‡ denotes undergraduate research assistant.
† denotes graduate research assistant.
§ denotes postdoctoral research assistant.
Design and Modeling of a Two Stage Towed Sensor Platform:
A Passively and Actively Stabilized Towfish for Experimental Ocean Science
Sea Technology, 2006
(with E. M. Schuch† and A. C. Linklater†)
Exploring Titan with Autonomous, Buoyancy-Driven Gliders
Journal of the British Interplanetary Society, 2006
(with M. Morrow† and G.
Hagerman)
Energy Shaping for Vehicles with Point Mass Actuators
2006 American Control Conference.
(with C. K.
Reddy§)
Backstepping Control of an SMA-Actuated Robotic Arm
Journal of Vibration and Control, 2005
(with M.
H. Elahinia, J. Koo, and M.
Ahmadian)
Reduced Hamiltonian Dynamics for a Rigid Body Coupled
to a Moving Mass Particle
AIAA Journal of Guidance, Control, and Dynamics, 2005.
A Low-Speed Control Module for a Streamlined AUV
MTS/IEEE OCEANS 2005
(with C. Nickell† and D.
J. Stilwell)
Identification of a Low-Complexity Flow Field
Model for AUV Applications
MTS/IEEE OCEANS 2005
(with J. Petrich and D. J. Stilwell)
Control Design and Stability Analysis for a Two-Stage
Towing System
MTS/IEEE OCEANS 2005
(with E. Schuch†, A. Linklater†, and N.
Lambeth‡)
Adaptive Output Feedback Control of a Spheroidal
Underactuated Underwater Vehicle
MTS/IEEE OCEANS 2005
(with V. Stepanyan and N.
Hovakimyan)
Controlled Lagrangian Systems with Gyroscopic Forcing
and Dissipation
European Journal of Control, 2004.
(with A.
M. Bloch, D.
E. Chang, N.
E. Leonard, J.
E. Marsden, and C. K. Reddy†)
Controlled Lagrangians with Gyroscopic Forcing: An
Experimental Application
2004 American Control Conference.
(with C. K. Reddy† and W. Whitacre‡)
Directional Control of a Streamlined Underwater Vehicle
by Feedback Passivation
2004 American Control Conference.
(with H.-Y. Kim§)
Model-Based Nonlinear Control of an SMA-Actuated Robotic
Arm
2004 ASME International Mechanical Engineering Congress and R & D
Exposition
(with M. H. Elahinia, J. Koo, and M. Ahmadian)
Model-Based Nonlinear Control of an SMA-Actuated Robotic
Arm: An Experimental Study
Tenth Conference on Nonlinear Vibrations, Stability, and Dynamics of Structures,
2004
(with J. Koo, M. H. Elahinia, and M. Ahmadian)
An Experimental Platform for Validating Internal Actuator
Control Strategies
IFAC Workshop on Guidance and Control of Underwater Vehicles, 2003.
(with C. Schultz†)
Stabilizing Underwater Vehicle Motion Using Internal
Rotors
Automatica, 2002.
(with N.E. Leonard)
Passive and Active Attitude Stabilization for a Tow-fish
2002 Conference on Decision and Control.
(with A.
E. Gargett)
Hamiltonian Attitude Dynamics for a Spacecraft with
a Point Mass Oscillator
15th Int’l Symposium on M athematical Theory of Networks
and Systems, 2002.
Moving Mass Control for Underwater Vehicles
2002 American Control Conference
(with N.E. Leonard)
Dissipation and Controlled Euler-Poincaré Systems
2001 Conference on Decision and Control
(with A. Bloch, N.E. Leonard, and J. Marsden)
Physical Dissipation and the Method of Controlled Lagrangians
2001 European Control Conference
(with A. Bloch, N.E. Leonard, and J. Marsden)
Energy Shaping and Dissipation: Underwater Vehicle
Stabilization Using Internal Rotors
Ph.D. Dissertation, Princeton University, January 2001.
Modification of Hamiltonian Structure to Stabilize
an Underwater Vehicle
IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control,
2000.
(with N.E. Leonard)
Asymptotic Stabilization of Euler-Poincaré Mechanical
Systems
IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control,
2000.
(with A. Bloch, D. Chang, N. E. Leonard, and J. Marsden)
Global Asymptotic Stabilization of an Underwater Vehicle
Using Internal Rotors
Conference on Decision and Control, 1999.
(with N.E. Leonard)
Underwater Vehicle Stabilization by Internal Rotors
American Control Conference, 1999.
(with N.E. Leonard)
Bifurcations of the Whirling Planar Pendulum
Just for fun..., 1999.
Internal Actuation for Intelligent Underwater Vehicle
Control
Tenth Yale Workshop on Adaptive and Learning Systems, 1998.
(with N.E. Leonard)
Design and Analysis of an Underwater Vehicle for Controlled
Gliding
Conference on Information Sciences and Systems, 1998.
(with J. Graver, J. Liu and N.E. Leonard)
Transfer Functions for Acoustic Emission Transducers
Using Laser Interferometry
Journal of the Acoustical Society of America, 1993.
(with L.J. Jacobs)