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Journals
and Peer-Reviewed Conference Papers

2009:

S. Lapapong, V. Gupta, E. Callejas, and S. Brennan. “Fidelity of using scaled vehicles for chassis dynamic studies.” To appear in Vehicle System Dynamics, 2009

2008 :

A. Dean, P. Vemulapalli, and S. Brennan. "Highway Evaluation of Terrain-Aided Localization Using Particle Filters." Proceedings of the 2008 ASME Dynamic Systems and Control Conference, Ann Arbor, MI, Oct. 20-22, 2008.

A. Dean, R. Martini, and S. Brennan. "Terrain-Based Road Vehicle Localization Using Particle Filters." Proceedings of the 2008 American Control Conference, Seattle, WA, Jun. 11-13, 2008, pg 236-241.

H. Hailu and S. Brennan. "Use of Dimensional Analysis to Reduce the Parametric Space for Gain-Scheduling." To appear in the ASME Transactions on Dynamic Systems, Measurement, and Control. 2008.

V. Mehta, F. Gandhi, and S. Brennan. "Experimentally Verified Optimal Serpentine Gait and Hyper-Redundancy of a Rigid-Link Snake Robot." IEEE Transactions on Robotics and Automation, vol. 24, no. 2, pg. 348-360, 2008.

A. Dean and S. Brennan, "A Low-order Dynamic Model of a Tracked Robot Inclusive of Nonlinear Slip." International Journal of Heavy Vehicle Systems vol. 15, no. 2/3/4, pg. 327-355, 2008.

V. Gupta and S. Brennan. "Terrain-based vehicle orientation estimation combining vision and inertial measurements." Journal of Field Robotics vol. 25, no. 3, pg. 181-202, 2008.

2007 :

S. Brennan, J. Buckland, U. Christen, K. Fischbach, I. Haskara and I, Kolmanovsky. "Editorial: Special Issue on Control Applications in Automotive Engineering." IEEE Transactions on Control Systems Technology vol. 13, no. 3, pg. 403-405, 2007.

V. Gupta and S. Brennan, "Vehicle State Estimation using Vision and Inertial Measurements," Fifth IFAC Symposium on Advances in Automotive Control. Aug. 19-22. Monterey Coast, CA.

S. Brennan. "Mechatronics and Systems Instruction Across Graduate, Undergraduate, and Research Applications Using Rapidly Reconfigurable Hardware." 2007 ASEE Annual Conference and Exhibition. Oahu Hawaii, 2007.

B. Hamblin and S. Brennan. "Lessons Learned from Matching Experimental Data to Low-Order Models of Vehicle Behavior." 2007 ASME IMECE, New York, NY. Paper Number IMECE2007-42202.

B. Hamblin and S. Brennan. "Utilization of Vehicle Dynamic Simulations as Predictors of Highway Safety." 2007 ASME IMECE, New York, NY. Paper Number IMECE2007-42195.

2006 :

H. Hailu and S. Brennan. "The Vehicle Autopilot: Simultaneous Robust Control Through Parametric Adaptation," ASME IMECE Chicago, IL, 2006.

B. Hamblin, R. Martini, J. Cameron, S. Brennan, "Low-Order Modeling of Vehicle Roll Dynamics." Proceedings of the 2006 American Control Conference, pg 4008-4015.

M. D. Petersheim, S. P. Clewell, S. N. Brennan, C. M. LaJambe, M. El-Gindy, and F. M. Brown, 2006, "Development of a Driving Simulator for Human-Vehicle Interaction Studies," Proceedings of the 9th International Symposium on Heavy Vehicles, Weights, & Dimensions University Park, PA, June 18th-22nd, 2006, pg 121-130.

2005 :

J. Cameron, S. Brennan, "A Comparative, Experimental Study of Model Suitability to Describe Vehicle Rollover Dynamics for Control Design." Proceedings of the 2005 ASME IMECE, Dynamic Systems and Control Division, 2005, pg 405-414.

H. Hailu, S. Brennan, "Simplifying Robust Control Designs of Parametric Uncertain Systems Using Dimensional Transformations." Proceedings of the 2005 ASME IMECE, Dynamic Systems and Control Division, 2005, pg 77-83.

H. Hailu, S. Brennan, "Use of Dimensional Analysis to Reduce the Parametric Space for Gain-Scheduling." Proceedings of the 2005 American Control Conference, pg 589-603.

A. Nirakh, S. Brennan, and F. Gandhi, "An Implicit Model for Snake Robot Locomotion and Gait Optimization," Proceedings of the 2005 ASME IMECE Orlando, FL, November, 2005.

S. Brennan, and A. Alleyne, "Dimensionless Robust Control With Application to Vehicles," IEEE Transactions on Control Systems Technology vol. 13, no. 4, pg. 624-630, April, 2005.

2004 :

E. Ozatay, B. Zile, J. Anstrom, and S. Brennan. "Power Distribution Control Coordinating Ultracapacitors and Batteries for Electric Vehicles." Proceedings of the 2004 American Control Conference, Boston, MA, June 30 - July 2, 2004.

C. Robinson, D. Block, S. Brennan, F. Bullo, and J. Cortes. "Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms." Proceedings of the 2004 IEEE Conference on Robotics and Automation, New Orleans, April, 2004.

S. Brennan and A. Alleyne. "Real-time identification of vehicle chassis dynamics using a novel reparameterization based on sensitivity invariance." International Journal of Adaptive Control and Signal Processing, vol. 18, no. 2, pg. 103-123, March, 2004.

2003 :

S. Brennan. "Dimensionless Sensitivity Methods for the Identification of Vehicle Chassis Dynamics." Proceedings of the 2003 ASME IMECE, November, 2003.

S. Brennan and A. Alleyne. "Generalized H-infinity Vehicle Control Utilizing Dimensional Analysis." Proceedings of the 2003 American Control Conference, Denver, Colorado, pg. 3774--3780, June 4--6, 2003.

A. Alleyne, S. Brennan, B. Rasmussen, R. Zhang, and Y. Zhang. "Controls and experiments: lessons learned." IEEE Control Systems Magazine, vol. 23, no. 5, pg. 20--34, October, 2003.

2002 :

S. Brennan and A. Alleyne. "H-infinity vehicle control using non dimensional perturbation measures." Proceedings of the 2002 American Control Conference, Anchorage, Alaska, pg. 2534--2539, May, 2002.

2001 :

S. Brennan and A. Alleyne. "Integrated Vehicle Control via Coordinated Steering and Wheel Torque Inputs" Proceedings of the American Control Conference, Arlington, VA, Arlington, Virginia, pg. 7-12, June 25-27, 2001.

S. Brennan and A. Alleyne. "Robust Scalable Vehicle Control Via Non-dimensional Vehicle Dynamics." Vehicle System Dynamics, vol. 36, no. 4-5, pg. 255-278, Nov., 2001.

S. Brennan and A. Alleyne. "Using a Scale Testbed: Controller Design and Evaluation." IEEE Control Systems Magazine, vol. 21, no. 3, pg. 15-26, June, 2001.

2000 :

S. Brennan and A. Alleyne. "Robust stabilization of a generalized vehicle, a nondimensional approach." Proceedings of the 5th International Symposium on Advanced Vehicle Control (AVEC), Ann-Arbor, Michigan, August 22-24, 2000.

S. Brennan and A. Alleyne. "The Illinois Roadway Simulator: A Mechatronic Testbed for Vehicle Dynamics and Control." IEEE/ASME Transactions on Mechatronic Systems, vol. 5, no. 4, 2000.

1999 :

S. Brennan and A. Alleyne. "A scaled testbed for vehicle control: the IRS." IEEE International Conference on Control Applications, Kohala Coast, Hawaii, pg. 327-332, August 22-27, 1999.

S. Brennan and A. Alleyne. "Driver assisted yaw rate control." Proceedings of the 1999 American Controls Conference, San Diego, CA, pg. 1679-1704, June 2--4, 1999.

1998 :

S. Brennan, M. DePoorter, and A. Alleyne. "The Illinois roadway simulator - a hardware-in-the-loop testbed for vehicle dynamics and control." Proceedings of the 1998 American Control Conference, Philadelphia, PA, pg. 493-497, June, 1998.

M. DePoorter, S. Brennan, and A. Alleyne. "Driver Assisted Control Strategies: Theory and Experiment." Proceedings of the 1998 ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, 1998.

M. Lieberman, C. Bragg, and S. Brennan. "Determining Gravimetric Bark Content in Cotton with Machine Vision." Textile Research Journal, vol. 68, no. 2, Feb., 1998.

1997 :

N. Aukland, H. Hardee, A. Wehr, S. Brennan, and P. Lees. "An Examination of the Metallic Bonding of a Clad Material and Two Gold Plating Systems under Constant Force Fretting Conditions." Proceedings of the IEEE-HCEC, Seattle, 1997.

Theses

2009 :

Stine, Jason; " Analyzing Highway Median Safety through Vehicle Dynamics Simulations ", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2009

2008 :

Vemulapalli, Pramod; " Design and Testing of a Terrain Mapping System for Median Slope Measurement", M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, December 2008

Dean, Adam; "Terrain-based Road Vehicle Localization using Attitude Measurements", Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, October 2008

Petersheim, Michael; "Scaling of Hybrid-Electric Vehicle Powertrain Components for Hardware-in-the-Loop Simulation." M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2008.

Yutko, Joseph; "An Analysis of Complex Vehicle Reliability: A Systematic Failure Rate Approach." M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2008.

Chaves, Steve; "Development of an Off-Road Ground Vehicle Platform for Teleoperation." Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2008.

2007 :

Yu, Nan; "Yaw-Control Enhancement for Buses by Active Front-Wheel Steering." Ph.D. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007.

Hamblin, Bridget; "Vehicle Rollover Prediction from Low Order Dynamic Models or Varying Terrain Encountered During Median Traversal." M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, August 2007.

Lapapong, Sittikorn; "Vehicle Similitude Modeling and Validation of the Pennsylvania State University Rolling Roadway Simulator." M.S. Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007.

Kaiserian, Dan; "Tractor-Trailer Instability Due to Liquid Slosh in a Partially Filled Tank." Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007.

Plank, Dennis; "Vehicle to Vehicle Comparison of Tire and Chassis Dynamics." Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007.

Weidner, Jon; "Tractor-Trailer Instability of Variably Loaded Container Trucks." Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2007.

2006 :

Cohen, Kevin M.; "A Comparative Analysis of Static and Dynamic Transit Bus Rollover Testing Using Computer Simulation.", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2006.

Glumac, Andrew T.; "Scale Tire Modeling and Experimentation on a Rolling Roadway Simulator.", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May 2006.

Hailu, Haftay; "Dimensional Transformation: A Novel Method for Gain-Scheduling and Robust Control.", Ph.D. Thesis, Mechanical and Nuclear Engineering, The Pennsylvania State University, May 2006.

Kowalczyk, Janine M. "Scaled Vehicle Testing of Control Algorithms to Prevent Vehicle Rollover.", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, December 2006.

Martini, Ryan D., "GPS/INS Sensing Coordination for Vehicle State Identification and Road Grade Positioning.", M.S. Thesis, Mechanical and Nuclear Engineering, The Pennsylvania State University, Aug 2006.

2005 :

Cameron, John T. "Vehicle Dynamic Modeling for the Prediction and Prevention of Vehicle Rollover.", M.S. Thesis, Mechanical and Nuclear Engineering, The Pennsylvania State University, Dec 2005.

Nirakh, Appa Rao. "Computational and Experimental Dynamics of a Snake Using Discrete and Continuum Models." M.S. Thesis, Aeronautical Engineering, The Pennsylvania State University, May 2005.

Glumac, Andrew. "Scale Tire Modeling and Experimentation on a Rolling Roadway Simulator." Honor's Thesis, Mechanical Engineering, The Pennsylvania State University, May 2005.

2004 :

Bourne, Keith A., "Design, Construction, and Testing of an Instrumented Multi-Jointed Arm and Computer Software for Measurement and Visualization of 3D Coordinates on Large Objects.", Honors Thesis, Mechanical Engineering, The Pennsylvania State University, May, 2004.

2002 :

Brennan, Sean N. "On Size and Control: The Use of Dimensional Analysis in Controller Design." , Ph.D. Thesis, University of Illinois at Urbana-Champaign, Mechanical and Industrial Engineering, Dec. 2002.

1999 :

Brennan, Sean N.. "Modeling and Control Issues Associated with Scaled Vehicles." M.S. Thesis, Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, August, 1999.