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Proceedings Papers

Attack-Resilient Observer Pruning for Path-Tracking Control of Wheeled Mobile Robot

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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

Modeling and Simulation of Aircell Actuator Seat Cushion With Pneumatic Line Lag and Capacitative Effects

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Pavan Nuthi, Muthu B. J. Wijesundara
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, V002T27A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3232
https://doi.org/10.1115/DSCC2020-3232
View Paper titled, Modeling and Simulation of Aircell Actuator Seat Cushion With Pneumatic Line Lag and Capacitative Effects
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Topics: Actuators, Modeling, Simulation, Control equipment, Pressure, Rehabilitation devices, Risk, Wheelchairs, Wounds
Proceedings Papers

Real-Time Path-Based Fusion of Spatial Databases With Temporal Control Inputs for Assistive Operation of Wheelchairs

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Kelilah L. Wolkowicz, Robert D. Leary, Jason Z. Moore, Sean N. Brennan
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, V001T05A009, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9120
https://doi.org/10.1115/DSCC2019-9120
View Paper titled, Real-Time Path-Based Fusion of Spatial Databases With Temporal Control Inputs for Assistive Operation of Wheelchairs
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Topics: Databases, Wheelchairs, Decision making, Control equipment, Locks (Waterways), Robotics, Testing
Proceedings Papers

Discriminating Spatial Intent From Noisy Joystick Signals for Wheelchair Path Planning and Guidance

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Kelilah L. Wolkowicz, Robert D. Leary, Jason Z. Moore, Sean N. Brennan
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, V003T37A010, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9228
https://doi.org/10.1115/DSCC2018-9228
View Paper titled, Discriminating Spatial Intent From Noisy Joystick Signals for Wheelchair Path Planning and Guidance
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Topics: Path planning, Signals, Wheelchairs, Engines, Motors, Algorithms, Diseases, Navigation, Patient monitoring, Probability
Proceedings Papers

Development of a Motorized Robotic Walker Guided by an Image Processing System for Human Walking Assistance and Rehabilitation

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Tao Shen, Md Rayhan Afsar, He Zhang, Cang Ye, Xiangrong Shen
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, V001T07A009, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9223
https://doi.org/10.1115/DSCC2018-9223
View Paper titled, Development of a Motorized Robotic Walker Guided by an Image Processing System for Human Walking Assistance and Rehabilitation
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Topics: Image processing, Robotics, Control equipment, Muscle, Robots, Errors, Mechanical admittance, Noise (Sound), Wheelchairs
Proceedings Papers

Negative Obstacle Detection Using LiDAR Sensors for a Robotic Wheelchair

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Taylor E. Baum, Kelilah L. Wolkowicz, Joseph P. Chobot, Sean N. Brennan
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, V003T37A011, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9231
https://doi.org/10.1115/DSCC2018-9231
View Paper titled, Negative Obstacle Detection Using LiDAR Sensors for a Robotic Wheelchair
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Topics: Robotics, Sensors, Wheelchairs, Algorithms, Curbs (Roads), Errors, Lasers, Navigation, Safety, Wounds
Proceedings Papers

State of Charge Estimation for an Electric Wheelchair Using a Fuel Gauge Model

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Christopher Miller, Kelilah Wolkowicz, Jariullah Safi, Sean N. Brennan
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, V001T06A005, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9802
https://doi.org/10.1115/DSCC2016-9802
View Paper titled, State of Charge Estimation for an Electric Wheelchair Using a Fuel Gauge Model
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Topics: Fuels, Gages, Wheelchairs, Batteries, Algorithms, Mechanical admittance, Battery life, Circuits, Coulombs, Energy consumption
Proceedings Papers

On-Line Estimation of Wheelchair Tire Slip Utilizing an Instantaneous Center of Rotation Extended Kalman Filter

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Kelilah Wolkowicz, Jesse Pentzer, Christopher Miller, Jason Z. Moore, Sean N. Brennan
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, V001T06A002, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9699
https://doi.org/10.1115/DSCC2016-9699
View Paper titled, On-Line Estimation of Wheelchair Tire Slip Utilizing an Instantaneous Center of Rotation Extended Kalman Filter
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Topics: Kalman filters, Rotation, Tires, Wheelchairs, Algorithms, Wheels, Safety, Friction, Robotics, Simulation
Proceedings Papers

Indoor Mapping and Localization for a Smart Wheelchair Using Measurements of Ambient Magnetic Fields

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Anthony T. Trezza, Nurali N. Virani, Kelilah L. Wolkowicz, Jason Z. Moore, Sean N. Brennan
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, V003T42A005, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9915
https://doi.org/10.1115/DSCC2015-9915
View Paper titled, Indoor Mapping and Localization for a Smart Wheelchair Using Measurements of Ambient Magnetic Fields
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Topics: Magnetic fields, Wheelchairs, Mechanical admittance, Density, Kinematics, Particle filtering (numerical methods), Signals
Proceedings Papers

Caretaker-Machine Collaborative Manipulation With an Advanced Hydraulically Actuated Patient Transfer Assist Device

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Heather C. Humphreys, Wayne J. Book, James D. Huggins, Brittney Jimerson
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, V001T04A002, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6145
https://doi.org/10.1115/DSCC2014-6145
View Paper titled, Caretaker-Machine Collaborative Manipulation With an Advanced Hydraulically Actuated Patient Transfer Assist Device
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Topics: Machinery, Design, Control systems, Degrees of freedom, Engineering prototypes, Engineering simulation, Mechanical admittance, Simulation results, Spinal cord, Wheelchairs
Proceedings Papers

Acceleration Control of Powered Wheelchairs With Nil-Mode-Exciting Profiler Considering Vibration Characteristic of Human Body

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Masaki Takahashi, Kyohei Okugawa
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, V001T15A002, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3813
https://doi.org/10.1115/DSCC2013-3813
View Paper titled, Acceleration Control of Powered Wheelchairs With Nil-Mode-Exciting Profiler Considering Vibration Characteristic of Human Body
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Topics: Vibration, Wheelchairs, Feedforward control, Control equipment, Control systems, Feedback, Friction, Robustness, Signals, Weight (Mass)
Proceedings Papers

Prototype Medical Exoskeleton for Paraplegic Mobility: First Experimental Results

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Katherine A. Strausser, Tim A. Swift, Adam B. Zoss, H. Kazerooni
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 1, 453-458, September 12–15, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2010-4261
https://doi.org/10.1115/DSCC2010-4261
View Paper titled, Prototype Medical Exoskeleton for Paraplegic Mobility: First Experimental Results
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Topics: Engineering prototypes, Exoskeleton devices, Mechanical admittance, Wounds, Batteries, Gait analysis, Knee, Machinery, Position control, Risk