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Proceedings Volume Cover

ASME 2015 Dynamic Systems and Control Conference

October 28–30, 2015

Columbus, Ohio, USA

Conference Sponsors:

ISBN:

978-0-7918-5726-7

In This Volume

Multiagent Network Systems (10)
Natural Gas and Heat Exchangers (6)
Path Planning and Motion Control (6)
Powertrain Systems (4)
Rehab Robotics (6)
Robot Manipulators (4)
Rollover Prevention (AVS) (4)
Sensors and Actuators (6)
Time Delay Systems (5)
Tracking Control Systems (5)
Uncertain Systems and Robustness (4)
Unmanned, Ground and Surface Robotics (6)
Vehicle Dynamics Control (11)
Vibration and Control of Smart Structures/Mech Systems (6)
Vibration Issues in Mechanical Systems (6)

Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems

Multiagent Network Systems

Detecting Behavioral Anomaly in Social Networks Using Symbolic Dynamic Filtering

Farshad Salimi Naneh Karan, Subhadeep Chakraborty

DSCC 2015; V003T37A001doi:https://doi.org/10.1115/DSCC2015-9643

Topics: Filtration , Algorithms , Climate , Decision making , Fluctuations (Physics) , Public policy , Simulation , Statistics as topic

Control of Multiagent Formations: A Multiplex Information Networks-Based Approach

Dung Tran, Tansel Yucelen

DSCC 2015; V003T37A002doi:https://doi.org/10.1115/DSCC2015-9644

Topics: Density

Control of Networked Multiagent Systems With Uncertain Graph Topologies

Tansel Yucelen, J. Daniel Peterson, Kevin L. Moore

DSCC 2015; V003T37A003doi:https://doi.org/10.1115/DSCC2015-9649

Topics: Multi-agent systems , Topology , Uncertainty , Control equipment , Design , Errors , Feedback , Modeling

Consensus of Conspecific Agents via Collaborative and Antagonistic Interactions

Subhradeep Roy, Nicole Abaid

DSCC 2015; V003T37A004doi:https://doi.org/10.1115/DSCC2015-9655

Topics: Engineering simulation , Simulation

Average Bridge Consensus: Dealing With Active-Passive Sensors

David W. Casbeer, Yongcan Cao, Eloy Garcia, Dejan Milutinović

DSCC 2015; V003T37A005doi:https://doi.org/10.1115/DSCC2015-9656

Topics: Bridges (Structures) , Sensors , Failure

State Emulator-Based Adaptive Architectures for Resilient Networked Multiagent Systems Over Directed and Time-Varying Graphs

Gerardo De La Torre, Tansel Yucelen

DSCC 2015; V003T37A006doi:https://doi.org/10.1115/DSCC2015-9802

Topics: Architecture , Multi-agent systems , Stability , Adaptive control , Mathematics

Mode Controllability and Disturbance Rejection in Consensus Networks

Rammah M. Abohtyra

DSCC 2015; V003T37A007doi:https://doi.org/10.1115/DSCC2015-9819

Topics: Differential equations , Simulation results

Design of Mobile Microgrid’s Hierarchy for Power Distribution

Barzin Moridian, Daryl Bennett, Nina Mahmoudian, Rush Robinett, Wayne W. Weaver

DSCC 2015; V003T37A008doi:https://doi.org/10.1115/DSCC2015-9866

Topics: Design , Generators , Microgrids , Robustness , Storage , Stress

An Iterative Learning Control Approach to Multi-Agent Formations

Michael Quann, Kira Barton

DSCC 2015; V003T37A009doi:https://doi.org/10.1115/DSCC2015-9872

Topics: Iterative learning control , Control equipment , Trajectories (Physics) , Dynamics (Mechanics) , Engineering simulation , Simulation , Stability

Distributed Navigation Strategy of Mobile Sensor Networks With Probabilistic Wireless Communication Links

Aqeel Madhag, Jongeun Choi

DSCC 2015; V003T37A010doi:https://doi.org/10.1115/DSCC2015-9964

Topics: Navigation , Sensor networks , Disks , Errors , Engineering systems and industry applications , Noise (Sound) , Simulation results , Theoretical analysis

Natural Gas and Heat Exchangers

Dynamic Modeling of Heat Exchangers With Humidity and Condensation

Herschel Pangborn, Andrew G. Alleyne

DSCC 2015; V003T39A001doi:https://doi.org/10.1115/DSCC2015-9646

Topics: Condensation , Dynamic modeling , Heat exchangers , Refrigerants , Compression , Condensed matter , Control modeling , Cross-flow , Design , Dynamic models

Model Reduction and Optimization of Natural Gas Pipeline Dynamics

Anatoly Zlotnik, Sergey Dyachenko, Scott Backhaus, Michael Chertkov

DSCC 2015; V003T39A002doi:https://doi.org/10.1115/DSCC2015-9683

Topics: Dynamics (Mechanics) , Natural gas distribution , Optimization , Pipelines , Compression , Transients (Dynamics) , Compressors , Control systems , Gas flow , Gasdynamics

A Soft-Sensing Technique for Measurement of Mass Flow Rate in a Liquid-Liquid Heat Exchanger

Sangeeta Nundy, Siddhartha Mukhopadhyay, Alok Kanti Deb

DSCC 2015; V003T39A003doi:https://doi.org/10.1115/DSCC2015-9881

Topics: Flow (Dynamics) , Heat exchangers , Mass measurement , Distributed parameter models , Temperature measurement , Algorithms , Energy budget (Physics) , Errors , Flaw detection , Kalman filters

Modeling of Ionic Polymer-Metal Composite-Enabled Hydrogen Gas Production

Tushar Nagpure, Zheng Chen

DSCC 2015; V003T39A004doi:https://doi.org/10.1115/DSCC2015-9922

Topics: Composite materials , Hydrogen , Metals , Modeling , Polymers , Electrolysis , Water , Capacitance , Circuits , Flow (Dynamics)

Wiener Modeling of a Closed Loop Vapor Compression System for Extremum Seeking Controller Design

Bryan Keating, Justin Koeln, Andrew Alleyne

DSCC 2015; V003T39A005doi:https://doi.org/10.1115/DSCC2015-9941

Topics: Compression , Control equipment , Design , Modeling , Vapors , Condensers (steam plant) , Dynamics (Mechanics) , Energy consumption , Errors , Simulation

Natural Gas Hydrogen Reformer Controller Design With Disturbance Rejection

Verica Radisavljevic-Gajic, Patrick Rose

DSCC 2015; V003T39A006doi:https://doi.org/10.1115/DSCC2015-9970

Topics: Control equipment , Design , Hydrogen , Natural gas , Fuel cells , Feedback , Feedforward control , Linear dynamic system , Optimization , Simulation results

Path Planning and Motion Control

Compensating Flexibility in Servo Systems Using Iterative Learning Control

Cong Wang, Zining Wang, Cheng Peng, Yu Zhao, Masayoshi Tomizuka

DSCC 2015; V003T40A001doi:https://doi.org/10.1115/DSCC2015-9659

Topics: Iterative learning control , Servomechanisms , Torque , Engines , Errors , Gears , Motors , Robust control , Uncertainty , Vibration

Motion Planning and Differential Flatness of Mechanical Systems on Principal Bundles

Tony Dear, Scott David Kelly, Matthew Travers, Howie Choset

DSCC 2015; V003T40A002doi:https://doi.org/10.1115/DSCC2015-9660

Topics: Path planning , Kinematics , Trajectories (Physics)

Speed Control of an Inertia Load Connected to a Motor Through a Compliant Mechanical Transmission System

Pramod R. Raul, Ramamurthy V. Dwivedula, Prabhakar R. Pagilla

DSCC 2015; V003T40A003doi:https://doi.org/10.1115/DSCC2015-9798

Topics: Engines , Inertia (Mechanics) , Mechanical drives , Motors , Stress , Feedback , Belts , Control systems , Degrees of freedom , Dynamics (Mechanics)

Complete Coverage Path Planning for Flexible Parent-Child Unit Robots

Dare Olaonipekun, Joshua Vaughan

DSCC 2015; V003T40A004doi:https://doi.org/10.1115/DSCC2015-9822

Topics: Path planning , Robots , Algorithms , Dampers , Springs , Vibration , Wire

Dynamic Affection-Based Motion Control of a Humanoid Robot to Collaborate With Human in Flexible Assembly in Manufacturing

S. M. Mizanoor Rahman, Yue Wang

DSCC 2015; V003T40A005doi:https://doi.org/10.1115/DSCC2015-9841

Topics: Humanoid robots , Manufacturing , Motion control , Robots , Human-robot interaction , Dynamics (Mechanics) , Collaboration , Optimization

Probability-Based Optimal Path Planning for Two-Wheeled Mobile Robots

Jaeyeon Lee, Wooram Park

DSCC 2015; V003T40A006doi:https://doi.org/10.1115/DSCC2015-9909

Topics: Mobile robots , Path planning , Probability , Simulation , Density , Errors , Algorithms , Differential equations , Dynamic systems , Fokker-Planck equation

Powertrain Systems

Online Powermanagement With Embedded Optimization for a Multi-Source Hybrid With Dynamic Power Sharing Between Components

Bedatri Moulik, Dirk Söffker

DSCC 2015; V003T41A001doi:https://doi.org/10.1115/DSCC2015-9758

Topics: Optimization , Control equipment , Storage , Trains , Transportation systems

Optimal Slip Control of a Torque Converter Clutch

Yaoying Wang, Zongxuan Sun

DSCC 2015; V003T41A002doi:https://doi.org/10.1115/DSCC2015-9840

Topics: Torque converters , Engines , Torque , Simulation results , Trajectories (Physics) , Vibration , Dynamic programming , Signals , Transients (Dynamics) , Vehicles

Hybrid System Based Analytical Approach for Optimal Gear Shifting Schedule Design

Chaozhe R. He, Wubing B. Qin, Necmiye Ozay, Gábor Orosz

DSCC 2015; V003T41A003doi:https://doi.org/10.1115/DSCC2015-9943

Topics: Design , Gears , Control equipment , Dynamics (Mechanics) , Fuel consumption , Optimization , Propulsion , Torque , Trucks , Vehicles

Rapid Optimization of Multiple-Planetary-Gear Power-Split Hybrid Powertrains

Weichao Zhuang, Xiaowu Zhang, Huei Peng, Liangmo Wang

DSCC 2015; V003T41A004doi:https://doi.org/10.1115/DSCC2015-9977

Topics: Gears , Optimization , Design , Corporate average fuel economy , Fuel efficiency , Hybrid electric vehicles , Planetary gears

Rehab Robotics

Instrumented Walkway for Estimation of the Ankle Impedance in Dorsiflexion-Plantarflexion and Inversion-Eversion During Standing and Walking

Evandro M. Ficanha, Guilherme Ribeiro, Mohammad Rastgaar Aagaah

DSCC 2015; V003T42A001doi:https://doi.org/10.1115/DSCC2015-9774

Topics: Actuators , Analytical methods , Cables , Degrees of freedom , Errors , Manufacturing , Mechanical impedance , Rotation , Stiffness

Assist-as-Needed Controllers for Index Finger Module of a Hand Exoskeleton for Rehabilitation

Priyanshu Agarwal, Benito R. Fernandez, Ashish D. Deshpande

DSCC 2015; V003T42A002doi:https://doi.org/10.1115/DSCC2015-9790

Topics: Control equipment , Exoskeleton devices , Engineering prototypes , Feedforward control , Finger joints (Carpentry) , Torque , Trajectories (Physics)

Multi-Objective Optimization of Impedance Parameters in a Prosthesis Test Robot

Poya Khalaf, Hanz Richter, Antonie J. van den Bogert, Dan Simon

DSCC 2015; V003T42A003doi:https://doi.org/10.1115/DSCC2015-9848

Topics: Pareto optimization , Prostheses , Robots , Errors , Design , Control equipment , Control systems , Peak load , Trajectories (Physics) , Optimization

Active Control of MR Wearable Robotic Orthosis for Pathological Tremor Suppression

David Case, Behzad Taheri, Edmond Richer

DSCC 2015; V003T42A004doi:https://doi.org/10.1115/DSCC2015-9874

Topics: Orthotics , Robotics , Dampers , Energy consumption , Actuators , Control algorithms , Dynamic response , Essential tremors , Fluids , Musculoskeletal system

Indoor Mapping and Localization for a Smart Wheelchair Using Measurements of Ambient Magnetic Fields

Anthony T. Trezza, Nurali N. Virani, Kelilah L. Wolkowicz, Jason Z. Moore, Sean N. Brennan

DSCC 2015; V003T42A005doi:https://doi.org/10.1115/DSCC2015-9915

Topics: Magnetic fields , Wheelchairs , Mechanical admittance , Density , Kinematics , Particle filtering (numerical methods) , Signals

Analysis and Passive Control of a Four-Bar Linkage for the Rehabilitation of Upper-Limb Motion

Evagoras G. Xydas, Loucas S. Louca, Andreas Mueller

DSCC 2015; V003T42A006doi:https://doi.org/10.1115/DSCC2015-9916

Topics: Linkages , Passive control , Design , Robotics , Springs , Torque , Kinematics , Trajectories (Physics) , Closed kinematic chains , Computer control

Robot Manipulators

Dynamic Balancing of Parallel Manipulators Through Reconfiguration

Dan Zhang, Bin Wei

DSCC 2015; V003T43A001doi:https://doi.org/10.1115/DSCC2015-9669

Topics: Manipulators , Design , Angular momentum , Center of mass , Damping , Inertia (Mechanics) , Parallel mechanisms , Vibration

Impulse Redirection of a Tethered Projectile

Hossein Faraji, Stephanie Veile, Samantha Hemleben, Pavel Zaytsev, Joel Wright, Hans Luchsinger, Ross L. Hatton

DSCC 2015; V003T43A002doi:https://doi.org/10.1115/DSCC2015-9708

Topics: Impulse (Physics) , Projectiles , Braking , Center of mass , Flight , Momentum

The Advantages of Velocity Control for Reactive Robot Motion

Andy Zelenak, Clinton Peterson, Jack Thompson, Mitch Pryor

DSCC 2015; V003T43A003doi:https://doi.org/10.1115/DSCC2015-9713

Topics: Actuators , Collisions (Physics) , Delays , Force control , Hardware , Manipulators , Path planning , Position control , Robot motion , Robustness

A New Continuum Robot With Crossed Elastic Strips: Extensible Sections With Only One Actuator per Section

Andria A. Remirez, Robert J. Webster, III

DSCC 2015; V003T43A004doi:https://doi.org/10.1115/DSCC2015-9919

Topics: Actuators , Robots , Strips , Engineering prototypes , Errors

Rollover Prevention (AVS)

Vehicle Rollover Prevention Using the Zero-Moment Point in an LQR Output Regulator

Paul Stankiewicz, Nicolas Ochoa Lleras, Robert Leary, Sean Brennan

DSCC 2015; V003T44A001doi:https://doi.org/10.1115/DSCC2015-9624

Topics: Vehicles , Collisions (Physics) , Wheels

A Discrete-Time Integral Sliding Model Predictive Control for Obstacle Avoidance of Ground Vehicles

Yi-Wen Liao, J. Karl Hedrick

DSCC 2015; V003T44A002doi:https://doi.org/10.1115/DSCC2015-9741

Topics: Predictive control , Vehicles , Control equipment , Bicycles , Engineering simulation , Feedback , Friction , Robust control , Robustness , Simulation

An MPC Algorithm With Combined Speed and Steering Control for Obstacle Avoidance in Autonomous Ground Vehicles

Jiechao Liu, Paramsothy Jayakumar, Jeffrey L. Stein, Tulga Ersal

DSCC 2015; V003T44A003doi:https://doi.org/10.1115/DSCC2015-9747

Topics: Algorithms , Vehicles , Optimization , Navigation , Optimal control , Predictive control , Sensors , Simulation results , Stability , Tires

Nonlinear Model Predictive Controller for an Unmanned Ground Vehicle on Variable Terrain

Andrew Eick, David Bevly

DSCC 2015; V003T44A004doi:https://doi.org/10.1115/DSCC2015-9982

Topics: Control equipment , Vehicles , Hazards , Surface roughness , Tires , Control algorithms , Dynamics (Mechanics) , Risk , Roads , Sensors

Sensors and Actuators

Sensor Signal Limitations in Wheel Rotational Kinematics Estimation Model

Jesse R. Paldan, Jeremy P. Gray, Vladimir V. Vantsevich

DSCC 2015; V003T45A001doi:https://doi.org/10.1115/DSCC2015-9769

Topics: Kinematics , Sensors , Signals , Wheels , Roads , Vehicles , Braking , Dynamics (Mechanics) , Hall effect , Impulse (Physics)

Inertia-Driven Controlled Passive Actuation

Douwe Dresscher, Theo J. A. de Vries, Stefano Stramigioli

DSCC 2015; V003T45A002doi:https://doi.org/10.1115/DSCC2015-9786

Topics: Inertia (Mechanics) , Actuators , Stress , Dynamics (Mechanics) , Energy dissipation , Energy storage , Engineering simulation , Feedback , Flow (Dynamics) , Legged locomotion

Active Sensing of Distributed Parameter Structures Enhanced by Robust Consensus Observer

Ehsan Omidi, S. Nima Mahmoodi

DSCC 2015; V003T45A003doi:https://doi.org/10.1115/DSCC2015-9793

Topics: Algebra , Dynamics (Mechanics) , Flexible structures , Robustness , Sensor networks , Sensors , State estimation , Topology

Coordinated Rate Control of a Hydraulic Excavator Using Traditional Joystick Hardware

Samuel F. Seifert, Wayne J. Book

DSCC 2015; V003T45A004doi:https://doi.org/10.1115/DSCC2015-9923

Topics: Hardware , Trenching machinery , User interfaces , End effectors , Preferences , Dynamics (Mechanics) , Errors , Stress

Investigation of Energy Efficiency in Force Control of Pneumatic Actuators

Behzad Taheri, David Case, Edmond Richer

DSCC 2015; V003T45A005doi:https://doi.org/10.1115/DSCC2015-9926

Topics: Energy efficiency , Force control , Pneumatic actuators , Pneumatic cylinders , Actuators , Control algorithms , Pneumatic systems , Pressure , Real-time control

A Continuous-Field Actuation Method for Transducing Optical Color Images to Magnetic/Eddy-Current Patterns

Kok-Meng Lee, Chun-Yeon Lin, Min Li

DSCC 2015; V003T45A006doi:https://doi.org/10.1115/DSCC2015-9958

Topics: Eddies (Fluid dynamics) , Eddy currents (Electricity) , Actuators , Energy management systems , Resolution (Optics) , Damage , Design , Electric fields , Electrodes , Electromagnetic induction

Time Delay Systems

Time- and State-Dependent Input Delay-Compensated Bang-Bang Control of a Screw Extruder for 3D Printing

Mamadou Diagne, Nikolaos Bekiaris-Liberis, Miroslav Krstic

DSCC 2015; V003T46A001doi:https://doi.org/10.1115/DSCC2015-9630

Topics: Additive manufacturing , Delays , Screws , Feedback , Design , Stability , Closed loop systems , Control equipment , Convection , Design methodology

Robust Gain-Scheduling Output Feedback Control of State-Delayed LFT Systems Using Dynamic IQCs

Chengzhi Yuan, Fen Wu, Chang Duan

DSCC 2015; V003T46A002doi:https://doi.org/10.1115/DSCC2015-9686

Topics: Feedback , Gain scheduling , Delays , Control equipment , Algorithms , Design , Linear matrix inequalities , Stability

A Multi-Mode Smooth Command Shaper With an Adjustable Maneuver Time

Khaled A. Alhazza, Ziyad N. Masoud

DSCC 2015; V003T46A003doi:https://doi.org/10.1115/DSCC2015-9700

Topics: Control equipment , Cranes , Lumber , Motors , Resonance , Vibration

A Predictive Strategy to Control Time-Varying Delay Systems: Lean-Burn Engines

Morteza Mohammadzaheri, Reza Tafreshi, Behrouz Ebrahimi, Karolos Grigoriadis, Matthew A. Franchek

DSCC 2015; V003T46A004doi:https://doi.org/10.1115/DSCC2015-9868

Topics: Delays , Engines , Combustion , Control systems , Design , Feedback , Feedforward control , Gasoline , Spark-ignition engine , Stability

Improved Robust Stability Bounds for Sampled Data Time Delay Systems

Jubal Kurudamannil, Rama Yedavalli

DSCC 2015; V003T46A005doi:https://doi.org/10.1115/DSCC2015-9959

Topics: Stability , Time delay systems , Control equipment , Delays , Feedback , Robustness , Vehicles

Tracking Control Systems

Extended State Observer Based Controller Design for the Green Bank Telescope Servo System

Trupti Ranka, Mario Garcia-Sanz, John M. Ford

DSCC 2015; V003T47A001doi:https://doi.org/10.1115/DSCC2015-9677

Topics: Control equipment , Design , Servomechanisms , State estimation , Telescopes , Engineering simulation , Errors , Flexible structures , Simulation

Image Processing and Localization for Detecting and Tracking Wildland Fires

Anoop Sathyan, Manish Kumar, Kelly Cohen

DSCC 2015; V003T47A002doi:https://doi.org/10.1115/DSCC2015-9839

Topics: Fire , Image processing , Unmanned aerial vehicles , Computer software , Discrete element methods , Matlab , Risk

Appearance-Based Outdoor Localization Using Group LASSO Regression

Huan N. Do, Jongeun Choi

DSCC 2015; V003T47A003doi:https://doi.org/10.1115/DSCC2015-9865

Topics: Kalman filters , Shrinkage (Materials)

Automatic Alignment of Motion Capturing System Markers to a Small Differential Drive Robot’s Position and Heading Angle

Dejan Milutinović, David W. Casbeer

DSCC 2015; V003T47A004doi:https://doi.org/10.1115/DSCC2015-9878

Topics: Robots , Trajectories (Physics)

Analysis of the Improvement in Accuracy Using Multiple Gyros

Shuyang Li, Yizhou Wang, Masayoshi Tomizuka

DSCC 2015; V003T47A005doi:https://doi.org/10.1115/DSCC2015-9928

Topics: Computer simulation , Kalman filters , Microelectromechanical systems , Noise (Sound) , Signals

Uncertain Systems and Robustness

An Adaptive Robust Control for Hard Rock Tunnel Boring Machine Cutterhead Driving System

Chengjun Shao, Jianfeng Liao, Xiuliang Li, Hongye Su

DSCC 2015; V003T48A001doi:https://doi.org/10.1115/DSCC2015-9697

Topics: Boring machines , Robust control , Rocks , Tunnels , Dynamic models , Uncertainty , Control equipment , Cutting , Errors , Rotation

Stabilization of Inverted Pendulum on a Cart in the Presence of Uncertainties

Joonho Lee, Jongeun Choi

DSCC 2015; V003T48A002doi:https://doi.org/10.1115/DSCC2015-9975

Topics: Pendulums , Uncertainty , Computer simulation , Design , Equilibrium (Physics) , Feedback , State feedback

A New, Necessary and Sufficient Vertex Solution for Robust Stability Check of Unstructured Convex Combination Matrix Families

Rama K. Yedavalli

DSCC 2015; V003T48A003doi:https://doi.org/10.1115/DSCC2015-9986

Topics: Stability , Transparency , Algorithms , Eigenvalues

Parameterized Uncertainty Model Using a Genetic Algorithm With Application to an Electro-Hydraulic Valve Control System

Zuheng Kang, Bahaa I. Kazem, Roger C. Fales

DSCC 2015; V003T48A004doi:https://doi.org/10.1115/DSCC2015-9994

Topics: Control systems , Genetic algorithms , Uncertainty , Valves , Flow control valves , Stability

Unmanned, Ground and Surface Robotics

A Robotic Vehicle for Aquatic Environmental Monitoring

Jeffrey Laut, Ben High, Oded Nov, Maurizio Porfiri

DSCC 2015; V003T49A001doi:https://doi.org/10.1115/DSCC2015-9748

Topics: Canals , Data collection , Mobile robots , Natural resources , Robotic vehicles , Robotics , Robots , Water pollution

Deployment of a Robotic Fish Platform in Informal Science Learning

Paul Phamduy, Catherine Milne, Mary Leou, Maurizio Porfiri

DSCC 2015; V003T49A002doi:https://doi.org/10.1115/DSCC2015-9751

Topics: Robotics , Feedback , Robots

Model Predictive Control-Based Probabilistic Search Method for Autonomous Ground Robot in a Dynamic Environment

Chang Liu, Shengbo Eben Li, J. Karl Hedrick

DSCC 2015; V003T49A003doi:https://doi.org/10.1115/DSCC2015-9814

Topics: Robots , Predictive control , Probability , Collisions (Physics) , Computation , Engineering simulation , Gaussian distribution , Military systems , Sensors , Simulation

The Stick-Slip Motion of a Chaplygin Sleigh With a Piecewise Smooth Nonholonomic Constraint

Vitaliy Fedonyuk, Phanindra Tallapragada

DSCC 2015; V003T49A004doi:https://doi.org/10.1115/DSCC2015-9820

Topics: Computer simulation , Friction , Non-smooth dynamics , Stick-slip

Adaptive RGB-D Visual Odometry for Mobile Robots: An Experimental Study

J. Wesley Anderson, Joshua R. Fabian, Garrett M. Clayton

DSCC 2015; V003T49A005doi:https://doi.org/10.1115/DSCC2015-9829

Topics: Mobile robots , Algorithms , Robots , Sensors , Wheels , Errors

Dynamic Modeling of Robotic Fish Caudal Fin With Electrorheological Fluid-Enabled Tunable Stiffness

Sanaz Bazaz Behbahani, Xiaobo Tan

DSCC 2015; V003T49A006doi:https://doi.org/10.1115/DSCC2015-9879

Topics: Dynamic modeling , Fluids , Robotics , Stiffness , Equations of motion , Electric fields , Finite element methods , Fluid-dynamic forces , Hamilton's principle , Modeling

Vehicle Dynamics Control

Towards ECU-Executable Control-Oriented Models of a Three-Way Catalytic Converter

Mario Santillo, Steve Magner, Mike Uhrich, Mrdjan Jankovic

DSCC 2015; V003T50A001doi:https://doi.org/10.1115/DSCC2015-9653

Topics: Catalysts , Catalytic converters , Control equipment , Design , Dynamics (Mechanics) , Emissions , Engines , Exhaust systems , Feedback , Nonlinear dynamics

Dynamic Rear-End Collision Mitigation for a Vehicle About to be Struck

Luke Giugliano, Craig E. Beal

DSCC 2015; V003T50A002doi:https://doi.org/10.1115/DSCC2015-9674

Topics: Collisions (Physics) , Vehicles , Safety , Joining , Roads

Road Roughness Preview With Drive History

Nanjun Liu, Andrew Alleyne, Shane Elwart, Tom Pilutti

DSCC 2015; V003T50A003doi:https://doi.org/10.1115/DSCC2015-9726

Topics: Roads , Surface roughness , Vehicles , Algorithms , Simulation results

An Adaptive Nonlinear Differentiable Friction Modeling for Tire-Road Friction Estimation

Zhi-Jun Fu, Subhash Rakheja, Wen-Fang Xie, Xiao-Bin Ning, Wei-Dong Xie

DSCC 2015; V003T50A004doi:https://doi.org/10.1115/DSCC2015-9755

Topics: Friction , Modeling , Roads , Tires , Errors , Parameter estimation , Signals , Vehicles , Lyapunov methods , Robustness

A Sequential Two-Step Algorithm for Fast Generation of Vehicle Racing Trajectories

Nitin R. Kapania, John Subosits, J. Christian Gerdes

DSCC 2015; V003T50A005doi:https://doi.org/10.1115/DSCC2015-9757

Topics: Algorithms , Vehicles , Computation , Trajectories (Physics) , Brakes , Friction , Laptop computers , Optimal control , Optimization , Steering wheels

Hierarchical Hybrid Predictive Control of an Autonomous Road Vehicle

Qian Wang, Thomas Weiskircher, Beshah Ayalew

DSCC 2015; V003T50A006doi:https://doi.org/10.1115/DSCC2015-9773

Topics: Motor vehicles , Predictive control , Vehicles , Control equipment , Decision making , Engineering simulation , Highways , Machinery , Particulate matter , Simulation

An Adaptive and Fast Control Strategy for Antilock Braking System

S. Tajeddin, M. Batra, N. L. Azad, J. McPhee, R. A. Fraser

DSCC 2015; V003T50A007doi:https://doi.org/10.1115/DSCC2015-9779

Topics: Antilock braking systems , Algorithms , Braking , Roads , Automobiles , Friction , Safety , Simulation results , Stability

Development of a Miniaturized Autonomous Vehicle: Modification of a 1:18 Scale RC Car for Autonomous Operation

Dwarkesh Iyengar, Diane L. Peters

DSCC 2015; V003T50A008doi:https://doi.org/10.1115/DSCC2015-9799

Topics: Vehicles , Actuators , Automobiles , Hardware , Sensors , Signals , Accelerometers , Cities , Computers , Data acquisition

Automated Robust Path Following Control Based on Calculation of Lateral Deviation and Yaw Angle Error

Mümin Tolga Emirler, Haoan Wang, Bilin Aksun Güvenç, Levent Güvenç

DSCC 2015; V003T50A009doi:https://doi.org/10.1115/DSCC2015-9856

Topics: Errors , Yaw , Control equipment , Vehicles , Design , Trajectories (Physics) , Engineering simulation , Mass production , Simulation , Stability

Optimal Switching in Anti-Lock Brake Systems of Ground Vehicles Based on Approximate Dynamic Programming

Tohid Sardarmehni, Ali Heydari

DSCC 2015; V003T50A010doi:https://doi.org/10.1115/DSCC2015-9893

Topics: Antilock braking systems , Dynamic programming , Vehicles , Artificial neural networks , Hydraulic brakes , Actuators , Algorithms , Brakes , Braking , Computer simulation

Evaluation of a Multi-Vehicle Merging Strategy Under Different Lateral Maneuvers in the Presence of Sudden Braking

Mohammad Goli, Azim Eskandarian

DSCC 2015; V003T50A011doi:https://doi.org/10.1115/DSCC2015-9985

Topics: Braking , Vehicles , Trajectories (Physics) , Generators , Safety , Simulation results , Switches , Transportation systems

Vibration and Control of Smart Structures/Mech Systems

Vibration Suppression Based on Adaptive Feedforward Control With Infinite Impulse Response Filter

Shiying Zhou, Masayoshi Tomizuka

DSCC 2015; V003T52A001doi:https://doi.org/10.1115/DSCC2015-9752

Topics: Feedforward control , Filters , Impulse (Physics) , Vibration suppression , Signals , Vibration , Algorithms , Design , Disks , Dynamics (Mechanics)

Dynamics Modeling of Clamping System Considering Characteristics of the Clamping Contact Surface

Yanmin Zhao, Jianfu Zhang, Pingfa Feng, Yuan Ma

DSCC 2015; V003T52A002doi:https://doi.org/10.1115/DSCC2015-9753

Topics: Dynamics (Mechanics) , Modeling , Cutting , Stability , Frequency response

Active Wide-Band Vibration Rejection for Semiconductor Manufacturing Robots

Zining Wang, Cong Wang, Masayoshi Tomizuka

DSCC 2015; V003T52A003doi:https://doi.org/10.1115/DSCC2015-9776

Topics: Integrated circuit fabrication , Robots , Vibration , Semiconductor wafers , Actuators , Control equipment , Motor controls , Risk , Vibration control

A New Vibration Controller Design Using Consensus Technique

Ehsan Omidi, S. Nima Mahmoodi

DSCC 2015; V003T52A004doi:https://doi.org/10.1115/DSCC2015-9795

Topics: Control equipment , Design , Vibration , Vibration control , Aluminum , Flexible structures , Stability , Topology

Sensor Fusion for Vibration Suppression Implemented on Arduino and Raspberry Pi

Ryan W. Krauss

DSCC 2015; V003T52A005doi:https://doi.org/10.1115/DSCC2015-9816

Topics: Sensors , Vibration suppression , Control equipment , Feedback , Hardware , Students

Cross Coupling in Parallel Kinematic MEMS Nanopositioners

Mohammad Maroufi, S. O. Reza Moheimani

DSCC 2015; V003T52A006doi:https://doi.org/10.1115/DSCC2015-9824

Topics: Kinematics , Microelectromechanical systems , Engineering simulation , Microfabrication , Simulation

Vibration Issues in Mechanical Systems

Analysis of Stability and Bifurcation of an Asymmetrical Rotor

Majid Shahgholi, S. E. Khadem, Mahsa Asgarisabet

DSCC 2015; V003T53A001doi:https://doi.org/10.1115/DSCC2015-9728

Topics: Bifurcation , Rotors , Stability , Disks , Rotational inertia , Computer simulation , Damping , Equations of motion , Hamilton's principle , Resonance

Continuous Structures With Viscoelastic Supports: Tuning of Material Parameters and Support Location

Kumar Vikram Singh, Danielle Oliver, Xiaoxuan Ling

DSCC 2015; V003T53A002doi:https://doi.org/10.1115/DSCC2015-9846

Topics: Damping , Design , Eigenvalues , Engineering systems and industry applications , Equations of motion , Free vibrations , Frequency response , Materials properties , Rods , Smart materials

A Control Theoretic Framework for Optimally Locating Passive Vibration Isolators to Minimize Residual Vibration

Amir H. Ghasemi, Jihyun Lee, Chinedum E. Okwudire

DSCC 2015; V003T53A003doi:https://doi.org/10.1115/DSCC2015-9871

Topics: Vibration , Vibration isolators , Design , Damping , Engineering simulation , Feedback , Feedforward control , Machinery , Manufacturing , Optimal control

Finite Element Modelling of a Generic Rotor-Bearing System and Experimental Validation

A. Rehman, K. S. Ahmed, F. A. Umrani, B. Munir, A. Mehboob, S. M. Ahmad, Z. Kazmi

DSCC 2015; V003T53A004doi:https://doi.org/10.1115/DSCC2015-9901

Topics: Bearings , Finite element analysis , Modeling , Rotors , Finite element model , Dynamic response , Mode shapes , Design , Dynamic testing (Engineering) , Dynamic testing (Materials)

Efficient Spatial Dynamics for Continuum Arms

Isuru S. Godage, Raul Wirz, Ian D. Walker, Robert J. Webster, III

DSCC 2015; V003T53A005doi:https://doi.org/10.1115/DSCC2015-9932

Topics: Dynamics (Mechanics) , Dynamic models , Center of mass , Muscle , Robots , Steady state , Transients (Dynamics)

Dynamic Modeling and Analysis for Thin-Wall Plate Machining

Jiajie Guo, Ruochu Liu, Kok-Meng Lee

DSCC 2015; V003T53A006doi:https://doi.org/10.1115/DSCC2015-9952

Topics: Dynamic modeling , Machining , Thin wall structures , Vibration , Boundary-value problems , Compressors , Cutting tools , Deformation , Disks , Displacement