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Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T19A004, October 5–7, 2020

Paper No: DSCC2020-3182

DOI: https://doi.org/10.1115/DSCC2020-3182

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Topics: Energy management, Engines, Optimal control, Turbojets, Fuels, Torque, Weight (Mass), Aircraft engines, Control equipment, Design

Proceedings Papers

Energy-Optimal, Direct-Phase Control of Brushless Motors for Robotic Drives

Amin Ghorbanpour, Hanz Richter

Paper No: DSCC2020-3200

DOI: https://doi.org/10.1115/DSCC2020-3200

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Topics: Motors, Robotics, Capacitors, Energy consumption, Control equipment, Manipulators, Motion control, Optimization, Pendulums, Robots

Journal Articles

Optimal Control and Energy Management for Hybrid Gas-Electric Propulsion

Hanz Richter, Joseph W. Connolly, Donald L. Simon

J. Eng. Gas Turbines Power. September 2020, 142(9): 091009.

Paper No: GTP-20-1173

DOI: https://doi.org/10.1115/1.4047890

Published Online: August 26, 2020

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Topics: Engines, Flight, Fuels, Optimal control, Simulation, Storage, Torque, Transients (Dynamics), Flow (Dynamics), Dynamics (Mechanics)

Journal Articles

Backstepping Control of Open-Chain Linkages Actuated by Antagonistic Hill Muscles

Holly Warner, Hanz Richter, Antonie J. van den Bogert

J. Dyn. Sys., Meas., Control. October 2020, 142(10): 101007.

Paper No: DS-19-1303

DOI: https://doi.org/10.1115/1.4047447

Published Online: June 26, 2020

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Topics: Linkages, Muscle, Dynamics (Mechanics), Redundancy (Engineering), Simulation

Proceedings Papers

Modeling and Control of a Novel Variable-Stiffness Regenerative Actuator

Erivelton Gualter dos Santos, Hanz Richter

Proc. ASME. DSCC2018, Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems, V002T24A003, September 30–October 3, 2018

Paper No: DSCC2018-9054

DOI: https://doi.org/10.1115/DSCC2018-9054

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Topics: Actuators, Control modeling, Stiffness, Design, Dynamics (Mechanics), Computational methods, Control systems, Deflection, Electromechanical actuators, Energy storage

Proceedings Papers

Contact and Tracking Hybrid Control With Impulse-Momentum Sliding Surface and Terminal Sliding Mode

Hanz Richter, Saleh Mobayen, Dan Simon

Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T04A001, September 30–October 3, 2018

Paper No: DSCC2018-8945

DOI: https://doi.org/10.1115/DSCC2018-8945

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Topics: Hybrid control, Impulse (Physics), Momentum, Control equipment, Control systems, Robots, Weight (Mass), Artificial limbs, Dynamics (Mechanics), Robotic testing

Proceedings Papers

Development and Experimental Validation of an Energy Regenerative Prosthetic Knee Controller and Prototype

Poya Khalaf, Holly Warner, Elizabeth Hardin, Hanz Richter, Dan Simon

Paper No: DSCC2018-9091

DOI: https://doi.org/10.1115/DSCC2018-9091

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Topics: Artificial limbs, Control equipment, Engineering prototypes, Knee, Prostheses, Cycles, Damping, Design, Ultracapacitors

Proceedings Papers

Control With Optimal Energy Regeneration in Robot Manipulators Driven by Brushless DC Motors

Amin Ghorbanpour, Hanz Richter

Paper No: DSCC2018-8972

DOI: https://doi.org/10.1115/DSCC2018-8972

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Topics: Manipulators, Motors, Control equipment, Torque, Currents, Optimization, Ultracapacitors, Control algorithms, Dynamics (Mechanics), Motion control

Proceedings Papers

Nonlinear Tracking Control of an Antagonistic Muscle Pair Actuated System

Holly Warner, Hanz Richter, Antonie van den Bogert

Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T38A006, October 11–13, 2017

Paper No: DSCC2017-5384

DOI: https://doi.org/10.1115/DSCC2017-5384

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Topics: Muscle, Tracking control, Control equipment, Simulation, Actuators, Dynamics (Mechanics), Feedback, Hardware, Hazards, Machinery

Proceedings Papers

On the State Estimation of an Agonistic-Antagonistic Muscle System

Thang Nguyen, Holly Warner, Hanieh Mohammadi, Dan Simon, Hanz Richter

Paper No: DSCC2017-5304

DOI: https://doi.org/10.1115/DSCC2017-5304

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Topics: Muscle, State estimation, Errors, Noise (Sound), Signals, Springs, Trajectories (Physics)

Proceedings Papers

State Estimation of an Advanced Rowing Machine Using Optimized Kalman Filtering

Hanieh Mohammadi, Gholamreza Khademi, Dan Simon, Hanz Richter

Paper No: DSCC2017-5319

DOI: https://doi.org/10.1115/DSCC2017-5319

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Topics: Filtration, Machinery, State estimation, Control equipment, Errors, Friction, Stress, Capacitors, Coulombs, Evolutionary algorithms

Proceedings Papers

Design and Hybrid Impedance Control of a Powered Rowing Machine

Humberto de las Casas, Hanz Richter, Antonie van den Bogert

Paper No: DSCC2017-5243

DOI: https://doi.org/10.1115/DSCC2017-5243

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Topics: Design, Machinery, Flywheels, Control equipment, Dynamic models, Belts, Control systems, Damping, Elastic constants, Electric motors

Journal Articles

On Global, Closed-Form Solutions to Parametric Optimization Problems for Robots With Energy Regeneration

Poya Khalaf, Hanz Richter

J. Dyn. Sys., Meas., Control. March 2018, 140(3): 031003.

Paper No: DS-16-1436

DOI: https://doi.org/10.1115/1.4037653

Published Online: November 8, 2017

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Topics: Capacitors, Energy storage, Optimization, Robots, Manipulators, Gears

Journal Articles

Ground Reaction Force Estimation in Prosthetic Legs With Nonlinear Kalman Filtering Methods

Seyed Fakoorian, Vahid Azimi, Mahmoud Moosavi, Hanz Richter, Dan Simon

J. Dyn. Sys., Meas., Control. November 2017, 139(11): 111004.

Paper No: DS-16-1583

DOI: https://doi.org/10.1115/1.4036546

Published Online: July 20, 2017

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Topics: Artificial limbs, Errors, Filtration, Kalman filters, Prostheses, Robots, Noise (Sound), Stability, State estimation, Sensors

Proceedings Papers

On the System-Theoretic Passivity Properties of a Hill Muscle Model

Hanz Richter, Antonie J. van den Bogert

Proc. ASME. DSCC2015, Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications, V002T27A007, October 28–30, 2015

Paper No: DSCC2015-9817

DOI: https://doi.org/10.1115/DSCC2015-9817

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Topics: Muscle, Control equipment, Design, Dynamic models, Equilibrium (Physics), Feedback, Force feedback, Machinery, Simulation, Tendons

Proceedings Papers

A MIMO Sliding Mode Approach to Limit Protection in Aero-Engines

Xian Du, Hanz Richter, YingQing Guo

Proc. ASME. DSCC2015, Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems, V001T06A001, October 28–30, 2015

Paper No: DSCC2015-9634

DOI: https://doi.org/10.1115/DSCC2015-9634

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Topics: Aircraft engines, Control equipment, Design, Engines, Flow (Dynamics), Fuels, Simulation, Thrust, Transients (Dynamics)

Proceedings Papers

Stable Robust Adaptive Impedance Control of a Prosthetic Leg

Vahid Azimi, Dan Simon, Hanz Richter

Paper No: DSCC2015-9794

DOI: https://doi.org/10.1115/DSCC2015-9794

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Topics: Artificial limbs, Control equipment, Particle swarm optimization, Boundary layers, Robustness, Stability, Adaptive control, Design, Errors, Noise (Sound)

Proceedings Papers

Multi-Objective Optimization of Impedance Parameters in a Prosthesis Test Robot

Poya Khalaf, Hanz Richter, Antonie J. van den Bogert, Dan Simon

Proc. ASME. DSCC2015, Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems, V003T42A003, October 28–30, 2015

Paper No: DSCC2015-9848

DOI: https://doi.org/10.1115/DSCC2015-9848

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Topics: Pareto optimization, Prostheses, Robots, Errors, Design, Control equipment, Control systems, Peak load, Trajectories (Physics), Optimization

Journal citation

NARROW

Energy-Optimal Impedance Control of Cooperative Robot Manipulators

A Novel Concept for Energy-Optimal, Independent-Phase Control of Brushless Motor Drivers

Optimal Control and Energy Management in Hybrid Turbojet Engines

Energy-Optimal, Direct-Phase Control of Brushless Motors for Robotic Drives

Optimal Control and Energy Management for Hybrid Gas-Electric Propulsion

Backstepping Control of Open-Chain Linkages Actuated by Antagonistic Hill Muscles

Modeling and Control of a Novel Variable-Stiffness Regenerative Actuator

Contact and Tracking Hybrid Control With Impulse-Momentum Sliding Surface and Terminal Sliding Mode

Development and Experimental Validation of an Energy Regenerative Prosthetic Knee Controller and Prototype

Control With Optimal Energy Regeneration in Robot Manipulators Driven by Brushless DC Motors

Nonlinear Tracking Control of an Antagonistic Muscle Pair Actuated System

On the State Estimation of an Agonistic-Antagonistic Muscle System

State Estimation of an Advanced Rowing Machine Using Optimized Kalman Filtering

Design and Hybrid Impedance Control of a Powered Rowing Machine

On Global, Closed-Form Solutions to Parametric Optimization Problems for Robots With Energy Regeneration

Ground Reaction Force Estimation in Prosthetic Legs With Nonlinear Kalman Filtering Methods

On the System-Theoretic Passivity Properties of a Hill Muscle Model

A MIMO Sliding Mode Approach to Limit Protection in Aero-Engines

Stable Robust Adaptive Impedance Control of a Prosthetic Leg

Multi-Objective Optimization of Impedance Parameters in a Prosthesis Test Robot

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