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Proceedings Papers

Position and Attitude Control of Underactuated Drones Using the Adaptive Function Approximation Technique

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Azin Shamshirgaran, Donald Ebeigbe, Dan Simon
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, V001T01A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3211
https://doi.org/10.1115/DSCC2020-3211
View Paper titled, Position and Attitude Control of Underactuated Drones Using the Adaptive Function Approximation Technique
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Topics: Function approximation, Unmanned aerial vehicles, Signals, Control equipment, Closed loop systems, Control algorithms, Design, Design methodology, Feedback, Kalman filters
Proceedings Papers

Navigation and Obstacle Avoidance of Snake-Robot Guided by a Co-Robot UAV Visual Servoing

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Mahdi Haghshenas-Jaryani, Hakki Erhan Sevil, Liang Sun
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, V001T05A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3156
https://doi.org/10.1115/DSCC2020-3156
View Paper titled, Navigation and Obstacle Avoidance of Snake-Robot Guided by a Co-Robot UAV Visual Servoing
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Topics: Navigation, Robots, Unmanned aerial vehicles, Visual servoing, Computers, Construction, Control equipment, Engineering simulation, Integrated systems, Sensors
Proceedings Papers

Optimal Path Planning for a Team of Heterogeneous Drones to Monitor Agricultural Fields

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Saba Faryadi, Mohammadreza Davoodi, Javad Mohammadpour Velni
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, V002T36A006, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3244
https://doi.org/10.1115/DSCC2020-3244
View Paper titled, Optimal Path Planning for a Team of Heterogeneous Drones to Monitor Agricultural Fields
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Topics: Path planning, Teams, Unmanned aerial vehicles, Vehicles
Proceedings Papers

Application of Fuzzy Logic for Developing Sense and Avoid Techniques for UAV Flight Operations in National Airspace

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Zoe Lee, Rumit Kumar, Reza Radmanesh, Manish Kumar, Kelly Cohen
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, V002T36A007, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3268
https://doi.org/10.1115/DSCC2020-3268
View Paper titled, Application of Fuzzy Logic for Developing Sense and Avoid Techniques for UAV Flight Operations in National Airspace
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Topics: Flight, Fuzzy logic, Unmanned aerial vehicles, Aircraft, Control equipment, Computer simulation, Computer software, Dynamic models, Sensors
Proceedings Papers

Fuzzy Logic Controller for Force Feedback Control of Quadcopter via Tether

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Bennett Breese, Drew Scott, Shraddha Barawkar, Manish Kumar
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, V002T36A008, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3275
https://doi.org/10.1115/DSCC2020-3275
View Paper titled, Fuzzy Logic Controller for Force Feedback Control of Quadcopter via Tether
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Topics: Control equipment, Force feedback, Fuzzy logic, Safety, Unmanned aerial vehicles
Proceedings Papers

Autonomous Light Assessment Drone for Dark Skies Studies

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Matthew N. Goodell, Takara E. Truong, Stephanie R. Marston, Brett J. Smiley, Elliot R. Befus, Alex Bingham, Kent Allen, Joseph R. Bourne, Yi Wei, Kate E. Magargal, Vellachi Ganesan, Daniel L. Mendoza, Anil C. Seth, Stacy A. Harwood, Marc Bodson, Tucker Hermans, Kam K. Leang
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, V002T36A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3205
https://doi.org/10.1115/DSCC2020-3205
View Paper titled, Autonomous Light Assessment Drone for Dark Skies Studies
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Topics: Unmanned aerial vehicles, Pollution, Brightness (Photometry), Sensors, Sleep
Proceedings Papers

Optimal Control of a Multirotor Unmanned Aerial Vehicle Based on a Multiphysical Model

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Nicolas Michel, Zhaodan Kong, Xinfan Lin
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, V002T36A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3239
https://doi.org/10.1115/DSCC2020-3239
View Paper titled, Optimal Control of a Multirotor Unmanned Aerial Vehicle Based on a Multiphysical Model
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Topics: Optimal control, Unmanned aerial vehicles, Dynamics (Mechanics), Aerodynamics, Batteries, Engines, Motors, Rotors, Aircraft, Control equipment
Proceedings Papers

Developmental Reinforcement Learning of Control Policy of a Quadcopter UAV With Thrust Vectoring Rotors

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Aditya M. Deshpande, Rumit Kumar, Ali A. Minai, Manish Kumar
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, V002T36A011, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3319
https://doi.org/10.1115/DSCC2020-3319
View Paper titled, Developmental Reinforcement Learning of Control Policy of a Quadcopter UAV With Thrust Vectoring Rotors
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Topics: Reinforcement learning, Rotors, Thrust, Unmanned aerial vehicles, Control equipment, Design, Flight, Simulation, Actuators, Robots
Proceedings Papers

Including Image-Based Perception in Disturbance Observer for Warehouse Drones

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Zhu Chen, Xiao Liang, Minghui Zheng
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, V002T39A005, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3284
https://doi.org/10.1115/DSCC2020-3284
View Paper titled, Including Image-Based Perception in Disturbance Observer for Warehouse Drones
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Topics: Unmanned aerial vehicles, Warehouses, Oscillations, Grasping, Signals, Artificial neural networks, Feedback, Feedforward control
Proceedings Papers

Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments

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Jake A. Steiner, Joseph R. Bourne, Xiang He, Donald M. Cropek, Kam K. Leang
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, V003T21A006, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9099
https://doi.org/10.1115/DSCC2019-9099
View Paper titled, Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments
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Topics: Cities, Unmanned aerial vehicles, Leakage, Particle swarm optimization, Algorithms, Flight, Plumes (Fluid dynamics), Simulation
Proceedings Papers

Comparison of Adaptive Control Laws for Wind Rejection in Quadrotor UAVs

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Johannes Verberne, Hever Moncayo
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, V003T16A004, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8957
https://doi.org/10.1115/DSCC2019-8957
View Paper titled, Comparison of Adaptive Control Laws for Wind Rejection in Quadrotor UAVs
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Topics: Adaptive control, Unmanned aerial vehicles, Wind, Control algorithms, Artificial neural networks, Flight, Algorithms, Control equipment, Degrees of freedom, Energy consumption
Proceedings Papers

Cooperative Transport of a Payload With Offset CG Using Multiple UAVs

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Shraddha Barawkar, Manish Kumar
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, V003T21A008, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9131
https://doi.org/10.1115/DSCC2019-9131
View Paper titled, Cooperative Transport of a Payload With Offset CG Using Multiple UAVs
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Topics: Control equipment, Unmanned aerial vehicles
Proceedings Papers

A New Quasi-Steady In-Ground Effect Model for Rotorcraft Unmanned Aerial Vehicles

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Xiang He, Kam K. Leang
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, V003T21A003, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9025
https://doi.org/10.1115/DSCC2019-9025
View Paper titled, A New Quasi-Steady In-Ground Effect Model for Rotorcraft Unmanned Aerial Vehicles
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Topics: Unmanned aerial vehicles, Rotors, Propellers, Thrust, Additive manufacturing, Blades, Compression, Errors, Outflow
Proceedings Papers

A Preliminary Study on a Physical Model Oriented Learning Algorithm With Application to UAVs

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Minghui Zheng, Zhu Chen, Xiao Liang
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, V003T17A009, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9186
https://doi.org/10.1115/DSCC2019-9186
View Paper titled, A Preliminary Study on a Physical Model Oriented Learning Algorithm With Application to UAVs
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Topics: Algorithms, Unmanned aerial vehicles, Errors, Iterative learning control, Dynamics (Mechanics), Feedforward control, Physics, Reliability, Signals
Proceedings Papers

Contact Force and Position Tracking With a Planar Aerial Manipulator

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Varun R. Mittal, Vivek Sangwan
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, V001T03A010, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9132
https://doi.org/10.1115/DSCC2019-9132
View Paper titled, Contact Force and Position Tracking With a Planar Aerial Manipulator
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Topics: Manipulators, Unmanned aerial vehicles, Control equipment, Rotors, Vehicles, Aircraft, Construction, Engineering simulation, Imaging, Kinematics
Proceedings Papers

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

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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

Proportional Navigation and Model Predictive Control of an Unmanned Autonomous Vehicle for Obstacle Avoidance

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Ryan P. Shaw, David M. Bevly
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, V003T37A004, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9080
https://doi.org/10.1115/DSCC2018-9080
View Paper titled, Proportional Navigation and Model Predictive Control of an Unmanned Autonomous Vehicle for Obstacle Avoidance
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Topics: Navigation, Predictive control, Vehicles, Algorithms, Control equipment, Dynamic models, Integrated systems, Simulation, Simulation results, Trajectories (Physics)
Proceedings Papers

Vision Based Surface Slope Estimation for Unmanned Aerial Vehicle Perching

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Haijie Zhang, Jianguo Zhao
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, V002T21A004, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9210
https://doi.org/10.1115/DSCC2018-9210
View Paper titled, Vision Based Surface Slope Estimation for Unmanned Aerial Vehicle Perching
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Topics: Unmanned aerial vehicles, Algorithms, Flight, Kalman filters, Sensors, Surveillance
Proceedings Papers

Robust UAV Attitude Estimation Using a Cascade of Nonlinear Observer and Linearized Kalman Filter

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Valthor Gudmundsson, Haukur Kristinsson, Soren Petersen, Agus Hasan
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, V003T36A004, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9123
https://doi.org/10.1115/DSCC2018-9123
View Paper titled, Robust UAV Attitude Estimation Using a Cascade of Nonlinear Observer and Linearized Kalman Filter
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Topics: Cascades (Fluid dynamics), Kalman filters, Unmanned aerial vehicles, Computer software, Dynamic systems, Engineering simulation, Flaw detection, Linear matrix inequalities, Signals, Simulation
Proceedings Papers

Energy-Efficient Adaptive Robust Control of Vector Thrust UAVs With Unknown Inertia Parameters

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Caiwu Ding, Lu Lu, Cong Wang
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, V003T36A005, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9133
https://doi.org/10.1115/DSCC2018-9133
View Paper titled, Energy-Efficient Adaptive Robust Control of Vector Thrust UAVs With Unknown Inertia Parameters
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Topics: Inertia (Mechanics), Robust control, Thrust, Unmanned aerial vehicles, Uncertainty, Control equipment, Propellers, Center of mass, Energy consumption, Optimization