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Kam K. Leang
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Journal Articles

Rapid Airborne Gas-Plume Mapping and Source Localization With Feedforward Gas-Sensor Dynamics Compensation

Kyle C. Hoffman, Jacob M. Anderson, Kam K. Leang
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2024, 4(4): 041002.
Paper No: ALDSC-24-1026
https://doi.org/10.1115/1.4066513
Published Online: September 27, 2024
View Article titled, Rapid Airborne Gas-Plume Mapping and Source Localization With Feedforward Gas-Sensor Dynamics Compensation
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Topics: Dynamics (Mechanics), Plumes (Fluid dynamics), Sensors, Feedforward control, Particle swarm optimization
Journal Articles

Magnetically-Actuated Endoluminal Soft Robot With Electroactive Polymer Actuation for Enhanced Gait Performance

Jake A. Steiner, William S. Nagel, Kam K. Leang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2024, 16(10): 104503.
Paper No: JMR-24-1050
https://doi.org/10.1115/1.4066130
Published Online: September 2, 2024
View Article titled, Magnetically-Actuated Endoluminal Soft Robot With Electroactive Polymer Actuation for Enhanced Gait Performance
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Topics: Conducting polymers, Robots, Simulation, Deformation, Soft robots, Magnets, Polymers
Journal Articles

Information-Theoretic Bayesian Inference for Multi-Agent Localization and Tracking of an Radio Frequency Target With Unknown Waveform

Nathaniel R. Olsen, Sasha M. McKee, Osama S. Haddadin, Scott M. Lyon, Jared E. Campbell, Kam K. Leang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2024, 146(6): 061104.
Paper No: DS-23-1253
https://doi.org/10.1115/1.4065592
Published Online: July 25, 2024
View Article titled, Information-Theoretic Bayesian Inference for Multi-Agent Localization and Tracking of an Radio Frequency Target With Unknown Waveform
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Topics: Algorithms, Errors, Sensors, Simulation, Particulate matter, Filters
Journal Articles

Feedforward Mutual-Information Anomaly Detection: Application to Autonomous Vehicles

Sasha M. McKee, Osama S. Haddadin, Kam K. Leang
Journal: Journal of Autonomous Vehicles and Systems
Publisher: ASME
Article Type: Research Papers
J. Auton. Veh. Sys. October 2022, 2(4): 041003.
Paper No: JAVS-23-1038
https://doi.org/10.1115/1.4064519
Published Online: February 13, 2024
View Article titled, Feedforward Mutual-Information Anomaly Detection: Application to Autonomous Vehicles
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Topics: Autonomous vehicles, Errors, Vehicles, Roads, Decision making, Feedforward control, Vehicle dynamics, Dynamics (Mechanics)
Journal Articles

Modeling and Analysis of a Soft Endoluminal Inchworm Robot Propelled by a Rotating Magnetic Dipole Field

Jake A. Steiner, Lan N. Pham, Jake J. Abbott, Kam K. Leang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051002.
Paper No: JMR-21-1186
https://doi.org/10.1115/1.4053114
Published Online: February 18, 2022
View Article titled, Modeling and Analysis of a Soft Endoluminal Inchworm Robot Propelled by a Rotating Magnetic Dipole Field
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Topics: Design, Robots
Proceedings Papers

Autonomous Light Assessment Drone for Dark Skies Studies

Matthew N. Goodell, Takara E. Truong, Stephanie R. Marston, Brett J. Smiley, Elliot R. Befus, Alex Bingham, Kent Allen, Joseph R. Bourne, Yi Wei, Kate E. Magargal, Vellachi Ganesan, Daniel L. Mendoza, Anil C. Seth, Stacy A. Harwood, Marc Bodson, Tucker Hermans, Kam K. Leang
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T36A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3205
https://doi.org/10.1115/DSCC2020-3205
View Paper titled, Autonomous Light Assessment Drone for Dark Skies Studies
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Topics: Unmanned aerial vehicles, Pollution, Brightness (Photometry), Sensors, Sleep
Proceedings Papers

Ionic Polymer Metal Composite Sensors With Engineered Interfaces (eIPMCs): Compression Sensing Modeling and Experiments

Rebecca Histed, Justin Ngo, Omar A. Hussain, Chantel Lapins, Kam K. Leang, Yiliang Liao, Matteo Aureli
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T34A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3289
https://doi.org/10.1115/DSCC2020-3289
View Paper titled, Ionic Polymer Metal Composite Sensors With Engineered Interfaces (eIPMCs): Compression Sensing Modeling and Experiments
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Topics: Compression, Metallic composites, Modeling, Polymers, Sensors, Electrodes, Metals, Composite materials, Experimental characterization, Manufacturing
Proceedings Papers

Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots

Jake A. Steiner, Omar A. Hussain, Lan N. Pham, Jake J. Abbott, Kam K. Leang
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, V003T20A002, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9029
https://doi.org/10.1115/DSCC2019-9029
View Paper titled, Toward Magneto-Electroactive Endoluminal Soft (MEESo) Robots
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Topics: Robots, Biomedicine, Catheters, Composite materials, Conducting polymers, Deformation, Endoscopes, Locomotives, Metals, Polymers
Proceedings Papers

Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments

Jake A. Steiner, Joseph R. Bourne, Xiang He, Donald M. Cropek, Kam K. Leang
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, V003T21A006, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9099
https://doi.org/10.1115/DSCC2019-9099
View Paper titled, Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments
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Topics: Cities, Unmanned aerial vehicles, Leakage, Particle swarm optimization, Algorithms, Flight, Plumes (Fluid dynamics), Simulation
Proceedings Papers

Bayesian Estimation of Snow-Avalanche Victim Pose: A Method to Assist Human and/or Robot First Responders to Quickly Locate a Buried Victim

Joseph R. Bourne, Kam K. Leang
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, V003T21A001, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8946
https://doi.org/10.1115/DSCC2019-8946
View Paper titled, Bayesian Estimation of Snow-Avalanche Victim Pose: A Method to Assist Human and/or Robot First Responders to Quickly Locate a Buried Victim
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Topics: Algorithms, Engineering standards, Magnetic fields, Robots, Simulation results, Uncertainty
Proceedings Papers

Assembly Planning Using a Two-Arm System for Polygonal Furniture

Seth T. Payne, C. Fletcher Garrison, IV, Steven E. Markham, Tucker Hermans, Kam K. Leang
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, V003T17A008, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9173
https://doi.org/10.1115/DSCC2019-9173
View Paper titled, Assembly Planning Using a Two-Arm System for Polygonal Furniture
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Topics: Manufacturing, Algorithms, Robotics, Collisions (Physics), Computer-aided design, Finishing, Manipulators, Path planning, Simulation
Proceedings Papers

A New Quasi-Steady In-Ground Effect Model for Rotorcraft Unmanned Aerial Vehicles

Xiang He, Kam K. Leang
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, V003T21A003, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9025
https://doi.org/10.1115/DSCC2019-9025
View Paper titled, A New Quasi-Steady In-Ground Effect Model for Rotorcraft Unmanned Aerial Vehicles
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Topics: Unmanned aerial vehicles, Rotors, Propellers, Thrust, Additive manufacturing, Blades, Compression, Errors, Outflow
Proceedings Papers

Gaussian-Based Kernel for Multi-Agent Aerial Chemical-Plume Mapping

Xiang He, Jake A. Steiner, Joseph R. Bourne, Kam K. Leang
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, V003T21A004, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9027
https://doi.org/10.1115/DSCC2019-9027
View Paper titled, Gaussian-Based Kernel for Multi-Agent Aerial Chemical-Plume Mapping
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Topics: Plumes (Fluid dynamics), Errors, Flight, Leakage, Robots, Simulation, Vehicles, Wind, Wind velocity
Journal Articles

In-Ground-Effect Modeling and Nonlinear-Disturbance Observer for Multirotor Unmanned Aerial Vehicle Control

Xiang He, Gordon Kou, Marc Calaf, Kam K. Leang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2019, 141(7): 071013.
Paper No: DS-18-1218
https://doi.org/10.1115/1.4043221
Published Online: May 2, 2019
View Article titled, In-Ground-Effect Modeling and Nonlinear-Disturbance Observer for Multirotor Unmanned Aerial Vehicle Control
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Topics: Control equipment, Dynamics (Mechanics), Errors, Modeling, Rotors, Thrust, Unmanned aerial vehicles, Vehicles, Aircraft, Trajectories (Physics)
Proceedings Papers

Development of a 3-DOF Tripedal Stick-Slip Microrobotic Mobile Platform for Unconstrained, Omnidirectional Sample Positioning

Iman Adibnazari, William S. Nagel, Kam K. Leang
Proc. ASME. DSCC2018, Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems, V002T24A011, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9229
https://doi.org/10.1115/DSCC2018-9229
View Paper titled, Development of a 3-DOF Tripedal Stick-Slip Microrobotic Mobile Platform for Unconstrained, Omnidirectional Sample Positioning
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Topics: Stick-slip, Actuators, Errors, Feedforward control, Additive manufacturing, Bearings, Bending (Stress), Cycles, Dynamics (Mechanics), Engineering prototypes
Journal Articles

Nonlinear Vision-Based Observer for Visual Servo Control of an Aerial Robot in Global Positioning System Denied Environments

Dejun Guo, Hesheng Wang, Kam K. Leang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061018.
Paper No: JMR-18-1131
https://doi.org/10.1115/1.4041431
Published Online: October 18, 2018
View Article titled, Nonlinear Vision-Based Observer for Visual Servo Control of an Aerial Robot in Global Positioning System Denied Environments
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Topics: Control equipment, Errors, Robots, Stability, Design, Servomechanisms, Trajectories (Physics)
Journal Articles

Design and Control of a Fully-Actuated Hexrotor for Aerial Manipulation Applications

Jameson Y. S. Lee, Kam K. Leang, Woosoon Yim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2018, 10(4): 041007.
Paper No: JMR-17-1361
https://doi.org/10.1115/1.4039854
Published Online: April 18, 2018
View Article titled, Design and Control of a Fully-Actuated Hexrotor for Aerial Manipulation Applications
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Topics: Design, Dynamics (Mechanics), Flight, Rotors, Torque, Motors, Control equipment
Proceedings Papers

Spatial Filter Design for Dual-Stage Systems

Aleksandra Mitrovic, Kam K. Leang, Garrett M. Clayton
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T04A010, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5347
https://doi.org/10.1115/DSCC2017-5347
View Paper titled, Spatial Filter Design for Dual-Stage Systems
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Topics: Design, Filters, Actuators, Filtration, Signals, Simulation results
Proceedings Papers

Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments

Dejun Guo, Kam K. Leang
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, V001T02A003, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5135
https://doi.org/10.1115/DSCC2017-5135
View Paper titled, Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments
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Topics: Robots, Servomechanisms, Closed loop systems, Control equipment, Control systems, Errors, Geometry, Lyapunov methods, Signals, Simulation
Proceedings Papers

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

Joseph R. Bourne, Kam K. Leang
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T21A007, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5283
https://doi.org/10.1115/DSCC2017-5283
View Paper titled, Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor
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Topics: Plumes (Fluid dynamics), Sensors, Robots, Uncertainty, Algorithms, Dynamics (Mechanics), Feedforward control, Filters, Leakage, Motion control