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Proceedings Papers

Kalman Filtering-Aided Optical Localization of Mobile Robots: System Design and Experimental Validation

Jason N. Greenberg, Xiaobo Tan
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, V002T21A013, October 11–13, 2017
Paper No: DSCC2017-5368
DOI: https://doi.org/10.1115/DSCC2017-5368
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Topics: Design, Filtration, Mobile robots, Bearings, Errors, Kalman filters, Navigation, Robots
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
DOI: https://doi.org/10.1115/DSCC2017-5220
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Topics: Robots, Control equipment, Feedback, Motion control, Sensors
Proceedings Papers

Car-Like Ground Vehicle Trajectory Tracking by Using Trajectory Linearization Control

Yuanyan Chen, J. Jim Zhu
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, V002T21A014, October 11–13, 2017
Paper No: DSCC2017-5372
DOI: https://doi.org/10.1115/DSCC2017-5372
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Topics: Trajectories (Physics), Vehicles, Dynamics (Mechanics), Actuators, Computer simulation, Control equipment, Degrees of freedom, Design, Drag (Fluid dynamics), Modeling
Proceedings Papers

Pure Pursuit Guidance for Car-Like Ground Vehicle Trajectory Tracking

Yuanyan Chen, J. Jim Zhu
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, V002T21A015, October 11–13, 2017
Paper No: DSCC2017-5376
DOI: https://doi.org/10.1115/DSCC2017-5376
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Topics: Trajectories (Physics), Vehicles, Algorithms, Automated guided vehicles, Computer simulation, Control equipment, Degrees of freedom, Design, Driverless cars, Dynamics (Mechanics)
Proceedings Papers

Undersea Vehicle Autopilot Off Weight Design Compensation

Colin D. Begg, Daniel J. Bowman, A. Scott Lewis
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, V002T21A002, October 11–13, 2017
Paper No: DSCC2017-5131
DOI: https://doi.org/10.1115/DSCC2017-5131
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Topics: Autopilots, Design, Vehicles, Weight (Mass), Buoyancy, Flight, Computer software, Control equipment, Control systems, Elevators
Proceedings Papers

Maneuverability and Heading Control of a Quadruped Robot Utilizing Tail Dynamics

Wael Saab, Pinhas Ben-Tzvi
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, V002T21A010, October 11–13, 2017
Paper No: DSCC2017-5337
DOI: https://doi.org/10.1115/DSCC2017-5337
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Topics: Dynamics (Mechanics), Robots, Modeling, Robotics, Control equipment, Design, Equilibrium (Physics), Mobile robots, Rotation, Sensitivity analysis
Proceedings Papers

Design of Propulsive Virtual Holonomic Constraints for Planar Snake Robots

Alireza Mohammadi
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, V002T21A003, October 11–13, 2017
Paper No: DSCC2017-5159
DOI: https://doi.org/10.1115/DSCC2017-5159
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Topics: Design, Robots, Control equipment, Control systems, Engineering simulation, Friction, Partial differential equations, Robotics, Simulation, Wheels
Proceedings Papers

Locomotion of a Multi-Link Nonholonomic Snake Robot

Tony Dear, Scott David Kelly, Matthew Travers, Howie Choset
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, V002T21A011, October 11–13, 2017
Paper No: DSCC2017-5349
DOI: https://doi.org/10.1115/DSCC2017-5349
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Topics: Robots, Oscillations, Control equipment, Degrees of freedom, Dynamic models, Feedback, Kinematics, Springs, Wheels
Proceedings Papers

Limit Cycle Analysis and Control of the Dissipative Chaplygin Sleigh

Vitaliy Fedonyuk, Phanindra Tallapragada, Yongqiang Wang
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, V002T21A004, October 11–13, 2017
Paper No: DSCC2017-5193
DOI: https://doi.org/10.1115/DSCC2017-5193
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Topics: Limit cycles, Fluids, Dynamics (Mechanics), Energy dissipation, Robotics, Robots
Proceedings Papers

Omni Directional Moving Object Detection and Tracking With Virtual Reality Feedback

Armaan Zirakchi, Cody Lee Lundberg, Hakki Erhan Sevil
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, V002T21A012, October 11–13, 2017
Paper No: DSCC2017-5352
DOI: https://doi.org/10.1115/DSCC2017-5352
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Topics: Feedback, Virtual reality, Computers, Vehicles
Proceedings Papers

Autonomous Mobile Sensing Platform for Spatio-Temporal Plant Phenotyping

Homagni Saha, Tianshuang Gao, Hamid Emadi, Zhanhong Jiang, Arti Singh, Baskar Ganapathysubramanian, Soumik Sarkar, Asheesh Singh, Sourabh Bhattacharya
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, V002T21A005, October 11–13, 2017
Paper No: DSCC2017-5207
DOI: https://doi.org/10.1115/DSCC2017-5207
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Topics: Decision making, Design, Dynamics (Mechanics), Flow (Dynamics), Modeling, Navigation, Robots, Steering systems
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
DOI: https://doi.org/10.1115/DSCC2017-5283
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Topics: Plumes (Fluid dynamics), Sensors, Robots, Uncertainty, Algorithms, Dynamics (Mechanics), Feedforward control, Filters, Leakage, Motion control
Proceedings Papers

Obstacle Identification for Vision Assisted Control Architecture of a Hybrid Mechanism Mobile Robot

Anil Kumar, Hailin Ren, Pinhas Ben-Tzvi
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, V002T21A008, October 11–13, 2017
Paper No: DSCC2017-5324
DOI: https://doi.org/10.1115/DSCC2017-5324
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Topics: Mobile robots, Algorithms, Path planning
Proceedings Papers

A Driver Model for Predicting Human Steering Performance in Teleoperated Path Following of Unmanned Ground Vehicles

Hossein Mirinejad, Paramsothy Jayakumar, Tulga Ersal
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, V002T21A001, October 11–13, 2017
Paper No: DSCC2017-5086
DOI: https://doi.org/10.1115/DSCC2017-5086
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Topics: Vehicles, Curve negotiation, Delays, Highways, Mechanical admittance, Simulation
Proceedings Papers

PTEM Based Moving Obstacle Detection and Avoidance for an Unmanned Ground Vehicle

Gangadhar Rajashekaraiah, Hakki Erhan Sevil, Atilla Dogan
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, V002T21A009, October 11–13, 2017
Paper No: DSCC2017-5330
DOI: https://doi.org/10.1115/DSCC2017-5330
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Topics: Vehicles, Algorithms, Sensors, Actuators, Construction, Lasers, Matlab, Risk, Simulation
Proceedings Papers

Robust Composite Nonlinear Feedback Control for Path Following of Underactuated Surface Vessels With Desired-Heading Amendment

Chuan Hu, Rongrong Wang, Fengjun Yan
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T29A001, October 12–14, 2016
Paper No: DSCC2016-9654
DOI: https://doi.org/10.1115/DSCC2016-9654
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Topics: Composite materials, Feedback, Vessels, Transients (Dynamics), Engineering simulation, Errors, Simulation, Waves
Proceedings Papers

Tracking Control Design for Variable Mass and Configuration Robotic Systems

Elżbieta Jarzębowska
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T29A002, October 12–14, 2016
Paper No: DSCC2016-9688
DOI: https://doi.org/10.1115/DSCC2016-9688
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Topics: Design, Robotics, Tracking control, Dynamics (Mechanics), Modeling, Inertia (Mechanics), Control equipment, Equations of motion, Manipulators, Mobile robots
Proceedings Papers

System Safety Surveillance and Control System Concept for Autonomous or Semi-Autonomous Systems Fall-Back Layer Realization

Georg Hägele, Dirk Söffker
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T29A003, October 12–14, 2016
Paper No: DSCC2016-9718
DOI: https://doi.org/10.1115/DSCC2016-9718
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Topics: Control systems, Safety, Surveillance, Modeling, Computer software, Design, Emergencies, Navigation
Proceedings Papers

Hybrid Low Pass and De-Trending Filter for Robust Position Estimation of Quadcopters

Shatadal Mishra, Wenlong Zhang
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T29A004, October 12–14, 2016
Paper No: DSCC2016-9921
DOI: https://doi.org/10.1115/DSCC2016-9921
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Topics: Filters, Flight, Low-pass filters, Signals, Data acquisition, Filtration, Flow (Dynamics), Flow sensors, Fluctuations (Physics), Oscillations
Proceedings Papers

Design, Fabrication and Control of a Tilt Rotor Quadcopter

Alireza Nemati, Neal Soni, Mohammad Sarim, Manish Kumar
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T29A005, October 12–14, 2016
Paper No: DSCC2016-9929
DOI: https://doi.org/10.1115/DSCC2016-9929
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Topics: Design, Manufacturing, Rotors, Flight, Robots, Control equipment, Dynamic models, Engines, Mechanical admittance, Motors