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Proceedings Papers

Gaze-Based Augmented Reality Interfaces for Micro- and Macro-Scale Tasks

Christina Petlowany, Mitch Pryor
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A030, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116758
https://doi.org/10.1115/DETC2023-116758
View Paper titled, Gaze-Based Augmented Reality Interfaces for Micro- and Macro-Scale Tasks
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Topics: Augmented reality, Human-robot interaction
Journal Articles

Virtual Fixture Generation for Task Planning With Complex Geometries

Andrew Sharp, Mitch Pryor
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Research Papers
J. Comput. Inf. Sci. Eng. December 2021, 21(6): 061001.
Paper No: JCISE-20-1080
https://doi.org/10.1115/1.4049993
Published Online: May 13, 2021
View Article titled, Virtual Fixture Generation for Task Planning With Complex Geometries
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Topics: Algorithms, Interpolation, Manipulators, Pipelines, Resolution (Optics), Robotics, Robots, Sensors, Testing, Visualization
Journal Articles

Multiparameter Real-World System Identification Using Iterative Residual Tuning

Adam Allevato, Mitch Pryor, Andrea L. Thomaz
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031021.
Paper No: JMR-20-1442
https://doi.org/10.1115/1.4050679
Published Online: April 19, 2021
View Article titled, Multiparameter Real-World System Identification Using Iterative Residual Tuning
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Topics: Errors, Simulation, System identification, Thermography, Artificial neural networks, Dynamics (Mechanics), Optimization, Robots
Proceedings Papers

Manipulator Performance Criteria Based on Kinematic, Dynamic, and Compliance Models

Mitch Pryor, Matthew Van Doren, Delbert Tesar
Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 297-305, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DAC-8651
https://doi.org/10.1115/DETC99/DAC-8651
View Paper titled, Manipulator Performance Criteria Based on Kinematic, Dynamic, and Compliance Models
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Topics: Kinematics, Manipulators, Design, Optimization, Redundant manipulators, Computation, Computers, Control algorithms, Cycles, Trajectories (Physics)
Proceedings Papers

Multiparameter Real-World System Identification Using Iterative Residual Tuning

Adam Allevato, Mitch Pryor, Andrea L. Thomaz
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A058, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22734
https://doi.org/10.1115/DETC2020-22734
View Paper titled, Multiparameter Real-World System Identification Using Iterative Residual Tuning
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Topics: Artificial neural networks, Errors, Nonlinear systems, Optimization, Robots, Simulation, Thermography
Proceedings Papers

Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control

Vikram Ramanathan, Andy Zelenak, Mitch Pryor
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, V003T17A005, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9123
https://doi.org/10.1115/DSCC2019-9123
View Paper titled, Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control
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Topics: Control modeling, Kinematics, Rotation, Wheels, Control equipment, Braking, Chatter, Design, Engineering simulation, Feedback
Proceedings Papers

Completing Complex Contact Tasks Using Integrated Active and Passive Compliant Control Methodologies

Adam Pettinger, Mitch Pryor
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, V003T20A006, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9062
https://doi.org/10.1115/DSCC2019-9062
View Paper titled, Completing Complex Contact Tasks Using Integrated Active and Passive Compliant Control Methodologies
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Topics: Control equipment, Damping, Manipulators, Materials properties, Stiffness, Switches
Proceedings Papers

Data Driven Virtual Fixtures for Improved Shared Control

Andrew Sharp, Mitch Pryor
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A028, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86209
https://doi.org/10.1115/DETC2018-86209
View Paper titled, Data Driven Virtual Fixtures for Improved Shared Control
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Topics: Computer-aided design, Hardware, Inspection, Pipelines, Radiation (Physics), Radioactive wastes, Robotics, Shapes, Shared control
Proceedings Papers

Virtual Fixture Augmentation of Operator Selection of Non-Contact Material Reduction Task Paths

Andrew Sharp, Christina Petlowany, Mitch Pryor
Proc. ASME. ICONE26, Volume 9: Student Paper Competition, V009T16A083, July 22–26, 2018
Publisher: American Society of Mechanical Engineers
Paper No: ICONE26-82398
https://doi.org/10.1115/ICONE26-82398
View Paper titled, Virtual Fixture Augmentation of Operator Selection of Non-Contact Material Reduction Task Paths
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Topics: Laser cutting, Nuclear decommissioning, Radioactive wastes, Robotics, Robots, Trajectories (Physics), Waste reduction
Proceedings Papers

Control of Nonlinear Systems in Normal Form by Complementary Lyapunov Functions

Andy Zelenak, Benito Fernández, Mitch Pryor
Proc. ASME. IDETC-CIE2017, Volume 6: 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A014, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67805
https://doi.org/10.1115/DETC2017-67805
View Paper titled, Control of Nonlinear Systems in Normal Form by Complementary Lyapunov Functions
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Topics: Algorithms, Dynamic systems, Nonlinear systems
Proceedings Papers

A Lyapunov Proof of Stability for Parallel Controllers of SISO Systems

Andy Zelenak, Meredith Pitsch, Benito Fernández, Mitch Pryor
Proc. ASME. IDETC-CIE2017, Volume 6: 13th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A017, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68036
https://doi.org/10.1115/DETC2017-68036
View Paper titled, A Lyapunov Proof of Stability for Parallel Controllers of SISO Systems
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Topics: Control equipment, Stability, Dynamic systems
Proceedings Papers

The Advantages of Velocity Control for Reactive Robot Motion

Andy Zelenak, Clinton Peterson, Jack Thompson, Mitch Pryor
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, V003T43A003, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9713
https://doi.org/10.1115/DSCC2015-9713
View Paper titled, The Advantages of Velocity Control for Reactive Robot Motion
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Topics: Actuators, Collisions (Physics), Delays, Force control, Hardware, Manipulators, Path planning, Position control, Robot motion, Robustness
Proceedings Papers

Stabilization of Nonlinear Systems by Switched Lyapunov Function

Andy Zelenak, Mitch Pryor
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, V001T03A002, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9650
https://doi.org/10.1115/DSCC2015-9650
View Paper titled, Stabilization of Nonlinear Systems by Switched Lyapunov Function
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Topics: Computer software, Dynamic systems, Hardware, Motors, Nonlinear systems, Robotics
Proceedings Papers

An Extended Kalman Filter for Collision Detection During Manipulator Contact Tasks

Andy Zelenak, Mitch Pryor, Kyle Schroeder
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, V001T11A005, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6330
https://doi.org/10.1115/DSCC2014-6330
View Paper titled, An Extended Kalman Filter for Collision Detection During Manipulator Contact Tasks
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Topics: Collisions (Physics), Kalman filters, Manipulators, Robots, Torque, Dynamic models, Algorithms, Computer software, End effectors, Force feedback
Proceedings Papers

Drillstring Vibration Observation, Modeling and Prevention in the Oil and Gas Industry

Roman J. Shor, Mitch Pryor, Eric van Oort
Proc. ASME. DSCC2014, Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy, V003T37A004, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6147
https://doi.org/10.1115/DSCC2014-6147
View Paper titled, Drillstring Vibration Observation, Modeling and Prevention in the Oil and Gas Industry
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Topics: Drill strings, Modeling, Petroleum industry, Vibration, Drilling, Damage, Dynamics (Mechanics), Sensors, Stick-slip, Vibrational modes
Proceedings Papers

A Black Box Model for Estimating Joint Torque in an Industrial Serial Manipulator

Kyle A. Schroeder, Mitch Pryor, Troy Harden
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A062, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12407
https://doi.org/10.1115/DETC2013-12407
View Paper titled, A Black Box Model for Estimating Joint Torque in an Industrial Serial Manipulator
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Topics: Manipulators, Torque, Motors, Robots, Collisions (Physics), Feedback, Dynamics (Mechanics), Friction, Algorithms, Control algorithms
Journal Articles

An Empirical Approach to Performance Criteria for Manipulation

Mark Tisius, Mitch Pryor, Chetan Kapoor, Delbert Tesar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2009, 1(3): 031002.
https://doi.org/10.1115/1.3147194
Published Online: July 9, 2009
View Article titled, An Empirical Approach to Performance Criteria for Manipulation
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Topics: Decision making, Kinematics, Manipulators, Resolution (Optics), Potential energy, Simulation, Stress, Robotics, Gravity (Force), Inertia (Mechanics)