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Journal Articles

Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm With a Wheelchair Assistance Application

Kelilah L. Wolkowicz, Robert D. Leary, Jason Z. Moore, Sean N. Brennan
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2021, 1(1): 011013.
Paper No: ALDSC-19-1127
https://doi.org/10.1115/1.4046578
Published Online: March 26, 2020
View Article titled, Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm With a Wheelchair Assistance Application
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Topics: Algorithms, Decision making, Wheelchairs, Robotics
Proceedings Papers

Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm With a Wheelchair Assistance Application

Kelilah L. Wolkowicz, Robert D. Leary, Jason Z. Moore, Sean N. Brennan
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T05A008, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9114
https://doi.org/10.1115/DSCC2019-9114
View Paper titled, Statistical Determination of Decision-Making Regions for Branching Paths: An Algorithm With a Wheelchair Assistance Application
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Proceedings Papers

Real-Time Path-Based Fusion of Spatial Databases With Temporal Control Inputs for Assistive Operation of Wheelchairs

Kelilah L. Wolkowicz, Robert D. Leary, Jason Z. Moore, Sean N. Brennan
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T05A009, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9120
https://doi.org/10.1115/DSCC2019-9120
View Paper titled, Real-Time Path-Based Fusion of Spatial Databases With Temporal Control Inputs for Assistive Operation of Wheelchairs
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Topics: Databases, Wheelchairs, Decision making, Control equipment, Locks (Waterways), Robotics, Testing
Journal Articles

An Instantaneous Center of Rotation-Based Extended Kalman Filter Approach for the On-Line Estimation of Wheelchair Tire Slip

Kelilah L. Wolkowicz, Jesse L. Pentzer, Christopher X. Miller, Jason Z. Moore, Sean N. Brennan
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2019, 141(12): 121001.
Paper No: DS-16-1564
https://doi.org/10.1115/1.4044613
Published Online: September 18, 2019
View Article titled, An Instantaneous Center of Rotation-Based Extended Kalman Filter Approach for the On-Line Estimation of Wheelchair Tire Slip
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Topics: Algorithms, Kalman filters, Rotation, Wheelchairs, Wheels, Tires
Proceedings Papers

Mechanical Performance Analysis of ULTEM 9085 in a Heated, Irradiated Environment

Matthew B. Ng, Sean N. Brennan
Proc. ASME. IMECE2018, Volume 9: Mechanics of Solids, Structures, and Fluids, V009T12A020, November 9–15, 2018
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2018-88181
https://doi.org/10.1115/IMECE2018-88181
View Paper titled, Mechanical Performance Analysis of ULTEM 9085 in a Heated, Irradiated Environment
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Topics: Additive manufacturing, ASTM International, Design, Equipment performance, Ethers (Class of compounds), High temperature, Inspection, Materials properties, Mechanical properties, Nuclear power
Proceedings Papers

Negative Obstacle Detection Using LiDAR Sensors for a Robotic Wheelchair

Taylor E. Baum, Kelilah L. Wolkowicz, Joseph P. Chobot, Sean N. Brennan
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T37A011, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9231
https://doi.org/10.1115/DSCC2018-9231
View Paper titled, Negative Obstacle Detection Using LiDAR Sensors for a Robotic Wheelchair
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Topics: Robotics, Sensors, Wheelchairs, Algorithms, Curbs (Roads), Errors, Lasers, Navigation, Safety, Wounds
Proceedings Papers

Discriminating Spatial Intent From Noisy Joystick Signals for Wheelchair Path Planning and Guidance

Kelilah L. Wolkowicz, Robert D. Leary, Jason Z. Moore, Sean N. Brennan
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T37A010, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9228
https://doi.org/10.1115/DSCC2018-9228
View Paper titled, Discriminating Spatial Intent From Noisy Joystick Signals for Wheelchair Path Planning and Guidance
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Topics: Path planning, Signals, Wheelchairs, Engines, Motors, Algorithms, Diseases, Navigation, Patient monitoring, Probability
Proceedings Papers

State of Charge Estimation for an Electric Wheelchair Using a Fuel Gauge Model

Christopher Miller, Kelilah Wolkowicz, Jariullah Safi, Sean N. Brennan
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, V001T06A005, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9802
https://doi.org/10.1115/DSCC2016-9802
View Paper titled, State of Charge Estimation for an Electric Wheelchair Using a Fuel Gauge Model
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Topics: Fuels, Gages, Wheelchairs, Batteries, Algorithms, Mechanical admittance, Battery life, Circuits, Coulombs, Energy consumption
Proceedings Papers

On-Line Estimation of Wheelchair Tire Slip Utilizing an Instantaneous Center of Rotation Extended Kalman Filter

Kelilah Wolkowicz, Jesse Pentzer, Christopher Miller, Jason Z. Moore, Sean N. Brennan
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, V001T06A002, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9699
https://doi.org/10.1115/DSCC2016-9699
View Paper titled, On-Line Estimation of Wheelchair Tire Slip Utilizing an Instantaneous Center of Rotation Extended Kalman Filter
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Topics: Kalman filters, Rotation, Tires, Wheelchairs, Algorithms, Wheels, Safety, Friction, Robotics, Simulation
Proceedings Papers

Indoor Mapping and Localization for a Smart Wheelchair Using Measurements of Ambient Magnetic Fields

Anthony T. Trezza, Nurali N. Virani, Kelilah L. Wolkowicz, Jason Z. Moore, Sean N. Brennan
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, V003T42A005, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9915
https://doi.org/10.1115/DSCC2015-9915
View Paper titled, Indoor Mapping and Localization for a Smart Wheelchair Using Measurements of Ambient Magnetic Fields
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Topics: Magnetic fields, Wheelchairs, Mechanical admittance, Density, Kinematics, Particle filtering (numerical methods), Signals
Journal Articles

Preview Horizon Analysis for Vehicle Rollover Prevention Using the Zero-Moment Point

Paul G. Stankiewicz, Alexander A. Brown, Sean N. Brennan
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2015, 137(9): 091002.
Paper No: DS-14-1043
https://doi.org/10.1115/1.4030390
Published Online: September 1, 2015
View Article titled, Preview Horizon Analysis for Vehicle Rollover Prevention Using the Zero-Moment Point
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Topics: Vehicles, Wheels, Tires
Proceedings Papers

Determination of Minimum State Preview Time to Prevent Vehicle Rollover

Paul G. Stankiewicz, Alex A. Brown, Sean N. Brennan
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T47A005, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-4000
https://doi.org/10.1115/DSCC2013-4000
View Paper titled, Determination of Minimum State Preview Time to Prevent Vehicle Rollover
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Topics: Vehicles, Dynamics (Mechanics), Highways, Statistics
Proceedings Papers

Pattern Matching of In-Vehicle Acceleration Time Series Data

Pramod K. Vemulapalli, Gregory S. Ledva, Sean N. Brennan, Karl M. Reichard
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, 761-770, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8758
https://doi.org/10.1115/DSCC2012-MOVIC2012-8758
View Paper titled, Pattern Matching of In-Vehicle Acceleration Time Series Data
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Topics: Time series, Vehicles, Encryption, Noise (Sound), Signals
Proceedings Papers

Model-Based Vehicle State Estimation Using Previewed Road Geometry and Noisy Sensors

Alexander A. Brown, Sean N. Brennan
Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 591-600, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8762
https://doi.org/10.1115/DSCC2012-MOVIC2012-8762
View Paper titled, Model-Based Vehicle State Estimation Using Previewed Road Geometry and Noisy Sensors
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Topics: Geometry, Roads, Sensors, State estimation, Vehicles, Errors, Kalman filters, Filters, Linear systems, Modeling
Proceedings Papers

GPS-Free Terrain-Based Vehicle Tracking Performance as a Function of Inertial Sensor Characteristics

Kshitij Jerath, Sean N. Brennan
Proc. ASME. DSCC2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 367-374, October 31–November 2, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2011-5938
https://doi.org/10.1115/DSCC2011-5938
View Paper titled, GPS-Free Terrain-Based Vehicle Tracking Performance as a Function of Inertial Sensor Characteristics
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Topics: Sensors, Vehicles, Algorithms, Engineering simulation, Errors, Kalman filters, Simulation
Proceedings Papers

Terrain-Aided Localization Using Feature-Based Particle Filtering

Sneha Kadetotad, Pramod K. Vemulapalli, Sean N. Brennan, Constantino Lagoa
Proc. ASME. DSCC2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 725-731, October 31–November 2, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2011-6025
https://doi.org/10.1115/DSCC2011-6025
View Paper titled, Terrain-Aided Localization Using Feature-Based Particle Filtering
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Topics: Particle filtering (numerical methods), Vehicles, Filters, Filtration, Particulate matter, Roads, Robustness
Proceedings Papers

Highway Evaluation of Terrain-Aided Localization Using Particle Filters

Adam J. Dean, Pramod K. Vemulapalli, Sean N. Brennan
Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 1139-1145, October 20–22, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2008-2256
https://doi.org/10.1115/DSCC2008-2256
View Paper titled, Highway Evaluation of Terrain-Aided Localization Using Particle Filters
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Topics: Filters, Highways, Particulate matter, Vehicles, Algorithms, Roads, Sensors
Proceedings Papers

Utilization of Vehicle Dynamic Simulations as Predictors of Highway Safety

Sean N. Brennan, Bridget C. Hamblin
Proc. ASME. IMECE2007, Volume 16: Transportation Systems, 157-166, November 11–15, 2007
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2007-42195
https://doi.org/10.1115/IMECE2007-42195
View Paper titled, Utilization of Vehicle Dynamic Simulations as Predictors of Highway Safety
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Topics: Highways, Safety, Simulation, Vehicles, Roads, Design, Trajectories (Physics), Construction, Geometry
Proceedings Papers

Lessons Learned From Matching Experimental Data to Low-Order Models of Vehicle Behavior

Sean N. Brennan, Bridget C. Hamblin
Proc. ASME. IMECE2007, Volume 16: Transportation Systems, 167-175, November 11–15, 2007
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2007-42202
https://doi.org/10.1115/IMECE2007-42202
View Paper titled, Lessons Learned From Matching Experimental Data to Low-Order Models of Vehicle Behavior
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Topics: Vehicles, Tires, Dynamics (Mechanics), Errors, Frequency response, Modeling, Physics, Simulation, Stiffness, Yaw
Proceedings Papers

Dimensionless Sensitivity Methods to Identify Vehicle Cornering Stiffness From Yaw Rate Measurements

Sean N. Brennan
Proc. ASME. IMECE2003, Dynamic Systems and Control, Volumes 1 and 2, 319-327, November 15–21, 2003
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2003-41609
https://doi.org/10.1115/IMECE2003-41609
View Paper titled, Dimensionless Sensitivity Methods to Identify Vehicle Cornering Stiffness From Yaw Rate Measurements
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Topics: Stiffness, Vehicles, Yaw, Roads, Bicycles, Circuits, Dynamic models, Dynamics (Mechanics), Highways, Modeling