Proceedings of the ASME

Dynamic Systems and Control Conference and

Bath/ASME Symposium on Fluid Power and Motion Control

-2011 -

volume 2

NOVEL ACTUATION

ROBOTIC s

SENSIM,

VIBRATION DYNAMICS AND CONTRc >l

ALTERNATIVE PROPULSION SYSTEMS MODELING AND CONTRc «

BATH/ASME FP SYMP. APPLICATIONS AND SYSTtMs

BATH/ASME FP SYMP. VALVE MODEL AND CONTRc »S

AUTOMOTIVE SYSTEMS MODELING AND CONTRc n

BIO-INSPIRED SYSTt w

BIOMECHATRONICS AND MEDICAL ROBOTH s

BIOSYSTEMS AND BIOMEDICAL APPLICATION1-

DYNAMICS AND CONTROL IN MEDICINE AND BIOLCK.n

ENGINE MODELING AND SYSTEM IDENTIFICATION

HCCI ENGINES MODELING AND CONTKc n

MODELING AND ESTIMATION FOR AUTOMOTIVE AND ENERGY SYS1I w

POWERTRAIN SYSTEMS MODELING AND CONTR* n

SURGICAL AND REHABILITATION ROBOIH v

VEHICLE DYNAMICS AND CONTKc >i

presented at

ASME 2011 DYAMIC SYSTEMS AND CONTROL CONFERENCE AM »

BATH/ASME SYMPOSIUM ON FLUID POWER AND MOTION CONTRC M

OCTOBER 31-NOVEMBER 2, 20! *

ARLINGTON, VIRGINIA

ASME

Three Park Avenue * New York, N.Y. 10016

CONTENTS

NOVEL ACTUATION

DSCC2011-5920 1

Reducing Energy Consumption of Pneumatic Artificial Muscles With Component IntegrationDaniel Christ, Tad Driver, and Xiangrong Shen

DSCC2011-5962 9

Design and Control of a Compact Light-Weight Planar Positioner Moving Over a

Concentrated-Field Magnet Matrix

Vu Huy Nguyen and Won-jong Kim

DSCC2011-6022 17

From Canonical Hamiltonian to Port-Hamiltonian Modeling Application to MagneticShape Memory Alloys Actuators

Nandish Calchand, Bernhard Maschke, Arnaud Hubert, and Yann Le Gorrec

DSCC2011-6070 25

A PZT Array Actuator Using Buckling Strain Amplification and Preload Mechanisms

James Torres, Devin Neal, and H. Harry Asada

DSCC2011-6150 33

Coordinated Voltage Conversion and Low-Power Micro-Actuator SwitchingKenn Oldham, Biju Edamana, and Bongsu Hahn

DSCC2011-6153 41

A Moving Magnet Actuator for Large Range NanopositioningG. Parmar, D. B. Hiemstra, Y. Chen, and S. Awtar

ROBOTICS

DSCC2011-5908 49

Screw Theory Applied to a Rigid Cylinder Moving on a Plane

James Diaz-Gonzalez and Lourdes Rosario

DSCC2011-5918 57

Design and Analysis of a Localization Method Using a Laser Sensor for Indoor Wheeled

Mobile Robots

Madhu Soodhanan Govindarajan, Junmin Wang, Bill Post, and Andrew Fox

DSCC2011-6000 65

Biosensor Based Video Game Control for Physically Disabled Gamers

Jeffrey Breugelmans and Yingzi Lin

DSCC2011-6069 73

The Synergistically Propelled Ichthyoid: Dynamic Modeling, Simulation, and

Experimental Results

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

xi

DSCC2011-6096 81

Mobile Robot Navigation in Hilly Terrain Using Reinforcement Learning TechniquesSrinivas Tennety and Manish Kumar

DSCC2011-6147 87

Experimental Study on Passive Dynamic Bipedal Walking: Comparing Test Platforms and

Effects of Parameter Changes on Gait Patterns

Kazi Rushd, Derek Koop, and Christine Q. Wu

DSCC2011-6161 95

A Dual-Use Visible Light Communication and Orientation Estimation System for

Underwater Robots

Ian C. Rust and H, Harry Asada

DSCC2011-6162 103

Foot-Terrain Interaction for a Prototype Silicon Micro-Robot

Jeong Hoon Ryou and Kenn Oldham

DSCC2011-6164 111

WCPG: A Central Pattern Generator for Legged Robots Based on Workspace Intentions

Victor Barasuol, Victor Juliano De Negri, and Edson Roberto De Fieri

DSCC2011-6185 115

Active Tremor Estimation and Suppression in Human Elbow Joint

Behzad Taheri, David Case, and Edmond Richer

DSCC2011-6186 121

Linear Parameter Varying Control of a Robot Manipulator for Aortic Valve ImplantationA. Ramezanifar, A. Salimi, J. Mohammadpour, N. V. Tsekos, A. Kilicarslan, and

K. Grigoriadis

DSCC2011-6188 129

A New Architecture for Set-Point Control of Robotic Manipulators With Time-VaryingInput/Output Delays

Yen-Chen Liu and Nikhil Chopra

SENSING

DSCC2011-5963 137

Buoyant Fluorescent Particles as a Novel Sensing Technology for Field Observations of

Water Flows

Flavia Tauro, Matteo Aureli, Maurizio Porfiri, and Salvatore Grimaldi

DSCC2011-5999 145

Optimized Distributed Field-Based Sensing for Control of Voice Coil Motor

Shaohui Foong, Xianmin Chen, and Kok-Meng Lee

DSCC2011-6031 153

Speed Improvement in Electrical Capacitance Tomography Through a Multiple Excitation

and Receiving Method

Zhaoyan Fan and Robert X. Gao

xii

DSCC2011-6039 159

Three-Dimensional Large Deformation of a Compliant Beam Designed for a Flexonic

Mobile Node

Jiajie Guo, Yang Xie, and Kok-Meng Lee

DSCC2011-6059 167

A New Method for Determining Melt Front Velocity Through Temperature Measurement

Robert X. Gao, Zhaoyan Fan, Navid Asadizanjani, and David Kazmer

DSCC2011-6092 173

Spatial Prediction With Mobile Sensor Networks Using Gaussian Process RegressionBased on Gaussian Markov Random Fields

Yunfei Xu and Jongeun Choi

VIBRATION DYNAMICS AND CONTROL

DSCC2011-5949 181

Adaptive l-L Vibration Control

Richard T. O'Brien, Jr. and R. Joseph Watkins

DSCC2011-6072 189

Anti-Windup LPV Control Design of MR Dampers for Structural Vibration SuppressionMona Meisami-Azad, Farzad A. Shirazi, and Karolos M. Grigoriadis

DSCC2011-6155 197

Active Control of Quazi-Zero Stiffness Isolators

Hyeong-Joon Ahn and Kyoung-Rock Kim

DSCC2011-6160 201

Active Vibration Control of Gantry Structures Using PZT Actuators

Walter Naranjo, William J. Fajardo, and Eliot Motato

DSCC2011-6175 209

A Control Approach for Broadening the Operating Frequency Range of a Bridge Vibration

Energy Harvester

Alexander V. Pedchenko, Jonathan W. Hoke, and Eric J. Barth

ALTERNATIVE PROPULSION SYSTEMS MODELING AND CONTROL

DSCC2011-5950 217

Trade-Off Between Fuel Economy and Battery Life for Hybrid Electric Vehicles

Soren Ebbesen and Lino Guzzella

DSCC2011-5969 225

Model Predictive Control of an Electro-Hydraulic Powertrain With Energy Storage

Timothy 0. Deppen, Andrew G. Aileyne, Kim A. Stetson, and Jonathan J. Meyer

DSCC2011-5982 233

Predictive Cruise Control With Probabilistic Constraints for Eco DrivingChen Zhang and Ardalan Vahidi

xiii

DSCC2011-6043 239

Hybrid Neural Net Model of a Lithium Ion Battery

Rehan Refai, Sandeep Yayathi, Dongmei Chen, and Benito Fernandez-Rodriguez

DSCC2011-6047 247

Decentralized Charging of Plug-In Electric Vehicles

Chiao-Ting Li, Changsun Ann, Huei Peng, and Jing Sun

DSCC2011-6062 255

Power Flow Control in Hybrid Electric Vehicles

Guillermo Becerra, Jose Luis Mendoza-Soto, and Luis Alvarez-lcaza

DSCC2011-6114 263

Nonlinear Model Predictive Control of a Power-Split Hybrid Electric Vehicle:

Influence of Inclusion of Powertrain DynamicsHoseinali Borhan, Ardalan Vahidi, Wei Liang, Anthony Phillips, Stefano Di Cairano,

Ming Kuang, and Ryan McGee

DSCC2011-6115 271

Operational Energy Optimization for Pure Electric Ground Vehicles Based on Terrain

Profile Preview

Yan Chen, Zili Chen, and Junmin Wang

DSCC2011-6138 279

Optimal Energy Management for a Hybrid Vehicle Using Neuro-Dynamic Programming to

Consider Transient Engine Operation

Rajit Johri, Ashwin Salvi, and Zoran Filipi

DSCC2011-6183 287

Optimal Control of Engine-Starts for Drivability of Parallel Hybrid Electric Vehicles

Dongsuk Kum, Huei Peng, and Norman Bucknor

DSCC2011-6184 295

Energy Harvesting, Ride Comfort, and Road Handling of Regenerative Vehicle SuspensionsLei Zuo and Pei-Sheng Zhang

BATH/ASME FP SYMP. APPLICATIONS AND SYSTEMS

DSCC2011-5954 303

A Servo-Pneumatic Positioning System Driven by Fast Switching On/Off Valves

Cristiano Cardoso Locateli, Victor Juliano De Negri, and Edson Roberto De Pieri

DSCC2011-5990 311

Waveform Analysis of an Electro-Hydraulic Vibrator

Y. Ren, R. T. Burton, and J. Ruan

DSCC2011-6121 319

Friction Fault Detection of an Electrohydrostatic ActuatorS. A. Gadsden, Y. Song, K. R. McCullough, and S. R. Habibi

xiv

DSCC2011-6127 327

Development of Diagnostic Algorithms for an Air Brake System:

Theory and Implementation

Sandeep Dhar, Swaroop Darbha, and K. Ft. Rajagopal

BATH/ASME FP SYMP. VALVE MODEL AND CONTROL

DSCC2011-5900 335

The Theoretical Bandwidth Frequency of a Three-Way Hydromechanical Valve

Noah D. Manring and Shusen Zhang

DSCC2011-5940 343

Modelling and Experimental Validation of a Novel Piezohydraulic Servovalve

Dhinesh K. Sangiah, Andrew R. Plummer, Christopher R. Bowen, and Paul Guerrier

DSCC2011-5947 351

Optimal Nominal Pressurization Generation: A Novel Idea for a Discrete Logic Control

Using an Independent Metering Valve ConfigurationChristian Meyer, Daniel Weiler, and Hubertus Murrenhoff

DSCC2011-5972 - 355

Spool Valve With Arbitrary Area-Schedule and Application to a Camless EngineValve Actuator

Pradeep Gillella and Zongxuan Sun

DSCC2011-6007 363

Optimized Pulse Modulation: A Novel Idea of a Digital Control Method for On/Off Valves

Ingo Schepers, Daniel Weiler, and Juergen Weber

AUTOMOTIVE SYSTEMS MODELING AND CONTROL

DSCC2011-5938 367

GPS-Free Terrain-Based Vehicle Tracking Performance as a Function of Inertial Sensor

Characteristics

Kshitij Jerath and Sean N. Brennan

DSCC2011-6085 375

Terrain Gridding Using a Stochastic Weighting Function

Rui Ma and John B. Ferris

DSCC2011-6165 383

Dynamic Model of the Piston-Ring Assembly Using Curved Beam Finite Elements

Mohannad Hakeem, Nabil G. Chalhoub, and Peter Schihl

DSCC2011-6166 391

De-Centralized and Centralized Control for EMS Maglev System Levitation and Guidance

Mohamed Aly and Thomas Alberts

DSCC2011-6173 399

Analysis of Stability Control Systems for Single-Unit Commercial Vehicles

Dan T. Horak

xv

BIO-INSPIRED SYSTEMS

DSCC2011-5953 407

Analysis of Antagonist Stiffness for Nested Compliant Mechanisms in Agonist-AntagonistArrangements

Joshua A. Schultz and Jun Ueda

DSCC2011-6023 411

Design and Implementation of an lonic-Polymer-Metal-Composite AquaticBiomimetic Robot

Yi-chu Chang and Won-jong Kim

DSCC2011-6042, 419

Mobile Exoskeleton for Spinal Cord Injury: Development and TestingKatherine A, Strausser, Timothy A. Swift, Adam B. Zoss, H. Kazerooni, and

Bradford C. Bennett

DSCC2011-6108 427

The Application of Bioinspired Jumping Locomotion Principles to Mobile Robots:

Modeling and AnalysisOmar Gilani and Pinhas Ben-Tzvi

DSCC2011-6125 435

A Hybrid of Impulsive and Continuous Control for Kneeless Bipedal WalkingAli Tavakoli and Yildirim Hurmuziu

DSCC2011-6174 443

Scalybot: A Snake-Inspired Robot With Active Control of Friction

Hamidreza Marvi, Gregory Meyers, Geoffrey Russell, and David L Hu

BIOMECHATRONICS AND MEDICAL ROBOTICS

DSCC2011-5998 451

Myoelectric Torque Control of an Active Transfemoral Prosthesis During Stair Ascent

Carl D. Hoover, Kevin B, Fite, George D. Fulk, and Donald W. Holmes

DSCC2011-6027 459

Design and Development of a 2-DOF Miniature Force Sensor for Surgical Procedures

U.-Xuan Tan and Jaydev P. Desai

DSCC2011-6065 463

Adaptive Hybrid Control for Rotationally Oscillating Drill (ROS-Drill©), Using a

Low-Resolution Sensor

Zhenyu Zhang, Jhon Diaz, and Nejat Olgac

DSCC2011-6067 471

Design and Control of a Compact and Flexible Pneumatic Artificial Muscle

Actuation System: Part One — Design Process

Garrett Waycaster, Sai-Kit Wu, Tad Driver, and Xiangrong Shen

xvi

DSCC2011-6143 479

An Adaptive Block Backstepping Control Design for Functional Electrical Stimulation of

Agonist-Antagonist Muscles

Bonsung Koo and Alexander Leonessa

DSCC2011-6167 487

Dynamic Simulation of Blood Flow Effects on Flexible Manipulators During Intra-Cardiac

Procedures on the Beating Heart

A. Salimi, J. Mohammadpour, K. Grigoriadis, and N. V. Tsekos

BIOSYSTEMS AND BIOMEDICAL APPLICATIONS

DSCC2011-5924 495

Classifications of Intentions for Controlling of a Multifunctional Knee-Ankle-Foot Orthosis

Sai-Kit Wu, Tad Driver, and Xiangrong Shen

DSCC2011-6048 503

A New Biomechanical Model of Vocal Fold Vibrations: Preliminary Experimental Validation

Zhenyi Wei, Jing Chen, Melda Kunduk, Marcio de Queiroz, and Bahadir K. Gunturk

DSCC2011-6082 511

Fast Monitoring of Epileptic Seizures Based on Recurrence Time Analysis of EEGS

Jianbo Gao and Jing Hu

DSCC2011-6132 519

High-Speed Nanomechanical Property Measurement in Liquid Using Inversion-Based

Iterative Feedforward-Feedback Control

Yan Zhang and Qingze Zou

DSCC2011-6133 527

Mathematical Modeling of Within-Host Dynamics of Toxoplasma Gondii

Adam Sullivan, Chunlei Su, and Xiaopeng Zhao

DSCC2011-6171 531

Modeling the Negative Feedback Mechanism in the Enzyme CarboxyltransferaseXiaoyu Cai, Marcio de Queiroz, Glen Meades, Jr., and Grover Waldrop

DYNAMICS AND CONTROL IN MEDICINE AND BIOLOGY

DSCC2011-5946 537

Modeling Peroxidase-Oxidase Interactions

W. M. Schaffer and T. V. Bronnikova

DSCC2011-5984 545

Spherical Modeling and Nonlinear Model Predictive Control of ElectroporationJingang Yi, Jianbo Li, and Hao Lin

DSCC2011-6003 553

Numerical Simulation of Electromechanical Dynamics in Paced Cardiac Tissue

Henian Xia, Kwai Wong, and Xiaopeng Zhao

xvii

DSCC2011-6046 557

Disturbance Rejection Helps Modulate the p53 Oscillation

Yong-Jun Shin, Steven M. Lipkin, Brandon Hencey, and Xiling Shen

DSCC2011-6081 565

Long-Range Temporal Correlations, Multifractality, and the Causal Relation Between

Neural Inputs and Movements

Jianbo Gao, Yi Zhang, and Jing Hu

DSCC2011-6083 573

Facilitating Joint Chaos and Fractal Analysis of Biosignals Through Nonlinear

Adaptive FilteringJianbo Gao, Jing Hu, and Wen-wen Tung

DSCC2011-6084 579

Multiscale Analysis of Biological SignalsJianbo Gao, Jing Hu, and Wen-wen Tung

DSCC2011-6117 587

A Firing-Rate Lateral Amygdala Network Model With Calcium-Dependent Synaptic LearningJohn M. Bail, AH H. Hummos, and Satish S. Nair

DSCC2011-6134 595

An Experimentally Tuned Dynamic Model Predicting Cell Migration for Guidance of

Sprouting Endothelial Cells

Levi Wood and H. Harry Asada

DSCC2011-6146 603

Towards Automated Mechanical Characterization of Biological Samples Using Atomic

Force Microscopy (AFM)

Rajarshi Roy, Wenjin Chen, Lei Cong, Lauri A. Goodell, David J. Foran, and

Jaydev P. Desai

DSCC2011-6148 607

Local Onset of Voltage and Calcium Alternans in the Heart

Stephen D. Mclntyre, Yoichiro Mori, and Elena G. Tolkacheva

ENGINE MODELING AND SYSTEM IDENTIFICATION

DSCC2011-5944 611

A System Dynamics Modeling Methodology to Predict Transient Phenomena in

Compressible Fluid Flow SystemsKenneth Follen, Stephanie Stockar, Marcello Canova, Yann Guezennec, and

Giorgio Rizzoni

DSCC2011-5992 619

Turbocharger Map Reduction for Control-Oriented ModelingKarla Strieker, Lyle Kocher, Ed Koeberlein, D. G. Van Alstine, and Greg Shaver

xviii

DSCC2011-6001 627

Physics Based Control Oriented Modeling of Exhaust Gas Enthalpy for Engines UtilizingVariable Valve Actuation

Ed Koeberlein, Lyle Kocher, Dan Van Alstine, Karla Strieker, and Greg Shaver

DSCC2011-6015 635

Parameter-Dependent Identification of the Intake Manifold System Dynamics in Spark

Ignition Engines Using LPV Methods

RohitA. Zope, Javad Mohammadpour, Karolos Grigoriadis, Yue-Yun Wang, and

Matthew Franchek

DSCC2011-6180 643

Iterative Learning Based Driver Input Synthesis for Evaluating Transient Diesel

Soot Emissions

Rahul Ahlawat, Hosam K. Fathy, and Jeffrey L. Stein

DSCC2011-6202 651

On-Line Identification of Fuel Injection Timing Using Cylinder Balancing

Yong-Wha Kim, Michiel Van Nieuwstadt, and In Kwang Yoo

HCCI ENGINES MODELING AND CONTROL

DSCC2011-5983 655

Stability Analysis of a Hydraulic Free Piston Engine With HCCI Combustion

Ke Li and Zongxuan Sun

DSCC2011-6020 663

SI and HCCI Combustion Mode Transition Control of a Multi-Cylinder HCCI CapableSI Engine via Iterative Learning

Xiaojian Yang and Guoming G. Zhu

DSCC2011-6036 671

A Novel Method for CFD Analysis of a Two-Zone Mixing Model for HCCI EnginesMatthew J. McCuen, Guoming Zhu, and Zongxuan Sun

DSCC2011-6050 677

On the Influence of Composition on the Thermally-Dominant Recompression HCCI

Combustion DynamicsShyam Jade, Erik Hellstrom, Anna Stefanopoulou, and Li Jiang

DSCC2011-6091 685

Combustion Phasing Variation Reduction for Late-Phasing HCCI Through Cycle-to-CyclePilot Injection Timing Control

Adam F. Jungkunz, Nikhil Ravi, Hsien-Hsin Liao, and J. Christian Gerdes

DSCC2011-6118 693

Modeling Ranges of Cyclic Variability for HCCI Ignition Timing Control

Mahdi Shahbakhti, Ahmad Ghazimirsaied, and Charles Robert Koch

xix

MODELING AND ESTIMATION FOR AUTOMOTIVE AND ENERGY SYSTEMS

DSCC2011-5951 701

Energy-Based Modeling of Alternative Energy Storage Systems for Hybrid Vehicles

J. McDonough, K. Jebakumar, F. Chiara, M. Canova, and K. Koprubasi

DSCC2011-6013 709

A Reduced-Order Electrochemical Model of Lithium-Ion Cells for System Identification of

Battery AgingJames Marcicki, Giorgio Rizzoni, A. T. Conlisk, and Marcello Canova

DSCC2011-6024 717

Development of Vibration Loading Profiles for Accelerated Durability Tests of

Ground Vehicles

Ke Xu, Yan Wu, and Qiong Wu

DSCC2011-6025 725

Terrain-Aided Localization Using Feature-Based Particle FilteringSneha Kadetotad, Pramod Vemulapalli, Sean N. Brennan, and Constantino Lagoa

DSCC2011-6045 733

Payload Parameter Real-Time Estimation for Lightweight Vehicles

Xiaoyu Huang and Junmin Wang

POWERTRAIN SYSTEMS MODELING AND CONTROL

DSCC2011-5937 741

Mixed H2/Hoo Observer-Based LPV Control of a Hydraulic Engine CAM Phasing Actuator

Andrew White, Zhen Ren, Guoming Zhu, and Jongeun Choi

DSCC2011-5941 749

Gearshift Controller Design for Automatic Transmission

Zhiyuan Liu, Jinwu Gao, and Quan Zheng

DSCC2011-5965 755

Model-Based Control via Balanced Realization for Automotive Cold Start HydrocarbonReduction

Satoshi Asami, Adam Cranmer, Mahdi Shahbakhti, and J. Karl Hedrick

DSCC2011-6004 763

Optimal LQ Transient Air-to-Fuel Ratio Control of an Internal Combustion Engine

Stephen Pace and Guoming G. Zhu

DSCC2011-6019 769

Dynamic Model of Dual Clutch Lever-Based Electromechanical Actuator

Vladimir Ivanovic, Josko Deur, Milan Milutinovic, and H. Eric Tseng

SURGICAL AND REHABILITATION ROBOTICS

DSCC2011-5976 777

Modeling Dynamic Ankle Mechanical Impedance in Relaxed Muscle

Hyunglae Lee and Neville Hogan

xx

DSCC2011-5977 783

Design of Energy-Saving PZT Drive Amplifiers for Mobile and Wearable Physical Assists

Patrick Ft. Barragan, Shinichiro Tsukahara, and H, Harry Asada

DSCC2011-6029 791

Toward Fluoroscopic Shape Reconstruction for Control of Steerable Medical Devices

Jessica Burgner, S. Duke Herrell, and Robert J. Webster III

DSCC2011-6075 795

Towards the Development of a Tendon-Driven Neurosurgical Robot

Mingyen Ho and Jaydev P. Desai

DSCC2011-6154 799

Radial Basis Function Network (RBFN) Approximation of Finite Element Models for

Real-Time Simulation

Madusudana Sathia Narayanan, Puneet Singla, Sudha Garimella, Wayne Waz, and

Venkat Krovi

DSCC2011-6170 807

Actuation Timing Strategies for a Portable Powered Ankle Foot Orthosis

Emily A. Morris, K. Alex Shorter, Yifan Li, Geza F. Kogier, Elizabeth T. Hsiao-Wecksler,

Timothy Bretl, and William K. Durfee

VEHICLE DYMAMICS AND CONTROL

DSCC2011-5913 815

A Mixed Frequency/Time-Domain Method to Evaluate the Performance of Semi-Active

Steering Damper Control Strategies During Challenging Maneuvers

Pierpaolo De Filippi and Sergio M. Savaresi

OSCC2011-5934 823

A Comparison Between Model-Based and Data-Driven Design of an Active Stability Control

System for Two-Wheeled Vehicles

Pierpaolo De Filippi, Simone Formentin, and Sergio M. Savaresi

DSCC2011-5939 831

Force-Based ABS Control Using Lateral Force Measurement

Mathieu Gerard, Matteo Corno, Michel Verhaegen, and Edward Holweg

DSCC2011-5955 839

Model Complexity Requirements in Design of Half Car Active Suspension Controllers

Keith J. Wakeham and D. Geoff Rideout

DSCC2011-6052 847

A Neighboring Optimal Controller for Disturbance Rejection During Vehicle

Evasive Maneuvers

Damoon Soudbakhsh, Azim Eskandarian, and David Chichka

DSCC2011-6097 853

Generating a Racing Line for an Autonomous Racecar Using Professional DrivingTechniques

Paul A. Theodosis and J. Christian Gerdes

xxi

DSCC2011-6124 861

Controlling Vehicle Instability Through Stable Handling Envelopes

Craig E. Beal, Carrie G. Bobier, and J. Christian Gerdes

DSCC2011-6152 869

Understanding Agile-Maneuver Driving Strategies Using Coupled Longitudinal/LateralVehicle Dynamics

Jingliang Li, Yang Zhang, Jingang Yi, and Zhaodu Liu

DSCC2011-6159 877

MPC Based Integrated Chassis Control to Enhance Vehicle Handling ConsideringRoll Stability

Ganesh Adireddy and Taehyun Shim

DSCC2011-6168 885

Multi-Input Multi-Output Root Loci Analysis of EMS Maglev-Girder Interaction SystemMohamed Aiy, Ashraf Omran, and Thomas Alberts

DSCC2011-6195 893

Vehicle Motion Stability With Two Vehicle Dynamics Models

Jingliang Li and Jingang Yi

DSCC2011-6200 901

A Controller Framework for Autonomous Drifting: Design, Stability, and ExperimentalValidation

Rami Y. Hindiyeh and J. Christian Gerdes

Author Index 909

xxii