Volumes | Dynamic Systems and Control Conference | American Society of Mechanical Engineers Digital Collection

ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control

October 31–November 2, 2011

Arlington, Virginia, USA

Conference Sponsors:

ISBN:

978-0-7918-5476-1

In This Volume

Novel Actuation (6)
Robotics (12)
Sensing (6)
Vibration Dynamics and Control (5)
Alternative Propulsion Systems Modeling and Control (11)
Bath/ASME Fluid Power Symposium (9)
- Applications and Systems (4)
- Valve Model and Control (5)
Automotive Systems Modeling and Control (5)
Bio-Inspired Systems (6)
Biomechatronics and Medical Robotics (6)
Biosystems and Biomedical Applications (6)
Dynamics and Control in Medicine and Biology (11)
Engine Modeling and System Identification (6)
HCCI Engines Modeling and Control (6)
Modeling and Estimation for Automotive and Energy Systems (5)
Powertrain Systems Modeling and Control (5)
Surgical and Rehabilitation Robotics (6)
Vehicle Dynamics and Control (12)

ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2

Novel Actuation

Reducing Energy Consumption of Pneumatic Artificial Muscles With Component Integration

Daniel Christ, Tad Driver, Xiangrong Shen

DSCC 2011; 1-7doi:https://doi.org/10.1115/DSCC2011-5920

Abstract

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Topics: Energy conservation , Muscle , Actuators , Design , Valves , Energy consumption , Energy efficiency , Power density , Weight (Mass)

Design and Control of a Compact Light-Weight Planar Positioner Moving Over a Concentrated-Field Magnet Matrix

Vu Huy Nguyen, Won-jong Kim

DSCC 2011; 9-16doi:https://doi.org/10.1115/DSCC2011-5962

Abstract

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Topics: Design , Magnets , Weight (Mass) , Engines , Motors , Resolution (Optics) , Center of mass , Control algorithms , Control equipment , Currents

From Canonical Hamiltonian to Port-Hamiltonian Modeling: Application to Magnetic Shape Memory Alloys Actuators

Nandish Calchand, Arnaud Hubert, Yann Le Gorrec, Bernhard Maschke

DSCC 2011; 17-24doi:https://doi.org/10.1115/DSCC2011-6022

Abstract

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Topics: Actuators , Modeling , Shape memory alloys , Algebra , Differential algebraic equations , Differential equations , Magnetic fields , Nonequilibrium thermodynamics , Shapes

A PZT Array Actuator Using Buckling Strain Amplification and Preload Mechanisms

James Torres, Devin Neal, H. Harry Asada

DSCC 2011; 25-32doi:https://doi.org/10.1115/DSCC2011-6070

Abstract

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Topics: Actuators , Buckling , Bending (Stress) , Cycles , Design , Displacement , Engineering prototypes , Gears , Geometry , Mechanical efficiency

Coordinated Voltage Conversion and Low-Power Micro-Actuator Switching

Kenn Oldham, Biju Edamana, Bongsu Hahn

DSCC 2011; 33-40doi:https://doi.org/10.1115/DSCC2011-6150

Abstract

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Topics: Microactuators , Actuators , Batteries , Circuits , Currents , Electrostatic actuators , Energy consumption , Microscale devices , Robotics , Simulation

A Moving Magnet Actuator for Large Range Nanopositioning

G. Parmar, D. B. Hiemstra, Y. Chen, S. Awtar

DSCC 2011; 41-48doi:https://doi.org/10.1115/DSCC2011-6153

Abstract

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Topics: Actuators , Magnets , Design , Testing , Bearings , Bending (Stress) , Heat , Manufacturing , Noise (Sound) , Steady state

Robotics

Screw Theory Applied to a Rigid Cylinder Moving on a Plane

James Di´az-Gonza´lez, Lourdes Rosario

DSCC 2011; 49-56doi:https://doi.org/10.1115/DSCC2011-5908

Abstract

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Topics: Cylinders , Screws , Friction , Coulombs , Sliding friction , Vibration

Design and Analysis of a Localization Method Using a Laser Sensor for Indoor Wheeled Mobile Robots

Madhu Soodhanan Govindarajan, Junmin Wang, Bill Post, Andrew Fox

DSCC 2011; 57-64doi:https://doi.org/10.1115/DSCC2011-5918

Abstract

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Topics: Design , Lasers , Mobile robots , Sensors , Kinematics , Vehicles , Noise (Sound) , Simulation results

Biosensor Based Video Game Control for Physically Disabled Gamers

Jeffrey Breugelmans, Yingzi Lin

DSCC 2011; 65-71doi:https://doi.org/10.1115/DSCC2011-6000

Abstract

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Topics: Biosensors , Navigation , User interfaces , Virtual reality

The Synergistically Propelled Ichthyoid: Dynamic Modeling, Simulation, and Experimental Results

Paul C. Strefling, Aren M. Hellum, Ranjan Mukherjee

DSCC 2011; 73-80doi:https://doi.org/10.1115/DSCC2011-6069

Abstract

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Topics: Dynamic modeling , Simulation , Construction , Dynamic models , Fluids , Pipes , Submersibles

Mobile Robot Navigation in Hilly Terrain Using Reinforcement Learning Techniques

Srinivas Tennety, Manish Kumar

DSCC 2011; 81-86doi:https://doi.org/10.1115/DSCC2011-6096

Abstract

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Topics: Mobile robots , Navigation , Robots , Uncertainty , Engineering simulation , Matlab , Resolution (Optics) , Robot navigation , Simulation

Experimental Study on Passive Dynamic Bipedal Walking: Comparing Test Platforms and Effects of Parameter Changes on Gait Patterns

Kazi Rushdi, Derek Koop, Christine Q. Wu

DSCC 2011; 87-94doi:https://doi.org/10.1115/DSCC2011-6147

Abstract

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Topics: Belts , Gravity (Force) , Simulation results , Testing

A Dual-Use Visible Light Communication and Orientation Estimation System for Underwater Robots

Ian C. Rust, H. Harry Asada

DSCC 2011; 95-102doi:https://doi.org/10.1115/DSCC2011-6161

Abstract

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Topics: Light , Robots , Visible spectrum , Errors , Hardware , Kalman filters , Light sources

Foot-Terrain Interaction for a Prototype Silicon Micro-Robot

Jeong Hoon Ryou, Kenn Oldham

DSCC 2011; 103-110doi:https://doi.org/10.1115/DSCC2011-6162

Abstract

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Topics: Engineering prototypes , Robots , Silicon , Algorithms , Dynamics (Mechanics) , Materials properties , Microelectromechanical systems , Microscale devices , Simulation , System dynamics

WCPG: A Central Pattern Generator for Legged Robots Based on Workspace Intentions

Victor Barasuol, Victor Juliano De Negri, Edson Roberto De Pieri

DSCC 2011; 111-114doi:https://doi.org/10.1115/DSCC2011-6164

Abstract

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Topics: Generators , Robots , Simulation results

Active Tremor Estimation and Suppression in Human Elbow Joint

Behzad Taheri, David Case, Edmond Richer

DSCC 2011; 115-120doi:https://doi.org/10.1115/DSCC2011-6185

Abstract

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Topics: Human elbow , Algorithms , Computer simulation , Control algorithms , Control equipment , Intention tremors , Orthotics

Linear Parameter Varying Control of a Robot Manipulator for Aortic Valve Implantation

A. Ramezanifar, A. Salimi, J. Mohammadpour, A. Kilicarslan, K. Grigoriadis, N. V. Tsekos

DSCC 2011; 121-127doi:https://doi.org/10.1115/DSCC2011-6186

Abstract

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Topics: Manipulators , Valves , Catheters , Navigation , Annulus , Artificial limbs , Biomedicine , Collisions (Physics) , Degrees of freedom , Design

A New Architecture for Set-Point Control of Robotic Manipulators With Time-Varying Input/Output Delays

Yen-Chen Liu, Nikhil Chopra

DSCC 2011; 129-136doi:https://doi.org/10.1115/DSCC2011-6188

Abstract

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Topics: Delays , Manipulators , Electromagnetic scattering , Radiation scattering , Scattering (Physics) , Stability , Algorithms , Closed loop systems , Errors , Feedback

Sensing

Buoyant Fluorescent Particles as a Novel Sensing Technology for Field Observations of Water Flows

Flavia Tauro, Matteo Aureli, Maurizio Porfiri, Salvatore Grimaldi

DSCC 2011; 137-144doi:https://doi.org/10.1115/DSCC2011-5963

Abstract

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Topics: Flow (Dynamics) , Particulate matter , Water , Diffusion (Physics) , Drainage , Floods , Fluorescence , Hazards , Pollution

Optimized Distributed Field-Based Sensing for Control of Voice Coil Motor

Shaohui Foong, Xianmin Chen, Kok-Meng Lee

DSCC 2011; 145-151doi:https://doi.org/10.1115/DSCC2011-5999

Abstract

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Topics: Engines , Motors , Sensors , Artificial neural networks , Dimensions , Feedback , Filters , Principal component analysis , Sensor networks

Speed Improvement in Electrical Capacitance Tomography Through a Multiple Excitation and Receiving Method

Zhaoyan Fan, Robert X. Gao

DSCC 2011; 153-158doi:https://doi.org/10.1115/DSCC2011-6031

Abstract

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Topics: Capacitance , Excitation , Electrodes , Capacitors , Circuits , Engineering simulation , Sensors , Signals , Simulation

Three-Dimensional Large Deformation of a Compliant Beam Designed for a Flexonic Mobile Node

Jiajie Guo, Yang Xie, Kok-Meng Lee

DSCC 2011; 159-165doi:https://doi.org/10.1115/DSCC2011-6039

Abstract

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Topics: Deformation , Sensors , Corners (Structural elements) , Design , Kinematics , Model validation , Negotiation , Redundancy (Engineering) , Rotation , Shapes

A New Method for Determining Melt Front Velocity Through Temperature Measurement

Robert X. Gao, Zhaoyan Fan, Navid Asadizanjani, David Kazmer

DSCC 2011; 167-172doi:https://doi.org/10.1115/DSCC2011-6059

Abstract

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Topics: Temperature measurement , Sensors , Polymer melts , Temperature , Injection molding , Energy efficiency , Errors , Finite element analysis , Injection molding machines , Lenses (Optics)

Spatial Prediction With Mobile Sensor Networks Using Gaussian Process Regression Based on Gaussian Markov Random Fields

Yunfei Xu, Jongeun Choi

DSCC 2011; 173-180doi:https://doi.org/10.1115/DSCC2011-6092

Abstract

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Topics: Sensor networks , Algorithms , Statistics as topic , Simulation results , Surveillance

Vibration Dynamics and Control

Adaptive H_∞ Vibration Control

Richard T. O’Brien, Jr., R. Joseph Watkins

DSCC 2011; 181-188doi:https://doi.org/10.1115/DSCC2011-5949

Abstract

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Topics: Control equipment , Design , Jitter , Vibration control

Anti-Windup LPV Control Design of MR Dampers for Structural Vibration Suppression

Mona Meisami-Azad, Farzad A. Shirazi, Karolos M. Grigoriadis

DSCC 2011; 189-196doi:https://doi.org/10.1115/DSCC2011-6072

Abstract

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Topics: Dampers , Design , Vibration suppression , Actuators , Control modeling , Control systems , Energy consumption , Excitation , Rheology , Structures

Active Control of Quazi-Zero Stiffness Isolators

Hyeong-Joon Ahn, Kyoung-Rock Kim

DSCC 2011; 197-200doi:https://doi.org/10.1115/DSCC2011-6155

Abstract

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Topics: Stiffness , Vibration isolators , Engineering simulation , Polynomials , Simulation , Vibration

Active Vibration Control of Gantry Structures Using PZT Actuators

Walter Naranjo, William J. Fajardo, Eliot Motato

DSCC 2011; 201-208doi:https://doi.org/10.1115/DSCC2011-6160

Abstract

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Topics: Actuators , Vibration control , Slabs , Degrees of freedom , Diaphragms (Mechanical devices) , Diaphragms (Structural) , Differential equations , Displacement , Dynamic models , Excitation

A Control Approach for Broadening the Operating Frequency Range of a Bridge Vibration Energy Harvester

Alexander V. Pedchenko, Jonathan W. Hoke, Eric J. Barth

DSCC 2011; 209-216doi:https://doi.org/10.1115/DSCC2011-6175

Abstract

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Topics: Bridges (Structures) , Energy harvesting , Vibration , Condition monitoring , Excitation , Sensors , Maintenance , Resonance , Safety , Traffic

Alternative Propulsion Systems Modeling and Control

Trade-Off Between Fuel Economy and Battery Life for Hybrid Electric Vehicles

Soren Ebbesen, Lino Guzzella

DSCC 2011; 217-223doi:https://doi.org/10.1115/DSCC2011-5950

Abstract

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Topics: Battery life , Corporate average fuel economy , Fuel efficiency , Hybrid electric vehicles , Tradeoffs , Batteries , Fuels , Dynamic programming , Energy management , Lithium-ion batteries

Model Predictive Control of an Electro-Hydraulic Powertrain With Energy Storage

Timothy O. Deppen, Andrew G. Alleyne, Kim A. Stelson, Jonathan J. Meyer

DSCC 2011; 225-232doi:https://doi.org/10.1115/DSCC2011-5969

Abstract

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Topics: Energy storage , Predictive control , Cities , Batteries , Cycles , Design , Energy management , Engines , Fluids , High pressure (Physics)

Predictive Cruise Control With Probabilistic Constraints for Eco Driving

Chen Zhang, Ardalan Vahidi

DSCC 2011; 233-238doi:https://doi.org/10.1115/DSCC2011-5982

Abstract

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Topics: Chain , Control systems , Corporate average fuel economy , Cycles , Fuel efficiency , Fuels , Predictive control , Simulation , Statistical distributions , Vehicles

Hybrid Neural Net Model of a Lithium Ion Battery

Rehan Refai, Sandeep Yayathi, Dongmei Chen, Benito Fernandez-Rodriguez

DSCC 2011; 239-246doi:https://doi.org/10.1115/DSCC2011-6043

Abstract

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Topics: Artificial neural networks , Lithium-ion batteries , Batteries , Physics , Modeling , Feedforward control

Decentralized Charging of Plug-In Electric Vehicles

Chiao-Ting Li, Changsun Ahn, Huei Peng, Jing Sun

DSCC 2011; 247-254doi:https://doi.org/10.1115/DSCC2011-6047

Abstract

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Topics: Electric vehicles , Control algorithms , Algorithms , Batteries , Fossil fuels , Robustness , Stress

Power Flow Control in Hybrid Electric Vehicles

Guillermo Becerra, Jose´ Luis Mendoza-Soto, Luis Alvarez-Icaza

DSCC 2011; 255-262doi:https://doi.org/10.1115/DSCC2011-6062

Abstract

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Topics: Flow control , Hybrid electric vehicles , Fuel consumption , Optimization , Cities , Cycles , Diesel , Engineering simulation , Errors , Flow (Dynamics)

Nonlinear Model Predictive Control of a Power-Split Hybrid Electric Vehicle: Influence of Inclusion of Powertrain Dynamics

Hoseinali Borhan, Ardalan Vahidi, Wei Liang, Anthony Phillips, Stefano Di Cairano, Ming Kuang, Ryan McGee

DSCC 2011; 263-270doi:https://doi.org/10.1115/DSCC2011-6114

Abstract

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Topics: Dynamics (Mechanics) , Hybrid electric vehicles , Predictive control , Corporate average fuel economy , Engineering simulation , Engines , Fuel efficiency , Simulation

Operational Energy Optimization for Pure Electric Ground Vehicles Based on Terrain Profile Preview

Yan Chen, Zili Chen, Junmin Wang

DSCC 2011; 271-278doi:https://doi.org/10.1115/DSCC2011-6115

Abstract

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Topics: Optimization , Vehicles , Motors , Torque , Wheels , Batteries , Dynamic programming , Energy consumption , Energy resources , Fuels

Optimal Energy Management for a Hybrid Vehicle Using Neuro-Dynamic Programming to Consider Transient Engine Operation

Rajit Johri, Ashwin Salvi, Zoran Filipi

DSCC 2011; 279-286doi:https://doi.org/10.1115/DSCC2011-6138

Abstract

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Topics: Computer programming , Diesel , Dynamic programming , Emissions , Energy management , Engines , Hybrid electric vehicles , Transients (Dynamics)

Optimal Control of Engine-Starts for Drivability of Parallel Hybrid Electric Vehicles

Dongsuk Kum, Huei Peng, Norman Bucknor

DSCC 2011; 287-294doi:https://doi.org/10.1115/DSCC2011-6183

Abstract

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Topics: Engines , Hybrid electric vehicles , Optimal control , Torque , Control equipment , Design , Dynamic programming , Electric motors , Pole placement , Pressure

Energy Harvesting, Ride Comfort, and Road Handling of Regenerative Vehicle Suspensions

Lei Zuo, Pei-Sheng Zhang

DSCC 2011; 295-302doi:https://doi.org/10.1115/DSCC2011-6184

Abstract

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Topics: Energy harvesting , Roads , Suspension systems , Vehicles , Stiffness , Surface roughness , Tires , Damping , Electrical measurement , Energy generation

Bath/ASME Fluid Power Symposium

Applications and Systems

A Servo-Pneumatic Positioning System Driven by Fast Switching On/Off Valves

Cristiano Cardoso Locateli, Victor Juliano De Negri, Edson Roberto De Pieri

DSCC 2011; 303-310doi:https://doi.org/10.1115/DSCC2011-5954

Abstract

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Topics: Servomechanisms , Valves , Actuators , Control equipment , Engineering simulation , Flow (Dynamics) , Flow control valves , Matlab , Newton's laws of motion , Pneumatic actuators

Waveform Analysis of an Electro-Hydraulic Vibrator

Y. Ren, J. Ruan, R. T. Burton

DSCC 2011; 311-318doi:https://doi.org/10.1115/DSCC2011-5990

Abstract

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Topics: Design , Servomechanisms , Shapes , Valves , Vibration , Waveform analysis

Friction Fault Detection of an Electrohydrostatic Actuator

S. A. Gadsden, Y. Song, K. R. McCullough, S. R. Habibi

DSCC 2011; 319-326doi:https://doi.org/10.1115/DSCC2011-6121

Abstract

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Topics: Actuators , Flaw detection , Friction , Filters , Aerospace industry , Cylinders , Kalman filters , Robustness , Stability

Development of Diagnostic Algorithms for an Air Brake System: Theory and Implementation

Sandeep Dhar, Swaroop Darbha, K. R. Rajagopal

DSCC 2011; 327-334doi:https://doi.org/10.1115/DSCC2011-6127

Abstract

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Topics: Algorithms , Brakes , Systems theory , Pressure , Inspection , Safety , Valves , Braking , Clearances (Engineering) , Compressed air

Valve Model and Control

The Theoretical Bandwidth Frequency of a Three-Way Hydromechanical Valve

Noah D. Manring, Shusen Zhang

DSCC 2011; 335-342doi:https://doi.org/10.1115/DSCC2011-5900

Abstract

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Topics: Fluid mechanics , Valves , Design , Stress , Capacitance , Fluids , Bulk modulus , Dynamics (Mechanics) , Flow (Dynamics) , Momentum

Modelling and Experimental Validation of a Novel Piezohydraulic Servovalve

Dhinesh K. Sangiah, Andrew R. Plummer, Christopher R. Bowen, Paul Guerrier

DSCC 2011; 343-350doi:https://doi.org/10.1115/DSCC2011-5940

Abstract

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Topics: Actuators , Design , Electricity (Physics) , Engineering prototypes , Feedback , Finite element analysis , Flow (Dynamics) , Manufacturing , Modeling , Simulation results

Optimal Nominal Pressurization Generation: A Novel Idea for a Discrete Logic Control Using an Independent Metering Valve Configuration

Christian Meyer, Daniel Weiler, Hubertus Murrenhoff

DSCC 2011; 351-354doi:https://doi.org/10.1115/DSCC2011-5947

Abstract

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Topics: Valves , Pressure , Cylinders , Simulation , Stiffness

Spool Valve With Arbitrary Area-Schedule and Application to a Camless Engine Valve Actuator

Pradeep Gillella, Zongxuan Sun

DSCC 2011; 355-362doi:https://doi.org/10.1115/DSCC2011-5972

Abstract

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Topics: Engines , Valve actuators , Valves , Actuators , Design , Flow (Dynamics) , Computational fluid dynamics , Control equipment , Engineering prototypes , Feedback

Optimized Pulse Modulation: A Novel Idea of a Digital Control Method for On/Off Valves

Ingo Schepers, Daniel Weiler, Juergen Weber

DSCC 2011; 363-366doi:https://doi.org/10.1115/DSCC2011-6007

Abstract

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Topics: Valves , Electrical engineering , Hydraulics

Automotive Systems Modeling and Control

GPS-Free Terrain-Based Vehicle Tracking Performance as a Function of Inertial Sensor Characteristics

Kshitij Jerath, Sean N. Brennan

DSCC 2011; 367-374doi:https://doi.org/10.1115/DSCC2011-5938

Abstract

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Topics: Sensors , Vehicles , Algorithms , Engineering simulation , Errors , Kalman filters , Simulation

Terrain Gridding Using a Stochastic Weighting Function

Rui Ma, John B. Ferris

DSCC 2011; 375-381doi:https://doi.org/10.1115/DSCC2011-6085

Abstract

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Topics: Errors , Geometry , Modeling , Simulation , Statistical distributions , Tires , Uncertainty , Vehicles

Dynamic Model of the Piston-Ring Assembly Using Curved Beam Finite Elements

Mohannad Hakeem, Nabil G. Chalhoub, Peter Schihl

DSCC 2011; 383-390doi:https://doi.org/10.1115/DSCC2011-6165

Abstract

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Topics: Dynamic models , Finite element analysis , Manufacturing , Piston rings , Pistons , Degrees of freedom , Cycles , Deformation , Engines , Finite element methods

De-Centralized and Centralized Control for EMS Maglev System Levitation and Guidance

Mohamed Aly, Thomas Alberts

DSCC 2011; 391-398doi:https://doi.org/10.1115/DSCC2011-6166

Abstract

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Topics: Levitation , Magnetic levitation , Control equipment , Algorithms , Magnets , Rails , Simulation results

Analysis of Stability Control Systems for Single-Unit Commercial Vehicles

Dan T. Horak

DSCC 2011; 399-406doi:https://doi.org/10.1115/DSCC2011-6173

Abstract

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Topics: Control systems , Stability , Vehicles , Dynamic models , Roads , Trucks

Bio-Inspired Systems

Analysis of Antagonist Stiffness for Nested Compliant Mechanisms in Agonist-Antagonist Arrangements

Joshua A. Schultz, Jun Ueda

DSCC 2011; 407-410doi:https://doi.org/10.1115/DSCC2011-5953

Abstract

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Topics: Compliant mechanisms , Stiffness , Actuators , Muscle , Biomimetics , Displacement , Robotics

Design and Implementation of an Ionic-Polymer-Metal-Composite Aquatic Biomimetic Robot

Yi-chu Chang, Won-jong Kim

DSCC 2011; 411-418doi:https://doi.org/10.1115/DSCC2011-6023

Abstract

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Topics: Biomimetics , Composite materials , Design , Metals , Polymers , Robots

Mobile Exoskeleton for Spinal Cord Injury: Development and Testing

Katherine A. Strausser, Timothy A. Swift, Adam B. Zoss, H. Kazerooni, Bradford C. Bennett

DSCC 2011; 419-425doi:https://doi.org/10.1115/DSCC2011-6042

Abstract

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Topics: Exoskeleton devices , Spinal cord , Testing , Wounds , Control equipment , Generators , Knee , Machinery , Robotics , Trajectories (Physics)

The Application of Bioinspired Jumping Locomotion Principles to Mobile Robots: Modeling and Analysis

Omar Gilani, Pinhas Ben-Tzvi

DSCC 2011; 427-434doi:https://doi.org/10.1115/DSCC2011-6108

Abstract

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Topics: Biomimetics , Mobile robots , Modeling , Energy storage , Mechanical admittance , Robotics , Robots , Springs , Wings

A Hybrid of Impulsive and Continuous Control for Kneeless Bipedal Walking

Ali Tavakoli, Yildirim Hurmuzlu

DSCC 2011; 435-442doi:https://doi.org/10.1115/DSCC2011-6125

Abstract

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Topics: Control equipment , Dynamics (Mechanics) , Robots

Scalybot: A Snake-Inspired Robot With Active Control of Friction

Hamidreza Marvi, Gregory Meyers, Geoffrey Russell, David L. Hu

DSCC 2011; 443-450doi:https://doi.org/10.1115/DSCC2011-6174

Abstract

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Topics: Friction , Robots , Design , Drag (Fluid dynamics) , Muscle , Plates (structures) , Polystyrene foam , Robotics

Biomechatronics and Medical Robotics

Myoelectric Torque Control of an Active Transfemoral Prosthesis During Stair Ascent

Carl D. Hoover, Kevin B. Fite, George D. Fulk, Donald W. Holmes

DSCC 2011; 451-458doi:https://doi.org/10.1115/DSCC2011-5998

Abstract

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Topics: Prostheses , Stairs , Torque control , Control equipment , Knee , Torque , Damping , Feedback , Stiffness

Design and Development of a 2-DOF Miniature Force Sensor for Surgical Procedures

U-Xuan Tan, Jaydev P. Desai

DSCC 2011; 459-462doi:https://doi.org/10.1115/DSCC2011-6027

Abstract

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Topics: Design , Force sensors , Surgery , Biological tissues , Microfabrication , Catheters , Damage , Sensors , Surgical tools

Adaptive Hybrid Control for Rotationally Oscillating Drill (Ros-Drill^©), Using a Low-Resolution Sensor

Zhenyu Zhang, Jhon Diaz, Nejat Olgac

DSCC 2011; 463-470doi:https://doi.org/10.1115/DSCC2011-6065

Abstract

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Topics: Drills (Tools) , Hybrid control , Resolution (Optics) , Sensors , Control systems , Oscillations , Cell membranes , Damage , Engineering simulation , Hardware

Design and Control of a Compact and Flexible Pneumatic Artificial Muscle Actuation System: Part One—Design Process

Garrett Waycaster, Sai-Kit Wu, Tad Driver, Xiangrong Shen

DSCC 2011; 471-478doi:https://doi.org/10.1115/DSCC2011-6067

Abstract

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Topics: Design , Muscle , Pulleys , Robotics , Springs , Torque , Control equipment , Shapes

An Adaptive Block Backstepping Control Design for Functional Electrical Stimulation of Agonist-Antagonist Muscles

Bonsung Koo, Alexander Leonessa

DSCC 2011; 479-486doi:https://doi.org/10.1115/DSCC2011-6143

Abstract

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Topics: Design , Muscle , Control equipment , Computer simulation , Engines , Modeling , Motors , Spinal cord , Wounds

Dynamic Simulation of Blood Flow Effects on Flexible Manipulators During Intra-Cardiac Procedures on the Beating Heart

A. Salimi, J. Mohammadpour, K. Grigoriadis, N. V. Tsekos

DSCC 2011; 487-494doi:https://doi.org/10.1115/DSCC2011-6167

Abstract

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Topics: Blood flow , Flexible manipulators , Simulation , Artificial limbs , Catheters , Computer simulation , Degrees of freedom , Manipulators , Robotics , Rubber

Biosystems and Biomedical Applications

Classifications of Intentions for Controlling of a Multifunctional Knee-Ankle-Foot Orthosis

Sai-Kit Wu, Tad Driver, Xiangrong Shen

DSCC 2011; 495-501doi:https://doi.org/10.1115/DSCC2011-5924

Abstract

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Topics: Knee , Orthotics , Bayes methods , Signals

A New Biomechanical Model of Vocal Fold Vibrations: Preliminary Experimental Validation

Zhenyi Wei, Marcio de Queiroz, Jing Chen, Bahadir K. Gunturk, Melda Kunduk

DSCC 2011; 503-510doi:https://doi.org/10.1115/DSCC2011-6048

Abstract

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Topics: Biomechanics , Vibration , Vocal cords , Dynamics (Mechanics) , Image segmentation , Imaging , Simulation

Fast Monitoring of Epileptic Seizures Based on Recurrence Time Analysis of EEGs

Jianbo Gao, Jing Hu

DSCC 2011; 511-518doi:https://doi.org/10.1115/DSCC2011-6082

Abstract

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Topics: Biomedicine , Brain , Computation , Drugs , Electroencephalography , Optical quality control , Signals

High-Speed Nanomechanical Property Measurement in Liquid Using Inversion-Based Iterative Feedforward-Feedback Control

Yan Zhang, Qingze Zou

DSCC 2011; 519-525doi:https://doi.org/10.1115/DSCC2011-6132

Abstract

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Topics: Feedback , Feedforward control , Dynamics (Mechanics) , Piezoelectric actuators , Plasma desorption mass spectrometry , Probes , Signal to noise ratio , Viscoelasticity

Mathematical Modeling of Within-Host Dynamics of Toxoplasma Gondii

Adam Sullivan, Xiaopeng Zhao, Chunlei Su

DSCC 2011; 527-529doi:https://doi.org/10.1115/DSCC2011-6133

Abstract

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Topics: Dynamics (Mechanics) , Modeling , Cycles , Brain , Engineering simulation , Simulation

Modeling the Negative Feedback Mechanism in the Enzyme Carboxyltransferase

Xiaoyu Cai, Marcio de Queiroz, Glen Meades, Jr., Grover Waldrop

DSCC 2011; 531-536doi:https://doi.org/10.1115/DSCC2011-6171

Abstract

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Topics: Enzymes , Feedback , Modeling , Computer simulation , Encryption

Dynamics and Control in Medicine and Biology

Modeling Peroxidase-Oxidase Interactions

W. M. Schaffer, T. V. Bronnikova

DSCC 2011; 537-544doi:https://doi.org/10.1115/DSCC2011-5946

Abstract

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Topics: Chemistry , Diseases , DNA , Dynamics (Mechanics) , Feedback , Hydrogen , Modeling , Oxygen , Proteins , Stress

Spherical Modeling and Nonlinear Model Predictive Control of Electroporation

Jingang Yi, Jianbo Li, Hao Lin

DSCC 2011; 545-552doi:https://doi.org/10.1115/DSCC2011-5984

Abstract

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Topics: Electroporation , Modeling , Predictive control , Design , Bifurcation , Cell membranes , Control equipment , Drug delivery systems , Dynamic models , Dynamics (Mechanics)

Numerical Simulation of Electromechanical Dynamics in Paced Cardiac Tissue

Henian Xia, Xiaopeng Zhao, Kwai Wong

DSCC 2011; 553-555doi:https://doi.org/10.1115/DSCC2011-6003

Abstract

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Topics: Biological tissues , Computer simulation , Dynamics (Mechanics) , Excitation , Feedback , Finite element analysis , Heat conduction , Stability , Waves

Disturbance Rejection Helps Modulate the p53 Oscillation

Yong-Jun Shin, Steven M. Lipkin, Brandon Hencey, Xiling Shen

DSCC 2011; 557-563doi:https://doi.org/10.1115/DSCC2011-6046

Abstract

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Topics: Oscillations , DNA , Feedback , Fluctuations (Physics) , Damage , Maintenance , Cancer , Design , Filters , Filtration

Long-Range Temporal Correlations, Multifractality, and the Causal Relation Between Neural Inputs and Movements

Jianbo Gao, Yi Zheng, Jing Hu

DSCC 2011; 565-572doi:https://doi.org/10.1115/DSCC2011-6081

Abstract

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Topics: Brain , Fractals , Machinery , Prostheses , Theoretical analysis , Trajectories (Physics) , Wavelets

Facilitating Joint Chaos and Fractal Analysis of Biosignals Through Nonlinear Adaptive Filtering

Jianbo Gao, Jing Hu, Wen-wen Tung

DSCC 2011; 573-577doi:https://doi.org/10.1115/DSCC2011-6083

Abstract

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Topics: Chaos , Filtration , Fractals , Signals , Noise (Sound) , Algorithms , Filters , Noise control , Nonlinear dynamics , Wavelets

Multiscale Analysis of Biological Signals

Jianbo Gao, Jing Hu, Wen-wen Tung

DSCC 2011; 579-586doi:https://doi.org/10.1115/DSCC2011-6084

Abstract

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Topics: Signals , Electroencephalography , Biology , Chaos , Chaos theory , Complex systems , Fractals , Heart failure , Life sciences , Regulations

A Firing-Rate Lateral Amygdala Network Model With Calcium-Dependent Synaptic Learning

John M. Ball, Ali H. Hummos, Satish S. Nair

DSCC 2011; 587-594doi:https://doi.org/10.1115/DSCC2011-6117

Abstract

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Topics: Firing , Network models , Dynamics (Mechanics) , Computation , Nervous system , Plasticity

An Experimentally Tuned Dynamic Model Predicting Cell Migration for Guidance of Sprouting Endothelial Cells

Levi Wood, H. Harry Asada

DSCC 2011; 595-601doi:https://doi.org/10.1115/DSCC2011-6134

Abstract

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Topics: Dynamic models , Endothelial cells , Density , Elongation , Feedback , Microfluidics , Modeling , Pattern formation

Towards Automated Mechanical Characterization of Biological Samples Using Atomic Force Microscopy (AFM)

Rajarshi Roy, Wenjin Chen, Lei Cong, Lauri A. Goodell, David J. Foran, Jaydev P. Desai

DSCC 2011; 603-605doi:https://doi.org/10.1115/DSCC2011-6146

Abstract

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Topics: Atomic force microscopy , Biological tissues , Biomaterials , Cancer , Circuits , Displacement , Materials properties , Mechanical properties , Probes , Uncertainty

Local Onset of Voltage and Calcium Alternans in the Heart

Stephen D. McIntyre, Yoichiro Mori, Elena G. Tolkacheva

DSCC 2011; 607-610doi:https://doi.org/10.1115/DSCC2011-6148

Abstract

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Topics: Biological tissues , Dynamics (Mechanics) , Simulation , Spatiotemporal phenomena , Transients (Dynamics)

Engine Modeling and System Identification

A System Dynamics Modeling Methodology to Predict Transient Phenomena in Compressible Fluid Flow Systems

Kenneth Follen, Stephanie Stockar, Marcello Canova, Yann Guezennec, Giorgio Rizzoni

DSCC 2011; 611-617doi:https://doi.org/10.1115/DSCC2011-5944

Abstract

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Topics: Compressible flow , Modeling , System dynamics , Transients (Dynamics) , Internal combustion engines , Calibration , Engines , Fluids , Numerical analysis , Combustion

Turbocharger Map Reduction for Control-Oriented Modeling

Karla Stricker, Lyle Kocher, Ed Koeberlein, D. G. Van Alstine, Greg Shaver

DSCC 2011; 619-626doi:https://doi.org/10.1115/DSCC2011-5992

Abstract

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Topics: Modeling , Turbochargers , Compressors , Turbines , Control systems , Diesel engines , Engines , Flow (Dynamics) , Geometry , Interpolation

Physics Based Control Oriented Modeling of Exhaust Gas Enthalpy for Engines Utilizing Variable Valve Actuation

Ed Koeberlein, Lyle Kocher, Dan Van Alstine, Karla Stricker, Greg Shaver

DSCC 2011; 627-634doi:https://doi.org/10.1115/DSCC2011-6001

Abstract

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Topics: Engines , Enthalpy , Exhaust systems , Modeling , Physics , Valves , Pressure , Compression , Cylinders , Diesel engines

Parameter-Dependent Identification of the Intake Manifold System Dynamics in Spark Ignition Engines Using LPV Methods

Rohit A. Zope, Javad Mohammadpour, Karolos Grigoriadis, Matthew Franchek, Yue-Yun Wang

DSCC 2011; 635-642doi:https://doi.org/10.1115/DSCC2011-6015

Abstract

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Topics: Intake manifolds , Spark-ignition engine , System dynamics , Simulation , Algorithms , Engines , Ignition

Iterative Learning Based Driver Input Synthesis for Evaluating Transient Diesel Soot Emissions

Rahul Ahlawat, Hosam K. Fathy, Jeffrey L. Stein

DSCC 2011; 643-650doi:https://doi.org/10.1115/DSCC2011-6180

Abstract

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Topics: Diesel , Emissions , Soot , Transients (Dynamics) , Algorithms , Cycles , Design , Iterative learning control , Vehicles , Control equipment

On-Line Identification of Fuel Injection Timing Using Cylinder Balancing

Yong-Wha Kim, Michiel Van Nieuwstadt, In Kwang Yoo

DSCC 2011; 651-654doi:https://doi.org/10.1115/DSCC2011-6202

Abstract

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Topics: Cylinders , Fuels , Diesel engines , Vehicles

HCCI Engines Modeling and Control

Stability Analysis of a Hydraulic Free Piston Engine With HCCI Combustion

Ke Li, Zongxuan Sun

DSCC 2011; 655-662doi:https://doi.org/10.1115/DSCC2011-5983

Abstract

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Topics: Combustion , Homogeneous charge compression ignition engines , Piston engines , Stability , Cycles , Dynamics (Mechanics) , Engines , Pistons , Combustion gases , Computer simulation

SI and HCCI Combustion Mode Transition Control of a Multi-Cylinder HCCI Capable SI Engine via Iterative Learning

Xiaojian Yang, Guoming G. Zhu

DSCC 2011; 663-670doi:https://doi.org/10.1115/DSCC2011-6020

Abstract

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Topics: Combustion , Cylinders , Homogeneous charge compression ignition engines , Spark-ignition engine , Engines , Cycles , Ignition , Valves , Compression , Engineering simulation

A Novel Method for CFD Analysis of a Two-Zone Mixing Model for HCCI Engines

Matthew J. McCuen, Zongxuan Sun, Guoming Zhu

DSCC 2011; 671-676doi:https://doi.org/10.1115/DSCC2011-6036

Abstract

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Topics: Computational fluid dynamics , Homogeneous charge compression ignition engines , Combustion , Computer software , Dynamics (Mechanics) , Emissions , Energy conversion , Exhaust systems , Simulation , Valves

On the Influence of Composition on the Thermally-Dominant Recompression HCCI Combustion Dynamics

Shyam Jade, Erik Hellstro¨m, Anna Stefanopoulou, Li Jiang

DSCC 2011; 677-684doi:https://doi.org/10.1115/DSCC2011-6050

Abstract

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Topics: Combustion , Dynamics (Mechanics) , Homogeneous charge compression ignition engines , Steady state , Transients (Dynamics) , Flow (Dynamics) , Fuels , Limit cycles , Shapes , Temperature

Combustion Phasing Variation Reduction for Late-Phasing HCCI Through Cycle-to-Cycle Pilot Injection Timing Control

Adam F. Jungkunz, Nikhil Ravi, Hsien-Hsin Liao, J. Christian Gerdes

DSCC 2011; 685-692doi:https://doi.org/10.1115/DSCC2011-6091

Abstract

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Topics: Combustion , Cycles , Homogeneous charge compression ignition engines , Oscillations , Dynamics (Mechanics) , Fuels , Poles (Building) , Simulation

Modeling Ranges of Cyclic Variability for HCCI Ignition Timing Control

Mahdi Shahbakhti, Ahmad Ghazimirsaied, Charles Robert Koch

DSCC 2011; 693-700doi:https://doi.org/10.1115/DSCC2011-6118

Abstract

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Topics: Homogeneous charge compression ignition engines , Ignition , Modeling , Engines , Fuels , Intake manifolds , Shapes , Statistical distributions , Combustion , Control equipment

Modeling and Estimation for Automotive and Energy Systems

Energy-Based Modeling of Alternative Energy Storage Systems for Hybrid Vehicles

J. McDonough, K. Jebakumar, F. Chiara, M. Canova, K. Koprubasi

DSCC 2011; 701-708doi:https://doi.org/10.1115/DSCC2011-5951

Abstract

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Topics: Hybrid electric vehicles , Modeling , Renewable energy , Storage , Energy storage , Corporate average fuel economy , Fuel efficiency , Simulation , Vehicles , Electronic systems

A Reduced-Order Electrochemical Model of Lithium-Ion Cells for System Identification of Battery Aging

James Marcicki, Giorgio Rizzoni, A. T. Conlisk, Marcello Canova

DSCC 2011; 709-716doi:https://doi.org/10.1115/DSCC2011-6013

Abstract

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Topics: Battery life , Electrodes , Energy storage , Graphite , Iron , Lithium , Lithium-ion batteries , Modeling , Sensitivity analysis

Development of Vibration Loading Profiles for Accelerated Durability Tests of Ground Vehicles

Ke Xu, Yan Wu, Qiong Wu

DSCC 2011; 717-724doi:https://doi.org/10.1115/DSCC2011-6024

Abstract

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Topics: Durability , Vehicles , Vibration , Time series , Signals , Stress , Testing , Computer software , Fourier analysis , Image segmentation

Terrain-Aided Localization Using Feature-Based Particle Filtering

Sneha Kadetotad, Pramod K. Vemulapalli, Sean N. Brennan, Constantino Lagoa

DSCC 2011; 725-731doi:https://doi.org/10.1115/DSCC2011-6025

Abstract

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Topics: Particle filtering (numerical methods) , Vehicles , Filters , Filtration , Particulate matter , Roads , Robustness

Payload Parameter Real-Time Estimation for Lightweight Vehicles

Xiaoyu Huang, Junmin Wang

DSCC 2011; 733-740doi:https://doi.org/10.1115/DSCC2011-6045

Abstract

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Topics: Vehicles , Tires , Wheels , Algorithms , Condition monitoring , Control equipment , Dynamics (Mechanics) , Engineering prototypes , Motors , Parameter estimation

Powertrain Systems Modeling and Control

Mixed H₂/H_∞ Observer-Based LPV Control of a Hydraulic Engine Cam Phasing Actuator

Andrew White, Zhen Ren, Guoming Zhu, Jongeun Choi

DSCC 2011; 741-748doi:https://doi.org/10.1115/DSCC2011-5937

Abstract

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Topics: Actuators , Engines , Pressure , Closed loop systems , Control equipment , Gain scheduling , Linear matrix inequalities , Optimization , Sensors , Valves

Gearshift Controller Design for Automatic Transmission

Zhiyuan Liu, Jinwu Gao, Quan Zheng

DSCC 2011; 749-754doi:https://doi.org/10.1115/DSCC2011-5941

Abstract

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Topics: Control equipment , Design , Feedback , Oscillations , Pressure control , Simulation , Trajectories (Physics) , Turbines

Model-Based Control via Balanced Realization for Automotive Cold Start Hydrocarbon Reduction

Satoshi Asami, Adam Cranmer, Mahdi Shahbakhti, J. Karl Hedrick

DSCC 2011; 755-762doi:https://doi.org/10.1115/DSCC2011-5965

Abstract

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Topics: Control equipment , Design , Emissions , Nonlinear systems , Spark-ignition engine , Vehicles

Optimal LQ Transient Air-to-Fuel Ratio Control of an Internal Combustion Engine

Stephen Pace, Guoming G. Zhu

DSCC 2011; 763-768doi:https://doi.org/10.1115/DSCC2011-6004

Abstract

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Topics: Fuels , Internal combustion engines , Transients (Dynamics) , Dynamics (Mechanics) , Control equipment , Air flow , Engines , Wetting , Catalysts , Delays

Dynamic Model of Dual Clutch Lever-Based Electromechanical Actuator

Vladimir Ivanovic´, Josˇko Deur, Milan Milutinovic´, H. Eric Tseng

DSCC 2011; 769-776doi:https://doi.org/10.1115/DSCC2011-6019

Abstract

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Topics: Dynamic models , Electromechanical actuators , Levers , Actuators , Dynamics (Mechanics) , Model validation , Modeling

Surgical and Rehabilitation Robotics

Modeling Dynamic Ankle Mechanical Impedance in Relaxed Muscle

Hyunglae Lee, Neville Hogan

DSCC 2011; 777-782doi:https://doi.org/10.1115/DSCC2011-5976

Abstract

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Topics: Mechanical impedance , Modeling , Muscle , Inertia (Mechanics) , Poles (Building) , Robots , Tendons

Design of Energy-Saving PZT Drive Amplifiers for Mobile and Wearable Physical Assists

Patrick R. Barraga´n, Shinichiro Tsukahara, H. Harry Asada

DSCC 2011; 783-790doi:https://doi.org/10.1115/DSCC2011-5977

Abstract

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Topics: Actuators , Batteries , Battery life , Circuits , Design , Drainage , Energy consumption , Transducers , Weight (Mass)

Toward Fluoroscopic Shape Reconstruction for Control of Steerable Medical Devices

Jessica Burgner, S. Duke Herrell, Robert J. Webster, III

DSCC 2011; 791-794doi:https://doi.org/10.1115/DSCC2011-6029

Abstract

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Topics: Medical devices , Shapes , Needles , Biological tissues , Biomedical imaging , Feedback , Image segmentation , Manipulators , Robots , Surgery

Towards the Development of a Tendon-Driven Neurosurgical Robot

Mingyen Ho, Jaydev P. Desai

DSCC 2011; 795-797doi:https://doi.org/10.1115/DSCC2011-6075

Abstract

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Topics: Neurosurgery , Robots , Tendons , Tumors , Magnetic resonance imaging , Actuators , Brain , Cables , Cancer , Design

Radial Basis Function Network (RBFN) Approximation of Finite Element Models for Real-Time Simulation

Madusudanan Sathia Narayanan, Puneet Singla, Sudha Garimella, Wayne Waz, Venkat Krovi

DSCC 2011; 799-806doi:https://doi.org/10.1115/DSCC2011-6154

Abstract

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Topics: Approximation , Finite element model , Radial basis function networks , Simulation , Artificial neural networks , Biomedicine , Haptics , Feedback , Finite element analysis , Resolution (Optics)

Actuation Timing Strategies for a Portable Powered Ankle Foot Orthosis

Emily A. Morris, K. Alex Shorter, Yifan Li, Elizabeth T. Hsiao-Wecksler, Geza F. Kogler, Timothy Bretl, William K. Durfee

DSCC 2011; 807-814doi:https://doi.org/10.1115/DSCC2011-6170

Abstract

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Topics: Orthotics , State estimation , Algorithms , Carbon dioxide , Feedback , Hardware , Pneumatic actuators , Sensors , Torque

Vehicle Dynamics and Control

A Mixed Frequency/Time-Domain Method to Evaluate the Performance of Semi-Active Steering Damper Control Strategies During Challenging Maneuvers

Pierpaolo De Filippi, Sergio M. Savaresi

DSCC 2011; 815-822doi:https://doi.org/10.1115/DSCC2011-5913

Abstract

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Topics: Dampers , Stability , Algorithms , Braking , Control algorithms , Damping , Manufacturing , Motorcycles , Vehicles

A Comparison Between Model-Based and Data-Driven Design of an Active Stability Control System for Two-Wheeled Vehicles

Pierpaolo De Filippi, Simone Formentin, Sergio M. Savaresi

DSCC 2011; 823-830doi:https://doi.org/10.1115/DSCC2011-5934

Abstract

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Topics: Control systems , Design , Stability , Vehicles , Braking , Control equipment , Dynamics (Mechanics) , Motorcycles , Safety

Force-Based ABS Control Using Lateral Force Measurement

Mathieu Gerard, Matteo Corno, Michel Verhaegen, Edward Holweg

DSCC 2011; 831-837doi:https://doi.org/10.1115/DSCC2011-5939

Abstract

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Topics: Force measurement , Braking , Stability , Tires , Vehicles , Algorithms , Control equipment , Control systems , Engineering simulation , Simulation

Model Complexity Requirements in Design of Half Car Active Suspension Controllers

Keith J. Wakeham, D. Geoff Rideout

DSCC 2011; 839-846doi:https://doi.org/10.1115/DSCC2011-5955

Abstract

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Topics: Control equipment , Design , Vehicles , Actuators , Automobiles , Deflection , Degrees of freedom , Dimensions , Feedback , Optimal control

A Neighboring Optimal Controller for Disturbance Rejection During Vehicle Evasive Maneuvers

Damoon Soudbakhsh, Azim Eskandarian, David Chichka

DSCC 2011; 847-852doi:https://doi.org/10.1115/DSCC2011-6052

Abstract

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Topics: Control equipment , Vehicles , Errors , Wind , Design , Testing

Generating a Racing Line for an Autonomous Racecar Using Professional Driving Techniques

Paul A. Theodosis, J. Christian Gerdes

DSCC 2011; 853-860doi:https://doi.org/10.1115/DSCC2011-6097

Abstract

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Topics: Corners (Structural elements) , Tires , Vehicles

Controlling Vehicle Instability Through Stable Handling Envelopes

Craig E. Beal, Carrie G. Bobier, J. Christian Gerdes

DSCC 2011; 861-868doi:https://doi.org/10.1115/DSCC2011-6124

Abstract

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Topics: Vehicles , Accidents , Stability , Control equipment , Control systems , Sensors , Wire , Yaw

Understanding Agile-Maneuver Driving Strategies Using Coupled Longitudinal/Lateral Vehicle Dynamics

Jingliang Li, Yang Zhang, Jingang Yi, Zhaodu Liu

DSCC 2011; 869-876doi:https://doi.org/10.1115/DSCC2011-6152

Abstract

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Topics: Vehicle dynamics , Safety , Stability , Pendulums , Emergencies , Engineering simulation , Simulation , Vehicles

MPC Based Integrated Chassis Control to Enhance Vehicle Handling Considering Roll Stability

Ganesh Adireddy, Taehyun Shim

DSCC 2011; 877-884doi:https://doi.org/10.1115/DSCC2011-6159

Abstract

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Topics: Stability , Vehicles , Control systems , Control equipment , Predictive control , Risk , Simulation results , Tires , Torque , Trajectories (Physics)