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Proceedings Papers

Continuum of Motion Equations and Control Laws for the Inverted Pendulum Cart and Rotary Pendulum

Constance Lare, Warren N. White
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, V002T28A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3298
https://doi.org/10.1115/DSCC2020-3298
View Paper titled, Continuum of Motion Equations and Control Laws for the Inverted Pendulum Cart and Rotary Pendulum
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Topics: Equations of motion, Pendulums, Control equipment, Dynamics (Mechanics), Inspection
Proceedings Papers

Arm Motion Dynamics to Excite a Mobile Energy Harvesting Autowinder

Abby George, David Moline, John Wagner
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, V002T32A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3109
https://doi.org/10.1115/DSCC2020-3109
View Paper titled, Arm Motion Dynamics to Excite a Mobile Energy Harvesting Autowinder
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Topics: Dynamics (Mechanics), Energy harvesting, Pendulums, Battery life, Equations of motion, Excitation, Gear trains, Generators, Potential energy, Simulation
Proceedings Papers

Energy-Optimal, Direct-Phase Control of Brushless Motors for Robotic Drives

Amin Ghorbanpour, Hanz Richter
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, V001T05A006, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3200
https://doi.org/10.1115/DSCC2020-3200
View Paper titled, Energy-Optimal, Direct-Phase Control of Brushless Motors for Robotic Drives
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Topics: Motors, Robotics, Capacitors, Energy consumption, Control equipment, Manipulators, Motion control, Optimization, Pendulums, Robots
Proceedings Papers

Design of a Parallel Elastic Hopper With a Wrapping Cam Mechanism and Template Based Virtually Tunable Damping Control

Sinan Şahin Candan, Osman Kaan Karagöz, Yiğit Yazıcıoğlu, Uluç Saranlı
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, V001T05A009, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3278
https://doi.org/10.1115/DSCC2020-3278
View Paper titled, Design of a Parallel Elastic Hopper With a Wrapping Cam Mechanism and Template Based Virtually Tunable Damping Control
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Topics: Damping, Design, Springs, Design engineering, Robots, Dynamics (Mechanics), Elongation, String, Compression, Control equipment
Proceedings Papers

The Swirling Pendulum: Conceptualization, Modeling, Equilibria and Control Synthesis

Sujay D. Kadam, Utsav Shah, Alrick D’Souza, Prajwal Gowdru Shanthamurthy, Nidhish Raj, Ravi N. Banavar, Harish J. Palanthandalam-Madapusi
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, V001T16A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3140
https://doi.org/10.1115/DSCC2020-3140
View Paper titled, The Swirling Pendulum: Conceptualization, Modeling, Equilibria and Control Synthesis
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Topics: Modeling, Pendulums, Swirling flow, Dynamics (Mechanics), Equilibrium (Physics), Control theory, Degrees of freedom, Engineering simulation, Hardware, Rotation
Proceedings Papers

A Strategy of Human Balancing Based on Lissajous Curves

Angel Cerda-Lugo, Alejandro González, Antonio Cardenas, Davide Piovesan
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, V001T07A001, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9066
https://doi.org/10.1115/DSCC2019-9066
View Paper titled, A Strategy of Human Balancing Based on Lissajous Curves
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Topics: Kalman filters, Pendulums, Physiology, Simulation results, Stability, Stiffness, Switches
Proceedings Papers

Data-Driven ILC for Trajectory Tracking in Nonlinear Dynamic Systems

Yu-Hsiu Lee, Tsu-Chin Tsao
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, V002T14A001, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8926
https://doi.org/10.1115/DSCC2019-8926
View Paper titled, Data-Driven ILC for Trajectory Tracking in Nonlinear Dynamic Systems
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Topics: Iterative learning control, Nonlinear dynamical systems, Trajectories (Physics), Algorithms, Filters, Errors, Filtration, Pendulums, Signals, Simulation
Proceedings Papers

Simulation Study of a Spherical Inverted Pendulum on an Omnidirectional Cart With Holonomic Constraints

Sayani Maity, Greg R. Luecke
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, V002T16A003, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9102
https://doi.org/10.1115/DSCC2018-9102
View Paper titled, Simulation Study of a Spherical Inverted Pendulum on an Omnidirectional Cart With Holonomic Constraints
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Topics: Pendulums, Simulation, Control equipment, Design, Simulation results, System dynamics, Wheels
Proceedings Papers

Capturability of Inverted Pendulum Gait Model Under Slip Conditions

Marko Mihalec, Jingang Yi
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, V001T12A003, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9203
https://doi.org/10.1115/DSCC2018-9203
View Paper titled, Capturability of Inverted Pendulum Gait Model Under Slip Conditions
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Topics: Pendulums, Friction, Center of mass, Stability
Proceedings Papers

Experimental Study of NMP Sample and Hold Input Using an Inverted Pendulum

Yingxu Wang, Guoming G. Zhu, 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, V001T01A004, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-8994
https://doi.org/10.1115/DSCC2018-8994
View Paper titled, Experimental Study of NMP Sample and Hold Input Using an Inverted Pendulum
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Topics: Pendulums, Control equipment, Discrete time systems, Displacement, Oscillations, Steady state, System dynamics
Proceedings Papers

Stochastic Policies for Online Computation Triggering in Powertrain Control

Kuan Liu, Yue Yun Wang, Ibrahim Haskara, Chen-Fang Chang, Anouck Girard, Ilya Kolmanovsky
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, V001T01A007, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9045
https://doi.org/10.1115/DSCC2018-9045
View Paper titled, Stochastic Policies for Online Computation Triggering in Powertrain Control
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Topics: Computation, Algorithms, Automobiles, Cyber-physical systems, Diesel engines, Dynamic programming, Optimal control, Pendulums, Pressing, Spark-ignition engine
Proceedings Papers

Control of Slender-Beam Payloads During Lift-Up Operations

Shenghai Wang, Aldo Ferri, William Singhose, Yujia Yang
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, V003T40A003, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-8967
https://doi.org/10.1115/DSCC2018-8967
View Paper titled, Control of Slender-Beam Payloads During Lift-Up Operations
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Topics: Cables, Control equipment, Cranes, Damage, Hoists, Oscillations, Pendulums, Robustness
Proceedings Papers

Modeling and Dynamics Analysis of a Beam-Hoverboard Self-Transportation System

Amin Mehrvarz, Mohammad Javad Khodaei, William Clark, Nader Jalili
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, V003T32A008, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9048
https://doi.org/10.1115/DSCC2018-9048
View Paper titled, Modeling and Dynamics Analysis of a Beam-Hoverboard Self-Transportation System
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Topics: Dynamics (Mechanics), Modeling, Transportation systems, Pendulums, Degrees of freedom, Piezoelectric actuators, Rotation, Vibration, Wheels
Proceedings Papers

Experimental Bifurcation Diagram of Furuta Pendulum

Mate B. Vizi, Gabor Stepan
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, V003T29A004, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9030
https://doi.org/10.1115/DSCC2018-9030
View Paper titled, Experimental Bifurcation Diagram of Furuta Pendulum
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Topics: Bifurcation, Pendulums, Coulombs, Degrees of freedom, Friction, Mechanical structures, Stability
Proceedings Papers

Trajectory Generation for a Lower Limb Exoskeleton for Sit-to-Stand Transition Using a Genetic Algorithm

Ameya S. Chamnikar, Gaurav Patil, Mohammadreza Radmanesh, Manish Kumar
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, V001T36A004, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5261
https://doi.org/10.1115/DSCC2017-5261
View Paper titled, Trajectory Generation for a Lower Limb Exoskeleton for Sit-to-Stand Transition Using a Genetic Algorithm
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Topics: Exoskeleton devices, Genetic algorithms, Trajectories (Physics), Control equipment, Degrees of freedom, Center of mass, Dynamic systems, Dynamics (Mechanics), Engineering simulation, Feedback
Proceedings Papers

Guess-Free Pseudospectral Solution for Time Optimal Swing-Up of a Rotary Inverted Pendulum

Paul J. Frontera, Matthew Feemster, Michael Hurni, Mark Karpenko
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, V001T09A005, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5237
https://doi.org/10.1115/DSCC2017-5237
View Paper titled, Guess-Free Pseudospectral Solution for Time Optimal Swing-Up of a Rotary Inverted Pendulum
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Topics: Pendulums, Optimal control
Proceedings Papers

Identification of Nonlinear Friction Properties in the Conditions of Self-Excited Vibrations

Tomasz Piatkowski, Miroslaw Wolski, Przemyslaw Osowski
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, V003T22A006, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5409
https://doi.org/10.1115/DSCC2017-5409
View Paper titled, Identification of Nonlinear Friction Properties in the Conditions of Self-Excited Vibrations
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Topics: Friction, Vibration, Pendulums, Sliding friction, Kinematics
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

Nonlinear Dynamics of Upright Human Balance While Using a Passive-Cane

James R. Chagdes, Joao P. Freire, Amit Shukla
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, V001T10A005, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9863
https://doi.org/10.1115/DSCC2016-9863
View Paper titled, Nonlinear Dynamics of Upright Human Balance While Using a Passive-Cane
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Topics: Nonlinear dynamics, Stability, Delays, Design, Dynamics (Mechanics), Equilibrium (Physics), Feedback, Linkages, Oscillations, Pendulums
Proceedings Papers

Dynamics of a Rotor-Pendulum With a Small, Stiff Propeller in Wind

William Craig, Derrick Yeo, Derek A. Paley
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, V001T05A001, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9774
https://doi.org/10.1115/DSCC2016-9774
View Paper titled, Dynamics of a Rotor-Pendulum With a Small, Stiff Propeller in Wind
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Topics: Dynamics (Mechanics), Pendulums, Propellers, Rotors, Wind, Aircraft, Blades, Engineering simulation, Equations of motion, Flight