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Proceedings Papers

Ankle-Knee-Hip Robot Hopping on an Elastic Foundation and a Viscoelastic Foundation With Inertia

Amer Allafi, Ranjan Mukherjee
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T03A007, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9072
https://doi.org/10.1115/DSCC2019-9072
View Paper titled, Ankle-Knee-Hip Robot Hopping on an Elastic Foundation and a Viscoelastic Foundation With Inertia
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Topics: Inertia (Mechanics), Knee, Robots, Control equipment, Errors, Dynamics (Mechanics), Energy dissipation, Energy levels (Quantum mechanics), Simulation results, Steady state
Proceedings Papers

Apex Height Control of a Two-DOF Ankle-Knee-Hip Robot Hopping on a Rigid Foundation

Amer Allafi, Ranjan Mukherjee
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T03A002, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8921
https://doi.org/10.1115/DSCC2019-8921
View Paper titled, Apex Height Control of a Two-DOF Ankle-Knee-Hip Robot Hopping on a Rigid Foundation
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Topics: Knee, Robots, Control equipment, Damping, Center of mass, Energy dissipation, Simulation results
Proceedings Papers

Torsional Oscillations of a Shape-Morphing Plate in Viscous Fluids

Syed N. Ahsan, Matteo Aureli
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T13A003, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9187
https://doi.org/10.1115/DSCC2019-9187
View Paper titled, Torsional Oscillations of a Shape-Morphing Plate in Viscous Fluids
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Topics: Fluids, Oscillations, Shapes, Energy dissipation, Deformation, Computational fluid dynamics, Fluid dynamics, Fluid structure interaction, Incompressible fluids, Navier-Stokes equations
Proceedings Papers

Apex Height Control of a Two-Mass Robot Hopping on a Viscoelastic Foundation With Inertia

Amer Allafi, Frank B. Mathis, Ranjan Mukherjee
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T04A004, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-8975
https://doi.org/10.1115/DSCC2018-8975
View Paper titled, Apex Height Control of a Two-Mass Robot Hopping on a Viscoelastic Foundation With Inertia
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Topics: Inertia (Mechanics), Robots, Degrees of freedom, Hybrid control, Center of mass, Control equipment, Dampers, Damping, Energy dissipation, Simulation results
Proceedings Papers

Energy Implications of Torque Feedback Control and Series Elastic Actuators for Mobile Robots

Stephen P. Buerger, Anirban Mazumdar, Steven J. Spencer
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T12A001, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9141
https://doi.org/10.1115/DSCC2018-9141
View Paper titled, Energy Implications of Torque Feedback Control and Series Elastic Actuators for Mobile Robots
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Topics: Actuators, Feedback, Mobile robots, Torque, Energy consumption, Gears, Optimization, Robots, Computation, Design
Proceedings Papers

Developing a Novel Robotic Fish With Antagonistic Artificial Muscle Actuators

Sunil Kumar Rajendran, Feitian Zhang
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T30A011, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5380
https://doi.org/10.1115/DSCC2017-5380
View Paper titled, Developing a Novel Robotic Fish With Antagonistic Artificial Muscle Actuators
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Topics: Actuators, Muscle, Robotics, Robots, Design, Polymers, Closed loop systems, Control equipment, Dynamic models, Dynamic response
Proceedings Papers

Limit Cycle Analysis and Control of the Dissipative Chaplygin Sleigh

Vitaliy Fedonyuk, Phanindra Tallapragada, Yongqiang Wang
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T21A004, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5193
https://doi.org/10.1115/DSCC2017-5193
View Paper titled, Limit Cycle Analysis and Control of the Dissipative Chaplygin Sleigh
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Topics: Limit cycles, Fluids, Dynamics (Mechanics), Energy dissipation, Robotics, Robots
Proceedings Papers

A Design Optimization Model for an Alternating Flow (AF) Hydraulic Pump Based on First Principles

Mengtang Li, Ryan Foss, Kim A. Stelson, James D. Van de Ven, Eric J. Barth
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T27A007, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5171
https://doi.org/10.1115/DSCC2017-5171
View Paper titled, A Design Optimization Model for an Alternating Flow (AF) Hydraulic Pump Based on First Principles
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Topics: Design, Flow (Dynamics), Hydraulic pumps, Optimization, Displacement, Pumps, Engineering prototypes, Actuators, Control systems, Energy dissipation
Proceedings Papers

Physics-Based Friction Model With Potential Application in Numerical Models for Tire-Road Traction

Anahita Emami, Seyedmeysam Khaleghian, Chuang Su, Saied Taheri
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T27A015, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5335
https://doi.org/10.1115/DSCC2017-5335
View Paper titled, Physics-Based Friction Model With Potential Application in Numerical Models for Tire-Road Traction
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Topics: Computer simulation, Friction, Physics, Roads, Tires, Traction, Tire tread, Surface roughness, Pavement, Sliding friction
Proceedings Papers

Three-Dimensional Analysis of Shape-Morphing Cantilever Oscillations in Viscous Fluids

Syed N. Ahsan, Matteo Aureli
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T22A005, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5402
https://doi.org/10.1115/DSCC2017-5402
View Paper titled, Three-Dimensional Analysis of Shape-Morphing Cantilever Oscillations in Viscous Fluids
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Topics: Cantilevers, Fluids, Oscillations, Shapes, Deformation, Propulsion, Energy dissipation, Boundary element methods, Cantilever beams, Chords (Trusses)
Proceedings Papers

Justifying the Stabilization of a Marginally Stable Ship

David Shekhtman, Dirk M. Luchtenburg
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T12A003, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5116
https://doi.org/10.1115/DSCC2017-5116
View Paper titled, Justifying the Stabilization of a Marginally Stable Ship
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Topics: Ships, Control equipment, Stability, Pendulums, Damping, Eigenvalues, Energy dissipation, Equations of motion, Excitation
Proceedings Papers

Structural Analysis-Based Fault Diagnosis of Pneumatic Systems

Brian M. Rahman, Greg T. Busch, Qadeer Ahmed, Giorgio Rizzoni
Proc. ASME. DSCC2016, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation, V001T12A004, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9888
https://doi.org/10.1115/DSCC2016-9888
View Paper titled, Structural Analysis-Based Fault Diagnosis of Pneumatic Systems
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Topics: Fault diagnosis, Pneumatic systems, Pipes, Sensors, Pressure sensors, Downtime, Fluids, Maintenance, System dynamics, Complex systems
Proceedings Papers

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

Syed N. Ahsan, Matteo Aureli
Proc. ASME. DSCC2016, 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, V002T21A009, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9795
https://doi.org/10.1115/DSCC2016-9795
View Paper titled, Minimization of Hydrodynamic Power Losses in Oscillating Submerged Structures by a Novel Shape-Morphing Strategy
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Topics: Shapes, Submerged structures, Energy dissipation, Deformation, Oscillations, Fluids, Computational fluid dynamics, Damping, Engineering simulation, Flexible structures
Proceedings Papers

A Model Predictive Framework for Thermal Management of Aircraft

Timothy O. Deppen, Joel E. Hey, Andrew G. Alleyne, Timothy S. Fisher
Proc. ASME. DSCC2015, Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems, V001T08A001, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9771
https://doi.org/10.1115/DSCC2015-9771
View Paper titled, A Model Predictive Framework for Thermal Management of Aircraft
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Topics: Aircraft, Thermal management, Stress, Control equipment, Temperature, Cooling, Design, Electrical components, Electricity (Physics), Energy dissipation
Proceedings Papers

Inertia-Driven Controlled Passive Actuation

Douwe Dresscher, Theo J. A. de Vries, Stefano Stramigioli
Proc. ASME. DSCC2015, 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, V003T45A002, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9786
https://doi.org/10.1115/DSCC2015-9786
View Paper titled, Inertia-Driven Controlled Passive Actuation
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Topics: Inertia (Mechanics), Actuators, Stress, Dynamics (Mechanics), Energy dissipation, Energy storage, Engineering simulation, Feedback, Flow (Dynamics), Legged locomotion
Proceedings Papers

Passive Control of a Hydraulic Human Power Amplifier Using a Hydraulic Transformer

Sangyoon Lee, Perry Y. Li
Proc. ASME. DSCC2015, Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications, V002T27A004, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9734
https://doi.org/10.1115/DSCC2015-9734
View Paper titled, Passive Control of a Hydraulic Human Power Amplifier Using a Hydraulic Transformer
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Topics: Actuators, Control equipment, Degrees of freedom, Dynamics (Mechanics), Energy dissipation, Energy storage, Flow (Dynamics), Hydraulic drive systems, Passive control, Pressure
Proceedings Papers

Dissipation-Induced Self-Recovery in Systems on Principal Bundles

Tony Dear, Scott David Kelly, Matthew Travers, Howie Choset
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T11A004, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6212
https://doi.org/10.1115/DSCC2014-6212
View Paper titled, Dissipation-Induced Self-Recovery in Systems on Principal Bundles
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Topics: Drag (Fluid dynamics), Energy dissipation, Equilibrium (Physics)
Proceedings Papers

Energy-Conserving Gaits for Point-Foot Planar Bipeds: A Five-DOF Case Study

Rouhollah Jafari, Louis L. Flynn, Aren Hellum, Ranjan Mukherjee
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T10A001, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3723
https://doi.org/10.1115/DSCC2013-3723
View Paper titled, Energy-Conserving Gaits for Point-Foot Planar Bipeds: A Five-DOF Case Study
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Topics: Boundary-value problems, Design, Energy dissipation, Kinetic energy
Proceedings Papers

Vehicle Roll Stabilization Enhancement Using a Variable Stiffness Architecture: Kinematic Control

Olugbenga M. Anubi, Carl D. Crane, III
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T46A001, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3829
https://doi.org/10.1115/DSCC2013-3829
View Paper titled, Vehicle Roll Stabilization Enhancement Using a Variable Stiffness Architecture: Kinematic Control
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Topics: Kinematics, Stiffness, Vehicles, Dynamics (Mechanics), Suspension systems, Bicycles, Energy dissipation, Simulation, Simulation results, Stability
Proceedings Papers

Thermal Modeling for Temperature Aware Operations in Field Robots

Brandon J. Moore, Ella Atkins, Dawn Tilbury
Proc. ASME. DSCC2012-MOVIC2012, Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control, 509-518, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8748
https://doi.org/10.1115/DSCC2012-MOVIC2012-8748
View Paper titled, Thermal Modeling for Temperature Aware Operations in Field Robots
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Topics: Modeling, Robots, Temperature, Construction, Cooling systems, Dynamics (Mechanics), Energy dissipation, Failure, Heat, Robotics