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Theses:
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Aaron D. Ames |
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A Categorical Theory of Hybrid Systems |
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PhD dissertation, Electrical Engineering and
Computer Sciences, University of California,
Berkeley 2006 |
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Aaron D. Ames |
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Hyrid Model Structures |
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Master Thesis, Mathematics, University of
California, Berkeley 2006 |
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Publications:
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Aaron D. Ames and John C. Doyle |
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Complexity
and Fragility in Stability |
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To appear in ACC
2008 |
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Andy Lamperski and Aaron D. Ames |
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Sufficient
Conditions for
Zeno
Behavior in Lagrangian Hybrid Systems |
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To Appear in
HSCC 2008 |
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Paulo Tabuada, Aaron D. Ames, Agung Julius and
George J. Pappas |
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Approximate Reduction of Dynamical Systems |
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Accepted for
publication in Systems and Control Letters |
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Aaron D. Ames, Robert D. Gregg and Mark W. Spong |
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A Geometric Approach to Three-Dimensional Hipped
Bipedal Robotic Walking |
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In
CDC 2007 |
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Aaron D. Ames, Alessandro Abate and Shankar
Sastry |
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Sufficient Conditions for the Existence of Zeno
Behavior in Nonlinear Hybrid Systems via
Constant Approximations |
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In
CDC 2007 |
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David Pekarek, Aaron D. Ames and Jerrold E.
Marsden |
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Discrete Mechanics and optimal Control Applied
to the Compass Gait Biped |
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In
CDC 2007
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Andrew Lamperski and Aaron D. Ames |
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Lyapunov-Like Conditions for the Existence of
Zeno Behavior in Hybrid and Lagrangian Hybrid
Systems |
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In
CDC 2007 |
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Aaron D. Ames |
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Homotopy Meaningful Hybrid Model Structures |
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In
the Proceedings to the 2006 Workshop on Topology
and Robotics |
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Aaron D. Ames and Robert D. Gregg |
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Stably Extending Two-Dimensional Bipedal Walking
to Three Dimensions |
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In the 2007 American Control
Conference |
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Sumitra Ganesh, Aaron D. Ames and Ruzena Bajcsy |
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Composition of Dynamical Systems for Estimation
of Human Body Dynamics |
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In
Hybrid Systems: Computation and
Control 2007 |
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| Aaron
D. Ames and Shankar Sastry. |
Hybrid
Geometric Reduction of Hybrid Systems
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In the 45th
IEEE Conference on Decision
and Control, San Diego, CA, 2006. (Awarded best paper of session.)
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| P. Tabuada, A. D.
Ames, A. Julius and G. Pappas. |
Approximate
Reduction of Dynamical Systems
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In the 45th
IEEE Conference on Decision
and Control, San Diego, CA, 2006. |
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| Aaron
D. Ames, Robert D. Gregg, Eric D.B. Wendel and Shankar Sastry.
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On
the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic
Walkers
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3rd Workshop on
Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNL'06),
Nagoya Japan.
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| Aaron
D. Ames and Shankar Sastry. |
Hybrid
Routhian Reduction of Lagrangian Hybrid Systems
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| In the 2006
American Control Conference, Minneapolis, MN.
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| Aaron
D. Ames and Shankar Sastry. |
Hybrid
Cotangent Bundle Reduction of Simple Hybrid Mechanical Systems with
Symmetry
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| In the 2006
American Control Conference, Minneapolis, MN.
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| Aaron
D. Ames, Haiyang Zheng, Robert Gregg and Shankar Sastry. |
Is
there Life after Zeno? Taking Executions past the Breaking (Zeno)
Point.
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| In the 2006
American Control Conference, Minneapolis, MN.
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| Alessandro
Abate, Aaron
D. Ames and Shankar Sastry. |
Error-Bounds
Based Stochastic Approximations and Simulations of Hybrid Dynamical
Systems
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| In the 2006
American Control Conference, Minneapolis, MN.
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| Alessandro
Abate, Aaron
D. Ames and Shankar Sastry. |
A-Priori
Detection of Zeno Behavior in Communication Networks Modeled as Hybrid
Systems
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| In the 2006
American Control Conference, Minneapolis, MN.
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| Aaron
D. Ames, Paulo Tabuada and Shankar Sastry. |
On the
Stability of Zeno Equilibria
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| In Hybrid
Systems: Computation and Control 2006, Santa Barbara, CA.
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| Haiyang Zheng, Edward
A. Lee and Aaron D. Ames |
Beyond
Zeno: Get on with it!
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| In Hybrid
Systems: Computation and Control 2006, Santa Barbara, CA.
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| Aaron
D. Ames, Alberto Sangiovanni-Vincentelli and Shankar Sastry. |
| Homogenous
Semantic Preserving Deployments of Heterogenous Networks of Embedded
Systems. |
| Workshop on Networked
Embedded Sensing and Control (to appear), Notre Dame, IN, Oct.,
17--18, 2005. |
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| Aaron
D. Ames, Alessandro
Abate and
Shankar Sastry. |
| Sufficient
Conditions for the Existence of Zeno
Behavior. |
| 44th
IEEE Conference on Decision and Control and European Control Conference
ECC
2005 (CDC-ECC'05), (to appear), Seville, Spain,
Dec., 12--15, 2005. |
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| Jonathan
Sprinkle, Aaron D. Ames and Shankar Sastry. |
| On the
Partitioning of Syntax and Semantics For
Hybrid Systems Tools. |
| 44th
IEEE Conference on Decision and Control and European Control Conference
ECC
2005 (CDC-ECC'05), (to appear), Seville, Spain,
Dec., 12--15, 2005. |
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| Jonathan Sprinkle,
Aaron
D. Ames, J. Mikael Eklund, Ian M. Mitchell and Shankar Sastry.
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| Online
Safety Calculations for Glide-Slope Recapture. (Invited) |
Inovations in Systems
and Software Engineering, Vol. 1, no. 2, Jul., 2005.
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| Aaron
D. Ames and Shankar Sastry. |
| Characterization
of Zeno Behavior in Hybrid
Systems using Homological Methods. |
| In the
24th American Control Conference
2005 (ACC’05), Portland,
OR,
2005. |
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| Alessandro
Abate, Aaron D. Ames and Shankar Sastry. |
| Stochastic
Approximations of Hybrid Systems. |
| In the
24th American Control Conference
2005 (ACC’05), Portland,
OR,
2005. |
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| Aaron
D. Ames and Shankar Sastry. |
| A
Homology Theory for Hybrid Systems: Hybrid
Homology. |
| In
Hybrid Systems: Computation and Control, 8th
International Workshop, Proc., Zurich, Switzerland, March 9-11, M.
Morari and
L. Thiele, eds., vol. 3414 of Lecture Notes in Computer Science,
Springer-Verlag, pp. 86-102, 2005. |
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| Aaron
D. Ames and Shankar Sastry. |
| Blowing
Up Affine Hybrid Systems. |
| 43rd
IEEE Conference on Decision and Control 2004 (CDC'04),
Atlantis, Paradise Island,
Bahamas,
Dec. 2004, pp. 473-478. |
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| Aaron
D. Ames and Shankar Sastry. |
| Affine
Hybrid Systems. |
| In
Hybrid Systems: Computation and Control, 7th
International Workshop, Proc., Philadelphia,
PA,
USA,
March 25-27, R. Alur and G. J. Pappas, eds., vol. 2993 of Lecture Notes
in
Computer Science, Springer-Verlag, pp. 16-31, 2004. |
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| Aaron
D. Ames, J. A. Jalkio and C. Shakiban. |
| Three-Dimensional
Object Recognition Using
Invariant Euclidean Signature Curves.
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| In the
Proceeding of the International Symposium
on Analysis, Combinatorics and Computing, held August 5-8, 2000.
Also
available in Analysis,
Combinatorics and Computing, pg. 13-23, Nova Scientific Publishing,
Inc. Commack, NY,
2002.
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Submitted:
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Aaron D. Ames and
Andy Lamperski |
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Linearization about Zeno Equilibria in a Class
of Nonlinear Hybrid Systems |
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Submitted for Publication |
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Andy Lamperski and Aaron D. Ames |
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On the
Existence of Zeno Behavior in Hybrid Systems
with Non-Isolated Zeno Equilibria |
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Submitted to CDC08 |
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Aaron D. Ames and Andy Lamperski |
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Linearization about Zeno Equilibria in a Class
of Nonlinear Hybrid Systems |
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Submitted
to CDC08 |
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Yizhar Or and Aaron D. Ames |
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Stability of
Zeno Equilibria in Lagrangian Hybrid Systems
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Submitted
to CDC08 |
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Yizhar Or and Aaron D. Ames |
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A Formal
Approach to Completing Lagrangian Hybrid System
Models |
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Submitted
to CDC08 |
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Technical
Reports and Unpublished Notes:
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| Aaron
D. Ames and Paulo Tabuada |
| H-Categories
and Graphs. |
| Unpublished Note.
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| Aaron
D. Ames and Shankar Sastry. |
| Affine
Hybrid Systems. |
| Technical
Report. |
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| Aaron
D. Ames and Shankar Sastry. |
Hybrid
Reduction of Hybrid Symplectic Manifolds with Hybrid Symmetry
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| To be submitted
(available upon request) |
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Selected Presentations:
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Sufficient
Conditions for the Existence of Zeno Behavior in
a Class of Nonlinear Hybrid Systems via Constant
Approximations |
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Presented at the CDC 2007, New Orleans LA |
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A
Geometric
Approach to Three-Dimensional Hipped Bipedal
Robotic Walking |
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Presented at the CDC 2007, New Orleans, LA |
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Stably
Extending Two-Dimensional Bipedal Walking to
Three Dimensions |
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Presented at the ACC 2007, New York, NY |
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Hybrid
Geometric Reduction of Hybrid Systems |
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Presented at the CDC 2006 , San Diego CA |
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Stably Extending Two-Dimensional Bipedal Walking
to Three Dimensions via Geometric Reduction |
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Presented at the Systems Science Seminar,
University of Michigan, December 2006 |
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Stably Extending Two-Dimensional Bipedal Walking
to Three Dimensions via Geometric Reduction |
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Presented at the Decision and Control Seminar,
University of Illinois at Urbana-Champaign,
November 2006 |
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Hybrid Model Category Structures and Homotopy
Colimits |
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Presented at the Topology Seminar, University of
Illinois at Urbana-Champaign, November 2006 |
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| Towards
the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic
Walkers |
| Presented
at the Workshop on Lagrangian and Hamiltonian Methods for Nonlinear
Control, Nagoya, Japan 2006 |
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| Hybrid
Model Structures (or Hybrid Homotopy Theory) |
| Presented
at the Workshop on Topology and Robotics, ETH Zurich, 2006 |
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| Hybrid
Routhian Reduction of Lagrangian Hybrid Systems |
| Presented
at ACC, Minneapolis, MN, 2006 |
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| Hybrid
Cotangent Bundle Reduction of Simple Hybrid Mechanical Systems with
Symmetry |
| Presented
at ACC, Minneapolis, MN, 2006 |
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| Is
there Life after Zeno? Taking Executions past the Breaking (Zeno)
Point. |
| Presented
at ACC, Minneapolis, MN, 2006 |
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| Thesis
Talk |
| Presented
at the Berkeley CHESS seminar |
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| On the
Stability of Zeno Equilibria |
| Presented
at Hybrid Systems: Computation and Control, Santa Barbara, CA 2006 |
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| Homogeneous Semantic
Preserving Deployments of Heterogeneous Networks of Embedded Systems.
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| Presented
at the Berkeley seminar on Networked Embedded Systems. |
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| Sufficient
Conditions for the Existence of Zeno
Behavior. |
| Presented at CDC-ECC'05
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| Homogeneous Semantic
Preserving Deployments of Heterogeneous Networks of Embedded Systems.
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| Presented
at NESC 2005. |
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| A Categorical Approach
to the Hybrid Reduction of Hybrid Symplectic Manifolds with Hybrid
Symmetry. |
| Presented
at Notre Dame. |
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| Characterization
of Zeno Behavior in Hybrid
Systems using Homological Methods. |
| Presented
at ACC 2005. |
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| A Homology Theory for
Hybrid Systems: Hybrid
Homology |
| Presented
at HSCC 2005. |
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| Blowing Up Affine
Hybrid Systems |
| Presented
at CDC 2004. |
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| Affine Hybrid Systems
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| Presented
at HSCC 2004. |
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| Blowing Up Affine
Hybrid Systems |
| Presented
at the Berkeley CHESS seminar |
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| A Categorical Theory
of Hybrid Systems |
| Presented
at the Berkeley CHESS seminar |
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