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Proceedings Papers

Modelica-Based Control of a Delta Robot

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

Paper No: DSCC2020-3158

DOI: https://doi.org/10.1115/DSCC2020-3158

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Topics: Robots, Control algorithms, Simulation, Collisions (Physics), Computer simulation, Design, Differential algebraic equations, Dynamic models, Feedback, Kinematics

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

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

Paper No: DSCC2020-3163

DOI: https://doi.org/10.1115/DSCC2020-3163

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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

Beau Pollard, Phanindra Tallapragada

Paper No: DSCC2020-3282

DOI: https://doi.org/10.1115/DSCC2020-3282

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Topics: Artificial neural networks, Biomimetics, Kinematics, Robots, Vortices, Wakes, Flow (Dynamics), Fluid dynamics, Fluids, Pressure

Proceedings Papers

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

Alexander Bertino, Peiman Naseradinmousavi, Atul Kelkar

Paper No: DSCC2020-3181

DOI: https://doi.org/10.1115/DSCC2020-3181

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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

Michael John Chua, Yen-Chen Liu

Paper No: DSCC2020-3291

DOI: https://doi.org/10.1115/DSCC2020-3291

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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

Chandler J. Panetta, Osama N. Ennasr, Xiaobo Tan

Paper No: DSCC2020-3305

DOI: https://doi.org/10.1115/DSCC2020-3305

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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

Qiang Li, Xiangling Kong, Yunjun Xu

Paper No: DSCC2020-3183

DOI: https://doi.org/10.1115/DSCC2020-3183

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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

Ali Zamani, Pranav A. Bhounsule

Paper No: DSCC2020-3314

DOI: https://doi.org/10.1115/DSCC2020-3314

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Topics: Stairs, Flight, Dynamics (Mechanics), Nonlinear programming

Proceedings Papers

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

Ezebuugo Nwaonumah, Biswanath Samanta

Paper No: DSCC2020-3279

DOI: https://doi.org/10.1115/DSCC2020-3279

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Topics: Artificial neural networks, Mobile robots, Navigation, Reinforcement learning, Robots, Simulation

Proceedings Papers

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

Amin Ghorbanpour, Hanz Richter

Paper No: DSCC2020-3200

DOI: https://doi.org/10.1115/DSCC2020-3200

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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

Hari R. Iyer, Manish Kumar, Subramanian Ramakrishnan

Paper No: DSCC2020-3234

DOI: https://doi.org/10.1115/DSCC2020-3234

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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

Seyed Fakoorian, Matteo Palieri, Angel Santamaria-Navarro, Cataldo Guaragnella, Dan Simon, Ali-akbar Agha-mohammadi

Paper No: DSCC2020-3256

DOI: https://doi.org/10.1115/DSCC2020-3256

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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

Sinan Şahin Candan, Osman Kaan Karagöz, Yiğit Yazıcıoğlu, Uluç Saranlı

Paper No: DSCC2020-3278

DOI: https://doi.org/10.1115/DSCC2020-3278

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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

Mahdi Haghshenas-Jaryani, Hakki Erhan Sevil, Liang Sun

Paper No: DSCC2020-3156

DOI: https://doi.org/10.1115/DSCC2020-3156

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Topics: Navigation, Robots, Unmanned aerial vehicles, Visual servoing, Computers, Construction, Control equipment, Engineering simulation, Integrated systems, Sensors

Proceedings Papers

Contact Force and Position Tracking With a Planar Aerial Manipulator

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

Paper No: DSCC2019-9132

DOI: https://doi.org/10.1115/DSCC2019-9132

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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

James A. Tigue, Stephen A. Mascaro

Paper No: DSCC2019-8961

DOI: https://doi.org/10.1115/DSCC2019-8961

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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

Jiaoying Jiang, Guangzhou Hu, Kok-Meng Lee

Paper No: DSCC2019-9207

DOI: https://doi.org/10.1115/DSCC2019-9207

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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

Yingxu Wang, Guoming G. Zhu

Paper No: DSCC2019-8962

DOI: https://doi.org/10.1115/DSCC2019-8962

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Topics: Control equipment, Discrete time systems, Oscillations, Robots, Stability, Stress

Proceedings Papers

Locomotion of an Origami Inspired Nonholonomic System

Vitaliy Fedonyuk, Priyanka Bhovad, Suyi Li, Phanindra Tallapragada

Paper No: DSCC2019-9016

DOI: https://doi.org/10.1115/DSCC2019-9016

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Topics: Dynamics (Mechanics), Mechanical properties, Mobile robots, Origami-inspired design, Oscillations, Robots, Stability, Stiffness, Switches, Torque

Proceedings Papers

Dynamic Modeling and Control of Flexible Cables for Shape Forming

Naijing Lv, Jianhua Liu, Huanxiong Xia, Yunyi Jia

Paper No: DSCC2019-9049

DOI: https://doi.org/10.1115/DSCC2019-9049

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Topics: Cables, Dynamic modeling, Shapes

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NARROW

Modelica-Based Control of a Delta Robot

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

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

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

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

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

Marker Based Row Alignment Control for an Agricultural Scouting Robot

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

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

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

Prioritized Foraging Strategies for an Ant Colony-Inspired Swarm System

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

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

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

Contact Force and Position Tracking With a Planar Aerial Manipulator

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

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

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

Locomotion of an Origami Inspired Nonholonomic System

Dynamic Modeling and Control of Flexible Cables for Shape Forming

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