YaBeSH Digital Library: Recent submissions
Now showing items 1041-1060 of 316660
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A Reduced-Order Extended Kalman Filter by Local Minimization of the Error Covariance
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This work introduces a new reduced-order extended Kalman filter (REKF) for discrete nonlinear dynamic systems, which is derived by least-square minimization of the local estimation error covariance. Both the ... -
Addressing Exoskeleton Architectural Diversity in Ergonomic and Biomechanical Studies
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article investigates the internal spinal forces experienced by the human body when assisted by either a rigid-body exoskeleton or a soft exosuit, both delivering equivalent supportive extension torques. ... -
Effect of Initial Perturbations on Stability of Autonomous Bicycle—A Graphical Approach
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. The present article attempts to perform a quasi-dynamic analysis of bicycle stability from the viewpoint of initial perturbations and understand the stable and unstable behaviors. Like earlier researchers, the ... -
Integral Sliding Mode Attitude Maneuver of Spacecraft With Consideration of Singularity Avoidance of Control Moment Gyros
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. To maintain and maneuver the attitude of large satellites representative of international space stations, and for small satellites requiring agile and large-angle attitude maneuvers, actuators are required that ... -
Wildfire Tracking by Fixed-Wing Unmanned Aerial Vehicles Using Receding-Horizon Guidance
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Unmanned aerial vehicles (UAVs) can be used to track growing and moving boundaries such as those of wildfires where the boundary cannot be pre-specified. Toward this, we first present a model predictive control ... -
Jerk-Based Control Allocation for Aerial Vehicles With Tilting Rotors
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article presents a jerk-based control allocation framework, particularly well suited for tiltrotor vehicles, enabling the consideration of actuator rate saturations and bandwidths. It is shown how a jerk-based ... -
A Review of Learning Off-Road Terrain Traversability for Autonomous Ground Vehicles
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Autonomous ground vehicles (AGVs) and mobile robots have significantly impacted off-road operations such as search and rescue, planetary exploration, and agriculture. One of the most difficult challenges for these ... -
Safety-Critical Model Predictive Control Using Discrete-Time Control Density Functions
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article presents model predictive control (MPC)-control density function (CDF), a new approach integrating CDFs within an MPC framework to ensure safety-critical control in nonlinear dynamical systems. By ... -
Fully Additively Manufactured Multilayer Stator for Radial Flux Electric Motors
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. The development of hybrid-process multimaterial additive manufacturing, with conductive nanoparticle inks and electrically insulating composites, enables the design of novel electromechanical actuators. In this ... -
Lithium Plating Detection and Intensity Estimation Using Current Pulsation
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. In situ detection and avoidance of lithium plating during battery charging is a key element to enable fast charging of Li-ion batteries. In this article, a methodology is proposed to identify occurrence of lithium ... -
Experimental Characterization of Geysering Instabilities in a Small-Scale Closed Loop Thermosyphon
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Closed loop thermosyphons (CLTs) are passive heat transfer devices, that when operating in a buoyancy-driven two-phase regime, can transfer heat nearly isothermally and thereby achieve excellent thermal performance. ... -
Robot-Assisted Study of Finger Impedance Differentiation in Humans
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Rendering internal impedances is key for developing immersive experiences in virtual reality. While previous research has primarily focused on the rendering of external impedances, rendering changes to the avatar ... -
Geometric Disturbance Observer Based Nonlinear Model Predictive Control of a Quadrotor
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This letter presents a geometric disturbance observer-based nonlinear model predictive control (NMPC) architecture for quadrotor trajectory tracking. The proposed approach couples a geometric extended-state ... -
Predictive Energy Management for Mitigating Load-Altering Attacks for Islanded Microgrids Using Battery Energy Storage Systems
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. An increasing number of smart devices controlling loads opens a potential pathway for false data attacks, which could alter the loads. The presence of energy storage with its ability to quickly respond to ... -
Perceived Constraint Identification Using Physics-Informed Deep Neural Networks
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Autonomous manipulation for robots in unstructured environments is challenging due to the technical gap between perception and acting in the physical world. This challenge becomes even more difficult when an ... -
Modeling the Effects of Pressure on Solid-State Lithium–Sulfur Batteries
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. All-solid-state lithium–sulfur batteries (ASLSBs) offer a superior alternative to traditional lithium-ion batteries, given their potential for higher energy densities and enhanced safety. This article explores ... -
Natural Gradient Descent for Control
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article bridges optimization and control and presents a novel closed-loop control framework based on natural gradient descent, offering a trajectory-oriented alternative to traditional cost-function tuning. ... -
Continuous Venous Oxygen Saturation Estimation: A Robust Population-Informed-Personalized Gaussian Sum-Extended Kalman Filtering Approach
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article investigates the robustification of the population-informed-personalized Gaussian sum-extended Kalman filter (PI-P-GSEKF) developed in our prior work and its application to continuous venous oxygen ... -
Optimal Control of Emergency Evacuations Leveraging Equivalent Circuit Models
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Emergency evacuation planning is a critical task that ensures individuals’ swift and safe movement from hazardous locations to designated safe zones. This article proposes a novel controllable equivalent circuit ... -
Autonomous Vehicle Lane-Changing Decision-Making via Social Value Orientation and Cumulative Prospect Theory: Development, Parameter Identification, and Validation
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Autonomous vehicle (AV) lane-changing decision-making is a crucial component of intelligent driving systems, requiring a balance between traffic efficiency and driving safety. Utility-based methods are a well-known ...