Publications associées à Fast multi-contact whole-body motion planning with limb dynamics

Robot Learning using Tensor Networks

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

EPFL2024

Scalable constrained optimization

Maria-Luiza Vladarean

Modern optimization is tasked with handling applications of increasingly large scale, chiefly due to the massive amounts of widely available data and the ever-growing reach of Machine Learning. Consequently, this area of research is under steady pressure t ...

EPFL2024

A method and system for optimizing design, implantation, and stimulation protocols of electrodes stimulating the nervous system

Silvestro Micera, Simone Romeni

A method for optimizing at least one of a geometry, an implantation procedure, and/or stimulation protocol of one or more electrodes for an electrical stimulation of a target structure in a nervous system of a living being by a computer device, the method ...

2024

Mesh-based topology, shape and sizing optimization of ribbed plates

In this paper, we present a new parameterization and optimization procedure for minimizing the weight of ribbed plates. The primary goal is to reduce embodied CO2 in concrete floors as part of the effort to diminish the carbon footprint of the construction ...

Springer2024

Violation-aware contextual Bayesian optimization for controller performance optimization with unmodeled constraints

Colin Neil Jones, Wenjie Xu, Bratislav Svetozarevic

We study the problem of performance optimization of closed -loop control systems with unmodeled dynamics. Bayesian optimization (BO) has been demonstrated to be effective for improving closed -loop performance by automatically tuning controller gains or re ...

Elsevier Sci Ltd2024

Contemporary Logic Synthesis: with an Application to AQFP Circuit Optimization

Siang-Yun Lee

Electronic devices play an irreplaceable role in our lives. With the tightening time to market, exploding demand for computing power, and continuous desire for smaller, faster, less energy-consuming, and lower-cost chips, computer-aided design for electron ...

EPFL2024

Optimization Algorithms for Decentralized, Distributed and Collaborative Machine Learning

Anastasiia Koloskova

Distributed learning is the key for enabling training of modern large-scale machine learning models, through parallelising the learning process. Collaborative learning is essential for learning from privacy-sensitive data that is distributed across various ...

EPFL2024

A combined genetic algorithm and active learning approach to build and test surrogate models in Process Systems Engineering

François Maréchal, Julia Granacher

In Process Systems Engineering, computationally-demanding models are frequent and plentiful. Handling such complexity in an optimization framework in a fast and reliable way is essential, not only for generating meaningful solutions but also for providing ...

Pergamon-Elsevier Science Ltd2023

Robust optimization of control parameters for WEC arrays using stochastic methods

Edie Miglio, Tommaso Vanzan

This work presents a new computational optimization framework for the robust control of parks of Wave Energy Converters (WEC) in irregular waves. The power of WEC parks is maximized with respect to the individual control damping and stiffness coefficients ...

Journal of Computational Physics2023

A comprehensive review of digital twin-part 2: roles of uncertainty quantification and optimization, a battery digital twin, and perspectives

Sayan Ghosh, Chao Hu, Olga Fink

As an emerging technology in the era of Industry 4.0, digital twin is gaining unprecedented attention because of its promise to further optimize process design, quality control, health monitoring, decision- and policy-making, and more, by comprehensively m ...

SPRINGER2023

Modeling and Design Optimization of Loosely Coupled PCB Spiral Coils in Inductive Power Transfer Systems

Drazen Dujic, Xiaotong Du

There are various possibilities to realize coil winding designs for an inductive power transfer system. In order to achieve high power transfer efficiency and power density and explore trade-offs between the two, design optimization around the coil link is ...

2023

Stochastic-robust planning optimization method based on tracking-economy extreme scenario tradeoff for CCHP multi-energy system

François Maréchal, Yuxuan Li

The load tracking performance of combined cooling, heating, and power multi-energy system (CCHP-MES) greatly depends on the equipment capacity configuration. And the frequent fluctuations in the source-load uncertainty puts higher demands on the load track ...

PERGAMON-ELSEVIER SCIENCE LTD2023

Bayesian Optimization for Chemical Reactions

Philippe Schwaller, Bojana Rankovic, Jeff Guo

Reaction optimization is challenging and traditionally delegated to domain experts who iteratively pro-pose increasingly optimal experiments. Problematically, the reaction landscape is complex and often requires hundreds of experiments to reach convergence ...

Swiss Chemical Soc2023

Data-driven Methods for Control: from Linear to Lifting

Yingzhao Lian

The progress towards intelligent systems and digitalization relies heavily on the use of automation technology. However, the growing diversity of control objects presents significant challenges for traditional control approaches, as they are highly depende ...

EPFL2023

An Integrated Approach to Designing Robust Turbocompressors on Gas Bearings Through Surrogate Modeling and Constrained Multi-Objective Optimization

Jürg Alexander Schiffmann, Cyril Picard, Soheyl Massoudi

Designing turbocompressors is a complex and challenging task, as it involves balancing conflicting objectives such as efficiency, stability, and robustness against manufacturing deviations. This paper proposes an integrated design methodology for turbocomp ...

ASME Amer Soc Mechanical Engineers2023

Reinforcement Learning for Joint Design and Control of Battery-PV Systems

Christophe Ballif, Nicolas Würsch, Laure-Emmanuelle Perret Aebi, Marine Dominique Cauz

The decentralisation and unpredictability of new renewable energy sources require rethinking our energy system. Data-driven approaches, such as reinforcement learning (RL), have emerged as new control strategies for operating these systems, but they have n ...

2023

Learning and optimization of anticipatory feedback controllers for robot manipulation

Hakan Girgin

Programming intelligent robots requires robust controllers that can achieve desired tasks while adapting to the changes in the task and the environment. In this thesis, we address the challenges in designing such adaptive and anticipatory feedback controll ...

EPFL2023

Electrification and digitalization effects on sectoral energy demand and consumption: A prospective study towards 2050

François Maréchal, Fabian Heymann, Xiang Li

Energy transition is blurring the boundaries between the demand and supply sides with growing participation of prosumer resources. The intensifying pace of electrification and digitalization during the past decade tends to continue, leading to potential te ...

PERGAMON-ELSEVIER SCIENCE LTD2023

Demand-based operations of vehicle sharing systems

Selin Ataç

Vehicle sharing systems (VSSs) allow users to rent vehicles for a short period of time, in a more flexible and convenient manner compared to the traditional vehicle rental services. The long-term VSS subscription replaces the need for contract signing for ...

EPFL2023

Structural topology exploration through policy-based generation of equilibrium representations

Corentin Jean Dominique Fivet, Ioannis Mirtsopoulos

Mainstream approaches to design spatial architectural forms that are structurally relevant consist either in adapting well-known and catalogued conventional types or in searching for close-to-optimum solutions of well-defined problems. Few means exist to e ...

2023