Kinesthetically Augmented Mid-Air Sketching of Multi-Planar 3D Curve-Soups

2018 ◽  
Author(s):  
Ronak R. Mohanty ◽  
Umema H. Bohari ◽  
Vinayak ◽  
Eric Ragan
Keyword(s):  
Force Feedback ◽  
Three Dimensional ◽  
Free Form ◽  
Manual Labor ◽  
3D Design ◽  
Planar Curves ◽  
Kinesthetic Feedback ◽  
Curve Modeling

We present haptics-enabled mid-air interactions for sketching collections of three-dimensional planar curves — 3D curve-soups — as a means for 3D design conceptualization. Haptics-based mid-air interactions have been extensively studied for modeling of surfaces and solids. The same is not true for modeling curves; there is little work that explores spatiality, tangibility, and kinesthetics for curve modeling, as seen from the perspective of 3D sketching for conceptualization. We study pen-based mid air interactions for free-form curve input from the perspective of manual labor, controllability, and kinesthetic feedback. For this, we implemented a simple haptics-enabled workflow for users to draw and compose collections of planar curves on a force-enabled virtual canvas. We introduce a novel force-feedback metaphor for curve drawing, and investigate three novel rotation techniques within our workflow for both controlled and free-form sketching tasks.

Investigating Force-Feedback in Mid-Air Sketching of Multi-Planar Three-Dimensional Curve-Soups

2019 ◽  
Vol 20 (1) ◽  
Author(s):  
Ronak R. Mohanty ◽  
Ricardo M. Castillo ◽  
Eric D. Ragan ◽  
Vinayak R. Krishnamurthy
Keyword(s):  
Interaction Design ◽  
Force Feedback ◽  
Three Dimensional ◽  
Free Form ◽  
Planar Curves ◽  
Planar Surfaces ◽  
Kinesthetic Feedback ◽  
Quantitative Analyses ◽  
Rich Interaction

Abstract In this paper, we report on our investigation of haptics-enabled mid-air interactions for sketching three-dimensional (3D) curve-soups—collections of three-dimensional multi-planar curves. We study pen-based mid-air interactions for free-form curve input from the perspective of manual labor, controllability, and kinesthetic feedback. We specifically study the role of kinesthetic feedback for two aspects of mid-air sketching, namely, drawing curves on planar surfaces and spatial rotation of 3D curve-soups. For this, we implemented a simple haptics-enabled workflow for users to draw and compose collections of planar curves on a force-enabled virtual canvas. The qualitative and quantitative analyses of our study-tasks show that there is a rich interaction design space of kinesthetic feedback methods for mid-air sketching beyond physically currently prevalent models.

Compliant Mesoscale Grinding of 3-Dimensional Free Form Shapes in Silicon Wafers

2002 ◽  
Author(s):  
B. Jiang ◽  
M. A. Shannon ◽  
M. L. Philpott
Keyword(s):  
Force Feedback ◽  
Defect Formation ◽  
Three Dimensional ◽  
Silicon Wafers ◽  
Free Form ◽  
Precision Grinding ◽  
New Approach ◽  
3 Dimensional ◽  
Grinding Method ◽  
Ultra Precision

This paper presents a new approach to create three-dimensional free form shapes in silicon wafers by compliant grinding. Instead of requiring high rigidity in traditional ultra-precision grinding systems, the proposed compliant grinding method requires relatively low rigidity. It achieves the required surface roughness, form accuracy and surface integrity by utilizing grinding force feedback and adaptive control. Compliant grinding mitigates microfractures, chipping, and defect formation in the silicon substrate, so that both electronic and mechanical properties of the Si are not degraded. A prototype silicon die grinder has been built and initial rough grinding results are promising.

Research on Mesh Optimization of the Finite Element Calculation about Three-Dimensional Foundation Pit

2012 ◽  
Vol 487 ◽  
pp. 855-859
Author(s):  
Shi Lun Feng ◽  
Yu Ming Zhou ◽  
Pu Lin Li ◽  
Jun Li ◽  
Zhi Yong Li ◽  
...  
Keyword(s):  
Finite Element ◽  
Complex Geometry ◽  
Three Dimensional ◽  
Mesh Optimization ◽  
Design Calculation ◽  
Foundation Pit ◽  
3D Design ◽  
Finite Element Software ◽  
Core Language ◽  
Grid Division

Abaqus finite element software can implement three-dimensional excavation design calculation, so authors used Python of Abaqus core language made the 3D design of foundation pit supporting program come ture and also did intensive study of mesh optimization during the process. Authors also did intensive comparison and analysis about grid division of the complex geometry foundation pit, through a regularization partion about a variety of special-shaped pit, we made the automatic division about the structural grid of all kinds of shapes foundation pit successful. On this basis, we achieved better calculation effects of the model. The article will introduce problems about optimization of grid in procedure.

scholarly journals Two view NURBS reconstruction based on GACO model

2021 ◽  
Author(s):  
Deepika Saini ◽  
Sanoj Kumar ◽  
Manoj K. Singh ◽  
Musrrat Ali
Keyword(s):  
Optimization Algorithms ◽  
Three Dimensional ◽  
Optimization Procedure ◽  
Least Square ◽  
Ant Colony ◽  
Free Form ◽  
Reconstruction Process ◽  
Nurbs Curve ◽  
Data Points ◽  
Ant Colony Optimization Algorithms

AbstractThe key job here in the presented work is to investigate the performance of Generalized Ant Colony Optimizer (GACO) model in order to evolve the shape of three dimensional free-form Non Uniform Rational B-Spline (NURBS) curve using stereo (two) views. GACO model is a blend of two well known meta-heuristic optimization algorithms known as Simple Ant Colony and Global Ant Colony Optimization algorithms. Basically, the work talks about the solution of NURBS-fitting based reconstruction process. Therefore, GACO model is used to optimize the NURBS parameters (control points and weights) by minimizing the weighted least-square errors between the data points and the fitted NURBS curve. The algorithm is applied by first assuming some pre-fixed values of NURBS parameters. The experiments clearly show that the optimization procedure is a better option in a case where good initial locations of parameters are selected. A detailed experimental analysis is given in support of our algorithm. The implemented error analysis shows that the proposed methodology perform better as compared to the conventional methods.

scholarly journals Deciphering the Role of Residues Involved in Disorder-To-Order Transition Regions in Archaeal tRNA Methyltransferase 5

Genes ◽  
2021 ◽  
Vol 12 (3) ◽  
pp. 399
Author(s):  
Ambuj Srivastava ◽  
Dhanusha Yesudhas ◽  
Shandar Ahmad ◽  
M. Michael Gromiha
Keyword(s):  
Three Dimensional ◽  
Md Simulations ◽  
Order Transition ◽  
Free Form ◽  
Wild Type ◽  
Intrinsically Disordered ◽  
Intrinsically Disordered Regions ◽  
Type Complex ◽  
In The Wild ◽  
Trna Methyltransferase

tRNA methyltransferase 5 (Trm5) enzyme is an S-adenosyl methionine (AdoMet)-dependent methyltransferase which methylates the G37 nucleotide at the N1 atom of the tRNA. The free form of Trm5 enzyme has three intrinsically disordered regions, which are highly flexible and lack stable three-dimensional structures. These regions gain ordered structures upon the complex formation with tRNA, also called disorder-to-order transition (DOT) regions. In this study, we performed molecular dynamics (MD) simulations of archaeal Trm5 in free and complex forms and observed that the DOT residues are highly flexible in free proteins and become stable in complex structures. The energetic contributions show that DOT residues are important for stabilising the complex. The DOT1 and DOT2 are mainly observed to be important for stabilising the complex, while DOT3 is present near the active site to coordinate the interactions between methyl-donating ligands and G37 nucleotides. In addition, mutational studies on the Trm5 complex showed that the wild type is more stable than the G37A tRNA mutant complex. The loss of productive interactions upon G37A mutation drives the AdoMet ligand away from the 37th nucleotide, and Arg145 in DOT3 plays a crucial role in stabilising the ligand, as well as the G37 nucleotide, in the wild-type complex. Further, the overall energetic contribution calculated using MMPBSA corroborates that the wild-type complex has a better affinity between Trm5 and tRNA. Overall, our study reveals that targeting DOT regions for binding could improve the inhibition of Trm5.

Facilitating 3D Virtual World Learning Environments Creation by Non-Technical End Users through Template-Based Virtual World Instantiation

2013 ◽  
Vol 4 (1) ◽  
pp. 32-48 ◽  
Author(s):  
Chang Liu ◽  
Ying Zhong ◽  
Sertac Ozercan ◽  
Qing Zhu
Keyword(s):  
Learning Environments ◽  
Virtual Worlds ◽  
Virtual World ◽  
Three Dimensional ◽  
End Users ◽  
Preliminary Evaluation ◽  
3D Design ◽  
Domain Specific ◽  
Functional Learning ◽  
Preliminary Experimental Data

This paper presents a template-based solution to overcome technical barriers non-technical computer end users face when developing functional learning environments in three-dimensional virtual worlds (3DVW). iVirtualWorld, a prototype of a platform-independent 3DVW creation tool that implements the proposed solution, facilitates 3DVW learning environment creation through semantics-based abstract 3DVW representation and template-based 3DVW instantiation. iVirtualWorld provides a wizard to guide the 3DVW creation process, and hide low-level programming and 3D design details through higher-level abstracts supported by pre-defined templates. Preliminary evaluation of the effectiveness of iVirtualWorld showed positive results. The contribution of this study is threefold: 1) It provides a paradigm for investigating and developing 3DVW building tools from end users’ perspective; 2) It develops a prototype of a 3DVW building tool, which gives educators a framework to easily create educational virtual worlds using domain-specific concepts; 3) It conducts empirical research and collected preliminary experimental data for evaluation.

Haptic Teleoperation of Humanoid Robot Hand Using Three-Dimensional Force Feedback

2009 ◽  
Vol 42 (16) ◽  
pp. 431-436 ◽  
Author(s):  
Mai Mishima ◽  
Haruhisa Kawasaki ◽  
Tetsuya Mouri ◽  
Takahiro Endo
Keyword(s):  
Humanoid Robot ◽  
Force Feedback ◽  
Three Dimensional ◽  
Robot Hand

Integration of Safety Knowledge into Three-Dimensional Model Design and Construction Plan from the Perspective of Project Executors in Petrochemical Industry

2021 ◽  
Vol 11 (2) ◽  
pp. 185-192
Author(s):  
I-Jyh Wen ◽  
Chien Wei Liang
Keyword(s):  
Petrochemical Industry ◽  
Three Dimensional ◽  
3D Models ◽  
Model Design ◽  
Three Dimensional Model ◽  
3D Design ◽  
Safety And Health ◽  
Job Safety ◽  
Safety Knowledge ◽  
Design And Construction

In petrochemical industry, the execution of construction involves three main issues, namely, design planning, construction, and job safety. Three-dimensional (3D) models are increasingly applied to design and construction. However, the improper concept of 3D design has bred potential unsatisfactory behaviors and the lack of vigilance among workers. Besides, many employees are not fully aware of the safety in 3D design and construction planning. Therefore, our goal is to improve the safety and health of construction workers through design practices in the upstream of the construction phase, and verify the applicability of the combination of 3D models and safety knowledge. Specifically, a questionnaire survey was carried out among 124 employees in the construction-related fields of the petrochemical industry. The collected data were processed, and statically analyzed on SPSS. The results show that safety knowledge was acceptable in 3D model design from the perspective of project executors, and the integration of safety knowledge into the design helps to improve the safety environment of the construction site.

An Equivalent-Plane Cross-Coupling Position Control for Contour-Accuracy Improvement in Three-Axis Free-Form Contour Following Tasks

2018 ◽  
Vol 141 (4) ◽  
Author(s):  
Jian-Wei Ma ◽  
De-Ning Song ◽  
Zhen-Yuan Jia ◽  
Wen-Wen Jiang ◽  
Fu-Ji Wang ◽  
...  
Keyword(s):  
Error Control ◽  
Position Control ◽  
Three Dimensional ◽  
Cross Coupling ◽  
Experimental Tests ◽  
Numerical Control ◽  
Free Form ◽  
Contouring Error ◽  
Contour Following ◽  
Better Than

To reduce the contouring errors in computer-numerical-control (CNC) contour-following tasks, the cross-coupling controller (CCC) is widely researched and used. However, most existing CCCs are well-designed for two-axis contouring and can hardly be generalized to compensate three-axis curved contour following errors. This paper proposes an equivalent-plane CCC scheme so that most of the two-axis CCCs or flexibly designed algorithms can be utilized for equal control of the three-axis contouring errors. An initial-value regeneration-based Newton method is first proposed to compute the foot point from the actual motion position to the desired contour with a high accuracy, so as to establish the equivalent plane where the estimated three-dimensional contouring-error vector is included. After that, the signed contouring error is computed in the equivalent plane, thus a typical two-axis proportional-integral-differential (PID)-based CCC is utilized for its control. Finally, the two-axis control commands generated by the typical CCC are coupled to three-axis control commands according to the geometry of the established equivalent plane. Experimental tests are conducted to verify the effectiveness of the presented method. The testing results illustrate that the proposed equivalent-plane CCC performs much better than conventional method in both error estimation and error control.

scholarly journals Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7489
Author(s):  
Hu Shi ◽  
Boyang Zhang ◽  
Xuesong Mei ◽  
Qichun Song
Keyword(s):  
Feedback Control ◽  
Force Feedback ◽  
Impedance Control ◽  
Three Dimensional ◽  
Surgical Instruments ◽  
Force Output ◽  
Software Environment ◽  
Force Detection ◽  
Academic Field ◽  
Learning Machine

Robot-assisted minimally invasive surgery (MIS) has received increasing attention, both in the academic field and clinical operation. Master/slave control is the most widely adopted manipulation mode for surgical robots. Thus, sensing the force of the surgical instruments located at the end of the slave manipulator through the main manipulator is critical to the operation. This study mainly addressed the force detection of the surgical instrument and force feedback control of the serial surgical robotic arm. A measurement device was developed to record the tool end force from the slave manipulator. An elastic element with an orthogonal beam structure was designed to sense the strain induced by force interactions. The relationship between the acting force and the output voltage was obtained through experiment, and the three-dimensional force output was decomposed using an extreme learning machine algorithm while considering the nonlinearity. The control of the force from the slave manipulator end was achieved. An impedance control strategy was adopted to restrict the force interaction amplitude. Modeling, simulation, and experimental verification were completed on the serial robotic manipulator platform along with virtual control in the MATLAB/Simulink software environment. The experimental results show that the measured force from the slave manipulator can provide feedback for impedance control with a delay of 0.15 s.

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