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Proceedings Papers

Upper Body Joint Angle Calculation and Analysis Using Multiple Inertial Measurement Units

Aaron S. Freedkin, Ji-Chul Ryu, Jaejin Hwang
Proc. ASME. IMECE2023, Volume 5: Biomedical and Biotechnology, V005T06A067, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-116592
https://doi.org/10.1115/IMECE2023-116592
View Paper titled, Upper Body Joint Angle Calculation and Analysis Using Multiple Inertial Measurement Units
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Topics: Filters, Kalman filters, Measurement units and standards, Sensors, Algorithms, Errors, Musculoskeletal system
Journal Articles

Dynamic Modeling of the Ball-on-Flexible Beam Using Euler–Lagrangian Formulation

Du-Soon Choi, Seong Youb Chung, Ji-Chul Ryu
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. February 2024, 19(2): 021001.
Paper No: CND-23-1118
https://doi.org/10.1115/1.4064199
Published Online: December 20, 2023
View Article titled, Dynamic Modeling of the Ball-on-Flexible Beam Using Euler–Lagrangian Formulation
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Topics: Deflection, Dynamic modeling, Dynamic models, Finite element analysis, Manipulators, Rods, Euler-Bernoulli beam theory, Displacement, Dynamics (Mechanics), Deformation
Proceedings Papers

A New Transverse Electromagnetic Microactuator Using the Radial Magnetic Field Guided by Symmetric Twin Magnets

Ji-Chul Ryu, Tae Goo Kang, Young-Ho Cho
Proc. ASME. IMECE99, Micro-Electro-Mechanical Systems (MEMS), 105-109, November 14–19, 1999
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1999-0253
https://doi.org/10.1115/IMECE1999-0253
View Paper titled, A New Transverse Electromagnetic Microactuator Using the Radial Magnetic Field Guided by Symmetric Twin Magnets
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Topics: Magnetic fields, Magnets, Microactuators, Diaphragms (Mechanical devices), Diaphragms (Structural), Copper, Q-factor, Resonance, Silicon
Journal Articles

Throwing, Catching, and Balancing of a Disk With a Disk-Shaped End Effector on a Two-Link Manipulator

Sandeep R. Erumalla, Sujithkumar Pasupuleti, Ji-Chul Ryu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2018, 10(5): 054501.
Paper No: JMR-18-1037
https://doi.org/10.1115/1.4040630
Published Online: July 18, 2018
View Article titled, Throwing, Catching, and Balancing of a Disk With a Disk-Shaped End Effector on a Two-Link Manipulator
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Topics: Disks, End effectors, Manipulators
Journal Articles

An Advanced Patient Lift and Transfer Device for the Home

Roger Bostelman, Ji-Chul Ryu, Tommy Chang, Joshua Johnson, Sunil K. Agrawal
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research Papers
J. Med. Devices. March 2010, 4(1): 011004.
https://doi.org/10.1115/1.4001255
Published Online: March 26, 2010
View Article titled, An Advanced Patient Lift and Transfer Device for the Home
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Topics: Control equipment, Design, Dynamic stability, Feedback, Mechanical admittance, Safety, Simulation, Simulation results, Stability, Static stability
Journal Articles

Differentially Flat Designs of Underactuated Mobile Manipulators

Ji-Chul Ryu, Vivek Sangwan, Sunil K. Agrawal
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. March 2010, 132(2): 024502.
https://doi.org/10.1115/1.4000815
Published Online: February 2, 2010
View Article titled, Differentially Flat Designs of Underactuated Mobile Manipulators
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Topics: Design, Manipulators, Dynamic models, Torsion, Control equipment, Inertia (Mechanics)
Proceedings Papers

Kinematic Control of Nonholonomic Wheeled Mobile Manipulator: A Differential Flatness Approach

Chin Pei Tang, Patrick T. Miller, Venkat N. Krovi, Ji-Chul Ryu, Sunil K. Agrawal
Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 1117-1124, October 20–22, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2008-2253
https://doi.org/10.1115/DSCC2008-2253
View Paper titled, Kinematic Control of Nonholonomic Wheeled Mobile Manipulator: A Differential Flatness Approach
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Topics: Kinematics, Manipulators, Path planning, Curve fitting, Design, Feedback, Hardware, Linear systems, Pole placement, Polynomials
Proceedings Papers

Differential Flatness-Based Robust Control of a Two-Wheeled Mobile Robot in the Presence of Slip

Ji-Chul Ryu, Sunil K. Agrawal
Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 915-921, October 20–22, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2008-2228
https://doi.org/10.1115/DSCC2008-2228
View Paper titled, Differential Flatness-Based Robust Control of a Two-Wheeled Mobile Robot in the Presence of Slip
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Topics: Mobile robots, Robust control, Control equipment, Kinematics, Dynamic models, Simulation, Simulation results, Trajectories (Physics)
Proceedings Papers

Differentially Flat Designs of Mobile Vehicles With Under-Actuated Manipulator Arms

Ji-Chul Ryu, Vivek Sangwan, Sunil K. Agrawal
Proc. ASME. IMECE2007, Volume 9: Mechanical Systems and Control, Parts A, B, and C, 1439-1445, November 11–15, 2007
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2007-43526
https://doi.org/10.1115/IMECE2007-43526
View Paper titled, Differentially Flat Designs of Mobile Vehicles With Under-Actuated Manipulator Arms
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Topics: Manipulators, Vehicles, Design, Actuators, Control equipment, Dynamics (Mechanics), Feedback, Inertia (Mechanics), Springs, System dynamics
Proceedings Papers

HLPR Chair: A Novel Indoor Mobility-Assist and Lift System

Roger Bostelman, James Albus, Tommy Chang, Tsai Hong, Sunil K. Agrawal, Ji-Chul Ryu
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 663-670, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35295
https://doi.org/10.1115/DETC2007-35295
View Paper titled, HLPR Chair: A Novel Indoor Mobility-Assist and Lift System
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Topics: Mechanical admittance, Design, National Institute of Standards and Technology, Algorithms, Kinematics, Toilets, Trajectories (Physics), Wheelchairs, Wounds
Proceedings Papers

Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness

Ji-Chul Ryu, Sunil K. Agrawal, Jaume Franch
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 325-332, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35288
https://doi.org/10.1115/DETC2007-35288
View Paper titled, Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness
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Topics: Path planning, Control equipment, Dynamic models, Feedback, Simulation results, Stability, Tracking control, Trajectories (Physics)
Proceedings Papers

Dynamics and Control of a Helicopter Carrying a Payload Using a Cable-Suspended Robot

So-Ryeok Oh, Ji-Chul Ryu, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2005, Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B, 651-660, September 24–28, 2005
Publisher: American Society of Mechanical Engineers
Paper No: DETC2005-85131
https://doi.org/10.1115/DETC2005-85131
View Paper titled, Dynamics and Control of a Helicopter Carrying a Payload Using a Cable-Suspended Robot
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Topics: Cables, Dynamics (Mechanics), Robots, Control equipment, Simulation results
Proceedings Papers

Design of Dissipative and Stable Assist Robots

Sunil K. Agrawal, Ji-Chul Ryu
Proc. ASME. IDETC-CIE2006, Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B, 583-589, September 10–13, 2006
Publisher: American Society of Mechanical Engineers
Paper No: DETC2006-99734
https://doi.org/10.1115/DETC2006-99734
View Paper titled, Design of Dissipative and Stable Assist Robots
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Topics: Design, Robots, Actuators, Equations of motion, Inertia (Mechanics), Manipulators, Simulation, Stability
Journal Articles

Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness

Ji-Chul Ryu, Sunil K. Agrawal, Ph.D., Jaume Franch, Ph.D.
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research Papers
J. Comput. Nonlinear Dynam. July 2008, 3(3): 031003.
https://doi.org/10.1115/1.2908178
Published Online: April 30, 2008
View Article titled, Motion Planning and Control of a Tractor With a Steerable Trailer Using Differential Flatness
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Topics: Control equipment, Dynamic models, Feedback, Path planning, Simulation results, Trajectories (Physics), Stability, Wheels, Mobile robots
Journal Articles

Control of a Passive Mobility Assist Robot

Ji-Chul Ryu, Kaustubh Pathak, Ph.D., Sunil K. Agrawal, Ph.D.
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research Papers
J. Med. Devices. March 2008, 2(1): 011002.
https://doi.org/10.1115/1.2889056
Published Online: March 7, 2008
View Article titled, Control of a Passive Mobility Assist Robot
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Topics: Robots, Control algorithms, Wheels, Mobile robots, Mechanical admittance
Proceedings Papers

Control of a Passive Mobility Assistive Robot

Ji-Chul Ryu, Kaustubh Pathak, Sunil K. Agarwal
Proc. ASME. IMECE2006, Dynamic Systems and Control, Parts A and B, 1335-1344, November 5–10, 2006
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2006-14701
https://doi.org/10.1115/IMECE2006-14701
View Paper titled, Control of a Passive Mobility Assistive Robot
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Topics: Mechanical admittance, Robots, Mobile robots, Wheels, Computer simulation, Control algorithms, Control equipment, Dampers, Dynamic models, Safety
Journal Articles

Design of Dissipative and Stable Assist Robots

Sunil K. Agrawal, Ph.D., Ji-Chul Ryu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 2007, 129(12): 1251–1255.
https://doi.org/10.1115/1.2779891
Published Online: December 14, 2006
View Article titled, Design of Dissipative and Stable Assist Robots
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Topics: Control equipment, Design, Robots, Torque, Manipulators, Actuators, Inertia (Mechanics), Stability, Equations of motion
Journal Articles

Dynamics and Control of a Helicopter Carrying a Payload Using a Cable-Suspended Robot

So-Ryeok Oh, Ji-Chul Ryu, Sunil K. Agrawal, Ph.D.
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2006, 128(5): 1113–1121.
https://doi.org/10.1115/1.2218882
Published Online: December 2, 2005
View Article titled, Dynamics and Control of a Helicopter Carrying a Payload Using a Cable-Suspended Robot
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Topics: Cables, Control equipment, Design, Dynamics (Mechanics), Robots, Kinematics