20 DOF Five Fingered Glove Type Haptic Interface - Sensor Glove II -

1997 ◽  
Vol 9 (3) ◽  
pp. 171-176 ◽  
Author(s):  
Toshio Kitada ◽  
◽  
Yasuharu Kunii ◽  
Hideki Hashimoto ◽  
◽  
...  
Keyword(s):  
Virtual Object ◽  
Experimental Result ◽  
Human Hand ◽  
Dynamic Force ◽  
Human Interface ◽  
Preliminary Experimental Result ◽  
Reaction Forces ◽  
Design Characteristics ◽  
And Performance ◽  
The Stability

In this paper, a new haptic human interface device to communicate with a virtual world, which we named Sensor Glove II (SGII), is presented. SGII, which is drawn on the human hand, corresponds to the dexterous manipulation of human fingers and acquires angles and torque of each joint. SGII adds the reaction forces of a virtual object to the fingers. The forces are calculated in the Dynamic Force Simulator we have developed. We outline the design, characteristics and structure of SGII, and display preliminary experimental result to verify the stability and performance of SGII.

Neural-net tuned PID control of a parallel type mechanism with force feedback for virtual reality applications

Robotica ◽  
2004 ◽  
Vol 22 (3) ◽  
pp. 319-327 ◽  
Author(s):  
M. Karkoub ◽  
M.-G. Her ◽  
K.-S. Hsu ◽  
C.-Y. Chen
Keyword(s):  
Virtual Reality ◽  
Force Feedback ◽  
Robot Manipulator ◽  
Virtual Object ◽  
Neural Net ◽  
Stabilizing Controller ◽  
Human Interface ◽  
Nyquist Stability ◽  
And Performance ◽  
The Stability

This paper explores a new type of a parallel platform human interface manipulator based on virtual reality (VR) for mechanism design applications. A motion control of a six-link robot manipulator actuated by three active joints is presented here. The main components of the system include a user interface, a software simulating the environment, and a VR control system. The model of the VR system is built based on a force feedback behavior that enables the operator to feel the actual force feedback from the virtual environment just as he/she would from the real environment. A primary stabilizing controller is used to develop a haptic interface device where realistic simulations of the dynamic interaction forces between a human operator and the simulated virtual object/mechanism is required. The stability and performance of the system are studied and analyzed based on the Nyquist stability criterion. Experiments on cutting virtual clay are used to validate the theoretical developments. It was shown that the experimental and theoretical results are in good agreement.

Картофелекопатель с ротационной сепарирующей поверхностью

2018 ◽  
Author(s):  
V.M. Alakin ◽  
G.S. Nikitin
Keyword(s):  
Performance Data ◽  
Pilot Studies ◽  
Research Results ◽  
Operating Modes ◽  
Analysis Of Results ◽  
Design Characteristics ◽  
And Performance ◽  
Definition Of

Приведены результаты исследований экспериментального картофелекопателя с ротационной сепарирующей поверхностью. Особое внимание уделяется обоснованию конструктивных параметров и определению рабочих характеристик нового сепарирующего устройства. На основе анализа результатов экспериментальных исследований определены наиболее оптимальные режимы работы экспериментального картофелекопателя.Research results of an experimental potato digger with rotational separating web are published in this article. Special attention is paid to definition of design characteristics and performance data of the new separating device. Admissible operating modes are defined on the basis of the analysis of results of pilot studies of the experimental potato digger.

Local Calibration of Pavement Mechanistic-Empirical Faulting Reliability using Pavement Management Data

2021 ◽  
pp. 036119812110013
Author(s):  
Lucio Salles de Salles ◽  
Lev Khazanovich
Keyword(s):  
Model Calibration ◽  
Prediction Models ◽  
Plain Concrete ◽  
Performance Model ◽  
Pavement Management ◽  
Pavement Design ◽  
Reliability Model ◽  
Transverse Joint ◽  
Design Characteristics ◽  
And Performance

The Pavement ME transverse joint faulting model incorporates mechanistic theories that predict development of joint faulting in jointed plain concrete pavements (JPCP). The model is calibrated using the Long-Term Pavement Performance database. However, the Mechanistic-Empirical Pavement Design Guide (MEPDG) encourages transportation agencies, such as state departments of transportation, to perform local calibrations of the faulting model included in Pavement ME. Model calibration is a complicated and effort-intensive process that requires high-quality pavement design and performance data. Pavement management data—which is collected regularly and in large amounts—may present higher variability than is desired for faulting performance model calibration. The MEPDG performance prediction models predict pavement distresses with 50% reliability. JPCP are usually designed for high levels of faulting reliability to reduce likelihood of excessive faulting. For design, improving the faulting reliability model is as important as improving the faulting prediction model. This paper proposes a calibration of the Pavement ME reliability model using pavement management system (PMS) data. It illustrates the proposed approach using PMS data from Pennsylvania Department of Transportation. Results show an increase in accuracy for faulting predictions using the new reliability model with various design characteristics. Moreover, the new reliability model allows design of JPCP considering higher levels of traffic because of the less conservative predictions.

scholarly journals A Bio-Inspired Compliance Planning and Implementation Method for Hydraulically Actuated Quadruped Robots with Consideration of Ground Stiffness

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2838
Author(s):  
Xiaoxing Zhang ◽  
Haoyuan Yi ◽  
Junjun Liu ◽  
Qi Li ◽  
Xin Luo
Keyword(s):  
Harmonic Oscillation ◽  
Ground Surface ◽  
Legged Locomotion ◽  
Soft Ground ◽  
Quadruped Robots ◽  
In Series ◽  
Reaction Forces ◽  
Implementation Method ◽  
The Stability ◽  
Natural Dynamics

There has been a rising interest in compliant legged locomotion to improve the adaptability and energy efficiency of robots. However, few approaches can be generalized to soft ground due to the lack of consideration of the ground surface. When a robot locomotes on soft ground, the elastic robot legs and compressible ground surface are connected in series. The combined compliance of the leg and surface determines the natural dynamics of the whole system and affects the stability and efficiency of the robot. This paper proposes a bio-inspired leg compliance planning and implementation method with consideration of the ground surface. The ground stiffness is estimated based on analysis of ground reaction forces in the frequency domain, and the leg compliance is actively regulated during locomotion, adapting them to achieve harmonic oscillation. The leg compliance is planned on the condition of resonant movement which agrees with natural dynamics and facilitates rhythmicity and efficiency. The proposed method has been implemented on a hydraulic quadruped robot. The simulations and experimental results verified the effectiveness of our method.

scholarly journals Switched Capacitor DC-DC Converters: A Survey on the Main Topologies, Design Characteristics, and Applications

Energies ◽  
2021 ◽  
Vol 14 (8) ◽  
pp. 2231
Author(s):  
Alencar Franco de Souza ◽  
Fernando Lessa Tofoli ◽  
Enio Roberto Ribeiro
Keyword(s):  
Voltage Regulation ◽  
Inherent Difficulty ◽  
Practical Applications ◽  
Dc Power ◽  
Higher Power ◽  
Voltage Doubler ◽  
Converter Design ◽  
Design Characteristics ◽  
And Performance ◽  
Full Charge

This work presents a review of the main topologies of switched capacitors (SCs) used in DC-DC power conversion. Initially, the basic configurations are analyzed, that is, voltage doubler, series-parallel, Dickson, Fibonacci, and ladder. Some aspects regarding the choice of semiconductors and capacitors used in the circuits are addressed, as well their impact on the converter behavior. The operation of the structures in terms of full charge, partial charge, and no charge conditions is investigated. It is worth mentioning that these aspects directly influence the converter design and performance in terms of efficiency. Since voltage regulation is an inherent difficulty with SC converters, some control methods are presented for this purpose. Finally, some practical applications and the possibility of designing DC-DC converters for higher power levels are analyzed.

scholarly journals Analytical Modeling and Design of Novel Conical Halbach Permanent Magnet Couplings for Underwater Propulsion

2021 ◽  
Vol 9 (3) ◽  
pp. 290
Author(s):  
Yukai Li ◽  
Yuli Hu ◽  
Youguang Guo ◽  
Baowei Song ◽  
Zhaoyong Mao
Keyword(s):  
Permanent Magnet ◽  
Analytical Calculation ◽  
Underwater Propulsion ◽  
Conical Structure ◽  
Torque Analysis ◽  
Dynamic Seal ◽  
And Performance ◽  
The Stability ◽  
Propulsion Unit ◽  
Force Calculation

Permanent magnet couplings can convert a dynamic seal into a static seal, thereby greatly improving the stability of the underwater propulsion unit. In order to make full use of the tail space and improve the transmitted torque capability, a conical Halbach permanent magnet coupling (C-HPMC) is proposed in this paper. The C-HPMC combines multiple cylindrical HPMCs with different sizes into an approximately conical structure. Compared with the conical permanent magnet couplings in our previous work, the novel C-HPMC has better torque performance and is easy to process. The analytical calculation method of transmitted torque of C-HPMC is proposed on the basis of torque calculation of the three common types of HPMCs. The accuracy of the torque calculation of the three HPMCs is verified, and the torque performance of the three HPMCSs of different sizes is compared and discussed. The “optimal type selection” method is proposed and applied in the design of C-HPMC. Finally, on the basis of torque analysis calculation and axial force calculation, a complete flowchart of the design and performance analysis of C-HPMC is described.

Internet of things-based smart wearable system to monitor sports person health

2021 ◽  
pp. 1-14
Author(s):  
Fen Li ◽  
Oscar Sanjuán Martínez ◽  
R.S. Aiswarya
Keyword(s):  
Internet Of Things ◽  
Experimental Result ◽  
Wearable System ◽  
Wearable Systems ◽  
Trading Decisions ◽  
Time Basis ◽  
And Performance ◽  
Individual Sports ◽  
Smart Wearable ◽  
The Internet Of Things

BACKGROUND: The modern Internet of Things (IoT) makes small devices that can sense, process, interact, connect devices, and other sensors ready to understand the environment. IoT technologies and intelligent health apps have multiplied. The main challenges in the sports environment are playing without injuries and healthily. OBJECTIVE: In this paper the Internet of Things-based Smart Wearable System (IoT-SWS) is introduced for monitoring sports person activity to improve sports person health and performance in a healthy way. METHOD: Wearable systems are commonly used to capture individual sports details on a real-time basis. Collecting data from wearable devices and IoT technologies can help organizations learn how to optimize in-game strategies, identify opponents’ vulnerabilities, and make smarter draft choices and trading decisions for a sportsperson. RESULTS: The experimental result shows that IoT-SWS achieve the highest accuracy of 98.22% and efficient in predicting the sports person’s health to improve sports person performance reliably.

Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

2020 ◽  
pp. 014233122097313
Author(s):  
Yiqi Xu
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Inertia Model ◽  
And Performance ◽  
Attitude Tracking Control ◽  
The Stability

This paper studies the attitude-tracking control problem of spacecraft considering on-orbit refuelling. A time-varying inertia model is developed for spacecraft on-orbit refuelling, which actually includes two processes: fuel in the transfer pipe and fuel in the tank. Based upon the inertia model, an adaptive attitude-tracking controller is derived to guarantee the stability of the resulted closed-loop system, as well as asymptotic convergence of the attitude-tracking errors, despite performing refuelling operations. Finally, numerical simulations illustrate the effectiveness and performance of the proposed control scheme.

Analytical Modelling of the Dynamics of the Four-Bar Mechanism: A Comparison of Some Methods

2018 ◽  
Author(s):  
J. P. Meijaard ◽  
V. van der Wijk
Keyword(s):  
Virtual Work ◽  
Equations Of Motion ◽  
Differential Algebraic Equations ◽  
Force Balance ◽  
Dynamic Force ◽  
Algebraic Equations ◽  
Principle Of Virtual Work ◽  
Principal Vector ◽  
Reaction Forces ◽  
Principal Points

Some thoughts about different ways of formulating the equations of motion of a four-bar mechanism are communicated. Four analytic methods to derive the equations of motion are compared. In the first method, Lagrange’s equations in the traditional form are used, and in a second method, the principle of virtual work is used, which leads to equivalent equations. In the third method, the loop is opened, principal points and a principal vector linkage are introduced, and the equations are formulated in terms of these principal vectors, which leads, with the introduced reaction forces, to a system of differential-algebraic equations. In the fourth method, equivalent masses are introduced, which leads to a simpler system of principal points and principal vectors. By considering the links as pseudorigid bodies that can have a uniform planar dilatation, a compact form of the equations of motion is obtained. The conditions for dynamic force balance become almost trivial. Also the equations for the resulting reaction moment are considered for all four methods.

Nondestructive Test on Typical Roadway Supports of a Mine via Drilling Core and Ground Penetrating Radar

2011 ◽  
Vol 368-373 ◽  
pp. 2411-2416
Author(s):  
Jian Ping Han ◽  
Hai Peng Liu
Keyword(s):  
Ground Penetrating Radar ◽  
Geological Structure ◽  
Surrounding Rock ◽  
Potential Threat ◽  
Real Performance ◽  
Design Requirements ◽  
And Performance ◽  
The Stability ◽  
Ground Penetrating ◽  
Drilling Core

Temporary or permanent supports are necessary in underground construction for maintaining the stability and limiting the damage of surrounding rock. Due to the uncertainty of geological structure, the specificity of the underground environment as well as other factors, the quality and performance of supporting structure are often difficult to satisfy the design requirements, which not only seriously affects the normal construction and operation of mines but also has the potential threat to the safety of underground production. In order to investigate the influence of the unfavorable geologic environment on supporting concrete and evaluate the real performance of roadway supports of a mine, 17 typical projects were chosen and the strength of supporting concrete was detected by nondestructive drilling core method. The result shows that the strength is widely less than the design value. Furthermore, 4 projects of them were investigated by the ground penetrating radar (GPR) in order to evaluate the feasibility of GPR in the performance investigation of the roadway supports of a mine. The results indicate that ground penetrating radar is capable of measuring the thickness of the support, the distribution of rebars and the defects of the surrounding rock.

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