The Performance of a Delta Telerobot

2014 ◽  
Vol 619 ◽  
pp. 236-241
Author(s):  
Patharawut Suphama ◽  
Ratchatin Chancharoen
Keyword(s):  
Time Delay ◽  
Pulse Generator ◽  
Three Dimensional ◽  
Open Architecture ◽  
Total System ◽  
Open Architecture Controller ◽  
Time To Completion ◽  
Kinect Camera ◽  
Evaluation Task ◽  
Point To Point

The paper investigates the performance of a delta telerobot that a human operator works on a given task through the eye and hand of the robot. The Delta robot is installed with eye in hand camera and controlled by an open architecture controller that is configured to control the robot to follow the motion of the selectable HMI devices. The evaluation task is a three dimensional “connect the dot” game in which the robot is tele-operated with visual feedback to go point to point from position 1 to 6. The task performance is used to evaluate the performance of the total system that involves a robot, human factors, HMI, and environment. Three HMI devices including a manual pulse generator, Kinect camera, and a PHANToM OMNI Haptic Device are benchmarked. The result demonstrates that the Haptic with guided force is the best when compared to the others. In addition, the telerobot system can improve the time to completion by 30% and positioning accuracy by 50%, compared to human in the human scaled task. Then we investigate the effect of time delay of the delta telerobot with the Haptic. The result demonstrates that the time delay, that exceeds 100 ms, is proportion to both time to completion and positioning error in telerobot task, while the time delay below 100 ms gives no effect.

scholarly journals Improving 3D-3D facial registration methods: potential role of three-dimensional models in personal identification of the living

2021 ◽  
Author(s):  
Daniele Gibelli ◽  
Andrea Palamenghi ◽  
Pasquale Poppa ◽  
Chiarella Sforza ◽  
Cristina Cattaneo ◽  
...  
Keyword(s):  
Three Dimensional ◽  
3D Models ◽  
Personal Identification ◽  
Surveillance Systems ◽  
3D Registration ◽  
Three Dimensional Models ◽  
Point To Point ◽  
Point Distance ◽  
Male Subjects

AbstractPersonal identification of the living from video surveillance systems usually involves 2D images. However, the potentiality of three-dimensional facial models in gaining personal identification through 3D-3D comparison still needs to be verified. This study aims at testing the reliability of a protocol for 3D-3D registration of facial models, potentially useful for personal identification. Fifty male subjects aged between 18 and 45 years were randomly chosen from a database of 3D facial models acquired through stereophotogrammetry. For each subject, two acquisitions were available; the 3D models of faces were then registered onto other models belonging to the same and different individuals according to the least point-to-point distance on the entire facial surface, for a total of 50 matches and 50 mismatches. RMS value (root mean square) of point-to-point distance between the two models was then calculated through the VAM® software. Intra- and inter-observer errors were assessed through calculation of relative technical error of measurement (rTEM). Possible statistically significant differences between matches and mismatches were assessed through Mann–Whitney test (p < 0.05). Both for intra- and inter-observer repeatability rTEM was between 2.2 and 5.2%. Average RMS point-to-point distance was 0.50 ± 0.28 mm in matches, 2.62 ± 0.56 mm in mismatches (p < 0.01). An RMS threshold of 1.50 mm could distinguish matches and mismatches in 100% of cases. This study provides an improvement to existing 3D-3D superimposition methods and confirms the great advantages which may derive to personal identification of the living from 3D facial analysis.

Performance of Core Exit Thermocouple for PWR Accident Management Action in Vessel Top Break LOCA Simulation Experiment at OECD/NEA ROSA Project

2008 ◽  
Author(s):  
Mitsuhiro Suzuki ◽  
Takeshi Takeda ◽  
Hideo Nakamura
Keyword(s):  
Time Delay ◽  
Large Scale ◽  
Simulation Experiment ◽  
Three Dimensional ◽  
Test Facility ◽  
Large Temperature ◽  
Energy Agency ◽  
Pressurized Water ◽  
The Core ◽  
Accident Management

Presented are experiment results of the Large Scale Test Facility (LSTF) conducted at the Japan Atomic Energy Agency (JAEA) with a focus on core exit thermocouple (CET) performance to detect core overheat during a vessel top break loss-of-coolant accident (LOCA) simulation experiment. The CET temperatures are used to start accident management (AM) action to quickly depressurize steam generator (SG) secondary sides in case of core temperature excursion. Test 6-1 is the first test of the OECD/NEA ROSA Project started in 2005, simulating withdraw of a control rod drive mechanism penetration nozzle at the vessel top head. The break size is equivalent to 1.9% cold leg break. The AM action was initiated when CET temperature rose up to 623K. There was no reflux water fallback onto the CETs during the core heat-up period. The core overheat, however, was detected with a time delay of about 230s. In addition, a large temperature discrepancy was observed between the CETs and the hottest core region. This paper clarifies the reasons of time delay and temperature discrepancy between the CETs and heated core during boil-off including three-dimensional steam flows in the core and core exit. The paper discusses applicability of the LSTF CET performance to pressurized water reactor (PWR) conditions and a possibility of alternative indicators for earlier AM action than in Test 6-1 is studied by using symptom-based plant parameters such as a reactor vessel water level detection.

Fully Coupled Three-Dimensional Dynamic Response of a TLP Floating Wind Turbine in Waves and Wind

2012 ◽  
Author(s):  
G. K. V. Ramachandran ◽  
H. Bredmose ◽  
J. N. Sørensen ◽  
J. J. Jensen
Keyword(s):  
Wind Turbine ◽  
Dynamic Model ◽  
Three Dimensional ◽  
Geographic Location ◽  
Climatic Conditions ◽  
Offshore Wind ◽  
Offshore Wind Turbine ◽  
Total System ◽  
Wave Loads ◽  
Aerodynamic Loads

A dynamic model for a tension-leg platform (TLP) floating offshore wind turbine is proposed. The model includes three-dimensional wind and wave loads and the associated structural response. The total system is formulated using 17 degrees of freedom (DOF), 6 for the platform motions and 11 for the wind turbine. Three-dimensional hydrodynamic loads have been formulated using a frequency- and direction-dependent spectrum. While wave loads are computed from the wave kinematics using Morison’s equation, aerodynamic loads are modelled by means of unsteady Blade-Element-Momentum (BEM) theory, including Glauert correction for high values of axial induction factor, dynamic stall, dynamic wake and dynamic yaw. The aerodynamic model takes into account the wind shear and turbulence effects. For a representative geographic location, platform responses are obtained for a set of wind and wave climatic conditions. The platform responses show an influence from the aerodynamic loads, most clearly through a quasi-steady mean surge and pitch response associated with the mean wind. Further, the aerodynamic loads show an influence from the platform motion through more fluctuating rotor loads, which is a consequence of the wave-induced rotor dynamics. In the absence of a controller scheme for the wind turbine, the rotor torque fluctuates considerably, which induces a growing roll response especially when the wind turbine is operated nearly at the rated wind speed. This can be eliminated either by appropriately adjusting the controller so as to regulate the torque or by optimizing the floater or tendon dimensions, thereby limiting the roll motion. Loads and coupled responses are predicted for a set of load cases with different wave headings. Based on the results, critical load cases are identified and discussed. As a next step (which is not presented here), the dynamic model for the substructure is therefore being coupled to an advanced aero-elastic code Flex5, Øye (1996), which has a higher number of DOFs and a controller module.

scholarly journals Three-dimensional seismic analysis of concrete gravity dams considering foundation flexibility

2021 ◽  
Vol 25 (1) ◽  
pp. 88-98
Author(s):  
Mokhtar Messaad ◽  
Messoud Bourezane ◽  
Mohamed Latrache ◽  
Amina Tahar Berrabah ◽  
Djamel Ouzendja
Keyword(s):  
Young’S Modulus ◽  
Seismic Analysis ◽  
Young's Modulus ◽  
Three Dimensional ◽  
Shear Stresses ◽  
Total System ◽  
Dam Reservoir ◽  
Principal Stresses ◽  
Foundation Soil ◽  
North West

Abstract Concrete dams are considered as complex construction systems that play a major role in the context of both economic and strategic utilities. Taking into account reservoir and foundation presence in modeling the dam-reservoir-foundation interaction phenomenon leads to a more realistic evaluation of the total system behavior. The article discusses the dynamic behavior of dam-reservoir-foundation system under seismic loading using Ansys finite element code. Oued Fodda concrete dam, situated at Chlef, in North-West of Algeria, was chosen as a case study. Parametric study was also performed for different ratios between foundation Young's modulus and dam Young's modulus E f /E d (which varies from 0.5 to 4). Added mass approach was used to model the fluid reservoir. The obtained results indicate that when dam Young's modulus and foundation Young's modulus are equal, the foundation soil leads to less displacements in the dam body and decreases the principal stresses as well as shear stresses.

A PC-based Open Architecture Controller for Robot

2004 ◽  
Vol 3 (3) ◽  
pp. 296-302 ◽  
Author(s):  
Pan Liandong ◽  
Huang Xinhan . ◽  
Mohammad Arif .
Keyword(s):  
Open Architecture ◽  
Open Architecture Controller

Open architecture controller for a 22-DOF humanoid robot

2016 ◽  
Author(s):  
Luis A. Ortega-Rodriguez ◽  
Adrian Salazar-Almanza ◽  
Manuel E. Tapia-Ruiz ◽  
Jeovany Velasco-Avella ◽  
Mauro Santoyo-Mora ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Open Architecture ◽  
Open Architecture Controller

scholarly journals Stability and Bifurcation Analysis of a Three-Dimensional Recurrent Neural Network with Time Delay

2012 ◽  
Vol 2012 ◽  
pp. 1-13 ◽  
Author(s):  
Yingguo Li
Keyword(s):  
Neural Network ◽  
Time Delay ◽  
Recurrent Neural Network ◽  
Center Manifold ◽  
Dynamical Behavior ◽  
Three Dimensional ◽  
Nonlinear Dynamical ◽  
Bifurcation Direction ◽  
The Stability ◽  
Manifold Theory

We consider the nonlinear dynamical behavior of a three-dimensional recurrent neural network with time delay. By choosing the time delay as a bifurcation parameter, we prove that Hopf bifurcation occurs when the delay passes through a sequence of critical values. Applying the nor- mal form method and center manifold theory, we obtain some local bifurcation results and derive formulas for determining the bifurcation direction and the stability of the bifurcated periodic solution. Some numerical examples are also presented to verify the theoretical analysis.

scholarly journals Stability and Bifurcation Analysis for a Predator-Prey Model with Discrete and Distributed Delay

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Ruiqing Shi ◽  
Junmei Qi ◽  
Sanyi Tang
Keyword(s):  
Hopf Bifurcation ◽  
Time Delay ◽  
Three Dimensional ◽  
Distributed Delay ◽  
Dimensional System ◽  
Two Dimensional ◽  
Normal Form Theory ◽  
Predator Prey Model ◽  
Prey Model ◽  
Form Theory

We propose a two-dimensional predatory-prey model with discrete and distributed delay. By the use of a new variable, the original two-dimensional system transforms into an equivalent three-dimensional system. Firstly, we study the existence and local stability of equilibria of the new system. And, by choosing the time delayτas a bifurcation parameter, we show that Hopf bifurcation can occur as the time delayτpasses through some critical values. Secondly, by the use of normal form theory and central manifold argument, we establish the direction and stability of Hopf bifurcation. At last, an example with numerical simulations is provided to verify the theoretical results. In addition, some simple discussion is also presented.

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