Conference papers/presentations

@inproceedings{AbramovitchDY_2023_ACC,

title = {A Tutorial on Real-Time Computing Issues for Control Systems},

author = {D. Y. Abramovitch, S. Andersson, K. K. Leang, W. S. Nagel and S. Ruben},

year  = {2023},

date = {2023-06-02},

urldate = {2023-06-02},

booktitle = {American Control Conference, San Diego, CA, May 31-June 2},

abstract = {This paper presents a tutorial on the elements of computation in a real-time control system. Unlike conventional computation or even computation in digital signal processing systems, computation in a feedback loop must be sensitive to issues of latency and noise around the loop. This presents some fundamental requirements, limitations, and design constraints not seen in other computational applications. The logic of presenting such a tutorial is that while the computer technology changes at a rapid pace, the principles of how we match that technology to the constraints of a feedback loop remain consistent over the years. We will discuss the different computational chains in a feedback system, ways to conceptualize the effects of time delay and jitter on the system, and present a three-layer-model for programming real-time computations. The tutorial also presents some filter and state-space structures that are useful for real-time computation. It concludes with an overview of the different sample rate ranges currently used in some typical control problems and a short discussion of how business models affect our choices in real-time computation.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{OlsenNR_2022_MILCOM,

title = {Information-Based Mobile Sensor Network Localization and Tracking of an Uncooperative Target},

author = {N. R. Olsen, S. M. McKee, O. S. Haddadin, S. Lyon, J. Campbell, K. K. Leang},

doi = {10.1109/MILCOM55135.2022.10017826},

year  = {2022},

date = {2022-12-02},

urldate = {2022-12-02},

booktitle = {IEEE Military Communications Conference (MILCOM), November 28 - December 2, Rockville, MD, USA},

pages = {490-495},

abstract = {This paper focuses on the localization and tracking of a radio frequency (RF) emitter with unknown waveform (uncooperative target) using an information-based centralized network of mobile, collaborative sensors (agents). Each agent utilizes the measured waveform parameters such as time difference of arrival (TDOA), frequency difference of arrival (FDOA), or differential received signal strength (DRSS). The proposed algorithm leverages Bayesian estimation to handle non-Gaussian measurements and it employs information-theoretic motion planning to move sensors to areas of high information-gain to minimize measurement uncertainty. Mutual information is computed for pairs of sensor through a four-permutation with replacement process. The generated mutual information surfaces are combined and then used to plan the motion of each sensor in the network. Simulation results involving TDOA measurements are presented to illustrate the effectiveness of the algorithm, where it is shown that three agents are able to accurately track a target that moves at the same speed as the agents.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{NagelWS_2022_AMSM,

title = {Ionic Polymer-Metal Composite Sensors and Actuators for Wearable and Medical Devices},

author = {W. S. Nagel, J. A. Steiner, O. Fakharian, M. Aureli and K. K. Leang},

year  = {2022},

date = {2022-10-29},

urldate = {2022-10-29},

booktitle = {6th International Conference on Active Materials and Soft Mechatronics (AMSM 2022), October 26-29, 2022, Georgia Tech, Atlanta, Georgia, USA},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{NagelWS_2022_ACC,

title = {Discrete Input-Output Sliding-Mode Control with Range Compensation: Application in High-Speed Nanopositioning},

author = {William Nagel, Aleksandra Mitrovic, Garrett Clayton, Kam K. Leang

},

year  = {2022},

date = {2022-06-08},

urldate = {2022-06-08},

booktitle = {American Control Conference, June 8-11},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{NagelWS_2022_SPIE,

title = {Surface Roughness Effects on Ionic Polymer-Metal Composite (IPMC) Sensitivity for Compression Loads},

author = {W. S. Nagel, O. A. Hussein, O. Fakharian, M. Aureli, K. K.

Leang},

year  = {2022},

date = {2022-03-01},

urldate = {2022-03-01},

booktitle = {SPIE Smart Structures + Nondestructive Evaluation, Long Beach, CA, March 6-10},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{GoodellM_2020_DSCC,

title = {Autonomous Light Assessment Drone for Dark Skies Studies},

author = {M. N. Goodell, T.E. Truong, S. R. Marston, B. J. Smiley, E. R. Befus, A. Bingham, K. Allen, J. R. Bourne, Y. Wei, K. E. Magargal, V. Ganesan, D. L. Mendoza, A. C. Seth, S. A. Harwood, M. Bodson, T. Hermans and K. K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/GoodellMN_2020_DSCC.pdf},

year  = {2020},

date = {2020-10-17},

booktitle = {ASME Dynamic Systems and Control Conference (Virtual conference), October 4-7, 2020},

abstract = {The improper use of artificial light causing skyglow is detrimental to many types of wildlife and potentially causes irregular human sleeping patterns. Studies have been performed to analyze light pollution on a global scale. However, light pollution data on a local scale is not often available and the effects at local scale have rarely been studied. Herein, a new way of evaluating light pollution at local scale by deploying a custom-designed autonomous light assessment drone (ALAD) is described. The ALAD is designed and equipped with a sky quality meter (SQM) to measure skyglow and a low-cost illuminance sensor to measure light from artificial sources. Outdoor field tests are performed at a remote site in central Utah and the measured results are validated against data from lightpollutionmap.info. The SQM measurements are in agreement with the estimates from the light pollution map, and the initial results demonstrate feasibility of the ALAD for local-scale skyglow assessment.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{HistedR_2020_DSCC,

title = {Ionic Polymer Metal Composite Sensors with Engineered Interfaces (eIPMCs): compression sensing modeling and experiments},

author = {R. Histed, J. Ngo, O. A. Hussain, C. Lapins, K. K. Leang, Y. Liao, M. Aureli},

year  = {2020},

date = {2020-06-10},

journal = {ASME Dynamic Systems and Control Conference, Pittsburgh, Pennsylvania, October 4-7, 2020 (Forthcoming)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{MitrovicA_2020_IFAC,

title = {Multi-time Scale Control of Dual-Stage Nanopositioning Systems},

author = {A. Mitrovic, M. Milanovic, K. K. Leang and G. M. Clayton},

year  = {2020},

date = {2020-01-01},

booktitle = {21st World Congress of the International Federation of Automatic Control (Under review), Berlin, Germany, July 12-17,},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{BourneJR_2019_DSCC,

title = {Body-pose Bayesian estimation of a snow-avalanche victim: a method for first responders and/or aerial robots to quickly locate a buried victim},

author = {J. R. Bourne and K. K. Leang},

year  = {2019},

date = {2019-10-10},

urldate = {2019-10-10},

booktitle = {ASME Dynamic Systems and Control Conference (DSCC), Park City, Utah, October 8-11, 2019},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{PayneST_2019_DSCC,

title = {Assembly Planning using a Multi-Arm System for Polygonal Furniture},

author = {S. T. Payne, F. Garrison, S. Markham, T. Hermans and K. K. Leang},

year  = {2019},

date = {2019-10-10},

booktitle = {ASME Dynamic Systems and Control Conference (DSCC), Park City, Utah, October 8-11, 2019},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{SteinerJ_2019_DSCC_MEESo,

title = {Magneto-electroactive Endoluminal Soft Robots},

author = {J. Steiner, O. Hussain, L. Pham, J. J. Abbott and K. K. Leang},

year  = {2019},

date = {2019-04-16},

booktitle = {ASME Dynamic Systems and Control Conference (DSCC), Park City, Utah, October 8-11, 2019 (Accepted, forthcoming)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{HeX_2019_DSCC_plume,

title = {Gaussian-based Kernel for Multi-Agent Aerial Chemical-Plume Mapping},

author = {X. He, J. R. Bourne, J. A. Steiner and K. K. Leang},

year  = {2019},

date = {2019-04-16},

booktitle = {ASME Dynamic Systems and Control Conference (DSCC), Park City, Utah, October 8-11, 2019 (Accepted, forthcoming)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{HeX_2019_DSCC_IGE,

title = {A New Quasi-steady In-Ground Effect Model Rotorcraft Unmanned Aerial Vehicles},

author = {X. He and K. K. Leang},

year  = {2019},

date = {2019-04-16},

booktitle = {ASME Dynamic Systems and Control Conference (DSCC), Park City, Utah, October 8-11, 2019},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{SteinerJA_2019_DSCC_PSO,

title = {Chemical-source localization using a swarm of decentralized unmanned aerial vehicles for urban/suburban environments},

author = {J. A. Steiner, J. R. Bourne, X. He, D. Cropek and K. K. Leang},

year  = {2019},

date = {2019-04-10},

booktitle = {ASME Dynamic Systems and Control Conference (DSCC), Park City, Utah, October 8-11, 2019},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{NagelW_2019_ACC,

title = {Robust Sliding-Mode Control for Dual-Stage Nanopositioning Systems},

author = {W. S. Nagel and K. K. Leang},

year  = {2019},

date = {2019-01-31},

booktitle = {American Control Conference (Accepted, forthcoming), Invited session: Precision Mechatronics, Philadelphia, PA, July 10-12, 2019},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{AdibnazariI_2018_DSCC,

title = {Development of a 3-DOF tripedal stick-slip microrobotic mobile platform for unconstrained, omnidirectional sample positioning},

author = {I. Adibnazari, W. S. Nagel and K. K. Leang},

year  = {2018},

date = {2018-10-03},

booktitle = {ASME Dynamic Systems and Control Conference (DSCC), Atlanta, GA, October 1-3},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{PlaizierG_2018_ICRA,

title = {Design, Modeling, and Analysis of Inductive Resonant Coupling Wireless Power Transfer for Micro Aerial Vehicles (MAVs)},

author = {G. Plaizier, E. Andersen, B. Truong, X. He, S. Roundy and K. K. Leang},

year  = {2018},

date = {2018-02-05},

booktitle = {IEEE International Conference on Robotics and Automation (ICRA), Brisbane Convention & Exhibition Centre, Australia, May 21-25, 2018},

journal = {IEEE International Conference on Robotics and Automation (ICRA) (Under review), Brisbane Convention & Exhibition Centre, Australia, May 21-25, 2018},

pages = {6104-6109},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{Mitrovica_2017_DSCC,

title = {Spatial filter design for dual-stage systems},

author = {A. Mitrovic, K. K. Leang and G. M. Clayton},

year  = {2017},

date = {2017-05-16},

booktitle = {ASME Dynamic Systems and Control Conference (DSCC), Tysons Corner, Virginia, USA, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{GuoD_2017_DSCC,

title = {Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments},

author = {D. Guo and K. K. Leang},

year  = {2017},

date = {2017-04-24},

booktitle = {ASME Dynamic Systems and Control Conference (DSCC), Tysons Corner, Virginia, USA, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{BourneJR_2017b,

title = {Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor},

author = {J. R. Bourne and K. K. Leang},

year  = {2017},

date = {2017-04-21},

booktitle = {ASME Dynamic Systems and Control Conference (DSCC) Tyson Corner, Virginia, USA, October 11-13, 2017, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{HeX_2017ab,

title = {Modeling and Adaptive Nonlinear Disturbance Observer for Closed-Loop Control of In-Ground-Effects on Multi-rotor UAVs},

author = {X. He, M. Calaf and K. K. Leang},

year  = {2017},

date = {2017-04-08},

booktitle = {ASME Dynamic Systems and Control Conference (DSCC) Tyson Corner, Virginia, USA, October 11-13, 2017, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{CarricoJD_2017c,

title = {Fused Filament 3D Printing of Ionic Polymer-Metal Composites for Soft Robotics},

author = {K. K. Leang and J. D. Carrico},

year  = {2017},

date = {2017-03-22},

booktitle = {SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring, Portland, OR, March 26-29, 2017.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{GuoD_2017d,

title = {Spatial-Temporal Trajectory Redesign for Dual-Stage Nanopositioning Systems},

author = {D. Guo, A. Mitrovi, G. M. Clayton and K. K. Leang},

year  = {2017},

date = {2017-03-02},

booktitle = {Invited session on Design & Control of Micro/Nano Precision Mechatronic Systems, IEEE Int. Conf. on Advanced Intelligent Mechatronics, Munich, Germany, July 3-7, 2017},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{NagelW_2017c,

title = {Design of a Dual-Stage, Three-Axis Hybrid Parallel-Serial-Kinematic Nanopositioner with Mechanically Mitigated Cross-Coupling},

author = {W. Nagel and K. K. Leang},

year  = {2017},

date = {2017-03-02},

booktitle = {Invited session on Design & Control of Micro/Nano Precision Mechatronic Systems, IEEE Int. Conf. on Advanced Intelligent Mechatronics, Munich, Germany, July 3-7, 2017},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{HeX_2017a,

title = {Repetitive Control Design and Implementation for Periodic Motion Tracking in Aerial Vehicles},

author = {X. He, D. Guo and K. K. Leang},

year  = {2017},

date = {2017-03-01},

booktitle = {American Control Conference May 24-26, Seattle, WA, 2017},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{CarricoJD_2017b,

title = {3D-Printed Ionic Polymer-Metal Composite Soft Crawling Robot},

author = {J. D. Carrico, K. J. Kim and K. K. Leang,},

year  = {2017},

date = {2017-03-01},

booktitle = {IEEE International Conference on Robotics and Automation (ICRA), Sands Expo and Convention Centre, Marina Bay Sands in Singapore, May 29 - June 3, 2017},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{GuoD_2017b,

title = {A Unified Leader-Follower Scheme for Mobile Robots with Uncalibrated On-board Camera},

author = {D. Guo, H. Wang, W. Chen, M. Liu, Z. Xia, K. K. Leang},

year  = {2017},

date = {2017-02-24},

booktitle = {IEEE International Conference on Robotics and Automation (ICRA), Sands Expo and Convention Centre, Marina Bay Sands in Singapore, May 29 - June 3, pp. 3792 - 3797},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{DuoD_2016_IROS,

title = {Adaptive Repetitive Visual-Servo Control of a Low-Flying Unmanned Aerial Vehicle with an Uncalibrated High-Flying Camera},

author = {D. Guo, W. Yim, and K. K. Leang},

year  = {2016},

date = {2016-11-01},

booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 9-14, 2016, Daejeon, Korea},

pages = {4258 - 4265},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{BareissD_2016c,

title = {Study of Improved Pilot Performance using Automatic Collision Avoidance for Tele-operated Unmanned Aerial Vehicles},

author = {Daman Bareiss, Jur van den Berg, Jake Abbott, Kam K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/BareissD_2016SSRR.pdf},

year  = {2016},

date = {2016-08-23},

booktitle = {2016 IEEE International Symposium on Safety, Security and Rescue Robotics, October 23-27, 2016, EPFL, Lausanne, Switzerland},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{kimkj_2016b,

title = {3D Printing of Smart Materials},

author = {K. J. Kim, S. Trabia, Z. Olson, T. Stalbaum and K. K. Leang},

year  = {2016},

date = {2016-07-07},

booktitle = {International Workshop on Active Materials and Soft Mechatronics, KAIST, Daejeon, South Korea, July 7-8, 2016},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{kimkj_2016a,

title = {IPMC Manufacturing Techniques: Recent Developments},

author = {K. J. Kim and K. K. Leang},

year  = {2016},

date = {2016-07-07},

booktitle = {International Workshop on Active Materials and Soft Mechatronics, KAIST, Daejeon, South Korea, July 7-8, 2016},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{AshleyTT_2016,

title = {High-speed AFM through non-raster scanning and high speed actuation},

author = {T. T. Ashley, T. Huang, S. B. Andersson, W. Nagel and K. K. Leang},

year  = {2016},

date = {2016-03-02},

booktitle = {Biophysical Society Annual Meeting, Los Angeles, CA, February 27 - March 2. Poster presentation.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{NagelWS_2016a,

title = {Master-slave control with hysteresis inversion for dual-stage nanopositioning systems},

author = {W. S. Nagel, G. M. Clayton and K. K. Leang},

year  = {2016},

date = {2016-01-28},

booktitle = {American Control Conference (Accepted), Boston MA, July 6-8, 2016},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{PrattCJ_2016a,

title = {Dynamic underactuated flying-walking (DUCK) robot},

author = {C. J. Pratt and K. K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/PrattCJ_2016a.pdf},

year  = {2016},

date = {2016-01-15},

booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden},

pages = {3267 - 3274},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{CarricoJD_2015bb,

title = {Characterization of 3D-printed IPMC Actuators},

author = {J. D. Carrico, J. Erickson and K. K. Leang},

doi = {doi:10.1117/12.2219649},

year  = {2016},

date = {2016-01-07},

booktitle = {SPIE Smart Structures/NDE, Las Vegas, Nevada, March 20-24, 2016},

volume = {9798},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{DudleyCJ_2015,

title = {A  Micro Spherical Rolling and Flying Robot},

author = {Christopher J. Dudley, Alex Woods and Kam K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/DudleyCJ_2015.pdf},

year  = {2015},

date = {2015-07-31},

booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 28 - October 02},

address = {Hamburg, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{BareissDa_2015,

title = {Stochastic automatic collision avoidance for  tele-operated unmanned aerial vehicles},

author = {Daman Bareiss, Jur van den Berg and Kam K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/BareissD_2015a.pdf},

year  = {2015},

date = {2015-07-31},

booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 28 - October 02},

pages = {4818-4825},

address = {Hamburg, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{CarricoJD_2015b,

title = {Fused Filament Additive Manufacturing of Ionic Polymer-Metal Composite Soft Active 3D Structures},

author = {J. D. Carrico, N. W. Traeden, M. Aureli and K. K. Leang,},

url = {http://www.kam.k.leang.com/academics/pubs/Leang_SMASIS2015-8895(final).pdf},

year  = {2015},

date = {2015-07-20},

booktitle = {ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS),  September 21-23, 2015 in Colorado Springs, Colorado.},

address = {Colorado Springs, Colorado},

note = {Jim Carrico and Nick Traeden were winners of the 2015 SMASIS Conf. Best Student Paper Award!},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{SahuB_2015,

title = {Rapid fabrication of modular nanoscale tool-tips for nano and micro manufacturing},

author = {B. Sahu, E. McCumiskey, K. K. Leang, C. R. Taylor,},

year  = {2015},

date = {2015-01-08},

booktitle = {4M/ICOMM 2015 Conference (Accepted)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{EielsenAA_2014a,

title = {Analog robust repetitive control for nanopositioning},

author = { A. A. Eielsen and J. T. Gravdahl and K. K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/EielsenAA_2014.pdf},

year  = {2014},

date = {2014-01-01},

booktitle = {19th World Congress of the International Federation of Automatic Control, 24-29 August 2014, Cape Town, South Africa (Forthcoming)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{JohnsonNL_2013a,

title = {Augmented proportional-derivative control of a micro quadcopter},

author = { N. L. Johnson and K. K. Leang},

year  = {2013},

date = {2013-01-01},

booktitle = {ASME Dynamic Systems and Controls Conference},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{WalkerW_2013,

title = {Unmanned aircraft systems in environmental science: cheaper, better, faster and more accessible large scale data collection to improve understanding of natural resources},

author = { M. Walker and K. K. Leang and S. Tyler and S. Lether and P. Weisberg},

year  = {2013},

date = {2013-01-01},

booktitle = {CABNR/NAES/UNCE Main Station - Field Day},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{FlemingAJ_2013b,

title = {An experimental comparison of PI, inversion, and damping control for high performance nanopositioning},

author = { A. J. Fleming and K. K. Leang},

url = {http://www.precisionmechatronicslab.com/wp-content/publications/C13b.pdf},

year  = {2013},

date = {2013-01-01},

booktitle = {American Control Conference},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{PalmreV_2013b,

title = {The effects of electrode surface morphology on the actuation performance of IPMC},

author = { V. Palmre and D. Pugal and K. J. Kim and K. K. Leang},

year  = {2013},

date = {2013-01-01},

booktitle = {SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{TsagawaM_2013a,

title = {Sectored tube-shaped ionic polymer-metal composite actuator with integrated sensor},

author = { M. Tsugawa and V. Palmre and K. J. Kim and K. K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/TsugawaMA_2013a.pdf},

year  = {2013},

date = {2013-01-01},

booktitle = {ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, September 19-21},

address = {Snowbird, Utah, USA},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{LeangKK_2013a,

title = {Precision Control of Ionic Polymer-Metal Composite Actuators},

author = { K. K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/LeangKK_2013_BAMN.pdf},

year  = {2013},

date = {2013-01-01},

booktitle = {7th World Congress on Biomimetics, Artificial Muscles and Nano-Bio (BAMN2013)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{EielsenAA_2012a,

title = {Robust damping PI repetitive control for nanopositioning},

author = { A. A. Eielsen and J. T. Gravdahl and K. K. Leang},

year  = {2012},

date = {2012-06-27},

booktitle = {American Control Conference},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{ClaytonGM_2012a,

title = {Spatial-temporal control of dual-stage nanpositioners},

author = { G. M. Clayton and K. K. Leang},

year  = {2012},

date = {2012-01-01},

booktitle = {IEEE Control and Decision Conference},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{FlemingAJ_2012a,

title = {Overcoming the speed limitations of constant-force mode AFM},

author = { A. J. Fleming and K. K. Leang},

year  = {2012},

date = {2012-01-01},

booktitle = {Seeing at the Nanoscale 2012},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{KentonBJ_2012b,

title = {Flexure design using metal matrix composite materials: nanopositioning example},

author = { B. J. Kenton and K. K. Leang},

year  = {2012},

date = {2012-01-01},

booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{PugalD_2012b,

title = {Physics based electromechanical model of IPMC considering various underlying currents},

author = { D. Pugal and K. J. Kim and V. Palmre and K. K. Leang and A. Aablo},

year  = {2012},

date = {2012-01-01},

booktitle = {SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{LeangKK_2012f,

title = {The NSF GK-12 E-Fellowship Program: Toward Energy-Aware STEM Leaders for the 21st Century},

author = { K. K. Leang and M. Robinson and E. Wang and J. LaCombe and K. J. Kim},

year  = {2012},

date = {2012-01-01},

booktitle = {2012 SMTI National Conference},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{KimKJ_2011a,

title = {A twistable artificial muscle for underwater robotic applications},

author = { K. J. Kim and D. Pugal and K. K. Leang},

year  = {2011},

date = {2011-01-01},

booktitle = {US-Korea Summit on Science and Engineering (UKC)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{PalmreV_2011,

title = {Electrically responsive stiffness change of IPMCs},

author = { V. Palmre and K. J. Kim and R. Tiwari and K. K. Leang},

year  = {2011},

date = {2011-01-01},

booktitle = {ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{ShanY_2011a,

title = {Repetitive control design for piezoelectric actuators},

author = { Y. Shan and K. K. Leang},

year  = {2011},

date = {2011-01-01},

booktitle = {ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{SahuB_2011,

title = {Design and fabrication of an automatic nano tool-tip exchanger for scanning probe microscopy},

author = { B. Sahu and C. R. Taylor and R. O. Riddle and K. K. Leang},

year  = {2011},

date = {2011-01-01},

booktitle = {ASME 2011 International Manufacturing Science and Engineering Conference (MSEC2011)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{PugalD_2011,

title = {Modeling and designing IPMCs for twisting motion: electromechanical and mechanoelectrical transduction},

author = { D. Pugal and K. J. Kim and K. K. Leang and V. Palmre},

year  = {2011},

date = {2011-01-01},

booktitle = {SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{FlemingM_2011a,

title = {Mitigating IPMC back-relaxation effect using multi-input control},

author = { M. J. Fleming and K. J. Kim and K. K. Leang},

year  = {2011},

date = {2011-01-01},

booktitle = {ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{HubbardJ_2011a,

title = {Characterization of sectored-electrode IPMC-based propulsors for underwater locomotion},

author = { J. Hubbard and M. Fleming and K. K. Leang and V. Palmre and D. Pugal and K. J. Kim},

year  = {2011},

date = {2011-01-01},

booktitle = {ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Scottsdale, Arizona, September 18–21, 2011},

pages = {171--180},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{PugalD_2010b,

title = {IPMC: recent progress in modeling, manufacturing, and new applications},

author = { D. Pugal and S. J. Kim and K. J. Kim and K. K. Leang},

year  = {2010},

date = {2010-01-01},

booktitle = {SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{RiddleRO_2010,

title = {Sectored-electrode IPMC actuator for bending and twisting motion},

author = { R. O. Riddle and Y. Jung and S.-M. Kim and S. Song and B. Stolpman and K. J. Kim and K. K. Leang},

year  = {2010},

date = {2010-01-01},

booktitle = {SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring},

volume = {7642},

pages = {764221},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{FlemingAJ_2010a,

title = {Ultra-fast dual-stage vertical positioning for high performance SPMs},

author = { A. J. Fleming and B. J. Kenton and K. K. Leang},

year  = {2010},

date = {2010-01-01},

booktitle = {American Control Conference, Special Invited Session on Advances in Actuation for Nanopositioning and Scanning Probe Systems},

pages = {4975 -- 4980},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{SahuB_2010b,

title = {A thermally-activated modular SPM probe for mulitfunctional applications},

author = { B. Sahu and C. R. Taylor and R. Riddle and K. K. Leang},

year  = {2010},

date = {2010-01-01},

booktitle = {ASME International Manufacturing Science and Engineering Conference},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{SongS_2010a,

title = {Tracking control of oscillatory motion in IPMC actuators for underwater applications},

author = { S. Song and Y. Shan and K. J. Kim and K. K. Leang},

year  = {2010},

date = {2010-01-01},

booktitle = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Invited session on EAP},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{ShanY_2010a,

title = {Dual-stage repetitive control for high-speed nanopositioning},

author = { Y. Shan and K. K. Leang},

year  = {2010},

date = {2010-01-01},

booktitle = {IFAC Symposium on Mechatronic Systems and ASME Dynamic Systems and Control Conference (DSCC), Invited session on Micro- and Nanoscale Dynamics and Control},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{KentonBJ_2010a,

title = {Design, characterization, and control of a monolithic three-axis high-bandwidth nanopositioning stage},

author = { B. J. Kenton and K. K. Leang},

year  = {2010},

date = {2010-01-01},

booktitle = {American Control Conference, Special Invited Session on Advances in Actuation for Nanopositioning and Scanning Probe Systems},

pages = {4949 -- 4956},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{KimSJ_2010,

title = {Development of dimensionally scalable IPMC materials},

author = { S. J. Kim and Y. Jung and K. K. Leang and K. J. Kim},

year  = {2010},

date = {2010-01-01},

booktitle = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Invited session on EAP},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{FlemingAJ_2010f,

title = {Measurement and control for high-speed sub-atomic positioning in scanning probe microscopes},

author = { A. J. Fleming and K. K. Leang},

year  = {2010},

date = {2010-01-01},

booktitle = {IEEE International Conference on Robotics and Automation (ICRA2010), Invited workshop, May 3-8},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{FlemingAJ_2010c,

title = {High performance nanopositioning with integrated strain and force feedback},

author = { A. J. Fleming and K. K. Leang},

year  = {2010},

date = {2010-01-01},

booktitle = {IFAC Symposium on Mechatronic Systems and ASME Dynamic Systems and Control Conference (DSCC), Invited Session on Micro- and Nanoscale Dynamics and Control},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{LeangKK_2009e,

title = {A novel multifunctional SPM probe with modular quick-change tips for fully automated probe-based nanofabrication},

author = { K. K. Leang and C. R. Taylor},

year  = {2009},

date = {2009-01-01},

booktitle = {Proceedings of NSF Engineering Research and Innovation Conference},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{ShanY_2009a,

title = {Repetitive control with Prandtl-Ishlinskii hysteresis inverse for piezo-based nanopositioning},

author = { Y. Shan and K. K. Leang},

year  = {2009},

date = {2009-01-01},

booktitle = {American Control Conference, Invited Session on Advances in Control of Nanopositioning and SPM Systems},

pages = {301 - 306},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{LeangKK_2008a,

title = {Design and fabrication of a multifunctional scanning probe with integrated tip changer for fully automated nanofabrication},

author = { K. K. Leang and C. R. Taylor},

year  = {2008},

date = {2008-01-01},

booktitle = {23rd ASPE Anual Meeting and 12th ICPE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{LeangKK_2008c,

title = {High-speed serial-kinematic AFM scanner: design and drive considerations},

author = { K. K. Leang and A. J. Fleming},

year  = {2008},

date = {2008-01-01},

booktitle = {American Control Conference, Invited Session on Modeling and Control of SPM},

pages = {3188 -- 3193},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{XieJ_2008,

title = {Energy harvesting via pyroelectric effect using PZT},

author = { J. Xie and P. P. Mane and C. W. Green and K. M. Mossi and K. K. Leang},

year  = {2008},

date = {2008-01-01},

booktitle = {ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{FlemingAJ_2008,

title = {Evaluation of charge drives for scanning probe microscope positioning stages},

author = { A. J. Fleming and K. K. Leang},

year  = {2008},

date = {2008-01-01},

booktitle = {American Control Conference, Invited session on Advanced Mechanism Design, Modeling, and Control of SPMs},

pages = {2028 -- 2033},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{AridoganU_2008,

title = {Discrete-time phase compensated repetitive control for piezoactuators in scanning probe microscopes},

author = { U. Aridogan and Y. Shan and K. K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/AridoganU_2008.pdf},

year  = {2008},

date = {2008-01-01},

booktitle = {ASME Dynamic Systems and Control Conference, Invited Session on Dynamics Modeling and Control of Smart Actuators},

volume = {DSCC2008-2283},

pages = {1325 -- 1332},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{AshleySC_2008,

title = {Hysteresis inverse iterative learning control of piezoactuators in AFM},

author = { S. C. Ashley and U. Aridogan and R. O. Riddle and K. K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/AshleySC_2008.pdf},

year  = {2008},

date = {2008-01-01},

booktitle = {17th IFAC World Congress, Invited Session on Dynamics and Control of Micro- and Nanoscale Systems},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{ShanY_2008,

title = {Application of Feedforward Dynamics Compensation in Ionic-Polymer Metal Composite Actuators},

author = { Y. Shan and K. K. Leang},

year  = {2008},

date = {2008-01-01},

booktitle = {SPIE Smart Structures and Materials and NDE for Health Monitoring and Diagnostics Conference},

volume = {6927},

pages = {69270F-1 -- 69270F-12},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{WuY_2008d,

title = {Modeling and control of smart actuators: integrating nano/bio technology into the ME curriculum},

author = { Y. Wu and S. Culter and Q. Zou and G. Pannozzo and K. K. Leang and S. Devasia},

year  = {2008},

date = {2008-01-01},

booktitle = {ASEE Annual Conference and Exposition},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{ShanY_2007,

title = {A biaxial shape memory alloy actuated cell/tissue stretching system},

author = { Y. Shan and J. Dodson and S. Abraham and J. E. Speich and R. Rao and K. K. Leang},

year  = {2007},

date = {2007-01-01},

booktitle = {ASME International Mechanical Engineering Congress and Exposition (IMECE)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{LeangKK_2007b,

title = {A collaborative approach to teach modeling and control of smart actuators in the mechanical engineering curriculum},

author = { K. K. Leang and G. Pannozzo and Q. Zou and S. Devasia},

year  = {2007},

date = {2007-01-01},

booktitle = {ASME International Mechanical Engineering Congress and Exposition},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{TchoupoG_2007a,

title = {Hysteresis compensation for high-precision positioning of a shape memory alloy actuator using integrated iterative-feedforward and feedback inputs},

author = { G. Tchoupo and K. K. Leang},

year  = {2007},

date = {2007-01-01},

booktitle = {American Control Conference},

pages = {4246 -- 4253},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{NorasMA_2006,

title = {The design of a high-voltage charge-feedback piezo-amplifier},

author = { M. A. Noras and J. Kieres and K. M. Mossi and K. K. Leang},

year  = {2006},

date = {2006-01-01},

booktitle = {Actuator 2006 Conference},

pages = {353 -- 355},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{BeckJ_2006,

title = {Hysteresis characterization using charge-feedback control for LIPCA a device},

author = { J. Beck and M. A. Noras and J. Kieres and J. Speich and K. M. Mossi and K. K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/BeckJ_2006.pdf},

year  = {2006},

date = {2006-01-01},

booktitle = {SPIE Smart Structures and Materials and NDE for Health Monitoring and Diagnostics},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{IamratanakulD_2006,

title = {Optimal seek-trajectory design for dual-stage systems},

author = { D. Iamratanakul and B. Jordan and K. K. Leang and S. Devasia},

year  = {2006},

date = {2006-01-01},

booktitle = {American Control Conference},

pages = {606 -- 612},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{AshleySC_2006,

title = {Precise positioning of a shape memory alloy actuator using iterative control},

author = { S. C. Ashley and G. Tchoupo and R. M. Mohr and K. K. Leang},

url = {http://www.kam.k.leang.com/academics/pubs/AshleySC_2006.pdf},

year  = {2006},

date = {2006-01-01},

booktitle = {Actuator 2006},

pages = {467 -- 470},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{LeangKK_2004a,

title = {Iterative learning control of piezo positioners for long-range SPM-based nanofabrication},

author = { K. K. Leang and S. Devasia},

year  = {2004},

date = {2004-01-01},

booktitle = {The 3rd IFAC Symposium on Mechatronic Systems},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{LeangKK_2003,

title = {Iterative feedforward compensation of hysteresis in piezo positioners},

author = { K. K. Leang and S. Devasia},

year  = {2003},

date = {2003-01-01},

booktitle = {IEEE 42nd Conference on Decision and Controls, Invited session on Nanotechnology: Control Needs and Related Perspectives},

pages = {2626 - 2631},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{LeangKK_2002,

title = {Hysteresis, creep, and vibration compensation for piezoactuators: feedback and feedforward control},

author = { K. K. Leang and S. Devasia},

year  = {2002},

date = {2002-01-01},

booktitle = {The 2nd IFAC Conference on Mechatronic Systems, Invited session on Smart Materials and Structures},

pages = {283-289},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}