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Full-Text Articles in Controls and Control Theory
Green Scheduling For Radiant Systems In Buildings, Truong X. Nghiem, Madhur Behl, George J. Pappas, Rahul Mangharam
Green Scheduling For Radiant Systems In Buildings, Truong X. Nghiem, Madhur Behl, George J. Pappas, Rahul Mangharam
Madhur Behl
In this report we look at the problem of peak power reduction for buildings with electric radiant floor heating systems. Uncoordinated operation of a multi-zone radiant floor heating system can result in temporally correlated electricity demand surges or peaks in the building’s electricity consumption. As peak power prices are 200-400 times that of the nominal rate, this uncoordinated activity can result in high electricity costs and expensive system operation. We have previously presented green scheduling as an approach for reducing the aggregate peak power consumption in buildings while ensuring that indoor thermal comfort is always maintained. This report extends the …
Sprawl Angle In Simplified Models Of Vertical Climbing: Implications For Robots And Roaches, Goran A. Lynch, Lawrence Rome, Daniel E. Koditschek
Sprawl Angle In Simplified Models Of Vertical Climbing: Implications For Robots And Roaches, Goran A. Lynch, Lawrence Rome, Daniel E. Koditschek
Daniel E Koditschek
Empirical data taken from fast climbing sprawled posture animals reveals the presence of strong lateral forces with significant pendulous swaying of the mass center trajectory in a manner captured by a recently proposed dynamical template. In this simulation study we explore the potential benefits of pendulous dynamical climbing in animals and in robots by examining the stability and power advantages of variously more and less sprawled limb morphologies when driven by conventional motors in contrast with animal-like muscles. For open loop models of gait generation inspired by the neural-deprived regimes of high stride-frequency animal climbing, our results corroborate earlier hypotheses …