338 research outputs found
Current Capabilities and Development Potential in Surgical Robotics
No full textCommercial surgical robots have been in clinical use since the mid-1990s,
supporting surgeons in various tasks. In the past decades, many systems emerged as
research platforms, and a few entered the global market
Fault estimation filter design with guaranteed stability using Markov parameters
No full textAccepted Author ManuscriptTeam Tamas KeviczkyTeam Raf Van de Pla
Distributed stochastic thermal energy management in smart thermal grids
No full textThis work presents a distributed stochastic energy management framework for a thermal grid with uncertainties in the consumer demand profiles. Using the model predictive control (MPC) paradigm, we formulate a finite-horizon chance-constrained mixed-integer linear optimization problem at each sampling time, which is in general non-convex and hard to solve. We then provide a unified framework to deal with production planning problems for uncertain systems, while providing a-priori probabilistic certificates for the robustness properties of the resulting solutions. Our methodology is based on solving a random convex program to compute the uncertainty bounds using the so-called scenario approach and then, solving a robust mixed-integer optimization problem with the computed randomized uncertainty bounds at each sampling time. Using a tractable approximation of uncertainty bounds, the proposed formulation retains the complexity of the problem without chance constraints. We also present two distributed approaches that are based on the alternating direction method of multipliers (ADMM) to solve the robust mixed-integer problem. The performance of the proposed methodology is illustrated using Monte Carlo simulations and employing two different problem formulations: optimization over input sequences (open-loop MPC) and optimization over affine feedback policies (closed-loop MPC)."Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public."Team Tamas Keviczk
The Flourishing Landscape of Robot Standardization [Industrial Activities]
No full textThis contribution is partly based on work in the H2020 Coordination and Support Action RockEU 2 (GAN 688441, see www.eurobotics.net) and the European Cooperation in Science and Technology Action CA16116, “Wearable Robots for Augmentation, Assistance or Substitution of Human Motor Function” (see https://wearablerobots .eu). T. Haidegger is supported by the Hungarian OTKA PD 116121 grant. His work has been supported by the Austrian Center for Medical Innovation and Technology, which is funded within the scope of the Competence Centers for Excellent Technologies program of the Austrian government. He is also is supported through the New National Excellence Program of the Ministry of Human Capacities. This work was partially supported by the Hungarian EFOP 3.6.2162017-00016 grant
Computationally tractable reserve scheduling for AC power systems with wind power generation
No full textThis work presents a solution method for a day-ahead stochastic reserve scheduling (RS) problem using an AC optimal power flow (OPF) formulation. Such a problem is known to be non-convex and in general hard to solve. Existing approaches follow either linearized (DC) power flow or iterative approximation of nonlinearities, which may lead to either infeasibility or computational intractability. In this work we present two new ideas to address this problem. We first develop an algorithm to determine the level of reserve requirements using vertex enumeration (VE) on the deviation of wind power scenarios from its forecasted value. We provide a theoretical result on the level of reliability of a solution obtained using VE. Such a solution is then incorporated in OPF-RS problem to determine up- and down-spinning reserves by distributing among generators, and relying on the structure of constraint functions with respect to the uncertain parameters. As a second contribution, we use the sparsity pattern of the power system to reduce computational time complexity. We then provide a novel recovery algorithm to find a feasible solution for the OPF-RS problem from the partial solution which is guaranteed to be rank-one. The IEEE 30 bus system is used to verify our theoretical developments together with a comparison with the DC counterpart using Monte Carlo simulations."Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public."Team Tamas Keviczk
Hungarian Roma and African American autobiographies in comparative perspective: Lakatos, Peline Nyari, Wright, and Hurston
No full textMy dissertation is a comparative study of the following Hungarian Roma and African American autobiographies: Menyhért Lakatos's Smoky Pictures, Hilda Péliné Nyári's My Little Life, Richard Wright's Black Boy, and Zora Neale Hurston's Dust Tracks on a Road. I use the rich critical literature on African American autobiographies to better understand Gypsy autobiographies, about which there is a paucity of literary scholarship. I make use of the latest developments in theoretical writings about the genre of
autobiography, particularly autoethnography. So, my study is a groundbreaking work on Hungarian Roma autobiographies, and my comparative method brings an original contribution to the fields of comparative literature and cross-cultural ethnic studies. My dissertation focuses, on the one hand, on how the Hungarian Roma and African American authors grapple with ways to understand their own cultures and present
their experiences and insights, and, on the other hand, on the equally complex presentations of contacts with the majority cultures. The authors search for ways to reveal the dynamics of their cultures and their special positions within them, using the language,
cultural productions, and ideologies of the majority culture, finding ways to express things that are often unthinkable in the majority culture's understanding of the world. A study of the narrators' relationships with their mothers and families opens up ways of
understanding the complexities of their own cultures and their complicated relationships to these cultures. While descriptions of the relationships with the mothers are readily accessible to most readers, these descriptions point beyond themselves to the complicated and emotionally charged relationships to the cultures. The presentation of intercultural encounters is equally unique and difficult in each
case, as the subject of the minority culture describes experiences of oppression and disadvantaged status. Experiences of poverty, isolation, disrespect, and lack of access to education can be difficult to transmit because these experiences penetrate the deepest levels of one's being. I study the presentations of violence because violent experiences are palpable and emotional ways of encountering oppression at the hands of the majority
culture. The understanding thus gained can explain the varying attitudes towards resistance among the four authors.Ph.D.Includes bibliographical referencesIncludes vitaby Tamas Demen
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