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Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles

Rapid Fire Interactive (RFI): Advances in Control Systems

Time Delay Control of a High-DOF Robot Manipulator Through Feedback Linearization Based Predictor

Mostafa Bagheri, Peiman Naseradinmousavi, Miroslav Krstić

DSCC 2019; V003T16A001https://doi.org/10.1115/DSCC2019-8915

View Articletitled, Time Delay Control of a High-DOF Robot Manipulator Through Feedback Linearization Based Predictor

Topics: Feedback , Manipulators , Time delay systems , Delays , Control equipment , Algorithms , Control algorithms , Design , Engineering systems and industry applications , Equations of motion

Adaptive NN Learning Control of Discrete-Time Nonlinear Uncertain Systems

Jingting Zhang, Chengzhi Yuan, Paolo Stegagno

DSCC 2019; V003T16A002https://doi.org/10.1115/DSCC2019-8923

View Articletitled, Adaptive NN Learning Control of Discrete-Time Nonlinear Uncertain Systems

Topics: Uncertain systems , Tracking control , Control equipment , Artificial neural networks , Composite materials , Computer simulation , Nonlinear dynamics , Rendering

Evaluating the Performance of Foot Control of a Supernumerary Robotic Limb

Zachary Dougherty, Ryder C. Winck

DSCC 2019; V003T16A003https://doi.org/10.1115/DSCC2019-8941

View Articletitled, Evaluating the Performance of Foot Control of a Supernumerary Robotic Limb

Topics: Robotics

Comparison of Adaptive Control Laws for Wind Rejection in Quadrotor UAVs

Johannes Verberne, Hever Moncayo

DSCC 2019; V003T16A004https://doi.org/10.1115/DSCC2019-8957

View Articletitled, Comparison of Adaptive Control Laws for Wind Rejection in Quadrotor UAVs

Topics: Adaptive control , Unmanned aerial vehicles , Wind , Control algorithms , Artificial neural networks , Flight , Algorithms , Control equipment , Degrees of freedom , Energy consumption

A Strictly Defined Orthogonal Global Task Coordinate Frame and its Contouring Control Application on Biaxial Systems

Can Yang, Zheng Chen, Bin Yao, Bobo Helian

DSCC 2019; V003T16A005https://doi.org/10.1115/DSCC2019-8988

View Articletitled, A Strictly Defined Orthogonal Global Task Coordinate Frame and its Contouring Control Application on Biaxial Systems

Topics: Approximation , Control equipment , Errors , Linear motors , Modeling , Robust control , Shapes , System dynamics , Uncertainty

Learning Flatness-Based Controller Using Neural Network

Hailin Ren, Jingyuan Qi, Pinhas Ben-Tzvi

DSCC 2019; V003T16A006https://doi.org/10.1115/DSCC2019-8998

View Articletitled, Learning Flatness-Based Controller Using Neural Network

Comparison of Position Control With and Without Friction on a Foot Interface

Brandon Rudolph, Ryder C. Winck

DSCC 2019; V003T16A007https://doi.org/10.1115/DSCC2019-9019

View Articletitled, Comparison of Position Control With and Without Friction on a Foot Interface

Topics: Friction , Position control , Preferences

Output Feedback Control Synthesis for a Helicopter Using Explicit Nonlinear Model Predictive Control, Dynamic Inversion and Extended High Gain Observers

Joohwan Seo, Jongeun Choi

DSCC 2019; V003T16A008https://doi.org/10.1115/DSCC2019-9036

View Articletitled, Output Feedback Control Synthesis for a Helicopter Using Explicit Nonlinear Model Predictive Control, Dynamic Inversion and Extended High Gain Observers

Topics: Feedback , Predictive control , Design , Uncertainty , Computer simulation , Dynamics (Mechanics) , Low-pass filters

The Restricted Newton Method for Fast Nonlinear Model Predictive Control

Anson Maitland, Chi Jin, John McPhee

DSCC 2019; V003T16A009https://doi.org/10.1115/DSCC2019-9067

View Articletitled, The Restricted Newton Method for Fast Nonlinear Model Predictive Control

Topics: Newton's method , Predictive control , Blocks (Building materials) , Nonlinear programming , Optimization , Simple machines , Vehicles

Design and Control of a Power-Electronic Interface for Regenerative Suspension Systems

Abdullah A. Algethami, Won-jong Kim

DSCC 2019; V003T16A010https://doi.org/10.1115/DSCC2019-9081

View Articletitled, Design and Control of a Power-Electronic Interface for Regenerative Suspension Systems

Topics: Design , Suspension systems , Control equipment , Recycling , Automotive industry , Damping , Generators , Pulse width modulation , Roads , Symmetry (Physics)

Delay-Dependent Output-Feedback Control for Blood Pressure Regulation Using LPV Techniques

Shahin Tasoujian, Karolos Grigoriadis, Matthew Franchek

DSCC 2019; V003T16A011https://doi.org/10.1115/DSCC2019-9098

View Articletitled, Delay-Dependent Output-Feedback Control for Blood Pressure Regulation Using LPV Techniques

Topics: Blood , Delays , Feedback , Pressure , Design , Drugs , Closed loop systems , Control equipment , Engineering simulation , Linear matrix inequalities

Model Reference Control With Command Shaping for a Micro-Electromagnetic Actuator With Input Constraints

Gerald Eaglin, Joshua Vaughan

DSCC 2019; V003T16A012https://doi.org/10.1115/DSCC2019-9162

View Articletitled, Model Reference Control With Command Shaping for a Micro-Electromagnetic Actuator With Input Constraints

Topics: Actuators , Control equipment , Electromagnetic actuators , Engineering simulation , Flexible systems , Simulation , Vibration

Rapid Fire Interactive (RFI): Advances in Robotics and Mechatronics

Feasibility Study of Force Measurement for Multi-Digit Unconstrained Grasping via Fingernail Imaging and Visual Servoing

Navid Fallahinia, Stephen Mascaro

DSCC 2019; V003T17A001https://doi.org/10.1115/DSCC2019-8955

View Articletitled, Feasibility Study of Force Measurement for Multi-Digit Unconstrained Grasping via Fingernail Imaging and Visual Servoing

Active Vibration Rejection in Multi Actuator Drives: Data Driven Approach

Prateek Shah, Roberto Horowitz

DSCC 2019; V003T17A002https://doi.org/10.1115/DSCC2019-8983

View Articletitled, Active Vibration Rejection in Multi Actuator Drives: Data Driven Approach

Topics: Actuators , Vibration , Control equipment , Design , Feedforward control , Disks , Engines , Microactuators , Motors , Timber

A Series Elastic Actuator Design and Control in a Linkage Based Hand Exoskeleton

Raghuraj J. Chauhan, Pinhas Ben-Tzvi

DSCC 2019; V003T17A003https://doi.org/10.1115/DSCC2019-8996

View Articletitled, A Series Elastic Actuator Design and Control in a Linkage Based Hand Exoskeleton

Topics: Actuators , Design , Exoskeleton devices , Linkages

Design of a Kangaroo Inspired Hopping Robot for Unrestricted Locomotion and Controller Development

Austin Curtis, James Mynderse, Hamid Vejdani

DSCC 2019; V003T17A004https://doi.org/10.1115/DSCC2019-9083

View Articletitled, Design of a Kangaroo Inspired Hopping Robot for Unrestricted Locomotion and Controller Development

Topics: Control equipment , Design , Robots , Engineering prototypes , Frequency response

Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control

Vikram Ramanathan, Andy Zelenak, Mitch Pryor

DSCC 2019; V003T17A005https://doi.org/10.1115/DSCC2019-9123

View Articletitled, Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control

Topics: Control modeling , Kinematics , Rotation , Wheels , Control equipment , Braking , Chatter , Design , Engineering simulation , Feedback

A Novel Buoyancy Control Device Using Reversible PEM Fuel Cells

Jalal Yazji, Hamza Zaidi, Luke Thomas Torres, Christopher Leroy, Alicia Keow, Zheng Chen

DSCC 2019; V003T17A006https://doi.org/10.1115/DSCC2019-9155

View Articletitled, A Novel Buoyancy Control Device Using Reversible PEM Fuel Cells

Topics: Buoyancy , Proton exchange membrane fuel cells , Electrolysis , Compressed air , Control equipment , Proton exchange membranes , Water , Density , Fuel cells , Gas flow

Learning Hyperparameters in Efficient Spatial Model by Robotic Sensors

Jinho Jeong, Soo Jeon, Jongeun Choi

DSCC 2019; V003T17A007https://doi.org/10.1115/DSCC2019-9170

View Articletitled, Learning Hyperparameters in Efficient Spatial Model by Robotic Sensors

Topics: Mobile robots , Robotics , Sensors , Simulation results , Surveillance

Assembly Planning Using a Two-Arm System for Polygonal Furniture

Seth T. Payne, C. Fletcher Garrison, IV, Steven E. Markham, Tucker Hermans, Kam K. Leang

DSCC 2019; V003T17A008https://doi.org/10.1115/DSCC2019-9173

View Articletitled, Assembly Planning Using a Two-Arm System for Polygonal Furniture

Topics: Manufacturing , Algorithms , Robotics , Collisions (Physics) , Computer-aided design , Finishing , Manipulators , Path planning , Simulation

A Preliminary Study on a Physical Model Oriented Learning Algorithm With Application to UAVs

Minghui Zheng, Zhu Chen, Xiao Liang

DSCC 2019; V003T17A009https://doi.org/10.1115/DSCC2019-9186

View Articletitled, A Preliminary Study on a Physical Model Oriented Learning Algorithm With Application to UAVs

Topics: Algorithms , Unmanned aerial vehicles , Errors , Iterative learning control , Dynamics (Mechanics) , Feedforward control , Physics , Reliability , Signals

A Passive Jumping Mechanism

Phanindra Tallapragada, Jake Buzhardt, Robert Seney

DSCC 2019; V003T17A010https://doi.org/10.1115/DSCC2019-9194

View Articletitled, A Passive Jumping Mechanism

Topics: Center of mass , Design , Gravity (Force) , Robots

Drop Volume Control in Drop-on-Demand Inkjet Printing

Jie Wang, Xia Chen, George Chiu

DSCC 2019; V003T17A011https://doi.org/10.1115/DSCC2019-9233

View Articletitled, Drop Volume Control in Drop-on-Demand Inkjet Printing

Topics: Printing , Feedback , US Department of Defense , Control equipment , Uncertainty

Educational Force Control Using a Modular 2-DOF Serial Robot Manipulator and Low-Cost 2-DOF Force Sensor

Stephen Mascaro

DSCC 2019; V003T17A012https://doi.org/10.1115/DSCC2019-9245

View Articletitled, Educational Force Control Using a Modular 2-DOF Serial Robot Manipulator and Low-Cost 2-DOF Force Sensor

Topics: Force control , Force sensors , Manipulators , Robots , Robotics , Additive manufacturing , Hybrid control , Matlab , Mechanical admittance , Motion control

Rapid Fire Interactive (RFI): Automotive and Transportation Systems

Hierarchical Estimator of Dual Clutch Torques for a Power-Split Hybrid Electric Vehicle

Jianwu Zhang, Defeng Xu

DSCC 2019; V003T18A001https://doi.org/10.1115/DSCC2019-8927

View Articletitled, Hierarchical Estimator of Dual Clutch Torques for a Power-Split Hybrid Electric Vehicle

Topics: Engineering simulation , Errors , Hybrid electric vehicles , Oscillations , Pressure , Simulation , State estimation , Steady state , Torque , Transients (Dynamics)

Lane Keeping Control Using Finite Spectrum Assignment With Modeling Errors

Illés Vörös, Balázs Várszegi, Dénes Takács

DSCC 2019; V003T18A002https://doi.org/10.1115/DSCC2019-8960

View Articletitled, Lane Keeping Control Using Finite Spectrum Assignment With Modeling Errors

Topics: Computer simulation , Control equipment , Delays , Dynamics (Mechanics) , Errors , Feedback , Modeling , Predictive control , Robustness , Stability

Optimal Lane Management in Heterogeneous Traffic Network

Pouria Karimi Shahri, Shubhankar Chintamani Shindgikar, Baisravan HomChaudhuri, Amir H. Ghasemi

DSCC 2019; V003T18A003https://doi.org/10.1115/DSCC2019-9040

View Articletitled, Optimal Lane Management in Heterogeneous Traffic Network

Topics: Traffic , Vehicles , Optimization , Roads , Design , Flow (Dynamics)

Shared Control Between Human Driver and Automation in Cooperative Driving Based on Game Theoretic Model Predictive Control

Sangjin Ko, Reza Langari

DSCC 2019; V003T18A004https://doi.org/10.1115/DSCC2019-9053

View Articletitled, Shared Control Between Human Driver and Automation in Cooperative Driving Based on Game Theoretic Model Predictive Control

Topics: Predictive control , Shared control , Safety , Collisions (Physics) , Simulation , Errors , Matlab , Probability , Simulation results

Hierarchical Nonlinear Moving Horizon Estimation of Vehicle Lateral Speed and Road Friction Coefficient

Chi Jin, Anson Maitland, John McPhee

DSCC 2019; V003T18A005https://doi.org/10.1115/DSCC2019-9069

View Articletitled, Hierarchical Nonlinear Moving Horizon Estimation of Vehicle Lateral Speed and Road Friction Coefficient

Deep Reinforcement Learning for Adaptive Traffic Signal Control

Kai Liang Tan, Subhadipto Poddar, Soumik Sarkar, Anuj Sharma

DSCC 2019; V003T18A006https://doi.org/10.1115/DSCC2019-9076

View Articletitled, Deep Reinforcement Learning for Adaptive Traffic Signal Control

Topics: Signals , Traffic , Control equipment , Sensors , Engineers , Intersections , Simulation

Lifetime Optimization for a Grid-Friendly DC Fast Charge Station With Second Life Batteries

Matilde D’Arpino, Massimo Cancian

DSCC 2019; V003T18A007https://doi.org/10.1115/DSCC2019-9105

View Articletitled, Lifetime Optimization for a Grid-Friendly DC Fast Charge Station With Second Life Batteries

Surface Recognition for Cars: A Comprehensive Approach for Neural Networks

Ashkan Pourkand, Chris White, Naghmeh Zamani, David Grow

DSCC 2019; V003T18A008https://doi.org/10.1115/DSCC2019-9148

View Articletitled, Surface Recognition for Cars: A Comprehensive Approach for Neural Networks

Topics: Artificial neural networks , Automobiles , Vehicles , Accelerometers , Pavement , Asphalt , Braking , Concretes , Encryption , Feature extraction

Analysis of Reference Shaping Control for Improved Yaw Stability in a Steer-by-Wire Vehicle

Srivatsan Srinivasan, Matthias J. Schmid, Venkat N. Krovi

DSCC 2019; V003T18A009https://doi.org/10.1115/DSCC2019-9153

View Articletitled, Analysis of Reference Shaping Control for Improved Yaw Stability in a Steer-by-Wire Vehicle

Topics: Stability , Vehicles , Wire , Yaw

Human Driver Modeling Based on Analytical Optimal Solutions: Stopping Behaviors at the Intersections

Jihun Han, Dominik Karbowski, Namdoo Kim, Aymeric Rousseau

DSCC 2019; V003T18A010https://doi.org/10.1115/DSCC2019-9178

View Articletitled, Human Driver Modeling Based on Analytical Optimal Solutions: Stopping Behaviors at the Intersections

Combining Reachability Analysis and Importance Sampling for Accelerated Evaluation of Highly Automated Vehicles at Pedestrian Crossing

Xinpeng Wang, Huei Peng, Ding Zhao

DSCC 2019; V003T18A011https://doi.org/10.1115/DSCC2019-9179

View Articletitled, Combining Reachability Analysis and Importance Sampling for Accelerated Evaluation of Highly Automated Vehicles at Pedestrian Crossing

Analysis of a Novel Command Governor-Based Adaptive Cruise Controller for Non-Cooperative Vehicle Following

Ben Groelke, Christian Earnhardt, John Borek, Chris Vermillion

DSCC 2019; V003T18A012https://doi.org/10.1115/DSCC2019-9196

View Articletitled, Analysis of a Novel Command Governor-Based Adaptive Cruise Controller for Non-Cooperative Vehicle Following

Topics: Control equipment , Governors , Vehicles , Braking , Torque , Wheels , Brakes , Collisions (Physics) , Engineering simulation , Fuels

Rapid Fire Interactive (RFI): Motion Planning and Trajectory Tracking

Optimal Strategy for Multiple Evaders Against an Agile Pursuer

Chunsheng Liu, Mark V. Trevorrow

DSCC 2019; V003T19A001https://doi.org/10.1115/DSCC2019-8924

View Articletitled, Optimal Strategy for Multiple Evaders Against an Agile Pursuer

Topics: Equilibrium (Physics)

Periodic Tracking Control Using Gain-Scheduled Fourier Series-Based Internal Models

Dylan Caverly, Ryan James Caverly, James Richard Forbes

DSCC 2019; V003T19A002https://doi.org/10.1115/DSCC2019-8945

View Articletitled, Periodic Tracking Control Using Gain-Scheduled Fourier Series-Based Internal Models

Topics: Closed loop systems , Control equipment , Errors , Fourier series , Heat exchangers , Signals , Stability , Steady state , Temperature , Theorems (Mathematics)

Sliding-Mode Control With Switching-Gain Adaptation for Trajectory Tracking of Underactuated Unmanned Surface Vessels

Rui Yu, Haochen Qi, Kamal Upadhyay, Hua Zhou

DSCC 2019; V003T19A003https://doi.org/10.1115/DSCC2019-8959

View Articletitled, Sliding-Mode Control With Switching-Gain Adaptation for Trajectory Tracking of Underactuated Unmanned Surface Vessels

Topics: Trajectories (Physics) , Vessels

Following Fast-Dynamic Targets With Only Slow and Delayed Visual Feedback: A Kalman Filter and Model-Based Prediction Approach

Hui Xiao, Xu Chen

DSCC 2019; V003T19A004https://doi.org/10.1115/DSCC2019-9022

View Articletitled, Following Fast-Dynamic Targets With Only Slow and Delayed Visual Feedback: A Kalman Filter and Model-Based Prediction Approach

Topics: Feedback , Kalman filters , Delays , Robotics , Dynamics (Mechanics) , Algorithms , Manipulators , Modeling , Navigation , Robots

Backstepping-Based Trajectory Tracking for Underwater Gliders

Demetris Coleman, Maria Castaño, Osama Ennasr, Xiaobo Tan

DSCC 2019; V003T19A005https://doi.org/10.1115/DSCC2019-9028

View Articletitled, Backstepping-Based Trajectory Tracking for Underwater Gliders

Topics: Trajectories (Physics) , Control equipment , Dynamics (Mechanics) , Errors , Buoyancy , Center of mass , Engineering simulation , Oceans , Simulation

Geometric Trajectory Planning for Robot Motion Over a 3D Surface

Bashir Hosseini Jafari, Nolan Walker, Ronald Smaldone, Nicholas Gans

DSCC 2019; V003T19A006https://doi.org/10.1115/DSCC2019-9063

View Articletitled, Geometric Trajectory Planning for Robot Motion Over a 3D Surface

Topics: Robot motion , Trajectories (Physics) , Printing , Design , End effectors , Engineering simulation , Mobile robots , Optimization , Path planning , Simulation

Line-of-Sight Pure Pursuit Guidance Stability Analysis and Design Guideline for Car-Like Autonomous Ground Vehicles

Letian Lin, J. Jim Zhu

DSCC 2019; V003T19A007https://doi.org/10.1115/DSCC2019-9108

View Articletitled, Line-of-Sight Pure Pursuit Guidance Stability Analysis and Design Guideline for Car-Like Autonomous Ground Vehicles

Topics: Design , Stability , Vehicles , Theorems (Mathematics) , Simulation results

Observer-Based Control of a Dual-Stage Piezoelectric Scanner

Yuhe Chang, Sean B. Andersson

DSCC 2019; V003T19A008https://doi.org/10.1115/DSCC2019-9163

View Articletitled, Observer-Based Control of a Dual-Stage Piezoelectric Scanner

Topics: Actuators , Algorithms , Atomic force microscopy , Control equipment , Feedback , Hardware , Imaging , Instrumentation , Separation (Technology) , Simulation

Motion Planning for Industrial Mobile Robots With Closed-Loop Stability Enhanced Prediction

Jessica Leu, Masayoshi Tomizuka

DSCC 2019; V003T19A009https://doi.org/10.1115/DSCC2019-9208

View Articletitled, Motion Planning for Industrial Mobile Robots With Closed-Loop Stability Enhanced Prediction

Topics: Mobile robots , Path planning , Stability , Robots , Human-robot interaction , Algorithms , Clearances (Engineering) , Collisions (Physics) , Delays , Engineering simulation

Safe, Aggressive Quadrotor Flight via Reachability-Based Trajectory Design

Shreyas Kousik, Patrick Holmes, Ram Vasudevan

DSCC 2019; V003T19A010https://doi.org/10.1115/DSCC2019-9214

View Articletitled, Safe, Aggressive Quadrotor Flight via Reachability-Based Trajectory Design

Topics: Design , Flight , Trajectories (Physics) , Uncertainty , Errors , Collisions (Physics) , Engineering simulation , Inspection , Robots , Safety

Sub-Optimal Tracking in Switched Systems With Controlled Subsystems and Fixed-Mode Sequence Using Approximate Dynamic Programming

Tohid Sardarmehni, Xingyong Song

DSCC 2019; V003T19A011https://doi.org/10.1115/DSCC2019-9216

View Articletitled, Sub-Optimal Tracking in Switched Systems With Controlled Subsystems and Fixed-Mode Sequence Using Approximate Dynamic Programming

Topics: Dynamic programming , Dynamics (Mechanics) , Feedback , Signals , Simulation results

On Receding Horizon Chance Constraint Motion Planning for Uncertain Multi-Agent Systems

Yash Bagla, Vaibhav Srivastava

DSCC 2019; V003T19A012https://doi.org/10.1115/DSCC2019-9237

View Articletitled, On Receding Horizon Chance Constraint Motion Planning for Uncertain Multi-Agent Systems

Topics: Multi-agent systems , Path planning , Algorithms , Uncertainty , Collisions (Physics) , Noise (Sound) , Risk , Sensors , Tradeoffs

Rapid Fire Interactive (RFI): Soft Mechatronic Actuators and Sensors

A New Approach to Model Constant Curvature Continuum Robot Dynamics

Yujiong Liu, Pinhas Ben-Tzvi

DSCC 2019; V003T20A001https://doi.org/10.1115/DSCC2019-8999

View Articletitled, A New Approach to Model Constant Curvature Continuum Robot Dynamics

Topics: Computer simulation , Dynamic models , Dynamics (Mechanics) , Equations of motion , Kinematics , Mechanical admittance , Real-time control , Robot dynamics , Robots , Virtual work principle

Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots

Jake A. Steiner, Omar A. Hussain, Lan N. Pham, Jake J. Abbott, Kam K. Leang

DSCC 2019; V003T20A002https://doi.org/10.1115/DSCC2019-9029

View Articletitled, Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots

Topics: Robots , Biomedicine , Catheters , Composite materials , Conducting polymers , Deformation , Endoscopes , Locomotives , Metals , Polymers

Adaptive Control of Large-Scale Soft Robot Manipulators With Unknown Payloads

Jonathan S. Terry, Justin Whitaker, Randal W. Beard, Marc D. Killpack

DSCC 2019; V003T20A003https://doi.org/10.1115/DSCC2019-9037

View Articletitled, Adaptive Control of Large-Scale Soft Robot Manipulators With Unknown Payloads

Topics: Adaptive control , Manipulators , Control equipment , Robots , Degrees of freedom , End effectors , Nonlinear dynamics , Pneumatic actuators , Predictive control , System dynamics

Neural-Based Control of Compliant Foils With Spanwise Flexibility

Annika-verena Haecker, Gabriel N. Carryon, James L. Tangorra, Thomas Sattel

DSCC 2019; V003T20A004https://doi.org/10.1115/DSCC2019-9045

View Articletitled, Neural-Based Control of Compliant Foils With Spanwise Flexibility

Topics: Feedback , Lift (Fluid dynamics) , Mechanical properties , Sensor placement , Sensors , Signals , Stiffness , Thrust

Modeling Actuation of Ionomer Cilia in Salt Solution Under an External Electric Field

Alain Boldini, Maxwell Rosen, Youngsu Cha, Maurizio Porfiri

DSCC 2019; V003T20A005https://doi.org/10.1115/DSCC2019-9060

View Articletitled, Modeling Actuation of Ionomer Cilia in Salt Solution Under an External Electric Field

Completing Complex Contact Tasks Using Integrated Active and Passive Compliant Control Methodologies

Adam Pettinger, Mitch Pryor

DSCC 2019; V003T20A006https://doi.org/10.1115/DSCC2019-9062

View Articletitled, Completing Complex Contact Tasks Using Integrated Active and Passive Compliant Control Methodologies

Topics: Control equipment , Damping , Manipulators , Materials properties , Stiffness , Switches

Modelling and Experimental Study for PVC Gel Actuators

Zachary Frank, Zakai Olsen, Taeseon Hwang, Kwang J. Kim

DSCC 2019; V003T20A007https://doi.org/10.1115/DSCC2019-9100

View Articletitled, Modelling and Experimental Study for PVC Gel Actuators

Topics: Actuators , Conducting polymers , Finite element model , Modeling , Plasticizers , Robotics , Stress

The Effects of Nylon Polymer Threads on Strain-Loading Hysteresis Behavior of Supercoiled Polymer (SCP) Artificial Muscles

Revanth Konda, Jun Zhang

DSCC 2019; V003T20A008https://doi.org/10.1115/DSCC2019-9169

View Articletitled, The Effects of Nylon Polymer Threads on Strain-Loading Hysteresis Behavior of Supercoiled Polymer (SCP) Artificial Muscles

Topics: Muscle , Nylon fabrics , Polymers , Screw threads , Thread , Actuators , Nylon yarns , Physics , Springs , Stiffness

Path Following for the Soft Origami Crawling Robot

Oyuna Angatkina, Kimberly Gustafson, Aimy Wissa, Andrew Alleyne

DSCC 2019; V003T20A009https://doi.org/10.1115/DSCC2019-9175

View Articletitled, Path Following for the Soft Origami Crawling Robot

Topics: Robots

Distributed Control of a Planar Discrete Elastic Rod Model for Caterpillar-Inspired Locomotion

Helene Nguewou-Hyousse, William L. Scott, Derek A. Paley

DSCC 2019; V003T20A010https://doi.org/10.1115/DSCC2019-9220

View Articletitled, Distributed Control of a Planar Discrete Elastic Rod Model for Caterpillar-Inspired Locomotion

Topics: Dampers , Design , Displacement , Feedback , Modeling , Network models , Robotics , Rods , Simulation results , Springs

Cooperative Collision Avoidance Control of Robotic Fish Propelled by a Servo/IPMC Driven Hybrid Tail

Xiongfeng Yi, Zheng Chen, Animesh Chakravarthy

DSCC 2019; V003T20A011https://doi.org/10.1115/DSCC2019-9228

View Articletitled, Cooperative Collision Avoidance Control of Robotic Fish Propelled by a Servo/IPMC Driven Hybrid Tail

Topics: Collisions (Physics) , Robotics , Servomechanisms , Servomotors , Relaxation (Physics) , Transfer functions , Composite materials , Metals , Polymers , Trajectories (Physics)

Rapid Fire Interactive (RFI): Unmanned Ground and Aerial Vehicles

Bayesian Estimation of Snow-Avalanche Victim Pose: A Method to Assist Human and/or Robot First Responders to Quickly Locate a Buried Victim

Joseph R. Bourne, Kam K. Leang

DSCC 2019; V003T21A001https://doi.org/10.1115/DSCC2019-8946

View Articletitled, Bayesian Estimation of Snow-Avalanche Victim Pose: A Method to Assist Human and/or Robot First Responders to Quickly Locate a Buried Victim

Topics: Algorithms , Engineering standards , Magnetic fields , Robots , Simulation results , Uncertainty

A Probabilistic Technique for Allocation of Tasks With Priorities in a School of Autonomous Mobile Robots

Soovadeep Bakshi, Tianheng Feng, Zeyu Yan, Dongmei Chen

DSCC 2019; V003T21A002https://doi.org/10.1115/DSCC2019-8970

View Articletitled, A Probabilistic Technique for Allocation of Tasks With Priorities in a School of Autonomous Mobile Robots

Topics: Mobile robots , Algorithms , Manufacturing automation , Optimization

A New Quasi-Steady In-Ground Effect Model for Rotorcraft Unmanned Aerial Vehicles

Xiang He, Kam K. Leang

DSCC 2019; V003T21A003https://doi.org/10.1115/DSCC2019-9025

View Articletitled, A New Quasi-Steady In-Ground Effect Model for Rotorcraft Unmanned Aerial Vehicles

Topics: Unmanned aerial vehicles , Rotors , Propellers , Thrust , Additive manufacturing , Blades , Compression , Errors , Outflow

Gaussian-Based Kernel for Multi-Agent Aerial Chemical-Plume Mapping

Xiang He, Jake A. Steiner, Joseph R. Bourne, Kam K. Leang

DSCC 2019; V003T21A004https://doi.org/10.1115/DSCC2019-9027

View Articletitled, Gaussian-Based Kernel for Multi-Agent Aerial Chemical-Plume Mapping

Topics: Plumes (Fluid dynamics) , Errors , Flight , Leakage , Robots , Simulation , Vehicles , Wind , Wind velocity

Self-Reflective Learning Strategy for Persistent Autonomy of Aerial Manipulators

Xu Zhou, Jiucai Zhang, Xiaoli Zhang

DSCC 2019; V003T21A005https://doi.org/10.1115/DSCC2019-9086

View Articletitled, Self-Reflective Learning Strategy for Persistent Autonomy of Aerial Manipulators

Topics: Manipulators

Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments

Jake A. Steiner, Joseph R. Bourne, Xiang He, Donald M. Cropek, Kam K. Leang

DSCC 2019; V003T21A006https://doi.org/10.1115/DSCC2019-9099

View Articletitled, Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments

Topics: Cities , Unmanned aerial vehicles , Leakage , Particle swarm optimization , Algorithms , Flight , Plumes (Fluid dynamics) , Simulation

Integrated Forward and Reverse Trajectory Tracking Control for Car-Like Ground Vehicle

Yuanyan Chen, J. Jim Zhu, Letian Lin

DSCC 2019; V003T21A007https://doi.org/10.1115/DSCC2019-9104

View Articletitled, Integrated Forward and Reverse Trajectory Tracking Control for Car-Like Ground Vehicle

Topics: Tracking control , Trajectories (Physics) , Vehicles , Design , Kinematics , Control equipment , Dynamics (Mechanics) , Hardware , Collisions (Physics) , Nonlinear dynamics

Cooperative Transport of a Payload With Offset CG Using Multiple UAVs

Shraddha Barawkar, Manish Kumar

DSCC 2019; V003T21A008https://doi.org/10.1115/DSCC2019-9131

View Articletitled, Cooperative Transport of a Payload With Offset CG Using Multiple UAVs

Topics: Control equipment , Unmanned aerial vehicles

Modeling and Predictive Control of an Unmanned Underwater Vehicle

Renato Rodriguez Nunez, Damoon Soudbakhsh

DSCC 2019; V003T21A009https://doi.org/10.1115/DSCC2019-9154

View Articletitled, Modeling and Predictive Control of an Unmanned Underwater Vehicle

Topics: Feedback , Modeling , Predictive control , Underwater vehicles , Control equipment , Design , Degrees of freedom , Geometry , Hydrostatics , Linearization techniques

Compressive Sensing-Based Reconstruction of Lissajous-Like Nodding Lidar Data

Michael T. Benson, Harish Sathishchandra, Garrett M. Clayton, Sean B. Andersson

DSCC 2019; V003T21A010https://doi.org/10.1115/DSCC2019-9201

View Articletitled, Compressive Sensing-Based Reconstruction of Lissajous-Like Nodding Lidar Data

Modelling and Simulation of Perching With a Quadrotor Aerial Robot With Passive Bio-Inspired Legs and Feet

David J. Dunlop, Mark A. Minor

DSCC 2019; V003T21A011https://doi.org/10.1115/DSCC2019-9241

View Articletitled, Modelling and Simulation of Perching With a Quadrotor Aerial Robot With Passive Bio-Inspired Legs and Feet

Sub-Optimal Control of Autonomous Wheel Loader With Approximate Dynamic Programming

Tohid Sardarmehni, Xingyong Song

DSCC 2019; V003T21A012https://doi.org/10.1115/DSCC2019-9248

View Articletitled, Sub-Optimal Control of Autonomous Wheel Loader With Approximate Dynamic Programming

Topics: Cycles , Dynamic programming , Optimal control , Wheels