DSC-Vol. 74-1

Proceedings of the ASME

DYNAMIC SYSTEMSAND CONTROL DIVISION

- 2005 -

PART AADAPTIVE AND OPTIMAL CONTROL

AEROSPACE SYSTEMS

AUTOMOTIVE AND TRANSPORTATION SYSTEMS

CONTROL ISSUES IN BIO-APPLICATIONS

CONTROL OF MANUFACTURING MACHINES, PROCESSES, AND EQUIPMENT

EDUCATION

FLUID CONTROL SYSTEMS

INTELLIGENT SYSTEMS

presented at

2005 ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITIONNOVEMBER 5-11, 2005

ORLANDO, FLORIDA USA

sponsored by

THE DYNAMIC SYSTEMS AND CONTROL DIVISION, ASMETIB/UB Hannover 89128 299 169

A S M ET h r e e P a r k A v e n u e • N e w Y o r k , N . Y . 1 0 0 1 6

CONTENTS

PART A

INTRODUCTIONRon Perez 1

ADAPTIVE AND OPTIMAL CONTROLIMECE2005-79186 3

Optimal Time-Varying ILC Design to Monotonically Minimize Converged ErrorMarina Tharayil and Andrew Alleyne

IMECE2005-79276 11Sliding Mode Tracking Control of Underactuated Surface Vessels

Hashem Ashrafiuon and Ping Ren

IMECE2005-79898 17Nonlinear Open Loop Optimal Tracking Using Magnetostrictive Transducers

William S. Oates and Ralph C. Smith

IMECE2005-79987 25Adaptive Vibration Control of Flexible Structure With Sliding Mode Compensator

J. Fei and C. Batur

IMECE2005-80680 31Integrated Design on Structural Shape and Controller of Spin Stand for High-SpeedPositioning

H. Ando, T. Sakai, and G. Obinata

IMECE2005-80897 39Model Reference Adaptive Tracking Control of Nonminimum Phase Marine Vehicles

Yannick Morel and Alexander Leonessa

IMECE2005-81152 49Output Feedback Control of Saturated Linear Systems Using Parameter-DependentLyapunov Functions

Qian Zheng and Fen Wu

IMECE2005-81551 59Robust Control for Networked Control Systems With Admissible ParameterUncertainties

Kun Ji and Won-Jong Kim

IMECE2005-81814 67Flying Height Control for a 2-DOF Tripad Slider in Hard Disk Drives WithSwitched Regulator

Zhizheng Wu and Foued Ben Amara

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IMECE2005-81885 77Simplifying Robust Control Designs of Parametric Uncertain Systems UsingDimensional Transformations

Haftay Hailu and Sean Brennan

IMECE2005-81967 85Adaptive Robust Repetitive Control of Piezoelectric Actuators

Jinghua Zhong and Bin Yao

IMECE2005-82146 93Stable Gain Scheduling Through Bumpless Transfer

Brandon Hencey and Andrew Alleyne

IMECE2005-82163 101New Nonlinear Observer Design With Application to Electrostatic Micro-Actuators

Venkat Durbha and S. N. Balakrishnan

IMECE2005-82904 109A Two Parameter Robust Linear Parameter Varying Repetitive Control Approach toVariable Speed Electronic CAM Follower Problem

Junqing Wang and T. C. Tsao

AEROSPACE SYSTEMSIMECE2005-79682 115

Path Planning of Multiple UAVs in an Environment of Restricted RegionsMadhavan Shanmugavel, Antonios Tsourdos, Ratal Zbikowski, and Brian White

IMECE2005-79810 123String Stable Control and Position Assignment for Unmanned Air Vehicles in Formation

Michael Kaplun, Christopher P. Simon, and Anouck R. Girard

IMECE2005-79992 131Real Time Optimal Task Allocation in Highly Dynamic Environments

David R. Schneider and Mark Campbell

IMECE2005-80081 141Collaborative Behavior for Vehicle Replacement in AUV Formations

Andrew G. Raja la, Dean B. Edwards, and Michael O'Rourke

IMECE2005-80144 151Hybrid Computing Techniques for Collaborative Control of UCAVs

Randy C. Hoover, Marco P. Schoen, and D. Subbaram Naidu

IMECE2005-80512 161Phase Transitions in the Multi-Vehicle Task Assignment Problem

Matthew G. Earl and Raffaello D Andrea

IMECE2005-80558 169Cooperative Reconnaissance for Stationary and Moving Targets Using Mixed IntegerLinear Programming

Jarurat Ousingsawat

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IMECE2005-80577 177Magnetic Retention of LOX in an Off-Axis Accelerating Environment

B. D. Simmons, J. I. Hochstein, J. G. Marchetta, and S. H. Collicott

IMECE2005-80648 187Hybrid Control for UAV-Assisted Search and Rescue

Allison D. Ryan, David L Nguyen, and J. Karl Hedrick

IMECE2005-80962 197Analytical and Experimental Studies of Orthotropic Corner-Supported Plates WithSegmented In-Plane Actuators

Hartono Sumali, Jordan E. Massad, Philip L Reu, Pavel M. Chaplya, andJeffrey W. Martin

IMECE2005-81073 203Model-Based Coordination of Autonomous Vehicle Teams

Cary Czichon, Robert W. Peterson, Erik Mettala, Jerry Speer, and Jeff Stahl

IMECE2005-81076 213Near-Nash Strategies in Competitive Multi-Team Target Assignment

David G. Galati and Marwan A. Simaan

IMECE2005-81092 221Inner-Loop Feedback for Deadband Compensation in Electromechanical Flight SurfaceActuation Systems

S. R. Habibi, J. Roach, and G. Luecke

IMECE2005-81100 231A UAV Trajectory Planning Algorithm for Simultaneous Search and Track

John Tisdale and J. Karl Hedrick

IMECE2005-81216 239Velocity Regulation of a Solid Fuel Ramjet Using Neural Networks and AdaptiveSliding Control

Mohammad Durali and Hamidreza Alemohammad

IMECE2005-81224 249Regulating a Formation of a Large Number of Vehicles

Akira Okamoto and Dean B. Edwards

IMECE2005-81716 257Multiple Autonomous Underwater Crawler Control for Mine Reacquisition

Douglas M. Welling and Dean B. Edwards

IMECE2005-82196 263Robust Adaptive Tracking Control of Delta Wing Vortex-Coupled Roll DynamicsSubject to Delay

M. Pakmehr, B. W. Gordon, and C. A. Rabbath

IMECE2005-82889 273Probabilistic Mapping for Unmanned Rotorcraft Using Point-Mass Targets andQuadtree Structures

Derek S. Caveney, Yeonsik Kang, and J. Karl Hedrick

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AUTOMOTIVE AND TRANSPORTATION SYSTEMSIMECE2005-79030 281

Nonlinear Adaptive Engine Speed Control Using an Instrumental Variables Approachand a Truncated Volterra Series

Jonathan W. Anders and Matthew A. Franchek

IMECE2005-79031 289Data Driven Feedforward Transient Fueling Controller Identification for SparkIgnition Engines

Matthew A. Franchek, Jackie Mohrfeld, and Andy Osburn

IMECE2005-79148 297A Torque Based Sliding Mode Control of an Eddy Current Braking System forAutomotive Applications

Sohel Anwar

IMECE2005-79149 303Anti-Lock Braking Control of an Electromagnetic Brake-by-Wire System

Sohel Anwar

IMECE2005-79224 313Real-Time Vehicle Dynamics Parameter Estimation

Kwang-Keun Shin

IMECE2005-79368 319Comparison of the Braking Performance of Electromechanical and HydraulicABS Systems

Okwuchi C. Emereole and Malcolm C. Good

IMECE2005-79492 329A Study on a Intelligent Controller for Vibration Control of Semi-ActiveSuspension System

Zhang Ke and Wang Shiming

IMECE2005-79530 335Technical Performance Modeling of Hybrid and Plug-In Hybrid Electric School BusesUsing ADVISOR

Ewan Pritchard and Richard R. Johnson

IMECE2005-79536 345Statistical Analysis of a Steering Assist Controller Using Driving Simulator Data

Liang-Kuang Chen and A. Galip Ulsoy

IMECE2005-79571 355A Control-Oriented Mean-Value Model of HCCI Diesel Engines With ExternalMixture Formation

Marcello Canova, Luca Garzarella, Marco Ghisolfi, Shawn Midlam-Mohler,Yann Guezennec, and Giorgio Rizzoni

IMECE2005-79602 367Axial-Flux Motor System Efficiency in a Solar Powered Vehicle

Scott Hammack and Dale Schinstock

XIV

IMECE2005-79893 375Advanced Automotive Engine Thermal Management: Simplified Diesel Engine Modeland Experimental Validation

Christopher J. Simoson and John R. Wagner

IMECE2005-79939 385Design of an Active Suspension Control for a Four DOF Model Using Genetic Algorithm

S. Gosselin-Brisson, M. Bouazara, and M. J. Richard

IMECE2005-80059 391Feedback and Feedforward Control for Electrohydraulic Valve Systems Using a NovelSystem Identification Technique

Sungbae Park, Jasim Ahmed, and Aleksandar Kojic

IMECE2005-80309 399Dynamic Modeling of an Overhead Valve Engine CAM-Follower System Using aResistive Companion Dynamic Simulation Solver

Daniel C. Sloope and David N. Rocheleau

IMECE2005-80508 405A Comparative, Experimental Study of Model Suitability to Describe Vehicle RolloverDynamics for Control Design

John T. Cameron and Sean Brennan

IMECE2005-80518 415Guaranteeing Lanekeeping Performance With Tire Saturation Using ComputedPolynomial Lyapunov Functions

Joshua P. Switkes and J. Christian Gerdes

IMECE2005-80594 425Design of a Model Based Controller for Regulation of Auto-Ignition

William de Ojeda

IMECE2005-80601 433Development of a Variable Dynamic Automotive Suspension Model Using VirtualTest Bed

Thomas Brewer and David Rocheleau

IMECE2005-80646 439A New Model for MacPherson Suspension System and Observation of RideCharacteristics and Its Optimal Control

M. S. Fallah, S. Fardisi, and M. Eghtesad

IMECE2005-80696 447A Simplified Catalytic Converter Model for Automotive Coldstart Control Applications

Pannag R. Sanketi, J. Karl Hedrick, and Tomoyuki Kaga

IMECE2005-80834 453Modeling of a Partial-Flow, Diesel, Lean N0x Trap Systems

Shawn Midlam-Mohler and Yann Guezennec

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IMECE2005-80890 463Optimization Based Design for Integrated Powertrain Control With Electronic Throttle

Daekyun Kim, Huei Peng, Shushan Bai, and Joel M. Maguire

IMECE2005-81090 473Control System Design for Full Range Operation of a Narrow Commuter Vehicle

S. Kidane, L. Alexander, R. Rajamani, P. Starr, and M. Donath

IMECE2005-81203 483Stabilization of a Steer-by-Wire Vehicle at the Limits of Handling Using FeedbackLinearization

Yung-Hsiang (Judy) Hsu and J. Christian Gerdes

IMECE2005-81234 493Estimation of a Moving Vehicle's Position and Orientation Using ProbabilisticData Association

Yu Lei and Guang Lu

IMECE2005-81249 503A Fuzzy Nonlinear Modeling of a McPherson Suspension System

AH Tavassoli, Hamed Jafarian, and Mohammad Eghtesad

IMECE2005-81323 509A Transient Single Cylinder Test System for Engine Research and Control Development

John L. Lahti, Matthew W. Snyder, and John J. Moskwa

IMECE2005-81362 519Engine Control Using Estimated Parameters From a Real Time Model of an Engine WithVariable Valve Actuation

John L Lahti and John J. Moskwa

IMECE2005-81389 529Effect of Suspension and Body Flexibility on Dynamic Behavior of Passenger Cars

M. Durali, A. Kasaiezadeh, and O. B. Nakhjavani

IMECE2005-81514 535Modeling and Design of Heavy Duty Hybrid Electric Vehicles

Pierluigi Pisu, C. Hubert, N. Dembski, G. Rizzoni, John Josephson, James Russell,and Mark Carroll

IMECE2005-81594 545Experimental Testing and Validation of Tangential Steering Wheel Vibrations Due toTire Nonuniformity

Virgile Ayglon, Vinod Cherian, and Nader Jalili

IMECE2005-81808 553The Design and Simulation of a High Force Low Power Actuation System forCamless Engines

J. H. Lumkes, Jr., W. Van Doom IV, and J. Donaldson

IMECE2005-81901 563Validation of Longitudinal Vehicle Estimation Techniques on a Heavy Truck Test-Bed

Matthew E. Heffernan and David Bevly

XVI

IMECE2005-82191 571A Generalized Robust Control Framework Utilizing Dimensional Analysis

Yan Li and Andrew Alleyne

IMECE2005-82212 583Validating GPS Based Measurements for Vehicle Control

Kirstin L Rock, Sven A. Beiker, Shad Laws, and J. Christian Gerdes

IMECE2005-82239 593Advanced Suspension Systems for Wheeled Military Vehicles

Nader Vahdati, Yap Fook Fah, Koh Yong Khiang, and Kiew Woon Hwee

IMECE2005-82405 601The Evolution Required in Standard Cars for the Use of New EGR-VGT ControlStrategies

J. F. Arnold, N. Langlois, and H. Chafouk

IMECE2005-82712 611Vehicle Active Suspension Control: Using a Variable Structure Model ReferenceAdaptive Controller

Ardeshir Karami Mohammad!

CONTROL ISSUES IN BIO-APPLICATIONSIMECE2005-80973 617

A Dynamical State Space Representation and Performance Analysis of a FeedbackControlled Rotary Left Ventricular Assist Device

Antonio Ferreira, Shaohui Chen, David G. Galati, Marwan A. Simaan, andJames F. Antaki

IMECE2005-81286 627Passive and Active Shock Absorbing Prostheses for Lower Limb Amputees

Eric B. Howell, Glenn Klute, and Santosh Devasia

IMECE2005-81408 637Fiber Scanner Modeling as the Basis for New Scanning Fiber Endoscopes

Matthew J. Kundrat, Per F. Reinhall, Christopher M. Brown, and Eric J. Seibel

IMECE2005-82236 641Robust Backstepping Control of Robotic Nurse Unit to Assist Paraplegic Patient

AH Selk Ghafari and AH Meghdari

IMECE2005-82349 647Regulation of G2/M Transition in Mammalian Cells by Oxidative Stress

G. Li, S. S. Nair, S. J. Lees, and F. W. Booth

CONTROL OF MANUFACTURING MACHINES, PROCESSES,AND EQUIPMENTIMECE2005-80498 657

Precision Tracking Controller Design for High Speed Feed DrivesKaan Erkorkmaz and Yusuf Altintas

XVII

IMECE2005-80596 669Modeling and Controller Tuning Techniques for Feed Drive Systems

Ryuta Sato and Masaomi Tsutsumi

IMECE2005-80964 681A Singular Value Decomposition Approach to Servo Systems Diagnosis of CNCMachine Tools

Zhixiang Xu, Tim Green, and Jian Liu

IMECE2005-81798 687Optimization of Spine Sensor Location in Resin Transfer Molding

A. Rodriguez, B. Minaie, O. Restrepo, and K.-T. Hsiao

IMECE2005-82073 697A New Dynamic State Space Model for the Cylindrical Grinding Process

Cheol W. Lee

EDUCATIONIMECE2005-80034 705

Virtual Lab for System Identification of an Electromechanical SystemMarcia K. O'Malley and David McStravick

IMECE2005-80061 713Development of a Wearable Gesture Recognition System

Hong Zhang and Jeong-Hoi Koo

IMECE2005-80066 719Introducing "Advanced" Tuned Vibration Absorbers in an UndergraduateVibrations Course

Jeong-Hoi Koo, Fernando Goncalves, and Hong Zhang

IMECE2005-81248 725Autonomous, Line-Tracking Vehicles: A Mechatronics Term Project

William R. Murray

IMECE2005-81527 731An Applied Method of Instruction for Feedback Control Systems and Mechatronics toUndergraduate Engineering Students at the University of Central Florida

Matthew Sherman and Alexander Leonessa

IMECE2005-81600 741Analog and Lab View-Based Control of a Maglev System With NI-ELVIS

R. Sinha and M. L. Nagurka

IMECE2005-82117 747Modular System for Teaching Kinematics Control of Robot Manipulators

Carlos F. Rodriguez and Carlos A. Zarama

IMECE2005-82327 753Symbolic Graph Techniques Applied to Mechanical System Analysis And Featuring

Mourad Fakhfakh, Tahar Fakhfakh, Mourad Loulou, Mohammed Haddar, andNouri Masmoudi

XVIII

IMECE2005-82566 759At-Home Systems and Controls Laboratory

William Durfee, Perry Li, and David Walezko

IMECE2005-82888 769Hydrodynamic Study of a Water-Propelled Rocket: An Undergraduate Experiment inFluid Mechanics

Glen E. Thorncroft and Christopher C. Pascual

FLUID CONTROL SYSTEMSIMECE2005-79705 779

A Near Input-Output Linearizing Force Tracking Controller for an ElectrohydraulicActuator

Beshahwired Ayalew, Bohdan T. Kulakowski, and Kathryn W. Jablokow

IMECE2005-80616 789Pneumatic Brake Actuator Design and Modeling for the Precision Stopping Control ofAutomated Bus

Fanping Bu and Han-Shue Tan

IMECE2005-80631 797A New Method for Obtaining Non-Autonomous, Reduced-Order Model of Flow UsingProper Orthogonal Decomposition (POD) and Optimal Control of the ResultantNonlinear Model

S. Fardisi, A. Shahamiri, and H. Emdad

IMECE2005-81378 805Reduction of Vortex-Driven Oscillations in a Choked Duct Through Active Control

Jami W. Ward, Alexander Leonessa, and Eric L. Petersen

IMECE2005-81667 815Planar Peg-in-Hole Insertion Using a Stiffness Controllable Pneumatic Manipulator

Yong Zhu and Eric J. Barth

IMECE2005-81910 823Improved Control of Open-Center Systems for Haptic Applications

M. E. Kontz, J. D. Huggins, W. J. Book, and J. G. Frankel

IMECE2005-82791 833Electrical, Micro-Power Generation Using a Fluidic Oscillator

Narciso F. Macia and Ha Van Nguyen

INTELLIGENT SYSTEMSIMECE2005-79028 841

Inverse Dynamics Based Fuzzy Logic Controller for a Single-Link Flexible ManipulatorJamil M. Renno

IMECE2005-79111 849Control of Underactuated-Ship Maneuvers Using Neural Gain Compensators

A. Saeed, E. M. Attia, A. A. Helmy, and T. Awad

XIX

IMECE2005-79403 855Intelligent Sensors: Strategies for an Integrated Systems Approach

Sanjeevi Chitikeshi, Ajay Mahajan, Pavan Bandhil, Lucas Utterbach, andFernanado Figueroa

IMECE2005-79419 863Blood Glucose Regulation for Diabetic Mellitus Using a Hybrid Intelligent Techniques

Vidya Nandikolla and Desineni Naidu

IMECE2005-79499 871Adaptive Neural Network in Compensation the Dynamics and Position Control of aServo-Hydraulic System With a Flexible Load

Hassan Yousefi and Heikki Handroos

IMECE2005-79603 881Projection Network for Unsupervised Pattern Classification

C. James Li and C. Jansuwan

IMECE2005-79617 891Simulation of Humidification Within a Breather

V. C. Sun, A. M. Al-Jumaily, and D. Makinson

IMECE2005-79745 897Pressure Measurement and Pattern Recognition by Using Neural Networks

Parham Piroozan

IMECE2005-79772 907Frequency Based Optimal Input Signal Determination for ARX Parameter Estimation ofConstraint Systems

Balaje T. Thumati and Marco P. Schoen

IMECE2005-79774 913Optimization of a Star Pattern Recognition Algorithm for Attitude Determination Using aMulti-Objective Genetic Algorithm

Ebenezer Seisie-Amoasi, Brian G. Williams, and Marco P. Schoen

IMECE2005-79775 921Improved Accuracy of an Ultrasonic Based Neuro-Navigation System UsingNeural Networks

Jennifer Akers, Sanjeevi Chitikeshi, Ajay Mahajan, and Sumeer Lai

IMECE2005-79777 927Experimental Study of the Dynamics of Synthetic Jet Actuators With DifferentOrifice Sizes

Rahul Sekhri, Marco P. Schoen, Feng Lin, and Brian G. Williams

IMECE2005-79783 937Active Foot Pressure Control for Diabetic Neuropathy During Walking

Vidya K. Nandikolla, Marco P. Schoen, and Ajay Mahajan

IMECE2005-80037 945Intelligent Approach to Floor Vibration Control

Janice L. Martell, Arya Ebrahimpour, and Marco P. Schoen

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IMECE2005-80291 951Controlled Vehicle Exchange and Allocation in Dynamic Teams

Justin A. Ruths, Anouck R. Girard, and Joao Borges de Sousa

IMECE2005-80761 961Fuzzy Control of Spindle Torque in High-Speed Milling Processes

Rodolfo Haber, Steven Y. Liang, Jose R. Alique, Angel Alique, and Salvador Ros

IMECE2005-81052 971Robot Localization Using Fuzzy Logic

Avinash G. Dharne and Suhada Jayasuriya

IMECE2005-81344 977On-Line Adaptive Control of a Farm Tractor by Compensation of Parameter Variations

Evan R. Gartley and David M. Bevly

IMECE2005-81499 987The Advisor, a Fuzzy Knowledge-Based System for Rapid Instrumentation and ControlUsing a Taguchi-Based Quality Function: Part I — Theory

Riko Tantra and Glenn Y. Masada

IMECE2005-81531 995The Advisor, a Fuzzy Knowledge-Based System for Rapid Instrumentation and ControlUsing a Taguchi-Based Quality Function: Part II — Implementation

Riko Tantra and Glenn Y. Masada

IMECE2005-81751 1003Dynamic Reoptimization of a SNAC Controller for Velocity Tracking in a Nano Array

Nishant Unnikrishnan and S. N. Balakrishnan

IMECE2005-81890 1011The Effectiveness of Transferring Multi-Agent Behaviors From a Learning Environmentin the Presence of Synthetic Social Structures

Keith Garfield, Annie Wu, Mehmet Onal, Britt Crawford, Adam Campbell, andRandall Shumaker

IMECE2005-81899 1019Intelligent Model Predictive Control of a Flexible-Link Robotic Manipulator

Tao Fan and C. W. de Silva

IMECE2005-82060 1027PSO: A Novel Technique to Optimize a Coal Preparation Plant

Vishal Gupta, Hussain Unjawala, Ajay Mahajan, and Manoj Mohanty

IMECE2005-82609 1033Neural-Network Based On-Line Adaptation of Model Predictive Controller for DynamicSystems With Uncertain Behavior

Marco E. Sanjuan

IMECE2005-82707 1041Immunology Based Multi-Robot Collaboration for Countermine Operations

Adarsh G. Nair, Sanjeev Agarwal, and K. Krishnamurthy

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