In active rollover prevention systems, a real-time rollover index, which indicates the likelihood of the vehicle to roll over, is used. This paper focuses on state and parameter estimation for reliable computation of the rollover index. Two key variables that are difficult to measure and play a critical role in the rollover index are found to be the roll angle and the height of the center of gravity of the vehicle. Algorithms are developed for real-time estimation of these variables. The algorithms investigated include a sensor fusion algorithm and a nonlinear dynamic observer. The sensor fusion algorithm requires a low-frequency tilt-angle sensor, whereas the dynamic observer utilizes only a lateral accelerometer and a gyroscope. The stability of the nonlinear observer is shown using Lyapunov's indirect method. The performance of the developed algorithms is investigated using simulations and experimental tests. Experimental data confirm that the developed algorithms perform reliably in a number of different maneuvers that include constant steering, ramp steering, double lane change, and sine with dwell steering tests.

Abstract—This paper describes a test-bed for technology that unifies agent based computing and adaptive resource management for dynamic real-time systems. We describe a unified framework that combines a hybrid agent based architecture with explicit resource adapting mechanisms. I.

This paper presents a basic motion-planning/feedback-control algorithm for a robot working with a human in the same workspace. With the proposed control scheme, robots can be safe and easy to use when unexpected events occur. The algorithm is based on: (1) inertia reduction, (2) passivity, and (3) parametric path planning. A preliminary simulation study is performed to show its effectiveness with a two-link manipulator.

When a robotic manipulator is mounted on a crane, boom or mobile platform, it loses its accuracy and speed due to the compliance of the base. The paper presents a simple robust control strategy that reduces mechanical vibrations and enable better tip positioning. The control algorithm uses sensory feedback of the base oscillation to modulate the manipulator actuators to induce the inertial damping forces. Previous work by the author has demonstrated the feasibility of the proposed concept using linear analysis. The work extends to a more general case of a nonlinear multiple link manipulator using acceleration feedback and one sample delayed torque. A computer simulation study shows very promising results for a test bed consisting of a two-link manipulator and a compliant base.

Contact force control of a long-reach micro/macro-manipulator, in which the macro-manipulator is flexible, is discussed in this paper. The proposed contact force control algorithm smooths the manipulator's transition from a free-space motion to contact with an unknown environment. Using a force sensor at the wrist and a strain measurement at the flexible link, the micro-manipulator regulates the contact force to a desired value without causing contact instability. Experimental results show the effectiveness of the proposed controller in an industrial hydraulic manipulator testbed.

Inertial force damping control by micro manipulator modulation is proposed to suppress the vibrations of a micro/macro manipulator system. The proposed controller, developed using classical control theory, is added to the existing control system. The proposed controller uses real-time measurements of macro manipulator flexibility to adjust the motion of the micro manipulator to counteract the structural vibrations. Experimental studies using an existing micro/macro flexible link manipulator testbed demonstrate the effectiveness of the proposed approach to suppression of vibrations in the macro/micro manipulator system using micro-manipulator-based inertial active damping control.