This paper presents a hierarchical approach to feedback-based trajectory generation for improved vehicle autonomy. Hierarchical vehicle-control structures have been used before—for example, in electronic stability control systems, where a low-level control loop tracks high-level references. Here, the control structure includes a nonlinear vehicle model already at the high level to generate optimiz

As automatic sensing and Information and Communication Technology (ICT) get cheaper, building monitoring data is easier to obtain. The abundance of data leads to new opportunities in the context of energy efficiency in buildings. This paper describes ongoing developments and first results of data-driven grey-box modelling for buildings. A Python toolbox is developed based on a Modelica library wit

Dynamic optimization problems involving differential-algebraic equation (DAE) systems are traditionally solved while retaining the semi-explicit or implicit form of the DAE. We instead consider symbolically transforming the DAE into an ordinary differential equation (ODE) before solving the optimization problem using a collocation method. We present a method for achieving this, which handles DAE-c

The solution of generic dynamic optimization problems described by Modelica, and its extension Optimica, code using direct collocation methods is discussed. We start by providing a description of dynamic optimization problems in general and how to solve them by means of direct collocation. Next, an existing implementation of a collocation algorithm in JModelica.org, using CasADi and IPOPT, is pres

Dynamic optimization problems involving parametric sensitivities, such as optimal experimental design, are typically solved using shooting-based methods, while leveraging numerical integrators with sensitivity computation capabilities. In this paper we present how simultaneous discretization can be employed to solve these problems, by augmenting the dynamic optimization problems with forward sensi

BACKGROUND: It is still unclear to what extent the most common animal models of pain and analgesia, based on indirect measures such as nocifensive behaviours, provide valid measures of pain perception.METHODS: To address this issue, we developed a novel animal model comprising a more direct readout via chronically (>1 month) implanted multichannel electrodes (MCE) in rat primary somatosensory cort

Neural interfaces which allow long-term recordings in deep brain structures in awake freely moving animals have the potential of becoming highly valuable tools in neuroscience. However, the recording quality usually deteriorates over time, probably at least partly due to tissue reactions caused by injuries during implantation, and subsequently micro-forces due to a lack of mechanical compliance be

Mixture theory is used to derive a triphasic model to describe processes in paperboard consisting of solid fiber, bound water and gas. The gas is viewed as a miscible mix of the two constituents dry air and water vapor. The governing equations are mass conservation laws for bound water, dry air, water vapor, and mixture energy balance. Constitutive relations are found by exploiting the macroscale