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Pao Publications

Journal Papers

  • V. V. Kulkarni, L. Y. Pao, and P. L. Falb. "Stability Multipliers for Memoryless Positive Nonlinearities: Parameterizations Based on the Nonlinearity Graph," submitted in July 2006 for publication in the IEEE Trans. Automatic Control.
  • M. D. Baumgart and L. Y. Pao. "Discrete Time-Optimal Command Shaping for Single- and Multi-Input Systems," accepted for publication in Automatica, to appear.
  • M. D. Baumgart and L. Y. Pao. "Robust Control of Nonlinear Web-Winding Systems with and without Tension Sensors," ASME J. Dynamic Systems, Measurement, and Control, 129(1): 41-55, Jan. 2007.
  • K. E. Johnson, L. Y. Pao, M. J. Balas, and L. J. Fingersh. "Control of Variable Speed Wind Turbines: Standard and Adaptive Techniques for Maximizing Energy Capture," IEEE Control * Systems Magazine, 26(3): 70-81, June 2006.
  • C. La-orpacharapan and L. Y. Pao. "Fast and Robust Control of Systems with Multiple Flexible Modes," IEEE/ASME Trans. Mechatronics, 10(5): 521-534, Oct. 2005.
  • L. Trailovic and L. Y. Pao. "Variance Estimation and Ranking of Target Tracking Position Errors Modeled Using Gaussian Mixture Distributions," Automatica, 41(8): 1433-1438, Aug. 2005.
  • M. D. Baumgart and L. Y. Pao. "Time-Optimal Control of Web-Winding Systems with Air Entrainment," IEEE/ASME Trans. Mechatronics, 10(3): 257-262, June 2005.
  • M. Kalandros and L. Y. Pao. "Covariance Control Strategies for Reducing Bias Effects in Interacting Target Scenarios," IEEE Trans. Aerospace Electronic Systems, 41(1): 153-173, Jan. 2005.
  • L. Y. Pao. "Research in Control Systems, Sensor Fusion, and Haptic Interfaces," Acta Automatica Sinica, 31(1): 75-83, Jan. 2005.
  • K. E. Johnson, L. Fingersh, M. Balas, and L. Y. Pao. "Methods for Increasing Region 2 Power Capture on a Variable Speed HAWT," ASME J. Solar Energy Engineering, 126(4): 1092-1100, Nov. 2004.
  • D. A. Lawrence, L. Y. Pao. C. D. Lee, and R. Y. Novoselov. " Synergistic Visual/Haptic Rendering Modes for Scientific Visualization," IEEE Computer Graphics and Applications, 24(6): 22-30, Nov.-Dec. 2004.
  • C. D. Lee, D. A. Lawrence, L. Y. Pao. "Isotropic Force Control for Haptic Interfaces," Control Engineering Practice, 12(11): 1423-1436, Nov. 2004.
  • M. Kalandros and L. Y. Pao. "Covariance Control for Sensor Management in Cluttered Tracking Environments," AIAA J. Guidance, Control, and Dynamics, 27(3): 493-496, May-June 2004.
  • C. F. Cutforth and L. Y. Pao. "Adaptive Input Shaping Techniques for Maneuvering Flexible Structures," Automatica, 40(4): 685-693, April 2004.
  • L. Y. Pao and C. La-orpacharapan. "Shaped Time-Optimal Feedback Controllers for Flexible Structures," ASME J. Dynamic Systems, Measurement, and Control, 126(1): 173-186, Mar. 2004.
  • C. La-orpacharapan and L. Y. Pao. "Shaped Phase-Plane Feedback Control for Disk Drive Systems," IEEE Trans. Magnetics, 40(1): 85-96, Jan. 2004.
  • L. Trailovic and L. Y. Pao. "Computing Budget Allocation for Efficient Ranking and Selection of Variances with Application to Target Tracking Algorithms," IEEE Trans. Automatic Control, 49(1): 58-67, Jan. 2004.
  • L. Y. Pao and C. F. Cutforth. "On Frequency-Domain and Time-Domain Input Shaping for Multi-mode Flexible Structures," ASME J. Dynamic Systems, Measurement, and Control, 125(3): 494-497, Sept. 2003.
  • M. A. Lau and L. Y. Pao. "Input Shaping and Time-Optimal Control of Flexible Structures," Automatica, 39(5): 893-900, May 2003.
  • C. F. Cutforth and L. Y. Pao. "Control Using Equal Length Shaped Commands to Reduce Vibration," IEEE Trans. Control Systems Technology, 11(1): 62-72, Jan. 2003.
  • M. Kalandros and L. Y. Pao. "Covariance Control for Multisensor Systems," IEEE Trans. Aerospace Electronic Systems, 38(4): 1138-1157, Oct. 2002.
  • M. A. Lau and L. Y. Pao. "Characteristics of Time-Optimal Commands for Flexible Structures with Limited Fuel Usage," J. Guidance, Control, and Dynamics, 25(2): 222-231, Mar.-Apr. 2002.
  • D. A. Lawrence, L. Y. Pao, A. M. Dougherty, M. A. Salada, and Y. Pavlou. "Rate-Hardness: A New Performance Metric for Haptic Interfaces," IEEE Trans. Robotics and Automation, 16(4): 357-371, Aug. 2000.
  • L. Y. Pao and L. Trailovic. "The Optimal Order of Processing Sensor Information in Sequential Multisensor Fusion Algorithms," IEEE Trans. Automatic Control, 45(8): 1532-1536, Aug. 2000.
  • L. Y. Pao and M. A. Lau. "Robust Input Shaper Control Design for Parameter Variations in Flexible Structures," ASME J. Dynamic Systems, Measurement, and Control, 122(1): 63-70, March 2000.
  • L. Y. Pao and M. A. Lau. "The Expected Residual Vibration of Traditional and Hybrid Input Shaping Designs," J. Guidance, Control, and Dynamics, 22(1): 162-165, Jan.-Feb. 1999.
  • L. Y. Pao. "Multi-Input Shaping Design for Vibration Reduction," Automatica, 35(1): 81-89, Jan. 1999.
  • L. Y. Pao and W. E. Singhose. "Robust Minimum Time Control of Flexible Structures," Automatica, 34(2): 229-236, Feb. 1998.
  • C. W. Frei and L. Y. Pao. "Alternatives to Monte Carlo Simulation Evaluations of Two Multisensor Fusion Algorithms," Automatica, 34(1): 103-110, Jan. 1998.
  • L. Y. Pao. "An Analysis of the Frequency, Damping, and Total Insensitivities of Input Shaping Designs," J. Guidance, Control, and Dynamics, 20(5): 909-915, Sept.-Oct. 1997.
  • L. Y. Pao and W. E. Singhose. "Verifying Robust Time-Optimal Commands for Multi-Mode Flexible Spacecraft," J. Guidance, Control, and Dynamics, 20(4): 831-833, July-Aug. 1997.
  • W. E. Singhose and L. Y. Pao. "A Comparison of Input Shaping and Time-Optimal Flexible-Body Control," Control Engineering Practice, 5(4): 459-467, Apr. 1997.
  • W. E. Singhose, L. Y. Pao, and W. P. Seering. "Slewing Multimode Flexible Spacecraft with Zero Derivative Robustness Constraints," J. Guidance, Control, and Dynamics, 20(1): 204-206, Jan.-Feb. 1997.
  • L. Y. Pao. "A Measurement Reconstruction Approach for Distributed Multisensor Fusion," J. Guidance, Control, and Dynamics, 19(4): 842-847, July-Aug. 1996.
  • L. Y. Pao. "Minimum-Time Control Characteristics of Flexible Structures," J. Guidance, Control, and Dynamics, 19(1): 123-129, Jan.-Feb. 1996.
  • L. Y. Pao. "Multisensor Multitarget Mixture Reduction Algorithms for Tracking," J. Guidance, Control, and Dynamics, 17(6): 1205-1211, Nov.-Dec. 1994.
  • L. Y. Pao. "Centralized Multisensor Fusion Algorithms for Tracking Applications," Control Engineering Practice, 2(5): 875-887, Oct. 1994.
  • L. Y. Pao and G. F. Franklin. "The Robustness of a Proximate Time-Optimal Controller," IEEE Trans. Automatic Control, 39(9): 1963-1966, Sept. 1994.
  • L. Y. Pao and G. F. Franklin. "Proximate Time-Optimal Control of Third-Order Servomechanisms," IEEE Trans. Automatic Control, 38(4): 560-580, April 1993.
  • L. Y. Pao and G. F. Franklin. "A Comparative Study of Proximate Time-Optimal Controllers for Type-2 Third-Order Servomechanisms," ASME Advances in Information Storage Systems, Vol. 4, pp. 317-328, 1992.

Conference Papers

  • B. P. Rigney, L. Y. Pao, and D. A. Lawrence. "Model Inversion Architectures for Settle Time Applications with Uncertainty," Proc. IEEE Conf. Decision and Control, San Diego, CA, pp. 6518-6524, Dec. 2006.
  • B. P. Rigney, L. Y. Pao, and D. A. Lawrence. "Settle-Time Performance Comparisons of Approximate Inversion Techniques for LTI Nonminimum Phase Systems," Proc. American Control Conf., Minneapolis, MN, pp. 600-605, June 2006.
  • R. M. Powers and L. Y. Pao. "Power and Robustness of a Track-Loss Detector Based on Kolmogorov-Smirnov Tests," Proc. American Control Conf., Minneapolis, MN, pp. 3757-3764, June 2006.
  • V. Kulkarni, L. Y. Pao, and P. Falb. "Stability Multipliers for Memoryless Positive Nonlinearities: Parameterizations based on the Nonlinearity Graph," Proc. American Control Conf., Minneapolis, MN, pp. 74-81, June 2006.
  • D. A. Lawrence, L. Y. Pao, and S. Aphanuphong. " Unwarping Encoder Ripple in Low Cost Haptic Interfaces," Proc. 14th Int. Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, IEEE Virtual Reality Conf., Arlington, VA, pp. 75-80, Mar. 2006.
  • N. L. Bernstein, D. A. Lawrence, and L. Y. Pao. "Sensor Modeling in Parallel Force Feedback Haptic Interfaces," Proc. 14th Int. Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, IEEE Virtual Reality Conf., Arlington, VA, pp. 177-184, Mar. 2006.
  • R. M. Powers and L. Y. Pao. " Using Kolmogorov-Smirnov Tests to Detect Track-Loss in the Absence of Truth Data," Proc. IEEE Conf. Decision and Control, Seville, Spain, pp. 3097-3104, Dec. 2005.
  • V. Kulkarni, H. Zhong, and L. Y. Pao. "Robust Rejection of Periodic and Almost Periodic Disturbances," Proc. IFAC World Congress, Prague, Czech Republic, July 2005.
  • H. Zhong, V. Kulkarni, and L. Y. Pao. "Adaptive Control for Rejecting Disturbances with Time-Varying Frequencies in Tape Systems," Proc. American Control Conf., Portland, OR, pp. 533-538, June 2005.
  • V. Kulkarni and L. Y. Pao. "A Sensor Management Protocol for Tracking with Diverse Sensors," Proc. American Control Conf., Portland, OR, pp. 5015-5020, June 2005.
  • D. A. Lawrence, L. Y. Pao, and S. Aphanuphong. "Bow Spring/Tendon Actuation for Low Cost Haptic Interfaces," Proc. 1st Joint EuroHaptics Conf. and Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems, Pisa, Italy, pp, 157-166, Mar. 2005. Recipient of the conference-wide Best Paper Award.
  • N. L. Bernstein, D. A. Lawrence, and L. Y. Pao. "Friction Modeling and Compensation for Haptic Interfaces," Proc. 1st Joint EuroHaptics Conf. and Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems, Pisa, Italy, pp. 290-295, Mar. 2005.
  • K. E. Johnson, L. J. Fingersh, L. Y. Pao, and M. J. Balas. "Adaptive Torque Control of Variable Speed Wind Turbines for Increased Region 2 Energy Capture," Proc. ASME Wind Energy Symposium, Reno, NV, Jan. 2005.
  • R. M. Powers and L. Y. Pao. "Detecting Track-Loss for the Probabilistic Data Association Filter in the Absence of Truth Data," Proc. IEEE Conf. Decision and Control, Paradise Island, Bahamas, pp. 4316-4323, Dec. 2004.
  • K. E. Johnson, L. Y. Pao, M. J. Balas, V. Kulkarni, and L. J. Fingersh. "Stability Analysis of an Adaptive Torque Controller for Variable Speed Wind Turbines," Proc. IEEE Conf. Decision and Control, Paradise Island, Bahamas, pp. 4087-4094, Dec. 2004.
  • M. D. Baumgart and L. Y. Pao. "Robust Control of Tape Transport Systems with No Tension Sensor," Proc. IEEE Conf. Decision and Control, Paradise Island, Bahamas, pp. 4342-4349, Dec. 2004.
  • C. La-orpacharapan and L. Y. Pao. "Robust Shaped Time-Optimal Servomechanism control," Proc. Japan-USA Symposium on Flexible Automation, Denver, CO, July 2004.
  • M. Mallick, L. Y. Pao, and K. C. Chang. "Multiple Hypothesis Tracking Based Distributed Fusion Using Decorrelated Pseudo Measurement Sequences," Proc. American Control Conf., Boston, MA, pp. 4750-4751, June 2004.
  • C. La-orpacharapan and L. Y. Pao. "Nonlinear Control for Maneuvering Multiple Flexible Mode Systems," Proc. American Control Conf., Boston, MA, pp. 1176-1182, June 2004.
  • W. Khawsuk and L. Y. Pao. "Distributed Multi-sensor Multi-target Tracking with Feedback," Proc. American Control Conf., Boston, MA, pp. 5356-5362, June 2004.
  • M. Kalandros, L. Trailovic, L. Y. Pao, and Y. Bar-Shalom. "Tutorial on Multisensor Management and Fusion Algorithms for Target Tracking," Proc. American Control Conf., Boston, MA, pp. 4734-4748, June 2004.
  • V. Kulkarni, L. Y. Pao, and P. Falb. "Stability Multipliers for Stiction Nonlinearities," Proc. IFAC Symposium on Automatic Control in Aerospace, St. Petersburg, Russia, June 2004.
  • M. Mallick, S. Schmidt, L. Y. Pao, and K. C. Chang. "Out-of-sequence Track (OOST) Filtering Using the Decorrelated Pseudo Measurement Approach," Proc. SPIE, Vol. 5428, Orlando, FL, April 2004.
  • D. A. Lawrence, L. Y. Pao, A. C. White, and W. Xu. " Low Cost Actuator and Sensor for High-Fidelity Haptic Interfaces," Proc. 12th Int. Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, IEEE Virtual Reality Conf., Chicago, IL, pp. 74-81, Mar. 2004. Recipient of the conference-wide Best Commercial Potential Award.
  • K. E. Johnson, L. J. Fingersh, M. J. Balas, and L. Y. Pao. "Methods for Increasing Region 2 Power Capture on a Variable Speed HAWT," Proc. Wind Energy Symposium, Reno, NV, pp. 103-113, Jan. 2004.
  • M. D. Baumgart and L. Y. Pao. " Robust Lyapunov-Based Feedback Control of Nonlinear Web-Winding Systems," Proc. IEEE Conf. Decision and Control, Maui, HI, pp. 6398-6405, Dec. 2003.
  • L. Trailovic and L. Y. Pao. " Position Error Modeling Using Gaussian Mixture Distributions with Application to Comparison of Tracking Algorithms," Proc. American Control Conf., Denver, CO, pp. 1272-1277, June 2003.
  • L. Y. Pao and R. M. Powers. " A Comparison of Several Different Approaches for Target Tracking with Clutter," Proc. American Control Conf., Denver, CO, pp. 3919-3924, June 2003.
  • C. La-orpacharapan and L. Y. Pao. " Shaped Time-Optimal Control for Disk Drive Systems with Back EMF, Slew Rate Limits, and Different Acceleration and Deceleration Rates," Proc. American Control Conf., Denver, CO, pp. 4788-4795, June 2003.
  • C. La-orpacharapan and L. Y. Pao. " Fast Seek Control for Flexible Disk Drive Systems with Back EMF and Inductance," Proc. American Control Conf., Denver, CO, pp. 3077-3082, June 2003.
  • W. Khawsuk and L. Y. Pao. " Decorrelated State Estimation for Distributed Tracking Using Multiple Sensors in Cluttered Environments," Proc. American Control Conf., Denver, CO, pp. 3208-3214, June 2003.
  • M. D. Baumgart and L. Y. Pao. " A Tension Observer for Nonlinear Web-Winding Systems with Air Entrainment," Proc. American Control Conf., Denver, CO, pp. 4149-4154, June 2003.
  • N. L. Bernstein, D. A. Lawrence, and L. Y. Pao. " Design of a Uniactuated Bimanual Haptic Interface," Proc. 11th Int. Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, IEEE Virtual Reality Conf., Los Angeles, CA, Mar. 2003.
  • L. Trailovic and L. Y. Pao. " Variance Estimation and Ranking of Gaussian Mixture Distributions in Target Tracking Applications," Proc. IEEE Conf. Decision and Control, Las Vegas, NV, pp. 2195-2201, Dec. 2002.
  • C. La-orpacharapan and L. Y. Pao. " Shaped Control for Damped Flexible Structures with Friction and Slew Rate Limits," Proc. IEEE Conf. Decision and Control, Las Vegas, NV, pp. 3099-3105, Dec. 2002.
  • C. D. Lee, D. A. Lawrence, and L. Y. Pao. " Modeling of a 5-DOF Haptic Interface for Multivariable Force Control Design," Proc. IFAC Conf. Mechatronic Systems, Berkeley, CA, pp. 559-565, Dec. 2002.
  • M. D. Baumgart and L. Y. Pao. " Transient Control of Web-Winding Systems with Air Entrainment," Proc. IFAC Conf. Mechatronic Systems, Berkeley, CA, pp. 17-22, Dec. 2002.
  • C. La-orpacharapan and L. Y. Pao. "Shaped Phase-Plane Control for Flexible Structures with Friction," Proc. American Control Conf., Anchorage, AK, pp. 1911-1916, May 2002.
  • W. Khawsuk and L. Y. Pao. " Decorrelated State Estimation for Distributed Tracking of Interacting Targets in Cluttered Environments," Proc. American Control Conf., Anchorage, AK, pp. 899-904, May 2002.
  • C. F. Cutforth and L. Y. Pao. "Analysis and Design of an Adaptive Input Shaper for the Control of Flexible Structures," Proc. American Control Conf., Anchorage, AK, pp. 1903-1910, May 2002.
  • M. D. Baumgart and L. Y. Pao. " Discrete Time-Optimal Command Shapers and Controls for Multi-Input Multi-Output Systems," Proc. American Control Conf., Anchorage, AK, pp. 2279-2284, May 2002.
  • R. Y. Novoselov, D. A. Lawrence, and L. Y. Pao. " Haptic Rendering of Data on Unstructured Tetrahedral Grids," Proc. 10th Int. Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, IEEE Virtual Reality Conf., Orlando, FL, pp. 193-200, Mar. 2002.
  • C. D. Lee, D. A. Lawrence, and L. Y. Pao. " Dynamic Modeling and Parameter Identification of a Parallel Haptic Interface," Proc. 10th Int. Symp. Haptic Interfaces for Virtual Environments and Teleoperator Systems, IEEE Virtual Reality Conf., Orlando, FL, pp. 172-179, Mar. 2002.
  • L. Trailovic and L. Y. Pao. " Computing Budget Allocation for Optimization of Sensor Processing Order in Sequential Multi-sensor Fusion Algorithms," Proc. American Control Conf., Arlington, VA, pp. 1841-1847, June 2001.
  • M. A. Lau and L. Y. Pao. " Comparison of Input Shaping and Time-Optimal Control of Flexible Structures," Proc. American Control Conf., Arlington, VA, pp. 1485-1490, June 2001. M. A. Lau was awarded the conference-wide Student Best Paper Award for this paper.
  • C. La-orpacharapan and L. Y. Pao. " Control of Flexible Structures with a Projected Phase-Plane Approach," Proc. American Control Conf., Arlington, VA, pp. 3817-3823, June 2001.
  • M. D. Baumgart and L. Y. Pao. " Cooperative Multi-Input Shaping for Arbitrary Inputs," Proc. American Control Conf., Arlington, VA, pp. 275-280, June 2001.
  • M. Kalandros and L. Y. Pao. " Sensor Management for Tracking Interacting Targets," Proc. Workshop on Estimation, Tracking, Fusion, and Control: A Tribute to Yaakov Bar-Shalom, Monterey, CA, pp. 221-248, May 2001.
  • R. Y. Novoselov, D. A. Lawrence, and L. Y. Pao. " Haptic Rendering of Data on Irregular Grids," Proc. ASME Dynamic Systems and Control Division, DSC-Vol. 69-2, pp. 1199-1206, Int. Mech. Engr. Cong. & Expo., Int. Mech. Engr. Cong. & Expo., Orlando, FL, Nov. 2000.
  • C. D. Lee, D. A. Lawrence, and L. Y. Pao. " A High-Bandwidth Force-Controlled Haptic Interface," Proc. ASME Dynamic Systems and Control Division, DSC-Vol. 69-2, pp. 1299-1308, Int. Mech. Engr. Cong. & Expo., Orlando, FL, Nov. 2000.
  • D. A. Lawrence, C. D. Lee, L. Y. Pao, and R. Y. Novoselov. " Shock and Vortex Visualization Using a Combined Visual/Haptic Interface," Proc. IEEE Visualization Conf., Salt Lake City, UT, pp. 131-137 and p. 548 (color plate), Oct. 2000.
  • M. K. Kalandros and L. Y. Pao. " The Effects of Data Association on Sensor Manager Systems," Proc. AIAA Guidance, Navigation, and Control Conf., Denver, CO, Aug. 2000.
  • C. F. Cutforth and L. Y. Pao. "Command Shaping Control for Vibration Reduction without Lengthening the Command," Proc. AIAA Guidance, Navigation, and Control Conf., Denver, CO, Aug. 2000.
  • L. Y. Pao and W. Khawsuk. " Determining Track Loss Without Truth Information for Distributed Target Tracking Applications," Proc. American Control Conf., Chicago, IL, pp. 4363-4367, June 2000.
  • M. A. Lau and L. Y. Pao. " Time-Optimal Commands with Specified Fuel Usage for Controlling Flexible Structures," Proc. American Control Conf., Chicago, IL, pp. 3058-3063, June 2000.
  • L. Y. Pao. " Strategies for Shaping Commands in the Control of Flexible Structures," Proc. Japan/USA/Vietnam Workshop on Research and Education in Systems, Computation, and Control Engineering, Ho Chi Minh City, Vietnam, pp. 309-318, June 2000.
  • M. K. Kalandros, L. Y. Pao, and Y.C. Ho. " Randomization and Super-Heuristics in Choosing Sensor Sets in Target Tracking Applications," Proc. IEEE Conf. Decision and Control, Phoenix, AZ, pp. 1803-1808, Dec. 1999.
  • F. Infed, S. W. Brown, C. D. Lee, D. A. Lawrence, A. M. Dougherty, and L. Y. Pao. " Combined Visual/Haptic Rendering Modes for Scientific Visualization," Proc. ASME Dynamic Systems and Control Division, DSC-Vol. 67, pp. 93-99, Int. Mech. Engr. Cong. & Expo., Nashville, TN, Nov. 1999.
  • L. Y. Pao and L. Trailovic. " On the Order of Processing Sensor Information in Sequential Implementations of Fusion Algorithms," Proc. American Control Conf., San Diego, CA, pp. 2407-2411, June 1999.
  • L. Y. Pao and N. T. Baltz. " Control of Sensor Information in Distributed Multisensor Systems," Proc. American Control Conf., San Diego, CA, pp. 2397-2401, June 1999.
  • C. F. Cutforth and L. Y. Pao. " A Modified Method for Multiple Actuator Input Shaping," Proc. American Control Conf., San Diego, CA, pp. 66-70, June 1999.
  • C. F. Cutforth and L. Y. Pao. " An Analysis of Frequency-Domain Input Shaping Designs for Three-Mode Flexible Systems," Proc. American Control Conf., San Diego, CA, pp. 4388-4392, June 1999.
  • C. D. Lee, D. A. Lawrence, and L. Y. Pao. " Guaranteed Convergence Rates for Five Degree of Freedom In-Parallel Haptic Interface Kinematics," Proc. IEEE Int. Conf. Robotics and Automation, Detroit, MI, May 1999.
  • D. A. Lawrence, L. Y. Pao, A. M. Dougherty, Y. Pavlou, S. W. Brown, and S. A. Wallace. "Human Perceptual Thresholds of Friction in Haptic Interfaces," Proc. ASME Dynamic Systems and Control Division, DSC-Vol. 64, pp. 287-294, Int. Mech. Engr. Cong. & Expo., Anaheim, CA, Nov. 1998.
  • L. Y. Pao and M. A. Lau. "An Analysis of the Expected Residual Vibration of Input Shaping Designs," Proc. AIAA Guidance, Navigation, and Control Conf., Boston, MA, pp. 354-364, Aug. 1998.
  • L. Y. Pao and M. K. Kalandros. " The Effects of Delayed Sensor Requests on Sensor Manager Systems," Proc. AIAA Guidance, Navigation, and Control Conf., Boston, MA, pp. 1127-1135, Aug. 1998.
  • L. Y. Pao and M. A. Lau. " Input Shaping Designs to Account for Uncertainty in Both Frequency and Damping in Flexible Structures," Proc. American Control Conf., Philadelphia, PA, pp. 3070-3071, June 1998.
  • L. Y. Pao and C. F. Cutforth. " An Analysis and Comparison of Frequency-Domain and Time-Domain Input Shaping," Proc. American Control Conf., Philadelphia, PA, pp. 3072-3074, June 1998.
  • M. K. Kalandros and L. Y. Pao. " Controlling Target Estimate Covariance in Centralized Multisensor Systems," Proc. American Control Conf., Philadelphia, PA, pp. 2749-2753, June 1998.
  • L. Y. Pao and D. A. Lawrence. "Synergistic Visual/Haptic Computer Interfaces," Proc. Japan/USA/Vietnam Workshop on Research and Education in Systems, Computation, and Control Engineering, Hanoi, Vietnam, pp. 155-162, May 1998.
  • L. Y. Pao and M. K. Kalandros. "Algorithms for a Class of Distributed Architecture Tracking," Proc. American Control Conf., Albuquerque, NM, pp. 1434-1438, June 1997.
  • L. Y. Pao, T. N. Chang, and E. Hou. "Input Shaper Designs for Minimizing the Expected Level of Residual Vibration in Flexible Structures," Proc. American Control Conf., Albuquerque, NM, pp. 3542-3546, June 1997.
  • D. A. Lawrence, L. Y. Pao, M. A. Salada, A. M. Dougherty. "Quantitative Experimental Analysis of Transparency and Stability in Haptic Interfaces," Proc. ASME Dynamic Systems and Control Division, DSC-Vol. 58, pp. 441-449, Int. Mech. Engr. Cong. & Expo., Atlanta, GA, Nov. 1996.
  • W. E. Singhose and L. Y. Pao. "Comparison of Input Shaping Techniques for Speed-Critical Multi-Mode Flexible Systems," Proc. IEEE Conf. on Control Applications, Dearborn, MI, pp. 379-384, Sept. 1996.
  • N. C. Singer, L. Y. Pao, W. E. Singhose, and W. P. Seering. ``An Efficient Algorithm for the Generation of Multiple-Mode Input Shaping Sequences," Proc. IEEE Conf. on Control Applications, Dearborn, MI, pp. 373-378, Sept. 1996.
  • W. E. Singhose, L. Y. Pao, and W. P. Seering. "Time-Optimal Rest-to-Rest Slewing of Multi-Mode Flexible Spacecraft Using ZVD Robustness Constraints," Proc. AIAA Guidance, Navigation, and Control Conf., San Diego, CA, July 1996.
  • L. Y. Pao. "An Analysis of the Total Insensitivity of Input Shaping Designs," Proc. AIAA Guidance, Navigation, and Control Conf., San Diego, CA, July 1996.
  • L. Y. Pao and W. E. Singhose. "Unity-Magnitude Input Shapers and Their Relation to Time-Optimal Control," Proc. IFAC World Congress, Vol. A (Robotics, Components, and Instruments), San Francisco, CA, pp. 385-390, July 1996.
  • L. Y. Pao. "Input Shaping Design for Flexible Systems with Multiple Actuators," Proc. IFAC World Congress, Vol. P (Aerospace and Transportation Systems), San Francisco, CA, pp. 267-272, July 1996. Winner of the IFAC World Congress Young Author Prize.
  • C. W. Frei and L. Y. Pao. "Non-Simulation Performance Prediction Methods for Different Implementations of a Multisensor Fusion Algorithm," Proc. IFAC World Congress, Vol. J (Identification II and Discrete Event Systems), San Francisco, CA, pp. 269-274, July 1996.
  • L. Y. Pao and W. E. Singhose. "On the Equivalence of Minimum Time Input Shaping with Traditional Time-Optimal Control," Proc. IEEE Conf. on Control Applications, Albany, NY, pp. 1120-1125, Sept. 1995.
  • L. Y. Pao and W. E. Singhose. "A Comparison of Constant and Variable Amplitude Command Shaping Techniques for Vibration Reduction," Proc. IEEE Conf. on Control Applications, Albany, NY, pp. 875-881, Sept. 1995.
  • L. Y. Pao and C. W. Frei. "A Comparison of Parallel and Sequential Implementations of a Multisensor Fusion Algorithm," Proc. American Control Conf., Seattle, WA, pp. 1683-1687, June 1995.
  • L. Y. Pao. " Characteristics of the Time-Optimal Control of Flexible Structures with Damping," Proc. IEEE Conf. on Control Applications , Glasgow, Scotland, pp. 1299-1304, Aug. 1994.
  • L. Y. Pao. "Distributed Multisensor Fusion," Proc. AIAA Guidance, Navigation, and Control Conf., Scottsdale, AZ, pp. 82-91, Aug. 1994.
  • L. Y. Pao. "Multisensor Multitarget Mixture Reduction Algorithms for Tracking," Proc. AIAA Guidance, Navigation, and Control Conf., Monterey, CA, pp. 28-37, Aug. 1993.
  • S. D. O'Neil and L. Y. Pao. "Multisensor Fusion Algorithms for Tracking," Proc. American Control Conf., San Francisco, CA, pp. 859-863, June 1993.
  • L. Y. Pao and S. D. O'Neil. "Sensor Fusion Algorithms for Tracking Applications," Proc. IEEE Regional Conf. Aerospace Control Systems , Westlake Village, CA, May 1993.
  • L. Y. Pao and G. F. Franklin. "Robustness Studies of a Proximate Time-Optimal Controller," Proc. IEEE Conf. Decision and Control, Tucson, AZ, pp. 3559-3564, Dec. 1992.
  • L. Y. Pao and G. F. Franklin. "Design for Robust Controls Having Almost Minimum Time Response," Proc. American Control Conf., Chicago, IL, pp. 182-187, June 1992.
  • L. Y. Pao and G. F. Franklin. "Time-Optimal Control of Flexible Structures," Proc. IEEE Conf. Decision and Control, Honolulu, HI, pp. 2580-2581, Dec. 1990.
  • L. Y. Pao and T. H. Speeter. "Transformation of Human Hand Positions for Robotic Hand Control," Proc. IEEE Int. Conf. Robotics and Automation, Scottsdale, AZ, pp. 1758-1763, May 1989.

Murphey Publications

Book Chapters and Journal Articles

  1. T.D. Murphey. Geometric derived information spaces in mechanical contact. Submitted to Robotica
  2. B. Shucker, T.D. Murphey, and J.K Bennett. Topology dependent switching for stability of distributed systems. Submitted to IEEE Transactions on Robotics
  3. T.D. Murphey and J. Falcon. Programming from the ground up in controls laboratories using graphical programming. Submitted to International Journal of Engineering Education, 2007
  4. T.D. Murphey and K. M. Lynch, Parts handling and self-assembly using stable limit sets, Submitted to the International Journal of Robotics Research.
  5. M. Egerstedt, T.D. Murphey, and J. Ludwig. Hybrid Systems : Computation and Control, volume TBD of Lecture Notes in Computer Science, chapter Motion Programs for Puppet Choreography and Control. Springer-Verlag, 2007. To be published
  6. T. D. Murphey. Teaching rigid body mechanics using student-created virtual environments. IEEE Transactions on Education, 2007. Accepted for Publication. Mathematica M-file.
  7. T. D. Murphey. Algorithmic Foundations of Robotics VII, chapter Manipulation Using Reduced Representations of Uncertainty. Springer Verlag, 2006. To be published
  8. T. D. Murphey. On multiple model control for multiple contact systems. Automatica, Accepted for Publication
  9. T. D. Murphey and J. W. Burdick. The power dissipation method and kinematic reducibility of multiple model robotic systems. IEEE Transactions on Robotics, 22(4):694-­710, August 2006
  10. T. D. Murphey. Multi-point Interaction with Real and Virtual Objects, chapter On Observing Contact States in Overconstrained Manipulation, pages 151-­164. Springer-Verlag, 2005
  11. T. D. Murphey and J. W. Burdick. Feedback control for distributed manipulation with changing contacts. International Journal of Robotics Research, 23(7/8):763-­782, July 2004
  12. T. D. Murphey and J. W. Burdick. Algorithmic Foundations of Robotics V, chapter Feedback Control for Distributed Manipulation, pages 487-­503. Springer Verlag, 2004
  13. K.M. Lynch and T. D. Murphey. Control Problems in Robotics and Automation, chapter Control Issues in Nonprehensile Manipulation, pages 39-­57. Springer-Verlag, 2003

Conference Papers

  1. E. Johnson and T.D. Murphey. Dynamic modeling and motion planning for marionettes: Rigid bodies articulated by massless strings. In IEEE Int. Conf. on Robotics and Automation, 2007
  2. T.D. Murphey. Teaching rigid body mechanics using student-created virtual environments. In American Controls Conference (ACC), 2007
  3. B. Shucker, T.D. Murphey, and J. Bennett. Switching rules for decentralized control with simple control laws. In American Controls Conference (ACC), 2007
  4. T.D. Murphey and J. Falcon. Programming from the ground up in controls laboratories using graphical programming. In Proceedings of the IFAC Advances in Control Education (ACE), 2006
  5. T.D. Murphey. Modeling and control of multiple-contact manipulation without modeling friction. In Proc. American Controls Conference (ACC), 2006
  6. B. Shucker, T.D. Murphey, and J. Bennett. Switching control without nearest neighbor rules. In Proc. American Controls Conference (ACC), 2006
  7. T.D. Murphey. Motion planning for kinematically overconstrained vehicles using feedback primitives. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 1643­-1648, 2006
  8. B. Shucker, T.D. Murphey, and J. Bennett. Cooperative control using occasional non-local interactions. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 1324­-1329, 2006
  9. T. D. Murphey, J. Bernheisel, D. Choi, and K. M. Lynch. An example of parts handling and self-assembly using stable limit sets. In Proc. of International Conference on Intelligent Robots and Systems (IROS), pages 1624­-1629, 2005
  10. T. D. Murphey. Application of supervisory control methods to uncertain multiple model systems. In Proc. American Controls Conference (ACC), volume 2, pages 774­-780,2005 (Received Best Paper in Session)
  11. T. D. Murphey, D. Choi, J. Bernheisel, and K. M. Lynch. Experiments in the use of stable limits sets for parts handling. In Proc. Int. Conf. MEMS, NANO, and Smart Systems (ICMENS), pages 218-­224, Banff, Canada, 2004
  12. T. D. Murphey and J. W. Burdick. Kinematic reducibility for multiple model systems. In Proc. IEEE Conf. on Decision and Control (CDC), volume 5, pages 5307­-5313, Maui, Hawaii, 2003
  13. T. D. Murphey and J. W. Burdick. Experiments in nonsmooth control of distributed manipulation. In IEEE Int. Conf. on Robotics and Automation, pages 3600­-3606, 2003
  14. T. D. Murphey and J. W. Burdick. Smooth feedback control algorithms for fully actuated distributed manipulators. In IEEE Int. Conf. on Robotics and Automation, pages 3619-­3623, 2003
  15. T. D. Murphey and J. W. Burdick. Nonsmooth controllability theory and an example. In Proc. IEEE Conf. on Decision and Control (CDC), pages 370­-376, Washington D.C.,2002
  16. T. D. Murphey and J. W. Burdick. Global exponential stabilizability for distributed manipulation. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 1210­-1216, Washington D.C., 2002
  17. T. D. Murphey and J. W. Burdick. A local controllability test for nonlinear multiple model systems. In Proc. American Controls Conference (ACC), volume 6, pages 4657-­4661, Anchorage, Alaska, 2002 (Received Best Paper in Session)
  18. T. D. Murphey and J. W. Burdick. Global stability for distributed systems with changing contact states. In Proc. IEEE Int. Conf. on Intelligent Robots and Systems, pages 214-­219, Hawaii, 2001
  19. T. D. Murphey and J. W. Burdick. A controllability test and motion planning primitives for overconstrained vehicles. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 2716­2722, Seoul, Korea, 2001
  20. T. D. Murphey and J. W. Burdick. On the stability and design of distributed systems. In Proc. IEEE Int. Conf. on Robotics and Automation, pages 2686­2691, Seoul, Korea, 2001
  21. T. D. Murphey and J. W. Burdick. Issues in controllability and motion planning for overconstrained wheeled vehicles. In Proc. Int. Conf. Math. Theory of Networks and Systems (MTNS), Perpignan, France, 2000

Thesis

T.D. Murphey Control of Multiple Model Systems - Caltech Ph.D. Thesis, 2002

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