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Journal Articles

A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear MPC Approach

Accepted Manuscript
Basit Muhammad Imran, Randall T Fawcett, Jeeseop Kim, Alexander Leonessa, Kaveh Akbari Hamed
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control.
Paper No: DS-24-1028
https://doi.org/10.1115/1.4066632
Published Online: September 28, 2024
View Article titled, A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear MPC Approach
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Topics: Control algorithms, Robots, Teams, Collisions (Physics), Control equipment, Engineering simulation, Simulation, Delays, Navigation, Pendulums
Journal Articles

Reduced-Order Model Parameterization for Uncertain LTI SISO Systems

Roghaiyeh Ansari, Alexander Leonessa, Nicole Abaid
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2024, 146(5): 051004.
Paper No: DS-23-1091
https://doi.org/10.1115/1.4065648
Published Online: June 29, 2024
View Article titled, Reduced-Order Model Parameterization for Uncertain LTI SISO Systems
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Topics: Control equipment, Design, Dimensions, Errors, Parametrization, Eigenvalues, Filters, Uncertainty, Scalars, Signals
Proceedings Papers

In-Situ Calibration for Load Cells in 3d Printed Bipedal Robot Using 3D Modeling in Computer-Aided Design Environment

Xuan Tung Le, Connor W. Herron, Alexander Leonessa
Proc. ASME. IMECE2023, Volume 11: Mechanics of Solids, Structures and Fluids, V011T12A011, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-116869
https://doi.org/10.1115/IMECE2023-116869
View Paper titled, In-Situ Calibration for Load Cells in 3d Printed Bipedal Robot Using 3D Modeling in Computer-Aided Design Environment
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Topics: Additive manufacturing, Calibration, Computer-aided design, Engineering simulation, Robots, Stress, Three-dimensional modeling
Proceedings Papers

Real-World Deep Reinforcement Learning for Position Tracking of a Pendulum Driven by a Series Elastic Actuator

Ruturaj Sambhus, Aydin Gokce, Stephen Welch, Alexander Leonessa
Proc. ASME. IMECE2023, Volume 6: Dynamics, Vibration, and Control, V006T07A095, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-116828
https://doi.org/10.1115/IMECE2023-116828
View Paper titled, Real-World Deep Reinforcement Learning for Position Tracking of a Pendulum Driven by a Series Elastic Actuator
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Topics: Actuators, Hardware, Pendulums, Reinforcement learning
Proceedings Papers

Development of an Affordable and Modular 3D Printed Quadruped Robot

Samuel E. Schoedel, Alexander J. Fuge, Bhaben Kalita, Alexander Leonessa
Proc. ASME. IMECE2022, Volume 4: Biomedical and Biotechnology; Design, Systems, and Complexity, V004T06A017, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-95700
https://doi.org/10.1115/IMECE2022-95700
View Paper titled, Development of an Affordable and Modular 3D Printed Quadruped Robot
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Topics: Additive manufacturing, Robots
Proceedings Papers

Flexible Low-Level Control Software Framework for Achieving Critical Real-Time Deadlines

Nicholas J. Tremaroli, Maxwell A. Stelmack, Connor W. Herron, Bhaben Kalita, Alexander Leonessa
Proc. ASME. IMECE2022, Volume 5: Dynamics, Vibration, and Control, V005T07A023, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-95438
https://doi.org/10.1115/IMECE2022-95438
View Paper titled, Flexible Low-Level Control Software Framework for Achieving Critical Real-Time Deadlines
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Topics: Computer software, Control systems
Proceedings Papers

Design of Low-Level Hardware for a Multi-Layered Control Architecture

Madeline Kogelis, Zachary J. Fuge, Connor W. Herron, Bhaben Kalita, Alexander Leonessa
Proc. ASME. IMECE2022, Volume 5: Dynamics, Vibration, and Control, V005T07A015, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-94614
https://doi.org/10.1115/IMECE2022-94614
View Paper titled, Design of Low-Level Hardware for a Multi-Layered Control Architecture
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Topics: Actuators, Design, Hardware, Motors, Sensors, Control equipment, Filters, Robotics, Circuits, Computer software
Proceedings Papers

In-House Built Robust and Adaptable System Architecture for Virtual Reality Haptic Interface

An-Chi He, Connor W. Herron, Bhaben Kalita, Alexander Leonessa
Proc. ASME. IMECE2022, Volume 5: Dynamics, Vibration, and Control, V005T07A019, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-95054
https://doi.org/10.1115/IMECE2022-95054
View Paper titled, In-House Built Robust and Adaptable System Architecture for Virtual Reality Haptic Interface
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Topics: Feedback, Haptics, Motor controls, System architecture, Virtual reality
Proceedings Papers

A Mapping Approach to Achieve Torque Control for Parallel-Actuated Robotic Systems

Stephen B. Welch, Christian D. Runyon, Benjamin C. Beiter, Connor W. Herron, Bhaben Kalita, Alexander Leonessa
Proc. ASME. IMECE2022, Volume 5: Dynamics, Vibration, and Control, V005T07A026, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-95893
https://doi.org/10.1115/IMECE2022-95893
View Paper titled, A Mapping Approach to Achieve Torque Control for Parallel-Actuated Robotic Systems
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Topics: Robotics, Torque control, Robots, Actuators, Control equipment, Humanoid robots, Torque, Simulation, Control modeling, Modeling
Journal Articles

Effect of Mechanical Properties on the Dynamics of Self-Oscillating Synthetic Vocal Folds

Garret Burks, Manjot Singh, Raffaella De Vita, Blake Johnson, Alexander Leonessa
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. February 2021, 143(2): 021001.
Paper No: DS-19-1541
https://doi.org/10.1115/1.4048278
Published Online: October 1, 2020
View Article titled, Effect of Mechanical Properties on the Dynamics of Self-Oscillating Synthetic Vocal Folds
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Topics: Vocal cords, Mechanical properties, Dynamics (Mechanics)
Proceedings Papers

Closed-Loop Control of the Frequency Response of the Virtual Brain Model

Christine Beauchene, Alexander Leonessa, Subhradeep Roy, James Simon, Nicole Abaid
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T37A001, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5117
https://doi.org/10.1115/DSCC2017-5117
View Paper titled, Closed-Loop Control of the Frequency Response of the Virtual Brain Model
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Topics: Brain, Frequency response, Electroencephalography, Control equipment, Ear, Phantoms, Simulation, Testing
Proceedings Papers

Experimental Stimulation of EDL Mouse Muscle With a Small Scale Two-Coil System

Paola Jaramillo Cienfuegos, Garret Burks, Alexander Leonessa, Nicole Abaid
Proc. ASME. DSCC2016, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation, V001T06A006, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9811
https://doi.org/10.1115/DSCC2016-9811
View Paper titled, Experimental Stimulation of EDL Mouse Muscle With a Small Scale Two-Coil System
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Topics: Muscle, Control equipment, Biological tissues, Design, Control systems, Electric current, Feedback, Flow (Dynamics), Magnetic induction
Journal Articles

Predictor-Based Adaptive Output Feedback Control: Application to Functional Electrical Stimulation of a Human Arm Model

Chuong H. Nguyen, Alexander Leonessa
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2016, 138(11): 111014.
Paper No: DS-15-1622
https://doi.org/10.1115/1.4033863
Published Online: August 11, 2016
View Article titled, Predictor-Based Adaptive Output Feedback Control: Application to Functional Electrical Stimulation of a Human Arm Model
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Topics: Control equipment, Design, Errors, Feedback, Signals, Dynamics (Mechanics), Muscle, Excitation
Journal Articles

Compliant Locomotion

Michael Hopkins, Robert Griffin, Alexander Leonessa
Journal: Mechanical Engineering
Publisher: ASME
Article Type: Select Article
Mechanical Engineering. June 2015, 137(06): S12–S16.
Paper No: ME-15-JUN-6
https://doi.org/10.1115/1.2015-Jun-6
Published Online: June 1, 2015
View Article titled, Compliant Locomotion
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Topics: Actuators, Control equipment, Design, Dynamics (Mechanics), Robots, Torque, Springs, Seas, Humanoid robots
Proceedings Papers

Adaptive Predictor-Based Output Feedback Control for a Class of Unknown MIMO Linear Systems

Chuong Hoang Nguyen, Alexander Leonessa
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, V003T38A004, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6214
https://doi.org/10.1115/DSCC2014-6214
View Paper titled, Adaptive Predictor-Based Output Feedback Control for a Class of Unknown MIMO Linear Systems
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Topics: Feedback, Linear systems, Control equipment, Pole placement, Trajectories (Physics)
Proceedings Papers

Adaptive Predictor-Based Output Feedback Control for a Class of Unknown MIMO Linear Systems: Experimental Results

Chuong Hoang Nguyen, Alexander Leonessa
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, V003T38A005, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6217
https://doi.org/10.1115/DSCC2014-6217
View Paper titled, Adaptive Predictor-Based Output Feedback Control for a Class of Unknown MIMO Linear Systems: Experimental Results
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Topics: Feedback, Linear systems, Control equipment, Accounting, Actuators, Algorithms, Dynamics (Mechanics), Pole placement, Theorems (Mathematics), Trajectories (Physics)
Proceedings Papers

Development of Electromagnetic Stimulation System as Treatment for Muscle Activation

Paola Jaramillo, Adam Shoemaker, William Burks, Michelle Tran, Alexander Leonessa
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T08A003, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3911
https://doi.org/10.1115/DSCC2013-3911
View Paper titled, Development of Electromagnetic Stimulation System as Treatment for Muscle Activation
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Topics: Muscle, Control equipment, Feedback, Fibers, Control algorithms, Electromagnetic fields, Testing
Proceedings Papers

Bio-Inspired Nonholonomic Tracking Control

Adam Shoemaker, Alexander Leonessa
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T07A004, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3932
https://doi.org/10.1115/DSCC2013-3932
View Paper titled, Bio-Inspired Nonholonomic Tracking Control
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Topics: Algorithms, Biomimetics, Control equipment, Design, Dynamics (Mechanics), Stability, Testing, Tracking control, Vehicles
Proceedings Papers

Development of Electromagnetic Stimulation System to Aid Patients Suffering From Vocal Fold Paralysis

William Garret Burks, Paola Jaramillo, Alexander Leonessa
Proc. ASME. SBC2013, Volume 1B: Extremity; Fluid Mechanics; Gait; Growth, Remodeling, and Repair; Heart Valves; Injury Biomechanics; Mechanotransduction and Sub-Cellular Biophysics; MultiScale Biotransport; Muscle, Tendon and Ligament; Musculoskeletal Devices; Multiscale Mechanics; Thermal Medicine; Ocular Biomechanics; Pediatric Hemodynamics; Pericellular Phenomena; Tissue Mechanics; Biotransport Design and Devices; Spine; Stent Device Hemodynamics; Vascular Solid Mechanics; Student Paper and Design Competitions, V01BT59A007, June 26–29, 2013
Publisher: American Society of Mechanical Engineers
Paper No: SBC2013-14562
https://doi.org/10.1115/SBC2013-14562
View Paper titled, Development of Electromagnetic Stimulation System to Aid Patients Suffering From Vocal Fold Paralysis
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Topics: Vocal cords, Muscle, Fibers, Nervous system, Surgery, Wounds, Actuators, Cancer, Electromagnetic fields, Patient treatment
Proceedings Papers

Skeletal Muscle Contraction in Feedback Control

Paola Jaramillo, Adam Shoemaker, Alexander Leonessa, Robert W. Grange
Proc. ASME. DSCC2012-MOVIC2012, Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems, 483-492, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8592
https://doi.org/10.1115/DSCC2012-MOVIC2012-8592
View Paper titled, Skeletal Muscle Contraction in Feedback Control
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Topics: Feedback, Muscle, Control equipment, Adaptive control, Algorithms, Control systems, Engines, Knee, Motors, Open loop systems