A New Method for Design and Control of Haptic Interfaces for Display of Rigid Surfaces

1999 ◽  
Author(s):  
Scott L. Springer ◽  
Nicola J. Ferrier
Keyword(s):  
Dynamic Models ◽  
Rigid Bodies ◽  
Haptic Interfaces ◽  
Haptic Display ◽  
New Paradigm ◽  
Wall Model ◽  
Body Contact ◽  
Penetration Distance ◽  
Contact Distance ◽  
And Control

Abstract This paper addresses the often-cited problems associated with haptic display of rigid bodies or “virtual walls”. Traditional haptic interfaces employ an actuator directly coupled to the human operator that provides a force proportional to wall penetration distance and velocity. A new paradigm for design and control of haptic displays is proposed that utilizes a de-coupled actuator and pre-contact distance sensing to improve stability and response performance. Dynamic models of real human/rigid body contact and prior haptic display models are developed and compared with the proposed method. Errors in the force and energy transfer are identified and associated with virtual wall penetration distance, required in traditional virtual wall haptic models. Results of the simulation of the dynamic models are presented, identifying system force response errors attributable to delay, wall penetration, wall model spring constant, and wall model damping constants.

DECAFF: Experimental Study on Human Haptic Perception

2000 ◽  
Author(s):  
Scott L. Springer ◽  
Nicola J. Ferrier
Keyword(s):  
Interface Design ◽  
Haptic Perception ◽  
Human Perception ◽  
Initial Contact ◽  
Haptic Interfaces ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Contact Distance ◽  
Traditional Approaches ◽  
And Control

Abstract DECAFF is a method for design and control of haptic interfaces that utilizes a DE-Coupled Actuator and Feed-Forward control. In this paper results of an experimental investigation are presented that quantify improved human haptic perception while using the DECAFF system, compared to the traditional haptic interface design and control systems. Perception improvements include the increased stability for rigid surfaces and increased ability of subjects to accurately identify initial contact with virtual surface boundaries. Traditional haptic interfaces employ an actuator directly coupled to the human operator that provides a force proportional to wall penetration distance and velocity. The DECAFF paradigm for design and control of haptic displays utilizes a de-coupled actuator and pre-contact distance sensing as a feed forward control term to improve stability and response performance. A human perception experiment has been performed that compares the touch sensation of the subjects for both the DECAFF system and traditional approaches to haptic display. In the human factors study the quality of rigid body display is evaluated in addition to the sensitivity of touch experienced by the subjects while making initial contact with virtual surfaces.

Imitation of Demonstrations Using Bayesian Filtering With Nonparametric Data-Driven Models

2017 ◽  
Vol 140 (3) ◽  
Author(s):  
Nurali Virani ◽  
Devesh K. Jha ◽  
Zhenyuan Yuan ◽  
Ishana Shekhawat ◽  
Asok Ray
Keyword(s):  
Particle Filtering ◽  
Dynamic Models ◽  
Training Data ◽  
Data Driven ◽  
Conditional Density ◽  
Bayesian Filtering ◽  
State Dependent ◽  
State Evolution ◽  
And Control ◽  
Nonparametric Kernel

This paper addresses the problem of learning dynamic models of hybrid systems from demonstrations and then the problem of imitation of those demonstrations by using Bayesian filtering. A linear programming-based approach is used to develop nonparametric kernel-based conditional density estimation technique to infer accurate and concise dynamic models of system evolution from data. The training data for these models have been acquired from demonstrations by teleoperation. The trained data-driven models for mode-dependent state evolution and state-dependent mode evolution are then used online for imitation of demonstrated tasks via particle filtering. The results of simulation and experimental validation with a hexapod robot are reported to establish generalization of the proposed learning and control algorithms.

scholarly journals B-Spline Impulse Response Functions of Rigid Bodies for Fluid-Structure Interaction Analysis

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
S. Zhou-Bowers ◽  
D. C. Rizos
Keyword(s):  
Impulse Response ◽  
Dynamic Models ◽  
Interaction Analysis ◽  
Fluid Structure Interaction ◽  
Rigid Bodies ◽  
The Body ◽  
Impulse Response Functions ◽  
Fluid Structure ◽  
B Spline ◽  
Structure Interaction

Reduced 3D dynamic fluid-structure interaction (FSI) models are proposed in this paper based on a direct time-domain B-spline boundary element method (BEM). These models are used to simulate the motion of rigid bodies in infinite or semi-infinite fluid media in real, or near real, time. B-spline impulse response function (BIRF) techniques are used within the BEM framework to compute the response of the hydrodynamic system to transient forces. Higher-order spatial and temporal discretization is used in developing the kinematic FSI model of rigid bodies and computing its BIRFs. Hydrodynamic effects on the massless rigid body generated by an arbitrary transient acceleration of the body are computed by a mere superposition of BIRFs. Finally, the dynamic models of rigid bodies including inertia effects are generated by introducing the kinematic interaction model to the governing equation of motion and solve for the response in a time-marching scheme. Verification examples are presented and demonstrate the stability, accuracy, and efficiency of the proposed technique.

scholarly journals Research and development of Q-Baller -- a spherical wheeled robot

2017 ◽  
Author(s):  
◽  
Jiamin Wang
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Circuit Board ◽  
Embedded Control ◽  
Wheeled Robot ◽  
Dynamics And Control ◽  
Continuous Gain Scheduling ◽  
Machine Interface ◽  
And Control ◽  
And Robotics

The Spherical Wheeled Robot (Ball-Bot) is a family of robots that can maintain balance standing on a ball and use it as its wheel to move around. In recent years, there have been several successful Ball-Bot designs. We attempt to develop a new spherical wheeled robot product named "Q-Baller" to study its dynamics and control system. The Q-Baller has been designed to ahieve the economic and effective prototyping. A detailed dynamic model of the mechatronic system has been established and analyzed. Control studies have been conducted based on the dynamic models, and new control methods has been proposed to realize continuous gain scheduling. Exclusive simulations have been performed to test the performance of the controllers and reference planning. The Q-Baller hardware has been prototyped and functional. Robotic circuit board, human machine interface and embedded control system have also been developed to make up the full robotic system. The Q-Baller prototype will be tested after the system is fully adjusted, and further researches in control and robotics will be conducted in the future.

scholarly journals A Simulation Model for Computing the Loads Generated at Landing Site During Helicopter Take-Off or Landing Operation

2019 ◽  
Vol 2019 (2) ◽  
pp. 59-75
Author(s):  
Jarosław Stanisławski
Keyword(s):  
Equations Of Motion ◽  
Landing Site ◽  
Simulation Method ◽  
Rigid Bodies ◽  
Landing Gear ◽  
Rotor Blades ◽  
Wind Gust ◽  
The Galerkin Method ◽  
Lumped Masses ◽  
And Control

Summary The paper presents simulation method and results of calculations determining behavior of helicopter and landing site loads which are generated during phase of the helicopter take-off and landing. For helicopter with whirling rotor standing on ground or touching it, the loads of landing gear depend on the parameters of helicopter movement, occurrence of wind gusts and control of pitch angle of the rotor blades. The considered model of helicopter consists of the fuselage and main transmission treated as rigid bodies connected with elastic elements. The fuselage is supported by landing gear modeled by units of spring and damping elements. The rotor blades are modeled as elastic axes with sets of lumped masses of blade segments distributed along them. The Runge-Kutta method was used to solve the equations of motion of the helicopter model. According to the Galerkin method, it was assumed that the parameters of the elastic blade motion can be treated as a combination of its bending and torsion eigen modes. For calculations, data of a hypothetical light helicopter were applied. Simulation results were presented for the cases of landing helicopter touching ground with different vertical speed and for phase of take-off including influence of rotor speed changes, wind gust and control of blade pitch. The simulation method may help to define the limits of helicopter safe operation on the landing surfaces.

Genetic Algorithm-Based Maximum Likelihood Parameter Estimation for Transit Buses

2001 ◽  
Author(s):  
Jie Xiao ◽  
Bohdan T. Kulakowski
Keyword(s):  
Parameter Estimation ◽  
Maximum Likelihood ◽  
Dynamic Models ◽  
Estimation Method ◽  
Optimization Techniques ◽  
Model Parameters ◽  
Parameter Estimation Method ◽  
Transit Buses ◽  
Simulation And Control ◽  
And Control

Abstract Vehicle dynamic models include parameters that qualify the dependence of input forces and moments on state and control variables. The accuracy of the model parameter estimates is important for modeling, simulation, and control. In general, the most accurate method for determining values of model parameters is by direct measurement. However, some parameters of vehicle dynamics, such as suspension damping or moments of inertia, are difficult to measure accurately. This study aims at establishing an efficient and accurate parameter estimation method for developing dynamic models for transit buses, such that this method can be easily implemented for simulation and control design purposes. Based on the analysis of robustness, as well as accuracy and efficiency of optimization techniques, a parameter estimation method that integrates Genetic Algorithms and the Maximum Likelihood Estimation is proposed. Choices of output signals and estimation criterion are discussed involving an extensive sensitivity analysis of the predicted output with respect to model parameters. Other experiment-related aspects, such as imperfection of data acquisition, are also considered. Finally, asymptotic Cramer-Rao lower bounds for the covariance of estimated parameters are obtained. Computer simulation results show that the proposed method is superior to gradient-based methods in accuracy, as well as robustness to the initial guesses and measurement uncertainty.

Whole genome sequencing: A new paradigm in the surveillance and control of human tuberculosis

Tuberculosis ◽  
2015 ◽  
Vol 95 (2) ◽  
pp. 91-94 ◽  
Author(s):  
Seyed E. Hasnain ◽  
Ronan F. O'Toole ◽  
Sonam Grover ◽  
Nasreen Z. Ehtesham
Keyword(s):  
Whole Genome Sequencing ◽  
Genome Sequencing ◽  
Whole Genome ◽  
New Paradigm ◽  
And Control

Experimental validation on the integrated design and control of a parallel robot

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 173-181 ◽  
Author(s):  
Qing Li
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Dynamic Models ◽  
Integrated Design ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Approximation Techniques ◽  
Control Approach ◽  
Modeling Errors ◽  
And Control

Due to the demands from the robotic industry, robot structures have evolved from serial to parallel. The control of parallel robots for high performance and high speed tasks has always been a challenge to control engineers. Following traditional control engineering approaches, it is possible to design advanced algorithms for parallel robot control. These approaches, however, may encounter problems such as heavy computational load and modeling errors, to name it a few. To avoid heavy computation, simplified dynamic models can be obtained by applying approximation techniques, nevertheless, performance accuracy will suffer due to modeling errors. This paper suggests applying an integrated design and control approach, i.e., the Design For Control (DFC) approach, to handle this problem. The underlying idea of the DFC approach can be illustrated as follows: Intuitively, a simple control algorithm can control a structure with a simple dynamic model quite well. Therefore, no matter how sophisticate a desired motion task is, if the mechanical structure is designed such that it results in a simple dynamic model, then, to design a controller for this system will not be a difficult issue. As such, complicated control design can be avoided, on-line computation load can be reduced and better control performance can be achieved. Through out the discussion in the paper, a 2 DOF parallel robot is redesigned based on the DFC concept in order to obtain a simpler dynamic model based on a mass-balancing method. Then a simple PD controller can drive the robot to achieve accurate point-to-point tracking tasks. Theoretical analysis has proven that the simple PD control can guarantee a stable system. Experimental results have successfully demonstrated the effectiveness of this integrated design and control approach.

Geometric Spectral Algorithms for the Simulation of Rigid Bodies

2019 ◽  
Vol 14 (12) ◽  
Author(s):  
Yiqun Li ◽  
Razikhova Meiramgul ◽  
Jiankui Chen ◽  
Zhouping Yin
Keyword(s):  
Lie Group ◽  
Spectral Methods ◽  
Rigid Bodies ◽  
Geometric Control ◽  
Homogeneous Manifolds ◽  
Practical Algorithms ◽  
Group Methods ◽  
Dynamics And Control ◽  
And Control ◽  
Geometric Dynamics

Abstract Lie group methods are an excellent choice for simulating differential equations evolving on Lie groups or homogeneous manifolds, as they can preserve the underlying geometric structures of the corresponding manifolds. Spectral methods are a popular choice for constructing numerical approximations for smooth problems, as they can converge geometrically. In this paper, we focus on developing numerical methods for the simulation of geometric dynamics and control of rigid body systems. Practical algorithms, which combine the advantages of Lie group methods and spectral methods, are given and they are tested both in a geometric dynamic system and a geometric control system.

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