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Proceedings Papers

Cooperation and Null-Space Control of Networked Omni-Directional Mobile Manipulators

Michael John Chua, Yen-Chen 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, V001T05A012, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3291
https://doi.org/10.1115/DSCC2020-3291
View Paper titled, Cooperation and Null-Space Control of Networked Omni-Directional Mobile Manipulators
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Topics: Force control, Manipulators
Proceedings Papers

Sliding Mode Impedance and Stiffness Control of a Pneumatic Cylinder

Jonathon E. Slightam, Eric J. Barth, Mark L. Nagurka
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, V001T02A002, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9009
https://doi.org/10.1115/DSCC2019-9009
View Paper titled, Sliding Mode Impedance and Stiffness Control of a Pneumatic Cylinder
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Topics: Pneumatic cylinders, Stiffness, Cylinders, Servomechanisms, Actuators, Control equipment, Force control, Mechanical properties, Motion control, Valves
Proceedings Papers

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

Stephen Mascaro
Proc. ASME. DSCC2019, 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, V003T17A012, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9245
https://doi.org/10.1115/DSCC2019-9245
View Paper titled, Educational Force Control Using a Modular 2-DOF Serial Robot Manipulator and Low-Cost 2-DOF Force Sensor
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Topics: Force control, Force sensors, Manipulators, Robots, Robotics, Additive manufacturing, Hybrid control, Matlab, Mechanical admittance, Motion control
Proceedings Papers

Sliding Mode Control of Low Cost Pressure Sensor Calibration Device

Chang-Hwan Lee, Deukhwan Ahn, Sunghoon Kim, Kwan-Woong Gwak
Proc. ASME. DSCC2018, Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems, V002T24A002, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9033
https://doi.org/10.1115/DSCC2018-9033
View Paper titled, Sliding Mode Control of Low Cost Pressure Sensor Calibration Device
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Topics: Calibration, Pressure sensors, Sliding mode control, Control equipment, Force control, Stress, Creep, Design, Dynamic models, End effectors
Proceedings Papers

Admittance Based Force Control for Collaborative Transportation of a Common Payload Using Two UAVs

Shraddha Barawkar, Mohammadreza Radmanesh, Manish Kumar, Kelly Cohen
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, V003T39A007, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5278
https://doi.org/10.1115/DSCC2017-5278
View Paper titled, Admittance Based Force Control for Collaborative Transportation of a Common Payload Using Two UAVs
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Topics: Force control, Mechanical admittance, Transportation systems, Unmanned aerial vehicles, Control equipment, Trajectories (Physics), Feedback, Computer simulation, Dampers, Errors
Proceedings Papers

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

Stephen Mascaro
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, V002T25A002, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9878
https://doi.org/10.1115/DSCC2016-9878
View Paper titled, A Modular 2-DOF Serial Robot Manipulator for Education in Robot Control
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Topics: Education, Manipulators, Robots, Adaptive control, Architecture, Computer software, Dynamics (Mechanics), End effectors, Feedforward control, Force control
Proceedings Papers

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
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, V002T25A005, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9914
https://doi.org/10.1115/DSCC2016-9914
View Paper titled, Force Analysis and Modelling of Soft Actuators for Catheter Robots
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Topics: Actuators, Catheters, Modeling, Robots, Robotics, End effectors, Force control, Blood vessels, Dynamic systems, Errors
Proceedings Papers

The Advantages of Velocity Control for Reactive Robot Motion

Andy Zelenak, Clinton Peterson, Jack Thompson, Mitch Pryor
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, V003T43A003, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9713
https://doi.org/10.1115/DSCC2015-9713
View Paper titled, The Advantages of Velocity Control for Reactive Robot Motion
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Topics: Actuators, Collisions (Physics), Delays, Force control, Hardware, Manipulators, Path planning, Position control, Robot motion, Robustness
Proceedings Papers

Investigation of Energy Efficiency in Force Control of Pneumatic Actuators

Behzad Taheri, David Case, Edmond Richer
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, V003T45A005, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9926
https://doi.org/10.1115/DSCC2015-9926
View Paper titled, Investigation of Energy Efficiency in Force Control of Pneumatic Actuators
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Topics: Energy efficiency, Force control, Pneumatic actuators, Pneumatic cylinders, Actuators, Control algorithms, Pneumatic systems, Pressure, Real-time control
Proceedings Papers

A Learning-Based Framework for Robot Peg-Hole-Insertion

Te Tang, Hsien-Chung Lin, Masayoshi Tomizuka
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, V002T27A002, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9703
https://doi.org/10.1115/DSCC2015-9703
View Paper titled, A Learning-Based Framework for Robot Peg-Hole-Insertion
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Topics: Robots, Teaching, Computer programming, Contact mechanics, Dimensions, Force control, Trajectories (Physics)
Proceedings Papers

Adaptive Robust Cascade Force Control of 1-DOF Joint Exoskeleton for Human Performance Augmentation

Shan Chen, Bin Yao, Zheng Chen, Xiaocong Zhu, Shiqiang Zhu
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, V002T33A006, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9825
https://doi.org/10.1115/DSCC2015-9825
View Paper titled, Adaptive Robust Cascade Force Control of 1-DOF Joint Exoskeleton for Human Performance Augmentation
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Topics: Cascades (Fluid dynamics), Exoskeleton devices, Force control, Control equipment, Machinery, Uncertainty, Algorithms, Dynamics (Mechanics), Robust control, Springs
Proceedings Papers

Interaction Control of a Non-Backdriveable MR-Compatible Actuator Through Series Elasticity

Fabrizio Sergi, Vinay Chawda, Marcia K. O’Malley
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T27A002, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3891
https://doi.org/10.1115/DSCC2013-3891
View Paper titled, Interaction Control of a Non-Backdriveable MR-Compatible Actuator Through Series Elasticity
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Topics: Actuators, Elasticity, Stiffness, Force control, Seas, Simulation results, Stability, Control equipment, Design, Dynamic systems
Proceedings Papers

Design and Modeling of a Series Elastic Element for Snake Robots

David Rollinson, Steven Ford, Ben Brown, Howie Choset
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, V001T08A002, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3875
https://doi.org/10.1115/DSCC2013-3875
View Paper titled, Design and Modeling of a Series Elastic Element for Snake Robots
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Topics: Design, Modeling, Robots, Springs, Rubber, Torque, Deflection, Die cutting, Displacement, Elasticity
Proceedings Papers

Model-Based Soft Landing Control of an Electromechanical Engine Valve Actuator

M. di Bernardo, S. Santini, A. di Gaeta, C. I. Hoyos Velasco, U. Montanaro
Proc. ASME. DSCC2012-MOVIC2012, Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems, 87-94, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8526
https://doi.org/10.1115/DSCC2012-MOVIC2012-8526
View Paper titled, Model-Based Soft Landing Control of an Electromechanical Engine Valve Actuator
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Topics: Engines, Valve actuators, Algorithms, Computer simulation, Emissions, Feedback, Feedforward control, Force control, Friction, Fuel consumption
Proceedings Papers

Cutting Force Control in Machining: Bayesian Update of Mechanistic Force Model

Parikshit Mehta, Laine Mears
Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 243-251, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8588
https://doi.org/10.1115/DSCC2012-MOVIC2012-8588
View Paper titled, Cutting Force Control in Machining: Bayesian Update of Mechanistic Force Model
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Topics: Cutting, Force control, Machining, Friction, Shear stress, Cycles, Chain, Computer simulation, Force measurement, Numerical analysis
Proceedings Papers

Force Control of Pneumatic Actuators Utilizing a New Pressure Estimation Technique

Tad Driver, Xiangrong Shen
Proc. ASME. DSCC2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1, 93-98, October 31–November 2, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2011-6145
https://doi.org/10.1115/DSCC2011-6145
View Paper titled, Force Control of Pneumatic Actuators Utilizing a New Pressure Estimation Technique
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Topics: Force control, Pneumatic actuators, Pressure, Control equipment, Dynamics (Mechanics), Pneumatic cylinders
Proceedings Papers

Pinpointed Muscle Force Control Taking Into Account the Control DOF of Power-Assisting Device

Ming Ding, Yuichi Kurita, Jun Ueda, Tsukasa Ogasawara
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 1, 341-348, September 12–15, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2010-4102
https://doi.org/10.1115/DSCC2010-4102
View Paper titled, Pinpointed Muscle Force Control Taking Into Account the Control DOF of Power-Assisting Device
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Topics: Force control, Muscle, Torque, Mechanical admittance, Robots, Simulation, Sports, Stress
Proceedings Papers

Nonlinear-Feedback Vehicle Traction Force Control With Load Transfer

Annalisa Scacchioli, Panagiotis Tsiotras, Jianbo Lu
Proc. ASME. DSCC2009, ASME 2009 Dynamic Systems and Control Conference, Volume 1, 525-532, October 12–14, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2009-2737
https://doi.org/10.1115/DSCC2009-2737
View Paper titled, Nonlinear-Feedback Vehicle Traction Force Control With Load Transfer
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Topics: Feedback, Force control, Stress, Traction, Vehicles, Friction, Engineering simulation, Simulation, Uncertainty, Vehicle dynamics
Proceedings Papers

Haptic Feedback Applied to Pneumatic Walking

Brian Guerriero, Wayne Book
Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 591-597, October 20–22, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2008-2185
https://doi.org/10.1115/DSCC2008-2185
View Paper titled, Haptic Feedback Applied to Pneumatic Walking
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Topics: Feedback, Haptics, Control equipment, Pressure, Robots, Weight (Mass), Actuators, Cycles, Errors, Force control
Proceedings Papers

Path Force Control for Friction Stir Welding Processes

Xin Zhao, Prabhanjana Kalya, Robert G. Landers, K. Krishnamurthy
Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 87-94, October 20–22, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2008-2111
https://doi.org/10.1115/DSCC2008-2111
View Paper titled, Path Force Control for Friction Stir Welding Processes
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Topics: Force control, Friction, Welding, Control equipment, Delays, Rotation, Design, Feedback, Pole placement, Polynomials