Experimental Structural Stiffness Analysis of a Surgical Haptic Master Device Manipulator

2021 ◽  
Vol 15 (1) ◽  
Author(s):  
İbrahimcan Görgülü ◽  
Mehmet İsmet Can Dede ◽  
Giuseppe Carbone
Keyword(s):  
Model Fitting ◽  
Experimental Results ◽  
Fine Tuning ◽  
Structural Stiffness ◽  
Stiffness Analysis ◽  
Stiffness Model ◽  
Stiffness Evaluation ◽  
Institute Of Technology ◽  
Master Device

Abstract This paper deals with haptic devices for master–slave telesurgical applications. Namely, a stiffness model fitting methodology and its fine-tuning are proposed based on experimental results. In particular, the proposed procedure is based on virtual joint structural stiffness modeling to be applied in time-efficient compliance compensation strategies. A specific case study is discussed by referring to the HISS haptic device that has been developed and built at Izmir Institute of Technology. Two different experimental setups are designed for stiffness evaluation tests. Experimental results are discussed to demonstrate their implementation in the proposed methodology for the fine-tuning of stiffness model.

Stiffness Analysis of a Tripod With a Passive Link

2005 ◽  
Author(s):  
Z. M. Bi ◽  
S. Y. T. Lang ◽  
D. Zhang
Keyword(s):  
Constrained Motion ◽  
Motion Platform ◽  
Stiffness Analysis ◽  
Stiffness Model ◽  
Parallel Kinematic Mechanism ◽  
Parallel Kinematic ◽  
Linear Actuators ◽  
Main Components ◽  
Kinematic Mechanism

The system stiffness of a tripod parallel kinematic mechanism (PKM) with 3-DOF is investigated in this paper. The tripod PKM has rotations of a motion platform about the x and y axes and translation along the z axis. The motion on the other axes is constrained by a passive link. The stiffness model considers the compliances of three main components: the fixed-length links, the passive link, and the linear actuators. The modeling procedure for the kinetostatic stiffness model is introduced. A case study is provided to demonstrate evaluation of the stiffness of our prototype tripod machine. The developed model differs from the others in the sense that the stiffness on the motion axes is determined by both the active links and the passive link; but the stiffness on the constrained motion axes depends merely on the passive link.

Reverberation time improvement of lecture auditorium: A case study

2018 ◽  
Vol 49 (1) ◽  
pp. 14-19
Author(s):  
Saurabh Yadav ◽  
Gaurav Sharma ◽  
Sarthak Nag ◽  
Arpan Gupta
Keyword(s):  
Speech Intelligibility ◽  
Indian Institute ◽  
Experimental Results ◽  
Reverberation Time ◽  
Acoustic Performance ◽  
Institute Of Technology

In this study, reverberation time of a lecture auditorium has been analyzed experimentally and analytically. It is well-known fact that reverberation time affects the speech intelligibility and hence should be within the range of possible optimum values. Experiments were performed to calculate the reverberation time of a lecture auditorium constructed at Indian Institute of Technology Mandi (IIT Mandi), for different internal conditions such as furniture and curtains. Experimental results were compared with the theoretically calculated values of reverberation time. It is found that acoustic performance of the lecture auditorium has significantly improved using curtains on the windows and furniture. For further improvement, it has also been suggested to use the carpet on the floor of the auditorium. The theoretical value of reverberation time is also calculated to show the improvement which can be achieved using carpet. The effect of audience on reverberation time has also been studied theoretically.

Stiffness analysis and experimental validation of modular-type hybrid antagonistic tendon-driven joint systems

Robotica ◽  
2018 ◽  
Vol 36 (11) ◽  
pp. 1680-1700 ◽  
Author(s):  
Hyunhwan Jeong ◽  
Bongki Kang ◽  
Joono Cheong
Keyword(s):  
Mathematical Analysis ◽  
Potential Benefit ◽  
Experimental Validation ◽  
Needle Insertion ◽  
Experimental Results ◽  
Stiffness Analysis ◽  
Tendon Length ◽  
Stiffness Model ◽  
Stiffness Characteristics ◽  
Detailed Mathematical Analysis

SUMMARYThis paper proposes a new antagonistic tendon-driven joint (TDJ) that exhibits higher stiffness and larger travel range than conventional types of TDJs. A detailed mathematical analysis of the stiffness of the proposed TDJ is conducted and compared to other TDJs. The effect of the tendon length is taken into consideration to establish a more precise and realistic stiffness model of the proposed TDJ. Thereafter, two hardware prototypes of the proposed TDJ design, developed in the form of a packaged modular structure that integrates two TDJs, are introduced. Using these prototypes, the stiffness characteristics of the proposed TDJs are verified through experimentation. Additionally, experimental results on the stiffness behavior during the mimicked needle insertion tasks are provided. Results show that the proposed TDJs present much higher stiffness than conventional ones and thus give a potential benefit to precision manipulation.

scholarly journals A comparison of multiple neighborhood matrix specifications for spatio-temporal model fitting: a case study on COVID-19 data

2021 ◽  
Author(s):  
Álvaro Briz-Redón ◽  
Adina Iftimi ◽  
Juan Francisco Correcher ◽  
Jose De Andrés ◽  
Manuel Lozano ◽  
...  
Keyword(s):  
Model Fitting ◽  
Temporal Model ◽  
Spatio Temporal

scholarly journals Analyzing free variation with harmony – A case study of verb-cluster serialization

2020 ◽  
Vol 39 (3) ◽  
pp. 407-437
Author(s):  
Markus Bader
Keyword(s):  
Native Speakers ◽  
Initial Position ◽  
Experimental Results ◽  
Modal Verbs ◽  
Weighted Constraints ◽  
Corpus Data ◽  
Frequency Relationship ◽  
Zero Frequency ◽  
Free Variation

Abstract In German, a verb selected by another verb normally precedes the selecting verb. Modal verbs in the perfect tense provide an exception to this generalization because they require the perfective auxiliary to occur in cluster-initial position according to prescriptive grammars. Bader and Schmid (2009b) have shown, however, that native speakers accept the auxiliary in all positions except the cluster-final one. Experimental results as well as corpus data indicate that verb cluster serialization is a case of free variation. I discuss how this variation can be accounted for, focusing on two mismatches between acceptability and frequency: First, slight acceptability advantages can turn into strong frequency advantages. Second, syntactic variants with basically zero frequency can still vary substantially in acceptability. These mismatches remain unaccounted for if acceptability is related to frequency on the level of whole sentence structures, as in Stochastic OT (Boersma and Hayes2001). However, when the acceptability-frequency relationship is modeled on the level of individual weighted constraints, using harmony as link (see Pater2009, for different harmony based frameworks), the two mismatches follow given appropriate linking assumptions.

scholarly journals Sparse Autoencoder-based Multi-head Deep Neural Networks for Machinery Fault Diagnostics with Detection of Novelties

2021 ◽  
Vol 34 (1) ◽  
Author(s):  
Zhe Yang ◽  
Dejan Gjorgjevikj ◽  
Jianyu Long ◽  
Yanyang Zi ◽  
Shaohui Zhang ◽  
...  
Keyword(s):  
Fault Diagnosis ◽  
Supervised Classification ◽  
Deep Neural Networks ◽  
Activation Function ◽  
Reconstruction Error ◽  
Fine Tuning ◽  
Fault Diagnostics ◽  
Sparse Autoencoder

AbstractSupervised fault diagnosis typically assumes that all the types of machinery failures are known. However, in practice unknown types of defect, i.e., novelties, may occur, whose detection is a challenging task. In this paper, a novel fault diagnostic method is developed for both diagnostics and detection of novelties. To this end, a sparse autoencoder-based multi-head Deep Neural Network (DNN) is presented to jointly learn a shared encoding representation for both unsupervised reconstruction and supervised classification of the monitoring data. The detection of novelties is based on the reconstruction error. Moreover, the computational burden is reduced by directly training the multi-head DNN with rectified linear unit activation function, instead of performing the pre-training and fine-tuning phases required for classical DNNs. The addressed method is applied to a benchmark bearing case study and to experimental data acquired from a delta 3D printer. The results show that its performance is satisfactory both in detection of novelties and fault diagnosis, outperforming other state-of-the-art methods. This research proposes a novel fault diagnostics method which can not only diagnose the known type of defect, but also detect unknown types of defects.

scholarly journals Lightweight Blockchain Processing. Case Study: Scanned Document Tracking on Tezos Blockchain

2021 ◽  
Vol 11 (15) ◽  
pp. 7169
Author(s):  
Mohamed Allouche ◽  
Tarek Frikha ◽  
Mihai Mitrea ◽  
Gérard Memmi ◽  
Faten Chaabane
Keyword(s):  
Load Balancing ◽  
Relative Error ◽  
Execution Time ◽  
General Purpose ◽  
Experimental Results ◽  
Raspberry Pi ◽  
Embedded Platform ◽  
Memory Resources ◽  
Processing Solution

To bridge the current gap between the Blockchain expectancies and their intensive computation constraints, the present paper advances a lightweight processing solution, based on a load-balancing architecture, compatible with the lightweight/embedding processing paradigms. In this way, the execution of complex operations is securely delegated to an off-chain general-purpose computing machine while the intimate Blockchain operations are kept on-chain. The illustrations correspond to an on-chain Tezos configuration and to a multiprocessor ARM embedded platform (integrated into a Raspberry Pi). The performances are assessed in terms of security, execution time, and CPU consumption when achieving a visual document fingerprint task. It is thus demonstrated that the advanced solution makes it possible for a computing intensive application to be deployed under severely constrained computation and memory resources, as set by a Raspberry Pi 3. The experimental results show that up to nine Tezos nodes can be deployed on a single Raspberry Pi 3 and that the limitation is not derived from the memory but from the computation resources. The execution time with a limited number of fingerprints is 40% higher than using a classical PC solution (value computed with 95% relative error lower than 5%).

scholarly journals Comparative Life Cycle Impact Assessment between the Productions of Zinc from Conventional Concentrates Versus Waelz Oxides Obtained from Slags

2021 ◽  
Vol 13 (2) ◽  
pp. 580
Author(s):  
Voicu-Teodor Muica ◽  
Alexandru Ozunu ◽  
Zoltàn Török
Keyword(s):  
Life Cycle ◽  
Impact Assessment ◽  
Life Cycle Impact Assessment ◽  
Fine Tuning ◽  
Process Data ◽  
Medicinal Uses ◽  
Zinc Metal ◽  
Real Process ◽  
Life Cycle Impact

(1) Background: The importance of Zinc in today’s world can hardly be exaggerated—from anticorrosion properties, to its durability, aesthetic, and even medicinal uses—zinc is ever-present in our daily lives ever since its discovery in ancient times. The natural, essential, durable, and recyclable features of zinc make it a prized material with uses in many applications across a wide array of fields. The purpose of this study was to compare two life cycle impact assessments of zinc production by using two different main raw materials: (A) zinc concentrates (sulfide ore) and (B) Waelz oxides (obtained through recycling existing imperial smelting process furnace slags). The Waelz oxide scenario was based on a case study regarding the existing slag deposit located in Copsa Mica town, Sibiu county, Romania. (2) Methods: consequential life cycle impact assessment methods were applied to each built system, with real process data obtained from the case study enterprise. (3) Results: Overall, the use of slags in the Waelz kiln to produce zinc oxides for use in the production of zinc metal is beneficial to the environment in some areas (acidification, water, and terrestrial eutrophication), whereas in other areas it has a slightly larger impact (climate change, photochemical ozone formation, and ozone depletion). (4) Conclusions: The use of slags (considered a waste) is encouraged to produce zinc metal, where available. The results are not absolute, suggesting the further need for fine-tuning the input data and other process parameters.

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