scholarly journals Tactile Perception for Teleoperated Robotic Exploration within Granular Media

2021 ◽  
Vol 10 (4) ◽  
pp. 1-27
Author(s):  
Shengxin Jia ◽  
Veronica J. Santos
Keyword(s):  
Granular Media ◽  
Fluid Pressure ◽  
Tactile Sensor ◽  
Tactile Perception ◽  
Test Accuracy ◽  
Contact State ◽  
Buried Objects ◽  
Media Type ◽  
Additional Information ◽  
Internal Fluid

The sense of touch is essential for locating buried objects when vision-based approaches are limited. We present an approach for tactile perception when sensorized robot fingertips are used to directly interact with granular media particles in teleoperated systems. We evaluate the effects of linear and nonlinear classifier model architectures and three tactile sensor modalities (vibration, internal fluid pressure, fingerpad deformation) on the accuracy of estimates of fingertip contact state. We propose an architecture called the Sparse-Fusion Recurrent Neural Network (SF-RNN) in which sparse features are autonomously extracted prior to fusing multimodal tactile data in a fully connected RNN input layer. The multimodal SF-RNN model achieved 98.7% test accuracy and was robust to modest variations in granular media type and particle size, fingertip orientation, fingertip speed, and object location. Fingerpad deformation was the most informative modality for haptic exploration within granular media while vibration and internal fluid pressure provided additional information with appropriate signal processing. We introduce a real-time visualization of tactile percepts for remote exploration by constructing a belief map that combines probabilistic contact state estimates and fingertip location. The belief map visualizes the probability of an object being buried in the search region and could be used for planning.

In-Plane Parametric Vibrations of Curved Bellows Subjected to Oscillating Internal Fluid Pressure Excitation

2004 ◽  
Author(s):  
Masahiro Watanabe ◽  
Eiji Tachibana ◽  
Nobuyuki Kobayashi
Keyword(s):  
Stability Analysis ◽  
Natural Frequencies ◽  
Parametric Instability ◽  
Fluid Pressure ◽  
Parametric Vibrations ◽  
Internal Fluid ◽  
Mathieu’S Equation ◽  
Stability Maps ◽  
Plane Direction ◽  
Pressure Excitation

This paper deals with the theoretical stability analysis of in-plane parametric vibrations of a curved bellows subjected to periodic internal fluid pressure excitation. The curved bellows studied in this paper are fixed at both ends rigidly, and are excited by the periodic internal fluid pressure. In the theoretical stability analysis, the governing equation of the curved bellows subjected to periodic internal fluid pressure excitation is derived as a Mathieu’s equation by using finite element method (FEM). Natural frequencies of the curved bellows are examined and stability maps are presented for in-plane parametric instability. It is found that the natural frequencies of the curved bellows decrease with increasing the static internal fluid pressure and buckling occurs due to high internal fluid pressure. It is also found that two types of parametric vibrations, longitudinal and transverse vibrations, occur to the curved bellows in-plane direction due to the periodic internal fluid pressure excitation. Moreover, effects of axis curvature on the parametric instability regions are examined theoretically.

Why Perfect Tests May Not Be Worth Waiting For: Information as a Commodity

2021 ◽  
Author(s):  
K. Drakopoulos ◽  
R. S. Randhawa
Keyword(s):  
Operations Management ◽  
Heterogeneous Agents ◽  
Negative Answer ◽  
Social Planner ◽  
Test Accuracy ◽  
Medical Testing ◽  
Additional Information ◽  
Course Of Action ◽  
Information Products ◽  
Limited Supply

Information products provide agents with additional information that can be used to update actions. In many situations, access to such products can be quite limited. For instance, in epidemics, there tends to be a limited supply of medical testing kits, or tests. These tests are information products because their output of a positive or a negative answer informs individuals and authorities on the underlying state and the appropriate course of action. In this paper, using an analytical model, we show how the accuracy of a test in detecting the underlying state affects the demand for the information product differentially across heterogeneous agents. Correspondingly, the test accuracy can serve as a rationing device to ensure that the limited supply of information products is appropriately allocated to the heterogeneous agents. When test availability is low and the social planner is unable to allocate tests in a targeted manner to the agents, we find that moderately good tests can outperform perfect tests in terms of social outcome. This paper was accepted by Charles Corbett, operations management.

scholarly journals COMBINE Archive Specification Version 1

2015 ◽  
Vol 12 (2) ◽  
pp. 104-118 ◽  
Author(s):  
Frank T. Bergmann ◽  
Nicolas Rodriguez ◽  
Nicolas Le Novère
Keyword(s):  
Modeling And Simulation ◽  
Relevant Information ◽  
Essential Information ◽  
Media Type ◽  
Additional Information ◽  
Internet Media ◽  
Metadata File ◽  
Description Framework ◽  
Audit Trails ◽  
Resource Description

Summary Several standard formats have been proposed that can be used to describe models, simulations, data or other essential information in a consistent fashion. These constitute various separate components required to reproduce a given published scientific result.The Open Modeling EXchange format (OMEX) supports the exchange of all the information necessary for a modeling and simulation experiment in biology. An OMEX file is a ZIP container that includes a manifest file, an optional metadata file, and the files describing the model. The manifest is an XML file listing all files included in the archive and their type. The metadata file provides additional information about the archive and its content. Although any format can be used, we recommend an XML serialization of the Resource Description Framework.Together with the other standard formats from the Computational Modeling in Biology Network (COMBINE), OMEX is the basis of the COMBINE Archive. The content of a COMBINE Archive consists of files encoded in COMBINE standards whenever possible, but may include additional files defined by an Internet Media Type. The COMBINE Archive facilitates the reproduction of modeling and simulation experiments in biology by embedding all the relevant information in one file. Having all the information stored and exchanged at once also helps in building activity logs and audit trails.

Buckling of Risers in Tension due to Internal Pressure: Nonmovable Boundaries

1983 ◽  
Vol 105 (3) ◽  
pp. 277-281 ◽  
Author(s):  
M. M. Bernitsas ◽  
T. Kokkinis
Keyword(s):  
Internal Pressure ◽  
Fluid Pressure ◽  
Critical Length ◽  
Entire Length ◽  
Tubular Columns ◽  
Internal Fluid ◽  
Static Instability

Open-ended tubular columns may buckle globally as Euler columns due to the action of internal fluid pressure even while they are in tension along their entire length. Hydraulic columns, marine drilling and production risers are, therefore, prone to such static instability. This paper explains this phenomenon, defines the critical riser length for which this instability may occur and provides graphs with values of the critical length which can readily be used for design purposes. Risers with nonmovable boundaries are considered; namely, hinged-hinged, clamped-hinged, hinged-clamped and clamped-clamped risers.

scholarly journals Simulation of an Adaptive Fluid-Membrane Piezoelectric Lens

Micromachines ◽  
2019 ◽  
Vol 10 (12) ◽  
pp. 797
Author(s):  
Hitesh Gowda Bettaswamy Bettaswamy Gowda ◽  
Ulrike Wallrabe
Keyword(s):  
Thermal Expansion ◽  
Simulation Model ◽  
Fluid Pressure ◽  
Flexible Membrane ◽  
Membrane Deformation ◽  
Fluid Forces ◽  
Refractive Power ◽  
Element Simulation ◽  
Fluid Membrane ◽  
Internal Fluid

In this paper, we present a finite-element simulation of an adaptive piezoelectric fluid-membrane lens for which we modelled the fluid-structure interaction and resulting membrane deformation in COMSOL Multiphysics®. Our model shows the explicit coupling of the piezoelectric physics with the fluid dynamics physics to simulate the interaction between the piezoelectric and the fluid forces that contribute to the deformation of a flexible membrane in the adaptive lens. Furthermore, the simulation model is extended to describe the membrane deformation by additional fluid forces from the fluid thermal expansion. Subsequently, the simulation model is used to study the refractive power of the adaptive lens as a function of internal fluid pressure and analyze the effect of the fluid thermal expansion on the refractive power. Finally, the simulation results of the refractive power are compared to the experimental results at different actuation levels and temperatures validating the coupled COMSOL model very well. This is explicitly proven by explaining an observed positive drift of the refractive power at higher temperatures.

An Experimental Study on the Influence of Structural Damping on Internal Fluid Pressure During a Transient Flow

1990 ◽  
Vol 112 (3) ◽  
pp. 284-290 ◽  
Author(s):  
D. D. Budny ◽  
F. J. Hatfield ◽  
D. C. Wiggert
Keyword(s):  
Experimental Study ◽  
Transient Flow ◽  
Traditional Approach ◽  
Dynamic Pressure ◽  
Fluid Pressure ◽  
Piping System ◽  
Internal Dynamic ◽  
Structural Damping ◽  
Pipe System ◽  
Internal Fluid

The traditional approach to designing a piping system subject to internal dynamic pressure is to restrain the piping as much as possible, and the approximation made in the analysis is to assume no contribution of structural energy dissipation. To determine the validity of this concept and approximation, an experimental study of a piping system was performed to measure the influence of structural damping. A pipe system was designed with a loop that could be turned so that its natural frequency would match that of the contained liquid. It was discovered that a properly sized damper on the piping loop greatly accelerates the decay of the fluid pressure transient. The damper absorbs some energy from the piping, reducing the resulting rebound fluid pressure. When the loop is subjected to forced steady-state vibration, there is a fluid pressure response. The amplitude of that pressure can be reduced by installing an external damper: the stiffer the damper the more effective it is in reducing dynamic pressure.

Influence of Elevated Temperature on the Acoustic Emission Evaluation of FRP Vessels Through Internal Fluid Pressure Tests

2009 ◽  
Vol 131 (5) ◽  
Author(s):  
Guillermo Ramirez ◽  
Paul H. Ziehl ◽  
Timothy J. Fowler
Keyword(s):  
Acoustic Emission ◽  
Elevated Temperature ◽  
Operating Temperature ◽  
Fluid Pressure ◽  
Pressure Vessels ◽  
The Body ◽  
Emission Testing ◽  
Internal Fluid ◽  
Asme Code ◽  
Acoustic Emission Testing

A research program evaluating the effect of elevated temperature in the acoustic emission testing of fiberglass vessels was completed recently. The program aimed at evaluating the current ASME provisions that require acoustic emission testing for Class II vessels be carried out at operating temperature in the event that the operating temperature exceeds 49°C (120°F). Lack of data from fiber reinforced polymer vessels and/or components that have been subjected to acoustic emission evaluation at elevated temperature has resulted in speculation regarding the appropriateness of conducting the acoustic emission evaluation at elevated temperature. To address these issues, an experimental investigation was conducted on representative coupon specimens and pressurized cylindrical specimens at differing temperatures. The results from the coupon tests were presented in a previous publication. This paper will present the results of the cylindrical specimens and compare them to the coupon specimens drawing the final conclusions from the overall results of the program. The results from this study resulted in changes in the body of the ASME code for testing pressure vessels with acoustic emission at temperature.

FLANGED JOINT ANALYSIS: A SIMPLIFIED METHOD BASED ON ELASTIC INTERACTION

1993 ◽  
Vol 17 (2) ◽  
pp. 181-196 ◽  
Author(s):  
A. Bouzid ◽  
A. Chaaban
Keyword(s):  
Fluid Pressure ◽  
Elastic Interaction ◽  
Bolted Joints ◽  
Joint Analysis ◽  
Simple Analytical Model ◽  
Good Design ◽  
Sealing Performance ◽  
Internal Fluid ◽  
Simplified Method ◽  
Joint Behaviour

Structurally sound bolted joints often fail due to loss of tightness. This is because the clamping load is affected by the application of the internal fluid pressure. A good design technique should therefore encompass most aspects of joint behaviour and produce efficient sealing performance within the clearly defined limits of the method used. This paper presents a simple analytical model based on an extension of the Taylor Forge approach taking into account flange rotation, flexibility of both the gasket and the bolts and, when applicable, the stiffness of the end closure. Examples will be discussed based on experimentally determined gasket properties.

scholarly journals Influence of Fluid on Seal and Assembly of Pipeline Fittings Based on the Multiscale Finite Element Model

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Yangyang Yan ◽  
Yaping Fan
Keyword(s):  
Contact Area ◽  
High Stress ◽  
Fluid Pressure ◽  
Multiscale Model ◽  
Element Model ◽  
Assembly Method ◽  
Internal Fluid ◽  
Stress Zone ◽  
Multiscale Finite Element ◽  
High Stress Zone

Pipeline fittings with ferrules are applied to connect sections of hydraulic pipelines in aircraft, and their reliability and stability are essential. This paper aims at investigating the influence of internal fluid on the sealing characteristics of pipeline fittings by employing the multiscale model. Changes in the sealing characteristics induced by the fluid pressure switch are studied, and the assembly method under the internal fluid is also explored. The calculated results show that the multiscale model can accurately reflect the changes in the sealing area, and the high-pressure fluid can enhance the sealing reliability. Compared with the contact area, the fluid pressure exerts a greater influence on the change in the area of the high-stress zone. Furthermore, the unrestored sealing area enlarges with the increased maximum fluid pressure, and the change in the area of the high-stress zone is significantly larger than that in the contact area. Moreover, the optimum assembly position of ferrule decreases with the increase in fluid pressure, thus achieving the excellent sealing characteristics.

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