Combining system identification with reinforcement learning-based MPC

In this paper we propose and compare methods for combining system identification (SYSID) and reinforcement learning (RL) in the context of data-driven model predictive control (MPC). Assuming a known model structure of the controlled system, and considering a parametric MPC, the proposed approach simultaneously: a) Learns the parameters of the MPC using RL in order to optimize performance, and b) fits the observed model behaviour using SYSID. Six methods that avoid conflicts between the two optimization objectives are proposed and evaluated using a simple linear system. Based on the simulation results, hierarchical, parallel projection, nullspace projection, and singular value projection achieved the best performance.Comment: Accepted to the IFAC202

Autonomous docking using direct optimal control

We propose a method for performing autonomous docking of marine vessels using numerical optimal control. The task is framed as a dynamic positioning problem, with the addition of spatial constraints that ensure collision avoidance. The proposed method is an all-encompassing procedure for performing both docking, maneuvering, dynamic positioning and control allocation. In addition, we show that the method can be implemented as a real-time MPC-based algorithm on simulation results of a supply vessel.Comment: 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2019). IFAC; Daejeon. 2019-09-18 - 2019-09-2

Novel Genes from Formation to Function

The study of the evolution of novel genes generally focuses on the formation of new coding sequences. However, equally important in the evolution of novel functional genes are the formation of regulatory regions that allow the expression of the genes and the effects of the new genes in the organism as well. Herein, we discuss the current knowledge on the evolution of novel functional genes, and we examine in more detail the youngest genes discovered. We examine the existing data on a very recent and rapidly evolving cluster of duplicated genes, the Sdic gene cluster. This cluster of genes is an excellent model for the evolution of novel genes, as it is very recent and may still be in the process of evolving.Organismic and Evolutionary Biolog

Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments

We propose a method for performing automatic docking of a small autonomous surface vehicle (ASV) by interconnecting an optimization-based trajectory planner with a dynamic positioning (DP) controller for trajectory tracking. The trajectory planner provides collision-free trajectories by considering a map with static obstacles, and produces feasible trajectories through inclusion of a mathematical model of the ASV and its actuators. The DP controller tracks the time-parametrized position, velocity and acceleration produced by the trajectory planner using proportional-integral-derivative feedback with velocity and acceleration feed forward. The method's performance is tested on a small ASV in confined waters in Trondheim, Norway. The ASV performs collision-free docking maneuvers with respect to static obstacles when tracking the generated reference trajectories and achieves successful docking.Comment: 12 pages, 7 figures. Accepted to the IFAC World Congress 202

Intet nytt fra Vestfronten – EUs forsvarssamarbeid 20 år

20 år er gått siden St-Malo avtalen i 1998 markerte starten på EUs forsvarssamarbeid. Planene lå der allerede i den tentative formuleringen “den eventuelle utviklingen av en felles sikkerhets- og forsvarspolitikk”, som ble tatt inn i Maastricht-traktaten i 1993. Men det var en bilateral erklæring fra Europas to sterkeste militærmakter, Frankrike og Storbritannia, som satte planene ut i livet. Den ene av de to, Storbritannia, er nå på vei ut av EU. Det bør være unødvendig å påpeke at BREXIT vil ha stor betydning for det europeiske forsvarssamarbeidets videre skjebne

Ways of Transition to Clean Energy Use: Two Methodological Approaches

The combustion of fossil fuels for the production of energy has already resulted in significant modifications of the earth's environment, primarily through the emissions of carbon dioxide, sulfur dioxide, nitrogen oxides, and particulates. The modern world primary energy consumption patterns and its trends lead to the utilization of dirtier and more expensive fossil fuels. The desire to protect the environment is contradictory Lo such structural changes in energy like the broader use of coal as substitution for liquid fuels, taking into account the depletion of coal deposits with low sulfur contents. Previous studies carried out at IIASA, in the FRG, the US, the USSR and other countries, formulate one long-term technological strategy that might limit pollutant emissions sufficiently to permit an efficient and ecologically sustainable development of the world's energy consumption patterns. This technological strategy is based on the implementation of the so-called Integrated Energy Systems (IES) or Integrated Energy-Chemical Systems (IECS). The basic idea of IES incorporates the decomposition and purification of primary fossil energy inputs before combustion, the integration of these decomposed (clean) products and the allocation of them in line with the requirements for final energy. Thus, Integrated Energy Systems represent a concept for providing a flexible range of final energy forms from varying inputs of different primary energy sources. Other potential advantages include improved performance of the whole energy system, such as higher efficiencies and lower environmental impacts. The joint report of the Kernforschungsanlage Julich (KFA), Julich, FRG and the Siberian Energy Institute (SEI), Irkutsk, USSR describes the concepts, methodological approaches, and preliminary results of the analysis of technological options and technoeconomic properties of the different types of integrated energy systems. The study of KFA and SEI, based on the cooperation with the International Institute for Applied Systems Analysis, emphasizes the common viewpoint that the idea of integrated energy systems constitutes an essential basis for new studies on energy systems with a high degree of utilizing primary energy sources and with low emissions