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Proceedings Papers

Modelica-Based Control of a Delta Robot

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
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

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

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
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
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
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

Marker Based Row Alignment Control for an Agricultural Scouting Robot

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
Paper No: DSCC2020-3183
DOI: https://doi.org/10.1115/DSCC2020-3183
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Topics: Robots
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
DOI: https://doi.org/10.1115/DSCC2020-3170
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Topics: Exoskeleton devices, Dynamics (Mechanics), Hardware, Robots, Stability, Center of mass, Control equipment, Force sensors, Motion control, Robotics
Proceedings Papers

Design and Analysis of a New Mechanism for a Snake Like Robot

Johnathon Garcia, Kooktae Lee
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, V001T18A002, October 5–7, 2020
Paper No: DSCC2020-3204
DOI: https://doi.org/10.1115/DSCC2020-3204
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Topics: Design, Robots, Silicones, Skin, Additive manufacturing, Friction, Kinematics
Proceedings Papers

Optimal Control and Energy Management in Hybrid Turbojet Engines

Hanz Richter, Joseph W. Connolly, Donald L. Simon
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, V001T19A004, October 5–7, 2020
Paper No: DSCC2020-3182
DOI: https://doi.org/10.1115/DSCC2020-3182
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Topics: Energy management, Engines, Optimal control, Turbojets, Fuels, Torque, Weight (Mass), Aircraft engines, Control equipment, Design
Proceedings Papers

Monolithic Leg Design With Compliant Knee Joint for Bipedal Robots: Design and Preliminary Results

Ciaphus Rouse, Trevor Warnix, Martin Garcia, Ayse Tekes
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, V001T18A003, October 5–7, 2020
Paper No: DSCC2020-3259
DOI: https://doi.org/10.1115/DSCC2020-3259
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Topics: Design, Knee, Robots
Proceedings Papers

Dynamic Prediction-Based Optical Localization of a Robot During Continuous Movement

Jason N. Greenberg, Xiaobo Tan
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T25A005, October 5–7, 2020
Paper No: DSCC2020-3288
DOI: https://doi.org/10.1115/DSCC2020-3288
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Topics: Robots, Bearings, Mobile robots, Data collection, Filtration, Navigation, Simulation
Proceedings Papers

Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization

Wei-Ye Zhao, Suqin He, Chengtao Wen, Changliu Liu
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T31A002, October 5–7, 2020
Paper No: DSCC2020-3208
DOI: https://doi.org/10.1115/DSCC2020-3208
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Topics: Optimization, Trajectories (Physics), Robots, Collisions (Physics), Path planning, Algorithms, Assembly lines, Dynamics (Mechanics), Grinding, Manufacturing
Proceedings Papers

On the Ergodicity of an Autonomous Robot for Efficient Environment Explorations

Rabiul Hasan Kabir, Kooktae Lee
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T31A003, October 5–7, 2020
Paper No: DSCC2020-3241
DOI: https://doi.org/10.1115/DSCC2020-3241
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Topics: Robots, Algorithms, Approximation, Simulation results
Proceedings Papers

Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces

Violet Mwaffo, Pietro De Lellis, Sean Humbert
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T30A002, October 5–7, 2020
Paper No: DSCC2020-3162
DOI: https://doi.org/10.1115/DSCC2020-3162
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Topics: Computer simulation, Design, Dynamics (Mechanics), Gravel, Kinematics, Mobile robots, Noise (Sound), Roads, Robotics, Robots
Proceedings Papers

Bearing-Only Localization of a Quasi-Static Sound Source With a Binaural Microphone Array

Aidan J. Bradley, Masoud J. Shirazi, Nicole Abaid
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, V001T21A005, October 5–7, 2020
Paper No: DSCC2020-3235
DOI: https://doi.org/10.1115/DSCC2020-3235
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Topics: Bearings, Microphone arrays, Robots, Sensors, Anechoic chambers, Dynamic models, Engineering prototypes, Engineers, Machine learning, Robotics
Proceedings Papers

Towards Explainable Co-Robots: Developing Confidence-Based Shared Control Paradigms

Daniel Saraphis, Vahid Izadi, Amirhossein Ghasemi
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, V001T17A006, October 5–7, 2020
Paper No: DSCC2020-3313
DOI: https://doi.org/10.1115/DSCC2020-3313
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Topics: Robots, Shared control, Computer simulation
Proceedings Papers

Nonholonomic Systems With Redundant Degrees of Freedom Can Exploit Nonlinear Frequency Response to Improve Speed and Efficiency of Locomotion

Vitaliy Fedonyuk, Colin Rodwell, Phanindra Tallapragada
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T38A009, October 5–7, 2020
Paper No: DSCC2020-3326
DOI: https://doi.org/10.1115/DSCC2020-3326
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Topics: Degrees of freedom, Frequency response, Dynamics (Mechanics), Robots, Chain, Oscillations, Robotics, Stiffness, Vehicles
Proceedings Papers

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

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
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

Developmental Reinforcement Learning of Control Policy of a Quadcopter UAV With Thrust Vectoring Rotors

Aditya M. Deshpande, Rumit Kumar, Ali A. Minai, Manish Kumar
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T36A011, October 5–7, 2020
Paper No: DSCC2020-3319
DOI: https://doi.org/10.1115/DSCC2020-3319
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Topics: Reinforcement learning, Rotors, Thrust, Unmanned aerial vehicles, Control equipment, Design, Flight, Simulation, Actuators, Robots
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
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

Decentralized Iterative Learning Cooperative Impedance Control for a Team of Robot Manipulators

Xu Jin
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, V001T01A003, October 5–7, 2020
Paper No: DSCC2020-3117
DOI: https://doi.org/10.1115/DSCC2020-3117
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Topics: Manipulators, Teams, Errors, Iterative learning control, Robotics, Robots, Simulation
Proceedings Papers

Inverse Kinematic Analysis of Muscular Hydrostat Inspired Soft Robot With Chain-Like Optimization With an Embedded Controller

Amir Hosein Zamanian, Edmond Richer
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, V001T06A002, October 5–7, 2020
Paper No: DSCC2020-3247
DOI: https://doi.org/10.1115/DSCC2020-3247
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Topics: Chain, Control equipment, Kinematic analysis, Optimization, Robots, Algorithms, Kinematics, End effectors, Errors, Simulation results