P FES Control of a Human Arm Using Reinforcement Learning* (2009)
Philip S. Thomas, Michael S. Branicky, Kathleen Jagodnik
EOPLE with spinal cord injury (SCI) are often unable to move their limbs, though most of their nerves and muscles may be intact. Functional Electrical Stimulation (FES) can
Michael Margaliot, Michael S. Branicky
We consider planar bilinear control systems with measurable controls. We show that any point in the reachable set can be reached by a “nice ” control. Specifically, a control that is a...
Lifeng Wang, Stephen M. Phillips, Michael S. Branicky, Bulent Bayraktar
Abstract. Several types of microfabricated mechanical filters are analyzed for RF communications applications and their advantages over the traditional SAW or FBAR filters are described. GHz...
Co-Simulation Tools for Networked Control Systems (2009)
Michael S. Branicky, Vincenzo Liberatore
Abstract. In this paper, we argue that simulation of Networked Control Systems (NCSs) needs to be carried out through co-simulation, which requires the joint and simultaneous simulation of both...
Play-Back Buffers in Networked Control Systems: Evaluation and Design (2009)
Graham Alldredge, Michael S. Branicky, Vincenzo Liberatore
Abstract — The networked environment presents many new challenges for the design of feedback control systems. A specific problem is that networked control systems (NCSs) are subject to the...
1 On the Relationship Between Classical Grid Search and Probabilistic Roadmaps (2008)
Steven M. Lavalle, Michael S. Branicky
Abstract. We present, implement, and analyze a spectrum of closely-related planners, designed to gain insight into the relationship between classical grid search and probabilistic roadmaps (PRMs)....
Steven M. Lavalle, Michael S. Branicky, Stephen R. Lindemann, Steven M. Lavalle, Michael S. Branicky, Stephen R. Lindemann
We present, implement, and analyze a spectrum of closely-related planners, designed to gain insight into the relationship between classical grid search and probabilistic roadmaps (PRMs). Building on...
Design lessons for building agile manufacturing systems (2008)
Wyatt S. Newman, Andy Podgurski, Roger D. Quinn, Frank L. Merat, Michael S. Branicky, Nick A. Barendt, ...
This presentation summarizes results of a five-year, multidisciplinary, university-industry collaborative effort investigating design issues in agile manufacturing. The focus of this project is...
Michael S. Branicky, Vincenzo Liberatore, First) Al-hammouri, Alt Contact (last, First) Liberatore
Computer Computer
Complete Stability Region Characterization for PI-AQM (2008)
Vincenzo Liberatore, Michael S. Branicky
Abstract — This paper describes a method for finding the stability regions of the PI and PIP controllers for TCP AQM with delays. The method is applied on several representative examples, showing...
Michael Margaliot, Michael S. Branicky
We derive a new reachability with nice controls type result for planar bilinear control systems. We show that any point in the reachable set can be reached by a control that is a concatenation of a...
1 On the Relationship Between Classical Grid Search and Probabilistic Roadmaps (2008)
Steven M. Lavalle, Michael S. Branicky
Abstract. We present, implement, and analyze a spectrum of closely-related planners, designed to gain insight into the relationship between classical grid search and probabilistic roadmaps (PRMs)....
Nathan A. Wedge, Ahmad Al-hammouri, Michael S. Branicky, Vincenzo Liberatore
The paper under discussion [12] presents the analytical results underlying the authors ’ design of a networked control system (NCS) operating over a cellular network. Their formulation fits the...
Toward a Science of Flexible Feeding (2008)
Michael S. Branicky, Greg C. Causey, Roger D. Quinn
Flexible parts feeding techniques have recently begun to gain industry acceptance. However, one barrier to effective flexible feeding solutions is a lack of knowledge of the underlying dynamics at...
Modeling and Throughput Prediction for Flexible Parts Feeders (2008)
Michael S. Branicky, Greg C. Causey, Roger D. Quinn
In this paper we illustrate a methodology for modeling and analyzing flexible feeders using generalized semi-Markov process (GSMP) models. Working through the simple case consisting of a single part...
Toward a Science of Flexible Feeding (2008)
Michael S. Branicky, Greg C. Causey, Roger D. Quinn
Flexible parts feeding techniques have recently begun to gain industry acceptance. However, one barrier to effective flexible feeding solutions is a lack of knowledge of the underlying dynamics at...
Abstract. We can achieve guaranteed constraint satisfaction of a hybrid dynamical system (which takes into account the underlying continuous dynamics) in a simple, hierarchical control algorithm. Two...
Abstract. Motivated by biology and a study of complex systems, intelligent behavior is typically associated with a hierarchical structure, where the lowest level is usually characterized by...
Parameterizing PI Congestion Controllers (2008)
Vincenzo Liberatore, Michael S. Branicky
Abstract — This paper describes a method for finding the stability regions of the PI and PIP controllers for TCP AQM. The method is applied on several representative examples, showing that stable...
Modeling and Throughput Prediction for Flexible Parts Feeders (2008)
Michael S. Branicky, Greg C. Causey, Roger D. Quinn
In this paper we illustrate a methodology for modeling and analyzing flexible feeders using generalized semi-Markov process (GSMP) models. Working through the simple case consisting of a single part...
On the Relationship Between Classical (2008)
Grid Search And, Steven M. Lavalle, Michael S. Branicky
We present, implement, and analyze a spectrum of closely-related planners, designed to gain insight into the relationship between classical grid search and probabilistic roadmaps (PRMs). Building on...
Michael S. Branicky, Vincenzo Liberatore, Routing Protocols, H N (t, Ncs Co-simulation
• Numerous distributed agents
Graham Alldredge, Michael S. Branicky, Vincenzo Liberatore
• Feedback loop closed over a network • A key challenge: time-varying, random loop delay • Idea: Extend methods for dealing with constant loop delay to this setting
Design lessons for building agile manufacturing systems (2007)
Wyatt S. Newman, Andy Podgurski, Roger D. Quinn, Frank L. Merat, Michael S. Branicky, Nick A. Barendt, ...
Abstract—This paper summarizes results of a five-year, multidisciplinary, university-industry collaborative effort investigating design issues in agile manufacturing. The focus of this project is...
Analysis of Continuous Switching Systems: Theory and Examples (2007)
This paper details work on ordinary differential equations that continuously switch among regimes of operation. In the first part, we develop some tools for analyzing such systems. We prove an...
Michael S. Branicky, A Quick, Example Pid Ncs
Step responses of plant • First-order plant (time-driven) • PI controller (event-driven) • Connected by a network
Decentralized and dynamic bandwidth allocation in networked control systems (2006)
Michael S. Branicky, Vincenzo Liberatore, Stephen M. Phillips
In this paper, we propose a bandwidth allocation scheme for networked control systems that have their control loops closed over a geographically distributed network. We first formulate the bandwidth...
Decentralized and dynamic bandwidth allocation in networked control systems (2006)
Michael S. Branicky, Vincenzo Liberatore, Stephen M. Phillips
In this paper, we propose a bandwidth allocation scheme for networked control systems that have their control loops closed over a geographically distributed network. We first formulate the bandwidth...
Time-dependent dynamics in networked sensing and control (2005)
Justin R. Hartman, Michael S. Branicky, Vincenzo Liberatore
Abstract — A networked sensing and control system (NSCS) combines networked sensors with control and actuation units so as to control a physical environment. An NSCS can effectively use sensing and...
Sampling-based reachability algorithms for control and verification of complex systems (2005)
Michael S. Branicky, Michael M. Curtiss, Joshua Levine, Stuart Morgan
Abstract — In this paper, we survey sampling-based reachability algorithms that may be used for planning, control, and verification of complex systems. These were inspired by two robotics motion...
Insect-inspired, actively compliant hexapod capable of object manipulation (2005)
William A. Lewinger, Michael S. Branicky, Roger D. Quinn
Insects, in general, are agile creatures capable of navigating uneven and difficult terrain with ease. The leaf-cutter ants (Atta), specifically, are agile, social insects capable of navigating...
William A. Lewinger, Cynthia M. Harley, Roy E. Ritzmann, Michael S. Branicky, Roger D. Quinn
Abstract- Through the use of mechanical, actuated antennae a biologically-inspired robot is capable of autonomous decision-making and navigation when faced with an obstacle that can be climbed over...
On the Relationship Between Classical Grid Search and Probabilistic Roadmaps (2004)
Steven M. LaValle, Michael S. Branicky, Stephen R. Lindemann
We present, implement, and analyze a spectrum of closely-related planners, designed to gain insight into the relationship between classical grid search and probabilistic roadmaps (PRMs). Building on...
M.: Computationally efficient cardiac bioelectricity models toward whole-heart simulation (2004)
Nathan A. Wedge, Michael S. Branicky, M. Cenk Çavus¸o˘glu
Abstract — This paper studies the characteristics of excitable cell mathematical models, with the goal of developing new insights and techniques in simulating the electrical behavior of the human...
M.: Computationally efficient cardiac bioelectricity models toward whole-heart simulation (2004)
Nathan A. Wedge, Michael S. Branicky, M. Cenk Çavus¸o˘glu
Abstract — This paper studies the characteristics of excitable cell mathematical models, with the goal of developing new insights and techniques in simulating the electrical behavior of the human...
Networked Control System Co-Simulation for Co-Design (2003)
Michael S. Branicky, Vincenzo Liberatore, Stephen M. Phillips
We provide a general framework for networked control systems (NCSs) and review previous theoretical results for NCS co-design. We present experimental studies of control and feedback scheduling of...
M.S.: Localization for Robotic Assemblies with Position Uncertainty (2003)
Siddharth R. Chhatpar, Michael S. Branicky
Abstract — This paper presents a localization strategy for robotic assemblies with position uncertainty. The assembly of parts whose position uncertainty exceeds assembly clearance has to rely on...
RRTs for nonlinear, discrete, and hybrid planning and control (2003)
Michael S. Branicky, Michael M. Curtiss, Joshua A. Levine, Stuart B. Morgan
Abstract — In this paper, we describe a planning and control approach in terms of sampling using Rapidly-exploring Random Trees (RRTs), which were introduced by LaValle. We review RRTs for motion...
Nonlinear and Hybrid Control Via RRTs (2002)
Michael S. Branicky, Michael M. Curtiss
In this paper, we review rapidly-exploring random trees (RRTs) for motion planning, experiment with them on standard control problems, and extend them to the case of hybrid systems. 1
Deterministic vs. Probabilistic Roadmaps (2002)
Michael S. Branicky, Steven M. Lavalle, Kari Olson, Libo Yang
Within the popular probabilistic roadmap (PRM) framework for motion planning, we challenge the use of randomization. By applying quasi-random sampling techniques, we illustrate both experimental and...
Scheduling and Feedback Co-Design (2002)
For Networked Control, Michael S. Branicky, Stephen M. Phillips, Wei Zhang
Feedback control systems wherein the control loops are closed through a real-time network are called networked control systems (NCSs). The insertion of the communication network in the feedback...
On the Relationship between Classical Grid Search and Probabilistic Roadmaps (2002)
Steven M. LaValle, Michael S. Branicky
We present, implement, and analyze a spectrum of closely-related planners, designed to gain insight into the relationship between classical grid search and probabilistic roadmaps (PRMs). Building on...
Hybrid systems: Learning, planning, and control (2001)
Michael S. Branicky, Siddharth R. Chhatpar
{mb, sc}cwru. edu A theory of optimal control for hybrid systems (those combining finite state machines and differential equations) has been developed. Such opti-mal controls are characterized as the...
Stability of Networked Control Systems (2001)
Wei Zhang, Michael S. Branicky, Stephen M. Phillips
Feedback control systems wherein the control loops are closed through a real-time network are called networked control systems (NCSs) [1]-[4]. The defining feature of an NCS is that information...
Quasi-randomized path planning (2001)
Michael S. Branicky, Steven M. Lavalle, Kari Olson, Libo Yang
We propose the use of quasi-random sampling techniques for path planning in high-dimensional conguration spaces. Following similar trends from related numerical computation elds, we show several...
Perspectives and results on the stability and stabilizability of hybrid systems (2000)
Raymond A. Decarlo, Michael S. Branicky, Stefan Pettersson, Bengt Lennartson
This paper introduces the concept of a hybrid system and some of the challenges associated with the stability of such systems, including the issues of guaranteeing stability of switched stable...
On-line techniques for behavioral programming (2000)
Michael S. Branicky, Tor Arne Johansen, Idar Petersen, Emilio Frazzoli
Many control problems of interest can be cast as an optimal hybrid system control problems, wherein an objective function represents some global goals and the input at each time instant isachoice...
Behavioural Programming (1999)
Motivated by biology and a study of complex systems, intelligent behavior is typically associated with a hierarchical structure, where the lowest level is usually characterized by continuousvariable...
Testing and Analysis of a Flexible Feeding System (1999)
Greg C. Causey, Roger D. Quinn, Michael S. Branicky
Flexible parts feeding techniques have recently begun to gain industry acceptance. However, one barrier to effective flexible feeding solutions is a dearth of knowledge of the underlying dynamics...
Testing and Analysis of a Flexible Feeding System (1999)
Greg C. Causey, Roger D. Quinn, Michael S. Branicky
Flexible parts feeding techniques have recently begun to gain industry acceptance. However, one barrier to effective flexible feeding solutions is a dearth of knowledge of the underlying dynamics...
Branicky, Michael S., Remis, Steven J.
This paper describes a systems approach to improving the performance of a telerobotic testbed. The testbed is the Force-Reflecting Interfaces to Telemanipulators Testing Systems (FITTS), at the Harry...
Studies in Hybrid Systems: Modeling, Analysis, and Control (1998)
Complex systems typically possess a hierarchical structure, characterized by continuous-variable dynamics at the lowest level and logical decision-making at the highest. Virtually all control systems...
A Unified Framework for Hybrid Control: Model and Optimal Control Theory (1998)
Branicky, Michael S, Borkar, Vivek S, Mitter, Sanjoy K
Complex natural and engineered systems typically possess a hierarchical structure, characterized by continuous-variable dynamics at the lowest level and logical decision-making at the highest,...
A Unified Framework for Hybrid Control: Model and Optimal Control Theory (1998)
Branicky, Michael S, Borkar, Vivek S, Mitter, Sanjoy K
Complex natural and engineered systems typically possess a hierarchical structure, characterized by continuous-variable dynamics at the lowest level and logical decision-making at the highest,...
Technologies for Robust Agile Manufacturing (1998)
Wyatt S. Newman, Frank L. Merat, Michael S. Branicky, Virgilio B. Velasco, Nicholas A. Barendt, Andy Podgurski, ...
This paper describes advances in developing key software, sensing/control, and parts-handling technologies enabling robust operation of an agile manufacturing workcell. In particular, we discuss: a...
A unified framework for hybrid control: Model and optimal control theory (1998)
Michael S. Branicky, Vivek S. Borkar, Senior Member, Sanjoy K. Mitter
Abstract — Complex natural and engineered systems typically possess a hierarchical structure, characterized by continuousvariable dynamics at the lowest level and logical decision-making at the...
A unified framework for hybrid control: Model and optimal control theory (1998)
Michael S. Branicky, Vivek S. Borkar, Senior Member, Sanjoy K. Mitter
Abstract — Complex natural and engineered systems typically possess a hierarchical structure, characterized by continuousvariable dynamics at the lowest level and logical decision-making at the...
Technologies For Robust Agile Manufacturing (1998)
Wyatt S. Newman, Frank L. Merat, Michael S. Branicky, Virgilio B. Velasco, Nicholas A. Barendt, ...
This paper describes advances in developing key software, sensing/control, and parts-handling technologies enabling robust operation of an agile manufacturing workcell. In particular, we discuss: a...
Analyzing and synthesizing hybrid control systems (1998)
Abstract. Embedded systems possess a hybrid structure, combining continuous-variable dynamics and logical decision-making. We study such real-world hybrid control systems and introduce a mathematical...
A Toolbox for Proving and Maintaining Hybrid Specifications (1997)
Michael S. Branicky, Ekaterina Dolginova, Nancy Lynch
. Formal verification in computer science often takes a worstcase view towards performance and uses induction to prove specification invariants. In control theory, robust control takes a worst-case...
Simulation of hybrid systems in Omola/Omsim (1997)
Michael S. Branicky, Sven Erik Mattsson
Abstract. Hybrid systems|those composed of the interaction of discrete and continuous inputs, outputs, states, and dynamic equations|are an important class of models of complex, real-world phenomena....
Universal Computation and Other Capabilities of Hybrid and Continuous Dynamical Systems (1995)
We explore the simulation and computational capabilities of hybrid and continuous dynamical systems. The continuous dynamical systems considered are ordinary differential equations (ODEs). For hybrid...
Hybrid dynamical systems, or hds: The ultimate switching experience (1995)
In previous work I have concentrated on formalizing the notion of a hybrid system as switching among an indexed collection of dynamical systems. I have also studied in some depth the modeling,...