A simple and effective algorithm for the maximum happy vertices problem

In a recent paper, a solution approach to the Maximum Happy Vertices Problem has been proposed. The approach is based on a constructive heuristic improved by a matheuristic local search phase. We propose a new procedure able to outperform the previous solution algorithm both in terms of solution quality and computational time. Our approach is based on simple ingredients implying as starting solution gen- erator an approximation algorithm and as an improving phase a new matheuristic local search. The procedure is then extended to a multi-start configuration, able to further improve the solution quality at the cost of an acceptable increase in compu- tational time

Modeling, Simulation and Control of the Walking of Biped Robotic Devices, Part II: Rectilinear Walking

This is the second part of a three-part paper. It extends to the free walking results of a previous work on postural equilibrium of a lower limb exoskeleton for rehabilitation exercises. A classical approach has been adopted to design gait (zero moment point (ZMP), linearized inverted pendulum theory, inverse kinematics obtained through the pseudo-inverse of Jacobian matrices). While several ideas exploited here can be found in other papers of the literature, e.g., whole-body coordination, our contribution is the simplicity of the whole control approach that originates logically from a common root. (1) The approximation of the unilateral foot/feet-ground contacts with non-holonomic constraints leads naturally to a modeling and control design that implements a two-phase switching system. The approach is facilitated by Kane’s method and tools as described in Part I. (2) The Jacobian matrix is used to transfer from the Cartesian to the joint space a greater number of variables for redundancy than the degrees of freedom (DOF). We call it the extended Jacobian matrix. Redundancy and the prioritization of postural tasks is approached with weighted least squares. The singularity of the kinematics when knees are fully extended is solved very simply by fake knee joint velocities. (3) Compliance with the contact and accommodation of the swing foot on an uneven ground, when switching from single to double stance, and the transfer of weight from one foot to the other in double stance are approached by exploiting force/torque expressions returned from the constraints. (4) In the center of gravity (COG)/ZMP loop for equilibrium, an extended estimator, based on the linearized inverted pendulum, is adopted to cope with external force disturbances and unmodeled dynamics. Part II treats rectilinear walking, while Part III discusses turning while walking

Modelling, Simulation and Control of the Walking of Biped Robotic Devices—Part I : Modelling and Simulation Using Autolev

A biped robot is a mechanical multichain system. The peculiar features, that distinguishes this kind of robot with respect to others, e.g., industrial robots, is its switching nature between different phases, each one is the same mechanics subject to a different constraint. Moreover, because these (unilateral) constraints, represented by the contact between the foot/feet and the ground, play a fundamental role for maintaining the postural equilibrium during the gait, forces and torques returned must be continuously monitored, as they pose stringent conditions to the trajectories that the joints of the robot can safely follow. The advantages of using the Kane’s method to approach the dynamical model (models) of the system are outlined. This paper, divided in three parts, deals with a generical biped device, which can be an exoskeleton for rehabilitation or an indipendent robot. Part I is devoted to modelling and simulation, part II approaches the control of walk in a rectilinear trajectory, part III extends the results on turning while walking. In particular, this part I describes the model of the biped robot and the practicalities of building a computer simulator, leveraging on the facilities offered by the symbolic computational environment Autolev that complements the Kane’s method

Modeling, Simulation and Control of the Walking of Biped Robotic Devices—Part III: Turning while Walking

In part II of this group of papers, the control of the gait of a biped robot during rectilinear walk was considered. The modeling approach and simulation, using Kane’s method with implementation leveraged by Autolev, a symbolic computational environment that is complementary, was discussed in part I. Performing turns during the walk is technically more complex than the rectilinear case and deserves further investigation. The problem is solved in the present part III as an extension of part II. The robot executes a rectilinear walk on a local reference frame whose progression axis is always tangent, and its origin performs the involute of the path curve. The curve is defined by its curvature (osculating circle) and center of curvature (evolute) along the path. Radius of curvature and center can change continuously (in practice at every sampling time). For postural equilibrium, Center of Gravity and Zero Moment Point (COG/ZMP) follow the same preview reference proposed for rectilinear walk (c o g R e f x ( t ) , c o g ˙ R e f x ( t ), c o g R e f y ( t ) , c o g ˙ R e f y ( t )). The effect of the turn on the sagittal plane is negligible and is ignored, while on the frontal plane it is accounted for by an offset on COG reference to compensate for the centrifugal acceleration. The body trunk and local frame rotation, and the generation of the references on this moving frame of the free foot trajectory during the swing deserve attention

Robust dynamic traffic assignment for single destination networks under demand and capacity uncertainty

In this article, we discuss the system-optimum dynamic traffic assignment (SO-DTA) problem in the presence of time-dependent uncertainties on both traffic demands and road link capacities. Building on an earlier formulation of the problem based on the cell transmission model, the SO-DTA problem is robustly solved, in a probabilistic sense, within the framework of random convex programs (RCPs). Different from traditional robust optimization schemes, which find a solution that is valid for all the values of the uncertain parameters, in the RCP approach we use a fixed number of random realizations of the uncertainty, and we are able to guarantee a priori a desired upper bound on the probability that a new, unseen realization of the uncertainty would make the computed solution unfeasible. The particular problem structure and the introduction of an effective domination criterion for discarding a large number of generated samples enables the computation of a robust solution for medium- to large-scale networks, with low desired violation probability, with a moderate computational effort. The proposed approach is quite general and applicable to any problem that can be formulated through a linear programing model, where the stochastic parameters appear in the constraint constant terms only. Simulation results corroborate the effectiveness of our approach

A DSS for business decisions in air transportation: a case study

The socio-economic development leads people to a great mobility. Thus the flights identification and management is becoming a key factor for the economic growth of the areas nearby the airports. The airport management is constantly looking for methods to improve its performance, both in terms of profitability and quality of service and the proper planning of passenger flows. To address these issues, scientific research provides methods and tools for decision support at all planning levels (i.e., strategic, tactical, operational, real time). In recent literature, it is now widely recognized that the hybridization of simulation and optimization systems is a very reliable technique for such decisions. This work intends to present an efficient Decision Support System framework based on the hybridization of a discrete event simulator and a Logit model. In order to show the effectiveness of the framework, we show the results of a real case study in North Ital

Decoherence, wave function collapses and non-ordinary statistical mechanics

We consider a toy model of pointer interacting with a 1/2-spin system, whose $\sigma_{x}$ variable is \emph{measured} by the environment, according to the prescription of decoherence theory. If the environment measuring the variable $\sigma_{x}$ yields ordinary statistical mechanics, the pointer sensitive to the 1/2-spin system undergoes the same, exponential, relaxation regardless of whether real collapses or an entanglement with the environment, mimicking the effect of real collapses, occur. In the case of non-ordinary statistical mechanics the occurrence of real collapses make the pointer still relax exponentially in time, while the equivalent picture in terms of reduced density matrix generates an inverse power law relaxation