Human Evaluation of Internet-Based Bilateral Teleoperation Using Wave Variables With Adaptive Predictor and Direct Drift Control

2006 ◽  
Author(s):  
Ho Ching ◽  
Wayne J. Book
Keyword(s):  
Human Subjects ◽  
Transmission Delay ◽  
Bilateral Teleoperation ◽  
Wave Variables ◽  
Human Evaluation ◽  
Maze Navigation ◽  
Improved Performance ◽  
Tracking Surface ◽  
The Cost ◽  
Drift Control

In a conventional bilateral teleoperation, transmission delay over the Internet can potentially cause instability. The wave variables algorithm can solve this problem at the cost of poor transient response. The wave variables algorithm with adaptive predictor and drift control based on our previous work [24] has been proposed to provide stability under time delay with improved performance. The effectiveness of this algorithm is fully evaluated using human subjects with no previous experience in haptics. Three algorithms are tested using Phantom haptic devices as master and slave: conventional bilateral teleoperation with no transmission delay as control, wave variables with 200-300 ms transmission delay one way, and wave variables with adaptive predictor and direct drift control (WAPD) also with 200-300 ms delay one way. For each algorithm the human subjects are asked to perform three simple tasks: free space trajectory tracking, surface contour identification, and maze navigation. The results show WAPD to be superior to regular wave variables algorithm with higher subject ratings.

Internet-Based Bilateral Teleoperation Based on Wave Variable With Adaptive Predictor and Direct Drift Control

2005 ◽  
Vol 128 (1) ◽  
pp. 86-93 ◽  
Author(s):  
Ho Ching ◽  
Wayne J. Book
Keyword(s):  
Force Feedback ◽  
Transmission Delay ◽  
Recursive Least Squares ◽  
Bilateral Teleoperation ◽  
Practical Applications ◽  
Wave Variable ◽  
Environmental Force ◽  
Rigid Contact ◽  
The Cost ◽  
Drift Control

In a conventional bilateral teleoperation, transmission delay over the Internet can potentially cause instability. A wave variable algorithm guarantees teleoperation stability under varying transmission delay at the cost of poor transient performance. Adding a predictor on the master side can reduce this undesirable side effect, but that would require a slave model. An inaccurate slave model used in the predictor as well as variations in transmission delay, both of which are likely under realistic situations, can result in steady-state errors. A direct drift control algorithm is used to drive this error to zero, regardless of the source of the error. A semi-adaptive predictor that can distinguish between free space and a rigid contact environment is used to provide a more accurate force feedback on the master side. A full adaptive predictor is also used that estimates the environmental force using recursive least squares with a forgetting factor. This research presents the experimental results and evaluations of the previously mentioned wave-variable-based methods under a realistic operation environment using a real master and slave. The algorithm proposed is innovative in that it takes advantage of the strengths of several control methods to build a promising bilateral teleoperation setup that can function under varying transmission delay, modeling error, and changing environment. Success could lead to practical applications in various fields, such as space-based remote control, and telesurgery.

Internet-Based Bilateral Teleoperation Based on Wave Variable With Semi-Adaptive Predictor and Direct Drift Control

2005 ◽  
Author(s):  
Ho Ching ◽  
Wayne J. Book
Keyword(s):  
Control Algorithm ◽  
Force Feedback ◽  
Transmission Delay ◽  
Bilateral Teleoperation ◽  
Robust Methods ◽  
Wave Variable ◽  
Rigid Contact ◽  
The Cost ◽  
Source Of Error ◽  
Drift Control

In a conventional bilateral teleoperation, transmission delay over the internet can potentially cause instability. One of the more robust methods of dealing with this problem is the wave variable. Wave variable guarantees teleoperation stability even under varying transmission delay at the cost of poor transient performance. Adding a predictor on the master side can reduce this undesirable side-effect, but that would require a slave model. Inaccurate slave model used in the predictor as well as variations in transmission delay, both of which are likely under realistic situations, can result in steady state errors. A direct drift control algorithm is used to drive this error to zero regardless of the source of error. A semi-adaptive predictor that can distinguish between free space and rigid contact environment is also used to provide a more accurate force feedback on the master side. This research presents the experimental results and evaluations of the previously mentioned wave variable based methods under realistic operation environment using real master and slave.

scholarly journals Design and Development of a Low Cost Personal Computer Based ECG Monitor

2013 ◽  
Vol 4 (1) ◽  
pp. 115-125 ◽  
Author(s):  
K Siddique-e Rabbani ◽  
A Raihan Abir ◽  
AKM Bodiuzzaman
Keyword(s):  
Service Providers ◽  
Human Subjects ◽  
Medical Physics ◽  
Low Cost ◽  
Large Population ◽  
Telemedicine System ◽  
The Rich ◽  
Safety Features ◽  
The Third World ◽  
The Cost

ECG equipment is vital for diagnosis of cardiac problems. However, such equipment come from the rich Western countries at a huge cost in both procurement and maintenance, and therefore cannot offer services to a large population in the Third World countries. The only solution is to design and develop such equipment in individual countries by developing local expertise. With three decades of experience, the Dhaka University group has taken a step towards developing prototypes of ECG equipment for dissemination to the healthcare service providers. This paper presents the detailed design of an PC based ECG equipment where optimized choice of components and of the design have been made keeping the cost and maintenance in view, but not sacrificing the quality, and incorporating necessary safety features to protect the patient from known hazards. Both the hardware and the software have been developed locally and are detailed in this paper. Outputs obtained from human subjects are shown which are of reasonable good quality, and have been verified using standard ECG equipment. The PC based ECG system will allow digital post processing of signals for improved diagnosis through software. Besides, this can also become part of a nationwide telemedicine system. DOI: http://dx.doi.org/10.3329/bjmp.v4i1.14701 Bangladesh Journal of Medical Physics Vol.4 No.1 2011 115-125

scholarly journals Decision Support System For Determining Power Loss And Refurbishability Of Failed Automotive Petrol Engine Block And Crankshaft

2021 ◽  
Author(s):  
BASIL OLUFEMI AKINNULI ◽  
OLADELE AWOPETU ◽  
OLUWASEUN OLUWAGBEMIGA OJO
Keyword(s):  
Decision Support ◽  
Power Loss ◽  
Computer Software ◽  
Engine Block ◽  
Measuring Instruments ◽  
Main Bearing ◽  
Test Engine ◽  
Cause Of Failure ◽  
Improved Performance ◽  
The Cost

Abstract The crankshaft and engine block of automobile wear or fail after certain years of usage. The cause of failure is a contributing factor to the power loss of the engine. Power loss reduces the performance of the vehicle. Due to the economic situation in Nigeria, the cost of buying new engines is usually high and some used engines have problems that are latent. Pre-test engine analysis was carried out and torque of each selected engine was measured with a dynamometer to know the speed of the worn engine. Disassembly of four (4) cylinder engines namely; Toyota, Nissan, Mitsubishi, and Mazda were carried out and the affected failed parts, namely; main bearing, crankpin journal, and bore cylinder diameter were determined and the level of their wear as well as power losses ascertained using measuring instruments. For easy computation and analysis, a computer software using C-sharp programming language was developed to determine the power loss and predicting machining level of refurbish-ability and tested for performance evaluation. The model and its developed software are decision support tools for any automotive industry where maintenance and management of engines for improved performance and efficiency of operation is the focus.

A Straight-Bladed Variable-Pitch VAWT Concept for Improved Power Generation

2003 ◽  
Author(s):  
Yann Staelens ◽  
F. Saeed ◽  
I. Paraschivoiu
Keyword(s):  
Power Output ◽  
Angle Of Attack ◽  
Correction Function ◽  
Wind Speeds ◽  
Abrupt Changes ◽  
Effective Angle ◽  
Improved Performance ◽  
Stall Angle ◽  
The Cost ◽  
Local Angle

The paper presents three modifications for an improved performance in terms of increased power output of a straight-bladed VAWT by varying its pitch. Modification I examines the performance of a VAWT when the local angle of attack is kept just below the stall value throughout its rotation cycle. Although this modification results in a very significant increase in the power output for higher wind speeds, it requires abrupt changes in the local angle of attack making it physically and mechanically impossible to realize. Modification II improves upon the first by replacing the local angle of attack by the blade static-stall angle only when the former exceeds the latter. This step eliminates the two jumps in the local effective angle of attack curve but at the cost of a slight decrease in the power output. Moreover, it requires a discontinuous angle of attack correction function which may still be practically difficult to implement and also result in an early fatigue. Modification III overcomes the limitation of the second by ensuring a continuous variation in the local angle of attack correction during the rotation cycle through the use of a sinusoidal function. Although the power output obtained by using this modification is less than the two preceding ones, it has the inherent advantage of being practically feasible.

The Development of a Human Gait Model With Predictive Capability and the Simulation of Able-Bodied Gait

2015 ◽  
Author(s):  
Jinming Sun ◽  
Shaoli Wu ◽  
Philip A. Voglewede
Keyword(s):  
Control Algorithm ◽  
Human Subjects ◽  
Human Gait ◽  
Control Input ◽  
Trial And Error ◽  
Predictive Capability ◽  
Gait Simulation ◽  
Plant Model ◽  
The Central Nervous System ◽  
The Cost

The development of current prostheses and orthoses typically follows a trial and error approach where the devices are designed based on experience, tried on human subjects and then redesigned iteratively. This design approach is costly, risky and time consuming. A predictive human gait model is desired such that prostheses can be virtually tested so that their performance can be predicted qualitatively, the cost can be reduced, and the risks can be minimized. The development of such a model is explained in this paper. The developed model includes two parts: a plant model which represents the forward dynamics of human gait and a controller which represents the central nervous system (CNS). The development of the plant model is explained in a different paper. This paper focuses on the control algorithm development and able-bodied gait simulation. The controller proposed in this paper utilizes model predictive control (MPC). MPC uses an internal model to predict the output in advance, compare the predicted output to the reference, and optimize control input so that the error between them is minimal. The developed predictive human gait model was validated by simulating able-bodied human gait. The simulation results showed that the controller is able to simulate the kinematic output close to experimental data.

scholarly journals Bilateral teleoperation under time-varying delay using wave variables

2009 ◽  
Author(s):  
Massimo Satler ◽  
Carlo Alberto Avizzano ◽  
Antonio Frisoli ◽  
Paolo Tripicchio ◽  
Massimo Bergamasco
Keyword(s):  
Time Varying ◽  
Bilateral Teleoperation ◽  
Time Varying Delay ◽  
Wave Variables ◽  
Varying Delay

Simulating the Contact of Golf Club to Ball for Improved Performance

2016 ◽  
Vol 846 ◽  
pp. 294-299
Author(s):  
Grant P. Steven ◽  
Jacob Celermajer
Keyword(s):  
Golf Club ◽  
Manufacturing Processes ◽  
Resin Infusion ◽  
Simulation Techniques ◽  
Limited Success ◽  
Design Variables ◽  
Design Changes ◽  
Fea Simulation ◽  
Improved Performance ◽  
The Cost

Long before FEA was developed, people were participating in sports and as competition intensified is became clear that for many sports, the equipment plays as important a part in performance as does the athlete. With the use of modern materials and manufacturing processes there is always scope for maximizing the performance of sporting equipment. Traditionally improvements were incremental, as athletes fed-back suggestions to manufacturers and new prototypes were built and tested. Given the cost of tooling for many of the current manufacturing methods, carbon fibre with resin infusion to mention one, it is clear that such build and test iterations are not as preferable given the potential of limited success and high cost.Modern simulation techniques are capable of examining a “day–in–the-life” of an object and from an examination of the envelope of response the most sensitive regions can be detected. Iteration on the design variables, provided they remain within any constraints, be they physical or otherwise, can be incorporated to investigate their effect on performance.In this paper non-linear transient dynamic (NLTD) FEA is undertaken on a 3 iron golf club impacting a golf ball. During the less than 0.5 millisecond impact the whole outcome of the shit is established. Design changes that can lead to improved performance are studied. From the FEA simulation information on ball top spin, side spin, take off velocity are investigated.

Sign in / Sign up

Export Citation Format

Share Document