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Proceedings Papers

Driver Assisted Control Strategies: Theory and Experiment

Mark DePoorter, Sean Brennan, Andrew Alleyne
Proc. ASME. IMECE98, Dynamic Systems and Control, 721-728, November 15–20, 1998
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1998-0321
https://doi.org/10.1115/IMECE1998-0321
View Paper titled, Driver Assisted Control Strategies: Theory and Experiment
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Topics: Adaptive control, Control equipment, Feedback, Pole placement, Polynomials, Roads, Vehicle dynamics, Vehicles, Yaw
Proceedings Papers

Analyzing the Effects of Geometric Lane Constraints on RADAR-Based Sensing of Available Vehicle Headway Using Mapped Lane Geometry and Camera Registration of Lane Position

Krishna Varadarajan, Robert Leary, Evan Pelletier, Mohamed Wahba, Sean Brennan
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T01A006, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9167
https://doi.org/10.1115/DSCC2019-9167
View Paper titled, Analyzing the Effects of Geometric Lane Constraints on RADAR-Based Sensing of Available Vehicle Headway Using Mapped Lane Geometry and Camera Registration of Lane Position
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Topics: Geometry, Radar, Vehicles, Errors, Sensors, Highways, Traffic, Braking, Corporate average fuel economy, Emergencies
Proceedings Papers

Diesel Engine Characterization and Performance Scaling via Brake Specific Fuel Consumption Map Dimensional Analysis

Evan Pelletier, Sean Brennan
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T11A003, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9110
https://doi.org/10.1115/DSCC2019-9110
View Paper titled, Diesel Engine Characterization and Performance Scaling via Brake Specific Fuel Consumption Map Dimensional Analysis
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Topics: Brakes, Diesel engines, Dimensional analysis, Fuel consumption, Engines, Fuels, Stress, Trucks
Proceedings Papers

Nuclear Storage Cask Inspection Robotics As a Case Study in System Design Challenges

Jennifer Bracken, Sean Brennan, Ian Van Sant, Clifford Lissenden, Karl Reichard
Proc. ASME. IMECE2018, Volume 13: Design, Reliability, Safety, and Risk, V013T05A037, November 9–15, 2018
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2018-88374
https://doi.org/10.1115/IMECE2018-88374
View Paper titled, Nuclear Storage Cask Inspection Robotics As a Case Study in System Design Challenges
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Topics: Design, Inspection, Robotics, Storage, Teams, Complex systems, Cooling, Design engineering, Engineering prototypes, Radiation (Physics)
Proceedings Papers

Change Propagation During Protoyping: A Case Study of a Robotic Inspection System for Dry Nuclear Waste Storage Casks

Jennifer Bracken, Sean Brennan, Clifford Lissenden, Timothy W. Simpson, Ian Van Sant, Karl Reichard, Matthew Ng
Proc. ASME. IDETC-CIE2018, Volume 7: 30th International Conference on Design Theory and Methodology, V007T06A041, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86283
https://doi.org/10.1115/DETC2018-86283
View Paper titled, Change Propagation During Protoyping: A Case Study of a Robotic Inspection System for Dry Nuclear Waste Storage Casks
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Topics: Inspection, Radioactive wastes, Robotics, Storage, Design, Complex systems, Engineering prototypes
Journal Articles

Improving Lithium-Ion Battery Pack Diagnostics by Optimizing the Internal Allocation of Demand Current for Parameter Identifiability

Michael J. Rothenberger, Jariullah Safi, Ji Liu, Joel Anstrom, Sean Brennan, Hosam K. Fathy
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2017, 139(8): 081001.
Paper No: DS-16-1248
https://doi.org/10.1115/1.4035743
Published Online: May 15, 2017
View Article titled, Improving Lithium-Ion Battery Pack Diagnostics by Optimizing the Internal Allocation of Demand Current for Parameter Identifiability
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Topics: Batteries, Electric vehicles, String, Optimization, Algorithms, Lithium-ion batteries
Proceedings Papers

A ROS-Simulink Real-Time Communication Bridge Using UDP With a Driver-in-the-Loop Application

Mohamed Wahba, Robert Leary, Nicolás Ochoa-Lleras, Jariullah Safi, Sean Brennan
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T23A002, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9693
https://doi.org/10.1115/DSCC2016-9693
View Paper titled, A ROS-Simulink Real-Time Communication Bridge Using UDP With a Driver-in-the-Loop Application
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Topics: Bridges (Structures), Computer software, Delays, Packing (Shipments), Packings (Cushioning), Robots, Separation (Technology), Statistics
Proceedings Papers

Region of Attraction for a Vehicle Pose Estimator Utilizing Monocular Vision and Lane Marker Maps

Robert D. Leary, Sean Brennan
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T31A002, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9701
https://doi.org/10.1115/DSCC2016-9701
View Paper titled, Region of Attraction for a Vehicle Pose Estimator Utilizing Monocular Vision and Lane Marker Maps
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Topics: Vehicles, Algorithms, Engineering simulation, Errors, Roads, Simulation
Proceedings Papers

Characterizing Successful Robotic Insertion and Removal From a Dry Storage Cask Using Peg-Like Jamming and Wedging Analysis

Brendan P. McNelly, Robert Leary, Sean Brennan, Karl Reichard
Proc. ASME. PVP2016, Volume 6B: Materials and Fabrication, V06BT06A064, July 17–21, 2016
Publisher: American Society of Mechanical Engineers
Paper No: PVP2016-63634
https://doi.org/10.1115/PVP2016-63634
View Paper titled, Characterizing Successful Robotic Insertion and Removal From a Dry Storage Cask Using Peg-Like Jamming and Wedging Analysis
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Topics: Robotics, Storage, Robots, Geometry, Friction, Inspection, Containers, Dimensions, Equilibrium (Physics), Errors
Proceedings Papers

MPC-Based Energy Management of a Parallel Hybrid Electric Vehicle Using Terrain Information

Mohamed Wahba, Sean Brennan
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, V001T10A005, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9950
https://doi.org/10.1115/DSCC2015-9950
View Paper titled, MPC-Based Energy Management of a Parallel Hybrid Electric Vehicle Using Terrain Information
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Topics: Energy management, Hybrid electric vehicles, Corporate average fuel economy, Fuel efficiency, Combustion, Control equipment, Engines, Machinery, Algorithms, Computer software
Proceedings Papers

Vehicle Rollover Prevention Using the Zero-Moment Point in an LQR Output Regulator

Paul Stankiewicz, Nicolas Ochoa Lleras, Robert Leary, Sean Brennan
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, V003T44A001, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9624
https://doi.org/10.1115/DSCC2015-9624
View Paper titled, Vehicle Rollover Prevention Using the Zero-Moment Point in an LQR Output Regulator
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Topics: Vehicles, Collisions (Physics), Wheels
Proceedings Papers

Maximizing Parameter Identifiability of an Equivalent-Circuit Battery Model Using Optimal Periodic Input Shaping

Michael J. Rothenberger, Joel Anstrom, Sean Brennan, Hosam K. Fathy
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T19A004, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6272
https://doi.org/10.1115/DSCC2014-6272
View Paper titled, Maximizing Parameter Identifiability of an Equivalent-Circuit Battery Model Using Optimal Periodic Input Shaping
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Topics: Batteries, Circuits, Optimization, Lithium-ion batteries, Parameter estimation, Shapes, Trajectories (Physics), Transportation systems, Vehicles
Proceedings Papers

Differential Diagnostics for Lithium Ion Battery Cells Connected in Series

Jariullah Safi, Joel Anstrom, Sean Brennan, Hosam K. Fathy
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T19A005, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6274
https://doi.org/10.1115/DSCC2014-6274
View Paper titled, Differential Diagnostics for Lithium Ion Battery Cells Connected in Series
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Topics: Lithium-ion batteries, Noise (Sound), Batteries, Simulation, String, Trajectories (Physics)
Proceedings Papers

Simulation, Design, and Verification of an Electrified Bicycle Energy Model

Matt Barnes, Sean Brennan
Proc. ASME. DSCC2012-MOVIC2012, Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control, 875-880, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8766
https://doi.org/10.1115/DSCC2012-MOVIC2012-8766
View Paper titled, Simulation, Design, and Verification of an Electrified Bicycle Energy Model
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Topics: Bicycles, Design, Simulation, Energy consumption, Aerodynamics, Construction, Engines, Motors, Tires, Vehicles
Journal Articles

Reduction in the Number of Gain-Scheduling Parameters Using Dimensional Transformation

Haftay Hailu, Sean Brennan
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. May 2008, 130(3): 034505.
https://doi.org/10.1115/1.2907396
Published Online: May 12, 2008
View Article titled, Reduction in the Number of Gain-Scheduling Parameters Using Dimensional Transformation
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Topics: Control equipment, Gain scheduling
Proceedings Papers

Simplifying Robust Control Designs of Parametric Uncertain Systems Using Dimensional Transformations

Haftay Hailu, Sean Brennan
Proc. ASME. IMECE2005, Dynamic Systems and Control, Parts A and B, 77-83, November 5–11, 2005
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2005-81885
https://doi.org/10.1115/IMECE2005-81885
View Paper titled, Simplifying Robust Control Designs of Parametric Uncertain Systems Using Dimensional Transformations
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Topics: Robust control, Uncertain systems, Uncertainty, Control equipment, Design
Proceedings Papers

A Comparative, Experimental Study of Model Suitability to Describe Vehicle Rollover Dynamics for Control Design

John T. Cameron, Sean Brennan
Proc. ASME. IMECE2005, Dynamic Systems and Control, Parts A and B, 405-414, November 5–11, 2005
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2005-80508
https://doi.org/10.1115/IMECE2005-80508
View Paper titled, A Comparative, Experimental Study of Model Suitability to Describe Vehicle Rollover Dynamics for Control Design
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Topics: Design, Dynamics (Mechanics), Vehicles, Control equipment, Parameter estimation, Testing
Proceedings Papers

The Vehicle Autopilot: Simultaneous Robust Control Through Parametric Adaptation

Haftay Hailu, Sean Brennan
Proc. ASME. IMECE2006, Dynamic Systems and Control, Parts A and B, 137-144, November 5–10, 2006
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2006-15302
https://doi.org/10.1115/IMECE2006-15302
View Paper titled, The Vehicle Autopilot: Simultaneous Robust Control Through Parametric Adaptation
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Topics: Autopilots, Robust control, Vehicles, Design, Control equipment, Highways, Rotational inertia, Simulation