Towards a 3D simulation-based operator interface for teleoperated robots in disaster scenarios

Development of tolerance analysis methods that are consistent with the ASME and ISO GD&T (geometric dimensioning and tolerancing) standards is a challenging task. Such methods are the basis for creating computer-aided tools for 3D tolerance analysis and assemblability analysis. These tools, along with the others, make it possible to realize virtual manufacturing, in order to shorten lead-time and reduce cost in the product development process. Current simulation tools for 3D tolerance analysis and assemblability analysis are far from satisfactory because the underlying variation algorithms are not fully consistent with the GD&T standards. Better algorithms are still to be developed. Towards that goal, this paper proposes a complete algorithm for 3D slot features and tab features (frequently used in mechanical products) for 3D simulation-based tolerance analysis. The algorithms developed account for bonus/shift tolerances (i.e. effects from material condition specifications), and tolerance zone interaction when multiple tolerances are specified on the same feature. A case study is conducted to demonstrate the algorithm developed. The result from this work is compared with that from 1D tolerance chart method. The comparison study shows quantitatively why 1D tolerance chart method, which is popular in industry, is not sufficient for tolerance analysis, which is 3D in nature.

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3D Simulation-Based Pre-Occupancy Evaluation

Construction Research Congress 2018 ◽

10.1061/9780784481301.043 ◽

2018 ◽

Author(s):

Sangyun Shin ◽

Raja R. A. Issa

Keyword(s):

3D Simulation ◽

Simulation Based

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DEVELOPMENT OF 3D SIMULATION-BASED M&S EDUCATION PLATFORM FOR SMART LEARNING

Issues In Information Systems ◽

10.48009/2_iis_2013_225-232 ◽

2013 ◽

Keyword(s):

3D Simulation ◽

Smart Learning ◽

Simulation Based ◽

Education Platform

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Numerical assessment of residual stresses induced by combining turning-burnishing (CoTuB) process of AISI 4140 steel using 3D simulation based on a mixed approach

The International Journal of Advanced Manufacturing Technology ◽

10.1007/s00170-018-2086-7 ◽

2018 ◽

Vol 97 (5-8) ◽

pp. 1897-1912 ◽

Cited By ~ 3

Author(s):

Anis Rami ◽

Achref Kallel ◽

Syrine Djemaa ◽

Tarek Mabrouki ◽

Salem Sghaier ◽

...

Keyword(s):

Residual Stresses ◽

3D Simulation ◽

Aisi 4140 Steel ◽

Numerical Assessment ◽

Simulation Based ◽

Aisi 4140 ◽

Mixed Approach

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Stochastic Optimization of Impedance Parameters for a Powered Prosthesis Using a 3D Simulation Environment

Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control ◽

10.1115/dscc2018-9206 ◽

2018 ◽

Author(s):

Jonathan Camargo ◽

Krishan Bhakta ◽

Aaron Young

Keyword(s):

Ground Level ◽

Absolute Error ◽

Pattern Search ◽

3D Simulation ◽

Search Problem ◽

Simulation Environment ◽

Prosthetic Devices ◽

Daunting Task ◽

Simulation Based ◽

Impedance Parameters

Developing controllers for powered prostheses is a daunting task that requires involvement from clinicians, patients and robotics experts. Difficulties arise for tuning prosthetic devices that perform in multiple conditions and provide more functionality to the user. For this reason, we propose the implementation of a simulation framework based on the open-source 3D simulation environment Gazebo, to reduce the burden of experimentation and aid in the early stages of development. In this study, we present a minimalist plugin for the simulator that allows the interfacing of a virtual model with the native prosthesis controller and renders the finding of impedance parameters as a pattern search problem. To demonstrate the functionality of this approach, we used the framework to obtain the parameters that offer the most similar joint trajectory to the respective biological counterpart during swing phase for ground level walking. The optimization results are compared against the response of a physical 2DOF knee-ankle prosthesis operating under the optimized parameters, showing congruence to our model-based results. We found that a simulation-based solution is capable of finding parameters that create an emerging behavior that approximates to the kinematic trajectory goals within a tolerance (mean absolute error ∼10%). This provides an appropriate method for development and evaluation of impedance-based controllers before deployment to the physical device.

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