Design and Control of a Force-Reflecting Haptic Interface for Teleoperational Grasping

2002 ◽  
Vol 124 (2) ◽  
pp. 277-283 ◽  
Author(s):  
Scott L. Springer ◽  
Nicola J. Ferrier
Keyword(s):  
High Speed ◽  
Haptic Interface ◽  
Design Parameters ◽  
Resistance Force ◽  
Human Hand ◽  
Initial Contact ◽  
Position Measurement ◽  
Improved Performance ◽  
Human Finger ◽  
Rigid Surfaces

In this paper the design of a multi-finger force-reflecting haptic interface device for teleoperational grasping is introduced. The haptic interface or “master” controller device is worn on the human operator’s hand and measured human finger positions are used to control the finger positions of a remote grasping manipulator or “slave” device. The slave may be a physical robotic grasping manipulator, or a computer generated representation of a human hand such as used in virtual reality applications. The forces measured by the robotic slave, or calculated for the virtual slave, are presented to the operator’s fingertips through the master providing a means for deeper human sensation of presence and better control of grasping tasks in the slave environments. Design parameters and performance measures for haptic interfaces for teleoperation are discussed. One key performance issue involving the high-speed display of forces during initial contact, especially when interacting with rigid surfaces, is addressed by the present design, reducing slave controller computation requirements and overcoming actuator response time constraints. The design presented utilizes a planar four-bar linkage for each finger, to represent each finger bend motion as a single degree of freedom, and to provide a finger bend resistance force that is substantially perpendicular to the distal finger pad throughout the full 180 degrees of finger bend motion represented. The finger linkage design, in combination with a remote position measurement and force display assembly, provides a very lightweight and low inertia system with a large workspace. The concept of a replicated finger is introduced which, in combination with a decoupled actuator and feed forward control, provides improved performance in transparent free motion, and rapid, stable touch sensation of initial contact with rigid surfaces. A distributed computation architecture with a PC based haptic interface controller and associated control algorithms are also discussed.

Design of a Multi-Finger Haptic Interface for Teleoperational Grasping

1999 ◽  
Author(s):  
Scott L. Springer ◽  
Nicola J. Ferrier
Keyword(s):  
High Speed ◽  
Haptic Interface ◽  
Design Parameters ◽  
Resistance Force ◽  
Human Hand ◽  
Initial Contact ◽  
Position Measurement ◽  
Improved Performance ◽  
Human Finger ◽  
Rigid Surfaces

Abstract In this paper the design of a multi-finger force-reflecting haptic interface device for teleoperational grasping is introduced. The haptic interface or “master” controller device is worn on the human operator’s hand and measured human finger positions are used to control the finger positions of a remote grasping manipulator or “slave” device. The slave may be a physical robotic grasping manipulator, or a computer generated representation of a human hand such as used in virtual reality applications. The forces measured by the robotic slave, or calculated for the virtual slave, are presented to the operator’s fingertips through the master providing a means for deeper human sensation of presence and better control of grasping tasks in the slave environments. Design parameters and performance measures for haptic interfaces for teleoperation are discussed. One key performance issue involving the high-speed display of forces during initial contact, especially when interacting with rigid surfaces, is addressed by the present design, reducing slave controller computation requirements and overcoming actuator response time constraints. The design presented utilizes a planar four-bar linkage for each finger, to represent each finger bend motion as a single degree of freedom, and to provide a finger bend resistance force that is substantially perpendicular to the distal finger pad throughout the full 180 degrees of finger bend motion represented. The finger linkage design, in combination with a remote position measurement and force display assembly, provides a very light weight and low inertia system with a large workspace. The concept of a replicated finger is introduced which, in combination with a decoupled actuator and feed forward control, provides improved performance in transparent free motion, and rapid, stable touch sensation of initial contact with rigid surfaces. A distributed computation architecture with a PC based haptic interface controller and associated control algorithms are also discussed.

Aerodynamic and aeroacoustic performance investigations on modified H-rotor Darrieus wind turbine

2021 ◽  
pp. 0309524X2110039
Author(s):  
Amgad Dessoky ◽  
Thorsten Lutz ◽  
Ewald Krämer
Keyword(s):  
Wind Turbine ◽  
High Speed ◽  
Cfd Simulation ◽  
Vertical Axis ◽  
3D Models ◽  
Power Coefficient ◽  
Design Parameters ◽  
Second Phase ◽  
Vertical Axis Wind Turbine ◽  
Guide Vanes

The present paper investigates the aerodynamic and aeroacoustic characteristics of the H-rotor Darrieus vertical axis wind turbine (VAWT) combined with very promising energy conversion and steering technology; a fixed guide-vanes. The main scope of the current work is to enhance the aerodynamic performance and assess the noise production accomplished with such enhancement. The studies are carried out in two phases; the first phase is a parametric 2D CFD simulation employing the unsteady Reynolds-averaged Navier-Stokes (URANS) approach to optimize the design parameters of the guide-vanes. The second phase is a 3D CFD simulation of the full turbine using a higher-order numerical scheme and a hybrid RANS/LES (DDES) method. The guide-vanes show a superior power augmentation, about 42% increase in the power coefficient at λ = 2.75, with a slightly noisy operation and completely change the signal directivity. A remarkable difference in power coefficient is observed between 2D and 3D models at the high-speed ratios stems from the 3D effect. As a result, a 3D simulation of the capped Darrieus turbine is carried out, and then a noise assessment of such configuration is assessed. The results show a 20% increase in power coefficient by using the cap, without significant change in the noise signal.

The Engagement of Hybrid Ultra High Space Division Multiplexing with Maximum Time Division Multiplexing Techniques for High-Speed Single-Mode Fiber Cable Systems

2019 ◽  
Vol 0 (0) ◽  
Author(s):  
I. S. Amiri ◽  
P. G. Kuppusamy ◽  
Ahmed Nabih Zaki Rashed ◽  
P. Jayarajan ◽  
M. R. Thiyagupriyadharsan ◽  
...  
Keyword(s):  
Communication Systems ◽  
High Speed ◽  
Single Mode ◽  
Single Mode Fiber ◽  
Design Parameters ◽  
Control Parameters ◽  
Data Rates ◽  
Fiber Optic Communication ◽  
High Space ◽  
Optic Communication

AbstractHigh-speed single-mode fiber-optic communication systems have been presented based on various hybrid multiplexing schemes. Refractive index step and silica-doped germanium percentage parameters are also preserved during their technological boundaries of attention. It is noticed that the connect design parameters suffer more nonlinearity with the number of connects. Two different propagation techniques have been used to investigate the transmitted data rates as a criterion to enhance system performance. The first technique is soliton propagation, where the control parameters lead to equilibrium between the pulse spreading due to dispersion and the pulse shrinking because of nonlinearity. The second technique is the MTDM technique where the parameters are adjusted to lead to minimum dispersion. Two cases are investigated: no dispersion cancellation and dispersion cancellation. The investigations are conducted over an enormous range of the set of control parameters. Thermal effects are considered through three basic quantities, namely the transmission data rates, the dispersion characteristics, and the spectral losses.

Parameter study and optimization design of a hat oblique tunnel portal

2021 ◽  
pp. 095440972110140
Author(s):  
Zijian Guo ◽  
Tanghong Liu ◽  
Wenhui Li ◽  
Yutao Xia
Keyword(s):  
High Speed ◽  
Optimization Design ◽  
Pareto Front ◽  
Optimization Problem ◽  
Optimization Method ◽  
Design Parameters ◽  
Parameter Study ◽  
Buffer Structure ◽  
Tunnel Entrance ◽  
The Ideal

The present work focuses on the aerodynamic problems resulting from a high-speed train (HST) passing through a tunnel. Numerical simulations were employed to obtain the numerical results, and they were verified by a moving-model test. Two responses, [Formula: see text] (coefficient of the peak-to-peak pressure of a single fluctuation) and[Formula: see text] (pressure value of micro-pressure wave), were studied with regard to the three building parameters of the portal-hat buffer structure of the tunnel entrance and exit. The MOPSO (multi-objective particle swarm optimization) method was employed to solve the optimization problem in order to find the minimum [Formula: see text] and[Formula: see text]. Results showed that the effects of the three design parameters on [Formula: see text] were not monotonous, and the influences of[Formula: see text] (the oblique angle of the portal) and [Formula: see text] (the height of the hat structure) were more significant than that of[Formula: see text] (the angle between the vertical line of the portal and the hat). Monotonically decreasing responses were found in [Formula: see text] for [Formula: see text] and[Formula: see text]. The Pareto front of [Formula: see text] and[Formula: see text]was obtained. The ideal single-objective optimums for each response located at the ends of the Pareto front had values of 1.0560 for [Formula: see text] and 101.8 Pa for[Formula: see text].

scholarly journals Reliability Evaluation of Fan-Out Type 3D Packaging-On-Packaging

Micromachines ◽  
2021 ◽  
Vol 12 (3) ◽  
pp. 295
Author(s):  
Pao-Hsiung Wang ◽  
Yu-Wei Huang ◽  
Kuo-Ning Chiang
Keyword(s):  
Finite Element ◽  
Thermal Cycling ◽  
Glass Substrate ◽  
High Speed ◽  
Coefficient Of Thermal Expansion ◽  
Three Dimensional ◽  
Design Parameters ◽  
Time To Failure ◽  
Wafer Level ◽  
Fine Pitch

The development of fan-out packaging technology for fine-pitch and high-pin-count applications is a hot topic in semiconductor research. To reduce the package footprint and improve system performance, many applications have adopted packaging-on-packaging (PoP) architecture. Given its inherent characteristics, glass is a good material for high-speed transmission applications. Therefore, this study proposes a fan-out wafer-level packaging (FO-WLP) with glass substrate-type PoP. The reliability life of the proposed FO-WLP was evaluated under thermal cycling conditions through finite element simulations and empirical calculations. Considering the simulation processing time and consistency with the experimentally obtained mean time to failure (MTTF) of the packaging, both two- and three-dimensional finite element models were developed with appropriate mechanical theories, and were verified to have similar MTTFs. Next, the FO-WLP structure was optimized by simulating various design parameters. The coefficient of thermal expansion of the glass substrate exerted the strongest effect on the reliability life under thermal cycling loading. In addition, the upper and lower pad thicknesses and the buffer layer thickness significantly affected the reliability life of both the FO-WLP and the FO-WLP-type PoP.

scholarly journals High Efficiency Generalized Parallel Counters for Look-Up Table Based FPGAs

2015 ◽  
Vol 2015 ◽  
pp. 1-16 ◽  
Author(s):  
Burhan Khurshid ◽  
Roohie Naaz Mir
Keyword(s):  
Power Dissipation ◽  
High Speed ◽  
High Efficiency ◽  
Critical Path ◽  
Fir Filters ◽  
Path Delay ◽  
Look Up Table ◽  
Improved Performance ◽  
Ip Cores ◽  
Low Efficiency

Generalized parallel counters (GPCs) are used in constructing high speed compressor trees. Prior work has focused on utilizing the fast carry chain and mapping the logic onto Look-Up Tables (LUTs). This mapping is not optimal in the sense that the LUT fabric is not fully utilized. This results in low efficiency GPCs. In this work, we present a heuristic that efficiently maps the GPC logic onto the LUT fabric. We have used our heuristic on various GPCs and have achieved an improvement in efficiency ranging from 33% to 100% in most of the cases. Experimental results using Xilinx 5th-, 6th-, and 7th-generation FPGAs and Stratix IV and V devices from Altera show a considerable reduction in resources utilization and dynamic power dissipation, for almost the same critical path delay. We have also implemented GPC-based FIR filters on 7th-generation Xilinx FPGAs using our proposed heuristic and compared their performance against conventional implementations. Implementations based on our heuristic show improved performance. Comparisons are also made against filters based on integrated DSP blocks and inherent IP cores from Xilinx. The results show that the proposed heuristic provides performance that is comparable to the structures based on these specialized resources.

Development of High-Speed Response Electromagnetic Linear Actuator Using for Pneumatic Control Valve

2014 ◽  
Vol 532 ◽  
pp. 41-45 ◽  
Author(s):  
Myung Jin Chung
Keyword(s):  
Optimal Design ◽  
Dynamic Characteristics ◽  
High Speed ◽  
Design Method ◽  
Control Valve ◽  
Design Parameters ◽  
Linear Actuator ◽  
Analytic Model ◽  
Electromagnetic Linear Actuator ◽  
Quadratic Programming Method

Analytic model of electromagnetic linear actuator in the function of electric and geometric parameters is proposed and the effects of the design parameters on the dynamic characteristics are analyzed. To improve the dynamic characteristics, optimal design is conducted by applying sequential quadratic programming method to the analytic model. This optimal design method aims to minimize the response time and maximize force efficiency. By this procedure, electromagnetic linear actuator having high-speed characteristics is developed.

Peculiarities of the Power Hydrocannon Operation

2003 ◽  
Author(s):  
G. A. Atanov ◽  
A. N. Semco ◽  
O. P. Petrenko ◽  
E. S. Geskin ◽  
V. Samardzic ◽  
...  
Keyword(s):  
High Speed ◽  
Numerical Technique ◽  
Design Parameters ◽  
Jet Formation ◽  
Pressure Fields ◽  
Fluid Jets

The paper is concerned with improvement of the devices for formation of super high-speed fluid jets termed hydro cannon. Two modes of the energy injection into the fluid (the piston impact and the powder explosion) are considered and advantages of the use of the gunpowder are determined. A numerical technique for prediction of the jet formation, developed previously by one of the authors is applied for description of the velocity and pressure fields within the hydro cannon. Effect of the design parameters on the fluid acceleration is explored and suggestions for improvement of the hydro cannon design are made.

Simultaneous Optimal Design of the Lyapunov-Based Semi-Active Control and the Semi-Active Vibration Control Device: Inverse Lyapunov Approach

2010 ◽  
Author(s):  
Kazuhiko Hiramoto ◽  
Taichi Matsuoka ◽  
Akira Fukukita ◽  
Katsuaki Sunakoda
Keyword(s):  
Optimal Design ◽  
Lyapunov Function ◽  
Vibration Control ◽  
Active Control ◽  
Control Device ◽  
Ball Screw ◽  
Design Parameters ◽  
Resistance Force ◽  
Control Law ◽  
Lyapunov Approach

We address a simultaneous optimal design problem of a semi-active control law and design parameters in a vibration control device for civil structures. The Vibration Control Device (VCD) that is being developed by authors is used as the semi-active control device in the present paper. The VCD is composed of a mechanism of a ball screw with a flywheel for the inertial resistance force and an electric motor with an electric circuit for the damping resistance force. A new bang-bang type semi-active control law referred to as Inverse Lyapunov Approach is proposed as the semi-active control law. In the Inverse Lyapunov Approach the Lyapunov function is searched so that performance measures in structural vibration control are optimized in the premise of the bang-bang type semi-active control based on the Lyapunov function. The design parameters to determine the Lyapunov function and the design parameters of the VCD are optimized for the good performance of the semi-active control system. The Genetic Algorithm is employed for the optimal design.

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