ASME Letters in Dynamic Systems and Control
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Short Circuit Estimation in Lithium-Ion Batteries Using Moving Horizon Estimation1
(The American Society of Mechanical Engineers (ASME), 2024)This paper proposes rapid and accurate short circuit estimation under resting condition using joint moving horizon estimation (MHE). The use of lithium-ion batteries (LiBs) in electric vehicles (EVs) has been increasing, ... -
Exploiting Stochastic Resonance Principles to Influence the Efficiency of a Torsional-Flutter Energy Harvester in Turbulent Winds1
(The American Society of Mechanical Engineers (ASME), 2025)Wind energy harvesters are emerging as a viable alternative to standard, large horizontal-axis wind turbines. This study continues a recent investigation on the operational features of a torsional-flutter-based apparatus, ... -
Rapid Attitude Controller Design Enabled by Flight Data
(The American Society of Mechanical Engineers (ASME), 2024)In this work, we present a new approach that enables rapid learning and design of the attitude controller for quadcopters. The proposed technique leverages the dynamic structure of the system to efficiently learn an accurate ... -
Optimal Periodic Impulsive Control for Orbital Stabilization of Underactuated Systems
(The American Society of Mechanical Engineers (ASME), 2024)The orbital stabilization problem for underactuated systems with a single passive degree-of-freedom is revisited. The impulse controlled Poincaré map (ICPM) approach, in which stabilizing impulsive inputs are applied on a ... -
Validation of Energy Saving From Cooperative Driving Automation via Vehicle-in-the-Loop Tests1
(The American Society of Mechanical Engineers (ASME), 2024)This article presents an experimental validation of energy savings achieved through cooperative driving automation (CDA) measured by vehicle-in-the-loop (VIL) testing in car-following scenarios. The impacts of different ... -
On Multi-Fidelity Impedance Tuning for Human–Robot Cooperative Manipulation1
(The American Society of Mechanical Engineers (ASME), 2024)We examine how a human–robot interaction (HRI) system may be designed when input–output data from previous experiments are available. Our objective is to learn an optimal impedance in the assistance design for a cooperative ... -
Generalized Two-Point Visual Control Model of Human Steering for Accurate State Estimation1
(The American Society of Mechanical Engineers (ASME), 2024)We derive and validate a generalization of the two-point visual control model, an accepted cognitive science model for human steering behavior. The generalized model is needed as current steering models are either ... -
Efficient Neural Hybrid System Learning and Interpretable Transition System Abstraction for Dynamical Systems1
(The American Society of Mechanical Engineers (ASME), 2024)This article proposes a neural network hybrid modeling framework for dynamics learning to promote an interpretable, computationally efficient method of dynamics learning and system identification. First, a low-level model ... -
Serial Metamorphic Manipulator Dynamics Formulation Implementing Screw Theory Tools
(The American Society of Mechanical Engineers (ASME), 2024)In this work, a framework is proposed for the analytical formulation of dynamic equations for serial metamorphic manipulators using screw theory tools. The integration of structure reconfiguration is achieved in a compact ... -
NMPC for Collision Avoidance by Superellipsoid Separation1
(The American Society of Mechanical Engineers (ASME), 2024)This paper introduces a novel nonlinear model predictive controller (NMPC) formulation for real-time obstacle avoidance on heavy equipment by modeling both vehicle and obstacles as convex superellipsoids. The combination ... -
Design, Modeling, and Control of a Hardware-in-the-Loop Testbed for Off-Road Vehicles1
(The American Society of Mechanical Engineers (ASME), 2024)This paper presents the design, modeling, and control of a hardware-in-the-loop (HIL) testbed for off-road vehicles. The proposed HIL testbed employs a transient hydrostatic dynamometer to load a diesel engine to emulate ... -
Rapid Airborne Gas-Plume Mapping and Source Localization With Feedforward Gas-Sensor Dynamics Compensation
(The American Society of Mechanical Engineers (ASME), 2024)This article focuses on improving the speed, accuracy, and robustness of autonomous aerial-based chemical sensing for plume mapping and source localization through characterizing, modeling, and feedforward compensation of ... -
Control of Combustion Phasing Using Accelerometer-Based Non-Intrusive Sensing1
(The American Society of Mechanical Engineers (ASME), 2024)Measuring the combustion phasing of an engine using in-cylinder pressure sensors is well established. However, pressure sensors need to be directly exposed to the in-cylinder environment, requiring changes to the cylinder ... -
Frequency Domain Adjoint-Based Iterative Learning Control for MIMO Systems
(The American Society of Mechanical Engineers (ASME), 2025)The adjoint of the system is a linear operator that can be interpreted as the transposition of the unit pulse response matrix with a Toeplitz structure. In the context of iterative learning control, the system adjoint can ... -
Human-Centered Coordination for Robot-Assisted Equipment Transport
(The American Society of Mechanical Engineers (ASME), 2024)This work explores how to use an unmanned ground vehicle (UGV) to offload the physical burdens of equipment from humans. This work formulates dynamic alignment following and compares it to position-based following techniques. ... -
A Linear Method to Fit Equivalent Circuit Model Parameter Values to HPPC Relaxation Data From Lithium-Ion Cells1
(The American Society of Mechanical Engineers (ASME), 2024)Battery management systems require mathematical models of the battery cells that they monitor and control. Commonly, equivalent circuit models are used. We would like to be able to determine the parameter values of their ... -
Instabilities and Pattern Formation in Epidemic Spread Induced by Nonlinear Saturation Effects and Ornstein–Uhlenbeck Noise1
(The American Society of Mechanical Engineers (ASME), 2024)We analytically study the emergence of instabilities and the consequent steady-state pattern formation in a stochastic partial differential equation (PDE) based, compartmental model of spatiotemporal epidemic spread. The ... -
Estimating the Values of the PDE Model Parameters of Rechargeable Lithium-Metal Battery Cells Using Linear Electrochemical Impedance Spectroscopy1
(The American Society of Mechanical Engineers (ASME), 2024)We introduce a partial differential equation model for rechargeable lithium-metal battery (LMB) cells whose parameter values are fully identifiable from cell-level experiments. From this model, we formulate a computationally ... -
Immersion and Invariance Adaptive Control Through Polynomial Adaptation1
(The American Society of Mechanical Engineers (ASME), 2024)In conventional immersion and invariance (I&I) adaptive control design, control parameter adaptation is typically linear with respect to the parameter error-induced perturbation, resulting in quadratic rate dissipation ... -
Fault-Tolerant Decentralized Control for Large-Scale Inverter-Based Resources for Active Power Tracking1
(The American Society of Mechanical Engineers (ASME), 2024)Integration of inverter-based resources (IBRs) which lack the intrinsic characteristics such as the inertial response of the traditional synchronous-generator (SG)-based sources presents a new challenge in the form of ...