Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 25 for “"Quadratic Program"”.
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Analysis and visualization of equilibrium in masonry structures
… approach, we model the stability problem as a quadratic program. When a structure is unstable the quadratic program returns a measure of infeasibility. We extend this model to include tensile structures such as cables. Then, we derive a closed-form gradient of stability with respect to geometry …
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On the Use of Quasi-Newton Methods for the Minimization of Convex Quadratic Splines
<p>In reformulating a strictly convex quadratic program with simple bound constraints as the unconstrained minimization of a strictly convex quadratic spline, established algorithms can be implemented with relaxed differentiability conditions. In this work, the positive definite secant update …
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Trajectory planner for agile flights in unknown environments
… problem of the local planner as a Mixed Integer Quadratic Program (MIQP). The formulation proposed enables the solver to choose the interval allocation (i.e. which interval of the trajectory belongs to which polytope), and the time allocation is computed efficiently using the results of the …
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Reactive trajectory adjustment for motion execution using Chekhov
… in automobile manufacturing have specific pre-programmed tasks and motions, and no sense of their surrounding environment. In many of today's applications, this method will not be sufficient, as many real world environments are unstructured and could cause disturbances to the robots requiring …
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Simulation of human motion data using short-horizon model-predictive control
… predictive component of the controller solves a quadratic program to compute the forces for a short window of time into the future. These forces are then applied by a low-gain proportional-derivative component, which makes minor adjustments until the next planning cycle. The controller is fast …
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Constrained H̳₂ design via convex optimization with applications
… the controller design problem to be cast as a quadratic program. Two example applications demonstrate the practical utility of this method for real systems. First this method is applied to the roll axis of the EOS-AM1 spacecraft attitude control system, with a set of performance and robustness …
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Natural, Efficient Walking for Compliant Humanoid Robots
… for walking stabilization using a mixed-integer quadratic program. This represents the first model predictive controller to include step rotation in the optimization and leverage the capabilities of the time-varying divergent component of motion for navigating rough terrain. We also analyze the …
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Architectures and algorithms for voltage control in power distribution systems
… We formulate a rank-constrained semidefinite program (SDP), which is then relaxed to obtain a convex optimization that is solved distributively with the Alternating-Direction Method of Multipliers (ADMM). In the fast time-scale control, we propose the following schemes: (i) a feedback-based …
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Managing Financial Risks for Wind Power Producers in Wholesale Electricity Markets
… this thesis formulates a mixed-integer quadratic program which uses conditional value at risk to create a hedged “risk-aware” offer curve for the wind generator to submit into the day-ahead electricity market. The formulated program additionally considers specific concerns around the …
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Advanced modeling and computational methods for distribution system state estimation
… models for distribution systems and convex and quadratic optimization methods. Therefore, semidefinite and quadratic programming methods, enabled by alternative power flow models, are leveraged to provide accurate solutions that are robust to various measurement types yet computationally …
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Improved Complexity Analysis for the Proximal Bundle Algorithm Under a Novel Perspective
… lower model can be computed as a convex quadratic program. We finally show that Nesterov acceleration can be effectively applied when the objective is the sum of a smooth function and a piecewise linear one.
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Mixed-integer convex optimization for planning aggressive motions of legged robots over rough terrain
… this insight, I formulate a pair of mathematical programs for planning highly dynamic motions for legged robots. The first is a mixed-integer convex program, specifically, a mixed-integer quadratic program (MIQP), that yields a sequence of footholds/handholds as well as center of mass (COM) and …
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Gradient projection anti-windup scheme
… Rosen's gradient projection method for nonlinear programming. It achieves controller state-output consistency by projecting the controller state onto the unsaturated region induced by the control saturation constraints. The GPAW-compensated controller is a hybrid controller defined by the online …
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Locomotion synthesis in complex physically simulated environments
… hydrostat in nature. We then formulate a quadratic program with complementarity condition (QPCC) to optimize the muscle contraction and contact forces that can lead to meaningful locomotion. We develop an efficient QPCC solver that solves a challenging optimization problem at the presence …
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Order Fulfillment Algorithms for Online Retail
… this with the dual values from a transportation quadratic program, which tries to account for the uncertainty of the network flows to estimate the opportunity costs of depleting resources in the transportation network. The dual values are updated periodically with the most updated system states …
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Stochastic Programming Approaches to Multi-product Inventory Management Problems with Substitution
… reformulate this nonconvex problem as a binary quadratic program. When the demand is stochastic, we formulate the problem as a two-stage stochastic program with mixed integer recourse, derive several necessary optimality conditions, prove the submodularity of the profit function, develop …
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Dynamic Locomotion and Whole-Body Control for Compliant Humanoids
… torque setpoints are computed using an efficient quadratic program (QP) given desired joint accelerations, spatial accelerations, and momentum rates of change. Constraints on the centroidal dynamics, contact forces, and joint limits ensure admissibility of the optimized setpoints. Using this …
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Control, estimation, and planning algorithms for aggressive flight using onboard sensing
… and minimize transverse derivatives by using a Quadratic Program (QP) on the polynomial coefficients. This results in a computationally cheap method for generating paths with continuous heading, roll angle, and roll rate for the fixed-wing vehicle, which is fast enough to run in the inner loop …
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A decomposition-based approach to uncertainty quantification of multicomponent systems
… be a single linear equality and box-constrained quadratic program and can be solved efficiently using optimization algorithms that scale well to high dimensions. Under some conditions restricting the class of distribution functions, the solution of the optimization problem yields importance …
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The simulation of material types in a Western Australian iron deposit
… (DBS) algorithm and the LSSOL optimisation program. One of the main decisions was to determine the best way to model and simulate the MTPs. Three different simulation options, all using DBS, were implemented. The first option modelled and simulated the MTP variables independently and the …
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