Conference proceedings

2017

74.Design, Modeling, and Analysis of Inductive Resonant Coupling Wireless Power Transfer for Micro Aerial Vehicles (MAVs)

G. Plaizier, E. Andersen, B. Truong, S. Roundy; K. K. Leang

Design, Modeling, and Analysis of Inductive Resonant Coupling Wireless Power Transfer for Micro Aerial Vehicles (MAVs) Inproceedings

IEEE International Conference on Robotics and Automation (ICRA) (Under review), Brisbane Convention & Exhibition Centre, Australia, May 21-25, 2018, 2017.

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73.Spatial filter design for dual-stage systems

A. Mitrovic, K. K. Leang; G. M. Clayton

Spatial filter design for dual-stage systems Inproceedings

ASME Dynamic Systems and Control Conference (DSCC), Tysons Corner, Virginia, USA, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017.

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72.Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments

D. Guo; K. K. Leang

Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments Inproceedings

ASME Dynamic Systems and Control Conference (DSCC), Tysons Corner, Virginia, USA, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017.

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71.Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor

J. R. Bourne; K. K. Leang

Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor Inproceedings

ASME Dynamic Systems and Control Conference (DSCC) Tyson Corner, Virginia, USA, October 11-13, 2017, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017.

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70.Modeling and Adaptive Nonlinear Disturbance Observer for Closed-Loop Control of In-Ground-Effects on Multi-rotor UAVs

X. He, M. Calaf; K. K. Leang

Modeling and Adaptive Nonlinear Disturbance Observer for Closed-Loop Control of In-Ground-Effects on Multi-rotor UAVs Inproceedings

ASME Dynamic Systems and Control Conference (DSCC) Tyson Corner, Virginia, USA, October 11-13, 2017, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017.

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69.Fused Filament 3D Printing of Ionic Polymer-Metal Composites for Soft Robotics

K. K. Leang; J. D. Carrico

Fused Filament 3D Printing of Ionic Polymer-Metal Composites for Soft Robotics Inproceedings

SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring, Portland, OR, March 26-29, 2017., 2017.

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68.Design of a Dual-Stage, Three-Axis Hybrid Parallel-Serial-Kinematic Nanopositioner with Mechanically Mitigated Cross-Coupling

W. Nagel; K. K. Leang

Design of a Dual-Stage, Three-Axis Hybrid Parallel-Serial-Kinematic Nanopositioner with Mechanically Mitigated Cross-Coupling Inproceedings

Invited session on Design & Control of Micro/Nano Precision Mechatronic Systems, IEEE Int. Conf. on Advanced Intelligent Mechatronics, Munich, Germany, July 3-7, 2017, 2017.

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67.Spatial-Temporal Trajectory Redesign for Dual-Stage Nanopositioning Systems

D. Guo, A. Mitrovi, G. M. Clayton; K. K. Leang

Spatial-Temporal Trajectory Redesign for Dual-Stage Nanopositioning Systems Inproceedings

Invited session on Design & Control of Micro/Nano Precision Mechatronic Systems, IEEE Int. Conf. on Advanced Intelligent Mechatronics, Munich, Germany, July 3-7, 2017, 2017.

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66.3D-Printed Ionic Polymer-Metal Composite Soft Crawling Robot

J. D. Carrico, K. J. Kim; K. K. Leang,

3D-Printed Ionic Polymer-Metal Composite Soft Crawling Robot Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), Sands Expo and Convention Centre, Marina Bay Sands in Singapore, May 29 - June 3, 2017, 2017.

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65.Particle filter based gas/chemical plume source localization for autonomous mobile robots

J. R. Bourne; K. K. Leang

Particle filter based gas/chemical plume source localization for autonomous mobile robots Inproceedings

IEEE International Conference on Advanced Intelligent Mechatronics, Munich, Germany, July 3-7, 2017 (under review), 2017.

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64.Repetitive Control Design and Implementation for Periodic Motion Tracking in Aerial Vehicles

X. He, D. Guo; K. K. Leang

Repetitive Control Design and Implementation for Periodic Motion Tracking in Aerial Vehicles Inproceedings

American Control Conference May 24-26, Seattle, WA, 2017, 2017.

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63.A Unified Leader-Follower Scheme for Mobile Robots with Uncalibrated On-board Camera

D. Guo, H. Wang, W. Chen, M. Liu, Z. Xia, K. K. Leang

A Unified Leader-Follower Scheme for Mobile Robots with Uncalibrated On-board Camera Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), Sands Expo and Convention Centre, Marina Bay Sands in Singapore, May 29 - June 3, pp. 3792 - 3797, 2017.

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2016

62.Adaptive Repetitive Visual-Servo Control of a Low-Flying Unmanned Aerial Vehicle with an Uncalibrated High-Flying Camera

D. Guo, W. Yim,; K. K. Leang

Adaptive Repetitive Visual-Servo Control of a Low-Flying Unmanned Aerial Vehicle with an Uncalibrated High-Flying Camera Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 9-14, 2016, Daejeon, Korea, pp. 4258 - 4265, 2016.

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61.Study of Improved Pilot Performance using Automatic Collision Avoidance for Tele-operated Unmanned Aerial Vehicles

Daman Bareiss, Jur van den Berg, Jake Abbott, Kam K. Leang

Study of Improved Pilot Performance using Automatic Collision Avoidance for Tele-operated Unmanned Aerial Vehicles Inproceedings

2016 IEEE International Symposium on Safety, Security and Rescue Robotics, October 23-27, 2016, EPFL, Lausanne, Switzerland, 2016.

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60.IPMC Manufacturing Techniques: Recent Developments

K. J. Kim; K. K. Leang

IPMC Manufacturing Techniques: Recent Developments Inproceedings

International Workshop on Active Materials and Soft Mechatronics, KAIST, Daejeon, South Korea, July 7-8, 2016, 2016.

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59.3D Printing of Smart Materials

K. J. Kim, S. Trabia, Z. Olson, T. Stalbaum; K. K. Leang

3D Printing of Smart Materials Inproceedings

International Workshop on Active Materials and Soft Mechatronics, KAIST, Daejeon, South Korea, July 7-8, 2016, 2016.

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58.High-speed AFM through non-raster scanning and high speed actuation

T. T. Ashley, T. Huang, S. B. Andersson, W. Nagel; K. K. Leang

High-speed AFM through non-raster scanning and high speed actuation Inproceedings

Biophysical Society Annual Meeting, Los Angeles, CA, February 27 - March 2. Poster presentation., 2016.

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57.Master-slave control with hysteresis inversion for dual-stage nanopositioning systems

W. S. Nagel, G. M. Clayton; K. K. Leang

Master-slave control with hysteresis inversion for dual-stage nanopositioning systems Inproceedings

American Control Conference (Accepted), Boston MA, July 6-8, 2016, 2016.

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56.Dynamic underactuated flying-walking (DUCK) robot

C. J. Pratt; K. K. Leang

Dynamic underactuated flying-walking (DUCK) robot Inproceedings

2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, pp. 3267 - 3274, 2016.

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55.Characterization of 3D-printed IPMC Actuators

J. D. Carrico, J. Erickson; K. K. Leang

Characterization of 3D-printed IPMC Actuators Inproceedings

SPIE Smart Structures/NDE, Las Vegas, Nevada, March 20-24, 2016, 2016.

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2015

54.Stochastic automatic collision avoidance for  tele-operated unmanned aerial vehicles

Daman Bareiss, Jur van den Berg; Kam K. Leang

Stochastic automatic collision avoidance for tele-operated unmanned aerial vehicles Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 28 - October 02, pp. 4818-4825, Hamburg, Germany, 2015.

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53.A  Micro Spherical Rolling and Flying Robot

Christopher J. Dudley, Alex Woods; Kam K. Leang

A Micro Spherical Rolling and Flying Robot Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 28 - October 02, Hamburg, Germany, 2015.

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52.Fused Filament Additive Manufacturing of Ionic Polymer-Metal Composite Soft Active 3D Structures

J. D. Carrico, N. W. Traeden, M. Aureli; K. K. Leang,

Fused Filament Additive Manufacturing of Ionic Polymer-Metal Composite Soft Active 3D Structures Inproceedings

ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), September 21-23, 2015 in Colorado Springs, Colorado., Colorado Springs, Colorado, 2015, (Jim Carrico and Nick Traeden were winners of the 2015 SMASIS Conf. Best Student Paper Award!).

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51.Rapid fabrication of modular nanoscale tool-tips for nano and micro manufacturing

B. Sahu, E. McCumiskey, K. K. Leang, C. R. Taylor,

Rapid fabrication of modular nanoscale tool-tips for nano and micro manufacturing Inproceedings

4M/ICOMM 2015 Conference (Accepted), 2015.

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2014

50.Analog robust repetitive control for nanopositioning

A. A. Eielsen; J. T. Gravdahl; K. K. Leang

Analog robust repetitive control for nanopositioning Inproceedings

19th World Congress of the International Federation of Automatic Control, 24-29 August 2014, Cape Town, South Africa (Forthcoming), 2014.

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2013

49.Unmanned aircraft systems in environmental science: cheaper, better, faster and more accessible large scale data collection to improve understanding of natural resources

M. Walker; K. K. Leang; S. Tyler; S. Lether; P. Weisberg

Unmanned aircraft systems in environmental science: cheaper, better, faster and more accessible large scale data collection to improve understanding of natural resources Inproceedings

CABNR/NAES/UNCE Main Station - Field Day, 2013.

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48.Augmented proportional-derivative control of a micro quadcopter

N. L. Johnson; K. K. Leang

Augmented proportional-derivative control of a micro quadcopter Inproceedings

ASME Dynamic Systems and Controls Conference, 2013.

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47.The effects of electrode surface morphology on the actuation performance of IPMC

V. Palmre; D. Pugal; K. J. Kim; K. K. Leang

The effects of electrode surface morphology on the actuation performance of IPMC Inproceedings

SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring, 2013.

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46.An experimental comparison of PI, inversion, and damping control for high performance nanopositioning

A. J. Fleming; K. K. Leang

An experimental comparison of PI, inversion, and damping control for high performance nanopositioning Inproceedings

American Control Conference, 2013.

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45.Precision Control of Ionic Polymer-Metal Composite Actuators

K. K. Leang

Precision Control of Ionic Polymer-Metal Composite Actuators Inproceedings

7th World Congress on Biomimetics, Artificial Muscles and Nano-Bio (BAMN2013), 2013.

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44.Sectored tube-shaped ionic polymer-metal composite actuator with integrated sensor

M. Tsugawa; V. Palmre; K. J. Kim; K. K. Leang

Sectored tube-shaped ionic polymer-metal composite actuator with integrated sensor Inproceedings

ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, September 19-21, Snowbird, Utah, USA, 2013.

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2012

43.Robust damping PI repetitive control for nanopositioning

A. A. Eielsen; J. T. Gravdahl; K. K. Leang

Robust damping PI repetitive control for nanopositioning Inproceedings

American Control Conference, 2012.

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42.Overcoming the speed limitations of constant-force mode AFM

A. J. Fleming; K. K. Leang

Overcoming the speed limitations of constant-force mode AFM Inproceedings

Seeing at the Nanoscale 2012, 2012.

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41.Flexure design using metal matrix composite materials: nanopositioning example

B. J. Kenton; K. K. Leang

Flexure design using metal matrix composite materials: nanopositioning example Inproceedings

IEEE International Conference on Robotics and Automation (ICRA), 2012.

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40.Physics based electromechanical model of IPMC considering various underlying currents

D. Pugal; K. J. Kim; V. Palmre; K. K. Leang; A. Aablo

Physics based electromechanical model of IPMC considering various underlying currents Inproceedings

SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring, 2012.

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39.Spatial-temporal control of dual-stage nanpositioners

G. M. Clayton; K. K. Leang

Spatial-temporal control of dual-stage nanpositioners Inproceedings

IEEE Control and Decision Conference, 2012.

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38.The NSF GK-12 E-Fellowship Program: Toward Energy-Aware STEM Leaders for the 21st Century

K. K. Leang; M. Robinson; E. Wang; J. LaCombe; K. J. Kim

The NSF GK-12 E-Fellowship Program: Toward Energy-Aware STEM Leaders for the 21st Century Inproceedings

2012 SMTI National Conference, 2012.

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2011

37.Repetitive control design for piezoelectric actuators

Y. Shan; K. K. Leang

Repetitive control design for piezoelectric actuators Inproceedings

ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), 2011.

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36.Electrically responsive stiffness change of IPMCs

V. Palmre; K. J. Kim; R. Tiwari; K. K. Leang

Electrically responsive stiffness change of IPMCs Inproceedings

ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), 2011.

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35.

B. Sahu; C. R. Taylor; R. O. Riddle; K. K. Leang

Design and fabrication of an automatic nano tool-tip exchanger for scanning probe microscopy Inproceedings

ASME 2011 International Manufacturing Science and Engineering Conference (MSEC2011), 2011.

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34.

D. Pugal; K. J. Kim; K. K. Leang; V. Palmre

Modeling and designing IPMCs for twisting motion: electromechanical and mechanoelectrical transduction Inproceedings

SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring, 2011.

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33.

J. Hubbard; M. Fleming; K. K. Leang; V. Palmre; D. Pugal; K. J. Kim

Characterization of sectored-electrode IPMC-based propulsors for underwater locomotion Inproceedings

ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), pp. 171–180, 2011.

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32.

K. J. Kim; D. Pugal; K. K. Leang

A twistable artificial muscle for underwater robotic applications Inproceedings

US-Korea Summit on Science and Engineering (UKC), 2011.

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31.

M. J. Fleming; K. J. Kim; K. K. Leang

Mitigating IPMC back-relaxation effect using multi-input control Inproceedings

ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), 2011.

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2010

30.

Y. Shan; K. K. Leang

Dual-stage repetitive control for high-speed nanopositioning Inproceedings

IFAC Symposium on Mechatronic Systems and ASME Dynamic Systems and Control Conference (DSCC), Invited session on Micro- and Nanoscale Dynamics and Control, 2010.

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29.

R. O. Riddle; Y. Jung; S.-M. Kim; S. Song; B. Stolpman; K. J. Kim; K. K. Leang

Sectored-electrode IPMC actuator for bending and twisting motion Inproceedings

SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring, pp. 764221, 2010.

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28.

S. J. Kim; Y. Jung; K. K. Leang; K. J. Kim

Development of dimensionally scalable IPMC materials Inproceedings

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Invited session on EAP, 2010.

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27.

S. Song; Y. Shan; K. J. Kim; K. K. Leang

Tracking control of oscillatory motion in IPMC actuators for underwater applications Inproceedings

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Invited session on EAP, 2010.

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26.

A. J. Fleming; B. J. Kenton; K. K. Leang

Ultra-fast dual-stage vertical positioning for high performance SPMs Inproceedings

American Control Conference, Special Invited Session on Advances in Actuation for Nanopositioning and Scanning Probe Systems, pp. 4975 – 4980, 2010.

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25.

A. J. Fleming; K. K. Leang

High performance nanopositioning with integrated strain and force feedback Inproceedings

IFAC Symposium on Mechatronic Systems and ASME Dynamic Systems and Control Conference (DSCC), Invited Session on Micro- and Nanoscale Dynamics and Control, 2010.

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24.

A. J. Fleming; K. K. Leang

Measurement and control for high-speed sub-atomic positioning in scanning probe microscopes Inproceedings

IEEE International Conference on Robotics and Automation (ICRA2010), Invited workshop, May 3-8, 2010.

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23.

B. J. Kenton; K. K. Leang

Design, characterization, and control of a monolithic three-axis high-bandwidth nanopositioning stage Inproceedings

American Control Conference, Special Invited Session on Advances in Actuation for Nanopositioning and Scanning Probe Systems, pp. 4949 – 4956, 2010.

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22.

B. Sahu; C. R. Taylor; R. Riddle; K. K. Leang

A thermally-activated modular SPM probe for mulitfunctional applications Inproceedings

ASMEInternational Manufacturing Science and Engineering Conference, 2010.

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21.

D. Pugal; S. J. Kim; K. J. Kim; K. K. Leang

IPMC: recent progress in modeling, manufacturing, and new applications Inproceedings

SPIE Smart Structures and Materials and Nondestructive Evaluation and Health Monitoring, 2010.

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2009

20.

Y. Shan; K. K. Leang

Repetitive control with Prandtl-Ishlinskii hysteresis inverse for piezo-based nanopositioning Inproceedings

American Control Conference, Invited Session on Advances in Control of Nanopositioning and SPM Systems, pp. 301 - 306, 2009.

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19.

K. K. Leang; C. R. Taylor

A novel multifunctional SPM probe with modular quick-change tips for fully automated probe-based nanofabrication Inproceedings

Proceedings of NSF Engineering Research and Innovation Conference, 2009.

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2008

18.Modeling and control of smart actuators: integrating nano/bio technology into the ME curriculum

Y. Wu; S. Culter; Q. Zou; G. Pannozzo; K. K. Leang; S. Devasia

Modeling and control of smart actuators: integrating nano/bio technology into the ME curriculum Inproceedings

ASEE Annual Conference and Exposition, 2008.

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17.

Y. Shan; K. K. Leang

Application of Feedforward Dynamics Compensation in Ionic-Polymer Metal Composite Actuators Inproceedings

SPIE Smart Structures and Materials and NDE for Health Monitoring and Diagnostics Conference, pp. 69270F-1 – 69270F-12, 2008.

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16.

S. C. Ashley; U. Aridogan; R. O. Riddle; K. K. Leang

Hysteresis inverse iterative learning control of piezoactuators in AFM Inproceedings

17th IFAC World Congress, Invited Session on Dynamics and Control of Micro- and Nanoscale Systems, 2008.

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15.

U. Aridogan; Y. Shan; K. K. Leang

Discrete-time phase compensated repetitive control for piezoactuators in scanning probe microscopes Inproceedings

ASME Dynamic Systems and Control Conference, Invited Session on Dynamics Modeling and Control of Smart Actuators, pp. 1325 – 1332, 2008.

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14.

A. J. Fleming; K. K. Leang

Evaluation of charge drives for scanning probe microscope positioning stages Inproceedings

American Control Conference, Invited session on Advanced Mechanism Design, Modeling, and Control of SPMs, pp. 2028 – 2033, 2008.

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13.

J. Xie; P. P. Mane; C. W. Green; K. M. Mossi; K. K. Leang

Energy harvesting via pyroelectric effect using PZT Inproceedings

ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, 2008.

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12.

K. K. Leang; A. J. Fleming

High-speed serial-kinematic AFM scanner: design and drive considerations Inproceedings

American Control Conference, Invited Session on Modeling and Control of SPM, pp. 3188 – 3193, 2008.

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11.

K. K. Leang; C. R. Taylor

Design and fabrication of a multifunctional scanning probe with integrated tip changer for fully automated nanofabrication Inproceedings

23rd ASPE Anual Meeting and 12th ICPE, 2008.

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2007

10.

Y. Shan; J. Dodson; S. Abraham; J. E. Speich; R. Rao; K. K. Leang

A biaxial shape memory alloy actuated cell/tissue stretching system Inproceedings

ASME International Mechanical Engineering Congress and Exposition (IMECE), 2007.

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9.

G. Tchoupo; K. K. Leang

Hysteresis compensation for high-precision positioning of a shape memory alloy actuator using integrated iterative-feedforward and feedback inputs Inproceedings

American Control Conference, pp. 4246 – 4253, 2007.

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8.

K. K. Leang; G. Pannozzo; Q. Zou; S. Devasia

A collaborative approach to teach modeling and control of smart actuators in the mechanical engineering curriculum Inproceedings

ASME International Mechanical Engineering Congress and Exposition, 2007.

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2006

7.Precise positioning of a shape memory alloy actuator using iterative control

S. C. Ashley; G. Tchoupo; R. M. Mohr; K. K. Leang

Precise positioning of a shape memory alloy actuator using iterative control Inproceedings

Actuator 2006, pp. 467 – 470, 2006.

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6.Optimal seek-trajectory design for dual-stage systems

D. Iamratanakul; B. Jordan; K. K. Leang; S. Devasia

Optimal seek-trajectory design for dual-stage systems Inproceedings

American Control Conference, pp. 606 – 612, 2006.

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5.Hysteresis characterization using charge-feedback control for LIPCA a device

J. Beck; M. A. Noras; J. Kieres; J. Speich; K. M. Mossi; K. K. Leang

Hysteresis characterization using charge-feedback control for LIPCA a device Inproceedings

SPIE Smart Structures and Materials and NDE for Health Monitoring and Diagnostics, 2006.

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4.The design of a high-voltage charge-feedback piezo-amplifier

M. A. Noras; J. Kieres; K. M. Mossi; K. K. Leang

The design of a high-voltage charge-feedback piezo-amplifier Inproceedings

Actuator 2006 Conference, pp. 353 – 355, 2006.

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2004

3.Iterative learning control of piezo positioners for long-range SPM-based nanofabrication

K. K. Leang; S. Devasia

Iterative learning control of piezo positioners for long-range SPM-based nanofabrication Inproceedings

The 3rd IFAC Symposium on Mechatronic Systems, 2004.

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2003

2.Iterative feedforward compensation of hysteresis in piezo positioners

K. K. Leang; S. Devasia

Iterative feedforward compensation of hysteresis in piezo positioners Inproceedings

IEEE 42nd Conference on Decision and Controls, Invited session on Nanotechnology: Control Needs and Related Perspectives, pp. 2626 - 2631, 2003.

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2002

1.Hysteresis, creep, and vibration compensation for piezoactuators: feedback and feedforward control

K. K. Leang; S. Devasia

Hysteresis, creep, and vibration compensation for piezoactuators: feedback and feedforward control Inproceedings

The 2nd IFAC Conference on Mechatronic Systems, Invited session on Smart Materials and Structures, pp. 283-289, 2002.

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