scholarly journals Hand Guiding a Virtual Robot Using a Force Sensor

2021 ◽  
Vol 15 (3) ◽  
pp. 177-186
Author(s):  
Radovan Gregor ◽  
Andrej Babinec ◽  
František Duchoň ◽  
Michal Dobiš
Keyword(s):  
Open Source ◽  
Polynomial Interpolation ◽  
Force Sensor ◽  
Torque Sensor ◽  
Motion Trajectories ◽  
Advantages And Disadvantages ◽  
Open Source Framework ◽  
Planning Algorithm ◽  
Guiding System ◽  
Hand Action

Abstract The research behind this paper arose out of a need to use an open-source system that enables hand guiding of the robot effector using a force sensor. The paper deals with some existing solutions, including the solution based on the open-source framework Robot Operating System (ROS), in which the built-in motion planner MoveIt is used. The proposed concept of a hand-guiding system utilizes the output of the force–torque sensor mounted at the robot effector to obtain the desired motion, which is thereafter used for planning consequential motion trajectories. Some advantages and disadvantages of the built-in planner are discussed, and then the custom motion planning solution is proposed to overcome the identified drawbacks. Our planning algorithm uses polynomial interpolation and is suitable for continuous replanning of the consequential motion trajectories, which is necessary because the output from the sensor changes due to the hand action during robot motion. The resulting system is verified using a virtual robot in the ROS environment, which acts on the real Optoforce force–torque sensor HEX-70-CE-2000N. Furthermore, the workspace and the motion of the robot are restricted to a greater extent to achieve more realistic simulation.

scholarly journals PRISMS-Fatigue computational framework for fatigue analysis in polycrystalline metals and alloys

2021 ◽  
Vol 7 (1) ◽  
Author(s):  
Mohammadreza Yaghoobi ◽  
Krzysztof S. Stopka ◽  
Aaditya Lakshmanan ◽  
Veera Sundararaghavan ◽  
John E. Allison ◽  
...  
Keyword(s):  
Open Source ◽  
Open Source Software ◽  
Large Scale ◽  
Metals And Alloys ◽  
Analysis Tool ◽  
Computational Framework ◽  
Crystal Plasticity Finite Element ◽  
Polycrystalline Metals ◽  
Simulation Based ◽  
Open Source Framework

AbstractThe PRISMS-Fatigue open-source framework for simulation-based analysis of microstructural influences on fatigue resistance for polycrystalline metals and alloys is presented here. The framework uses the crystal plasticity finite element method as its microstructure analysis tool and provides a highly efficient, scalable, flexible, and easy-to-use ICME community platform. The PRISMS-Fatigue framework is linked to different open-source software to instantiate microstructures, compute the material response, and assess fatigue indicator parameters. The performance of PRISMS-Fatigue is benchmarked against a similar framework implemented using ABAQUS. Results indicate that the multilevel parallelism scheme of PRISMS-Fatigue is more efficient and scalable than ABAQUS for large-scale fatigue simulations. The performance and flexibility of this framework is demonstrated with various examples that assess the driving force for fatigue crack formation of microstructures with different crystallographic textures, grain morphologies, and grain numbers, and under different multiaxial strain states, strain magnitudes, and boundary conditions.

scholarly journals PoreAnalyzer—An Open-Source Framework for the Analysis and Classification of Defects in Additive Manufacturing

2021 ◽  
Vol 11 (13) ◽  
pp. 6086
Author(s):  
Nils Ellendt ◽  
Fabian Fabricius ◽  
Anastasiya Toenjes
Keyword(s):  
Additive Manufacturing ◽  
Open Source ◽  
Total Porosity ◽  
Shape Accuracy ◽  
Process Maps ◽  
Defect Type ◽  
Open Source Framework ◽  
New Material ◽  
High Cooling Rates

Additive manufacturing processes offer high geometric flexibility and allow the use of new alloy concepts due to high cooling rates. For each new material, parameter studies have to be performed to find process parameters that minimize microstructural defects such as pores or cracks. In this paper, we present a system developed in Python for accelerated image analysis of optical microscopy images. Batch processing can be used to quickly analyze large image sets with respect to pore size distribution, defect type, contribution of defect type to total porosity, and shape accuracy of printed samples. The open-source software is independent of the microscope used and is freely available for use. This framework allows us to perform such an analysis on a circular area with a diameter of 5 mm within 10 s, allowing detailed process maps to be obtained for new materials within minutes after preparation.

scholarly journals COMANDO: A Next-Generation Open-Source Framework for Energy Systems Optimization

2021 ◽  
pp. 107366
Author(s):  
Marco Langiu ◽  
David Yang Shu ◽  
Florian Joseph Baader ◽  
Dominik Hering ◽  
Uwe Bau ◽  
...  
Keyword(s):  
Open Source ◽  
Energy Systems ◽  
Next Generation ◽  
Open Source Framework

scholarly journals BioJava: an open-source framework for bioinformatics

2008 ◽  
Vol 24 (18) ◽  
pp. 2096-2097 ◽  
Author(s):  
R. C. G. Holland ◽  
T. A. Down ◽  
M. Pocock ◽  
A. Prlic ◽  
D. Huen ◽  
...  
Keyword(s):  
Open Source ◽  
Open Source Framework

CGRA-ME: An Open-Source Framework for CGRA Architecture and CAD Research : (Invited Paper)

2021 ◽  
Author(s):  
Jason Anderson ◽  
Rami Beidas ◽  
Vimal Chacko ◽  
Hsuan Hsiao ◽  
Xiaoyi Ling ◽  
...  
Keyword(s):  
Open Source ◽  
Open Source Framework

scholarly journals Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Thomas Lehmann ◽  
Mahdi Tavakoli ◽  
Nawaid Usmani ◽  
Ronald Sloboda
Keyword(s):  
Force Sensor ◽  
Needle Insertion ◽  
Interstitial Brachytherapy ◽  
Control Technique ◽  
Torque Sensor ◽  
Treatment Efficiency ◽  
Treatment Procedure ◽  
Virtual Sensor ◽  
Needle Deflection ◽  
Mechanical Models

A virtual sensor is developed for the online estimation of needle tip deflection during permanent interstitial brachytherapy needle insertion. Permanent interstitial brachytherapy is an effective, minimally invasive, and patient friendly cancer treatment procedure. The deflection of the needles used in the procedure, however, undermines the treatment efficiency and, therefore, needs to be minimized. Any feedback control technique to minimize the needle deflection will require feedback of this quantity, which is not easy to provide. The proposed virtual sensor for needle deflection incorporates a force/torque sensor, mounted at the base of the needle that always remains outside the patient. The measured forces/torques are used by a mathematical model, developed based on mechanical needle properties. The resulting estimation of tip deflection in real time during needle insertion is the main contribution of this paper. The proposed approach solely relies on the measured forces and torques without a need for any other invasive/noninvasive sensing devices. A few mechanical models have been introduced previously regarding the way the forces are composed along the needle during insertion; we will compare our model to those approaches in terms of accuracy. In order to conduct experiments to verify the deflection model, a custom-built, 2-DOF robotic system for needle insertion is developed and discussed. This system is a prototype of an intelligent, hand-held surgical assistant tool that incorporates the virtual sensor proposed in this paper.

ACADO toolkit-An open-source framework for automatic control and dynamic optimization

2010 ◽  
Vol 32 (3) ◽  
pp. 298-312 ◽  
Author(s):  
Boris Houska ◽  
Hans Joachim Ferreau ◽  
Moritz Diehl
Keyword(s):  
Automatic Control ◽  
Open Source ◽  
Dynamic Optimization ◽  
Open Source Framework

Design and Analysis of Force Sensor for Condition Monitoring System of Ball Cold Heading Forming

2013 ◽  
Vol 364 ◽  
pp. 253-256 ◽  
Author(s):  
Qi Zhang ◽  
Ying Jun Li ◽  
Ru Jian Ma ◽  
Xiu Hua Men
Keyword(s):  
Condition Monitoring ◽  
Dynamic Performance ◽  
Force Sensor ◽  
Dynamic Measurement ◽  
Wide Frequency Range ◽  
Force Sensing ◽  
Frequency Range ◽  
Advantages And Disadvantages ◽  
Condition Monitoring System ◽  
Forming Defects

In order to solve the forming defects in the steel ball cold heading process, a novel force sensor which chooses the PVDF piezoelectric films as force-sensing elements is designed. The advantages and disadvantages of piezoelectric force sensor on measurement of the cold heading force are compared with existing force sensors. By using FEM, sensor’s linearity and the structure size are analyzed. Compared with the traditional sensor, this structure is more reasonable. The presented PVDF piezoelectric force sensor has wide frequency range, good dynamic performance, and can realize dynamic measurement.

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