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Proceedings Papers

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

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
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

Iterative Learning Control for Hybrid Systems

Kirti D. Mishra, K. Srinivasan
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, V001T03A001, October 5–7, 2020
Paper No: DSCC2020-3191
https://doi.org/10.1115/DSCC2020-3191
View Paper titled, Iterative Learning Control for Hybrid Systems
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Topics: Iterative learning control, Design, Design methodology, Errors, Linear matrix inequalities, Motion control, Nonlinear systems
Proceedings Papers

Dynamic Locomotion of a Lower-Limb Exoskeleton Through Virtual Constraints Based ZMP Regulation

Victor Paredes, Ayonga Hereid
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, V001T14A001, October 5–7, 2020
Paper No: DSCC2020-3170
https://doi.org/10.1115/DSCC2020-3170
View Paper titled, Dynamic Locomotion of a Lower-Limb Exoskeleton Through Virtual Constraints Based ZMP Regulation
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Topics: Exoskeleton devices, Dynamics (Mechanics), Hardware, Robots, Stability, Center of mass, Control equipment, Force sensors, Motion control, Robotics
Proceedings Papers

Educational Force Control Using a Modular 2-DOF Serial Robot Manipulator and Low-Cost 2-DOF Force Sensor

Stephen Mascaro
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, V003T17A012, October 8–11, 2019
Paper No: DSCC2019-9245
https://doi.org/10.1115/DSCC2019-9245
View Paper titled, Educational Force Control Using a Modular 2-DOF Serial Robot Manipulator and Low-Cost 2-DOF Force Sensor
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Topics: Force control, Force sensors, Manipulators, Robots, Robotics, Additive manufacturing, Hybrid control, Matlab, Mechanical admittance, Motion control
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
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

Encrypted Motion Control of a Teleoperation System With Security-Enhanced Controller by Deception

Yingxin Qiu, Jun Ueda
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, V001T07A006, October 8–11, 2019
Paper No: DSCC2019-9243
https://doi.org/10.1115/DSCC2019-9243
View Paper titled, Encrypted Motion Control of a Teleoperation System With Security-Enhanced Controller by Deception
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Topics: Control equipment, Motion control, Security, Encryption, Robots, Signals, Simulation results
Proceedings Papers

Disturbance Observer-Based Motion Control of Small Autonomous Underwater Vehicles

Bingheng Wang, Marko Mihalec, Yongbin Gong, Dario Pompili, Jingang Yi
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, V003T35A004, September 30–October 3, 2018
Paper No: DSCC2018-9200
https://doi.org/10.1115/DSCC2018-9200
View Paper titled, Disturbance Observer-Based Motion Control of Small Autonomous Underwater Vehicles
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Topics: Motion control, Underwater vehicles, Design, Algorithms, Control equipment, Feedback, Hydrodynamics, Ocean currents, Predictive control, Simulation results
Proceedings Papers

Integrated Steering and Braking Control System for Collision Avoidance by Using Virtual Repulsive Force Field Method

Atsushi Yokoyama, Pongsathorn Raksincharoensak, Naoto Yoshikawa
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, V002T22A001, September 30–October 3, 2018
Paper No: DSCC2018-8907
https://doi.org/10.1115/DSCC2018-8907
View Paper titled, Integrated Steering and Braking Control System for Collision Avoidance by Using Virtual Repulsive Force Field Method
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Topics: Braking control, Collisions (Physics), Control equipment, Roads, Algebra, Design, Feedback, Feedforward control, Friction, Motion control
Proceedings Papers

Planar Motion Control, Coordination and Dynamic Entrainment in Chaplygin Beanies

Scott Kelly, Rodrigo Abrajan-Guerrero, Jaskaran Grover, Matthew Travers, Howie Choset
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, V003T40A007, September 30–October 3, 2018
Paper No: DSCC2018-9037
https://doi.org/10.1115/DSCC2018-9037
View Paper titled, Planar Motion Control, Coordination and Dynamic Entrainment in Chaplygin Beanies
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Topics: Motion control, Vehicles, Energy transformation, Robotic vehicles
Proceedings Papers

Foveation Control of a Robotic Eye Using Deep Reinforcement Learning

Sunil Kumar Rajendran, Qi Wei, Feitian Zhang
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, V001T04A018, September 30–October 3, 2018
Paper No: DSCC2018-9209
https://doi.org/10.1115/DSCC2018-9209
View Paper titled, Foveation Control of a Robotic Eye Using Deep Reinforcement Learning
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Topics: Robotics, Design, Muscle, Biomechanics, Dynamic models, Machine learning, Motion control, Polymers, Simulation
Proceedings Papers

Control With Optimal Energy Regeneration in Robot Manipulators Driven by Brushless DC Motors

Amin Ghorbanpour, Hanz Richter
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, V001T04A003, September 30–October 3, 2018
Paper No: DSCC2018-8972
https://doi.org/10.1115/DSCC2018-8972
View Paper titled, Control With Optimal Energy Regeneration in Robot Manipulators Driven by Brushless DC Motors
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Topics: Manipulators, Motors, Control equipment, Torque, Currents, Optimization, Ultracapacitors, Control algorithms, Dynamics (Mechanics), Motion control
Proceedings Papers

Road Condition Based Adaptive Model Predictive Control for Autonomous Vehicles

Xin Wang, Longxiang Guo, Yunyi Jia
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, V003T37A005, September 30–October 3, 2018
Paper No: DSCC2018-9095
https://doi.org/10.1115/DSCC2018-9095
View Paper titled, Road Condition Based Adaptive Model Predictive Control for Autonomous Vehicles
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Topics: Predictive control, Roads, Vehicles, Friction, Motion control, Simulation, System dynamics
Proceedings Papers

Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor

Joseph R. Bourne, Kam K. Leang
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, V002T21A007, October 11–13, 2017
Paper No: DSCC2017-5283
https://doi.org/10.1115/DSCC2017-5283
View Paper titled, Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor
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Topics: Plumes (Fluid dynamics), Sensors, Robots, Uncertainty, Algorithms, Dynamics (Mechanics), Feedforward control, Filters, Leakage, Motion control
Proceedings Papers

Easy-to-Use 3D Printer for Fabrication of Biological Scaffolds

Ashley Armstrong, Andrew Alleyne, Amy Wagoner Johnson
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, V002T16A002, October 11–13, 2017
Paper No: DSCC2017-5147
https://doi.org/10.1115/DSCC2017-5147
View Paper titled, Easy-to-Use 3D Printer for Fabrication of Biological Scaffolds
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Topics: Manufacturing, Bone, Feedforward control, Additive manufacturing, Bioengineering, Control equipment, Design, Dynamic models, Engineering disciplines, Feedback
Proceedings Papers

Frequency Constrained Adaptive PID Laws for Motion Control Systems

Tesheng Hsiao, Chung-Chiang Cheng
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, V002T07A001, October 11–13, 2017
Paper No: DSCC2017-5108
https://doi.org/10.1115/DSCC2017-5108
View Paper titled, Frequency Constrained Adaptive PID Laws for Motion Control Systems
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Topics: Motion control, Control equipment, Errors, Robustness, Matlab, Optimization, Servomotors
Proceedings Papers

Nonlinear Robust Path Control for a Field Robot Scouting in Strawberry Orchards

Douglas Freese, Yunjun Xu
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, V002T21A006, October 11–13, 2017
Paper No: DSCC2017-5220
https://doi.org/10.1115/DSCC2017-5220
View Paper titled, Nonlinear Robust Path Control for a Field Robot Scouting in Strawberry Orchards
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Topics: Robots, Control equipment, Feedback, Motion control, Sensors
Proceedings Papers

An Integrated Unmanned Aerial Vehicle System for Vision Based Control

Haijie Zhang, Jianguo Zhao
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, V003T39A011, October 11–13, 2017
Paper No: DSCC2017-5405
https://doi.org/10.1115/DSCC2017-5405
View Paper titled, An Integrated Unmanned Aerial Vehicle System for Vision Based Control
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Topics: Unmanned aerial vehicles, Algorithms, Braking, Computers, Design, Motion control, Robot motion
Proceedings Papers

Development of a Swarm UAV Simulator Integrating Realistic Motion Control Models for Disaster Operations

Kazi Tanvir Ahmed Siddiqui, David Feil-Seifer, Tianyi Jiang, Sonu Jose, Siming Liu, Sushil Louis
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, V003T39A003, October 11–13, 2017
Paper No: DSCC2017-5177
https://doi.org/10.1115/DSCC2017-5177
View Paper titled, Development of a Swarm UAV Simulator Integrating Realistic Motion Control Models for Disaster Operations
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Topics: Disasters, Motion control, Unmanned aerial vehicles, Simulation, User interfaces, Control equipment, Navigation
Proceedings Papers

An Improved Dynamic Friction Model Using a Data-Based Approach

Nathan A. Weir, Andrew G. Alleyne
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, V003T27A009, October 11–13, 2017
Paper No: DSCC2017-5225
https://doi.org/10.1115/DSCC2017-5225
View Paper titled, An Improved Dynamic Friction Model Using a Data-Based Approach
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Topics: Fittings, Friction, Modeling, Motion control, Simulation results, Sliding friction
Proceedings Papers

Vehicle Lateral Motion Control Based on Estimated Stability Regions

Yiwen Huang, Yan Chen
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, V001T45A006, October 11–13, 2017
Paper No: DSCC2017-5152
https://doi.org/10.1115/DSCC2017-5152
View Paper titled, Vehicle Lateral Motion Control Based on Estimated Stability Regions
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Topics: Motion control, Stability, Vehicles, Yaw, Algorithms, Control equipment, Design, Errors, Shapes, Simulation