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Journal Articles

Modeling and Analysis of a Soft Endoluminal Inchworm Robot Propelled by a Rotating Magnetic Dipole Field

Jake A. Steiner, Lan N. Pham, Jake J. Abbott, Kam K. Leang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051002.
Paper No: JMR-21-1186
DOI: https://doi.org/10.1115/1.4053114
Published Online: February 18, 2022
View Article titled, Modeling and Analysis of a Soft Endoluminal Inchworm Robot Propelled by a Rotating Magnetic Dipole Field
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Topics: Design, Robots
Proceedings Papers

Autonomous Light Assessment Drone for Dark Skies Studies

Matthew N. Goodell, Takara E. Truong, Stephanie R. Marston, Brett J. Smiley, Elliot R. Befus, Alex Bingham, Kent Allen, Joseph R. Bourne, Yi Wei, Kate E. Magargal, Vellachi Ganesan, Daniel L. Mendoza, Anil C. Seth, Stacy A. Harwood, Marc Bodson, Tucker Hermans, Kam K. Leang
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T36A002, October 5–7, 2020
Paper No: DSCC2020-3205
DOI: https://doi.org/10.1115/DSCC2020-3205
View Paper titled, Autonomous Light Assessment Drone for Dark Skies Studies
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Topics: Unmanned aerial vehicles, Pollution, Brightness (Photometry), Sensors, Sleep
Proceedings Papers

Ionic Polymer Metal Composite Sensors With Engineered Interfaces (eIPMCs): Compression Sensing Modeling and Experiments

Rebecca Histed, Justin Ngo, Omar A. Hussain, Chantel Lapins, Kam K. Leang, Yiliang Liao, Matteo Aureli
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T34A001, October 5–7, 2020
Paper No: DSCC2020-3289
DOI: https://doi.org/10.1115/DSCC2020-3289
View Paper titled, Ionic Polymer Metal Composite Sensors With Engineered Interfaces (eIPMCs): Compression Sensing Modeling and Experiments
Click here to open pdf in another window PDF for Ionic Polymer Metal Composite Sensors With Engineered Interfaces (eIPMCs): Compression Sensing Modeling and Experiments
Topics: Compression, Metallic composites, Modeling, Polymers, Sensors, Electrodes, Metals, Composite materials, Experimental characterization, Manufacturing
Proceedings Papers

Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots

Jake A. Steiner, Omar A. Hussain, Lan N. Pham, Jake J. Abbott, Kam K. Leang
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T20A002, October 8–11, 2019
Paper No: DSCC2019-9029
DOI: https://doi.org/10.1115/DSCC2019-9029
View Paper titled, Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots
Click here to open pdf in another window PDF for Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots
Topics: Robots, Biomedicine, Catheters, Composite materials, Conducting polymers, Deformation, Endoscopes, Locomotives, Metals, Polymers
Proceedings Papers

Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments

Jake A. Steiner, Joseph R. Bourne, Xiang He, Donald M. Cropek, Kam K. Leang
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T21A006, October 8–11, 2019
Paper No: DSCC2019-9099
DOI: https://doi.org/10.1115/DSCC2019-9099
View Paper titled, Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments
Click here to open pdf in another window PDF for Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments
Topics: Cities, Unmanned aerial vehicles, Leakage, Particle swarm optimization, Algorithms, Flight, Plumes (Fluid dynamics), Simulation
Proceedings Papers

Bayesian Estimation of Snow-Avalanche Victim Pose: A Method to Assist Human and/or Robot First Responders to Quickly Locate a Buried Victim

Joseph R. Bourne, Kam K. Leang
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T21A001, October 8–11, 2019
Paper No: DSCC2019-8946
DOI: https://doi.org/10.1115/DSCC2019-8946
View Paper titled, Bayesian Estimation of Snow-Avalanche Victim Pose: A Method to Assist Human and/or Robot First Responders to Quickly Locate a Buried Victim
Click here to open pdf in another window PDF for Bayesian Estimation of Snow-Avalanche Victim Pose: A Method to Assist Human and/or Robot First Responders to Quickly Locate a Buried Victim
Topics: Algorithms, Engineering standards, Magnetic fields, Robots, Simulation results, Uncertainty
Proceedings Papers

Assembly Planning Using a Two-Arm System for Polygonal Furniture

Seth T. Payne, C. Fletcher Garrison, IV, Steven E. Markham, Tucker Hermans, Kam K. Leang
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T17A008, October 8–11, 2019
Paper No: DSCC2019-9173
DOI: https://doi.org/10.1115/DSCC2019-9173
View Paper titled, Assembly Planning Using a Two-Arm System for Polygonal Furniture
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Topics: Manufacturing, Algorithms, Robotics, Collisions (Physics), Computer-aided design, Finishing, Manipulators, Path planning, Simulation
Proceedings Papers

A New Quasi-Steady In-Ground Effect Model for Rotorcraft Unmanned Aerial Vehicles

Xiang He, Kam K. Leang
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T21A003, October 8–11, 2019
Paper No: DSCC2019-9025
DOI: https://doi.org/10.1115/DSCC2019-9025
View Paper titled, A New Quasi-Steady In-Ground Effect Model for Rotorcraft Unmanned Aerial Vehicles
Click here to open pdf in another window PDF for A New Quasi-Steady In-Ground Effect Model for Rotorcraft Unmanned Aerial Vehicles
Topics: Unmanned aerial vehicles, Rotors, Propellers, Thrust, Additive manufacturing, Blades, Compression, Errors, Outflow
Proceedings Papers

Gaussian-Based Kernel for Multi-Agent Aerial Chemical-Plume Mapping

Xiang He, Jake A. Steiner, Joseph R. Bourne, Kam K. Leang
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T21A004, October 8–11, 2019
Paper No: DSCC2019-9027
DOI: https://doi.org/10.1115/DSCC2019-9027
View Paper titled, Gaussian-Based Kernel for Multi-Agent Aerial Chemical-Plume Mapping
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Topics: Plumes (Fluid dynamics), Errors, Flight, Leakage, Robots, Simulation, Vehicles, Wind, Wind velocity
Journal Articles

In-Ground-Effect Modeling and Nonlinear-Disturbance Observer for Multirotor Unmanned Aerial Vehicle Control

Xiang He, Gordon Kou, Marc Calaf, Kam K. Leang
Journal: Journal of Dynamic Systems, Measurement, and Control
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2019, 141(7): 071013.
Paper No: DS-18-1218
DOI: https://doi.org/10.1115/1.4043221
Published Online: May 2, 2019
View Article titled, In-Ground-Effect Modeling and Nonlinear-Disturbance Observer for Multirotor Unmanned Aerial Vehicle Control
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Topics: Control equipment, Dynamics (Mechanics), Errors, Modeling, Rotors, Thrust, Unmanned aerial vehicles, Vehicles, Aircraft, Trajectories (Physics)
Proceedings Papers

Development of a 3-DOF Tripedal Stick-Slip Microrobotic Mobile Platform for Unconstrained, Omnidirectional Sample Positioning

Iman Adibnazari, William S. Nagel, Kam K. Leang
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, V002T24A011, September 30–October 3, 2018
Paper No: DSCC2018-9229
DOI: https://doi.org/10.1115/DSCC2018-9229
View Paper titled, Development of a 3-DOF Tripedal Stick-Slip Microrobotic Mobile Platform for Unconstrained, Omnidirectional Sample Positioning
Click here to open pdf in another window PDF for Development of a 3-DOF Tripedal Stick-Slip Microrobotic Mobile Platform for Unconstrained, Omnidirectional Sample Positioning
Topics: Stick-slip, Actuators, Errors, Feedforward control, Additive manufacturing, Bearings, Bending (Stress), Cycles, Dynamics (Mechanics), Engineering prototypes
Journal Articles

Nonlinear Vision-Based Observer for Visual Servo Control of an Aerial Robot in Global Positioning System Denied Environments

Dejun Guo, Hesheng Wang, Kam K. Leang
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061018.
Paper No: JMR-18-1131
DOI: https://doi.org/10.1115/1.4041431
Published Online: October 18, 2018
View Article titled, Nonlinear Vision-Based Observer for Visual Servo Control of an Aerial Robot in Global Positioning System Denied Environments
Click here to open pdf in another window PDF for Nonlinear Vision-Based Observer for Visual Servo Control of an Aerial Robot in Global Positioning System Denied Environments
Topics: Control equipment, Errors, Robots, Stability, Design, Servomechanisms, Trajectories (Physics)
Journal Articles

Design and Control of a Fully-Actuated Hexrotor for Aerial Manipulation Applications

Jameson Y. S. Lee, Kam K. Leang, Woosoon Yim
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. August 2018, 10(4): 041007.
Paper No: JMR-17-1361
DOI: https://doi.org/10.1115/1.4039854
Published Online: April 18, 2018
View Article titled, Design and Control of a Fully-Actuated Hexrotor for Aerial Manipulation Applications
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Topics: Design, Dynamics (Mechanics), Flight, Rotors, Torque, Motors, Control equipment
Proceedings Papers

Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor

Joseph R. Bourne, Kam K. Leang
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T21A007, October 11–13, 2017
Paper No: DSCC2017-5283
DOI: https://doi.org/10.1115/DSCC2017-5283
View Paper titled, Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor
Click here to open pdf in another window PDF for Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor
Topics: Plumes (Fluid dynamics), Sensors, Robots, Uncertainty, Algorithms, Dynamics (Mechanics), Feedforward control, Filters, Leakage, Motion control
Proceedings Papers

Spatial Filter Design for Dual-Stage Systems

Aleksandra Mitrovic, Kam K. Leang, Garrett M. Clayton
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T04A010, October 11–13, 2017
Paper No: DSCC2017-5347
DOI: https://doi.org/10.1115/DSCC2017-5347
View Paper titled, Spatial Filter Design for Dual-Stage Systems
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Topics: Design, Filters, Actuators, Filtration, Signals, Simulation results
Proceedings Papers

Modeling and Adaptive Nonlinear Disturbance Observer for Closed-Loop Control of In-Ground-Effects on Multi-Rotor UAVs

Xiang He, Marc Calaf, Kam K. Leang
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T39A004, October 11–13, 2017
Paper No: DSCC2017-5210
DOI: https://doi.org/10.1115/DSCC2017-5210
View Paper titled, Modeling and Adaptive Nonlinear Disturbance Observer for Closed-Loop Control of In-Ground-Effects on Multi-Rotor UAVs
Click here to open pdf in another window PDF for Modeling and Adaptive Nonlinear Disturbance Observer for Closed-Loop Control of In-Ground-Effects on Multi-Rotor UAVs
Topics: Modeling, Rotors, Unmanned aerial vehicles, Control equipment, Flight, Aircraft, Helicopters, Navigation, Simulation, Space
Proceedings Papers

Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments

Dejun Guo, Kam K. Leang
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, V001T02A003, October 11–13, 2017
Paper No: DSCC2017-5135
DOI: https://doi.org/10.1115/DSCC2017-5135
View Paper titled, Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments
Click here to open pdf in another window PDF for Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments
Topics: Robots, Servomechanisms, Closed loop systems, Control equipment, Control systems, Errors, Geometry, Lyapunov methods, Signals, Simulation
Proceedings Papers

Fused Filament Additive Manufacturing of Ionic Polymer-Metal Composite Soft Active 3D Structures

James D. Carrico, Nicklaus W. Traeden, Matteo Aureli, Kam K. Leang
Proc. ASME. SMASIS2015, Volume 1: Development and Characterization of Multifunctional Materials; Mechanics and Behavior of Active Materials; Modeling, Simulation and Control of Adaptive Systems, V001T01A004, September 21–23, 2015
Paper No: SMASIS2015-8895
DOI: https://doi.org/10.1115/SMASIS2015-8895
View Paper titled, Fused Filament Additive Manufacturing of Ionic Polymer-Metal Composite Soft Active 3D Structures
Click here to open pdf in another window PDF for Fused Filament Additive Manufacturing of Ionic Polymer-Metal Composite Soft Active 3D Structures
Topics: Additive manufacturing, Composite materials, Metals, Polymers, Actuators, Conducting polymers, Resins, Sensors, Electrodes, Electroless plating
Proceedings Papers

Enhanced Proportional-Derivative Control of a Micro Quadcopter

Norman L. Johnson, Kam K. Leang
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T01A005, October 21–23, 2013
Paper No: DSCC2013-3990
DOI: https://doi.org/10.1115/DSCC2013-3990
View Paper titled, Enhanced Proportional-Derivative Control of a Micro Quadcopter
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Topics: Control equipment, Design, Dynamics (Mechanics), Rotation, Simulation results, Transients (Dynamics)
Proceedings Papers

Sectored Tube-Shaped Ionic Polymer-Metal Composite Actuator With Integrated Sensor

Marissa A. Tsugawa, Kam K. Leang, Viljar Palmre, Kwang J. Kim
Proc. ASME. SMASIS2013, Volume 2: Mechanics and Behavior of Active Materials; Structural Health Monitoring; Bioinspired Smart Materials and Systems; Energy Harvesting, V002T06A001, September 16–18, 2013
Paper No: SMASIS2013-3017
DOI: https://doi.org/10.1115/SMASIS2013-3017
View Paper titled, Sectored Tube-Shaped Ionic Polymer-Metal Composite Actuator With Integrated Sensor
Click here to open pdf in another window PDF for Sectored Tube-Shaped Ionic Polymer-Metal Composite Actuator With Integrated Sensor
Topics: Actuators, Composite materials, Metals, Polymers, Sensors, Electrodes, Displacement, Platinum, Biomedicine, Biomimetics