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Proceedings Papers

Visual Navigation of Wheeled Mobile Robots Using Deep Reinforcement Learning: Simulation to Real-Time Implementation

Ezebuugo Nwaonumah, Biswanath Samanta
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, V001T05A010, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3279
https://doi.org/10.1115/DSCC2020-3279
View Paper titled, Visual Navigation of Wheeled Mobile Robots Using Deep Reinforcement Learning: Simulation to Real-Time Implementation
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Topics: Artificial neural networks, Mobile robots, Navigation, Reinforcement learning, Robots, Simulation
Proceedings Papers

Dynamic Prediction-Based Optical Localization of a Robot During Continuous Movement

Jason N. Greenberg, Xiaobo Tan
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, V002T25A005, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3288
https://doi.org/10.1115/DSCC2020-3288
View Paper titled, Dynamic Prediction-Based Optical Localization of a Robot During Continuous Movement
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Topics: Robots, Bearings, Mobile robots, Data collection, Filtration, Navigation, Simulation
Proceedings Papers

Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces

Violet Mwaffo, Pietro De Lellis, Sean Humbert
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, V002T30A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3162
https://doi.org/10.1115/DSCC2020-3162
View Paper titled, Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces
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Topics: Computer simulation, Design, Dynamics (Mechanics), Gravel, Kinematics, Mobile robots, Noise (Sound), Roads, Robotics, Robots
Proceedings Papers

Effect of Short-Term Weather Predictions on Model Predictive Trajectory Tracking Performance of Unmanned Surface Vessels

Benjamin Armentor, Joseph Stevens, Nathan Madsen, Andrew Durand, Joshua Vaughan
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, V002T35A003, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3316
https://doi.org/10.1115/DSCC2020-3316
View Paper titled, Effect of Short-Term Weather Predictions on Model Predictive Trajectory Tracking Performance of Unmanned Surface Vessels
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Topics: Trajectories (Physics), Unmanned surface vehicles, Weather forecasting, Control equipment, Errors, Currents, Dynamics (Mechanics), Mobile robots, Wind waves
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

Cooperative Localization of Vehicles in Three-Dimensional Space

Juan Carlos Oliveros, Hashem Ashrafiuon
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, V002T30A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3206
https://doi.org/10.1115/DSCC2020-3206
View Paper titled, Cooperative Localization of Vehicles in Three-Dimensional Space
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Topics: Vehicles, Algorithms, Multi-agent systems, Dynamics (Mechanics), Engineering simulation, Kalman filters, Kinematics, Mobile robots, Model vehicles, Signals
Proceedings Papers

Agricultural Field Coverage Using Cooperating Unmanned Ground Vehicles

Saba Faryadi, Mohammadreza Davoodi, Javad Mohammadpour Velni
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, V002T25A003, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8992
https://doi.org/10.1115/DSCC2019-8992
View Paper titled, Agricultural Field Coverage Using Cooperating Unmanned Ground Vehicles
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Topics: Algorithms, Mobile robots, Optimization, Robots, Simulation, Stress, Vehicles, Water
Proceedings Papers

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

Vikram Ramanathan, Andy Zelenak, Mitch Pryor
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, V003T17A005, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9123
https://doi.org/10.1115/DSCC2019-9123
View Paper titled, Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control
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Topics: Control modeling, Kinematics, Rotation, Wheels, Control equipment, Braking, Chatter, Design, Engineering simulation, Feedback
Proceedings Papers

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

Jessica Leu, Masayoshi Tomizuka
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, V003T19A009, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9208
https://doi.org/10.1115/DSCC2019-9208
View Paper titled, Motion Planning for Industrial Mobile Robots With Closed-Loop Stability Enhanced Prediction
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Topics: Mobile robots, Path planning, Stability, Robots, Human-robot interaction, Algorithms, Clearances (Engineering), Collisions (Physics), Delays, Engineering simulation
Proceedings Papers

Learning Hyperparameters in Efficient Spatial Model by Robotic Sensors

Jinho Jeong, Soo Jeon, Jongeun Choi
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, V003T17A007, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9170
https://doi.org/10.1115/DSCC2019-9170
View Paper titled, Learning Hyperparameters in Efficient Spatial Model by Robotic Sensors
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Topics: Mobile robots, Robotics, Sensors, Simulation results, Surveillance
Proceedings Papers

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

Soovadeep Bakshi, Tianheng Feng, Zeyu Yan, Dongmei Chen
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, V003T21A002, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8970
https://doi.org/10.1115/DSCC2019-8970
View Paper titled, A Probabilistic Technique for Allocation of Tasks With Priorities in a School of Autonomous Mobile Robots
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Topics: Mobile robots, Algorithms, Manufacturing automation, Optimization
Proceedings Papers

Geometric Trajectory Planning for Robot Motion Over a 3D Surface

Bashir Hosseini Jafari, Nolan Walker, Ronald Smaldone, Nicholas Gans
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, V003T19A006, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9063
https://doi.org/10.1115/DSCC2019-9063
View Paper titled, Geometric Trajectory Planning for Robot Motion Over a 3D Surface
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Topics: Robot motion, Trajectories (Physics), Printing, Design, End effectors, Engineering simulation, Mobile robots, Optimization, Path planning, Simulation
Proceedings Papers

Locomotion of an Origami Inspired Nonholonomic System

Vitaliy Fedonyuk, Priyanka Bhovad, Suyi Li, Phanindra Tallapragada
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, V001T03A005, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9016
https://doi.org/10.1115/DSCC2019-9016
View Paper titled, Locomotion of an Origami Inspired Nonholonomic System
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Topics: Dynamics (Mechanics), Mechanical properties, Mobile robots, Origami-inspired design, Oscillations, Robots, Stability, Stiffness, Switches, Torque
Proceedings Papers

Prediction of Wheel Slipping Limits for Mobile Robots

Alan M. Whitman, Garrett M. Clayton, Hashem Ashrafiuon
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T37A002, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9053
https://doi.org/10.1115/DSCC2018-9053
View Paper titled, Prediction of Wheel Slipping Limits for Mobile Robots
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Topics: Mobile robots, Wheels, Nonlinear equations, Robots
Proceedings Papers

Brain Computer Interface Using Motor Imagery and Facial Expressions to Control a Mobile Robot

James Kuffuor, Biswanath Samanta
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, V001T13A006, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9234
https://doi.org/10.1115/DSCC2018-9234
View Paper titled, Brain Computer Interface Using Motor Imagery and Facial Expressions to Control a Mobile Robot
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Topics: Brain, Computers, Engines, Mobile robots, Motors, Signals, Electroencephalography, Support vector machines, Sensors, Trains
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

Integration of Multibody System Dynamics With Sliding Mode Control Using FPGA Technique for Trajectory Tracking Problems

Ayman A. Nada, Abdullateef H. Bashiri
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T32A010, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9108
https://doi.org/10.1115/DSCC2018-9108
View Paper titled, Integration of Multibody System Dynamics With Sliding Mode Control Using FPGA Technique for Trajectory Tracking Problems
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Topics: Dynamics (Mechanics), Multibody systems, Sliding mode control, Trajectories (Physics), Robotics, Control systems, Design, Equations of motion, Mobile robots, Algorithms
Proceedings Papers

Maneuverability and Heading Control of a Quadruped Robot Utilizing Tail Dynamics

Wael Saab, Pinhas Ben-Tzvi
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, V002T21A010, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5337
https://doi.org/10.1115/DSCC2017-5337
View Paper titled, Maneuverability and Heading Control of a Quadruped Robot Utilizing Tail Dynamics
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Topics: Dynamics (Mechanics), Robots, Modeling, Robotics, Control equipment, Design, Equilibrium (Physics), Mobile robots, Rotation, Sensitivity analysis
Proceedings Papers

Extended Kalman Filter-Aided Active Beam Tracking for LED Communication in 3D Space

Pratap Bhanu Solanki, Xiaobo Tan
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, V002T04A009, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5344
https://doi.org/10.1115/DSCC2017-5344
View Paper titled, Extended Kalman Filter-Aided Active Beam Tracking for LED Communication in 3D Space
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Topics: Filters, Algorithms, Control systems, Degrees of freedom, Design, Light-emitting diodes, Mobile robots, Photodiodes, Robotics, Simulation results
Proceedings Papers

Kalman Filtering-Aided Optical Localization of Mobile Robots: System Design and Experimental Validation

Jason N. Greenberg, Xiaobo Tan
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, V002T21A013, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5368
https://doi.org/10.1115/DSCC2017-5368
View Paper titled, Kalman Filtering-Aided Optical Localization of Mobile Robots: System Design and Experimental Validation
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Topics: Design, Filtration, Mobile robots, Bearings, Errors, Kalman filters, Navigation, Robots