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Proceedings Papers

Experimental and Analytical Decentralized Adaptive Control of a 7-DOF Robot Manipulator

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Alexander Bertino, Peiman Naseradinmousavi, Atul Kelkar
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, V001T05A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3181
https://doi.org/10.1115/DSCC2020-3181
View Paper titled, Experimental and Analytical Decentralized Adaptive Control of a 7-DOF Robot Manipulator
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Topics: Adaptive control, Manipulators, Robots, Control equipment, Simulation, Tracking control, Trajectories (Physics)
Proceedings Papers

Cooperation and Null-Space Control of Networked Omni-Directional Mobile Manipulators

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Michael John Chua, Yen-Chen Liu
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, V001T05A012, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3291
https://doi.org/10.1115/DSCC2020-3291
View Paper titled, Cooperation and Null-Space Control of Networked Omni-Directional Mobile Manipulators
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Topics: Force control, Manipulators
Proceedings Papers

Distributed Particle Filter With Online Model Learning for Localization Using Time-Difference-of-Arrival (TDOA) Measurements

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Chandler J. Panetta, Osama N. Ennasr, Xiaobo Tan
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, V001T05A013, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3305
https://doi.org/10.1115/DSCC2020-3305
View Paper titled, Distributed Particle Filter With Online Model Learning for Localization Using Time-Difference-of-Arrival (TDOA) Measurements
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Topics: Filters, Particulate matter, Algorithms, Computer simulation, Filtration, Robustness, Signals, State estimation, Statistical distributions, Stochastic processes
Proceedings Papers

Marker Based Row Alignment Control for an Agricultural Scouting Robot

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Qiang Li, Xiangling Kong, Yunjun Xu
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, V001T05A005, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3183
https://doi.org/10.1115/DSCC2020-3183
View Paper titled, Marker Based Row Alignment Control for an Agricultural Scouting Robot
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Topics: Robots
Proceedings Papers

Receding Horizon Control for a 2D Point-Mass Hopping Model Navigating on Terrain With Stepping Stones and Stairs

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Ali Zamani, Pranav A. Bhounsule
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, V001T05A014, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3314
https://doi.org/10.1115/DSCC2020-3314
View Paper titled, Receding Horizon Control for a 2D Point-Mass Hopping Model Navigating on Terrain With Stepping Stones and Stairs
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Topics: Stairs, Flight, Dynamics (Mechanics), Nonlinear programming
Proceedings Papers

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

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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

Prioritized Foraging Strategies for an Ant Colony-Inspired Swarm System

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Hari R. Iyer, Manish Kumar, Subramanian Ramakrishnan
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, V001T05A007, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3234
https://doi.org/10.1115/DSCC2020-3234
View Paper titled, Prioritized Foraging Strategies for an Ant Colony-Inspired Swarm System
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Topics: Information retrieval, Optimization, Self-organization, Swarm robotics
Proceedings Papers

Maximum Correntropy Kalman Filter for Orientation Estimation With Application to LiDAR Inertial Odometry

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Seyed Fakoorian, Matteo Palieri, Angel Santamaria-Navarro, Cataldo Guaragnella, Dan Simon, Ali-akbar Agha-mohammadi
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, V001T05A008, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3256
https://doi.org/10.1115/DSCC2020-3256
View Paper titled, Maximum Correntropy Kalman Filter for Orientation Estimation With Application to LiDAR Inertial Odometry
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Topics: Caves, Filtration, Kalman filters, Measurement units and standards, Robotics, Robots, Sensors
Proceedings Papers

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

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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

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

Modelica-Based Control of a Delta Robot

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Ahmed Okasha, Scott A. Bortoff
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, V001T05A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3158
https://doi.org/10.1115/DSCC2020-3158
View Paper titled, Modelica-Based Control of a Delta Robot
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Topics: Robots, Control algorithms, Simulation, Collisions (Physics), Computer simulation, Design, Differential algebraic equations, Dynamic models, Feedback, Kinematics
Proceedings Papers

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

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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

Steerable Needle Trajectory Following in the Lung: Torsional Deadband Compensation and Full Pose Estimation With 5DOF Feedback for Needles Passing Through Flexible Endoscopes

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Tayfun Efe Ertop, Maxwell Emerson, Margaret Rox, Josephine Granna, Robert Webster, Fabien Maldonado, Erin Gillaspie, Michael Lester, Alan Kuntz, Caleb Rucker, Mengyu Fu, Janine Hoelscher, Inbar Fried, Ron Alterovitz
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, V001T05A003, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3163
https://doi.org/10.1115/DSCC2020-3163
View Paper titled, Steerable Needle Trajectory Following in the Lung: Torsional Deadband Compensation and Full Pose Estimation With 5DOF Feedback for Needles Passing Through Flexible Endoscopes
Open the PDF for Steerable Needle Trajectory Following in the Lung: Torsional Deadband Compensation and Full Pose Estimation With 5DOF Feedback for Needles Passing Through Flexible Endoscopes in another window
Topics: Endoscopes, Feedback, Lung, Needles, Trajectories (Physics), Biological tissues, Errors, Kalman filters, Control equipment, Degrees of freedom
Proceedings Papers

Sensing and Classification of Ambient Vortex Wake From the Kinematics of a Bioinspired Swimming Robot Using Neural Networks

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Beau Pollard, Phanindra Tallapragada
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, V001T05A011, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3282
https://doi.org/10.1115/DSCC2020-3282
View Paper titled, Sensing and Classification of Ambient Vortex Wake From the Kinematics of a Bioinspired Swimming Robot Using Neural Networks
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Topics: Artificial neural networks, Biomimetics, Kinematics, Robots, Vortices, Wakes, Flow (Dynamics), Fluid dynamics, Fluids, Pressure
Proceedings Papers

Lumped Parameter Modeling and Snap-Through Stability Analysis of Planar Hydraulically Amplified Dielectric Elastomer Actuators

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Amir Hosein Zamanian, David Y. Son, Paul S. Krueger, Edmond Richer
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, V001T03A012, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9219
https://doi.org/10.1115/DSCC2019-9219
View Paper titled, Lumped Parameter Modeling and Snap-Through Stability Analysis of Planar Hydraulically Amplified Dielectric Elastomer Actuators
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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

Calibration and Validation of Dynamic Model for Simulating Robotic Finger Kinematics and Contact Forces

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James A. Tigue, Stephen A. Mascaro
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, V001T03A003, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8961
https://doi.org/10.1115/DSCC2019-8961
View Paper titled, Calibration and Validation of Dynamic Model for Simulating Robotic Finger Kinematics and Contact Forces
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Topics: Calibration, Dynamic models, Kinematics, Robotics, Tendons, Engineering simulation, Experimental methods, Modeling, Simulation
Proceedings Papers

Asymmetric Kinematic and Dynamic Models of Robotic Assisted Sit-to-Stand System for Stroke Rehabilitation

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Jiaoying Jiang, Guangzhou Hu, Kok-Meng Lee
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, V001T03A011, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9207
https://doi.org/10.1115/DSCC2019-9207
View Paper titled, Asymmetric Kinematic and Dynamic Models of Robotic Assisted Sit-to-Stand System for Stroke Rehabilitation
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Topics: Dynamic models, Kinematics, Robotics, Design, Dynamics (Mechanics), Engineering simulation, Gravity (Force), Muscle, Simulation
Proceedings Papers

Optimal Mini Segway Control Using Non-Minimum Phase Sample and Hold Input

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Yingxu Wang, Guoming G. Zhu
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, V001T03A004, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8962
https://doi.org/10.1115/DSCC2019-8962
View Paper titled, Optimal Mini Segway Control Using Non-Minimum Phase Sample and Hold Input
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Topics: Control equipment, Discrete time systems, Oscillations, Robots, Stability, Stress
Proceedings Papers

Locomotion of an Origami Inspired Nonholonomic System

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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