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Proceedings Papers

Control Design for Automated Vehicle Emergency Safe Stop System Based on Differential Dynamic Programming

Lisheng Yang, Tomonari Furukawa, Lei Zuo, Zachary Doerzaph
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T02A006, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3286
https://doi.org/10.1115/DSCC2020-3286
View Paper titled, Control Design for Automated Vehicle Emergency Safe Stop System Based on Differential Dynamic Programming
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Topics: Autonomous vehicles, Design, Dynamic programming, Emergencies, Computation, Control algorithms, Delays, Errors, Modeling, Real-time control
Proceedings Papers

Inverse Kinematic Analysis of Muscular Hydrostat Inspired Soft Robot With Chain-Like Optimization With an Embedded Controller

Amir Hosein Zamanian, Edmond Richer
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T06A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3247
https://doi.org/10.1115/DSCC2020-3247
View Paper titled, Inverse Kinematic Analysis of Muscular Hydrostat Inspired Soft Robot With Chain-Like Optimization With an Embedded Controller
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Topics: Chain, Control equipment, Kinematic analysis, Optimization, Robots, Algorithms, Kinematics, End effectors, Errors, Simulation results
Proceedings Papers

Multi-Car Convex Feasible Set Algorithm in Trajectory Planning

Jing Huang, Changliu Liu
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T10A003, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3201
https://doi.org/10.1115/DSCC2020-3201
View Paper titled, Multi-Car Convex Feasible Set Algorithm in Trajectory Planning
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Topics: Algorithms, Trajectories (Physics), Vehicles, Engineering simulation, Optimization, Quadratic programming, Roads, Simulation
Proceedings Papers

Benchmarking Fuel Economy of Connected and Automated Vehicles in Real World Driving Conditions via Monte Carlo Simulation

Shreshta Rajakumar Deshpande, Shobhit Gupta, Dennis Kibalama, Nicola Pivaro, Marcello Canova
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T10A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3250
https://doi.org/10.1115/DSCC2020-3250
View Paper titled, Benchmarking Fuel Economy of Connected and Automated Vehicles in Real World Driving Conditions via Monte Carlo Simulation
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Topics: Autonomous vehicles, Corporate average fuel economy, Fuel efficiency, Simulation, Vehicles, Traffic, Algorithms, Cities, Electrical discharge machining, Energy efficiency
Proceedings Papers

Safe Decision and Control of Connected Automated Vehicles for an Unprotected Left Turn

Sanghoon Oh, Linjun Zhang, Eric Tseng, Wayne Williams, Helen Kourous, Gabor Orosz
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T10A005, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3335
https://doi.org/10.1115/DSCC2020-3335
View Paper titled, Safe Decision and Control of Connected Automated Vehicles for an Unprotected Left Turn
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Topics: Autonomous vehicles, Safety, Vehicles, Algorithms, Decision making, Control equipment, Path planning, Roads
Proceedings Papers

Motion Planning for Autonomous Driving With Extended Constrained Iterative LQR

Yutaka Shimizu, Wei Zhan, Liting Sun, Jianyu Chen, Shinpei Kato, Masayoshi Tomizuka
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T12A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3138
https://doi.org/10.1115/DSCC2020-3138
View Paper titled, Motion Planning for Autonomous Driving With Extended Constrained Iterative LQR
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Topics: Algorithms, Driverless cars, Path planning, Simulation results, Trajectories (Physics), Vehicles
Proceedings Papers

A Novel Approach to Time Series Forecasting Using Model-Free Adaptive Control Framework

Meenakshi Narayan, Ann Majewicz Fey
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T12A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3329
https://doi.org/10.1115/DSCC2020-3329
View Paper titled, A Novel Approach to Time Series Forecasting Using Model-Free Adaptive Control Framework
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Topics: Adaptive control, Time series, Algorithms, Computation, Control systems, Errors, Force sensors, Machine learning, Needles, Optimal control
Proceedings Papers

Predictive Motion Planning for Autonomous Vehicles With Geometric Constraints via Convex Optimization

Xiaoyuan Zhu, Jian Chen, Yan Ma, Jianqiang Deng, Yuexuan Wang
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T31A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3169
https://doi.org/10.1115/DSCC2020-3169
View Paper titled, Predictive Motion Planning for Autonomous Vehicles With Geometric Constraints via Convex Optimization
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Topics: Autonomous vehicles, Optimization, Path planning, Vehicles, Algorithms, Roads, Decision making, Collisions (Physics), Modeling, Simulation results
Proceedings Papers

Physics-Informed Gaussian Process Based Optimal Control of Laser Powder Bed Fusion

Yong Ren, Qian Wang
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T24A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3197
https://doi.org/10.1115/DSCC2020-3197
View Paper titled, Physics-Informed Gaussian Process Based Optimal Control of Laser Powder Bed Fusion
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Topics: Lasers, Optimal control, Physics, Computer software, Modeling, Additive manufacturing, Algorithms, Dynamics (Mechanics), Finite element analysis, Simulation results
Proceedings Papers

Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization

Wei-Ye Zhao, Suqin He, Chengtao Wen, Changliu Liu
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T31A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3208
https://doi.org/10.1115/DSCC2020-3208
View Paper titled, Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization
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Topics: Optimization, Trajectories (Physics), Robots, Collisions (Physics), Path planning, Algorithms, Assembly lines, Dynamics (Mechanics), Grinding, Manufacturing
Proceedings Papers

Model Predictive Control for a Synchronous Machine With a Pulsed, Constant-Power Load

Adam Parry, Brandon Hencey, Jon Zumberge
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T19A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3110
https://doi.org/10.1115/DSCC2020-3110
View Paper titled, Model Predictive Control for a Synchronous Machine With a Pulsed, Constant-Power Load
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Topics: Machinery, Predictive control, Stress, Algorithms, Generators, Control equipment, Steady state, Design, Dynamics (Mechanics), Governors
Proceedings Papers

Combining Non-Parametric and Parametric Models for Stable and Computationally Efficient Battery Health Estimation

Antti Aitio, David Howey
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T20A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3180
https://doi.org/10.1115/DSCC2020-3180
View Paper titled, Combining Non-Parametric and Parametric Models for Stable and Computationally Efficient Battery Health Estimation
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Topics: Batteries, Algorithms, Circuits, Differential equations, Electric vehicle batteries, Kalman filters
Proceedings Papers

On the Ergodicity of an Autonomous Robot for Efficient Environment Explorations

Rabiul Hasan Kabir, Kooktae Lee
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T31A003, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3241
https://doi.org/10.1115/DSCC2020-3241
View Paper titled, On the Ergodicity of an Autonomous Robot for Efficient Environment Explorations
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Topics: Robots, Algorithms, Approximation, Simulation results
Proceedings Papers

Trajectory Generation From Paths for Autonomous Ground Vehicles

Letian Lin, J. Jim Zhu
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T31A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3300
https://doi.org/10.1115/DSCC2020-3300
View Paper titled, Trajectory Generation From Paths for Autonomous Ground Vehicles
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Topics: Autonomous vehicles, Trajectories (Physics), Algorithms, Vehicles, Boundary-value problems, Simulation results
Proceedings Papers

Design, Modeling, and Identification of an Experimental Liquid-Level Control System: Enabling Research in Fault Diagnosis

Hilina T. Workneh, Ioannis A. Raptis
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T21A008, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3312
https://doi.org/10.1115/DSCC2020-3312
View Paper titled, Design, Modeling, and Identification of an Experimental Liquid-Level Control System: Enabling Research in Fault Diagnosis
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Topics: Control systems, Design, Fault diagnosis, Modeling, Algorithms, Testing, Data acquisition, Dynamic models, Electronic components, Leakage
Proceedings Papers

Interaction-Aware Behavior Planning for Autonomous Vehicles Validated With Real Traffic Data

Jinning Li, Liting Sun, Wei Zhan, Masayoshi Tomizuka
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T31A005, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3328
https://doi.org/10.1115/DSCC2020-3328
View Paper titled, Interaction-Aware Behavior Planning for Autonomous Vehicles Validated With Real Traffic Data
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Topics: Autonomous vehicles, Traffic, Algorithms, Collisions (Physics), Engineering simulation, Finishes, Simulation, Uncertainty
Proceedings Papers

Dynamic Genetic Algorithm for Optimizing Movement of a Six-Limb Creature

Javier Viaña Perez, Drew Scott, Manish Kumar, Kelly Cohen
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T36A005, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3243
https://doi.org/10.1115/DSCC2020-3243
View Paper titled, Dynamic Genetic Algorithm for Optimizing Movement of a Six-Limb Creature
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Topics: Genetic algorithms, Algorithms, Center of mass, Displacement, Engineering simulation, Simulation
Proceedings Papers

Multi-Objective Optimal Design of an Active Aeroelastic Cascade Control System for an Aircraft Wing With a Leading and Trailing Control Surface

Yuekun Chen, Yousef Sardahi
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T37A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3121
https://doi.org/10.1115/DSCC2020-3121
View Paper titled, Multi-Objective Optimal Design of an Active Aeroelastic Cascade Control System for an Aircraft Wing With a Leading and Trailing Control Surface
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Topics: Aircraft, Cascades (Fluid dynamics), Control systems, Design, Wings, Control algorithms, Control equipment, Algorithms, Computer simulation, Dynamics (Mechanics)
Proceedings Papers

Attack-Resilient Observer Pruning for Path-Tracking Control of Wheeled Mobile Robot

Yu Zheng, Olugbenga Moses Anubi
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T33A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3139
https://doi.org/10.1115/DSCC2020-3139
View Paper titled, Attack-Resilient Observer Pruning for Path-Tracking Control of Wheeled Mobile Robot
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Topics: Mobile robots, Algorithms, Resilience, Computer simulation, Feedback, Internet of things, Monitoring systems, Optimization, Probability, Wheelchairs
Proceedings Papers

Sensor and Actuator Intrusion Detection for Cyber-Physical Systems via Adaptive Estimation Algorithm

Jiayi Su, Yuqin Weng, Susan C. Schneider, Edwin E. Yaz
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T33A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3245
https://doi.org/10.1115/DSCC2020-3245
View Paper titled, Sensor and Actuator Intrusion Detection for Cyber-Physical Systems via Adaptive Estimation Algorithm
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Topics: Actuators, Algorithms, Cyber-physical systems, Kalman filters, Sensors, Signals, Control systems, Engineering simulation, Engines, Flaw detection