Real-time Dynamic Models for Soft Bending Actuators

2018 ◽  
Author(s):  
Isuru S. Godage ◽  
Yue Chen ◽  
Kevin C. Galloway ◽  
Emily Templeton ◽  
Brian Rife ◽  
...  
Keyword(s):  
Real Time ◽  
Dynamic Models ◽  
Time Dynamic

UNDERACTUATED HAND DYNAMIC MODELING, ITS REAL-TIME SIMULATION, AND CONTROL

2010 ◽  
Vol 07 (04) ◽  
pp. 609-634 ◽  
Author(s):  
HAI HUANG ◽  
YONG-JIE PANG ◽  
JIANG LI ◽  
SHAO-WEI FAN ◽  
XIN-QING WANG ◽  
...  
Keyword(s):  
Real Time ◽  
Dynamic Model ◽  
Dynamic Models ◽  
Impedance Control ◽  
Differential Algebraic Equations ◽  
Algebraic Equations ◽  
Inverse Dynamic ◽  
Time Dynamic ◽  
Simulation And Control ◽  
And Control

The forward and inverse dynamic models of the underactuated 2-DOF finger have been established in this article based on virtual spring approach. This approach not only avoids the solution of differential-algebraic equations but also leads to a completely decoupled dynamic model that is ideal for directly inverse dynamic analysis, real-time dynamic simulation and control. To verify this approach, an underactuated 3-joint finger has been brought forward. Simulation results from Matlab/Simulink are consistent with those obtained from ADAMS grasp simulations. For the hand real-time dynamic control, the velocity observer has been established based on the dynamic model, the adaptive curve fitting with the observer has obtained precise velocity signals, made up the uncertain parameters such as torsion spring, inertial, damps, etc. and achieved ideal results. By applying dynamics model and observer, the force-based impedance control can realize more accurate and stable force control during grasp.

Control Model Constructing on Real-Time Dynamic Reversible Lane in Condition of Connected Vehicle

CICTP 2020 ◽  
2020 ◽  
Author(s):  
Lina Mao ◽  
Wenquan Li ◽  
Pengsen Hu ◽  
Guiliang Zhou ◽  
Huiting Zhang ◽  
...  
Keyword(s):  
Real Time ◽  
Control Model ◽  
Connected Vehicle ◽  
Time Dynamic

A novel approach to the real-time modelling of large urban drainage systems

1997 ◽  
Vol 36 (8-9) ◽  
pp. 19-24 ◽  
Author(s):  
Richard Norreys ◽  
Ian Cluckie
Keyword(s):  
Real Time ◽  
Dynamic Models ◽  
Drainage System ◽  
Radar Data ◽  
Urban Drainage ◽  
Real Time Control ◽  
Empirical Modelling ◽  
Time Control ◽  
Novel Approach ◽  
Non Linear Systems

Conventional UDS models are mechanistic which though appropriate for design purposes are less well suited to real-time control because they are slow running, difficult to calibrate, difficult to re-calibrate in real time and have trouble handling noisy data. At Salford University a novel hybrid of dynamic and empirical modelling has been developed, to combine the speed of the empirical model with the ability to simulate complex and non-linear systems of the mechanistic/dynamic models. This paper details the ‘knowledge acquisition module’ software and how it has been applied to construct a model of a large urban drainage system. The paper goes on to detail how the model has been linked with real-time radar data inputs from the MARS c-band radar.

Towards real-time fire data synthesis using numerical simulations

2021 ◽  
pp. 073490412199344
Author(s):  
Wolfram Jahn ◽  
Frane Sazunic ◽  
Carlos Sing-Long
Keyword(s):  
Real Time ◽  
Computational Fluid Dynamic ◽  
Dynamic Models ◽  
Fluid Dynamic ◽  
Near Field ◽  
Computing Time ◽  
Temperature Correction ◽  
Dynamic Simulations ◽  
Conservation Of Energy ◽  
Fire Scenarios

Synthesising data from fire scenarios using fire simulations requires iterative running of these simulations. For real-time synthesising, faster-than-real-time simulations are thus necessary. In this article, different model types are assessed according to their complexity to determine the trade-off between the accuracy of the output and the required computing time. A threshold grid size for real-time computational fluid dynamic simulations is identified, and the implications of simplifying existing field fire models by turning off sub-models are assessed. In addition, a temperature correction for two zone models based on the conservation of energy of the hot layer is introduced, to account for spatial variations of temperature in the near field of the fire. The main conclusions are that real-time fire simulations with spatial resolution are possible and that it is not necessary to solve all fine-scale physics to reproduce temperature measurements accurately. There remains, however, a gap in performance between computational fluid dynamic models and zone models that must be explored to achieve faster-than-real-time fire simulations.

scholarly journals Dynamic Gesture Recognition System with Gesture Spotting Based on Self-Organizing Maps

2021 ◽  
Vol 11 (4) ◽  
pp. 1933
Author(s):  
Hiroomi Hikawa ◽  
Yuta Ichikawa ◽  
Hidetaka Ito ◽  
Yutaka Maeda
Keyword(s):  
Real Time ◽  
Gesture Recognition ◽  
Weight Vector ◽  
Recognition System ◽  
Self Organizing Map ◽  
Self Organizing Maps ◽  
Time Dynamic ◽  
System Input ◽  
Self Organizing ◽  
Gesture Spotting

In this paper, a real-time dynamic hand gesture recognition system with gesture spotting function is proposed. In the proposed system, input video frames are converted to feature vectors, and they are used to form a posture sequence vector that represents the input gesture. Then, gesture identification and gesture spotting are carried out in the self-organizing map (SOM)-Hebb classifier. The gesture spotting function detects the end of the gesture by using the vector distance between the posture sequence vector and the winner neuron’s weight vector. The proposed gesture recognition method was tested by simulation and real-time gesture recognition experiment. Results revealed that the system could recognize nine types of gesture with an accuracy of 96.6%, and it successfully outputted the recognition result at the end of gesture using the spotting result.

Investigation on dynamic holographic display in liquid crystal film doped with carbon dots

2020 ◽  
Vol 10 (6) ◽  
pp. 780-787
Author(s):  
Hongyue Gao ◽  
Suna Li ◽  
Jicheng Liu ◽  
Wen Zhou ◽  
Fan Xu ◽  
...  
Keyword(s):  
Liquid Crystal ◽  
Electric Field ◽  
Real Time ◽  
Diffraction Efficiency ◽  
Carbon Dots ◽  
Applied Electric Field ◽  
Light Polarization ◽  
Forming Process ◽  
Time Dynamic ◽  
Holographic Display

In this paper, we studied the holographic properties of liquid crystal (LC) thin film doped with carbon dots (CDs) which can be used as real-time holographic display screen. The maximum value of diffraction efficiency can reach up to 30% by using a low applied electric field 0.2 V/μm. Holograms in the LC film can be dynamically formed and self-erased. The hologram build-up time and the hologram self-erasure time in the material is fast enough to realize video refresh rate. In addition, the forming process of hologram was studied. The holographic diffraction efficiency was measured depending on the intensity of recording light, applied electric field, the intensity of readout light, and readout light polarization direction. Triple enhancement of the diffraction efficiency value by the modulation of voltage under the condition of low recording energy is presented. Therefore, we develop an easy way to obtain real-time dynamic holographic red, green and blue displays with high diffraction efficiency, which allow the LC film doped with CDs to be used as a holographic 3D display screen.

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