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Journal Articles

Computation of Direct Sensitivities of Spatial Multibody Systems With Joint Friction

Adwait Verulkar, Corina Sandu, Daniel Dopico, Adrian Sandu
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Research-Article
J. Comput. Nonlinear Dynam. July 2022, 17(7): 071006.
Paper No: CND-21-1337
https://doi.org/10.1115/1.4054110
Published Online: April 1, 2022
View Article titled, Computation of Direct Sensitivities of Spatial Multibody Systems With Joint Friction
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Topics: Friction, Multibody systems, Dynamics (Mechanics), Sensitivity analysis, Computation
Proceedings Papers

Direct Sensitivity Analysis of Spatial Multibody Systems With Joint Friction Using Index-1 Formulation

Adwait Verulkar, Corina Sandu, Daniel Dopico, Adrian Sandu
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A044, August 17–19, 2021
Paper No: DETC2021-68777
https://doi.org/10.1115/DETC2021-68777
View Paper titled, Direct Sensitivity Analysis of Spatial Multibody Systems With Joint Friction Using Index-1 Formulation
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Topics: Friction, Multibody systems, Sensitivity analysis, Dynamics (Mechanics), Design, Dynamic systems, Computers, Modeling, Optimization, Sliding friction
Journal Articles

Dynamic Response Optimization of Complex Multibody Systems in a Penalty Formulation Using Adjoint Sensitivity

Yitao Zhu, Daniel Dopico, Corina Sandu, Adrian Sandu
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Research-Article
J. Comput. Nonlinear Dynam. May 2015, 10(3): 031009.
Paper No: CND-14-1268
https://doi.org/10.1115/1.4029601
Published Online: May 1, 2015
View Article titled, Dynamic Response Optimization of Complex Multibody Systems in a Penalty Formulation Using Adjoint Sensitivity
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Topics: Design, Dynamic response, Optimization, Vehicles, Sensitivity analysis, Multibody systems
Proceedings Papers

MBSVT: Software for Modeling, Sensitivity Analysis, and Optimization of Multibody Systems at Virginia Tech

Yitao Zhu, Daniel Dopico, Corina Sandu, Adrian Sandu
Proc. ASME. IDETC-CIE2014, Volume 7: 2nd Biennial International Conference on Dynamics for Design; 26th International Conference on Design Theory and Methodology, V007T05A001, August 17–20, 2014
Paper No: DETC2014-34084
https://doi.org/10.1115/DETC2014-34084
View Paper titled, MBSVT: Software for Modeling, Sensitivity Analysis, and Optimization of Multibody Systems at Virginia Tech
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Topics: Computer software, Modeling, Multibody systems, Optimization, Sensitivity analysis, Kinematics, Dynamics (Mechanics), FORTRAN, Matlab, Actuators
Journal Articles

Direct and Adjoint Sensitivity Analysis of Ordinary Differential Equation Multibody Formulations

Daniel Dopico, Yitao Zhu, Adrian Sandu, Corina Sandu
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Research-Article
J. Comput. Nonlinear Dynam. January 2015, 10(1): 011012.
Paper No: CND-13-1184
https://doi.org/10.1115/1.4026492
Published Online: September 12, 2014
View Article titled, Direct and Adjoint Sensitivity Analysis of Ordinary Differential Equation Multibody Formulations
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Topics: Equations of motion, Sensitivity analysis, Differential equations
Journal Articles

Motion Planning of Uncertain Ordinary Differential Equation Systems

Joe Hays, Adrian Sandu, Corina Sandu, Dennis Hong
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Research-Article
J. Comput. Nonlinear Dynam. July 2014, 9(3): 031021.
Paper No: CND-12-1049
https://doi.org/10.1115/1.4026994
Published Online: May 13, 2014
View Article titled, Motion Planning of Uncertain Ordinary Differential Equation Systems
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Topics: Dynamics (Mechanics), Path planning, Design, Uncertainty, Polynomials
Proceedings Papers

Direct and Adjoint Sensitivity Analysis of Multibody Systems Using Maggi’s Equations

Daniel Dopico, Yitao Zhu, Adrian Sandu, Corina Sandu
Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A030, August 4–7, 2013
Paper No: DETC2013-12696
https://doi.org/10.1115/DETC2013-12696
View Paper titled, Direct and Adjoint Sensitivity Analysis of Multibody Systems Using Maggi’s Equations
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Topics: Multibody systems, Sensitivity analysis, Dynamics (Mechanics), Optimization, Design, Equations of motion
Proceedings Papers

Computing Sensitivity Analysis of Vehicle Dynamics Based on Multibody Models

Yitao Zhu, Daniel Dopico, Corina Sandu, Adrian Sandu
Proc. ASME. IDETC-CIE2013, Volume 1: 15th International Conference on Advanced Vehicle Technologies; 10th International Conference on Design Education; 7th International Conference on Micro- and Nanosystems, V001T01A030, August 4–7, 2013
Paper No: DETC2013-13212
https://doi.org/10.1115/DETC2013-13212
View Paper titled, Computing Sensitivity Analysis of Vehicle Dynamics Based on Multibody Models
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Topics: Sensitivity analysis, Vehicle dynamics, Multibody systems, Optimization, Design, Simulation, Dynamics (Mechanics), Multibody dynamics, Suspension systems, Systems analysis
Proceedings Papers

Motion Planning of Uncertain Under-Actuated Dynamical Systems: A Hybrid Dynamics Formulation

Joe Hays, Adrian Sandu, Corina Sandu, Dennis Hong
Proc. ASME. IMECE2011, Volume 9: Transportation Systems; Safety Engineering, Risk Analysis and Reliability Methods; Applied Stochastic Optimization, Uncertainty and Probability, 729-736, November 11–17, 2011
Paper No: IMECE2011-62694
https://doi.org/10.1115/IMECE2011-62694
View Paper titled, Motion Planning of Uncertain Under-Actuated Dynamical Systems: A Hybrid Dynamics Formulation
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Topics: Dynamic systems, Dynamics (Mechanics), Nonlinear programming, Optimization, Path planning
Proceedings Papers

Parametric Design Optimization of Uncertain Ordinary Differential Equation Systems

Joe Hays, Adrian Sandu, Corina Sandu, Dennis Hong
Proc. ASME. IMECE2011, Volume 9: Transportation Systems; Safety Engineering, Risk Analysis and Reliability Methods; Applied Stochastic Optimization, Uncertainty and Probability, 737-744, November 11–17, 2011
Paper No: IMECE2011-62789
https://doi.org/10.1115/IMECE2011-62789
View Paper titled, Parametric Design Optimization of Uncertain Ordinary Differential Equation Systems
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Topics: Chaos, Design, Differential equations, Optimization, Parametric design, Polynomials
Journal Articles

Parametric Design Optimization of Uncertain Ordinary Differential Equation Systems

Joe Hays, Adrian Sandu, Corina Sandu, Dennis Hong
Journal: Journal of Mechanical Design
Article Type: Research Papers
J. Mech. Des. August 2012, 134(8): 081003.
https://doi.org/10.1115/1.4006950
Published Online: July 23, 2012
View Article titled, Parametric Design Optimization of Uncertain Ordinary Differential Equation Systems
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Topics: Design, Optimization, Uncertainty, Polynomials, Uncertainty quantification
Proceedings Papers

Motion Planning of Uncertain Fully-Actuated Dynamical Systems: A Forward Dynamics Formulation

Joe Hays, Adrian Sandu, Corina Sandu, Dennis Hong
Proc. ASME. IDETC-CIE2011, Volume 8: 11th International Power Transmission and Gearing Conference; 13th International Conference on Advanced Vehicle and Tire Technologies, 895-901, August 28–31, 2011
Paper No: DETC2011-48233
https://doi.org/10.1115/DETC2011-48233
View Paper titled, Motion Planning of Uncertain Fully-Actuated Dynamical Systems: A Forward Dynamics Formulation
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Topics: Dynamic systems, Dynamics (Mechanics), Nonlinear programming, Optimization, Path planning
Proceedings Papers

Motion Planning of Uncertain Fully-Actuated Dynamical Systems: An Inverse Dynamics Formulation

Joe Hays, Adrian Sandu, Corina Sandu, Dennis Hong
Proc. ASME. IDETC-CIE2011, Volume 4: 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A and B, 355-360, August 28–31, 2011
Paper No: DETC2011-48229
https://doi.org/10.1115/DETC2011-48229
View Paper titled, Motion Planning of Uncertain Fully-Actuated Dynamical Systems: An Inverse Dynamics Formulation
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Topics: Dynamic systems, Dynamics (Mechanics), Nonlinear programming, Optimization, Path planning
Proceedings Papers

Polynomial-Chaos-Based Numerical Method for the LQR Problem With Uncertain Parameters in the Formulation

Emmanuel Blanchard, Corina Sandu, Adrian Sandu
Proc. ASME. IDETC-CIE2010, Volume 4: 12th International Conference on Advanced Vehicle and Tire Technologies; 4th International Conference on Micro- and Nanosystems, 315-324, August 15–18, 2010
Paper No: DETC2010-28467
https://doi.org/10.1115/DETC2010-28467
View Paper titled, Polynomial-Chaos-Based Numerical Method for the LQR Problem With Uncertain Parameters in the Formulation
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Topics: Chaos, Numerical analysis, Polynomials
Proceedings Papers

Design Optimization for Minimizing Actuation Energy of a Dynamic Tripedal Walking Robot: Revisiting the Double Pendulum

Joe Hays, Dennis Hong, Corina Sandu, Adrian Sandu
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1465-1473, August 15–18, 2010
Paper No: DETC2010-28134
https://doi.org/10.1115/DETC2010-28134
View Paper titled, Design Optimization for Minimizing Actuation Energy of a Dynamic Tripedal Walking Robot: Revisiting the Double Pendulum
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Topics: Design, Optimization, Pendulums, Robots
Journal Articles

A Polynomial Chaos-Based Kalman Filter Approach for Parameter Estimation of Mechanical Systems

Emmanuel D. Blanchard, Adrian Sandu, Corina Sandu
Journal: Journal of Dynamic Systems, Measurement, and Control
Article Type: Model Validation And Identification
J. Dyn. Sys., Meas., Control. November 2010, 132(6): 061404.
https://doi.org/10.1115/1.4002481
Published Online: November 9, 2010
View Article titled, A Polynomial Chaos-Based Kalman Filter Approach for Parameter Estimation of Mechanical Systems
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Topics: Chaos, Errors, Kalman filters, Parameter estimation, Polynomials, Noise (Sound), Uncertainty, Vehicles, Probability
Proceedings Papers

Comparison Between a Polynomial-Chaos-Based Bayesian Approach and a Polynomial-Chaos-Based EKF Approach for Parameter Estimation With Application to Vehicle Dynamics

Emmanuel Blanchard, Corina Sandu, Adrian Sandu
Proc. ASME. IDETC-CIE2009, Volume 6: ASME Power Transmission and Gearing Conference; 3rd International Conference on Micro- and Nanosystems; 11th International Conference on Advanced Vehicle and Tire Technologies, 893-904, August 30–September 2, 2009
Paper No: DETC2009-86402
https://doi.org/10.1115/DETC2009-86402
View Paper titled, Comparison Between a Polynomial-Chaos-Based Bayesian Approach and a Polynomial-Chaos-Based EKF Approach for Parameter Estimation With Application to Vehicle Dynamics
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Topics: Chaos, Kalman filters, Parameter estimation, Polynomials, Vehicle dynamics
Proceedings Papers

A Polynomial-Chaos-Based Bayesian Approach for Estimating Uncertain Parameters of Mechanical Systems

Emmanuel Blanchard, Corina Sandu, Adrian Sandu
Proc. ASME. IDETC-CIE2007, Volume 3: 19th International Conference on Design Theory and Methodology; 1st International Conference on Micro- and Nanosystems; and 9th International Conference on Advanced Vehicle Tire Technologies, Parts A and B, 1041-1048, September 4–7, 2007
Paper No: DETC2007-34600
https://doi.org/10.1115/DETC2007-34600
View Paper titled, A Polynomial-Chaos-Based Bayesian Approach for Estimating Uncertain Parameters of Mechanical Systems
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Topics: Chaos, Parameter estimation, Polynomials, Vehicle dynamics
Proceedings Papers

Rosenbrock-Nystrom Integrator for SSODE of Mechanical Systems

Adrian Sandu, Dan Negrut, Corina Sandu, Edward J. Haug, Florian A. Potra
Proc. ASME. IDETC-CIE2003, Volume 5: 19th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C, 251-258, September 2–6, 2003
Paper No: DETC2003/VIB-48329
https://doi.org/10.1115/DETC2003/VIB-48329
View Paper titled, Rosenbrock-Nystrom Integrator for SSODE of Mechanical Systems
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Topics: Algebra, Algorithms, Degrees of freedom, Differential equations, Dynamic analysis, Multibody dynamics, Simulation
Proceedings Papers

Treating Uncertainties in Multibody Dynamic Systems Using a Polynomial Chaos Spectral Decomposition

Corina Sandu, Adrian Sandu, Brendan J. Chan, Mehdi Ahmadian
Proc. ASME. IMECE2004, Design Engineering, 821-829, November 13–19, 2004
Paper No: IMECE2004-60842
https://doi.org/10.1115/IMECE2004-60842
View Paper titled, Treating Uncertainties in Multibody Dynamic Systems Using a Polynomial Chaos Spectral Decomposition
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Topics: Chaos, Dynamic systems, Engineering simulation, Polynomials, Simulation, Uncertainty