Control Electronics and Hybrid Dynamic System-Based API for a 6-DOF Desktop Haptic Interface

1999 ◽  
Author(s):  
S. E. Salcudean ◽  
R. Six ◽  
R. Barman ◽  
S. Kingdon ◽  
I. Chau ◽  
...  
Keyword(s):  
Dynamic System ◽  
Haptic Interface ◽  
State Transitions ◽  
Hybrid Dynamic System ◽  
Finite State ◽  
Control Electronics ◽  
Six Degree Of Freedom ◽  
Electronic Hardware ◽  
Device Location ◽  
Programming Interface

Abstract A six-degree-of-freedom desktop magnetically levitated haptic interface has been developed by the authors. Its electromechanical design is described in (Salcudean and Parker, 1997). In this paper, aspects of electronic hardware architecture and the control of actuator currents are discussed. To program this device, a new low level applications programming interface (API) that models the haptic interface as a hybrid dynamic system is proposed. The user can define a finite state machine in which every state is a device impedance. State transitions occur upon the satisfaction of linear inequalities in terms of the device location, velocity and force. Examples of the use of such hybrid dynamic systems to produce haptic effects are given.

scholarly journals A unicellular walker embodies a finite state machine

2021 ◽  
Author(s):  
Ben T. Larson ◽  
Jack Garbus ◽  
Jordan B. Pollack ◽  
Wallace F. Marshall
Keyword(s):  
Cell Biology ◽  
General Framework ◽  
Finite State Machine ◽  
Detailed Balance ◽  
State Machine ◽  
Theoretical Computer Science ◽  
State Transitions ◽  
Small Subset ◽  
Finite State ◽  
Computational Processes

Cells are complex biochemical systems whose behavior emerges from interactions among myriad molecular components. The idea that cells execute computational processes is often invoked as a general framework for understanding cellular complexity. However, the manner in which cells might embody computational processes in a way that the powerful theories of computation, such as finite state machine models, could be productively applied, remains to be seen. Here we demonstrate finite state machine-like processing embodied in cells, using the walking behavior of Euplotes eurystomus, a ciliate that walks across surfaces using fourteen motile appendages called cirri. We found that cellular walking entails a discrete set of gait states. Transitions between these states are highly regulated, with distinct breaking of detailed balance and only a small subset of possible transitions actually observed. The set of observed transitions decomposes into a small group of high-probability unbalanced transitions forming a cycle and a large group of low-probability balanced transitions, thus revealing stereotypy in sequential patterns of state transitions. Taken together these findings implicate a machine-like process. Cirri are connected by microtubule bundles, and we find an association between the involvement of cirri in different state transitions and the pattern of attachment to the microtubule bundle system, suggesting a mechanical basis for the regularity of state transitions. We propose a model where the actively controlled, unbalanced transitions establish strain in certain cirri, the release of which from the substrate causes the cell to advance forward along a linear trajectory. This demonstration of a finite state machine embodied in a living cell opens up new links between theoretical computer science and cell biology and may provide a general framework for understanding and predicting cell behavior at a super-molecular level.

Design of a Passively Balanced Spatial Linkage Haptic Interface

2004 ◽  
Vol 126 (6) ◽  
pp. 984-991 ◽  
Author(s):  
R. Steger ◽  
K. Lin ◽  
B. D. Adelstein ◽  
H. Kazerooni
Keyword(s):  
Mass Production ◽  
Haptic Interface ◽  
High Fidelity ◽  
Force Interaction ◽  
Design And Implementation ◽  
Power Amplification ◽  
Control Electronics ◽  
Three Degree Of Freedom ◽  
And Control ◽  
Actuation Power

This paper describes the design and implementation of a compact high fidelity desktop haptic interface that provides three-degree-of-freedom point-force interaction through a handheld pen-like stylus. The complete haptic device combines a spatial linkage, actuation, power amplification, and control electronics in a standalone package with a footprint similar to that of a notebook computer 33cm×25cm×10cm. The spatial linkage is composed of one planar and two spherical subloops. Two versions of the spatial linkage were designed: a lightweight polycarbonate plastic version suitable for inexpensive mass production, and an aluminum and stainless steel linkage that offers greater reliability and higher stiffness. Both linkages were designed to be statically balanced over their full workspace.

Self-Power Saving Technique in State Machine Circuit of Automatic Teller Machine Application

2019 ◽  
Vol 15 (3) ◽  
pp. 294-301
Author(s):  
Minh-Huan Vo
Keyword(s):  
Finite State Machine ◽  
Power Saving ◽  
State Machine ◽  
Active Power ◽  
The Other ◽  
State Transitions ◽  
Power Gating ◽  
Automatic Teller Machine ◽  
Current State ◽  
Finite State

In a finite state machine (FSM), there is only one active state while the other states are in idle states simultaneously. Thus, only one state is required to power up, the other states can be switched off to save active power. Normally, a backward traversing algorithm is used to label the power gating cells and extract the enable signals for combinational logic gates in reducing the active power consumption. This conventional power gating technique uses the extracted enable signals to turn ON/OFF these inserted NMOS switches. Then, a power management unit is required to manage these enable signals and detect the idle periods. The proposed self-power saving technique uses internally generated enable signals from state transitions to control NMOS switches inserted under the ground rail of each state. All internal enable signals are created to activate/deactivate the machine states at the same time. Based on the next state of the FSM, a decoder creates the enable signals for each state to do power gating in an Automatic Teller Machine (ATM) application. The isolation cell is designed to isolate the current state and next state for retaining data. Simulation results show the power saving from 31.99% at a WAIT state to 82.87% at a LOCK state, depending on the current state of the finite state machine. On average, the power loss is saved up to 63.2% in the FSM. An overhead area is about 12% compared to the conventional technique while timing overhead is under 5%.

scholarly journals OpenQL: A Portable Quantum Programming Framework for Quantum Accelerators

2022 ◽  
Vol 18 (1) ◽  
pp. 1-24
Author(s):  
N. Khammassi ◽  
I. Ashraf ◽  
J. V. Someren ◽  
R. Nane ◽  
A. M. Krol ◽  
...  
Keyword(s):  
Programming Language ◽  
Quantum Algorithms ◽  
Quantum Circuit ◽  
Quantum Operations ◽  
Programming Framework ◽  
Quantum Processor ◽  
Control Electronics ◽  
Quantum Programming ◽  
High Level ◽  
Programming Interface

With the potential of quantum algorithms to solve intractable classical problems, quantum computing is rapidly evolving, and more algorithms are being developed and optimized. Expressing these quantum algorithms using a high-level language and making them executable on a quantum processor while abstracting away hardware details is a challenging task. First, a quantum programming language should provide an intuitive programming interface to describe those algorithms. Then a compiler has to transform the program into a quantum circuit, optimize it, and map it to the target quantum processor respecting the hardware constraints such as the supported quantum operations, the qubit connectivity, and the control electronics limitations. In this article, we propose a quantum programming framework named OpenQL, which includes a high-level quantum programming language and its associated quantum compiler. We present the programming interface of OpenQL, we describe the different layers of the compiler and how we can provide portability over different qubit technologies. Our experiments show that OpenQL allows the execution of the same high-level algorithm on two different qubit technologies, namely superconducting qubits and Si-Spin qubits. Besides the executable code, OpenQL also produces an intermediate quantum assembly code, which is technology independent and can be simulated using the QX simulator.

Post-Stroke Rehabilitation with the Rutgers Ankle System: A Case Study

2001 ◽  
Vol 10 (4) ◽  
pp. 416-430 ◽  
Author(s):  
Judith E. Deutsch ◽  
Jason Latonio ◽  
Grigore C. Burdea ◽  
Rares Boian
Keyword(s):  
Stair Climbing ◽  
Haptic Interface ◽  
Oracle Database ◽  
Post Stroke ◽  
System A ◽  
Climbing Ability ◽  
Resistive Forces ◽  
Six Degree Of Freedom ◽  
Clinical Measures

The “Rutgers Ankle” is a Stewart platform-type haptic interface designed for use in rehabilitation. The system supplies six-degree-of-freedom (DOF) resistive forces on the patient's foot, in response to virtual reality-based exercises. The Rutgers Ankle controller contains an embedded Pentium board, pneumatic solenoid valves, valve controllers, and associated signal conditioning electronics. The rehabilitation exercise used in our case study consists of piloting a virtual airplane through loops. The exercise difficulty can be selected based on the number and placement of loops, the airplane speed in the virtual environment, and the degree of resistance provided by the haptic interface. Exercise data is stored transparently, in real time, in an Oracle database. These data consist of ankle position, forces, and mechanical work during an exercise, and over subsequent rehabilitation sessions. The number of loops completed and the time it took to do that are also stored online. A case study is presented of a patient nine months post-stroke using this system. Results showed that, over six rehabilitation sessions, the patient improved on clinical measures of strength and endurance, which corresponded well with torque and power output increases measured by the Rutgers Ankle. There were also substantial improvements in task accuracy and coordination during the simulation and the patient's walking and stair-climbing ability.

Random coding bound for channels with memory decoding function with partial overlapping. Part 2. Examples and Discussion

2018 ◽  
pp. 73-85
Author(s):  
A. N. Trofimov
Keyword(s):  
Finite State Machine ◽  
Full Range ◽  
State Transitions ◽  
Interference Channels ◽  
Random Coding ◽  
Channel Models ◽  
Good Correspondence ◽  
Finite State ◽  
With Memory ◽  
Optimal Decoding

Introduction:Suboptimal random coding exponent Er*(R; ψ) for a wide class of finite-state channel models using a mismatched decoding function tp was obtained and presented in the first part of this work. We used tp function represented as a product of a posteriori probabilities of non-overlapped input subblocks of length 2B+1 relative to the overlapped output subblocks of length 2W+1. It has been shown that the computation of function Er*(R; ψ) is reduced to the calculation of the largest eigenvalue of a square non-negative matrix of an order depending on the B and W values.Purpose:Toillustrate the approach developed in the first part of this study with its application to various channel modelled as a probabilistic finite-state machine.Results:We consider channels with state transitions not depending on the input symbol (channels with freely evolving states), and channels with deterministic state transitions, in particular, intersymbol interference channels. We present and discuss numerical results of calculating this random coding exponent in a full range of code rates for some of channel models for which similar results were not obtained before. Practical computations were carried out for relatively small values of B and W. Nevertheless, even for small values of these parameters a good correspondence with some known results for optimal decoding was shown.

HFSM-Based Software Implementation of Haptic Interactions

2000 ◽  
Author(s):  
I. Chau ◽  
S. E. Salcudean ◽  
D. K. Pai
Keyword(s):  
Application Programming Interface ◽  
Software Implementation ◽  
Haptic Interaction ◽  
Dynamic Constraints ◽  
Haptic Interactions ◽  
Finite State ◽  
Application Programming ◽  
Novel Method ◽  
Three Degree Of Freedom ◽  
Programming Interface

Abstract We present a novel method to encapsulate and formalize haptic interaction in a compact systematic format using hierarchical finite state machines (HFSMs). HFSMs capture both reality-based and synthesized haptic interactions. The lowest level states in the hierarchy are impedances implemented by the haptic device. Transitions between states are governed by inequalities defining geometric and dynamic constraints. This model is compatible with other haptic rendering techniques and can be used as a low level application programming interface. We will describe the format and implementation and illustrate the approach with an example. Experimental results with a three-degree-of-freedom planar haptic interface are also presented.

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