026-04-07T12:41:40Z http://localhost:80/yetl1/bitstream/id/184253/ http://yetl.yabesh.ir/yetl1/handle/yetl/19047 http://yetl.yabesh.ir/yetl1/handle/yetl/4310682 A Case Study Comparing Both Stochastic and Worst-Case Robust Control Co-Design Under Different Control Structures Azad, Saeed; Herber, Daniel R. Motivated by current gaps in uncertain control co-design (UCCD) literature, this brief is focused on some of the implementation of these formulations, with an emphasis on optimal control structures, and uncertainty propagation techniques. Specifically, we propose three optimal control structures for UCCD problems: (i) open-loop multiple-control (OLMC), (ii) multistage control (MSC), and (iii) open-loop single-control (OLSC). Stochastic in expectation UCCD (SE-UCCD) and worst-case robust UCCD (WCR-UCCD) formulations are implemented for a simplified strain-actuated solar array case study. Solutions to the OLMC SE-UCCD problem are obtained using generalized Polynomial Chaos (gPC) expansion and Monte Carlo simulation (MCS). The OLMC and MSC WCR-UCCD problems are solved by leveraging the structure of the linear program, leading to polytopic uncertainties. Insights gained underscore the role of the control structure and UCCD formulations in managing the tradeoffs between risk and performance. Wed, 01 Jan 2025 00:00:00 GMT http://yetl.yabesh.ir/yetl1/handle/yetl/4310682 2025-01-01T00:00:00Z http://yetl.yabesh.ir/yetl1/handle/yetl/4310642 Robot Measurement Configuration Optimization and Kinematics Calibration Method Based on New Evaluation Index Guo, Xu; Tian, Wenjie; Xu, Min; Wang, Lina; Liu, Qi The accuracy of industrial robots is the most serious problem in industrial manufacturing and production. Kinematic calibration can effectively improve the pose accuracy of the robot's end effector. The effect of kinematic calibration is closely related to the optimal configuration selected by parameter identification and the optimization algorithm. To solve the problem of missing information from traditional observable indexes, this paper proposes a new index based on the spatial analysis theory of matrix, which takes the super-parallel polyhedron volume of identification Jacobian as the effective information content. The new index and the condition number are used as the fitness function to run the genetic algorithm. The optimal configuration is found in the workspace of the six-degree-of-freedom parallel robot and the results are compared. After the parameter identification by the least squares method and the regularization method, the spatial position and orientation angle are, respectively, compensated for the end pose error at the discrete point in the whole space. The compensation results show that the error of the optimal configuration based on the new index in the position coordinate is reduced by 84.15% compared with the error before compensation, and the error is reduced by 26.05% compared with the condition number compensation result. The compensation effect is better at the edge position of the space, and the compensation result of the orientation angle is slightly better than the condition number compensation result. Wed, 01 Jan 2025 00:00:00 GMT http://yetl.yabesh.ir/yetl1/handle/yetl/4310642 2025-01-01T00:00:00Z http://yetl.yabesh.ir/yetl1/handle/yetl/4310641 Predicting Protein Folding Pathways With Quadratic Constraints on Rates of Entropy Change: A Nonlinear Optimization-Based Control Approach Mohammadi, Alireza; Spong, Mark W. This paper addresses the problem of algorithmic prediction of protein folding pathways, namely, the transient three-dimensional conformations of protein molecules during folding, under constrained rates of entropy change. We formulate the physics-based prediction of folding pathways as a control synthesis problem, where the control inputs guide the protein folding simulations. These folding control inputs are obtained from large-scale trust-region subproblems (TRS) utilizing a computationally efficient algorithm with no need for outer iterations. The proposed control synthesis approach, which leverages the solutions obtained from a special generalized eigenvalue problem, avoids potentially cumbersome and unpredictable iterative computations at each protein conformation. Moreover, the TRS-based control inputs align the closed-loop dynamics closely with the kinetostatic compliance method (KCM) reference vector field while satisfying ellipsoidal constraints on the folding control inputs. Finally, we provide conditions for existence and uniqueness of the resulting closed-loop solutions, which are the protein folding pathways under constraints on the rate of entropy change. Numerical simulations utilizing the KCM approach on protein backbones confirm the effectiveness of the proposed framework. Wed, 01 Jan 2025 00:00:00 GMT http://yetl.yabesh.ir/yetl1/handle/yetl/4310641 2025-01-01T00:00:00Z http://yetl.yabesh.ir/yetl1/handle/yetl/4310638 Additively-Manufactured Servopumps for Soft Robots Gallentine, James; Barth, Eric J. In contrast to soft robots, typical electromechanical robotic systems are able to leverage a wide range of available brushless servomotors and compatible gear reduction devices. This makes the selection of components to suit the desired application using commercial devices possible and relatively straightforward. However, for fluidic soft robotics and other electrohydraulic systems, there is a relative lack of servomotor equivalents that are low-weight, high-bandwidth, and that can provide sufficient performance at power levels of 10 to 100 W. This work presents a rapidly producible 3D-printed gerotor pump design created using fused-filament fabrication (FFF), which can be mounted to standard brushless, direct-current motors. Factors that may affect the efficacy of a 3D-printed gerotor pump are evaluated. The proposed design is demonstrated to be capable of producing pressure differentials of more than 1500 kPa, flows up to 2 L/min, and an actuation bandwidth of up to 20 Hz. The mass of the pump was 36 g excluding the motor. The presented pump is designed for use in small-scale electrohydraulic mechanisms and robots, especially fluidic soft robots as a “servopump” in applications which require a high-bandwidth, low-weight solution for the provision of hydraulic power. Wed, 01 Jan 2025 00:00:00 GMT http://yetl.yabesh.ir/yetl1/handle/yetl/4310638 2025-01-01T00:00:00Z