Proceedings of the ASME

Dynamic Systems and

Control Conference

-2010-

VOLUME 1

ACTUATION AND CONTROL APPLICATIONS

ADVANCED AUTOMOTIVE POWERTRAIN CONTROL

ADVANCED ENGINE DYNAMICS AND CONTROL

ADVANCED VEHICLE DYNAMICS AND SAFETY CONTROL

AEROSPACE AND FLIGHT CONTROL

AUTONOMOUS SYSTEMS

BIOLOGICAL SYSTEMS

BIO-SYSTEMS AND HEALTH CARE

CONTROL OF ELECTRIC VEHICLES

CONTROL OF LINEAR SYSTEMS

CONTROL THEORY

ELECTRIC BATTERY MODELING AND CONTROL

ENGINE CONTROL

ENGINE/EMISSION CONTROLS

FUEL CELL MODELING AND CONTROL

HEALTHCARE ROBOTICS

HUMAN/ROBOT SYSTEMS

IDENTIFICATION AND ESTIMATION

MARINE SYSTEMS

MICRO AND NANO MOTION CONTROL

presented at

ASME 2010 DYNAMIC SYSTEMS AND CONTROL CONFERENCE

SEPTEMBER 12-15, 2010

CAMBRIDGE, MASSACHUSETTS USA

ASME

Three Park Avenue New York, N.Y. 10016

CONTENTS

ACTUATION AND CONTROL APPLICATIONS

DSCC2010 4002 1

Impact of Flow Force to the Constant Flow Characteristic of Load Sensing Pump

Chong Ma and Xiaowu Kong

DSCC2010-4088 7

Header Height Control of a Combine Harvester SystemYangmin Xie, Ashley Greer, Andrew Alleyne, and Dustin Deneault

DSCC2010-4116 15

Development and Performance Evaluation of a Magnetorheological Valve Designed for

Control ApplicationsJari T. Kostamo, Esa P. Kostamo, Jyrki T. Kajaste, and Matti T. Pietola

DSCC2010-4140 21

Dynamic Compensation and Rapid Resonance Identification in Ultrasonic-Vibration-Assisted

Microforming System Using Magnetostrictive Actuator

Zhihua Wang, Oingze Zou, LeAnn Faidley, and Gap-Yong Kim

DSCC2010 4145 29

Two-Port Synthesis for Retrofit Design of Electric Ship Control Surface Actuation SystemsJonathan R. LeSage, William Shutt, and Raul G. Longoria

ADVANCED AUTOMOTIVE POWERTRAIN CONTROL

DSCC2010-4012 37

Energy-Efficient Control Allocation for Over-Actuated Systems With Electric

Vehicle ApplicationsYan Chen and Junmin Wang

DSCC2010-4049 45

Development and Experimental Validation of a Control-Oriented Diesel EngineFuel Consumption and Brake Torque Predictive Model for Hybrid Powertrain Control

ApplicationsFabio Chiara, Junmin Wang, Chinmaya B. Patil, Ming-Feng Hsieh, and Fengjun Yan

DSCC2010-4149 53

Transient Control of a Camless Valve Actuation System Using a Time-Varying

Repetitive Controller

Pradeep Gillella and Zongxuan Sun

DSCC2010-4171 61

Nonlinear Tracking Control of a Transient Hydrostatic Dynamometer for HybridPowertrain Research

Yu Wang, Zongxuan Sun, and Kim A. Stelson

ix

DSCC2010-4184 69

Torque Converter Clutch Low Slip Speed Detection and Control

Paul G. Otanez, Chunhao J. Lee, Xu Chen, Chi-Kuan Kao, and Farzad Sarnie

DSCC2010-4189 77

Tracking Control of Periodic Signals With Varying Magnitude and its Application to

Hybrid Powertrain

Zongxuan Sun, Pradeep GilleHa, and Xingyong Song

ADVANCED ENGINE DYNAMICS AND CONTROL

DSCC2010-4045 85

Observer-Based Estimation of Diesel Engine Aftertreatment System NO and

N02 Concentrations

Ming-Feng Hsieh and Junmin Wang

DSCC2010-4053 93

Model Based Control of a Diesel EngineH. Jammoussi, M. A. Franchek, K. Grigoriadis, and M. Books

DSCC2010-4143 101

Chemical Composition Modeling of a Two-Zone Control-Oriented Mixing Model for

Homogeneous Charge Compression Ignition EnginesMatthew J. McCuen, Zongxuan Sun, and Guoming Zhu

DSCC2010-4154 109

Dynamic Reference Value Generation for the Control of a Diesel Engine With

HP- and LP-EGR

Matthias Mrosek and Rolf Isermann

DSCC2010-4267 117

Modeling of a Two-Stroke Free-Piston Engine With HCCI Combustion

Ke Li, Wilson Santiago, and Zongxuan Sun

ADVANCED VEHICLE DYNAMICS AND SAFETY CONTROL

DSCC2010-4032 125

On the Dynamic Stability and Agility of Aggressive Vehicle Maneuvers:

A Pendulum-Turn Maneuver ExampleJingliang Li, Jingang Yi, Zhaodu Liu, and Jianbo Lu

DSCC2010-4050 133

In-Wheel Motor Fault Diagnosis for Electric Ground Vehicles

Rongrong Wang and Junmin Wang

DSCC2010 4096 141Semi-Autonomous Avoidance of Moving Hazards for Passenger Vehicles

Sterling J. Anderson, Steven C. Peters, Tom E. Pilutti, H. Eric Tseng, and Karl lagnemma

x

DSCC2010-4144 149

Sliding Surface Envelope Control: Keeping the Vehicle Within a Safe State-Space BoundaryCarrie G. Bobier, Shinichiro Joe, and J. Christian Gerdes

DSCC2010-4168 157

A Method for Incorporating Nonlinear Tire Behavior Into Model Predictive Control

for Vehicle StabilityCraig E. Beat and J. Christian Gerdes

DSCC2010-4250 165

Model Predictive Control (MPC) Based Combined Wheel Torque and Steering Control

Using a Simplified Tire Model

Ganesh Adireddy, Taehyun Shim, Douglas Rhode, and Jahan Asgari

AEROSPACE AND FLIGHT CONTROL

DSCC2010-4016 173

Modified Super-Twisting Interception Strategy With a Maximal Capture Zone

Valery Y. Glizer, Vladimir Turetsky, Leonid Fridman, and Josef Shinar

DSCC2010-4079 181

Modelling a Single-Wheel Testbed for Planetary Rover ApplicationsRishad A. Irani, Robert J. Bauer, and Andrew Warkentin

DSCC2010-4109 189

Combined Use of Control Moment Gyros and Magnetic Torque Rods for Satellite

Attitude Control

Tuba C. Elmas and Ozan Tekinalp

DSCC2010-4234 197

Mathematical Modelling of Near-Hover Insect Flight DynamicsB. Cheng and X. Deng

DSCC2010-4279 207

Robust Nonlinear Control Design for a Hypersonic Aircraft Using Sum-of-Squares Method

Armin Ataei-Esfahani and Qian Wang

DSCC2010-4289 215

A Passive Dynamic Approach for Flapping-Wing Micro-Aerial Vehicle Control

Katie Byl

AUTONOMOUS SYSTEMS

DSCC2010-4076 225

Source Seeking for Nonholonomic Unicycle With Speed RegulationNima Ghods and Miroslav Krstic

DSCC2010-4113 233

Equidistance Tracking Nonlinear Controller for Under Actuated Autonomous

Underwater Vehicles

Behzad Taheri and Edmond Richer

xi

DSCC2010-4142 241

Autonomous Vehicle Navigation With Dynamic Adaptation and Complete Coverage of

Unknown Environments

Xin Jin, Jacqueline M. Luff, Shalabh Gupta, and Asok Ray

DSCC2010-4188 249

Velocity Occupancy Space for Differential Drive Vehicles

Rachael A. Bis, Huei Peng, and A. Galip Ulsoy

DSCC2010-4254 257

Maglev-Girder Interaction for Centralized and De-Centralized Controllers

Thomas Alberts, Mohamed Aly, and Ashraf Omran

DSCC2010-4263 . ..265

Predictive Control of Autonomous Ground Vehicles With Obstacle Avoidance on

Slippery Roads

Yiqi Gao, Eric Tseng, Theresa Lin, Davor Hrovat, and Francesco Borrelli

BIOLOGICAL SYSTEMS

DSCC2010-4013 273

The Reverse Sigmoid Ca-PTH Relationship is Not SymmetricalRajiv P. Shrestha, Claus P. Schmitt, Christopher V. Hollot, Stuart R. Chipkin, and

Yossi Chait

DSCC2010 4017 281

Automating ICSI With Rotationally Oscillating Drill (Ros-Drill®) Using Visual Feedback

Jhon Diaz, Nejat Olgac, Mehdi Karzar Jeddi, and Tai-Hsi Fan

DSCC2010-4060 289

Predicting Blood Glucose Levels Around Meals for Patients With Type I Diabetes

Fraser Cameron and Gunter Niemeyer

DSCC2010-4230 297

Synchronization of a Network With Piecewise-Linear DynamicsWalter Gall, Joseph Salisbury, and Ying Zhou

DSCC2010-4276 305

Accuracy and Optimal Timing of Activity Measurements in Estimating Absorbed Dose of

Radioiodine in the Treatment of Graves Disease

S. Merrill, S. R. Chipkin, J. Horowitz, C. V. Hollot, A. C. Traino, and Y. Chait

BIO-SYSTEMS AND HEALTH CARE

DSCC2010-4061 313

The Impact of Retroactivity on the Input/Output Static Characteristics of a

Signaling ComponentA. C. Ventura, P. Jiang, A. J. Ninfa, L. Van Wassenhove, S. D. Merajver, and

D. Del Vecchio

xii

DSCC2010-4062 321

Quantitative Characterization of Steady-State Ankle Impedance With Muscle Activation

Hyunglae Lee, Patrick Ho, Mohammad A. Rastgaar, Hermano Igo Krebs, and

Neville Hogan

DSCC2010-4066 325

A Monopropellant-Powered Muscle Actuation SystemXiangrong Shen and Daniel Christ

DSCC2010-4071 333

Approximating a MIMO, 1D Diffusion System to a Low Order, State-Space Formin Order to Facilitate Controller Design

Alisha R. Schor and H. Harry Asada

DSCC2010-4102 341

Pinpointed Muscle Force Control Taking Into Account the Control DOF of

Power-Assisting Device

Ming Ding, Yuichi Kurita, Jun Ueda, and Tsukasa Ogasawara

DSCC2010-4120 349

Grasp Effort Evaluation Based on Muscle ActivityAtsutoshi Ikeda, Yuichi Kurita, and Tsukasa Ogasawara

DSCC2010-4139 357

Time Lapse Observation Based Modeling and Identification of Cell Behaviors in

Angiogenic Sprout DevelopmentLevi B. Wood, Roger D. Kamm, and H. Harry Asada

DSCC2010-4173 365

MIT-Skywalker: Preliminary Insights on a Performance-Based Locomotor TrainingSeung-Jae Kim and Hermano Igo Krebs

DSCC2010-4179 369

Particle Filter for Plasma Insulin Estimation

Kiriakos Kiriakidis

DSCC2010-4183 373

Non-Invasive Hybrid Sensory System for Direct Brain Control of Artificial Limbs

Rahmat A, Shoureshi, Christopher M. Aasted, and Benjamin Sarusi

OSCC2010-4185 381

Analysis of EMG-Force Relation Using System Identification and

Hammerstein-Wiener Models

Anish Sebastian, Parmod Kumar, Marco P. Schoen, Alex Urfer, Jim Creelman, and

D. Subbaram Naidu

DSCC2010-4186 389

Impedance-Based Control of the MIT-Skywalker

Panagiotis K. Artemiadis and Hermano Igo Krebs

xiii

DSCC2010-4190 397

Control of Eukaryotic Cell Migration Through Modulation of Extracellular Chemoattractant

Gradients

Waleed A. Farahat and H. Harry Asada

DSCC2010 4204 405

Control and Experimental Results for Post Stroke Gait Rehabilitation With a PrototypeMobile Medical Exoskeleton

Timothy A. Swift, KatherineA. Strausser, Adam B. Zoss, and H. Kazerooni

DSCC2010-4218 413

Acquisition of Fear and Extinction in Lateral Amygdala: A Modeling StudySatish Nair, Dongbeom Kim, Gregory J. Quirk, and Sandeep Pendyam

DSCC2010-4222 421

Intersample Discretization of Control Inputs for Flexible Systems With Quantized

Cellular Actuation

Joshua A. Schultz and Jun Ueda

DSCC2010-4224 429

Stochastic Estimation of the Multi-Variable Mechanical Impedance of the Human Ankle

With Active Muscles

Mohammad A. Rastgaar, Patrick Ho, Hyunglae Lee, Hermano Igo Krebs, and

Neville Hogan

DSCC2010-4242 433

Bifurcation and Control of Cardiac Alternans

Henian Xia and Xiaopeng Zhao

DSCC2010-4243 437

Model Predictive Control of an Electroporation Process

Peinan Ge, Jingang Yi, Jianbo Li, and Hao Lin

DSCC2010-4246 445

Reduced-Order Cue-Signal-Response Modeling for Angiogenic Cell Migration Control:

A Principal Signal ApproachH. HarryAsada

DSCC2010-4261 453

Prototype Medical Exoskeleton for Paraplegic Mobility: First Experimental Results

KatherineA. Strausser, Timothy A. Swift, Adam B. Zoss, and H. Kazerooni

DSCC2010-4272 459

A Fully Automated System for the Preparation of Samples for Cryo-Electron MicroscopyZacharyJ. Thompson, Kevin L. Johnson, Nicolas Overby, Jessica I. Chidi,

William K. Pryor, and Marcia K. O'Malley

DSCC2010-4274 467

Interpretation of the Directional Properties of Voluntarily Modulated Human AnkleMechanical Impedance

Patrick Ho, Hyunglae Lee, Mohammad A. Rastgaar, Hermano Igo Krebs, and

Neville Hogan

xiv

DSCC2010-4287 473

Self-Excited Oscillations in a System Model of the Human Thyroid0. Gottlieb, S. R. Chipkin, L loffe, and Y. Chait

CONTROL OF ELECTRIC VEHICLES

DSCC2010-4136 481

Analysis and Design of Hardware Architectures and Control Algorithms for an EPAC

Simone Formentin, Giovanni Alii, Sergio M. Savaresi, and Francesco Castelli Dezza

DSCC2010-4197 489

Battery Health-Conscious Plug-In Hybrid Electric Vehicle Grid Demand Prediction

Saeid Bashash, Scott J. Moura, and Hosam K. Fathy

DSCC2010-4211 499

Adaptive Equivalent Consumption Minimization Strategy for Hybrid Electric Vehicles

Simona Onori, Lorenzo Serrao, and Giorgio Hizzoni

DSCC2010-4233 507

A Rule-Based Strategy for a Series/Parallel Hybrid Electric Vehicle: An Approach Based on

Dynamic ProgrammingDomenico Bianchi, Luciano Rolando, Lorenzo Serrao, Simona Onori, Giorgio Rizzoni,

Nazar Al-Khayat, Tung-Ming Hsieh, and Pengju Kang

DSCC2010-4255 515

Fault-Tolerant Control of Electric Ground Vehicles With Independently-Actuated Wheels

Rongrong Wang and Junmin Wang

CONTROL OF LINEAR SYSTEMS

DSCC2010-4040 523

Compensating the Distributed Effect of a Wave PDE in the Actuation or Sensing Path of

Multi-Input and Multi-Output LTI SystemsNikolaos Bekiaris-Liberis and Miroslav Krstic

DSCC2010-4082 531

Responsible Eigenvalue Approach for Stability Analysis and Control Design of a

Single-Delay Large-Scale System With Random Coupling StrengthsWei Qiao and Rifat Sipahi

DSCC2010-4191 539

Parametrization of LTI Controllers for Multirate SystemsMauro Cimino and Prabhakar R. Pagilia

DSCC2010-4195 547

A New Robust Control Design for Linear Systems With Norm Bounded Time VaryingReal Parameter Uncertainty

Nagini Devarakonda and Rama K. Yedavalli

xv

DSCC2010-4210 555

Time-Domain Input-Output Transient Performance Validation for Modular Control Systems:Method and ExamplesDeepak Sharma, Lucia Seno, and D. M. Tilbury

DSCC2010-4271 563

An Internal Model-Based Tracking Control for a Class of Uncertain Linear

Time-Varying SystemsZhen Zhang, Zongxuan Sun, and Peiqing Ye

CONTROL THEORY

DSCC2010-4033 571

Model Predictive Control of a Distributed-Parameter Process Employing a MovingRadiant Actuator

Fan Zeng and Beshah Ayalew

DSCC2010-4063, 579

A Two Step Optimization Based Iterative Learning Control AlgorithmMarnix Volckaert, Jan Swevers, and Moritz Diehl

DSCC2010-4108 583

Output Regulation in Discrete-Time Bimodal Linear Systems Subject to Deterministic and

Random Exogenous Input SignalsZhizheng Wu and Foued Ben Amara

DSCC2010-4282 591

Iterative Learning Control With Optimal Feedback and Feedforward Control

Shuwen Yu and Masayoshi Tomizuka

DSCC2010-4297 599

State Estimation for Kinematic Model Over Lossy Network

Soo Jeon

ELECTRIC BATTERY MODELING AND CONTROL

DSCC2010-4085 607

Nonlinear Fault Detection and Isolation for a Lithium-Ion Battery Management SystemJames Marcicki, Simona Onori, and Giorgio Rizzoni

DSCC2010-4089 615

Battery Health-Conscious Power Management for Plug-In Hybrid Electric Vehicles via

Stochastic Control

Scott J. Moura, Jeffrey L. Stein, and Hosam K. Fathy

DSCC2010-4199 625A 1+1D Thermal Dynamic Model of a Li-Ion Battery Cell

Matteo Muratori, Ning Ma, Marcello Canova, and Yann Guezennec

xvi

DSCC2010-4200 633

A Model Order Reduction Method for the Temperature Estimation in a CylindricalLi-Ion Battery Cell

Matteo Muratori, Ning Ma, Marcello Canova, and Yann Guezennec

ENGINE CONTROL

DSCC2010-4024 641

Control Oriented Modeling and Nonlinear Model Predictive Control of Advanced

SI Engine SystemTae-Kyung Lee and Zoran S. Filipi

DSCC2010-4038 649

Integrated System Identification and Control Design for an IC Engine Variable

Valve Timing SystemZhen Ren and Guoming G. Zhu

DSCC2010-4042 657

A Control Oriented SI and HCCI Hybrid Combustion Model for Internal Combustion EnginesXiaojian Yang, Guoming G. Zhu, and Zongxuan Sun

DSCC2010-4087 665

LPV-Based Air-Fuel Ratio Control of Spark Ignition Engines Using Two Gain

Scheduling Parameters

Marius J. Postma and Ryozo Nagamune

DSCC2010-4177 673

Identification of Combustion Engines With Special Orthogonal Excitation SignalsAlexander Schreiber and Rolf Isermann

DSCC2010-4266 679

Computation of the Instantaneous Frictional Losses of Internal Combustion EngineComponents

GiscardA. Kfoury and Nabil G. Chalhoub

ENGINE/EMISSION CONTROLS

DSCC2010-4010 687

A Physically-Based, Control-Oriented Diesel Oxidation Catalyst (DOC) Model for the

Applications of NO and N02 Ratio Estimation Using a N0X Sensor

Ming-Feng Hsieh and Junmin Wang

DSCC2010-4011 695

A Physically-Based, Control-Oriented Diesel Particulate Filter (DPF) Model for the

Applications of NO and N02 Ratio Estimation Using a N0X Sensor

Ming-Feng Hsieh and Junmin Wang

DSCC2010-4075 703

Hardware-in-the-Loop Simulation of Robust Gain-Scheduling Control of

Port-Fuel-lnjection Processes

Andrew White, Guoming Zhu, and Jongeun Choi

xvii

DSCC2010-4135 711

Robust Control Approach on Diesel Engines With Dual-Loop Exhaust Gas

Recirculation SystemsBenjamin Haber and Junmin Wang

DSCC2010-4161 719

A Global-Local Emission-Model for NOx and Soot Emissions of TurbochargedCR-Diesel Engines

Heiko Sequenz, Matthias Mrosek, and Rolf Isermann

DSCC2010-4235 727

Simultaneous Unknown State and Input Estimation With Application to Virtual Air Chargeand EGR Sensors for Automotive Engines

Chia-Shang Liu

FUEL CELL MODELING AND CONTROL

DSCC2010-4103 735

Coordinated Control of Fuel Cell Air Supply System Using Model Predictive Control

Lie Tang and Robert G. Landers

DSCC2010 4182, 743

Observer Based Transient Fuel Utilization Control for Solid Oxide Fuel Cells

Tuhin Das and Andrew Slippey

DSCC2010-4239 751

Design Properties That Affect Controller Gain and Available Bandwidth of Non-Minimum

Phase Membrane Humidifiers

John F. Hall, Christine A. Mecklenborg, and Dongmei Chen

DSCC2010-4247 759

Dynamic Thermal Model of PEM Fuel Cells for MIMO Control DesignBudi Hadisujoto, Rehan Refai, Dongmei Chen, and Tess J. Moon

DSCC2010-4270 767

Cathode Pressure Modeling of the Buckeye Bullet II 540 kW Hydrogen Fuel Cell SystemEdward Hillstrom, Marcello Canova, Yann Guezennec, and Giorgio Rizzoni

HEALTHCARE ROBOTICS

DSCC2010-4022 777

Cable Friction Compensation and Rehabilitation Algorithms for a Cable-Driven Human

Assistive SystemJoonbum Bae, Kyoungchul Kong, and Masayoshi Tomizuka

DSCC2010-4068 785Active Knee Prosthesis Control With Electromyography

Sai-Kit Wu, Garrett Waycaster, and Xiangrong Shen

xviii

DSCC2010-4097 793

A Pneumatic Artificial Muscle Actuated Above-Knee Prosthesis

Garrett Waycaster, Sai-Kit Wu, and Xiangrong Shen

DSCC2010-4158 801

Preliminary Evaluation of Myoelectric Control of an Active Transfemoral Prosthesis

During Stair Ascent

Carl D. Hoover and Kevin B. Fite

DSCC2010-4295 809

Life Extending Minimum-Time Path Planning for a Hexapod Robot

Xin Wu, Yaoyu Li, and Thomas R. Consi

HUMAN/ROBOT SYSTEMS

DSCC2010-4003 817

Connection Vector Fields and Optimized Coordinates for Swimming Systems at Low and

High Reynolds Numbers

Ross L. Hatton and Howie Choset

DSCC2010-4020 825

A State Machine Controller for the Autonomous Guidance of a Trained Canine

Winard Britt, William Lyles, and David M. Bevly

DSCC2010-4021 835

A Cable-Driven Human Assistive System and Its Impedance Compensation bySensor Fusion

Kyoungchul Kong, Joonbum Bae, and Masayoshi Tomizuka

DSCC2010-4052 843

A Momentum-Based Algorithm for Identifying the Inertia Properties of a Human Body:A Preliminary Study

Qi Lu and Ou Ma

DSCC2010-4205 851

An Energy Optimal Gait for the MSU Active Synthetic Wheel BipedLouis L. Flynn, Rouhollah Jafari, Ranjan Mukherjee, andAren Helium

DSCC2010-4260 859

Design and Evaluation of Statically Balanced Compliant Mechanisms for Haptic Interfaces

Levi C. Leishman, Daniel J. Ricks, and Mark B. Colton

IDENTIFICATION AND ESTIMATION

DSCC2010 4058 867

Optimization of Time-Series Data Partitioning for Parameter Identification

Soumik Sarkar, Kushal Mukherjee, Xin Jin, and Asok Ray

DSCC2010-4059 875

Wavelet-Based Feature Extraction for Behavior Recognition in Mobile Robots

Xin Jin, Kushal Mukherjee, Shalabh Gupta, and Asok Ray

xix

DSCC2010 4152 883Parameters and Driving Force Estimation of Cell Motility via Expectation-Maximization(EM) Approach

Dejan Milutinovic and Devendra P. Garg

DSCC2010 4169 891

Contact Force Estimation for an Elastic Beam Using Optimal High-GainDisturbance Observer

Yan Liu and Dirk Soffker

DSCC2010-4219 899

Using an Adaptive High-Gain Extended Kalman Filter With a Car Efficiency ModelKenneth D. Sebesta, Nicolas Boizot, Eric Busvelle, and Juergen Sachau

DSCC2010-4221 907

System Identification of a Small Loudspeaker Using ARMA Model

Jaewon Choi, Mohsen Nakhaienejad, and Michael D. Bryant

MARINE SYSTEMS

DSCC2010-4093 915

A Thrust-Vectored Submersible for Animal Behavior Research: Design and

Proof of ConceptVladislav Kopman, Nicholas Cavaliere, and Maurizio Porfiri

DSCC2010-4098 923Interactions Between Fish and Robots: An Experimental Study

Matteo Aureli, Francesca Fiorilli, and Maurizio Porfiri

DSCC2010-4099 931

Topological Analysis of Numerosity-Constrained Social Networks

Nicole Abaid and Maurizio Porfiri

DSCC2010-4156 939

Nonlinear Predictor-Based Output Feedback Control for a Class of Uncertain

Nonlinear SystemsYannick Morel and Alexander Leonessa

DSCC2010-4192. 947

Cooperative Kalman Filtering With Data Fusion in Time Varying Communication NetworksDavide Spinello and Daniel J. Stilwell

DSCC2010-4293 955

Tracking Control of Unmanned Surface Vehicles With Abkowitz Steering ModelC. Nataraj and Ramesh Tnimmaraya

MICRO AND NANO MOTION CONTROL

DSCC2010-4124 963Unknown Multiple Narrow-Band Disturbance Rejection in Hard Disk Drives:An Adaptive Notch Filter and Perfect Disturbance Observer Approach

Xu Chen and Masayoshi Tomizuka

xx

DSCC2010-4133 971

Eigenvalue Assignment Control Method for Linear Time-Varying System With Disturbances

Xiaotian Zou, Qinmin Yang, and Chengyu Cao

DSCC2010-4153 979

A New AFM Cantilever Design for Manipulation at the Nanoscale

Fakhreddine Landolsi, James B. Dabney, and Fathi H. Ghorbel

DSCC2010-4163 987

Parametric Uncertainty Modeling and Multiple Controller Design for Hard Disk Drives

Ehsan Azadi Yazdi, Mohammad Sepasi, Farrokh Sassani, and Ryozo Nagamune

DSCC2010-4285 993

Optimal H°° Control for Linear Periodically Time-Varying Systems in Hard Disk Drives

Jianbin Nie, Richard Conway, and Roberto Horowitz

Author Index 1001

xx i