Proceedings of the ASME

Dynamic Systems and

Control Conference

- 2009 -

Part B

presented at

2009 ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE AND

BATH/ASME SYMPOSIUM ON FLUID POWER AND MOTION CONTROL

OCTOBER 12-14, 2009

HOLLYWOOD, CALIFORNIA USA

ASME

Three Park Avenue New York, N.Y. 10016

PART B

ASME/BATH FLUID POWER SYMPOSIUM: MODELING AND ANALYSIS

DSCC2009-2561 913

Numerical Simulation of the Performance of the SC-89 Jet Impact System

Jianwang Chen, Kun Yin, Jianming Peng, Linyi Gu, and Bo Zhou

xvii

DSCC2009-2564 921

Second Order Polynomial Model for Fluid Dynamics in High Pressure

Juho-Pekka Karjalainen, Reijo Karjalainen, Kalevi Huhtala, and Matti Vilenius

DSCC2009-2635, 929

Internal Leakage Diagnosis in Hydraulic Actuators Using Wavelet Transforms

Amin Yazdanpanah Goharrizi, Nariman Sepehri, and Yan Wu

DSCC2009-2639 937

Fundamentals of Mass Conservative System Simulation in Fluid Power

Christian Riedel, Christian Stammen, and H. Murrenhoff

DSCC2009-2669 941

Identification of the Input-Output Behavior of Hydraulic Two-Port Networks

Bernhard Manhartsgruber

DSCC2009-2782 949

A Novel Thermal Model for the Piston/Cylinder Interface of Piston Machines

Matteo Pelosi and Monika Ivantysynova

HUMAN-1IM-THE-LOOP SYSTEMS

DSCC2009-2643 957Stochastic Estimation of Multi-Variable Human Ankle Mechanical ImpedanceMohammad A. Rastgaar, Patrick Ho, Hyunglae Lee, Hermano Igo Krebs, and

Neville Hogan

DSCC2009-2644 961Lower Extremity Exoskeleton Reduces Back Forces in Lifting

Michael Wehner, David Rempel, and Homayoon Kazerooni

DSCC2009-2646 969

Modeling of Biodynamic Feedthrough in Backhoe OperationHeather C. Humphreys, Wayne J. Book, and James D. Huggins

DSCC2009-2661 977

A General Framework for Control Systems Approach to Collaborative

Human-Machine SystemsYingzi Lin and Hua Cai

DSCC2009-2709 985Development of an Internet-Distributed Hardware-ln-The-Loop Simulation Platform for an

Automotive ApplicationTulga Ersal, Mark Brudnak, Ashwin Salvi, Jeffrey L. Stein, Zoran Filipi, andHosam K. Fathy

DSCC2009-2775 993Incorporating Operator States in Driver Assistance Systems Control

Jeffrey Breugelmans, Yingzi Lin, and Hua Cai

xviii

BIOMEDICAL INTRUMENTATION AND CONTROL

DSCC2009-2507 1001

A Hybrid Optimal Control Strategy for a Smart Prosthetic Hand

Cheng-Hung Chen, D. Subbaram Naidu, Alba Perez-Gracia, and Marco P. Schoen

DSCC2009-2633 1009

On the Geometric Characteristics of Cell Membrane Using Rotationally

Oscillating Drill (Ros-Drill®)Jhon Diaz, Mehdi Karzar Jeddi, Nejat Olgac, Tai-Hsi Fan, and AH Fuat Ergenc

DSCC2009-2682 1017

Modeling and Control of the Oxygen Saturation in Neonatal Infants

Timothy Keim, Ramak Amjad, and Roger Fales

DSCC2009-2701,

1025

Modeling and Diagnostics of Heart Assist Devices

Taoufik Wassar, Matthew A. Franchek, Hassene Jammoussi, Ralph Metcalfe, Rafik Borji,Cedric Benkowski, O. Howard Frazier, Robert Benkowski, William E. Cohn,

Egemen Tuzun, and Steven M. Parnis

DSCC2009-2755 1033

Wet Shape Memory Alloy Actuated Robotic Heart

Joel Ertel and Stephen Mascaro

DSCC2009-2777 1041

Analysis of Hybrid Electric/Thermofluidic Control for Wet Shape Memory Alloy Actuators

Leslie Flemming and Stephen Mascaro

ADAPTIVE SYSTEMS

DSCC2009-2605 1049

Model-Free Adaptive On-Off Step Controller for Piezoelectric Micro-Robots

Bongsu Hahn and Kenn Oldham

DSCC2009-2625 1057

Adaptive Calibration and Control of Cascade Processes With Unknown Measurement

Model and Actuator Dynamics and Its Application to Paper ManufacturingZeyu Liu and Perry Li

DSCC2009-2628, 1065

Active Vibration Cancellation for Tire Road Friction Estimation

Gurkan Erdogan, Lee Alexander, and Rajesh Rajamani

DSCC2009-2656 1073

Adaptive Robust Control for a Class of Nonlinear Uncertain System With

Unknown Input Backlash

Jian Guo, Bin Yao, Jun Jiang, and Qingwei Chen

DSCC2009-2740 1079

An Output Feedback Based Adaptive Robust Fault Tolerant Control Scheme for a Class of

Nonlinear SystemsShreekant Gayaka and Bin Yao

xix

DSCC2009-2771 1087

Indirect Adaptive Robust Control of Uncertain Systems With Unknown Asymmetric InputDeadband Using a Smooth Inverse

Amit Mohanty and Bin Yao

MECHATRONICS APPLICATIONS

DSCC2009-2503 1095

Dynamic Systems With SES Process for Vehicle IntegrationKevin Chang, Sung Kwon, and Kasra Naghshineh

DSCC2009-2632 1099

Target Tracking Using the Smooth Variable Structure Filter

Andrew Gadsden and Saeid Habibi

DSCC2009-2723 1107

Sensing and Estimation on a Modular Testbed for Swarm Robotics

Gregory K. Fricke, Devendra P. Garg, and Dejan Milutinovic

DSCC2009-2743 1115Crane Operation Using Hand-Motion and Machine Vision

Kelvin Chen Chih Peng, William Singhose, and Jonathan Fonseca

DSCC2009-2768 1123

Design of a Small-Scale Prototype for a Stabilized Permanent Magnet Levitated Vehicle

Geoffrey A. Long, O. James Fiske, and Brad E. Paden

DSCC2009-2778 1129

Quantitative Indicators of Simulator Motion Cue QualityNicolas Ochoa Lleras and Carlos F. Rodriguez

CONTROL, OPTIMIZATION AND IDENTIFICATION OF ADVANCED

AUTOMOTIVE SYSTEMS

DSCC2009-2593 1137Discrete Partitioning and Coverage Control With Gossip Communication

Joseph W. Durham, Ruggero Carli, Paolo Frasca, and Francesco Bullo

DSCC2009-2610 1145

Electro-Thermal Battery Modeling and Identification for Automotive ApplicationsYiran Hu, Benjamin J. Yurkovich, Stephen Yurkovich, and Yann Guezennec

DSCC2009-2613 1153Lithium Ion Dynamic Battery Pack Model and Simulation for Automotive Applications

Benjamin J. Yurkovich and Yann Guezennec

DSCC2009-2671 1161Model Predictive Control as an Energy Management Strategy for Hybrid Electric Vehicles

Balaji Sampathnarayanan, Lorenzo Serrao, Simona Onori, Giorgio Rizzoni, andSteve Yurkovich

xx

DSCC2009-2725 1169

Automotive Battery Prognostics Using Dual Extended Kalman Filter

Matteo Rubagotti, Simona Onori, and Giorgio Rizzoni

DSCC2009-2748 1177

Optimality Assessment of Equivalent Consumption Minimization Strategy for

PHEV ApplicationsPinak Tulpule, Stephanie Stockar, Vincenzo Marano, and Giorgio Rizzoni

POWERTRAIN CONTROL

DSCC2009-2510 1185

Combined Component Swapping Modularity for a VCT Engine Controller

Melih Cakmakci and A. Galip Ulsoy

DSCC2009-2537 1193

Optimal Control of Complex Air-Path Systems for Advanced Diesel EnginesFengjun Van, Benjamin Haber, and Junmin Wang

DSCC2009-2579 1201Pseudo-Causal Tracking Control of a Nonminimum Phase System

Pengfei Wang, M. Necip Sahinkaya, and Sam Akehurst

DSCC2009-2648 1209

Hybrid-Dynamic Modeling and Characterization of Mechanical Transmissions With

Unidirectional CouplingHanz Richter and Rachel E. Maynard

DSCC2009-2711 1217

Variation-Based Transparency Analysis of an Internet-Distributed Hardware-in-the-LoopSimulation Platform for Vehicle Powertrain Systems

Tulga Ersal, Mark Brudnak, Jeffrey L. Stein, and Hosam K. Fathy

DSCC2009-2736 1225

Hybrid Adaptive Friction Compensation of Indirect Drive Trains

Wenjie Chen, Kyoungchul Kong, and Masayoshi Tomizuka

ASME/BATH FLUID POWER SYMPOSIUM: MODELING AND CONTROL

DSCC2009-2539 1233

Effects of Remote Control on Usability of Hydraulic Excavator

Jarno Uusisalo, Kalevi Huhtala, and Matti Vilenius

DSCC2009-2544 1241

Modeling and Control of Interconnected Dimensionless Dynamic SystemsScott Manwaring and Andrew G. Alleyne

DSCC2009-2602 1249

Pressure Control for a Continuous Micro-Flow Seawater Hydraulic SystemJiwei Hou, Shilun Li, Ying Chen, and Jianwang Chen

xxi

DSCC2009-2608 1257

Modal Control of an Electrohydrostatic Flight Simulator Motion SystemAndrew R. Plummer and Paulo Serena Guinzio

DSCC2009-2634 1265

Experimental Evaluation of Two Bilateral Control Schemes Applied to a Tele-OperatedHydraulic Actuator

Kurosh Zarei-nia, Amin Yazdanpanah Goharrizi, Nariman Sepehri, and Wai-keung Fung

DSCC2009-2769 1273

Modeling and Control of a High Pressure Combined Air/Fuel Injection SystemChao Yong and Eric J. Barth

ASME/BATH FLUID POWER SYMPOSIUM: SYSTEM DESIGN

DSCC2009-2505 1281

An Actively Controlled Hydraulic Carbody Centering System for the Lateral Suspensions of

High Speed Trains

Giovanni Jacazio, Alberto Magnani, Laura Gastaldi, and Gualtiero Balossini

DSCC2009-2583 1289

Digital Clay Force Observer Design and Shape Editing Concept

Cheng Shu Ngoo and Wayne J. Book

DSCC2009-2645 1293

Noise Reduction by Means of Non-Uniform Placement of Pistons in an Fluid Power Machine

Liselott Ericson, Andreas Johansson, and Jan-Ove Palmberg

DSCC2009-2654 1301

Virtual Development Environment for Fluid Power Mechatronic SystemsTorsten Verkoyen, Rene von Dombrowski, and Hubertus Murrenhoff

DSCC2009-2730 1309

Reducing Piston Mass in a Free Piston Engine Compressor by Exploiting the Inertance of a

Liquid Piston

Joel A. Willhite and Eric J. Barth

DSCC2009-2749 1315

Optimal Efficiency-Power Relationship for an Air Motor-Compressor in an Energy Storageand Regeneration System

Caleb J. Sancken and Perry Y. Li

AUTONOMOUS SYSTEMS

DSCC2009-2529 1323

Control and Validation of Automated Lane Centering and Lane Changing Maneuver

Jin-Woo Lee and Bakhtiar Litkouhi

DSCC2009-2594 1331

A Multiattribute Utility Approach to Target AssignmentXi Chen, AH E. Abbas, and Dusan M. Stipanovic

xxii

DSCC2009-2653- 1339

Autonomous Motion Control of a Wheel LoaderReza Ghabcheloo, Mika Hyvdnen, Jarno Uusisalo, Otso Karhu, Juha Jara, and

Kalevi Huhtala

DSCC2009-2677 1347

Optimal Coordination of Mobile Sensor Networks Using Gaussian ProcessesYunfei Xu and Jongeun Choi

DSCC2009-2684 1355Controlled Synchronization of Robotic Manipulators in the Task Space

YenChen Liu and Nikhil Chopra

DSCC2009-26891363

PWM Synchronization for Intelligent Agent Scarce Resource Auction

William Burke and David Auslander

CONTROL APPLICATIONSDSCC2009-2513 1369Control of Electric Motor Systems Considering Input/Output Saturation

Kyoungchul Kong, Helge C. Kniep, and Masayoshi Tomizuka

DSCC2009-25201377

Evaporator Superheat Regulation via Emulation of Semi-Active Flow ControlMatthew Elliott and Bryan P. Rasmussen

DSCC2009-2678 1385Load-Predictive Temperature Control of an Air Conditioning and Refrigeration System

Bin Li, William Mohs, and Andrew Alleyne

DSCC2009-2732 1393A Flexonic Magnetic Car for Ferro-Structural Health Monitoring

Jiajie Guo, Kok-Meng Lee, Dapeng Zhu, and Yang Wang

DSCC2009-2739 1401Bang-Bang Control of a Floating Oscillator

Richard T. O'Brien, Jr. and MichaelJ. Robertson

DSCC2009-27541407

Timing Error Compensator Design for Self-Servowriting System in Hard Disk DrivesFeng Dan Dong and Masayoshi Tomizuka

xxiii

NONLINEAR DYNAMICS AND CONTROL

DSCC2009-2511 -

1415

Observer-Based Control of Nonlinear Time-Delay Systems in Lower-Triangular Form

Salim Ibrir

DSCC2009-2532 1421

Gain Scheduling-lnspired Control for Nonlinear Partial Differential Equations

AntranikA. Siranosian, Miroslav Krstic, Andrey Smyshlyaev, and Matt Bement

DSCC2009-2620 -

1429

Observer-Based Output Feedback Control of Nonlinear Systems Non-Affine in the

Unmeasured States

Yannick Morel and Alexander Leonessa

DSCC2009-2647 1437

On Internal Resonance of Nonlinear Nonuniform Beams

Dumitru I. Caruntu

DSCC2009-2695 1445

Subharmonic Resonances of Piezoelectrically Actuated Microcantilevers

S. Nima Mahmoodi, NaderJalili, and MehdiAhmadian

DSCC2009-2783 1453

Connectability-Based Controllability of Large Scale Nonlinear Dynamic Thermal Systems

Rahmat Shoureshi and Virdi Permana

MECHATRONICS AND CONTROL FOR NANO PRECISION MOTION

DSCC2009-2664 1461

Direct Adaptive Disturbance Observer Design for Rejecting the Narrow-Band Disturbance

With Unknown Frequency in Hard Disk Drives

Qixing Zheng and Masayoshi Tomizuka

DSCC2009-2726 1469

Identification in Iterative Learning Control: A Model Based, Iteration Varying LearningFilter for Precision Control

Benjamin T. Fine, Hoday Stearns, and Masayoshi Tomizuka

DSCC2009-2756 1477

Design and Implementation of Dual-Stage Track-Following Control for Hard Disk Drives

Jianbin Nie and Roberto Horowitz

DSCC2009-2765 1485

Analysis and Control of Halbach Linear Motor for Nanopositioning

Yigang Wang, Kevin C. Chu, and Tsu-Chin Tsao

DSCC2009-2776 1493

Adaptive Control for Deterministic Trajectory Tracking and Random Disturbance RejectionWith Application to Nano-Precision Positioning of a Halbach Linear Motor

Yigang Wang, Kevin C. Chu, and Tsu-Chin Tsao

xxiv

DSCC2009-2784 1501

Optimal-Control Methods for Design of Two-Degree-Freedom Systems for NanopositioningC. Lee and S. Salapaka

ADVANCED POWERTRAIN CONTROL AND GROUND VEHICLE DYNAMICS

DSCC2009-2590 1509

Design of Observer-Based Feedback Control for Time-Delay Systems With Application to

Automotive Powertrain Control

Sun Yi, Patrick W. Nelson, and A. Galip Ulsoy

DSCC2009-2624 1517

Control of Selectable One-Way Clutch in GM Six-Speed Automatic Transmissions

Chunhao J. Lee, Farzad Sarnie, and Chi-Kuan Kao

DSCC2009-2668 1523

A Closed-Loop Strategy of Active Differential Clutch Control

Vladimir Ivanovic, Josko Deur, Matthew Hancock, and Francis Assadian

DSCC2009-2713 1531

A Novel Automotive Transmission Clutch Control Mechanism

Mohd Azrin Mohd Zulkefli, Xingyong Song, Hsu-Chiang Miao, and Zongxuan Sun

DSCC2009-2714 1539

A Novel Pressure Control Mechanism for Common Rail Fuel Injection SystemsVivek Kumar Gupta, Zhen Zhang, and Zongxuan Sun

DSCC2009-2718 1547

Multiscale Terrain Characterization Using Fourier and Wavelet Transforms for Unmanned

Ground Vehicles

Jeremy J. Dawkins, David M. Bevly, and Robert L. Jackson

ASME/BATH FLUID POWER SYMPOSIUM: ADVANCED CONTROL

DSCC2009-2559 1555

Accurate Decoupled Linear Modeling for Robust H« Control of Multi Axis Shaking Tables

AH Ghorashi, Andrew R. Plummer, Kevin A. Edge, and Patrick S. Keogh

DSCC2009-2586 1563

Inner-Loop Control for Electro-Hydraulic (EHA) Actuation SystemsMohammed A. El Sayed and Saeid Habibi

DSCC2009-2599 1571

Adaptive Robust Control of Hydraulic Robots With Recursive Least Squares

Longke Wang, Wayne J. Book, and James D. Huggins

DSCC2009-2616 1579

Analysis and Control Design of a Hydro-Mechanical Hydraulic Hybrid Passenger Vehicle

Teck Ping Sim and Perry Y. Li

XXV

DSCC2009-2622 1587

Modeling and Robust Discrete-Time Sliding Mode Control Design for a Fluid Power

Electrohydraulic Actuator (EHA) System

Yang Lin, Yang Shi, and Richard Burton

DSCC2009-2683 1595

State Estimator Based Feedback Control for a Metering Poppet Valve System

Chang Li and Roger Fales

COOPERATIVE CONTROL AND AGENT-BASED SYSTEMS

DSCC2009-2509 1603

A Lyapunov Treatment of Swarm Coordination Under Conflict

Paul McCullough, Mark Bacon, Nejat Olgac, and Daniel A. Sierra

DSCC2009-2601 1611

Distributed Control of Two Dimensional Vehicular Formations: Stability Margin

Improvement by MistuningHe Hao, Prabir Barooah, and Prashant G. Mehta

DSCC2009-2637 1619

Output Synchronization for Teleoperation of Wheel Mobile Robot

Patrick Miller, Leng-Feng Lee, and Venkat N. Krovi

DSCC2009-2720 1627

Combinatorial Motion Planning for a Dubins Vehicle With Precedence Constraints

Paul Oberiin, Sivakumar Rathinam, and Swaroop Darbha

DSCC2009-2760 1635

Spatial Detection of Areas of Abrupt Change by Robotic Networks

Hanqiao Gao and Jorge Cortes

DSCC2009-2767 1643

Limitations of Employing Undirected Information Flow Graphs for the Maintenance of RigidVehicular Formations

Swaroop Darbha and Prabhakar R. Pagilla

ROBOTIC SYSTEMS

DSCC2009-2569 1651

Tracking Control for Nonholonomic Wheeled Mobile Robot With Wheel Slip DynamicsYu Tian, Shahrul Nairn Sidek, and Nilanjan Sarkar

DSCC2009-2582 1659

Synthetic Wheel Prismatic Joint Biped With Torso

Louis L. Flynn, Rouhollah Jafari, and Ranjan Mukherjee

DSCC2009-2591 1667

Optimal Control of a Magnetically Suspended Under Actuated Robot for Swing-Up Motion

Anirban Mazumdar and H. Harry Asada

xxvi

DSCC2009-2629 1675

A Simulation Study of a Reduced-Gravity Simulator for Simulating Human Jumping and

Walking in a Reduced-Gravity Environment

Qi Lu, Jesse McAvoy, and Ou Ma

DSCC2009-2676 1683

Dynamics Analysis and Control Method of a Novel Spherical Robot

Hanxu Sun, Yili Zheng, and Qingxuan Jia

DSCC2009-2762 1689

Adaptive Disturbance Cancellation for Indirect Drive Robots Using Joint SensingInformation

Cheng-Huei Han and Masayoshi Tomizuka

RECENT ADVANCES IN MODELING AND CONTROL OF

LPV SYSTEMS AND APPLICATIONS

DSCC2009-2547 1697

LPV-Based-Method Aiming at a Win-Win Situation for Analytical Control Theories and

Intelligent Optimization MethodologiesKazuhiko Hiramoto

DSCC2009-2614 1705

Control-Oriented Modeling of a Solid-Oxide Fuel Cell Stack Using an LPV Model Structure

Borhan M. Sanandaji, Tyrone L Vincent, Andrew Colclasure, and Robert J. Kee

DSCC2009-2651 1713

Decentralized LPV Gain-Scheduled PD Control of a Robotic ManipulatorH. Abbas, S. M. Hashemi, and H. Werner

DSCC2009-2663 1721

Parameter Varying Control of an Electrostatic MEMS Actuator

Farzad A. Shirazi, Javad Mohammadpour, and Karolos M. Grigoriadis

DSCC2009-2733 1729

Anti-Windup LPV Control of Magneto-Rheological DampersMona Meisami-Azad, Javad Mohammadpour, and Karolos M. Grigoriadis

DSCC2009-2772 1737

An LPV Approach to Obstacle-Sensitive Trajectory RegulationMazen Farhood and Eric Feron

ASME/BATH FLUID POWER SYMPOSIUM: APPLICATIONS

DSCC2009-2515 1745

An Autonomous Pneumotronic System for Enhancing the Braking Capability of

Long Freight Trains

Giovanni Jacazio and Laura Gastaldi

xxvii

DSCC2009-2517 1753

Experimental Investigation Into Improved Wrapper Control of Hot Strip Steel RollingMill Downcoilers

D. Li Davies, J. Watton, Y. Xue, and G. A. Williams

DSCC2009-2522 1759

Energy Efficient Fluid Power in Autonomous Legged Robotics

Emanuele Guglielmino, Claudio Semini, Yousheng Yang, Darwin Caldwell,

Helmut Kogler, and Rudolf Scheidl

DSCC2009-2665 1767

Hybrid Control of a Pneumatic Gantry Robot for Contour Tracking:Proportional Pressure versus Proportional Flow Control

Mohammed Abu-Mallouh, Brian Surgenor, and Sasan Taghizadeh

DSCC2009-2751 1775

Passive Bilateral Tele-Operation and Human Power Amplification With Pneumatic Actuators

Venkat Durbha and Perry Y. Li

DSCC2009-2781 1783

Effect of Installed Hydraulic Corner Power on the Energy Consumption and Performance of

Multi-Actuator Displacement Controlled Mobile Machines

Joshua Zimmerman and Monika Ivantysynova

Author Index 1791

xxviii