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Proceedings Volume Cover

ASME 2016 Dynamic Systems and Control Conference

October 12–14, 2016

Minneapolis, Minnesota, USA

Conference Sponsors:

ISBN:

978-0-7918-5070-1

In This Volume

Mechatronics (10)
Mechatronics and Controls in Advanced Manufacturing (6)
Modeling and Control of Automotive Systems (5)
Modeling and Control of Combustion Engines (6)
Modeling and Validation (12)
Motion and Vibration Control Applications (11)
Multi-Agent and Networked Systems (9)
Path Planning and Motion Control (12)
Robot Manipulators (5)
Sensors and Actuators (6)
Tracking Control Systems (5)
Uncertain Systems and Robustness (5)
Unmanned, Ground and Surface Robotics (5)
Vehicle Dynamic Controls (5)
Vehicle Dynamics and Traffic Control (6)

Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control

Mechatronics

Coupled Chaotic and Hyperchaotic Dynamics of Actuated Butterfly Valves Operating in Series

Peiman Naseradinmousavi, Mostafa Bagheri, Miroslav Krstić, C. Nataraj

DSCC 2016; V002T17A001doi:https://doi.org/10.1115/DSCC2016-9601

Topics: Dynamics (Mechanics) , Valves , Actuators , Dynamic analysis , Stability , Flow (Dynamics) , Natural gas fields , Navy , Petrochemicals , Pipes

Complex Non-Minimum Phase Zeros in the Dynamics of Double Parallelogram Flexure Module Based Flexure Mechanisms

Leqing Cui, Chinedum Okwudire, Shorya Awtar

DSCC 2016; V002T17A002doi:https://doi.org/10.1115/DSCC2016-9658

Topics: Bending (Stress) , Dynamics (Mechanics) , Flexure mechanisms , Displacement , Design , Eigenvalues , Blocks (Building materials) , Frequency response , Kinematics , Manufacturing

Mechatronics-Based Analysis of a 4x4 Vehicle Lateral Dynamics With Passive and Active Drivelines

Vladimir V. Vantsevich, Jesse R. Paldan

DSCC 2016; V002T17A003doi:https://doi.org/10.1115/DSCC2016-9683

Topics: Dynamics (Mechanics) , Mechatronics , Vehicles , Modeling , Modeling analysis , Simulation results , Stability , Steering systems , Tires , Torque

Free Piston Engine Based Mobile Fluid Power Source

Keyan Liu, Chen Zhang, Zongxuan Sun

DSCC 2016; V002T17A004doi:https://doi.org/10.1115/DSCC2016-9724

Topics: Fluids , Piston engines , Flow (Dynamics) , Pressure , Stress , Degrees of freedom , Emissions , Engineering prototypes , Hydraulic pumps , Inertia (Mechanics)

Fish Like Aquatic Robot Demonstrates Characteristics of a Linear System

Beau Pollard, Phanindra Tallapragada

DSCC 2016; V002T17A005doi:https://doi.org/10.1115/DSCC2016-9764

Topics: Linear systems , Robots , Vorticity , Fluids , Computation , Control algorithms , Design , Fluid structure interaction , Navier-Stokes equations , Rotors

Implementation of State and Disturbance Estimation for Quadrotor Control Using Extended High-Gain Observers

Connor J. Boss, Joonho Lee, Charles Carvalho de Aguiar, Jongeun Choi

DSCC 2016; V002T17A006doi:https://doi.org/10.1115/DSCC2016-9766

Topics: Computation , Computer simulation , Control algorithms , Design , Dynamics (Mechanics) , Inertia (Mechanics) , Rotational dynamics , Uncertainty , Vehicles

Autonomous Charging for an Underwater Robotic Fish by Direct Contact

Paul Phamduy, Jayhwan Cheong, Maurizio Porfiri

DSCC 2016; V002T17A007doi:https://doi.org/10.1115/DSCC2016-9779

Topics: Robotics , Batteries , Control equipment , Cycles , Doors , Feedback , Navigation , Robots , Underwater vehicles , Water

A Two-Level Adaptive Fuzzy Control Algorithm for Beyond Pull-In Stabilization of Electrostatically Actuated Microplates

Moeen Radgolchin, Hamid Moeenfard, Amir H. Ghasemi

DSCC 2016; V002T17A008doi:https://doi.org/10.1115/DSCC2016-9841

Topics: Algorithms , Fuzzy control , Microplates , Control equipment , Deflection , Actuators , Approximation , Closed loop systems , Differential equations , Engineering simulation

Miniature Underwater Robotic Fish for Animal-Robot Interactions

Paul Phamduy, Miguel Vazquez, Alessandro Rizzo, Maurizio Porfiri

DSCC 2016; V002T17A009doi:https://doi.org/10.1115/DSCC2016-9857

Topics: Robotics , Robots , Design , Printing , Degrees of freedom , Dynamic models , Electronics , Engineering prototypes , Propulsion , Solenoids

Design of a Control System for Serial Mechanisms

Dan Zhang, Bin Wei

DSCC 2016; V002T17A010doi:https://doi.org/10.1115/DSCC2016-9904

Topics: Control systems , Design , Control equipment , Inertia (Mechanics) , Manipulators , Algorithms , Degrees of freedom , Hybrid control

Mechatronics and Controls in Advanced Manufacturing

Nonparametric Tool Path Compensation for Machining Flexible Parts

Waku Hatakeyama, Cong Wang, Lu Lu

DSCC 2016; V002T18A001doi:https://doi.org/10.1115/DSCC2016-9640

Topics: Machining , Engineering simulation , Simulation , Algorithms , Artificial neural networks , Finite element analysis , Path planning , Sensors

Boundary Control of Fickian Gaseous Diffusion Process in Polymers

Santosh Devasia, Vipin Kumar, Ann M. Mescher

DSCC 2016; V002T18A002doi:https://doi.org/10.1115/DSCC2016-9649

Topics: Diffusion processes , Polymers , Heat treating (Metalworking) , Diffusion (Physics) , Dynamics (Mechanics) , Heat , Optimal control , Pressure , Simulation

Dynamic Modeling of Twin-Roll Steel Strip Casting

Florian Browne, George Chiu, Neera Jain

DSCC 2016; V002T18A003doi:https://doi.org/10.1115/DSCC2016-9698

Topics: Casting , Dynamic modeling , Steel , Strips , Compression , Solidification , Dynamics (Mechanics) , Rollers , Simulation results , Slabs

Triple-Stage Track-Following Servo Design for Hard Disk Drives

Jinwen Pan, Omid Bagherieh, Behrooz Shahsavari, Roberto Horowitz

DSCC 2016; V002T18A004doi:https://doi.org/10.1115/DSCC2016-9770

Topics: Design , Disks , Servomechanisms , Control equipment , Design methodology , Stability , Closed loop systems , Engineering design processes , Errors , Feedback

Frequency Domain Uncertainty Modeling and Quantification of the Laser Metal Deposition Process

Patrick M. Sammons, Douglas A. Bristow, Robert G. Landers

DSCC 2016; V002T18A005doi:https://doi.org/10.1115/DSCC2016-9777

Topics: Lasers , Metals , Modeling , Uncertainty , Additive manufacturing , Control modeling , Dynamics (Mechanics) , Failure , Manufacturing , Metal powders

Settling Control of the Triple-Stage Hard Disk Drives Using Robust Output Feedback Model Predictive Control

Huy Nguyen, Omid Bagherieh, Roberto Horowitz

DSCC 2016; V002T18A006doi:https://doi.org/10.1115/DSCC2016-9831

Topics: Disks , Feedback , Predictive control , Actuators , Control equipment , Design , Noise (Sound) , Simulation results , Trajectories (Physics)

Modeling and Control of Automotive Systems

Assessing Fuel Economy From Automated Driving: Influence of Preview and Velocity Constraints

Niket Prakash, Gionata Cimini, Anna G. Stefanopoulou, Matthew J. Brusstar

DSCC 2016; V002T19A001doi:https://doi.org/10.1115/DSCC2016-9780

Topics: Corporate average fuel economy , Fuel efficiency , Vehicles , Cycles , Errors , Trajectories (Physics) , Algorithms , Dynamic programming , Flow (Dynamics) , Fuel consumption

A Generalized Compressor Power Model for Turbocharged Internal Combustion Engines With Reduced Complexity

Tao Zeng, Devesh Upadhyay, Harold Sun, Guoming G. Zhu

DSCC 2016; V002T19A002doi:https://doi.org/10.1115/DSCC2016-9792

Topics: Compressors , Internal combustion engines , Errors , Flow (Dynamics) , Turbochargers , Dynamics (Mechanics) , Modeling , Design , Dimensions , Dynamometers

Nonlinear Model Predictive Control Strategies for a Parallel Evaporator Diesel Engine Waste Heat Recovery System

Adamu Yebi, Bin Xu, Xiaobing Liu, John Shutty, Paul Anschel, Simona Onori, Zoran Filipi, Mark Hoffman

DSCC 2016; V002T19A003doi:https://doi.org/10.1115/DSCC2016-9801

Topics: Diesel engines , Heat recovery , Predictive control , Organic Rankine cycle , Temperature , Fluids , Stress , Engines , Heat exchangers , Physics

Design Considerations for Waste Energy Recovery With Electric Turbocompounding

Rasoul Salehi, Rani Kiwan, Jason Martz, Anna G. Stefanopoulou

DSCC 2016; V002T19A004doi:https://doi.org/10.1115/DSCC2016-9819

Topics: Design , Energy recovery , Engines , Exhaust gas recirculation , Valves , Horizontal directional drilling , Stress , Emissions , Simulation , Turbochargers

A Physics-Based Control-Oriented Model for the Turbine Power of a Variable-Geometry Turbo-Charger

Kang Song, Devesh Upadhyay, Tao Zeng, Harold Sun

DSCC 2016; V002T19A005doi:https://doi.org/10.1115/DSCC2016-9856

Topics: Geometry , Physics , Turbines , Turbochargers , Bearings , Compressors , Flow (Dynamics) , Friction , Model validation , Nozzles

Modeling and Control of Combustion Engines

Dynamic Optimization of Diesel Air-Path Control for Reduced Pumping Work

Thomas A. Brewbaker, Michiel van Nieuwstadt

DSCC 2016; V002T20A001doi:https://doi.org/10.1115/DSCC2016-9676

Topics: Control equipment , Cycles , Diesel , Diesel engines , Dynamic programming , Engines , Errors , Exhaust gas recirculation , Fuel consumption , Geometry

Minimum Backpressure Wastegate Control for a Boosted Gasoline Engine With Low Pressure External EGR

Shima Nazari, Anna Stefanopoulou, Jason Martz

DSCC 2016; V002T20A002doi:https://doi.org/10.1115/DSCC2016-9690

Topics: Exhaust gas recirculation , Gasoline engines , Pressure , Engines , Torque , Tradeoffs , Simulation , Design , Displacement , Fuel consumption

A Coordinated Boost Control in a Twincharged Spark Ignition Engine With High External Dilution

Shima Nazari, Anna Stefanopoulou, Rani Kiwan, Vasilios Tsourapas

DSCC 2016; V002T20A003doi:https://doi.org/10.1115/DSCC2016-9691

Topics: Actuators , Combustion , Compressors , Control equipment , Dynamics (Mechanics) , Engineering simulation , Engines , Exhaust gas recirculation , Fuel efficiency , High pressure (Physics)

Dynamic Modelling and Controller Design of Combustion Phasing for an RCCI Engine

Kaveh Khodadadi Sadabadi, Mahdi Shahbakhti

DSCC 2016; V002T20A004doi:https://doi.org/10.1115/DSCC2016-9696

Topics: Combustion , Control equipment , Design , Dynamic modeling , Engines , Cycles , Fuels , Diesel , Emissions , Gasoline

Optimization of Trajectory-Based HCCI Combustion

Chen Zhang, Zongxuan Sun

DSCC 2016; V002T20A005doi:https://doi.org/10.1115/DSCC2016-9726

Topics: Combustion , Homogeneous charge compression ignition engines , Optimization , Trajectories (Physics) , Pistons , Chemical kinetics , Emissions , Fuels , Cylinders , Design

Real-Time Powertrain Optimization Strategy for Connected Hybrid Electrical Vehicle

Mohd Azrin Mohd Zulkefli, Zongxuan Sun

DSCC 2016; V002T20A006doi:https://doi.org/10.1115/DSCC2016-9727

Topics: Electric vehicles , Optimization , Fuel efficiency , Traffic , Vehicles , Computation , Computer programming , Connected vehicles , Dimensions , Dynamic programming

Modeling and Validation

Automated Scene Generation for High Fidelity Robotics Simulations

Rebecca A. Greenberg, Jeremy J. Dawkins

DSCC 2016; V002T21A001doi:https://doi.org/10.1115/DSCC2016-9635

Topics: Robotics , Simulation , Algorithms , American Petroleum Institute , Matlab , Path planning , Testing , Computer programming , Dimensions , Modeling

Control-Oriented Energy-Based Modeling of a Screw Extruder Used for 3D Printing

Dylan Drotman, Mamadou Diagne, Robert Bitmead, Miroslav Krstic

DSCC 2016; V002T21A002doi:https://doi.org/10.1115/DSCC2016-9651

Topics: Additive manufacturing , Modeling , Screws , Extruding , Nozzles , Steady state , Control equipment , Control systems , Dynamic models , Enthalpy

System Level Performance and Reliability Investigation of Hydraulic Circuits Using Physics Based Models

Mete Mutlu, Matthew A. Franchek, Jose A. Gutierrez, Luis R. Pereira

DSCC 2016; V002T21A003doi:https://doi.org/10.1115/DSCC2016-9717

Topics: Hydraulic circuits , Physics , Reliability , Oscillations , Design , Modeling , Aerospace industry , Matlab , Mining industry , Pressure

Model-Based Fault Detection Among Freeway Loop Sensors

Brian Phegley, Roberto Horowitz, Gabriel Gomes

DSCC 2016; V002T21A004doi:https://doi.org/10.1115/DSCC2016-9722

Topics: Flaw detection , Highways , Sensors , Errors , Traffic , Algorithms , Flow (Dynamics)

Wind Turbine Power Optimization: Experimental Validation of Extremum Seeking and Perturb/Observe Strategies

Fa Wang, Laura Wheeler, Mario Garcia-Sanz

DSCC 2016; V002T21A005doi:https://doi.org/10.1115/DSCC2016-9734

Topics: Optimization , Wind turbines , Engineering simulation , Simulation , Wind velocity , Algorithms , Control equipment , Matlab , Stability , Wind tunnels

Simulation Based Design of a Pediatric-Sized Hydraulic Ankle-Foot Orthosis

Brett Cullen Neubauer, William K. Durfee

DSCC 2016; V002T21A006doi:https://doi.org/10.1115/DSCC2016-9739

Topics: Design , Orthotics , Pediatrics , Simulation , Stiffness , Additive manufacturing , Computers , Engineering prototypes , Health care , Manifolds

A Three Dimensional Model of Zebrafish Swimming

Violet Mwaffo, Sachit Butail, Maurizio Porfiri

DSCC 2016; V002T21A007doi:https://doi.org/10.1115/DSCC2016-9773

Topics: Computer simulation , Differential equations , Dimensions , Dynamic systems , Ethics , Shorelines , Three-dimensional models

Experimental Validation of Graph-Based Modeling for Thermal Fluid Power Flow Systems

Justin P. Koeln, Matthew A. Williams, Herschel C. Pangborn, Andrew G. Alleyne

DSCC 2016; V002T21A008doi:https://doi.org/10.1115/DSCC2016-9782

Topics: Flow (Dynamics) , Modeling , Thermofluids , Conservation laws (Physics) , Design , Engineering systems and industry applications , Physics , Thermal management

Minimization of Hydrodynamic Power Losses in Oscillating Submerged Structures by a Novel Shape-Morphing Strategy

Syed N. Ahsan, Matteo Aureli

DSCC 2016; V002T21A009doi:https://doi.org/10.1115/DSCC2016-9795

Topics: Shapes , Submerged structures , Energy dissipation , Deformation , Oscillations , Fluids , Computational fluid dynamics , Damping , Engineering simulation , Flexible structures

Modeling, Hardware-in-the-Loop Simulations and Control Design for Small-Scale Vertical Axis Wind Turbines

A. O. Onol, U. Sancar, A. Onat, S. Yesilyurt

DSCC 2016; V002T21A010doi:https://doi.org/10.1115/DSCC2016-9855

Topics: Design , Engineering simulation , Hardware , Modeling , Simulation , Vertical axis wind turbines , Computational fluid dynamics , Generators , Algorithms , Rotors

Computationally Efficient Dynamics Modeling for Downhole Drilling System Integrating Finite Element and Transfer Matrix

Chong Ke, Xingyong Song

DSCC 2016; V002T21A011doi:https://doi.org/10.1115/DSCC2016-9901

Topics: Drilling , Dynamics (Mechanics) , Finite element analysis , Modeling , Finite element methods , Geometry , Computer simulation

Production as a Service: Optimizing Utilization in Manufacturing Systems

Matthew Porter, Vikram Raghavan, Yikai Lin, Z. Morley Mao, Kira Barton, Dawn Tilbury

DSCC 2016; V002T21A012doi:https://doi.org/10.1115/DSCC2016-9908

Topics: Architecture , Bridges (Structures) , Manufacturing , Manufacturing industry , Manufacturing systems , Mass production

Motion and Vibration Control Applications

Active Engine Vibration Control During Start/Stop in a Hybrid Electric Vehicle

Jose Velazquez Alcantar, Rajit Johri, Ming Kuang

DSCC 2016; V002T22A001doi:https://doi.org/10.1115/DSCC2016-9607

Topics: Engines , Hybrid electric vehicles , Vibration control , Feedforward control , Torque , Control equipment , Cylinders , Compression , Control systems , Damping

Modeling and Control of a Cable-Driven Robot for Inspection of Wide-Area Horizontal Workspaces

Forrest Montgomery, Joshua Vaughan

DSCC 2016; V002T22A002doi:https://doi.org/10.1115/DSCC2016-9678

Topics: Cables , Control modeling , Inspection , Robots , End effectors , Dynamics (Mechanics) , Manipulators , Control systems , Damping , Design

An Experimental Study of Bi-Directional Structure Vibration Suppression Using LPC Impact Dampers

Mohamed Gharib, Mansour Karkoub

DSCC 2016; V002T22A003doi:https://doi.org/10.1115/DSCC2016-9687

Topics: Dampers , Vibration suppression , Free vibrations , Vibration , Bridges (Structures) , Chain , Offshore platforms , Particulate matter , Performance , Springs

Robust Active Imbalance Rejection for Active Magnetic Bearing-Rotor Systems

Kerim Yunt

DSCC 2016; V002T22A004doi:https://doi.org/10.1115/DSCC2016-9697

Topics: Bearings , Rotors , Control equipment , Trajectories (Physics) , Boundary layers , Sliding mode control , Design , Excitation , Feedback , Magnetic bearings

An Adaptive Feedforward Control Approach for Rejecting Disturbances Acting on Uncertain Linear Systems

Behrooz Shahsavari, Jinwen Pan, Roberto Horowitz

DSCC 2016; V002T22A005doi:https://doi.org/10.1115/DSCC2016-9832

Topics: Feedforward control , Linear systems , Control equipment , Signals , Algorithms , Disks , Dynamics (Mechanics) , Errors , Accelerometers , Design

Discrete-Time H-Infinity Synthesis of Frequency-Shaped Sliding Mode Control for Suppression of Vibration With Multiple Peak Frequencies

Minghui Zheng, Masayoshi Tomizuka

DSCC 2016; V002T22A006doi:https://doi.org/10.1115/DSCC2016-9837

Topics: Sliding mode control , Vibration , Control equipment , Control systems , Design , Disks , Dynamics (Mechanics) , Filters , Shapes , Stability

A Generalized Anti-Windup Scheme Considering Amplitude and Rate Saturations

Shiying Zhou, Minghui Zheng, Masayoshi Tomizuka

DSCC 2016; V002T22A007doi:https://doi.org/10.1115/DSCC2016-9839

Topics: Actuators , Disks , Errors , Filters , Horizontal directional drilling , Modeling , Robust control , Simulation , Stability , Uncertainty

Disturbance Observer Based Control Design for Wind Turbine Speed Regulation

Yuan Yuan, Xu Chen, Jiong Tang

DSCC 2016; V002T22A008doi:https://doi.org/10.1115/DSCC2016-9873

Topics: Design , Wind turbines , Control equipment , Feedback , Motion control , Ocean engineering , Renewable energy , Robustness , Turbulence , Wind

Disturbance and Performance-Weighted Iterative Learning Control With Application to Modulated Tool Path-Based Manufacturing

Christopher DiMarco, Christopher Vermillion, John C. Ziegert

DSCC 2016; V002T22A009doi:https://doi.org/10.1115/DSCC2016-9898

Topics: Iterative learning control , Manufacturing , Machine tools , Control equipment , Machining , Oscillations , Temperature , Finishes , Fluctuations (Physics) , Hazards

Arbitrary-Order Iterative Learning Control Considering H_∞ Synthesis

Minghui Zheng, Cong Wang, Liting Sun, Masayoshi Tomizuka

DSCC 2016; V002T22A010doi:https://doi.org/10.1115/DSCC2016-9902

Topics: Iterative learning control , Design , Filters , Algorithms , Errors , Feedforward control , Impulse (Physics) , Optimal control , Semiconductor wafers , Signals

Experimental Gait Analysis of Waveboard Locomotion

Ayush Agrawal, Hesham M. Zaini, Tony Dear, Howie Choset

DSCC 2016; V002T22A011doi:https://doi.org/10.1115/DSCC2016-9923

Topics: Fittings , Gait analysis , Kinematics , Modeling , Momentum , Trajectories (Physics)

Multi-Agent and Networked Systems

Formation Maneuvering Control of Nonholonomic Multi-Agent Systems

M. Khaledyan, M. de Queiroz

DSCC 2016; V002T23A001doi:https://doi.org/10.1115/DSCC2016-9616

Topics: Computer simulation , Kinematics , Mobile robots , Multi-agent systems , Robots , Trajectories (Physics) , Vehicles

A ROS-Simulink Real-Time Communication Bridge Using UDP With a Driver-in-the-Loop Application

Mohamed Wahba, Robert Leary, Nicolás Ochoa-Lleras, Jariullah Safi, Sean Brennan

DSCC 2016; V002T23A002doi:https://doi.org/10.1115/DSCC2016-9693

Topics: Bridges (Structures) , Computer software , Delays , Packing (Shipments) , Packings (Cushioning) , Robots , Separation (Technology) , Statistics

Output Feedback Stabilization of the Linearized Bilayer Saint-Venant Model

Ababacar Diagne, Shuxia Tang, Mamadou Diagne, Miroslav Krstic

DSCC 2016; V002T23A003doi:https://doi.org/10.1115/DSCC2016-9733

Topics: Feedback , Control equipment , Computer simulation , Design , Partial differential equations , Saint-Venant's principle , State feedback

Deployment of an Arbitrary Distribution of a Multi-Agent System With Finite Size on a Desired Formation

Hossein Rastgoftar, Ella M. Atkins

DSCC 2016; V002T23A004doi:https://doi.org/10.1115/DSCC2016-9752

Topics: Multi-agent systems , Collisions (Physics)

Event-Triggering in Three-Dimensional Leader-Follower Formation Control for Unmanned Aerial Vehicles

Liang Sun, Bin Hu

DSCC 2016; V002T23A005doi:https://doi.org/10.1115/DSCC2016-9783

Topics: Unmanned aerial vehicles , Three-dimensional models , Dynamics (Mechanics) , Simulation , Stability , Tracking control

A Particle Filtering-Based Approach for Distributed Fault Diagnosis and Estimation of Multi-Robot Systems

Elaheh Noursadeghi, Ioannis Raptis

DSCC 2016; V002T23A006doi:https://doi.org/10.1115/DSCC2016-9789

Topics: Fault diagnosis , Filtration , Particulate matter , Robots , Algorithms , Filters , Approximation , Computer simulation , Design , Particle filtering (numerical methods)

Visibility-Based Distributed Deployment of Robotic Teams in Polyhedral Terrains

Aaron Ma, Jorge Cortés

DSCC 2016; V002T23A007doi:https://doi.org/10.1115/DSCC2016-9820

Topics: Robotics , Teams , Mobile robots , Robots

Determining Minimum and Maximum Number of Agents Required for Planar Cable-Suspended Aerial Manipulation

Henry Hung, Niteesh Sood, Koushil Sreenath

DSCC 2016; V002T23A008doi:https://doi.org/10.1115/DSCC2016-9834

Topics: Cables , Stress , Trajectories (Physics) , Multi-agent systems , Thrust , Transportation systems

Efficient Optical Localization for Mobile Robots via Kalman Filtering-Based Location Prediction

Jason N. Greenberg, Xiaobo Tan

DSCC 2016; V002T23A009doi:https://doi.org/10.1115/DSCC2016-9917

Topics: Filtration , Mobile robots , Robots , Bearings , Kalman filters , Resolution (Optics) , Sensor networks , Simulation results

Path Planning and Motion Control

Autonomous Collision Imminent Steering Maneuver in Presence of Surrounding Obstacles

Rouhollah Jafari, Shuqing Zeng, Nikolai Moshchuk

DSCC 2016; V002T24A001doi:https://doi.org/10.1115/DSCC2016-9644

Topics: Collisions (Physics) , Algorithms , Vehicles , Collision avoidance systems , Path planning , Simulation results

Heterogeneous Bi-Directional Cooperative Unmanned Vehicles for Obstacle Avoidance

Jonathan Lwowski, Liang Sun, Daniel Pack

DSCC 2016; V002T24A002doi:https://doi.org/10.1115/DSCC2016-9645

Topics: Vehicles , Algorithms , Control equipment , Hardware , Navigation , Sensors , Signals , Simulation

Non-Autonomous Feedback Control for Area Coverage Problems With Time-Varying Risk

Suruz Miah, Mostafa M. H. Fallah, Arian Y. Panah, Davide Spinello

DSCC 2016; V002T24A003doi:https://doi.org/10.1115/DSCC2016-9669

Topics: Feedback , Risk , Density , Diffusion (Physics) , Optimization , Scalar field theory , Sensors , Simulation , Surveillance , Teams

On Vibrational Stabilization of a Horizontal Pendulum

Sevak Tahmasian, Farid Jafari, Craig A. Woolsey

DSCC 2016; V002T24A004doi:https://doi.org/10.1115/DSCC2016-9675

Topics: Pendulums , Damping , Stability , Control systems , Design , Displacement

Generation of Probabilistically Optimal Paths for Nonholonomic Needle Insertion

Jianping Lin, Wooram Park

DSCC 2016; V002T24A005doi:https://doi.org/10.1115/DSCC2016-9761

Topics: Needles , Errors , Robotics , Uncertainty , Algorithms , Biomedicine , Path planning , Probability , Robots , Testing performance

Autonomous Collision Avoidance as a Markov Decision Process

Hossein Rastgoftar, Xiangyu Ni, Ella M. Atkins

DSCC 2016; V002T24A006doi:https://doi.org/10.1115/DSCC2016-9790

Topics: Collisions (Physics) , Robots , Control equipment , Nonlinear dynamics

An Approximation Algorithm for a Shortest Dubins Path Problem

Sivakumar Rathinam, Pramod Khargonekar

DSCC 2016; V002T24A007doi:https://doi.org/10.1115/DSCC2016-9798

Topics: Algorithms , Approximation , Vehicles , Surveillance , Unmanned aerial vehicles

Runtime Verification of Trust-Based Symbolic Robot Motion Planning With Human-in-the-Loop

Maziar Fooladi Mahani, Yue Wang

DSCC 2016; V002T24A008doi:https://doi.org/10.1115/DSCC2016-9816

Topics: Robot motion , Path planning , Robots , Trust models , Switches

Obstacle Filtering Algorithm for Control of an Autonomous Road Vehicle in Public Highway Traffic

Qian Wang, Beshah Ayalew

DSCC 2016; V002T24A009doi:https://doi.org/10.1115/DSCC2016-9835

Topics: Algorithms , Filtration , Highways , Motor vehicles , Traffic , Vehicles , Collisions (Physics) , Predictive control , Engineering simulation , Filters

Simultaneous Optimal Robot Base Placement and Motion Planning Using Expanded Lagrangian Homotopy

Audelia Gumarus Dharmawan, Shaohui Foong, Gim Song Soh

DSCC 2016; V002T24A010doi:https://doi.org/10.1115/DSCC2016-9882

Topics: Path planning , Robots , Optimization , Collisions (Physics) , Computer simulation , Kinematics , Manipulators , Newton's method

Time-Optimal Trajectories for Steered Agent With Constraints on Speed and Turning Rate

William Lewis Scott, Naomi Ehrich Leonard

DSCC 2016; V002T24A011doi:https://doi.org/10.1115/DSCC2016-9892

Topics: Particulate matter , Path planning , Robotics , State feedback , Turning

Variations on the Role of Principal Connections in Robotic Locomotion

Tony Dear, Scott David Kelly, Howie Choset

DSCC 2016; V002T24A012doi:https://doi.org/10.1115/DSCC2016-9912

Topics: Robotics , Robots , Fibers , Manifolds

Robot Manipulators

Level-Set Based Greedy Algorithm With Sequential Gaussian Process Regression for Implicit Surface Estimation

Shiyi Yang, Soo Jeon, Jongeun Choi

DSCC 2016; V002T25A001doi:https://doi.org/10.1115/DSCC2016-9815

Topics: Algorithms , Shapes , Simulation results

A Modular 2-DOF Serial Robot Manipulator for Education in Robot Control

Stephen Mascaro

DSCC 2016; V002T25A002doi:https://doi.org/10.1115/DSCC2016-9878

Topics: Education , Manipulators , Robots , Adaptive control , Architecture , Computer software , Dynamics (Mechanics) , End effectors , Feedforward control , Force control

Automatic Glass Pick and Place by Industrial Robot

Xiaowen Yu, Yu Zhao, Masayoshi Tomizuka

DSCC 2016; V002T25A003doi:https://doi.org/10.1115/DSCC2016-9906

Topics: Glass , Robots , Glass grinding and polishing , Manufacturing industry , Robot motion , Simulation , Stress , Tool grinders , Trajectories (Physics)

Kinematics and Statics for Soft Continuum Manipulators With Heterogeneous Soft Materials

Fei Jiang, Haijie Zhang, Jianguo Zhao

DSCC 2016; V002T25A004doi:https://doi.org/10.1115/DSCC2016-9909

Topics: Kinematics , Manipulators , Statics , Cables , Modeling , Robots , Shapes , Struts (Engineering) , Additive manufacturing , Degrees of freedom

Force Analysis and Modelling of Soft Actuators for Catheter Robots

Mark Gilbertson, Darrin Beekman, Biswaranjan Mohanty, Saeed Hashemi, Sangyoon Lee, James D. Van de Ven, Timothy M. Kowalewski

DSCC 2016; V002T25A005doi:https://doi.org/10.1115/DSCC2016-9914

Topics: Actuators , Catheters , Modeling , Robots , Robotics , End effectors , Force control , Blood vessels , Dynamic systems , Errors

Sensors and Actuators

Wireless Temperature Sensing Using Permanent Magnets for Multiple Points Undergoing Repeatable Motions

Yi Chen, Oksana Guba, Carlton F. Brooks, Christine C. Roberts, Bart G. van Bloemen Waanders, Martin B. Nemer

DSCC 2016; V002T26A001doi:https://doi.org/10.1115/DSCC2016-9663

Topics: Permanent magnets , Temperature , Magnets , Bearings , Boron , Cables , Calibration , Dynamic systems , End effectors , Iron

Attitude Estimation With a 9-Axis MEMS Based Motion Tracking Sensor

Yan Wang, Rajesh Rajamani

DSCC 2016; V002T26A002doi:https://doi.org/10.1115/DSCC2016-9700

Topics: Microelectromechanical systems , Sensors , Algorithms , Kalman filters , Kinematics , Accelerometers , Magnetometers

A Novel Compliant Actuator With Load-Dependent Variable Stiffness: Design Concept and Control

Lu Lu, Jiawei Li, Cong Wang, Dan Strassberg

DSCC 2016; V002T26A003doi:https://doi.org/10.1115/DSCC2016-9708

Topics: Actuators , Design , Stiffness , Stress , Inertia (Mechanics) , Springs , Engines , Motion control , Motors , Collisions (Physics)

Improving Robotic Actuator Torque Density and Efficiency Through Enhanced Heat Transfer

Anirban Mazumdar, Steven J. Spencer, Clinton Hobart, Michael Kuehl, Gregory Brunson, Nadia Coleman, Stephen P. Buerger

DSCC 2016; V002T26A004doi:https://doi.org/10.1115/DSCC2016-9738

Topics: Actuators , Density , Heat transfer , Robotics , Torque , Design , Cooling , Motors , Energy consumption , Water

Characterization of Resonant Mass Sensors Using Inkjet Deposition

Nikhil Bajaj, Jeffrey F. Rhoads, George T.-C. Chiu

DSCC 2016; V002T26A005doi:https://doi.org/10.1115/DSCC2016-9803

Topics: Resonance , Sensors , Atomic force microscopy , Calibration , Quartz

A Low-Cost Soft Coiled Sensor for Soft Robots

Jianguo Zhao, Ali Abbas

DSCC 2016; V002T26A006doi:https://doi.org/10.1115/DSCC2016-9916

Topics: Robots , Sensors , Thread , Actuators , Additive manufacturing , Carbon black pigments , Deformation , Feedback , Manipulators , Manufacturing

Tracking Control Systems

Nonlinear Feedforward Control for Electrohydraulic Actuators With Asymmetric Piston Areas

Abhinav Tripathi, Zongxuan Sun

DSCC 2016; V002T27A001doi:https://doi.org/10.1115/DSCC2016-9721

Topics: Actuators , Feedforward control , Pistons , Control equipment , Fluids , Trajectories (Physics) , Design , Design methodology , Errors , Feedback

A Task-Level Iterative Learning Control Algorithm for Accurate Tracking in Manipulators With Modeling Errors and Stringent Joint Position Limits

Pranav A. Bhounsule, Abhishek A. Bapat, Katsu Yamane

DSCC 2016; V002T27A002doi:https://doi.org/10.1115/DSCC2016-9759

Topics: Algorithms , Errors , Iterative learning control , Manipulators , Modeling , End effectors , Kinematics , Robots , Redundancy (Engineering) , Stability

A Model Predictive Control Law for a Vapor Compression Cycle System

Anhtuan D. Ngo, Joshua R. Cory

DSCC 2016; V002T27A003doi:https://doi.org/10.1115/DSCC2016-9769

Topics: Compression , Cycles , Predictive control , Vapors , Thermal systems , Control equipment , Stress , Transients (Dynamics) , Aircraft , Cooling

Output-Boundary Regulation for Nonlinear Nonminimum-Phase Systems

Arom Boekfah, Santosh Devasia

DSCC 2016; V002T27A004doi:https://doi.org/10.1115/DSCC2016-9876

Topics: Errors , Polynomials , Simulation , Trajectories (Physics)

Tracking of a Target Payload via a Combination of Input Shaping, Zero Phase Error Tracking Control, and Fuzzy Logic

Robert Schmidt, Matthew Begneaud, Joshua Vaughan

DSCC 2016; V002T27A005doi:https://doi.org/10.1115/DSCC2016-9890

Topics: Errors , Fuzzy logic , Tracking control , Control equipment , Cranes , Seas , Surveying , Vehicles , Vessels , Vibration

Uncertain Systems and Robustness

Handling Model and Implementation Uncertainties via an Adaptive Discrete Sliding Mode Controller Design

Mohammad Reza Amini, Mahdi Shahbakhti, Selina Pan, J. Karl Hedrick

DSCC 2016; V002T28A001doi:https://doi.org/10.1115/DSCC2016-9732

Topics: Control equipment , Design , Uncertainty , Adaptive control , Robustness , Automotive engines , Cycles , Dynamics (Mechanics) , Failure , Modeling

Optimization Based Weighting Matrices Design for Norm Optimal Iterative Learning Control

Xinyi Ge, Jeffrey L. Stein, Tulga Ersal

DSCC 2016; V002T28A002doi:https://doi.org/10.1115/DSCC2016-9758

Topics: Design , Iterative learning control , Optimization , Errors , Steady state , Uncertainty , Modeling , Robustness , Simulation

Analysis of Performance Resilience for Discrete-Time Systems With Both Multiplicative and Additive Control Gain Perturbations

Fan Feng, Susan C. Schneider, Edwin E. Yaz

DSCC 2016; V002T28A003doi:https://doi.org/10.1115/DSCC2016-9797

Topics: Discrete time systems , Resilience , Control equipment , Eigenvalues , Disks , Linear matrix inequalities

Regularized Filtered Basis Functions Approach for Accurate Tracking of Discrete-Time Linear Time Invariant Systems With Bounded Random Uncertainties

Keval S. Ramani, Chinedum E. Okwudire

DSCC 2016; V002T28A004doi:https://doi.org/10.1115/DSCC2016-9885

Topics: Time-invariant systems , Uncertainty , Errors , Tracking control , Trajectories (Physics) , Uncertain systems

Optimal Robust Time-Varying Safety-Critical Control With Application to Dynamic Walking on Moving Stepping Stones

Quan Nguyen, Koushil Sreenath

DSCC 2016; V002T28A005doi:https://doi.org/10.1115/DSCC2016-9910

Topics: Safety , Robots , Uncertainty , Control equipment , Stress , Design , Robust control , Stability , Torque

Unmanned, Ground and Surface Robotics

Robust Composite Nonlinear Feedback Control for Path Following of Underactuated Surface Vessels With Desired-Heading Amendment

Chuan Hu, Rongrong Wang, Fengjun Yan

DSCC 2016; V002T29A001doi:https://doi.org/10.1115/DSCC2016-9654

Topics: Composite materials , Feedback , Vessels , Transients (Dynamics) , Engineering simulation , Errors , Simulation , Waves

Tracking Control Design for Variable Mass and Configuration Robotic Systems

Elżbieta Jarzębowska

DSCC 2016; V002T29A002doi:https://doi.org/10.1115/DSCC2016-9688

Topics: Design , Robotics , Tracking control , Dynamics (Mechanics) , Modeling , Inertia (Mechanics) , Control equipment , Equations of motion , Manipulators , Mobile robots

System Safety Surveillance and Control System Concept for Autonomous or Semi-Autonomous Systems Fall-Back Layer Realization

Georg Hägele, Dirk Söffker

DSCC 2016; V002T29A003doi:https://doi.org/10.1115/DSCC2016-9718

Topics: Control systems , Safety , Surveillance , Modeling , Computer software , Design , Emergencies , Navigation

Hybrid Low Pass and De-Trending Filter for Robust Position Estimation of Quadcopters

Shatadal Mishra, Wenlong Zhang

DSCC 2016; V002T29A004doi:https://doi.org/10.1115/DSCC2016-9921

Topics: Filters , Flight , Low-pass filters , Signals , Data acquisition , Filtration , Flow (Dynamics) , Flow sensors , Fluctuations (Physics) , Oscillations

Design, Fabrication and Control of a Tilt Rotor Quadcopter

Alireza Nemati, Neal Soni, Mohammad Sarim, Manish Kumar

DSCC 2016; V002T29A005doi:https://doi.org/10.1115/DSCC2016-9929

Topics: Design , Manufacturing , Rotors , Flight , Robots , Control equipment , Dynamic models , Engines , Mechanical admittance , Motors

Vehicle Dynamic Controls

Multi-Body Dynamics Model of a Tracked Vehicle Using a Towing Winch for Optimal Mobility Control and Terrain Identification

Joshua T. Cook, Laura Ray, James Lever

DSCC 2016; V002T30A001doi:https://doi.org/10.1115/DSCC2016-9626

Topics: Dynamics (Mechanics) , Mechanical admittance , Tracked vehicles , Stress , Engines , Modeling , Simulation results , Vehicles , Actuators , Hydraulic drive systems

Optimal Longitudinal Slip Ratio Allocation and Control of a Hybrid Electric Vehicle With eAWD Capabilities

Jose Velazquez Alcantar, Francis Assadian, Ming Kuang, Eric Tseng

DSCC 2016; V002T30A002doi:https://doi.org/10.1115/DSCC2016-9629

Topics: Hybrid electric vehicles , Vehicles , Braking , Control systems , Optimization algorithms , Pavement , Simulation , Computer software , Control equipment , Friction

Energy-Harvesting Shock Absorbers With Ride Comfort Controller on Vehicle

Chien-An Chen, Khai D. T. Ngo, Lei Zuo

DSCC 2016; V002T30A003doi:https://doi.org/10.1115/DSCC2016-9646

Topics: Control equipment , Energy harvesting , Shock absorbers , Vehicles , Circuits , Displacement , Design , Errors , Feedback , Fuel efficiency

MPC Based Automated Steering of a Low Speed Shuttle for Socially Acceptable Accident Avoidance

Haoan Wang, Yue Cao, Bilin Aksun Güvenç, Levent Güvenç

DSCC 2016; V002T30A004doi:https://doi.org/10.1115/DSCC2016-9791

Topics: Accidents , Collision avoidance systems , Collisions (Physics) , Control equipment , Control systems , Engineering simulation , Predictive control , Roads , Simulation , Simulation results

Downshifting Control Strategy for Dual Clutch Transmission With Single Clutch Slippage

Jikai Liu, Biao Ma, Heyan Li, Man Chen, Jianwen Chen

DSCC 2016; V002T30A005doi:https://doi.org/10.1115/DSCC2016-9793

Topics: Friction , Inertia (Mechanics) , Matlab , Pressure , Simulation , Simulation results , Stress , Torque , Vehicles

Vehicle Dynamics and Traffic Control

A New Method in Estimating Vehicle Center of Gravity Position Parameters Based on Ackermann’s Steering

Zitian Yu, Junmin Wang

DSCC 2016; V002T31A001doi:https://doi.org/10.1115/DSCC2016-9674

Topics: Center of mass , Vehicles , Tires , Engineering simulation , Equations of motion , Geometry , Pendulums , Sensors , Signals , Simulation

Region of Attraction for a Vehicle Pose Estimator Utilizing Monocular Vision and Lane Marker Maps

Robert D. Leary, Sean Brennan

DSCC 2016; V002T31A002doi:https://doi.org/10.1115/DSCC2016-9701

Topics: Vehicles , Algorithms , Engineering simulation , Errors , Roads , Simulation

Development of an Emergency Lane Change System in Highway Driving

Serdar Coskun, Reza Langari

DSCC 2016; V002T31A003doi:https://doi.org/10.1115/DSCC2016-9741

Topics: Collisions (Physics) , Control equipment , Emergencies , Highways , Markov processes , Probability , Safety , Simulation , Stress , Trajectories (Physics)

Active Sensing on a Bicycle for Accurate Tracking of Rear Vehicle Maneuvers

Woongsun Jeon, Rajesh Rajamani

DSCC 2016; V002T31A004doi:https://doi.org/10.1115/DSCC2016-9772

Topics: Bicycles , Vehicles , Sensors , Lasers , Distance measurement , Algorithms , Reflection , Simulation results , Tracking control

Investigation of Factors Affecting Steering Feel of Column Assist Electric Power Steering

Yijun Li, Taehyun Shim, Dexin Wang, Timothy Offerle

DSCC 2016; V002T31A005doi:https://doi.org/10.1115/DSCC2016-9818

Topics: Electricity (Physics) , Friction , Automotive industry , Construction , Control algorithms , Design , Engines , Fuel efficiency , Motors , Simulation

Probabilistic Freeway Ramp Metering

Negar Mehr, Roberto Horowitz

DSCC 2016; V002T31A006doi:https://doi.org/10.1115/DSCC2016-9827

Topics: Highways , Algorithms , Optimization , Approximation , Flow (Dynamics) , Predictive control , Traffic