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ASME 2019 Dynamic Systems and Control Conference

October 8–11, 2019

Park City, Utah, USA

Conference Sponsors:

Dynamic Systems and Control Division

ISBN:

978-0-7918-5916-2

Previous Volume

In This Volume

Rapid Fire Interactive (RFI): Advances in Control Systems (12)
Rapid Fire Interactive (RFI): Advances in Robotics and Mechatronics (12)
Rapid Fire Interactive (RFI): Automotive and Transportation Systems (12)
Rapid Fire Interactive (RFI): Motion Planning and Trajectory Tracking (12)
Rapid Fire Interactive (RFI): Soft Mechatronic Actuators and Sensors (11)
Rapid Fire Interactive (RFI): Unmanned Ground and Aerial Vehicles (12)

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

Rapid Fire Interactive (RFI): Advances in Control Systems

Time Delay Control of a High-DOF Robot Manipulator Through Feedback Linearization Based Predictor

Mostafa Bagheri, Peiman Naseradinmousavi, Miroslav Krstić

DSCC 2019; V003T16A001doi:https://doi.org/10.1115/DSCC2019-8915

Topics: Feedback , Manipulators , Time delay systems , Delays , Control equipment , Algorithms , Control algorithms , Design , Engineering systems and industry applications , Equations of motion

Adaptive NN Learning Control of Discrete-Time Nonlinear Uncertain Systems

Jingting Zhang, Chengzhi Yuan, Paolo Stegagno

DSCC 2019; V003T16A002doi:https://doi.org/10.1115/DSCC2019-8923

Topics: Uncertain systems , Tracking control , Control equipment , Artificial neural networks , Composite materials , Computer simulation , Nonlinear dynamics , Rendering

Evaluating the Performance of Foot Control of a Supernumerary Robotic Limb

Zachary Dougherty, Ryder C. Winck

DSCC 2019; V003T16A003doi:https://doi.org/10.1115/DSCC2019-8941

Topics: Robotics

Comparison of Adaptive Control Laws for Wind Rejection in Quadrotor UAVs

Johannes Verberne, Hever Moncayo

DSCC 2019; V003T16A004doi:https://doi.org/10.1115/DSCC2019-8957

Topics: Adaptive control , Unmanned aerial vehicles , Wind , Control algorithms , Artificial neural networks , Flight , Algorithms , Control equipment , Degrees of freedom , Energy consumption

A Strictly Defined Orthogonal Global Task Coordinate Frame and its Contouring Control Application on Biaxial Systems

Can Yang, Zheng Chen, Bin Yao, Bobo Helian

DSCC 2019; V003T16A005doi:https://doi.org/10.1115/DSCC2019-8988

Topics: Approximation , Control equipment , Errors , Linear motors , Modeling , Robust control , Shapes , System dynamics , Uncertainty

Learning Flatness-Based Controller Using Neural Network

Hailin Ren, Jingyuan Qi, Pinhas Ben-Tzvi

DSCC 2019; V003T16A006doi:https://doi.org/10.1115/DSCC2019-8998

Comparison of Position Control With and Without Friction on a Foot Interface

Brandon Rudolph, Ryder C. Winck

DSCC 2019; V003T16A007doi:https://doi.org/10.1115/DSCC2019-9019

Topics: Friction , Position control , Preferences

Output Feedback Control Synthesis for a Helicopter Using Explicit Nonlinear Model Predictive Control, Dynamic Inversion and Extended High Gain Observers

Joohwan Seo, Jongeun Choi

DSCC 2019; V003T16A008doi:https://doi.org/10.1115/DSCC2019-9036

Topics: Feedback , Predictive control , Design , Uncertainty , Computer simulation , Dynamics (Mechanics) , Low-pass filters

The Restricted Newton Method for Fast Nonlinear Model Predictive Control

Anson Maitland, Chi Jin, John McPhee

DSCC 2019; V003T16A009doi:https://doi.org/10.1115/DSCC2019-9067

Topics: Newton's method , Predictive control , Blocks (Building materials) , Nonlinear programming , Optimization , Simple machines , Vehicles

Design and Control of a Power-Electronic Interface for Regenerative Suspension Systems

Abdullah A. Algethami, Won-jong Kim

DSCC 2019; V003T16A010doi:https://doi.org/10.1115/DSCC2019-9081

Topics: Design , Suspension systems , Control equipment , Recycling , Automotive industry , Damping , Generators , Pulse width modulation , Roads , Symmetry (Physics)

Delay-Dependent Output-Feedback Control for Blood Pressure Regulation Using LPV Techniques

Shahin Tasoujian, Karolos Grigoriadis, Matthew Franchek

DSCC 2019; V003T16A011doi:https://doi.org/10.1115/DSCC2019-9098

Topics: Blood , Delays , Feedback , Pressure , Design , Drugs , Closed loop systems , Control equipment , Engineering simulation , Linear matrix inequalities

Model Reference Control With Command Shaping for a Micro-Electromagnetic Actuator With Input Constraints

Gerald Eaglin, Joshua Vaughan

DSCC 2019; V003T16A012doi:https://doi.org/10.1115/DSCC2019-9162

Topics: Actuators , Control equipment , Electromagnetic actuators , Engineering simulation , Flexible systems , Simulation , Vibration

Rapid Fire Interactive (RFI): Advances in Robotics and Mechatronics

Feasibility Study of Force Measurement for Multi-Digit Unconstrained Grasping via Fingernail Imaging and Visual Servoing

Navid Fallahinia, Stephen Mascaro

DSCC 2019; V003T17A001doi:https://doi.org/10.1115/DSCC2019-8955

Active Vibration Rejection in Multi Actuator Drives: Data Driven Approach

Prateek Shah, Roberto Horowitz

DSCC 2019; V003T17A002doi:https://doi.org/10.1115/DSCC2019-8983

Topics: Actuators , Vibration , Control equipment , Design , Feedforward control , Disks , Engines , Microactuators , Motors , Timber

A Series Elastic Actuator Design and Control in a Linkage Based Hand Exoskeleton

Raghuraj J. Chauhan, Pinhas Ben-Tzvi

DSCC 2019; V003T17A003doi:https://doi.org/10.1115/DSCC2019-8996

Topics: Actuators , Design , Exoskeleton devices , Linkages

Design of a Kangaroo Inspired Hopping Robot for Unrestricted Locomotion and Controller Development

Austin Curtis, James Mynderse, Hamid Vejdani

DSCC 2019; V003T17A004doi:https://doi.org/10.1115/DSCC2019-9083

Topics: Control equipment , Design , Robots , Engineering prototypes , Frequency response

Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control

Vikram Ramanathan, Andy Zelenak, Mitch Pryor

DSCC 2019; V003T17A005doi:https://doi.org/10.1115/DSCC2019-9123

Topics: Control modeling , Kinematics , Rotation , Wheels , Control equipment , Braking , Chatter , Design , Engineering simulation , Feedback

A Novel Buoyancy Control Device Using Reversible PEM Fuel Cells

Jalal Yazji, Hamza Zaidi, Luke Thomas Torres, Christopher Leroy, Alicia Keow, Zheng Chen

DSCC 2019; V003T17A006doi:https://doi.org/10.1115/DSCC2019-9155

Topics: Buoyancy , Proton exchange membrane fuel cells , Electrolysis , Compressed air , Control equipment , Proton exchange membranes , Water , Density , Fuel cells , Gas flow

Learning Hyperparameters in Efficient Spatial Model by Robotic Sensors

Jinho Jeong, Soo Jeon, Jongeun Choi

DSCC 2019; V003T17A007doi:https://doi.org/10.1115/DSCC2019-9170

Topics: Mobile robots , Robotics , Sensors , Simulation results , Surveillance

Assembly Planning Using a Two-Arm System for Polygonal Furniture

Seth T. Payne, C. Fletcher Garrison, IV, Steven E. Markham, Tucker Hermans, Kam K. Leang

DSCC 2019; V003T17A008doi:https://doi.org/10.1115/DSCC2019-9173

Topics: Manufacturing , Algorithms , Robotics , Collisions (Physics) , Computer-aided design , Finishing , Manipulators , Path planning , Simulation

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

Minghui Zheng, Zhu Chen, Xiao Liang

DSCC 2019; V003T17A009doi:https://doi.org/10.1115/DSCC2019-9186

Topics: Algorithms , Unmanned aerial vehicles , Errors , Iterative learning control , Dynamics (Mechanics) , Feedforward control , Physics , Reliability , Signals

A Passive Jumping Mechanism

Phanindra Tallapragada, Jake Buzhardt, Robert Seney

DSCC 2019; V003T17A010doi:https://doi.org/10.1115/DSCC2019-9194

Topics: Center of mass , Design , Gravity (Force) , Robots

Drop Volume Control in Drop-on-Demand Inkjet Printing

Jie Wang, Xia Chen, George Chiu

DSCC 2019; V003T17A011doi:https://doi.org/10.1115/DSCC2019-9233

Topics: Printing , Feedback , US Department of Defense , Control equipment , Uncertainty

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

Stephen Mascaro

DSCC 2019; V003T17A012doi:https://doi.org/10.1115/DSCC2019-9245

Topics: Force control , Force sensors , Manipulators , Robots , Robotics , Additive manufacturing , Hybrid control , Matlab , Mechanical admittance , Motion control

Rapid Fire Interactive (RFI): Automotive and Transportation Systems

Hierarchical Estimator of Dual Clutch Torques for a Power-Split Hybrid Electric Vehicle

Jianwu Zhang, Defeng Xu

DSCC 2019; V003T18A001doi:https://doi.org/10.1115/DSCC2019-8927

Topics: Engineering simulation , Errors , Hybrid electric vehicles , Oscillations , Pressure , Simulation , State estimation , Steady state , Torque , Transients (Dynamics)

Lane Keeping Control Using Finite Spectrum Assignment With Modeling Errors

Illés Vörös, Balázs Várszegi, Dénes Takács

DSCC 2019; V003T18A002doi:https://doi.org/10.1115/DSCC2019-8960

Topics: Computer simulation , Control equipment , Delays , Dynamics (Mechanics) , Errors , Feedback , Modeling , Predictive control , Robustness , Stability

Optimal Lane Management in Heterogeneous Traffic Network

Pouria Karimi Shahri, Shubhankar Chintamani Shindgikar, Baisravan HomChaudhuri, Amir H. Ghasemi

DSCC 2019; V003T18A003doi:https://doi.org/10.1115/DSCC2019-9040

Topics: Traffic , Vehicles , Optimization , Roads , Design , Flow (Dynamics)

Shared Control Between Human Driver and Automation in Cooperative Driving Based on Game Theoretic Model Predictive Control

Sangjin Ko, Reza Langari

DSCC 2019; V003T18A004doi:https://doi.org/10.1115/DSCC2019-9053

Topics: Predictive control , Shared control , Safety , Collisions (Physics) , Simulation , Errors , Matlab , Probability , Simulation results

Hierarchical Nonlinear Moving Horizon Estimation of Vehicle Lateral Speed and Road Friction Coefficient

Chi Jin, Anson Maitland, John McPhee

DSCC 2019; V003T18A005doi:https://doi.org/10.1115/DSCC2019-9069

Deep Reinforcement Learning for Adaptive Traffic Signal Control

Kai Liang Tan, Subhadipto Poddar, Soumik Sarkar, Anuj Sharma

DSCC 2019; V003T18A006doi:https://doi.org/10.1115/DSCC2019-9076

Topics: Signals , Traffic , Control equipment , Sensors , Engineers , Intersections , Simulation

Lifetime Optimization for a Grid-Friendly DC Fast Charge Station With Second Life Batteries

Matilde D’Arpino, Massimo Cancian

DSCC 2019; V003T18A007doi:https://doi.org/10.1115/DSCC2019-9105

Surface Recognition for Cars: A Comprehensive Approach for Neural Networks

Ashkan Pourkand, Chris White, Naghmeh Zamani, David Grow

DSCC 2019; V003T18A008doi:https://doi.org/10.1115/DSCC2019-9148

Topics: Artificial neural networks , Automobiles , Vehicles , Accelerometers , Pavement , Asphalt , Braking , Concretes , Encryption , Feature extraction

Analysis of Reference Shaping Control for Improved Yaw Stability in a Steer-by-Wire Vehicle

Srivatsan Srinivasan, Matthias J. Schmid, Venkat N. Krovi

DSCC 2019; V003T18A009doi:https://doi.org/10.1115/DSCC2019-9153

Topics: Stability , Vehicles , Wire , Yaw

Human Driver Modeling Based on Analytical Optimal Solutions: Stopping Behaviors at the Intersections

Jihun Han, Dominik Karbowski, Namdoo Kim, Aymeric Rousseau

DSCC 2019; V003T18A010doi:https://doi.org/10.1115/DSCC2019-9178

Combining Reachability Analysis and Importance Sampling for Accelerated Evaluation of Highly Automated Vehicles at Pedestrian Crossing

Xinpeng Wang, Huei Peng, Ding Zhao

DSCC 2019; V003T18A011doi:https://doi.org/10.1115/DSCC2019-9179

Analysis of a Novel Command Governor-Based Adaptive Cruise Controller for Non-Cooperative Vehicle Following

Ben Groelke, Christian Earnhardt, John Borek, Chris Vermillion

DSCC 2019; V003T18A012doi:https://doi.org/10.1115/DSCC2019-9196

Topics: Control equipment , Governors , Vehicles , Braking , Torque , Wheels , Brakes , Collisions (Physics) , Engineering simulation , Fuels

Rapid Fire Interactive (RFI): Motion Planning and Trajectory Tracking

Optimal Strategy for Multiple Evaders Against an Agile Pursuer

Chunsheng Liu, Mark V. Trevorrow

DSCC 2019; V003T19A001doi:https://doi.org/10.1115/DSCC2019-8924

Topics: Equilibrium (Physics)

Periodic Tracking Control Using Gain-Scheduled Fourier Series-Based Internal Models

Dylan Caverly, Ryan James Caverly, James Richard Forbes

DSCC 2019; V003T19A002doi:https://doi.org/10.1115/DSCC2019-8945

Topics: Closed loop systems , Control equipment , Errors , Fourier series , Heat exchangers , Signals , Stability , Steady state , Temperature , Theorems (Mathematics)

Sliding-Mode Control With Switching-Gain Adaptation for Trajectory Tracking of Underactuated Unmanned Surface Vessels

Rui Yu, Haochen Qi, Kamal Upadhyay, Hua Zhou

DSCC 2019; V003T19A003doi:https://doi.org/10.1115/DSCC2019-8959

Topics: Trajectories (Physics) , Vessels

Following Fast-Dynamic Targets With Only Slow and Delayed Visual Feedback: A Kalman Filter and Model-Based Prediction Approach

Hui Xiao, Xu Chen

DSCC 2019; V003T19A004doi:https://doi.org/10.1115/DSCC2019-9022

Topics: Feedback , Kalman filters , Delays , Robotics , Dynamics (Mechanics) , Algorithms , Manipulators , Modeling , Navigation , Robots

Backstepping-Based Trajectory Tracking for Underwater Gliders

Demetris Coleman, Maria Castaño, Osama Ennasr, Xiaobo Tan

DSCC 2019; V003T19A005doi:https://doi.org/10.1115/DSCC2019-9028

Topics: Trajectories (Physics) , Control equipment , Dynamics (Mechanics) , Errors , Buoyancy , Center of mass , Engineering simulation , Oceans , Simulation

Geometric Trajectory Planning for Robot Motion Over a 3D Surface

Bashir Hosseini Jafari, Nolan Walker, Ronald Smaldone, Nicholas Gans

DSCC 2019; V003T19A006doi:https://doi.org/10.1115/DSCC2019-9063

Topics: Robot motion , Trajectories (Physics) , Printing , Design , End effectors , Engineering simulation , Mobile robots , Optimization , Path planning , Simulation

Line-of-Sight Pure Pursuit Guidance Stability Analysis and Design Guideline for Car-Like Autonomous Ground Vehicles

Letian Lin, J. Jim Zhu

DSCC 2019; V003T19A007doi:https://doi.org/10.1115/DSCC2019-9108

Topics: Design , Stability , Vehicles , Theorems (Mathematics) , Simulation results

Observer-Based Control of a Dual-Stage Piezoelectric Scanner

Yuhe Chang, Sean B. Andersson

DSCC 2019; V003T19A008doi:https://doi.org/10.1115/DSCC2019-9163

Topics: Actuators , Algorithms , Atomic force microscopy , Control equipment , Feedback , Hardware , Imaging , Instrumentation , Separation (Technology) , Simulation

Motion Planning for Industrial Mobile Robots With Closed-Loop Stability Enhanced Prediction

Jessica Leu, Masayoshi Tomizuka

DSCC 2019; V003T19A009doi:https://doi.org/10.1115/DSCC2019-9208

Topics: Mobile robots , Path planning , Stability , Robots , Human-robot interaction , Algorithms , Clearances (Engineering) , Collisions (Physics) , Delays , Engineering simulation

Safe, Aggressive Quadrotor Flight via Reachability-Based Trajectory Design

Shreyas Kousik, Patrick Holmes, Ram Vasudevan

DSCC 2019; V003T19A010doi:https://doi.org/10.1115/DSCC2019-9214

Topics: Design , Flight , Trajectories (Physics) , Uncertainty , Errors , Collisions (Physics) , Engineering simulation , Inspection , Robots , Safety

Sub-Optimal Tracking in Switched Systems With Controlled Subsystems and Fixed-Mode Sequence Using Approximate Dynamic Programming

Tohid Sardarmehni, Xingyong Song

DSCC 2019; V003T19A011doi:https://doi.org/10.1115/DSCC2019-9216

Topics: Dynamic programming , Dynamics (Mechanics) , Feedback , Signals , Simulation results

On Receding Horizon Chance Constraint Motion Planning for Uncertain Multi-Agent Systems

Yash Bagla, Vaibhav Srivastava

DSCC 2019; V003T19A012doi:https://doi.org/10.1115/DSCC2019-9237

Topics: Multi-agent systems , Path planning , Algorithms , Uncertainty , Collisions (Physics) , Noise (Sound) , Risk , Sensors , Tradeoffs

Rapid Fire Interactive (RFI): Soft Mechatronic Actuators and Sensors

A New Approach to Model Constant Curvature Continuum Robot Dynamics

Yujiong Liu, Pinhas Ben-Tzvi

DSCC 2019; V003T20A001doi:https://doi.org/10.1115/DSCC2019-8999

Topics: Computer simulation , Dynamic models , Dynamics (Mechanics) , Equations of motion , Kinematics , Mechanical admittance , Real-time control , Robot dynamics , Robots , Virtual work principle

Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots

Jake A. Steiner, Omar A. Hussain, Lan N. Pham, Jake J. Abbott, Kam K. Leang

DSCC 2019; V003T20A002doi:https://doi.org/10.1115/DSCC2019-9029

Topics: Robots , Biomedicine , Catheters , Composite materials , Conducting polymers , Deformation , Endoscopes , Locomotives , Metals , Polymers

Adaptive Control of Large-Scale Soft Robot Manipulators With Unknown Payloads

Jonathan S. Terry, Justin Whitaker, Randal W. Beard, Marc D. Killpack

DSCC 2019; V003T20A003doi:https://doi.org/10.1115/DSCC2019-9037

Topics: Adaptive control , Manipulators , Control equipment , Robots , Degrees of freedom , End effectors , Nonlinear dynamics , Pneumatic actuators , Predictive control , System dynamics

Neural-Based Control of Compliant Foils With Spanwise Flexibility

Annika-verena Haecker, Gabriel N. Carryon, James L. Tangorra, Thomas Sattel

DSCC 2019; V003T20A004doi:https://doi.org/10.1115/DSCC2019-9045

Topics: Feedback , Lift (Fluid dynamics) , Mechanical properties , Sensor placement , Sensors , Signals , Stiffness , Thrust

Modeling Actuation of Ionomer Cilia in Salt Solution Under an External Electric Field

Alain Boldini, Maxwell Rosen, Youngsu Cha, Maurizio Porfiri

DSCC 2019; V003T20A005doi:https://doi.org/10.1115/DSCC2019-9060

Completing Complex Contact Tasks Using Integrated Active and Passive Compliant Control Methodologies

Adam Pettinger, Mitch Pryor

DSCC 2019; V003T20A006doi:https://doi.org/10.1115/DSCC2019-9062

Topics: Control equipment , Damping , Manipulators , Materials properties , Stiffness , Switches

Modelling and Experimental Study for PVC Gel Actuators

Zachary Frank, Zakai Olsen, Taeseon Hwang, Kwang J. Kim

DSCC 2019; V003T20A007doi:https://doi.org/10.1115/DSCC2019-9100

Topics: Actuators , Conducting polymers , Finite element model , Modeling , Plasticizers , Robotics , Stress

The Effects of Nylon Polymer Threads on Strain-Loading Hysteresis Behavior of Supercoiled Polymer (SCP) Artificial Muscles

Revanth Konda, Jun Zhang

DSCC 2019; V003T20A008doi:https://doi.org/10.1115/DSCC2019-9169

Topics: Muscle , Nylon fabrics , Polymers , Screw threads , Thread , Actuators , Nylon yarns , Physics , Springs , Stiffness

Path Following for the Soft Origami Crawling Robot

Oyuna Angatkina, Kimberly Gustafson, Aimy Wissa, Andrew Alleyne

DSCC 2019; V003T20A009doi:https://doi.org/10.1115/DSCC2019-9175

Topics: Robots

Distributed Control of a Planar Discrete Elastic Rod Model for Caterpillar-Inspired Locomotion

Helene Nguewou-Hyousse, William L. Scott, Derek A. Paley

DSCC 2019; V003T20A010doi:https://doi.org/10.1115/DSCC2019-9220

Topics: Dampers , Design , Displacement , Feedback , Modeling , Network models , Robotics , Rods , Simulation results , Springs

Cooperative Collision Avoidance Control of Robotic Fish Propelled by a Servo/IPMC Driven Hybrid Tail

Xiongfeng Yi, Zheng Chen, Animesh Chakravarthy

DSCC 2019; V003T20A011doi:https://doi.org/10.1115/DSCC2019-9228

Topics: Collisions (Physics) , Robotics , Servomechanisms , Servomotors , Relaxation (Physics) , Transfer functions , Composite materials , Metals , Polymers , Trajectories (Physics)

Rapid Fire Interactive (RFI): Unmanned Ground and Aerial Vehicles

Bayesian Estimation of Snow-Avalanche Victim Pose: A Method to Assist Human and/or Robot First Responders to Quickly Locate a Buried Victim

Joseph R. Bourne, Kam K. Leang

DSCC 2019; V003T21A001doi:https://doi.org/10.1115/DSCC2019-8946

Topics: Algorithms , Engineering standards , Magnetic fields , Robots , Simulation results , Uncertainty

A Probabilistic Technique for Allocation of Tasks With Priorities in a School of Autonomous Mobile Robots

Soovadeep Bakshi, Tianheng Feng, Zeyu Yan, Dongmei Chen

DSCC 2019; V003T21A002doi:https://doi.org/10.1115/DSCC2019-8970

Topics: Mobile robots , Algorithms , Manufacturing automation , Optimization

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

Xiang He, Kam K. Leang

DSCC 2019; V003T21A003doi:https://doi.org/10.1115/DSCC2019-9025

Topics: Unmanned aerial vehicles , Rotors , Propellers , Thrust , Additive manufacturing , Blades , Compression , Errors , Outflow

Gaussian-Based Kernel for Multi-Agent Aerial Chemical-Plume Mapping

Xiang He, Jake A. Steiner, Joseph R. Bourne, Kam K. Leang

DSCC 2019; V003T21A004doi:https://doi.org/10.1115/DSCC2019-9027

Topics: Plumes (Fluid dynamics) , Errors , Flight , Leakage , Robots , Simulation , Vehicles , Wind , Wind velocity

Self-Reflective Learning Strategy for Persistent Autonomy of Aerial Manipulators

Xu Zhou, Jiucai Zhang, Xiaoli Zhang

DSCC 2019; V003T21A005doi:https://doi.org/10.1115/DSCC2019-9086

Topics: Manipulators

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

Jake A. Steiner, Joseph R. Bourne, Xiang He, Donald M. Cropek, Kam K. Leang

DSCC 2019; V003T21A006doi:https://doi.org/10.1115/DSCC2019-9099

Topics: Cities , Unmanned aerial vehicles , Leakage , Particle swarm optimization , Algorithms , Flight , Plumes (Fluid dynamics) , Simulation

Integrated Forward and Reverse Trajectory Tracking Control for Car-Like Ground Vehicle

Yuanyan Chen, J. Jim Zhu, Letian Lin

DSCC 2019; V003T21A007doi:https://doi.org/10.1115/DSCC2019-9104

Topics: Tracking control , Trajectories (Physics) , Vehicles , Design , Kinematics , Control equipment , Dynamics (Mechanics) , Hardware , Collisions (Physics) , Nonlinear dynamics

Cooperative Transport of a Payload With Offset CG Using Multiple UAVs

Shraddha Barawkar, Manish Kumar

DSCC 2019; V003T21A008doi:https://doi.org/10.1115/DSCC2019-9131

Topics: Control equipment , Unmanned aerial vehicles

Modeling and Predictive Control of an Unmanned Underwater Vehicle

Renato Rodriguez Nunez, Damoon Soudbakhsh

DSCC 2019; V003T21A009doi:https://doi.org/10.1115/DSCC2019-9154

Topics: Feedback , Modeling , Predictive control , Underwater vehicles , Control equipment , Design , Degrees of freedom , Geometry , Hydrostatics , Linearization techniques

Compressive Sensing-Based Reconstruction of Lissajous-Like Nodding Lidar Data

Michael T. Benson, Harish Sathishchandra, Garrett M. Clayton, Sean B. Andersson

DSCC 2019; V003T21A010doi:https://doi.org/10.1115/DSCC2019-9201

Modelling and Simulation of Perching With a Quadrotor Aerial Robot With Passive Bio-Inspired Legs and Feet

David J. Dunlop, Mark A. Minor

DSCC 2019; V003T21A011doi:https://doi.org/10.1115/DSCC2019-9241

Sub-Optimal Control of Autonomous Wheel Loader With Approximate Dynamic Programming

Tohid Sardarmehni, Xingyong Song

DSCC 2019; V003T21A012doi:https://doi.org/10.1115/DSCC2019-9248

Topics: Cycles , Dynamic programming , Optimal control , Wheels

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