Haptically Guided Filtering for Reverse Engineering

2004 ◽  
Author(s):  
Kristin Potter ◽  
David Johnson ◽  
Elaine Cohen
Keyword(s):  
Reverse Engineering ◽  
Laser Scanning ◽  
Force Feedback ◽  
Noisy Data ◽  
Large Datasets ◽  
Haptic Interface ◽  
Local Smoothing ◽  
Natural Interface ◽  
Guided Filtering ◽  
Sharp Edges

Reverse engineering of mechanical systems often begins with large datasets produced from laser scanning of physical artifacts. Commonly it is necessary to remove noise and filter them; however, selecting noisy regions and preserving sharp edges on desired features is difficult using standard GUI interfaces. We demonstrate a haptic interface for marking and preserving features in noisy data and for performing local smoothing operations. The force-feedback provides a natural interface for these operations.

scholarly journals Simple Design Solution for Harsh Operating Conditions: Redesign of Conveyor Transfer Station with Reverse Engineering and DEM Simulations

Energies ◽  
2021 ◽  
Vol 14 (13) ◽  
pp. 4008
Author(s):  
Błażej Doroszuk ◽  
Robert Król ◽  
Jarosław Wajs
Keyword(s):  
Reverse Engineering ◽  
Laser Scanning ◽  
Design For Manufacturing ◽  
Operating Conditions ◽  
Design Solution ◽  
Dem Simulations ◽  
Transfer Station ◽  
Transfer Stations ◽  
Dem Model ◽  
Current Operating

This paper addresses the problem of conveyor transfer station design in harsh operating conditions, aiming to identify and eliminate a failure phenomenon which interrupts aggregate supply. The analyzed transfer station is located in a Polish granite quarry. The study employs laser scanning and reverse engineering methods to map the existing transfer station and its geometry. Next, a discrete element method (DEM) model of granite aggregate has been created and used for simulating current operating conditions. The arch formation has been identified as the main reason for breakdowns. Alternative design solutions for transfer stations were tested in DEM simulations. The most uncomplicated design for manufacturing incorporated an impact plate, and a straight chute has been selected as the best solution. The study also involved identifying areas of the new station most exposed to wear phenomena. A new transfer point was implemented in the quarry and resolved the problem of blockages.

Towards Combining Digitization Techniques in the Generation of Reverse Engineering Data Sets

1999 ◽  
Author(s):  
C. J. Rolls ◽  
W. ElMaraghy ◽  
H. ElMaraghy
Keyword(s):  
Reverse Engineering ◽  
Computer Aided Design ◽  
Laser Scanning ◽  
Single Point ◽  
Laser Scanner ◽  
Coordinate Measuring Machine ◽  
Industrial Applications ◽  
Data Sets ◽  
Error Characterization ◽  
Measuring Machine

Abstract Reverse engineering (RE), may be defined as the process of generating computer aided design models (CAD) from existing or prototype parts. The process has been used for many years in industry. It has markedly increased in implementation in the past few years, primarily due to the introduction of rapid part digitization technologies. Current industrial applications include CAD model construction from artisan geometry, such as in automotive body styling, the generation of custom fits to human surfaces, and quality control. This paper summarizes the principles of operation behind many commercially available part digitization technologies, and discusses techniques involved in part digitization using a coordinate measuring machine (CMM) and laser scanner. An overall error characterization of the laser scanning digitization process is presented for a particular scanner. This is followed by a discussion of the merits and considerations involved in generating combined data sets with characteristics indicative of the design intent of specific part features. Issues in facilitating the assembly, or registration, of the different types of data into a single point set are discussed.

Foot-Based 6-DOF Haptic Interface with Force Feedback Capability for Third Arm Manipulation

2021 ◽  
Author(s):  
Seigo Okada ◽  
Yasunao Okazaki ◽  
Yusuke Kato ◽  
Jun Ozawa ◽  
Takeshi Ando
Keyword(s):  
Force Feedback ◽  
Haptic Interface

Design and Modeling of an Electro-Rheological Fluid Based Haptic Interface

2000 ◽  
Author(s):  
C. Mavroidis ◽  
C. Pfeiffer ◽  
J. Celestino ◽  
Y. Bar-Cohen
Keyword(s):  
Analytical Modeling ◽  
Force Feedback ◽  
Haptic Interface ◽  
Dexterous Manipulation ◽  
End Effector ◽  
Jet Propulsion ◽  
Field Robots ◽  
Rutgers University ◽  
Modeling And Experiments ◽  
Human Operators

Abstract In this project, Rutgers University has teamed with the Jet Propulsion Laboratory (JPL) to pursue the development and demonstration of a novel haptic interfacing capability called MEMICA (remote MEchanical MIrroring using Controlled stiffness and Actuators). MEMICA is intended to provide human operators intuitive and interactive feeling of the stiffness and forces at remote or virtual sites in support of space, medical, underwater, virtual reality, military and field robots performing dexterous manipulation operations. The key aspect of the MEMICA system is a miniature Electrically Controlled Stiffness (ECS) element that mirrors the stiffness at remote/virtual sites. The ECS elements make use of Electro-Rheological Fluid (ERF), which is an Electro-Active Polymer (EAP), to achieve this feeling of stiffness. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user by this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. This paper describes the analytical modeling and experiments that are currently underway to develop an ERF based force feedback element.

Weld Contour Measurement of Fillet Weld by Reverse Engineering Technique

Volume 3 ◽  
2004 ◽  
Author(s):  
Chia-Lung Chang ◽  
Yen-Hung Chen
Keyword(s):  
Reverse Engineering ◽  
Laser Scanning ◽  
Rapid Assessment ◽  
Low Carbon Steel ◽  
Scanning System ◽  
Low Carbon ◽  
Cross Sectional ◽  
Fillet Weld ◽  
Premature Failure ◽  
Engineering Technique

The external geometry of the fillet weld plays an important role in the strength of the weld. Two factors that influence the external geometry of the fillet weld are weld size and profile. The fillet weld must be made to the weld size and profile as specified in the welding code. Unacceptable profile not only is a defect of the weld but also produces stress risers that reduce the fatigue strength. Insufficient weld that reduces the cross sectional area of weld throat may cause premature failure. Visual inspection and weld gages are two most widely used simple tools to provide a rapid assessment of the external geometry of the fillet weld. In this study, the reverse engineering technique, which a laser scanning system integrates with CAD software, is used to provide a more accurate measurement of the weld contour. The weld samples were made of low-carbon steel plates with T-joint using CO2 welding. The weld volume, weld size and convexity were determined from CAD model to evaluate the weld quality. The reverse engineering technique provides a more accurate and efficient method to inspect the external geometry of fillet weld.

Interaction Control for Rehabilitation Robotics via a Low-Cost Force Sensing Handle

2013 ◽  
Author(s):  
Andrew Erwin ◽  
Fabrizio Sergi ◽  
Vinay Chawda ◽  
Marcia K. O’Malley
Keyword(s):  
Grip Force ◽  
Force Feedback ◽  
Low Cost ◽  
Interaction Force ◽  
Rehabilitation Robotics ◽  
Haptic Interface ◽  
Force Sensing ◽  
Improve Performance ◽  
Feedback Controllers ◽  
Interaction Control

This paper investigates the possibility of implementing force-feedback controllers using measurement of interaction force obtained through force-sensing resistors (FSRs), to improve performance of human interacting robots. A custom sensorized handle was developed, with the capability of simultaneously measuring grip force and interaction force during robot-aided rehabilitation therapy. Experiments are performed in order to assess the suitability of FSRs to implement force-feedback interaction controllers. In the force-feedback control condition, the applied force for constant speed motion of a linear 1DOF haptic interface is reduced 6.1 times compared to the uncontrolled condition, thus demonstrating the possibility of improving transparency through force-feedback via FSRs.

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