Proceedings of the ASME

5th Annual Dynamic Systems and Control Division Conference and

JSME 11th Motion and Vibration Conference

-2012 -

VOLUME 2

LEGGED LOCOMOTION

MECHATRONIC SYSTEMS

MECHATRONK S

MECHATRONICS FOR AQUATIC ENVIRONMENTS

MEMS CONTROl

MODEL PREDICTIVE CONTROl

MODELING AND MODEL-BASED CONTROL OF ADVANCED IC ENGINES

MODELING AND SIMULATION

MULTI-AGENT AND COOPERATIVE SYSTEMS

MUSCULOSKELETAL DYNAMIC SYSTEMS

NANO SYSTEMS

NONLINEAR SYSTEMS

NONLINEAR SYSTEMS AND CONTROl

OPTIMAL CONTROl

PATTERN RECOGNITION AND INTELLIGENT SYSTEMS

POWER AND RENEWABLE ENERGY SYSTEMS

POWERTRAIN SYSTEMS

presented ,tt

ASME 2012 5th ANNUAL DYNAMIC SYSTEMS AND CONTROL DIVISION CONFERENCE AND

JSME 2012 11TH MOTION AND VIBRATION CONFERENC I

OCTOBER 17-19, 20 U

FORT LAUDERDALE, FLORIDA USA

ASME

Tw o Park Avenue* New York, N.Y. 10016

CONTENTS

LEGGED LOCOMOTION

DSCC2012-MOVIC2012-8562 1

A Pilot Study of Dynamic Stability Indices for Potential Application of Identifying

Older Adult Fallers

Lin Zhang, Ou Ma, and Robert Wood

DSCC2012-MOVIC2012-8566 11

Position, Force and Stiffness Control of a Stewart-P!atform-Type Ankle-Foot Assist Device

Ming Ding, Takayuki Onodera, Ryojun Ikeura, Hiroshi Takemura, and Hiroshi Mizoguchi

DSCC2012-MOVIC2012-8663 19

System Identification and Stability Analysis of Steady Human Walking and the

Swing Leg DynamicsYang Wang and Mano] Srinivasan

DSCC2012-MOVIC2012-8673 25

Experimental Analysis for Passive and Dynamic Gait Measures of Biped WalkingCarlotta Mummolo, Luigi Mangialardi, and Joo H. Kim

DSCC2012-MOVIC2012-8697 33

Convergence Time Estimation for Iterative Adaptive On-Off Control of a Micro-Robotic

Leg Joint

Bongsu Hahn and Kenn Richard Oldham

DSCC2012-MOVIC2012-8754 41

A Study on Gait Stability of Quadrupedal Musculoskeletal Robot Using a Two-Inertia

System Model

Katsuyoshi Tsujita

MECHATRONIC SYSTEMS

DSCC2012-MOVIC2012-8549 49

Trajectory Design Method for Voltage Saturation of a Current Amplifier

Shinji Ueda, Mitsuo Hirata, and Yukie Kuroki

DSCC2012-MOVIC2012-8560 55

Proposal of Force Measurement Using Series Magnetic SuspensionTakeshi Mizuno, Daisuke Sekine, Yuji Ishino, and Masaya Takasaki

DSCC2012-MOVIC2012-8602 61

Levitation and Vibration Supression of an Elastic Rotor by Using Active Magnetic BearingsDaisuke Funakoshi, Sachito Okada, Toru Watanabe, and Kazuto Seto

DSCC2012-MOVIC2012-8812 67

Study on Double Parallel Magnetic Suspension System With Parallel Connection

Takeshi Mizuno, Kazuya Nishimura, Yuji Ishino, and Masaya Takasaki

vii

DSCC2012-MOVIC2012-8825 73

Multi DOF Non-Contact Manipulation Using Permanent Magnet Linear Actuation

Koichi Oka and Akira Tsurumi

DSCC2012-MOVIC2012-8876 81

Design Aspects and Static Performance of Permanent-Magnet Reluctance Actuators for

Shaker ApplicationsDaniel Wiedemann and Heinz Ulbrich

MECHATRONICS

DSCC2012-MOVIC2012-8526 87

Model-Based Soft Landing Control of an Electromechanical Engine Valve Actuator

M. di Bernardo, A. di Gaeta, S. Santini, C. I. Hoyos Velasco, and U. Montanaro

DSCC2012-MOVIC2O12-8711 95

Design Method for Buckling Amplified Piezoelectric Actuator Using Flexure Joint and

its Application to an Energy Efficient Brake SystemShinichiro Tsukahara, James Torres, Devin Neal, and H. Harry Asada

DSCC2012-MOVIC2012-8775 103

Integrated Trajectory Planning, System Modeling, and Control Design for OptimizedMotor Selection

Aderiano da Silva, Philip A. Voglewede, and Kevin C. Craig

DSCC2012-MOVIC2012-8798 113

Experimental Verification of a Passive-Assist Design Approach for Improved Reliability and

Efficiency of Robot Arms

W. Robert Brown and A. Galip Ulsoy

DSCC2012-MOVIC2012-8813 123

Dynamic Analysis of a Buckting-Type Amplification Mechanism to Maximize the Power

Output by Varying the Load Impedance and Control TimingJames Torres and H. Harry Asada

DSCC2012-MOVIC2012-8833 131

Expanded Fingerprint Method for Analysis of Dynamic Cellular Actuator ArraysDavid MacNair and Jun Ueda

MECHATRONICS FOR AQUATIC ENVIRONMENTS

DSCC2012-MOVIC2012-8511 139

Fluorescent Particle Image Tracking Procedure for Shallow Water Flow TracingFlavia Tauro, Christopher Pagano, Maurizio Porfiri, and Salvatore Grimaldi

DSCC2012-MOVIC2012-8520 147

Autonomous Surface Vessel Target Tracking Experiments in Simulated RoughSea Conditions

Farshad Mahini and Hashem Ashrafiuon

viii

DSCC2012-MOVIC2012-8521 155

Using a Bioinspired Robotic-Fish for Closed-Loop Control of Zebrafish Response in a

Preference Test

Vladislav Kopman, Gionvanni Polverino, Jeffrey Laut, and Maurizio Porfiri

DSCC2012-MOVIC2012-8545 163

Lattice-Boltzmann Simulations of Hull Impacting Water

Alessandro De Rosis, Francesco Ubertini, Maurizio Porfiri, and Stefano Ubertini

DSCC2012-MOVIC2012-8571 171

Individual Differences in Boldness Affect the Interactions Between Fish and Robots

Nicole Abaid, Stefano Marras, Corine Fitzgibbons, and Maurizio Porfiri

DSCC2012-MOVIC2012-8655 179

Indirect, Non-Adaptive Control of a Class of Nonlinear Uncertain Systems With

Applications to Motion Control of Swimming Robots

Yannick Morel, Auke J. Ijspeert, and Alexander Leonessa

DSCC2012-MOVIC2012-8680 187

Maneuvering and Control of a Synergistically Propelled Ichthyoid

Aren M. Helium, Paul C. Strefling, and Ranjan Mukherjee

DSCC2012-MOVIC2012-8693 195

Active Yaw Stabilization for Smooth, Highly Maneuverable Underwater Vehicles

Anirban Mazumdar, Aaron Fittery, Martin Lozano, and H. Harry Asada

DSCC2012-MOVIC2012-8695 203

Dynamic Modeling of Robotic Fish With a Flexible Caudal Fin

Jianxun Wang, Philip K. McKinley, and Xiaobo Tan

DSCC2012-MOVIC2012-8747 213

Testing Vision-Based Sensors for Enclosed Underwater Environments When

Applied to EKF SLAM

Chris H. Cain and Alexander Leonessa

DSCC2012-MOVIC2012-8863 221

Up a Creek Without a Paddle: Idealized Aquatic Locomotion via Forward Vortex SheddingPhanindra Tallapragada and Scott David Kelly

MEMS CONTROL

DSCC2012-MOVIC2012-8698 227

System Identification of Contact Dynamics for a Piezoelectric Microactuator

Jeong Hoon Ryou and Kenn Richard Oldham

DSCC2012-MOVIC2012-8773 235

A Self-Tuning Algorithm for Z-Axis Micro Rate Integrating GyroscopesDeepan Muthirayan and Roberto Horowitz

ix

DSCC2012-MOVIC2012-8828 245

Amplitude-Voltage Response of MEMS Cantilever Resonators Under Soft DC-AC VoltageNear Natural Frequency

Durnitru I. Caruntu and Kyle N. Taylor

DSCC2012-MOVIC2012-8829 251

Reduced Order Model for Amplitude-Voltage Response of MEMS Cantilever Resonators

Under Soft AC Near Natural FrequencyDurnitru I. Caruntu, Israel Martinez, and Martin W. Knecht

MODEL PREDICTIVE CONTROL

DSCC2012-MOVIC2012-8523 257

Optimal Control of Building HVAC Systems in the Presence of Imperfect Predictions

Mehdi Maasoumy and Alberto Sangiovanni-Vincentelli

DSCC2012-MOVIC2012-8586 267

Energy Optimal Point-to-Point Motion Using Model Predictive Control

Xin Wang, Julian Stoev, Jan Swevers, and Gregory Pinte

DSCC2012-MOVIC2012-8613 275

Model Predictive Longitudinal Control of a Lighter-Than-Air Wind Energy SystemRichard Weng, Kiran Balasubramanian, Chris Vermillion, and llya Kolmanovsky

DSCC2012-MOVIC2012-8742 285

Adaptive Generalized Predictive Control for a Hybrid Diesel Electric Vehicle

Jose L Mendoza-Soto and Luis Alvarez-lcaza

DSCC2012-MOVIC2012-8822 293

Feedfoward Model Predictive Control for Dual-Stage Fast Tool Servo With Realistic

Constraints

Yen-Chi Chang and Tsu-Chin Tsao

DSCC2012-MOVIC2012-8851 303

Model Predictive Control of a Freeway Network With Capacity DropsAjith Muralidharan, Roberto Horowitz, and Pravin Varaiya

MODELING AND MODEL-BASED CONTROL OF ADVANCED IC ENGINESDSCC2012-MOVIC2012-8537 313Fuel Injection Split Model for Diesel Engine Advanced Combustion Mode Control

Fengjun Yan and Junmin Wang

DSCC2012-MOVIC2012-8670 321A Control Oriented Charge Mixing and HCCI Combustion Model for InternalCombustion EnginesShupeng Zhang, Guoming G. Zhu, Yongsoon Yoon, and Zongxuan Sun

x

DSCC2012-MOVIC2012-8687 329

Combustion Timing Modeling and Control Framework for Biodiesel/Diesel Blends DuringPre-Mixed Combustion

Carrie M. Hall, Daniel Van Alstine, Lyle Kocher, Gregory M. Shaver, and Derek Lee

DSCC2012-MOVIC2012-8723 339

Impact of Implementation Imprecision on Sliding Mode Controller Design for Automotive

Cold Start Emissions

Andreas Hansen, Mahdi Shahbakhti, and J. Karl Hedrick

DSCC2012-MOVIC2012-8730 349

Active Fault Tolerant Model Predictive Control of a Turbofan Engine Using C-MAPSS40k

Deepak C. Saluru, Rama K. Yedavalli, and Rohit K. Belapurkar

DSCC2012-MOVIC2012-8779 359Model-Based Feedback Control for an Automated Transfer Out of SI Operation During SI to

HCCI Transitions in Gasoline EnginesPatrick Gorzelic, Erik Hellstrom, Anna Stefanopoulou, and Jiang Li

MODELING AND SIMULATION

DSCC2012-MOVIC2012-8607 369

Development of a First Principles Equivalent Circuit Model for a Lithium Ion BatteryGithin K. Prasad and Christopher D. Rahn

DSCC2012-MOVIC2012-8642 377

A Differential-Algebraic Contact Model With Nonlinear ComplianceXiaogang Xiong, Ryo Kikuuwe, and Motoji Yamamoto

DSCC2012 MOVIC2012-8690 385

Modeling and Experimental Testing of a Two-Wheeled Inverted-Pendulum TransporterArnoldo Castro, William Singhose, James Potter, and Christopher J. Adams

DSCC2012-MOVIC2012-8708 395Order Reduction and Analysis of a Simplified Electrochemical Model for Electric

Double-Layer CapacitorsAldo Romero-Becerril and Luis Alvarez-lcaza

DSCC2012-MOVIC2012-8737 405

Modeling of Temperature Distribution in a Moving Web Transported Over a HeatTransfer Roller

Youwei Lu and Prabhakar R. Pagilla

DSCC2012-MOVIC2012-8857 415Model and Hardware Development for Predictive Plume Control in Pipe Lines

Boyun Wang, Nikolaos D. Katopodes, and Anna G. Stefanopoulou

xi

MULTI-AGENT AND COOPERATIVE SYSTEMS

DSCC2012-MOVIC2012-S534 423

On the Stabilization of Planar Multi-Agent Formations

Xiaoyu Cai and Marcio de Queiroz

DSCC2012-MOVIC2012-8788 431

Cyclic Pursuit in a Multi-Agent System With Double-Integrator Dynamics Under

Non-Linear Interactions

Balaji R. Sharma, Subramanian Ramakrishnan, and Manish Kumar

DSCC2012-MOVIC2012-8831 439

Planning and Control of Swarm Motions as Deformable Bodies

Hossein Rastgoftar and Suhada Jayasuriya

DSCC2012-MOVIC2012-8844 449

Cooperative Field Estimation and Tracking by Autonomous Manipulator and Mobile Robots

Soo Jeon and Jongeun Choi

DSCC2012-MOVIC2012-8853 457

Teleoperation Control of Cooperative Multi-Functional Robotic Swarms for Multi-Task

Multi-Target Scenarios

Yushing Cheung and Jae H. Chung

DSCC2012-MOVIC2012-8871 467

A Nonlinear Modeling Framework for Autonomous Cruise Control

Gabor Orosz and Shrenik P. Shah

MUSCULOSKELETAL DYNAMIC SYSTEMS

DSCC2012-MOVIC2012-8556 473

Effects of Moment Arm Variations on the Joint Stiffness Characteristics of a

Musculo-Tendon Driven Joint

Prashant Rao and Ashish D. Deshpande

DSCC2012-MOVIC2012-8592 483

Skeletal Muscle Contraction in Feedback Control

Paola Jaramillo, Adam Shoemaker, Alexander Leonessa, and Robert W. Grange

DSCC2012-MOVIC2012-8593 493

Measurement of Muscle Stiffness to Improve Stability of Haptic Human-Robot Interfaces

William Gallagher, Dalong Gao, and Jun Ueda

DSCC2012-MOVIC2012-8595 503

Robust Optimal Experimental Design for Study of the Human Head-Neck

Tracking ResponseM. Cody Priess, Jongeun Choi, Kyle Crayne, John M. Popovich, Jr., N. Peter Reeves,

Jacek Cholewicki, and Clark Radcliffe

xii

DSCC2012-MOVIC2012-8683 511

Hybrid Electrical Stimulation Tracking Control of the Ankle

Q. Wang, R. Kamalapurkar, R. Downey, and W. E. Dixon

DSCC2012-MOVIC2012-8847 519

Neuromuscular Electrical Stimulation With an Uncertain Muscle Contraction Model

Q. Wang, H. Dinh, M. Bellman, and W. E. Dixon

NANO SYSTEMS

DSCC2012-MOVIC2012-8548 529

Frequency-Response Models for Electroosmotic Actuators

Brad E. Paden, Ben Eovino, and Sumita Pennathur

DSCC2012-MOVIC2012-8660 535

Learning Based Cross-Coupled Control for Multi-Axis High Precision Positioning SystemsNurcan Gecer Ulu, Erva Ulu, and Melih Cakmakci

DSCC2012-MOVIC2012-8661 543

Adaptive Correction and Look-Up Table Based Interpolation of Quadrature Encoder SignalsErva Ulu, Nurcan Gecer Ulu, and Melih Cakmakci

DSCC2012-MOVIC2012-8701 553

Image-Based Modeling of a Scanning Probe Microscope Using a Spiral Scan

Brian McManus and Garrett M. Clayton

DSCC2012-MOVIC2012-8757 561

High-Bandwidth Scanning of Sample Properties in Atomic Force Microscopy

Gayathri Mohan, Chibum Lee, and Srinivasa M. Salapaka

DSCC2012-MOVIC2012-8848 567

Improved Probe-Sample Signal Based Modeling of Scanning Probe MicroscopesBrian Maxwell, Marvin K. Okorafor, and Garrett M. Clayton

NONLINEAR SYSTEMS

DSCC2012-MOVIC2012-8581 575

On the Periodic Control of a Reverse Osmosis Desalination Unit

EmadAH

DSCC2012-MOVIC2012-8612 581

Disturbance Observers for a Class of Hysteresis Nonlinearities

Mohammad Al Janaideh and Ahmed H. El-Shaer

DSCC2012-MOVIC2012-8724 591

A Robust Self-Tuning Fuzzy Sliding Mode Observer

Nassim Khaled and Nabil G. Chalhoub

xiii

DSCC2012-MOVIC2012-8778 597

Experimental Results for Moving Object Structure Estimation Using an Unknown InputObserver Approach

Sujin Jang, Ashwin P. Dani, Carl D. Crane, III, and Warren £ Dixon

DSCC2012-MOVIC2012-8849 607

Periodic Solutions for Flexible Structures Under Relay Feedback Control With Time DelayMichael Borre and Henryk Flashner

DSCC2012-MOVIC2012-8866 617

Self Recovery Phenomenon of Mechanical Systems With Unactuated Cyclic Variables

due to Damping-Like Forces

Dong Eui Chang and Soo Jeon

NONLINEAR SYSTEMS AND CONTROL

DSCC2012-MOVIC2012-8508 625

Stability Analysis of Nonlinear Systems via Estimating Radial-Basis-Function-Network-Based

Lyapunov Exponents From a Scalar Time Series

Yuming Sun and Qiong Wu

DSCC2012-MOVIC2012-8611 635

Output Regulation of a Class of Nonlinear Systems Using Differential-Algebraic Equations

Satyanarayana G. Manyam, Swaroop Darbha, and K. R. Rajagopal

DSCC2012-MOVIC2012-8644 645

Feedback Design for Saturated Polynomial Nonlinear Systems via Higher Order

Lyapunov Functions

Shuowei Yang and Fen Wu

DSCC2012-MOVIC2012-8664 653

Control Design for a Helicopter Using Dynamic Inversion and Extended HighGain Observers

Joonho Lee, Ranjan Mukherjee, and Hassan K. Khalil

DSCC2012-MOVIC2012-8665 661

Finite-Time Tracking Using Sliding Mode Control

Sergey G. Nersesov and Masood Ghasemi

DSCC2012-MOVIC2012-8786 671

Estimating the Region of Attraction for Uncertain Polynomial Systems Using PolynomialChaos Functions and Sum of Squares Method

Armin Ataei and Qian Wang

OPTIMAL CONTROL

DSCC2012-MOVIC2012-8546 677

Linear-Quadratic-Gaussian (LOG) Controller for Liquid Pool Profile in Vacuum

Arc RemeltingLuis Felipe Lopez, Joseph J. Beaman, and Rodney L. Williamson

xiv

DSCC2012-MOVIC2012-8604 687

Optimization of Machining Parameters in Turning Processes by Dynamic ProgrammingKaibo Lu, Xiaoli Zhang, Minqing Jing, Heng Liu, Jamal Ghorieshi, and Rodney Ridley

DSCC2012-MOVIC2012-8713 695

Computation of a Lower Bound for a Vehicle Routing Problem With Motion Constraints

Satyanarayana G. Manyam, Sivakumar Rathinam, Swaroop Darbha, and

Karl J. Obermeyer

DSCC2012-MOVIC2012-8802 703

Brachistochrone on a 2D Curved Surface Using Optimal Control and Spline-BasedDEM Map Data

Natasha C. Wright, Michael P. Hennessey, and Cheri Shakiban

DSCC2012-MOVIC2012-8862 711

LMI Control Design for Nonlinear Vapor Compression Cycle SystemsBin Li, Neera Jain, and Andrew G. Alleyne

PATTERN RECOGNITION AND INTELLIGENT SYSTEMS

DSCC2012-MOVIC2012-8554 719

Parameter Estimation and Threat Localization Using Multiple Robots With

Kinematic Constraints

Sagar Deshpande, Philip Smith, and Qing Hui

DSCC2012-MOVIC2012-8667 727

Intelligent Control of Dynamic Systems With Situation Awareness

Biswanath Samanta

DSCC2012-MOVIC2012-8678 737

Pattern Classification Based on Sparse RepresentationShaopeng Liu, Robert X. Gao, Dinesh John, John Staudenmayer, and Patty S. Freedson

DSCC2012-MOVIC2012-8725 743

Optimal Control of Multi-Input SMA Actuator Arrays on a Trajectory Using Graph Theory:Modified A-Star Search AlgorithmMohammadreza Mollaei and Stephen Mascaro

DSCC2012-MOVIC2012-8749 751

A Data Driven Frequency Based Feature Extraction and Classification Method for EMA

Fault Detection and Isolation

Anthony J. Chirico, III, Jason R. Kolodziej, and Larry Hall

DSCC2012-MOVIC2012-8758 761

Pattern Matching of In-Vehicle Acceleration Time Series Data

Pramod K. Vemulapalli, Gregory S. Ledva, Sean N. Brennan, and Karl M. Reichard

xv

POWER AND RENEWABLE ENERGY SYSTEMS

DSCC2012-MOVIC2012-8558 771

Wind Turbine Linear Parameter Varying Control Using Fast Code

FarzadA. Shirazi, Karolos M. Grigoriadis, and Daniel Viassolo

DSCC2012-MOVIC2012-8682 779

A New Optimal Power and Energy Management Approach Applied to a Fuel

Cell/Supercap-Based Hybrid Powertrain SystemMatthias Marx and Dirk Soffker

DSCC2012-MOVIC2012-8740 785

A Distributed Market Based Solution for DC Optimal Power Flow Problem

Baisravan HomChaudhuri, Manish Kumar, and Vijay Devabhaktuni

DSCC2012-MOVIC2012-8787 793

Dynamic Modeling of the Organic Rankine Cycle for the Waste Heat Recovery of Internal

Combustion EnginesDongsuk Kum and Norman K, Bucknor

DSCC2012-MOVIC2012-8792 803

Power Grid Stabilization Through Setpoint Temperature Control of Frequency-ResponsiveAir Conditioning Loads

Saeid Bashash and Hosam K. Fathy

DSCC2012-MOVIC2012-8815 813

Analysis of Short-Term Energy Storage for Mid-Size Hydrostatic Wind Turbine

Rahul Dutta, Feng Wang, Bradley Bohlmann, and Kim Stelson

POWERTRAIN SYSTEMS

DSCC2012-MOVIC2012-8585 823

Multi-Cylinder HCCI Control With Cam Phaser Variable Valve Actuation Using Model

Predictive Control

Stephen M. Erlien, Adam F. Jungkunz, and J. Christian Gerdes

DSCC2012-MOVIC2012-8638 833

Research on Gear-Shift Control Strategy With Clutch Engaged for Fixed Shaft AMT

Yuhui Hu, Wenchen Shen, Di Liu, and Huiyan Chen

DSCC2012-MOV1C2012-8652 839

Minimizing C02 Emissions and Dollar Costs for Plug-In Hybrid Electric Vehicles UsingMulti Objective Dynamic Programming

Rakesh Patil, Zoran Filipi, and Hosam Fathy

DSCC2012-MOVIC2012-8796 847Fusion of Vehicle Hybrid Electric Power Conversion With Optimization of Wheel PowerDistribution

Jesse R. Paldan, Wei Yao, and Vladimir V. Vantsevich

xvi

DSCC2012-MOVIC2012-8818 857

Design of Power-Split Hybrid Vehicles With a Single Planetary Gear

Chiao-Ting Li, Xiaowu Zhang, and Huei Peng

DSCC2012-MOVIC2012-8856 867

Modeling Multi-Cylinder Intake Plenum Pressure in a Single-Cylinder Intake Plenum With

Proportional and Poppet Valves Acting in Parallel

Aaron P. Gander and John J. Moskwa

Author Index 877

xvii