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Proceedings Papers

Cooperative Collision Avoidance Control of Robotic Fish Propelled by a Servo/IPMC Driven Hybrid Tail

Xiongfeng Yi, Zheng Chen, Animesh Chakravarthy
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, V003T20A011, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9228
https://doi.org/10.1115/DSCC2019-9228
View Paper titled, Cooperative Collision Avoidance Control of Robotic Fish Propelled by a Servo/IPMC Driven Hybrid Tail
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Topics: Collisions (Physics), Robotics, Servomechanisms, Servomotors, Relaxation (Physics), Transfer functions, Composite materials, Metals, Polymers, Trajectories (Physics)
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

Design and Control of a Hexacopter With Soft Grasper for Autonomous Object Detection and Grasping

Shatadal Mishra, Dangli Yang, Carly Thalman, Panagiotis Polygerinos, Wenlong Zhang
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, V003T36A003, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9107
https://doi.org/10.1115/DSCC2018-9107
View Paper titled, Design and Control of a Hexacopter With Soft Grasper for Autonomous Object Detection and Grasping
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Topics: Design, Grasping, Robotics, Flight, Aerodynamics, Canals, Computers, Control equipment, Pipelines, Servomechanisms
Proceedings Papers

Validating DC Motor Models on the Quanser Qube Servo

Rebecca M. Reck
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, V002T16A005, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9158
https://doi.org/10.1115/DSCC2018-9158
View Paper titled, Validating DC Motor Models on the Quanser Qube Servo
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Topics: Motors, Servomechanisms, Engines, Aerospace industry, Engineering systems and industry applications, Modeling, Position control, Robotics, Undergraduate students
Proceedings Papers

Setpoint Tracking Control With Discrete Actuators Using Controller Switching

Y. Chida, R. Hara
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, V001T01A003, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-8956
https://doi.org/10.1115/DSCC2018-8956
View Paper titled, Setpoint Tracking Control With Discrete Actuators Using Controller Switching
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Topics: Actuators, Control equipment, Tracking control, Errors, Computer simulation, Limit cycles, Servomechanisms, Steady state, Switches, Vibration
Proceedings Papers

Virtual Motion Camouflage Based Visual Servo Control of a Leaf Picking Mechanism

Sinem Gozde Defterli, Yunjun Xu
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, V003T32A007, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9042
https://doi.org/10.1115/DSCC2018-9042
View Paper titled, Virtual Motion Camouflage Based Visual Servo Control of a Leaf Picking Mechanism
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Topics: Algorithms, Biomimetics, Diseases, End effectors, Engineering simulation, Hardware, Kinematics, Optimization, Risk, Robots
Proceedings Papers

Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments

Dejun Guo, Kam K. Leang
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, V001T02A003, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5135
https://doi.org/10.1115/DSCC2017-5135
View Paper titled, Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments
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Topics: Robots, Servomechanisms, Closed loop systems, Control equipment, Control systems, Errors, Geometry, Lyapunov methods, Signals, Simulation
Proceedings Papers

Adaptive Robust Control of a Pump Control Hydraulic System

Bobo Helian, Zheng Chen, Bin Yao, Yi Yan, Chiang Lee
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, V001T15A004, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5076
https://doi.org/10.1115/DSCC2017-5076
View Paper titled, Adaptive Robust Control of a Pump Control Hydraulic System
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Topics: Hydraulic drive systems, Pumps, Robust control, Dynamics (Mechanics), Control equipment, Uncertainty, Algorithms, Design, Engines, Motors
Proceedings Papers

Prognostics and Health Monitoring of Electro-Hydraulic Systems

Damoon Soudbakhsh, Anuradha M. Annaswamy
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, V002T19A005, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5392
https://doi.org/10.1115/DSCC2017-5392
View Paper titled, Prognostics and Health Monitoring of Electro-Hydraulic Systems
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Topics: Actuators, Environmental health and safety, Failure, Flaw detection, Maintenance, Service life (Equipment), Servomechanisms, Valves, Wear
Proceedings Papers

An Inverse-Free Disturbance Observer for Adaptive Narrow-Band Disturbance Rejection With Application to Selective Laser Sintering

Tianyu Jiang, Hui Xiao, Xu Chen
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, V003T32A006, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5184
https://doi.org/10.1115/DSCC2017-5184
View Paper titled, An Inverse-Free Disturbance Observer for Adaptive Narrow-Band Disturbance Rejection With Application to Selective Laser Sintering
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Topics: Lasers, Sintering, Additive manufacturing, Algorithms, Filters, Laser beams, Servomechanisms, Simulation
Proceedings Papers

Triple-Stage Track-Following Servo Design for Hard Disk Drives

Jinwen Pan, Omid Bagherieh, Behrooz Shahsavari, Roberto Horowitz
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, V002T18A004, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9770
https://doi.org/10.1115/DSCC2016-9770
View Paper titled, Triple-Stage Track-Following Servo Design for Hard Disk Drives
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Topics: Design, Disks, Servomechanisms, Control equipment, Design methodology, Stability, Closed loop systems, Engineering design processes, Errors, Feedback
Proceedings Papers

Compensating Flexibility in Servo Systems Using Iterative Learning Control

Cong Wang, Zining Wang, Cheng Peng, Yu Zhao, Masayoshi Tomizuka
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, V003T40A001, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9659
https://doi.org/10.1115/DSCC2015-9659
View Paper titled, Compensating Flexibility in Servo Systems Using Iterative Learning Control
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Topics: Iterative learning control, Servomechanisms, Torque, Engines, Errors, Gears, Motors, Robust control, Uncertainty, Vibration
Proceedings Papers

Experimental Investigation of a Time Scales-Based Stability Criterion Over Finite Time Horizons

Matthew Mosley, Ian Gravagne, Dylan Poulsen, John Davis
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, V001T02A006, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9887
https://doi.org/10.1115/DSCC2015-9887
View Paper titled, Experimental Investigation of a Time Scales-Based Stability Criterion Over Finite Time Horizons
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Topics: Stability, Feedback, Actuators, Control equipment, Sensors, Servomechanisms, Statistical distributions, Theorems (Mathematics)
Proceedings Papers

Extended State Observer Based Controller Design for the Green Bank Telescope Servo System

Trupti Ranka, Mario Garcia-Sanz, John M. Ford
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, V003T47A001, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9677
https://doi.org/10.1115/DSCC2015-9677
View Paper titled, Extended State Observer Based Controller Design for the Green Bank Telescope Servo System
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Topics: Control equipment, Design, Servomechanisms, State estimation, Telescopes, Engineering simulation, Errors, Flexible structures, Simulation
Proceedings Papers

Experimental Verification of Dynamic Contour Error Estimation for High-Precision Contouring of Two-Axis Servo-Systems

Azad Ghaffari, A. Galip Ulsoy
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, V002T33A005, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9744
https://doi.org/10.1115/DSCC2015-9744
View Paper titled, Experimental Verification of Dynamic Contour Error Estimation for High-Precision Contouring of Two-Axis Servo-Systems
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Topics: Errors, Servomechanisms, Algorithms, Position control, Corners (Structural elements), Instrumentation, Machining, Sliding mode control
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

A Single-Leader Servo Approach to Multi-Agent Consensus Problems

Miaomiao Zhao, Miaomiao Wang, Housheng Su, Shankar P. Bhattacharyya
Proc. ASME. DSCC2014, Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy, V003T40A006, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6284
https://doi.org/10.1115/DSCC2014-6284
View Paper titled, A Single-Leader Servo Approach to Multi-Agent Consensus Problems
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Topics: Servomechanisms, Control equipment, Signals, Unmanned aerial vehicles, Topology
Proceedings Papers

Iterative Feedforward Tuning Approach and Experimental Verification for Nano-Precision Motion Systems

Frank Boeren, Tom Oomen, Dennis Bruijnen
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, V001T13A002, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-5960
https://doi.org/10.1115/DSCC2014-5960
View Paper titled, Iterative Feedforward Tuning Approach and Experimental Verification for Nano-Precision Motion Systems
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Topics: Feedforward control, Servomechanisms, Algorithms, Design, Errors, Signals
Proceedings Papers

Adaptive Repetitive Control Using a Modified Filtered-X LMS Algorithm

Behrooz Shahsavari, Ehsan Keikha, Fu Zhang, Roberto Horowitz
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, V001T13A006, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6322
https://doi.org/10.1115/DSCC2014-6322
View Paper titled, Adaptive Repetitive Control Using a Modified Filtered-X LMS Algorithm
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Topics: Algorithms, Control equipment, Disks, Modeling, Computer simulation, Errors, Servomechanisms, Signals, Steady state
Proceedings Papers

Design and Dynamic Modeling of a Flexible Feathering Joint for Robotic Fish Pectoral Fins

Sanaz Bazaz Behbahani, Xiaobo Tan
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, V001T05A005, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6265
https://doi.org/10.1115/DSCC2014-6265
View Paper titled, Design and Dynamic Modeling of a Flexible Feathering Joint for Robotic Fish Pectoral Fins
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Topics: Design, Dynamic modeling, Fins, Robotics, Dynamic models, Thrust, Blades, Dampers, Degrees of freedom, Drag (Fluid dynamics)