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The trigonometric moment problem is a classical moment problem with numerous applications in mathematics, physics, and engineering. The rational covariance extension problem is a constrained version of this problem, with the constraints arising from the physical re-alizability of the corresponding solutions. Although the maximum entropy method gives one(More)
We approach a problem of motion planning and stabilization for a benchmark example, known as the “Butterfly” robot. It was proposed as a benchmark challenge for developing systematic techniques for nonprehensile rolling manipulation. A dynamical model of the underactuated system with a non-unilateral contact is derived. The recently proposed(More)
Efficient and robust numerical methods for solving the periodic Riccati differential equation (PRDE) are addressed. Such methods are essential, for example, when deriving feedback controllers for orbital stabilization of underactuated mechanical systems. Two recently proposed methods for solving the PRDE are presented and evaluated on artificial systems and(More)
We consider a benchmark example of a three-link planar biped walker with torso, which is actuated in between the legs. The torso is thought to be kept upright by two identical torsional springs. The mathematical model reflects a three-degree-of-freedom mechanical system with impulse effects, which describe the impacts of the swing leg with the ground, and(More)
Comparison of moving boundary and finite-volume heat exchanger models in the Modelica language. Abstract: When modeling low capacity energy systems, such as a small size (5–150 kW el) organic Rankine cycle unit, the governing dynamics are mainly concentrated in the heat exchangers. As a consequence, the accuracy and simulation speed of the higher level(More)
This paper presents an experimental characterization of an 11 kWe single screw expander modified from a standard compressor and integrated into an organic Rankine cycle (ORC) test facility using Solkatherm as working fluid. A total of 62 steady-state points are collected over a wide range of operating conditions to evaluate the expander and the system(More)