• Auto-Calibration Based Control for Independent Metering of Hydraulic Actuators 

      Opdenbosch, Patrick; Sadegh, Nader; Enes, Aaron R.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)
      This paper describes a novel auto-calibration state-trajectory-based control method and its application to electronic flow control for independent metering systems. In this paper, the independent metering architecture that ...
    • Blended Shared Control of Zermelo's Navigation Problem 

      Enes, Aaron R.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      Many machines–from hydraulic excavators to mobile wheelchairs–are manually controlled by a human operator. In practice, the operator assumes responsibility for completing a given task at maximum utility, even though the ...
    • A hardware-in-the-loop simulation testbed for emulating hydraulic loads representing the complete dig cycle of a construction machine 

      Enes, Aaron R.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2008)
      A hardware-in-the-loop (HIL) simulation testbed is designed to be capable of emulating the entire domain of hydraulic workport loads incident on a test valve during normal work cycle operations of a certain hydraulic ...
    • New command shaping methods for reduced vibration of a suspended payload with constrained trolley motion 

      Enes, Aaron R.; Hsu, Timothy Y.; Sodemann, Angela A. (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2007-11)
      In manufacturing environments, a common task is to quickly move a suspended payload point-to-point along a fixed overhead conveyor track without inducing significant payload vibration. Recent research in command shaping ...
    • Optimizing Point to Point Motion of Net Velocity Constrained Manipulators 

      Enes, Aaron R.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      The architecture of many hydraulic manipulators, such as excavators common in the earthmoving industry, have constraints on the net sum of actuator speeds. This paper gives the necessary conditions for minimum-time velocity ...
    • Recursive Algorithm for Motion Primitive Estimation 

      Enes, Aaron R.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)
      The need for knowing future manipulator motion arises in several robotics applications, including notification or avoidance of imminent collisions and real-time optimization of velocity commands. This paper presents a ...
    • Sharing Control Can Increase Excavation Productivity 

      Enes, Aaron R.; Book, Wayne John (Georgia Institute of Technology, 2011-03)
      Researchers at the Georgia Institute of Technology have demonstrated that the completion time of common excavation tasks is decreased when an operator and an electronic agent share control of the actuator velocity commands. ...
    • Towards Shared Control of Hydraulic Excavators 

      Enes, Aaron R.; Book, Wayne John (Georgia Institute of Technology, 2010-06)
      Presently, excavator operators manually control all functions of the machine. Decreases to a task's time or energy cost are historically achieved by designing better systems and components or through operator training. In ...
    • A virtual reality operator Interface station with hydraulic hardware-in-the-loop simulation for prototyping excavator control systems 

      Elton, Mark D.; Enes, Aaron R.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-07)
      A multimodal operator interface station is developed to display a realistic virtual reality depiction of a compact excavator performing general digging tasks. The interface station includes engine audio feedback and a near ...