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Alan A. Barhorst
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Journal Articles

Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots

Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021007.
Paper No: ALDSC-23-1074
https://doi.org/10.1115/1.4064517
Published Online: March 7, 2024
View Article titled, Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots
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Topics: Control equipment, Dynamic models, Momentum, Dynamic modeling, Pole placement, Robots, Kinematics
Journal Articles

An Alternate Perspective on Modeling and Control of a Flexible Manipulator: Case Study of a Curvature Control Manipulator Dynamics

Emeka K. Ezeanya, Alan A. Barhorst
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2024, 4(1): 011006.
Paper No: ALDSC-23-1056
https://doi.org/10.1115/1.4064347
Published Online: February 2, 2024
View Article titled, An Alternate Perspective on Modeling and Control of a Flexible Manipulator: Case Study of a Curvature Control Manipulator Dynamics
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Topics: Errors, Flexible manipulators, Kinematics, Manipulators, Modeling, Pole placement, Sliding mode control, Tendons, Control modeling, Displacement
Proceedings Papers

Joint Control With Passive Damping for a Planar Two-Link Tendon-Driven Flexible Manipulator

Emeka K. Ezeanya, Alan A. Barhorst
Proc. ASME. IMECE2022, Volume 5: Dynamics, Vibration, and Control, V005T07A038, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-95636
https://doi.org/10.1115/IMECE2022-95636
View Paper titled, Joint Control With Passive Damping for a Planar Two-Link Tendon-Driven Flexible Manipulator
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Topics: Flexible manipulators, Manipulators, Passive damping, Robots, Tendons, Vibration, Robotics, Deformation, Engineering simulation, Modeling
Proceedings Papers

On the Efficacy of Non-Holonomic Canonical Momentum Analysis of Constrained Multi-Body Mechanical Systems – Application in Ground Vehicle Double Wishbone Suspension Dynamics

Oluwaseyi J. Olorunfemi, Alan A. Barhorst
Proc. ASME. IMECE2022, Volume 5: Dynamics, Vibration, and Control, V005T07A089, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-95181
https://doi.org/10.1115/IMECE2022-95181
View Paper titled, On the Efficacy of Non-Holonomic Canonical Momentum Analysis of Constrained Multi-Body Mechanical Systems – Application in Ground Vehicle Double Wishbone Suspension Dynamics
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Topics: Dynamics (Mechanics), Equations of motion, Momentum, Vehicles, Suspension systems, Modeling, Simulation, Vehicle dynamics, Algorithms, Degrees of freedom
Proceedings Papers

Control of Flight Vehicles From the Perspective of Non-Holonomic Constraint Manifold Dynamics: Quadrotor Application

Ambika P. Dahal, Alan A. Barhorst
Proc. ASME. IMECE2022, Volume 5: Dynamics, Vibration, and Control, V005T07A053, October 30–November 3, 2022
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2022-95040
https://doi.org/10.1115/IMECE2022-95040
View Paper titled, Control of Flight Vehicles From the Perspective of Non-Holonomic Constraint Manifold Dynamics: Quadrotor Application
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Topics: Dynamics (Mechanics), Flight, Manifolds, Vehicles, Momentum, Trajectories (Physics), Control equipment, Design, Dimensions, Path planning
Journal Articles

Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot

Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2022, 2(4): 040902.
Paper No: ALDSC-22-1025
https://doi.org/10.1115/1.4055690
Published Online: October 19, 2022
View Article titled, Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot
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Topics: Control equipment, Kinematics, Mobile robots, Robots, Trajectories (Physics), Wheels, Dynamics (Mechanics), Modeling, Dynamic modeling, Dynamic models
Proceedings Papers

Discrete Wavelet Analysis of Acoustic Emissions During Fatigue Loading of Carbon Fiber Reinforced Composites

Girish P. Kamala, Javad Hashemi, Alan A. Barhorst
Proc. ASME. IMECE98, Recent Advances in Solids and Structures, 129-140, November 15–20, 1998
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1998-0893
https://doi.org/10.1115/IMECE1998-0893
View Paper titled, Discrete Wavelet Analysis of Acoustic Emissions During Fatigue Loading of Carbon Fiber Reinforced Composites
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Topics: Acoustic emissions, Carbon fibers, Composite materials, Fatigue, Wavelets, Emissions, Signals, Damage, Fracture (Materials), Fracture (Process)
Proceedings Papers

Obtaining the Minimal Set of Hybrid Parameter Differential Equations for Mechanisms

Alan A. Barhorst, Louis J. Everett
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Flexible Mechanisms, Dynamics, and Analysis, 311-316, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0395
https://doi.org/10.1115/DETC1992-0395
View Paper titled, Obtaining the Minimal Set of Hybrid Parameter Differential Equations for Mechanisms
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Topics: Differential equations, Algebra, Boundary-value problems, Hamilton's principle, Modeling
Proceedings Papers

Closed Form Modeling of Continuous Parameter Robotic Systems-Contact/Impact and Wave Propagation

Alan A. Barhorst
Proc. ASME. DETC93, 14th Biennial Conference on Mechanical Vibration and Noise: Vibrations and Dynamics of Robotic and Multibody Structures, 39-47, September 19–22, 1993
Publisher: American Society of Mechanical Engineers
Paper No: DETC1993-0142
https://doi.org/10.1115/DETC1993-0142
View Paper titled, Closed Form Modeling of Continuous Parameter Robotic Systems-Contact/Impact and Wave Propagation
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Topics: Modeling, Robotics, Wave propagation, Boundary-value problems, Manipulators, Chain, Deflection, Elasticity, Flight, Robots
Proceedings Papers

Modeling Contact/Impact in Hybrid Parameter Multiple Body Mechanical Systems: Extensions for Higher Order Continuum Models

Alan A. Barhorst
Proc. ASME. DETC95, Volume 3A: 15th Biennial Conference on Mechanical Vibration and Noise — Vibration of Nonlinear, Random, and Time-Varying Systems, 99-107, September 17–20, 1995
Publisher: American Society of Mechanical Engineers
Paper No: DETC1995-0251
https://doi.org/10.1115/DETC1995-0251
View Paper titled, Modeling Contact/Impact in Hybrid Parameter Multiple Body Mechanical Systems: Extensions for Higher Order Continuum Models
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Topics: Differential equations, Inertia (Mechanics), Modeling, Particle spin, Plate theory, Rotation, Spin (Aerodynamics)
Proceedings Papers

Parameter Identification of Nonlinear Hybrid Parameter Multibody Dynamic System With Contacts Using a Polynomial Interpolated Taylor Series Method

Simon C. Wong, Alan A. Barhorst
Proc. ASME. IDETC-CIE2005, Volume 6: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C, 591-600, September 24–28, 2005
Publisher: American Society of Mechanical Engineers
Paper No: DETC2005-84742
https://doi.org/10.1115/DETC2005-84742
View Paper titled, Parameter Identification of Nonlinear Hybrid Parameter Multibody Dynamic System With Contacts Using a Polynomial Interpolated Taylor Series Method
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Topics: Dynamic systems, Polynomials, Damage, Damping, Algorithms, Bolted joints, Modeling, Structural health monitoring, Aerospace industry, Aircraft
Proceedings Papers

A Neuro-Muscular Elasto-Dynamic Model of the Human Arm

Cody B. Moody, Alan A. Barhorst, Lawrence Schovanec
Proc. ASME. IMECE2003, Advances in Bioengineering, 223-224, November 15–21, 2003
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2003-43045
https://doi.org/10.1115/IMECE2003-43045
View Paper titled, A Neuro-Muscular Elasto-Dynamic Model of the Human Arm
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Topics: Actuators, Bone, Deflection, Elongation, Engineering simulation, Simulation, Stress
Journal Articles

Polynomial Interpolated Taylor Series Method for Parameter Identification of Nonlinear Dynamic System

Simon C. Wong, Alan A. Barhorst
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research Papers
J. Comput. Nonlinear Dynam. July 2006, 1(3): 248–256.
https://doi.org/10.1115/1.2209647
Published Online: March 24, 2006
View Article titled, Polynomial Interpolated Taylor Series Method for Parameter Identification of Nonlinear Dynamic System
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Topics: Algorithms, Damage, Damping, Modeling, Nonlinear dynamical systems, Polynomials, Simulation, Stiffness, Friction, Young's modulus
Journal Articles

Contact/Impact in Hybrid Parameter Multiple Body Mechanical Systems—Extensions for Higher-Order Continuum Models

Alan A. Barhorst
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. March 1998, 120(1): 142–144.
https://doi.org/10.1115/1.2801311
Published Online: March 1, 1998
View Article titled, Contact/Impact in Hybrid Parameter Multiple Body Mechanical Systems—Extensions for Higher-Order Continuum Models
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Topics: Collisions (Physics), Differential equations, Inertia (Mechanics), Modeling, Momentum, Particle spin, Plate theory, Rotation, Spin (Aerodynamics)