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.

scholarly journals Realization of active metamaterials with odd micropolar elasticity

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Yangyang Chen ◽  
Xiaopeng Li ◽  
Colin Scheibner ◽  
Vincenzo Vitelli ◽  
Guoliang Huang
Keyword(s):  
Electrical Energy ◽  
Emergent Properties ◽  
Micropolar Elasticity ◽  
Feed Forward ◽  
Control Loops ◽  
Feed Forward Control ◽  
Bending Modulus ◽  
Active Metamaterials ◽  
Energy Conserving ◽  
And Control

AbstractMaterials made from active, living, or robotic components can display emergent properties arising from local sensing and computation. Here, we realize a freestanding active metabeam with piezoelectric elements and electronic feed-forward control that gives rise to an odd micropolar elasticity absent in energy-conserving media. The non-reciprocal odd modulus enables bending and shearing cycles that convert electrical energy into mechanical work, and vice versa. The sign of this elastic modulus is linked to a non-Hermitian topological index that determines the localization of vibrational modes to sample boundaries. At finite frequency, we can also tune the phase angle of the active modulus to produce a direction-dependent bending modulus and control non-Hermitian vibrational properties. Our continuum approach, built on symmetries and conservation laws, could be exploited to design others systems such as synthetic biofilaments and membranes with feed-forward control loops.

The Research of Re-Winder Bottom Roller Feed-Forward Control Tactic

2011 ◽  
Vol 225-226 ◽  
pp. 146-149
Author(s):  
Jing Wen Chen ◽  
Xiao Ping Sun
Keyword(s):  
Feedback Control ◽  
Production Process ◽  
System Response ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Loop Feedback ◽  
Bottom Roller ◽  
Working Procedure ◽  
And Control

As the last working procedure in the paper production process, re-winder control technology is crucial to the quality of finished paper scroll. To obtain the paper scroll with inner tight and outer loose, the control of bottom rollers must satisfy the double closed-loop feedback control with torque difference. While the feedback control exists time-delay and may cause the slowness of system response. Here on the basis of re-winder production process and control requirements, a novel feed-forward control tactics is proposed to combine with feedback control. According to the compensation of feed-forward control, rapid system response is obtained and system performance is improved. And corresponding simulation shows the validity and feasibility of the feed-forward control tactics.

Trajectory Control of a Tethered Underwater Robot System

2018 ◽  
Author(s):  
Jiaming Wu ◽  
Dongjun Chen ◽  
Ying Xu ◽  
Yuqing Chen ◽  
Lihua Lu
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Trajectory Control ◽  
Underwater Robot ◽  
Robot System ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Robot Trajectory ◽  
Umbilical Cable ◽  
And Control

A three-dimensional hydrodynamic and control model to simulate tethered underwater robot system is proposed. The fluid motion around the moving robot main body with running control ducted propellers is governed by Navier-Stokes equations, and multiple sliding mesh technique is applied to solve the governing equations. The governing equation of umbilical cable connected to the robot is based on the Ablow and Schechter method. The six-degrees-of-freedom equations of motion for underwater vehicle simulations proposed by Gertler and Hargen are adopted to estimate the hydrodynamic performance of the underwater robot. In the model, the feed-forward control algorithm is applied to adjust the length of the umbilical cable according to the robot trajectory control target, the incremental PID control algorithm is adopt to regulate the rotating speeds of the ducted propellers producing appropriate thrusts for the robot control. With the proposed hydrodynamic and control model, hydrodynamic behaviors of the robot under definite trajectory control manipulations are observed numerically. The numerical results of robot trajectory control simulations indicate that the feed-forward control algorithm for adjusting the length of the umbilical cable, and the incremental PID control algorithm for regulating the rotating speeds of the propellers are feasible and effective, the adjusting the length of the umbilical cable with feed-forward control technique is largely responsible for the vertical trajectory control to the robot, while regulating the rotating speeds of the propellers by the PID control algorithm play a leading role in the horizontal trajectory manipulation, the deviation between the designated trajectory and the control one at each time step is acceptable.

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.

Research Participation Experiences of Informants of Suicide and Control Cases

Crisis ◽  
2010 ◽  
Vol 31 (5) ◽  
pp. 238-246 ◽  
Author(s):  
Paul W. C. Wong ◽  
Wincy S. C. Chan ◽  
Philip S. L. Beh ◽  
Fiona W. S. Yau ◽  
Paul S. F. Yip ◽  
...  
Keyword(s):  
Ethical Issues ◽  
Research Participation ◽  
Self Report ◽  
Initial Contact ◽  
Psychological Autopsy ◽  
Autopsy Study ◽  
The People ◽  
And Control ◽  
The Impact

Background: Ethical issues have been raised about using the psychological autopsy approach in the study of suicide. The impact on informants of control cases who participated in case-control psychological autopsy studies has not been investigated. Aims: (1) To investigate whether informants of suicide cases recruited by two approaches (coroners’ court and public mortuaries) respond differently to the initial contact by the research team. (2) To explore the reactions, reasons for participation, and comments of both the informants of suicide and control cases to psychological autopsy interviews. (3) To investigate the impact of the interviews on informants of suicide cases about a month after the interviews. Methods: A self-report questionnaire was used for the informants of both suicide and control cases. Telephone follow-up interviews were conducted with the informants of suicide cases. Results: The majority of the informants of suicide cases, regardless of the initial route of contact, as well as the control cases were positive about being approached to take part in the study. A minority of informants of suicide and control cases found the experience of talking about their family member to be more upsetting than expected. The telephone follow-up interviews showed that none of the informants of suicide cases reported being distressed by the psychological autopsy interviews. Limitations: The acceptance rate for our original psychological autopsy study was modest. Conclusions: The findings of this study are useful for future participants and researchers in measuring the potential benefits and risks of participating in similar sensitive research. Psychological autopsy interviews may be utilized as an active engagement approach to reach out to the people bereaved by suicide, especially in places where the postvention work is underdeveloped.

Learning and control

2018 ◽  
Author(s):  
Ivan Herreros
Keyword(s):  
Machine Learning ◽  
Reinforcement Learning ◽  
Brain Function ◽  
Control Strategies ◽  
Learning Problems ◽  
Animal Learning ◽  
Feed Forward Control ◽  
Machine Learning Applications ◽  
And Control

This chapter discusses basic concepts from control theory and machine learning to facilitate a formal understanding of animal learning and motor control. It first distinguishes between feedback and feed-forward control strategies, and later introduces the classification of machine learning applications into supervised, unsupervised, and reinforcement learning problems. Next, it links these concepts with their counterparts in the domain of the psychology of animal learning, highlighting the analogies between supervised learning and classical conditioning, reinforcement learning and operant conditioning, and between unsupervised and perceptual learning. Additionally, it interprets innate and acquired actions from the standpoint of feedback vs anticipatory and adaptive control. Finally, it argues how this framework of translating knowledge between formal and biological disciplines can serve us to not only structure and advance our understanding of brain function but also enrich engineering solutions at the level of robot learning and control with insights coming from biology.

scholarly journals Model-based feed-forward control for time-varying systems with an example for SRF cavities

2020 ◽  
Vol 53 (2) ◽  
pp. 1331-1336
Author(s):  
Sven Pfeiffer ◽  
Annika Eichler ◽  
Holger Schlarb
Keyword(s):  
Time Varying ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Model Based ◽  
Time Varying Systems ◽  
Srf Cavities

Flatness Feed-Forward Control Model Based on Neural Networks

2014 ◽  
Vol 989-994 ◽  
pp. 3386-3389
Author(s):  
Zhu Wen Yan ◽  
Hen An Bu ◽  
Dian Hua Zhang ◽  
Jie Sun
Keyword(s):  
Neural Networks ◽  
Rolling Mill ◽  
Rolling Force ◽  
Work Roll ◽  
Control Model ◽  
Good Effect ◽  
Feed Forward ◽  
Force Fluctuations ◽  
Feed Forward Control ◽  
Roll Bending

The influence on the shape of the strip from rolling force fluctuations has been analyzed. The combination of intermediate roll bending and work roll bending has been adopted. The principle of rolling force feed-forward control has been analyzed. The feed-forward control model has been established on the basis of neural networks. The model has been successfully applied to a rolling mill and a good effect has been achieved.

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