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Proceedings Papers

Mobility Prediction of Off-Road Ground Vehicles Using a Dynamic Ensemble of NARX Models

Yixuan Liu, Dakota Barthlow, Zissimos P. Mourelatos, David Gorsich, Amandeep Singh, Jice Zeng, Zhen Hu

Proc. ASME. IDETC-CIE2022, Volume 3B: 48th Design Automation Conference (DAC), V03BT03A004, August 14–17, 2022

Paper No: DETC2022-89928

DOI: https://doi.org/10.1115/DETC2022-89928

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Topics: Mechanical admittance, Roads, Vehicles, Automated guided vehicles, Metamodeling, Simulation, Autonomous vehicles, Design, Vehicle dynamics

Proceedings Papers

Boone’s Buddies: Design of a Prosthetic Rear Limb Set for Dogs With Severe Amputations

Scott Steinbrink, Julia Baumgarner, Noah Cardella, Samantha Moretti, Emily Schweitzer, Davide Piovesan

Proc. ASME. IDETC-CIE2022, Volume 6: 34th International Conference on Design Theory and Methodology (DTM), V006T06A048, August 14–17, 2022

Paper No: DETC2022-90778

DOI: https://doi.org/10.1115/DETC2022-90778

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Topics: Artificial limbs, Design, Biomedicine, Mechanical admittance, Mechanical engineering, Prostheses, Students, Teams, Wounds

Proceedings Papers

Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts

Rishi Malhan, Satyandra K. Gupta

Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A006, August 14–17, 2022

Paper No: DETC2022-90105

DOI: https://doi.org/10.1115/DETC2022-90105

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Topics: Manipulators, Sensors, Robotics, Uncertainty, Algorithms, Computation, Construction, Degrees of freedom, Geometry, Kinematics

Proceedings Papers

Travel Links Prediction in Shared Mobility Networks Using Graph Neural Network Models

Yinshuang Xiao, Faez Ahmed, Zhenghui Sha

Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A079, August 14–17, 2022

Paper No: DETC2022-90694

DOI: https://doi.org/10.1115/DETC2022-90694

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Topics: Artificial neural networks, Mechanical admittance, Neural network models

Proceedings Papers

Collision-Free Dynamic Window Approach for Moving Obstacles

Zhimin Xi

Proc. ASME. IDETC-CIE2022, Volume 3A: 48th Design Automation Conference (DAC), V03AT03A037, August 14–17, 2022

Paper No: DETC2022-89613

DOI: https://doi.org/10.1115/DETC2022-89613

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Topics: Collisions (Physics), Trajectories (Physics), Mechanical admittance, Navigation, Algorithms, Cycles, Design

Proceedings Papers

Extending and Bending Robotic Limbs Using Tape Springs for Mobility and Manipulation: Preliminary Investigations

Justin Quan, Dennis Hong

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A044, August 14–17, 2022

Paper No: DETC2022-89431

DOI: https://doi.org/10.1115/DETC2022-89431

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Topics: Mechanical admittance, Mobile robots, Robotics, Springs

Proceedings Papers

Self-Aligning Rotational Latching Mechanisms

Gabriel I. Fernandez, Samuel Gessow, Justin Quan, Dennis Hong

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A024, August 14–17, 2022

Paper No: DETC2022-89801

DOI: https://doi.org/10.1115/DETC2022-89801

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Topics: Blades, Containers, Control equipment, Design, End effectors, Errors, Logistics, Mechanical admittance, Optimization, Paperboard

Proceedings Papers

Design, Analysis, and Prototyping of a Novel Single Degree-of-Freedom Index Finger Exoskeleton Mechanism

Wenda Xu, Yujiong Liu, Pinhas Ben-Tzvi

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A047, August 14–17, 2022

Paper No: DETC2022-89625

DOI: https://doi.org/10.1115/DETC2022-89625

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Topics: Degrees of freedom, Design, Exoskeleton devices, Engineering prototypes, Grasping, Mechanical admittance, Optimization, Robotics, Sensitivity analysis, Wounds

Proceedings Papers

Modeling Large Deformable Terrain With Material Point Method for Off-Road Mobility Simulation

Guanchu Chen, Hiroki Yamashita, Hiroyuki Sugiyama, Yeefeng Ruan, Paramsothy Jayakumar, David Gorsich, Kenneth W. Leiter, Jaroslaw Knap, Xiaobo Yang

Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A013, August 14–17, 2022

Paper No: DETC2022-89632

DOI: https://doi.org/10.1115/DETC2022-89632

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Topics: Mechanical admittance, Modeling, Roads, Simulation, Deformation, Soil, Contact modeling, Finite element analysis, Granular materials, Particulate matter

Proceedings Papers

Multibody Model Simplification by Parameter Reduction

Javier Ros, Aitor Plaza, Jose D. Fuentes, Xabier Iriarte

Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A001, August 14–17, 2022

Paper No: DETC2022-90912

DOI: https://doi.org/10.1115/DETC2022-90912

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Topics: Dynamics (Mechanics), Engineering simulation, Errors, Mechanical admittance, Multibody systems, Parameter estimation, Simulation

Proceedings Papers

Memetic Optimizer for Structural Damage Identification Using Electromechanical Admittance

Yang Zhang, Kai Zhou, Jiong Tang

Proc. ASME. IDETC-CIE2022, Volume 10: 34th Conference on Mechanical Vibration and Sound (VIB), V010T10A023, August 14–17, 2022

Paper No: DETC2022-91039

DOI: https://doi.org/10.1115/DETC2022-91039

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Topics: Damage, Mechanical admittance, Algorithms, Excitation, Optimization, Pareto optimization, Particle swarm optimization, Particulate matter, Performance, Piezoelectric transducers

Proceedings Papers

Reliability-Based Mission Planning of Off-Road Autonomous Ground Vehicles Using an Outcrossing Approach

Chen Jiang, Yixuan Liu, Zhen Hu, Zissimos P. Mourelatos, David Gorsich, Yan Fu

Proc. ASME. IDETC-CIE2021, Volume 3B: 47th Design Automation Conference (DAC), V03BT03A007, August 17–19, 2021

Paper No: DETC2021-67887

DOI: https://doi.org/10.1115/DETC2021-67887

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Topics: Autonomous vehicles, Reliability, Roads, Mechanical admittance, Algorithms, Automated guided vehicles, Path planning, Uncertainty, Vehicles

Proceedings Papers

An Application of Graph Theory for the Detection of Degenerate Structures in Planetary Gear Trains

Essam L. Esmail, Anahed H. Juber

Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A025, August 17–19, 2021

Paper No: DETC2021-67479

DOI: https://doi.org/10.1115/DETC2021-67479

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Topics: Mechanical admittance, Planetary gears, Trains

Proceedings Papers

Multi-Keel Passive Prosthetic Foot Design Optimization Using the Lower Leg Trajectory Error Framework

Victor Prost, Heidi V. Peterson, Amos G. Winter, V

Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A039, August 17–19, 2021

Paper No: DETC2021-67673

DOI: https://doi.org/10.1115/DETC2021-67673

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Topics: Artificial limbs, Design, Errors, Keel, Optimization, Trajectories (Physics), Durability, Prostheses, Engineering prototypes, Mechanical admittance

Proceedings Papers

Enabling Artificial Intelligence Studies in Off-Road Mobility Through Physics-Based Simulation of Multi-Agent Scenarios

Aaron Young, Jay Taves, Asher Elmquist, Radu Serban, Dan Negrut, Simone Benatti, Alessandro Tasora

Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A022, August 17–19, 2021

Paper No: DETC2021-67070

DOI: https://doi.org/10.1115/DETC2021-67070

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Topics: Artificial intelligence, Mechanical admittance, Physics, Roads, Simulation, Sensors, Testing, Engines, Vehicles, American Petroleum Institute

Proceedings Papers

Using an SPH-Based Continuum Representation of Granular Terrain to Simulate the Rover Mobility

Wei Hu, Jason Zhou, Radu Serban, Dan Negrut

Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A028, August 17–19, 2021

Paper No: DETC2021-71289

DOI: https://doi.org/10.1115/DETC2021-71289

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Topics: Mechanical admittance, Wheels, Simulation, Dynamics (Mechanics), Granular materials, Particulate matter, Boundary-value problems, Geometry, Hydrodynamics, Robustness

Proceedings Papers

Prediction of Driver’s Center of Gravity Position on a Stand-Up Type PMV Considering Intentions

Chihiro Nakagawa, Kosuke Sato, Atsuhiko Shintani

Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A025, August 17–19, 2021

Paper No: DETC2021-69357

DOI: https://doi.org/10.1115/DETC2021-69357

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Topics: Center of mass, Mechanical admittance, Vehicles, Automobiles, Dynamics (Mechanics), Gases, Regression analysis, Transportation systems, Weight (Mass)

Proceedings Papers

POD-Based Model Order Reduction for Tire-Soil Interaction Simulations

Christopher C. Sullivan, Hiroki Yamashita, Hiroyuki Sugiyama

Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A026, August 17–19, 2021

Paper No: DETC2021-69652

DOI: https://doi.org/10.1115/DETC2021-69652

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Topics: Simulation, Soil, Tires, Mechanical admittance, Errors, Interpolation, Manifolds, Principal component analysis, Roads

Proceedings Papers

A Geometric Approach for Error Space Estimation of Planar Linkage

Jianzhong Ding, Chunjie Wang

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A047, August 17–19, 2021

Paper No: DETC2021-66869

DOI: https://doi.org/10.1115/DETC2021-66869

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Topics: Errors, Linkages, End effectors, Actuators, Evaluation methods, Geometry, Mechanical admittance, Modeling

Proceedings Papers

Multi-Material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method

Jiawei Tian, Xianfeng David Gu, Shikui Chen

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A014, August 17–19, 2021

Paper No: DETC2021-67821

DOI: https://doi.org/10.1115/DETC2021-67821

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Topics: Optimization, Robots, Topology, Actuators, Elastomers, Magnetic fields, Shapes, Kinematics, Adaptive structures, Bionics

NARROW

Mobility Prediction of Off-Road Ground Vehicles Using a Dynamic Ensemble of NARX Models

Boone’s Buddies: Design of a Prosthetic Rear Limb Set for Dogs With Severe Amputations

Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts

Travel Links Prediction in Shared Mobility Networks Using Graph Neural Network Models

Collision-Free Dynamic Window Approach for Moving Obstacles

Extending and Bending Robotic Limbs Using Tape Springs for Mobility and Manipulation: Preliminary Investigations

Self-Aligning Rotational Latching Mechanisms

Design, Analysis, and Prototyping of a Novel Single Degree-of-Freedom Index Finger Exoskeleton Mechanism

Modeling Large Deformable Terrain With Material Point Method for Off-Road Mobility Simulation

Multibody Model Simplification by Parameter Reduction

Memetic Optimizer for Structural Damage Identification Using Electromechanical Admittance

Reliability-Based Mission Planning of Off-Road Autonomous Ground Vehicles Using an Outcrossing Approach

An Application of Graph Theory for the Detection of Degenerate Structures in Planetary Gear Trains

Multi-Keel Passive Prosthetic Foot Design Optimization Using the Lower Leg Trajectory Error Framework

Enabling Artificial Intelligence Studies in Off-Road Mobility Through Physics-Based Simulation of Multi-Agent Scenarios

Using an SPH-Based Continuum Representation of Granular Terrain to Simulate the Rover Mobility

Prediction of Driver’s Center of Gravity Position on a Stand-Up Type PMV Considering Intentions

POD-Based Model Order Reduction for Tire-Soil Interaction Simulations

A Geometric Approach for Error Space Estimation of Planar Linkage

Multi-Material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method

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