Virtual Tissue Cutting With Haptic Feedback Using a Hybrid Actuator With DC Servomotor and Magnetorheological Brake

2016 ◽  
Vol 16 (3) ◽  
Author(s):  
Berk Gonenc ◽  
Hakan Gurocak
Keyword(s):  
Haptic Feedback ◽  
Fast Response ◽  
Virtual Training ◽  
Tissue Properties ◽  
Tissue Cutting ◽  
Wide Range ◽  
Force Profile ◽  
Rat Tissue ◽  
Dc Servomotor ◽  
Hybrid Actuator

Surgical training is an important and recent application where haptic interfaces are used to enhance the realism of virtual training simulators. Tissue cutting with surgical scissors is a common interaction mode in the simulations. The haptic interface needs to render a wide range of tissue properties and resistance forces accurately. In this research, we developed a hybrid haptic device made of a DC servomotor and a magnetorheological (MR) brake. The motor can provide fast dynamic response and compensate for inertia and friction effects of the device. But alone, it cannot supply high force levels and the sensation of stiff interaction with hard tissues such as tendons. On the other hand, the MR-brake can provide very stiff interaction forces yet cannot reflect fast dynamics that are encountered as the virtual scissors go through the tissue. The hybrid actuator developed in this work combines the two based on a control scheme that decomposes the actuator command signal into two branches considering each actuator's capabilities. It is implemented on a compact single degree-of-freedom (DOF) interface to simulate virtual tissue cutting with three different scissor types (Mayo, Metzenbaum, Iris) and four types of rat tissue (liver, muscle, skin, tendon). Results have shown close tracking of the desired force profile in all cases. Compared to just using a DC motor, the hybrid actuator provided a wider range of forces (up to 18 N) with fast response to render quick force variations without any instability for all simulated tissue and scissor types.

Haptic Interface With Hybrid Actuator for Virtual Tissue Cutting

2015 ◽  
Author(s):  
Berk Gonenc ◽  
Hakan Gurocak
Keyword(s):  
Haptic Device ◽  
Haptic Interface ◽  
Haptic Interfaces ◽  
Virtual Training ◽  
Tissue Properties ◽  
Tissue Cutting ◽  
Control Scheme ◽  
Rat Tissue ◽  
Dc Servomotor ◽  
Hybrid Actuator

Surgical training is an important and recent application where haptic interfaces are used to enhance the realism of virtual training simulators. Tissue cutting with surgical scissors is a common interaction mode in the simulations. The haptic interface needs to render a range of tissue properties and resistance forces accurately. In this research, we developed a hybrid haptic device made up of a DC servomotor and a magnetorheological (MR) brake. The motor can provide fast dynamic response and compensate for inertia and friction effects of the device. But it cannot supply high force levels and the sensation of stiff interaction with hard tissues such as tendons. On the other hand, the MR-brake can provide very high and stiff interaction forces yet cannot reflect fast dynamics that are encountered as the virtual scissors go through the tissue. Design details of the hybrid actuator and the haptic device are presented. A control scheme was developed to decompose the actuator command signal into two branches considering each actuator’s capabilities. Virtual tissue cutting experiments were conducted using three different scissor types and four types of rat tissue. Results are presented and discussed. Forces in a wider amplitude range compared to just using a DC motor could be generated by the hybrid actuator. It also enabled simulation of multiple scissor types using the same haptic interface due to the extended force amplitude range.

scholarly journals In Situ Vapor Polymerization of Poly(3,4-ethylenedioxythiophene) Coated SnO2-Fe2O3 Continuous Electrospun Nanotubes for Rapid Detection of Iodide Ions

Materials ◽  
2018 ◽  
Vol 11 (11) ◽  
pp. 2084 ◽  
Author(s):  
Xiuru Xu ◽  
Wei Wang ◽  
Bolun Sun ◽  
Xue Zhang ◽  
Rui Zhao ◽  
...  
Keyword(s):  
In Situ Polymerization ◽  
Fast Response ◽  
Core Shell ◽  
Current Response ◽  
Electrospinning Technique ◽  
Iodide Ions ◽  
Wide Range ◽  
Vapor Phase Polymerization ◽  
Fe2o3 Nanotubes

In this work poly(3,4-ethylenedioxythiophene) (PEDOT) coated SnO2-Fe2O3 continuous nanotubes with a uniform core–shell structure have been demonstrated for rapid sensitive detection of iodide ions. The SnO2-Fe2O3 nanotubes were firstly fabricated via an electrospinning technique and following calcination process. An in situ polymerization approach was then performed to coat a uniform PEDOT shell on the surface of as-prepared SnO2-Fe2O3 nanotubes by vapor phase polymerization, using Fe2O3 on the surface of nanotubes as an oxidant in an acidic condition. The resultant PEDOT@SnO2-Fe2O3 core-shell nanotubes exhibit a fast response time (~4 s) toward iodide ion detection and a linear current response ranging from 10 to 100 μM, with a detection limit of 1.5 μM and sensitivity of 70 μA/mM/cm2. The facile fabrication process and high sensing performance of this study can promote a wide range of potential applications in human health monitoring and biosensing systems.

The Research of GPRS-Based Remote Fault Monitoring System for CNC Machine Tools

2011 ◽  
Vol 328-330 ◽  
pp. 393-397
Author(s):  
Ming Liang Wu ◽  
Xiao Bing Wang ◽  
Shu Rong Yu
Keyword(s):  
Monitoring System ◽  
Communication Networks ◽  
Remote Monitoring ◽  
Data Transfer ◽  
High Reliability ◽  
Fast Response ◽  
Cnc Machine Tools ◽  
Cnc Machine ◽  
Remote Monitoring System ◽  
Wide Range

Based on GPRS network remote monitoring system which uses its two-way transmission performance, can easily monitor various electrical equipments and get information. Compare with the past remote monitoring systems, the system has the advantage of flexible networking, convenient, wide range of data transmission, high reliability, fast response time, and has great significance and value of research in CNC machine tool system with upgrade GPRS in the mobile communication networks, data services expand and data transfer capabilities.

scholarly journals A Novel Method for Tuning PID Controller

2013 ◽  
Vol 6 (1) ◽  
pp. 62-74
Author(s):  
Abidaoun H. shallal ◽  
Rawaa A. Karim ◽  
Osama Y. Al-Rawi
Keyword(s):  
Computer Technology ◽  
Pid Control ◽  
Pid Controller ◽  
Control Algorithm ◽  
The Novel ◽  
Operation Conditions ◽  
Wide Range ◽  
Novel Method ◽  
Mechanical Performances ◽  
Dc Servomotor

Proportional integral derivative (PID) control is the most commonly used  control algorithm in the industry today. PID controller popularity can be attributed to the  controller’s effectiveness in a wide range of operation conditions, its functional simplicity, and the ease with which engineers can implement it using current computer technology . In this paper,the Dc servomotor model is chosen according to his good electrical and mechanical performances more than other Dc motor models , discuss the novel method for  tuning PID controller and comparison with Ziegler - Nichols method from through parameters of transient response of any system which uses PID compensator

A Dynamic Data Fragmentation and Distribution Strategy for Main-Memory Database Cluster

2012 ◽  
Vol 490-495 ◽  
pp. 1231-1236 ◽  
Author(s):  
Tran Van Hung ◽  
Chuan He Huang
Keyword(s):  
Response Time ◽  
Cluster Computing ◽  
Data Access ◽  
Fast Response ◽  
Main Memory ◽  
Relation Database ◽  
Computing Platform ◽  
Wide Range ◽  
Cluster Environment ◽  
Remote Sites

MMDB cluster system is a memory optimized relation database that implements on cluster computing platform, provides applications with extremely fast response time and very high throughput as required by many applications in a wide range of industries. Here, a new dynamic fragment allocation algorithm (DFAPR) in Partially Replicated allocation scenario is proposed. This algorithm reallocates data with respect to changing data access pattern for each fragment in which data is maintained in current site, migrated or created new replicas on remote sites depend on accessing frequency and average response time. At last, the simulation results show that the DFAPR is suitable for MMDB cluster because it provides a better response time and maximize the locality of processing so it could be developed parallel processing of MMDB in cluster environment.

scholarly journals Soft and ion-conducting hydrogel artificial tongue for astringency perception

2020 ◽  
Vol 6 (23) ◽  
pp. eaba5785 ◽  
Author(s):  
Jeonghee Yeom ◽  
Ayoung Choe ◽  
Seongdong Lim ◽  
Youngsu Lee ◽  
Sangyun Na ◽  
...  
Keyword(s):  
Flexible Substrate ◽  
High Sensitivity ◽  
Humanoid Robots ◽  
Fast Response ◽  
Nanoporous Structure ◽  
Proof Of Concept ◽  
Human Tongue ◽  
Wide Range ◽  
Ion Conducting ◽  
Monitoring Devices

Artificial tongues have been receiving increasing attention for the perception of five basic tastes. However, it is still challenging to fully mimic human tongue–like performance for tastes such as astringency. Mimicking the mechanism of astringency perception on the human tongue, we use a saliva-like chemiresistive ionic hydrogel anchored to a flexible substrate as a soft artificial tongue. When exposed to astringent compounds, hydrophobic aggregates form inside the microporous network and transform it into a micro/nanoporous structure with enhanced ionic conductivity. This unique human tongue–like performance enables tannic acid to be detected over a wide range (0.0005 to 1 wt %) with high sensitivity (0.292 wt %−1) and fast response time (~10 s). As a proof of concept, our sensor can detect the degree of astringency in beverages and fruits using a simple wipe-and-detection method, making a powerful platform for future applications involving humanoid robots and taste monitoring devices.

scholarly journals Characterization of Periodic Incoming Wakes in a Low-Pressure Turbine Cascade Test Section by Means of a Fast-Response Single Sensor Virtual Three-Hole Probe

2019 ◽  
Vol 4 (3) ◽  
pp. 26
Author(s):  
Julien Clinckemaillie ◽  
Tony Arts
Keyword(s):  
Total Pressure ◽  
High Speed ◽  
Control Volume ◽  
Low Pressure ◽  
Fast Response ◽  
Pressure Probe ◽  
Flow Angle ◽  
Low Pressure Turbine ◽  
Wide Range ◽  
Good Agreement

This paper aims at evaluating the characteristics of the wakes periodically shed by the rotating bars of a spoked-wheel type wake generator installed upstream of a high-speed low Reynolds linear low-pressure turbine blade cascade. Due to the very high bar passing frequency obtained with the rotating wake generator (fbar = 2.4−5.6 kHz), a fast-response pressure probe equipped with a single 350 mbar absolute Kulite sensor has been used. In order to measure the inlet flow angle fluctuations, an angular aerodynamic calibration of the probe allowed the use of the virtual three-hole mode; additionally, yielding yaw corrected periodic total pressure, static pressure and Mach number fluctuations. The results are presented for four bar passing frequencies (fbar = 2.4/3.2/4.6/5.6 kHz), each tested at three isentropic inlet Mach numbers M1,is = 0.26/0.34/0.41 and for Reynolds numbers varying between Re1,is = 40,000 and 58,000, thus covering a wide range of engine representative flow coefficients (ϕ = 0.44−1.60). The measured wake characteristics show fairly good agreement with the theory of fixed cylinders in a cross-flow and the evaluated total pressure losses and flow angle variations generated by the rotating bars show fairly good agreement with theoretical results obtained from a control volume analysis.

Modeling and Experimental Validation of a Reed Check Valve for Hydraulic Applications

2016 ◽  
Author(s):  
Anthony L. Knutson ◽  
James D. Van de Ven
Keyword(s):  
Internal Combustion Engines ◽  
Check Valve ◽  
Maximum Error ◽  
Fast Response ◽  
Single Element ◽  
Hydraulic Systems ◽  
Test Bed ◽  
Experimental Conditions ◽  
Wide Range ◽  
Reed Valve

Reed valves are a type of check valve commonly found in a wide range of applications including air compressors, internal combustion engines, and even the human heart. While reed valves have been studied extensively in these applications, published research on the modeling and application of reed valves in hydraulic systems is severely lacking. Because the spring and mass components of a reed valve are contained in a single element, it is light and compact compared to traditional disc, poppet, or ball style check valves. These advantages make reed valves promising for use in high frequency applications such as piston pumps, switch-mode hydraulics, and digital hydraulics. Furthermore, the small size and fast response of reed valves provide an opportunity to design pumps capable of operating at higher speeds and with lower dead volumes, thus increasing efficiency and power density. In this paper, a modeling technique for reed valves is presented and validated in a hydraulic piston pump test bed. Excellent agreement between modeled and experimentally measured reed valve opening is demonstrated. Across the range of experimental conditions, the model predicts the pump delivery with an error typically less than 1% with a maximum error of 2.2%.

Structures and Function of Remora Adhesion

2013 ◽  
Vol 1498 ◽  
pp. 159-168 ◽  
Author(s):  
Jason H. Nadler ◽  
Allison J. Mercer ◽  
Michael Culler ◽  
Keri A. Ledford ◽  
Ryan Bloomquist ◽  
...  
Keyword(s):  
Finite Element ◽  
Finite Element Models ◽  
Shear Load ◽  
Tissue Properties ◽  
X Ray ◽  
Drag Forces ◽  
Suction Cup ◽  
Wide Range ◽  
Hierarchical Nature ◽  
And Function

ABSTRACTRemoras (echeneid fish) reversibly attach and detach to marine hosts, almost instantaneously, to “hitchhike” and feed. The adhesion mechanisms that they use are remarkably insensitive to substrate topology and quite different from the latching and suction cup-based systems associated with other species at similar length scales. Remora adhesion is also anisotropic; drag forces induced by the swimming host increase adhesive strength, while rapid detachment occurs when the remora reverses this shear load. In this work, an investigation of the adhesive system’s functional morphology and tissue properties was carried out initially through dissection and x-ray microtomographic analyses. Resulting finite element models of these components have provided new insights into the adaptive, hierarchical nature of the mechanisms and a path toward a wide range of engineering applications.

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