Proceedings of the ASME

Dynamic Systems and

Control Conference

- 2010 -

VOLUME 2

MICROELECTROMECHANICAL SYSTEMS

MICRO-NANO SYSTEMS

MICROSCALE DYNAMICS AND CONTROL

MOBILE ROBOT AND LOCOMOTION CONTROL

MODELING AND CONTROL OF ENERGY SYSTEMS

MODELING AND CONTROL OF INDUSTRIAL PROCESSES

MODELING AND CONTROL OF MANUFACTURING AND MATERIAL PROCESSING

MODELING AND CONTROL OF MECHANICAL SYSTEMS

MULTI-AGENT SYSTEMS

NONLINEAR SYSTEMS

PID CONTROL

ROBUST CONTROL

SENSING AND VISION

STRUCTURAL VIBRATION

SWARM ROBOTICS AND MULTI-ROBOT CONTROL

SYSTEM MODELING

THEORETICAL ADVANCES AND APPLICATION OF INTELLIGENT SYSTEMS

VEHICLE DYNAMICS

VEHICLE DYNAMICS AND CONTROL

WIND ENERGY

presented at

ASME 2010 DYNAMIC SYSTEMS AND CONTROL CONFERENCE

SEPTEMBER 12-15, 2010

CAMBRIDGE, MASSACHUSETTS USA

ASME

Three Park Avenue New York, N.Y. 10016

CONTENTS

MICROELECTROMECHANICAL SYSTEMS

DSCC2010-4004 1

Robust Design of a Micro-Electromechanical System in the Presence of

Assembly Uncertainty

Choong-Ho Rhee and Kenn Oldham

DSCC2010-4119 9

PWM Control Accuracy for Scratch Drive Actuators

Jenelle Armstrong Piepmeier and Samara L Firebaugh

DSCC2010-4155 15

Modeling of a Dynamic Mirror Actuator

James A. Mynderse and George T. C. Chiu

DSCC2010-4203 23

Sliding Mode Control of Piezoelectric Valve Regulated Pneumatic Actuator for

MRI-Compatible Robotic Intervention

Yi Wang, Hao Su, Kevin Harrington, and Gregory S. Fischer

DSCC2010-4258 29

On Sensitivity of Capacitive Microresonators Near Three Half Natural FrequencyDumitru I. Caruntu and Martin Knecht

DSCC2010-4299 35

Mathematical Modeling of Electrostatic MEMS Actuators: A Review

/. P. M. Wickramasinghe and Jordan M. Berg

MICRO-NANO SYSTEMS

DSCC2010-4106 43

Preview-Based Output Tracking of Nonminimum-Phase Linear Systems via Trajectory

Decomposition: Nanomanipulation Example

Haiming Wang, Kyongsoo Kim, Qingze Zou, and Hongbing Xu

DSCC2010-4201 51

Process Dynamics and Control Analysis for Electrospinning Nanofibers

Xuri Yan and Michael Gevelber

DSCC2010-4212 59

Trapping and Steering a Magnetic Microbead Using 3D Magnetic Tweezers

Zhipeng Zhang and Chia-Hsiang Menq

DSCC2010-4227 65

Dynamic Performance of Nonlinear 100X Displacement Amplification Piezoelectric Actuator

Devin Neal and H. Harry Asada

ix

DSCC2010-4245 73

Computational Studies of Controlled Nanoparticle Agglomerations for MRI-Guided

Nanorobotic Drug-Delivery SystemsPanagiotis Vartholomeos, Suleyman S. Aylak, and Constantinos Mavroidis

MICROSCALE DYNAMICS AND CONTROL

DSCC2010-4048 81

Controlling the Position of Magnetic Particles Using Adaptive Q-Parameterization

Jason 6. Picket and Daniel G. Cole

DSCC2010-4073 89

Reliability Investigation of Tissue Resonator Indenter Device

Ming Jia, Jean W. Zu, and Alireza Hariri

DSCC2010-4138 97

Simulation Study and Experimental Testing of Foot-Terrain Dynamics in Piezoelectric

Micro-Robots

Jeong Hoon Ryou and Kenn Oldham

DSCC2010-4150 105

Nonlinear Modeling for Interface Control in a Three-Lane Microfluidic Channel

YongTae Kim, Philip R. LeDuc, and William C. Messner

DSCC2010-4175 111

Dynamics, Sensing, and Control of a Thin-Film Piezoelectric Vertical Micro-StageKenn Oldham, Xianke Lin, Zhen Qiu, Thomas Wang, Jeffreys. Pulskamp, and

Ronald G. Polcawich

DSCC2010-4291 119

Microelectrothermal Bridge Circuits for Thermal Conductivity Measurement of Metallic and

Semiconducting Nanowires

Nenad Stojanovic, Jordan M. Berg, D. H. S. Maithripala, and Mark Holtz

MOBILE ROBOT AND LOCOMOTION CONTROL

DSCC2010-4037 125

Compact Models of Terrain Surfaces

Heather Chemistruck and John B. Ferris

DSCC2010-4074 133Towards Electronic Stability Control for Two-Wheeled Vehicles: A Preliminary Study

Pierpaolo De Filippi, Mara Tanelli, Sergio M. Savaresi, and Matteo Corno

DSCC2010 4194 141

Gravity Powered Locomotion and Active Control of Three Mass SystemAH Tavakoli and Yildirim Hurmuzlu

x

DSCC2010-4215, 149

Implementation of a Quadruped Robot Pronking/Bounding Gait Using a

Multipart Controller

Alexandros Nikolakakis, loannis Kontolatis, Nicholas Cherouvim, Panagiotis Chatzakos,and Evangelos Papadopoulos

DSCC2010-4228 157Estimating Traction Coefficients of Friction for Small-Scale Robotic Tracked Vehicles

Tehmoor M. Dar and Raul G. Longoria

DSCC2010-4273 165Sustainable Acrobot Walking Based on the Swing Phase Exponentially Stable Tracking

Milan Anderle and Sergej Celikovsky

MODELING AND CONTROL OF ENERGY SYSTEMSDSCC2010-4084 173Reduction of an Electrochemistry-Based Li-ion Battery Health Degradation Model viaConstraint Linearization and Pade Approximation

Joel C. Forman, Saeid Bashash, Jeffrey Stein, and Hosam Fathy

DSCC2010-4105 185Predictive Energy Management for Parallel Hydraulic Hybrid Passenger Vehicle

Timothy O. Deppen, Andrew G. Alleyne, Kim A. Stelson, and Jonathan J. Meyer

DSCC2010-4111 193Dynamic Security Analysis of Electric Power Systems: Passivity-Based Approach andPositive Invariance Approach

Qing Hui, Jinglai Shen, and Wei Qiao

DSCC2010-4114 201Individual Pitch Control for Wind Turbine Load Reduction Including Wake ModelingZhongzhou Yang, Yaoyu Li, and John E. Seem

DSCC2010-4202 209

Modeling and Global MPPT Control for Photovoltaic Array With Variable ShadingPeng Lei, Yaoyu Li, and John E. Seem

DSCC2010-4265 217

Controllability and Observability of a Large Scale Thermodynamics! System via

Connectability ApproachVirdiansyah Permana and Rahmat Shoureshi

MODELING AND CONTROL OF INDUSTRIAL PROCESSESDSCC2010-4000 225Controlling the Polyethylene Molecular Weight Distribution Using Hydrogen InfluentEmad M. AH and Mohammad Al-haj AH

DSCC2010-4064 231A Simple Design Approach for Excitation Controller and Power System Stabilizer

G. Fusco and M. Russo

xi

DSCC2010 4148

Selection of Outputs for Gas-Turbine Engines by Parameter SignaturesJames R. McCusker and Kourosh Danai

239

DSCC2010-4176 247

An Agent Based Simulation for Building Energy System ModelingMengqi Hu, Jin Wen, Fan Li, Moeed Haghnevis, Yasaman Khodadadegan,

Luis Mejia Sanchez, Shanshan Wang, Xiaotian Zhuang, and Teresa Wu

DSCC2010-4206 255

Constrained Model Predictive Control of an Industrial Drying Process for

Viscose Staple Fibres

Alexander Schuster, Martin Kozek, Bernhard Voglauer, and Andreas Voigt

DSCC2010-4275 263

Motion Planning Under External Constraints for Redundant Dynamic SystemsJoo H. Kim, Karim Abdel-Malek, Yujiang Xiang, Jingzhou Yang, and Jasbir S. Arora

MODELING AND CONTROL OF MANUFACTURING AND

MATERIAL PROCESSING

DSCC2010-4110 271

Realization of Finishing Cuts Under Changing Machining Conditions by Machining

Support Robots

Tsuginobu Osada, Ken'ichi Yano, and Mustapha S. Fofana

DSCC2010-4118 277

A Nonlinear Time Series Analysis Method for Health Monitoring of Rolling BearingsYongbin Liu, Ruqiang Yan, and Robert X. Gao

DSCC2010-4129 285

Constrained Model Predictive Control of a Continuous Annealing Furnace

L. Bitschnau, S. Jakubek, and M. Kozek

DSCC2010-4164 293

Automated Set Point Change of an Industrial Glass Feeder

Florian Malchow and Oliver Sawodny

DSCC2010-4207 301

Sensor and Control Design Issues for Developing Real-Time Deposition Rate Control

for Plasma SprayMichael Gevelber, Donald Wroblewski, Michael Cannamela, Soumendra N. Basu, Dennis

Radgowski, and Matthew Tuttle

DSCC2010-4225 309

Development of an Adaptive System ID Method for Enabling Advanced E-Beam

Sweep Pattern DesignEmerson Speyerer, Michael Gevelber, and Dennis Radgowski

xii

MODELING AND CONTROL OF MECHANICAL SYSTEMSDSCC2010-4039 317Tracking Control of Flexible Ball Screw Drives With Runout Effect CompensationMohammad Sepasi, Farrokh Sassani, and Ryozo Nagamune

DSCC2010-4090 323Dynamic Modeling of a Bi-Driven High-Speed Ball-Screw System

Jinsong Wang, Yan Liu, Tong Zhao, and Peiqing Ye

DSCC2010-4132 331A Novel Wave-Form Command-Shaping Control With Application on Overhead Cranes

Khaled A. Alhazza and Ziyad N. Masoud

DSCC2010-4157 337Zero Vibration Multi-Switch Bang-Bang Commands for a Floating Oscillator System

Michael J. Robertson and Richard T. O'Brien, Jr.

DSCC2010-4209 345

Variable-Velocity Exponential Input Shaping for Position Controlled Robotic SystemsP. Iravani and M. N. Sahinkaya

DSCC2010-4232 353

Experiment and Comparison of Robust Linear and Sliding Mode Controllers for

Regulation of a Magnetic Bearing SystemAmir A. Emadzadeh, Thomas D. Lorentz, and Tsu-Chin Tsao

MULTI-AGENT SYSTEMS

DSCC2010-4008 361Stability of the Consensus of a Group of Second Order Agents With Time DelayedCommunications

Rudy Cepeda-Gomez and Nejat Olgac

DSCC2010-4023 369Robust Region-Tracking for Multi-Agent Systems Using Sliding Mode Control

Mark Bacon and Nejat Olgac

DSCC2010-4036 377Distributed Constrained Attitude and Position Control Using Graph Laplacians

Innocent Okoloko and Yoonsoo Kim

DSCC2010-4193 385Robust Consensus Output Tracking of Multi-Agent Systems With DirectedCommunications

Z. Wang, W. Zhang, and Y. Guo

DSCC2010-4264 393Artificial Immune System for Heterogeneous Mobile Robotic SystemsAH Raza and Benito R. Fernandez

xiii

DSCC2010-4280 401

Distributed Cyclic Motion Control of Multiple UAVs for Wildfire Monitoring

Balaji R. Sharma, Koushik S. Venkata Narasimha, Subramanian Ramakrishnan, and

Manish Kumar

NONLINEAR SYSTEMS

DSCC2010-4141 409

Bifurcations on Control-Transverse DynamicsEfthimios Kappos

DSCC2010-4178 415

An Internal Model Control Based Static Anti-Windup Scheme With Improved Performance

Wei Wu

DSCC2010 4180 421

Topology Optimization for Piecewise Dynamic Models Using a Genetic AlgorithmYi Liu and Dragan Djurdjanovic

DSCC2010-4237 431

A Method to Find Non-Zero Operating Point Volterra Models for Port-Based OrdinaryDifferential Equations

Eliot Motato, Clark Radcliffe, and Jose Luis Viveros

DSCC2010-4283 437

Nonlinear Model-Based Adaptive Control of a Solenoid-Valve System

DongBin Lee, C. Nataraj, and Peiman Naseradinmousavi

PID CONTROL

DSCC2010-4095 445

Scheduled Feedforward Control of Superheat Through Hardware-in-the-LoopLoad Emulation

Richard Otten and Andrew G. Alleyne

DSCC2010-4123 453

Cascaded Control of Power Input and Welding Temperature During Sealing of

Spent Nuclear Fuel Canisters

Lars Cederqvist, Olof Garpinger, Tore Hagglund, and Anders Robertsson

DSCC2010-4125 461

Development of Control System by Nonlinear Compensation Using DigitalAcceleration Control

Takanori Ernaru, Kazuo Imagawa, Yohei Hoshino, and Yukinori Kobayashi

DSCC2010-4198 469

Coordinating Cognitive Assistances With PID-Based Control ApproachesHua Cai, Yingzi Lin, and Jeffrey Breugelmans

DSCC2010-4241 477

Dynamic Analysis and Control of a Portable CherrypickerEhsan Maleki, Brice Pridgen, Jing Qi Xiong, and William Singhose

xiv

ROBUST CONTROL

DSCC2010-4005 483

Control of Recurrent Neural Networks Using Differential Minimax Game:

The Deterministic Case

Ziqian Liu and Nirwan Ansari

DSCC2010-4006 491

Control of Recurrent Neural Networks Using Differential Minimax Game:

The Stochastic Case

Ziqian Liu and Nirwan Ansari

DSCC2010-4015 499

Switched Tracking Controller Design for Uncertain SystemsEhsan Azadi Yazdi and Ryozo Nagamune

DSCC2010-4107 507

Robust Stability Design of PI Controllers for a Non-Reheat Steam Generator Unit

Manoj Gogoi, Tooran Emami, and John M. Watkins

DSCC2010-4126 515

Multi-Objective H2/Hoo Static Output Feedback Control: A Hybrid LMI/Genetic

Algorithm ApproachAhmed H. El-Shaer and Masayoshi Tomizuka

DSCC2010-4220 523

Optimal Full Information H2 Guaranteed Cost Control of Discrete-Time SystemsRichard Conway and Roberto Horowitz

SENSING AND VISION

DSCC2010-4080 533

Application of Real-Time Image Distortion Compensation to a Firearm Simulation

Environment

M. Cody Priess, Clark Radcliffe, and Jongeun Choi

DSCC2010-4100 541

Measurement of Uncoupled Lateral Carcass Deflections With a Wireless Piezoelectric

Sensor and Estimation of Tire Road Friction Coefficient

Gurkan Erdogan, Lee Alexander, and Rajesh Rajamani

DSCC2010-4146 549

An Adaptive Amplitude-Based Self-Sensing Piezoelectrically-Driven Microcantilever Sensor

Samira Faegh, Sohrab Eslami, and Nader Jalili

DSCC2010-4269 557

A Real-Time Data Compression and Occupancy Grid Map Generation for Ground-Based

3D LIDAR Data Using Wavelets

Jeong J. Im, Alexander Leonessa, and Andrew Kurdila

DSCC2010-4286 563

Inertial and Vision Sensor Based End-Effector Sensing and Control for Robot ManipulatorsH. Cheng and M. Tomizuka

XV

STRUCTURAL VIBRATION

DSCC2010-4025 569

Investigations of Natural Frequencies and Vibration Mode Shapes for a Post-Buckled Beam

With Different Attached Masses

Pascaline Cette, Adam J. Sneller, and Brian P. Mann

DSCC2010-4128 577

A Modular-Type Three-Axis Vibration Isolation System Using Negative Stiffness

Md. Emdadul Hoque, Takeshi Mizuno, Yuji Ishino, and Masaya Takasaki

DSCC2010-4134 583

Active Vibration Control of Two Coupled Beams Using Descriptor System State Feedback

Maximilian Manderla, Jan Schlake, and Ulrich Konigorski

DSCC2010-4170 591

Reducing Multiple Modes of Vibration by Digital Filtering and Input ShapingJoshua Vaughan and William Singhose

DSCC2010-4214 599

Limit Cycle Analysis of Flexible Structures Under Discontinuous Feedback Control

Michael Bone and Henryk Flashner

DSCC2010-4231 607

Kullback-Leibler Divergence, Cost Density-Shaping, Stochastic Optimal Control With

Applications to Vibration SuppressionMatthew Zyskowski, Michael Sain, and Ronald Diersing

SWARM ROBOTICS AND MULTI-ROBOT CONTROL

DSCC2010-4034 615

Application of Sliding Mode Control to Swarms Under Conflict

Rudy Cepeda-Gomez, Daniel A. Sierra, and Nejat Olgac

DSCC2010-4069 623

Adaptive Control of Multi-Agent Systems for Finding Peaks of Unknown Fields

Mahdi Jadaliha, Jongeun Choi, and Joonho Lee

DSCC2010 4121 631

A Sampling Approach to Modeling and Control of a Large-Size Robot Population

Dejan Milutinovic and Devendra P. Garg

DSCC2010-4160 639

Hazardous Spill Perimeter Detection and Monitoring via Multiple Autonomous Mobile

Robotic AgentsGuoxian Zhang, Devendra P. Garg, and Gregory Fricke

DSCC2010-4244 647

Synthesis and Analysis of Control Laws for Swarm of Mobile Robots EmulatingAnt Foraging Behavior

Subramanian Ramakrishnan and Manish Kumar

xvi

DSCC2010-4257 653

A Multi-Level Modularized System Architecture for Mobile Robotics

Brandon Basso, Benjamin Kehoe, and J. Karl Hedrick

SYSTEM MODELING

DSCC2010-4031 663

Experimental Validation of a 2D Bristle Friction Force Model

Steven Fillmore, Jianxun Liang, and Ou Ma

DSCC2010-4044 671

Control-Oriented Dynamic Models for In-Cylinder Conditions of Multi-CylinderDiesel Engines

Fengjun Yan and Junmin Wang

DSCC2010-4070 679

Role of Automated Symbolic Generation of Plant Models in Control Education

Sumit Tripathi, Hrishi Shah, Leng-Feng-Lee, and Venkat Krovi

DSCC2010-4147 687

Dynamic Modeling of Mechanical Draft Counter-Flow Wet Cooling Tower With Modelica

Xiao Li, Yaoyu Li, and John E. Seem

DSCC2010-4236 695

A High Fidelity Lumped-Parameter Engine Model for Powertrain Control

Design and Validation

K. Follen, M. Canova, S. Midlam-Mohler, Y. Guezennec, G. Rizzoni, B. Lee, and

G. Matthews

DSCC2010-4240 703

Dynamic Modeling and Stability Analysis of Water-Cooled Centrifugal Chillers

Pengfei Li, Yaoyu Li, and John E. Seem

THEORETICAL ADVANCES AND APPLICATIONS

OF INTELLIGENT SYSTEMS

DSCC2010-4047 711

A Rollout Control Algorithm for Discrete-Time Stochastic SystemsAndreas A. Malikopoulos

DSCC2010-4067 719

Intelligent Real Time Data Interpretation of Rocket Test Data to Identify Sudden Transitions

Ajay Mahajan, Christopher Oesch, and Fernando Figueroa

DSCC2010-4208 727

Autonomous Navigation in Unknown Road-Like Environments Using SupportVector Machines

Srinivas Tennety and Manish Kumar

xvii

DSCC2010-4223 735

Self-Tuning Fuzzy Sliding Controller for the Ship Heading Problem

Nassim Khaled and Nabil G. Chalhoub

DSCC2010-4256 741

An Intelligent Sensing Network of Distributed Swarming Agents for

Perimeter Detection and Surveillance

Gregory K. Fricke, Guoxian Zhang, Adam Caccavale, Walter Li, and Devendra P. Garg

DSCC2010-4262 749

Target Estimate PDF-Based Optimal Path Planning Algorithm With Application to

UAV SystemsJared G. Wood, Benjamin Kehoe, and J. Karl Hedrick

VEHICLE DYNAMICS

DSCC2010-4101 757

Analysis of a Sensor Reduction in a Semi-Active Suspension System for a 4-Wheel Vehicle

Cristiano Spelta, Diego Delvecchio, Sergio M. Savaresi, Gabriele Bonaccorso, and

Fabio Ghirardo

DSCC2010-4117 765

Performance Upgrade of Pantograph Using Variable Stiffness Device

Yoshitaka Yamashita and Mitsuru Ikeda

DSCC2010-4162 773

State Estimation for Vehicle Stability Control: A Kinematic Approach Using OnlyGPS and VSC Sensors

Jonathan Ryan, Jianbo Lu, and David Bevly

DSCC2010-4166 781

Hovering Stability of Helicopters With Elastic Constraints

Paul E. I. Pounds and Aaron Dollar

DSCC2010-4277 789

Rollover Prevention of Multi-Body Ground Vehicles Extending LQR Design for Control

Coupled Output RegulationRama K. Yedavalli and Hsun-Hsuan Huang

DSCC2010-4278 797

Active Roll Control for Rollover Prevention of Heavy Articulated Vehicles With

Multiple-Rollover-lndex Minimization

Hsun-Hsuan Huang and Rama K. Yedavalli

VEHICLE DYNAMICS AND CONTROL

DSCC2010-4029 805

Brain Limbic System Based Robust Control for Lane Change Maneuver

Changwon Kim and Reza Langari

xviii

DSCC2010-4083 813

The Role of Traffic Flow Preview for Planning Fuel Optimal Vehicle VelocityBehrang Asadi, Chen Zhang, and Ardalan Vahidi

DSCC2010 4115 821

Design of Hardware Architecture and Control Algorithm for the Electronic Wedge Brake

Kwangjin Han, Kunsoo Huh, Jaehyung Chun, Myoungjune Kim, and Joogon Kim

DSCC2010 4151 827

Modeling Vehicle Lateral Dynamics by Gaussian Processes

David J. Broderick, David M. Bevly, and John Y. Hung

DSCC2010 4172 835

A Comfort Oriented Control Strategy for Semi-Active Suspensions Based on Half Car Model

Cristiano Spelta, Diego Delvecchio, and Sergio M. Savaresi

DSCC2010-4181 841

Development of a New Lateral Stability Control System Enhanced With Accelerometer

Based Tire Sensors

Gurkan Erdogan, Riccardo Tebano, Francesco Borrelli, Giorgio Audisio, Giulia Lori, and

Jacopo Sannazzaro

DSCC2010-4196 , 849

Road Bank Estimation on Uneven Terrain for Unmanned Ground VehiclesLowell S. Brown, Jeremy J. Dawkins, Ryan S. Hill, and David M. Bevly

DSCC2010-4213, 857

Vehicle Evasive Maneuver Trajectory Optimization Using Collocation TechniqueDamoon Soudbakhsh, Azim Eskandarian, and David Chichka

DSCC2010-4249 863

Vehicle Sideslip Angle Estimation Using Two Single-Antenna GPS Receivers

Jong-Hwa Yoon and Huei Peng

DSCC2010-4251 871

Modeling, Simulation, and Control of Active Pneumatic Suspension SystemJia Wang and A. G. Kelkar

DSCC2010-4281 879

Smooth Motion Control of the Adaptive Cruise Control System With Linear Quadratic

Control With Variable WeightsSanggyum Kim, Masayoshi Tomizuka, and Kuo-Hsiang Cheng

DSCC2010-4284 887

Characterizing Driving Skill Based on Entropy Analysis of Steering Frequency ResponseHan-Shue Tan, Fanping Bu, Jihua Huang, and Yuen-Kwok Chin

WIND ENERGY

DSCC2010-4112 895

Wind Turbine Power Capture Control With Robust Estimation

Tony Hawkins, Warren N. White, Guoqiang Hu, and Faryad Darabi Sahneh

xix

DSCC2010-4252 903

Linear Stability Control of Offshore Wind Turbines

Christine A. Mecklenborg, Philipp Rouenhoff, and Dongmei Chen

DSCC2010-4253 911

Control of Wind Turbine Systems With Input Saturation Using Online Trajectory ReplanningLu Lu and Bin Yao

DSCC2010-4296 919

Model Identification and Operating Load Characterization for a Small Horizontal Axis

Wind Turbine Rotor Using Integrated Blade Sensors

Scott Dana, Joseph Yutzy, and Douglas E. Adams

DSCC2010-4300 929

Self-Optimizing Robust Control of Wind Power Generation With Doubly-Fed

Induction Generator

Quan Chen, Yaoyu Li, Zhongzhou Yang, John E, Seem, and Justin Creaby

Author Index 937

xx