bluuebunny/crossref_metadata_2025 huggingface dataset:
Distributed Photo-Plethysmograph Fingernail Sensors: Finger Force Measurement Without Haptic Obstruction
Authors: Mascaro Stephen , Asada H. Harry
Published: December 2021

Improvement on a new type of touch sensor for detecting contact pressure at human fingertips is presented. A fingernail is instrumented with spatially distributed arrays of miniature LEDs and photodetectors in order to measure changes in the nail color pattern when the fingertip is pressed against a surface. Unlike traditional electronic gloves, in which sensor pads are placed between the fingers and the environment surface, this new sensor allows the fingers to directly contact the environment without obstructing the human’s natural haptic senses. The finger touch force is detected by measuring changes in the nail color, hence the sensor is mounted on the fingernail rather than on the fingertip. Photo-reflective plethysmography is used to measure the pattern of nail color — i.e. the blood content under the fingernail. Hemodynamic modeling is used to investigate the dynamics of the change in blood volume at multiple locations under the fingernail. The model is simulated and then evaluated by comparison with the experimental dynamic response of the sensor.
Haptic Rendering for Internal Content of an Implicit Object
Authors: Maneewarn Thavida , Hannaford Blake , Storti Duane W. , Ganter Mark A.
Published: December 2021

The haptic rendering algorithms for an object with implicit surface representation are proposed. The basic rendering algorithm for a regular two-dimensional manifold is used to represent a solid volumetric object. For applications where information about the internal content of an object is concerned, the haptic rendering algorithm for internal content of an implicit object is developed. The proposed algorithm is derived from the concept of state transition via ‘port’ using manifold with boundary representation. Manifold with boundary is constructed from implicit primitives. The advantage of implicit surface representation in haptic applications is emphasized. Both algorithms were successfully implemented in the haptic interface system and were applied to various implicit models.
Combined Visual/Haptic Rendering Modes for Scientific Visualization
Authors: Infed Farid , Brown Shane V. , Lee Christopher D. , Lawrence Dale A. , Dougherty Anne M. , Pao Lucy Y.
Published: December 2021

Graphical visualization has advanced our ability to understand large multi-dimensional data sets, but some types of data are still difficult to convey. We discuss three applications which provide visualization challenges: electro-magnetic fields, fluid dynamics, and stress analysis. Visualization modes combining visual and haptic rendering are developed to address these specific types of data. Implementation issues are briefly discussed. Difficulties in testing these modes are also identified.
Direct Haptic Rendering of Complex Trimmed NURBS Models
Authors: Thompson Thomas V. , Cohen Elaine
Published: December 2021

The most accurate haptic rendition of a virtual model is produced when the haptic algorithm acts directly on the actual model and not an intermediate representation. In the modeling and design communities the de facto model representation standard is NURBS. Further, more powerful systems provide trimming and adjacency information within the models representation. This additional information permits more complex models to be expressed succinctly but also increases the complexity of representation. In this paper we present an algorithm that supports direct haptic rendering of models constructed from trimmed NURBS surfaces. Our distributed system links an advanced modeling system to a force-reflecting device. In addition, we present extensions to the algorithm which support model manipulation, dimensioned probes, and multi-probe contact.
Minimum-Time Control of Crane With Simultaneous Traverse and Hoist
Authors: Ong C. J. , Hu G. S. , Teo C. L.
Published: December 2021

The problem of minimum-time control of crane having simultaneous traverse and hoisting motions is considered. We propose an approach that converts this problem into a finite dimensional optimization problem via control parameterization with an appropriate basis function. Such an approach simplifies the treatment of the constraints and allows for the easy satisfaction of the endpoint constraints. This optimization problem is solved using a novel two-stage optimization process. Under additional conditions, the solution obtained from this process can be shown to be the optimum. When these conditions are not met, a near optimal solution is obtained. Several numerical examples are provided, including the case where there is unequal cable length at the endpoints.
Vibration Control Using Parametric Excitation
Authors: Nguyen Phillip H. , Ginsberg Jerry H.
Published: December 2021

A simple pendulum whose pivot executes harmonic motion in the vertical direction is a prototype for systems subjected to parametric excitation. Forced excitation of this system is represented as a harmonically varying torque whose frequency is taken to be arbitrary. The investigation explores whether, for specified values of the natural frequency and the excitation frequency, it is possible to select an amplitude and frequency for the parametric excitation such that the pendulum’s vibratory rotation is reduced. The analysis supplements numerical integration of the equation of motion with a Fourier series analysis suitable to situations where the parametric frequency is a multiple of the forcing frequency. Studies of the behavior for cases of near-resonant forcing and forced excitation far from the natural frequency lead to a general guideline for selecting the parametric excitation amplitude and frequency. The conclusion is that, with judicious selection of the parametric amplitude, a parametric frequency that is very high relative to the highest contemplated excitation frequency can reduce to forced response at any lower frequency to very small levels.
Theoretical and Experimental Analysis of Coupled Vibration of a Microcantilever Array
Authors: Hosaka Hiroshi , Itao Kiyoshi
Published: December 2021

The coupled vibration of microcantilevers, which is induced by airflow, is analyzed in the present study in order to develop high-speed information and sensing devices that use micro-actuator arrays. Simple formulas that give the vibrational coupling amplitude and damping ratio are derived by replacing the cantilevers with a string of spheres, solving Stokes equation, then combining it with an ordinary beam equation. Using these formulas, the coupling amplitude is seen to increase as the beam size, beam gap, internal friction, and the difference in the resonant frequencies of the beams all decrease; the damping ratio is seen to increase as the beam becomes smaller. The validity of the theory advanced here is verified with actual size and enlarged model experiments.
A Single-Step Automatic Tuning Algorithm for the Delayed Resonator Vibration Absorber
Authors: Hosek Martin , Olgac Nejat
Published: December 2021

The delayed resonator (DR) is an active vibration control approach where a passive mass-spring-damper arrangement is converted into an undamped real-time tunable dynamic absorber using partial state feedback with time delay. In the presented work, robustness of the control strategy against fluctuations in the structural parameters of the controlled system is addressed. A single-step automatic tuning algorithm based on on-line parameter identification is developed as a means of increasing robustness against uncertainties and variations in the mechanical properties of the absorber arrangement. The tuning process is completed within the absorber section of the controlled system with no external information from the primary structure. Implementation of the algorithm is demonstrated experimentally on a clamped-clamped flexible beam.
Model Development for Spark Ignition Utility Engines to Support Control Algorithm Designs
Authors: Wagner John , Cheek William
Published: December 2021

Utility spark ignition gasoline engines are deployed worldwide for a variety of functions including transportation, power generation, and fluid movement. These engines are typically air-cooled and employ cost-effective carburetors and fixed angle spark ignition systems. Although utility engines are generally operated on the same gasolines available for highway vehicles, there are remote applications where gasoline formulations may be substantially degraded. Until recently, two and four stroke utility engines have not been a focal point for performance enhancement or pollution control technology. However, the growing awareness of small engine pollution, as well as legislated federal and state requirements, presents many engineering challenges. In this paper, an analytical and empirical model is presented to describe the behavior of internal combustion spark ignition utility engines. The nonlinear engine model will support the design of model-based and intelligent control algorithms prior to dynamometer testing. An electronic control system architecture is introduced using a multi-purpose programmable engine controller which is capable of regulating fuel injection and electronic spark ignition subsystems.
Lateral Control of Tractor-Semitrailer Combination for Automated Highway Systems: An Experimental Study
Authors: Hingwe P. , Tai M. , Wang J.-Y. , Tomizuka M.
Published: December 2021

The California Partners for Advanced Transit and Highway (PATH) Program has been actively involved in the research on controls of heavy vehicles for the Automated Highway Systems (AHS) in the past six years. In this paper, we will present the experimental aspects of the lateral control of a heavy vehicle system in the context of AHS. The experimental heavy vehicle under investigation is a class 8 Freightliner tractor-semitrailer. The hardware instrumentation of the test vehicle is described. Open-loop experiments are conducted to verify the dynamic model of a tractor-semitrailer system. A classical loop-shaping controller and linear robust H∞ controller for the lateral control of the tractor-semitrailer are designed and experimentally verified up to the velocity of 45 mph on a test track with both straight and curved sections (800m in radius).
Rollover Warning of Articulated Vehicles Based on a Time-To-Rollover Metric
Authors: Chen Bo-Chiuan , Peng Huei
Published: December 2021

A Time-To-Rollover (TTR) metric is proposed as the basis to assess rollover threat for an articulated vehicle. Ideally, a TTR metric will accurately “count-down” toward rollover regardless of vehicle speed and steering patterns, so that the level of rollover threat is accurately indicated. To implement TTR in real-time, there are two conflicting requirements. On the one hand, a faster-than-real-time model is needed. On the other hand, the TTR predicted by this model needs to be accurate enough under all driving scenarios. An innovative approach is proposed in this paper to solve this dilemma and the whole process is illustrated in a design example. First, a simple yet reasonably accurate yaw/roll model is identified. A Neural Network (NN) is then developed to mitigate the accuracy problem of this simplified real-time model. The NN takes the TTR generated by the simplified model, vehicle roll angle and change of roll angle to generate an enhanced NN-TTR index. The NN was trained and verified under a variety of driving patterns. It was found that an accurate TTR is achievable across all the driving scenarios we tested.
Optimal Control of Variable Geometry Turbocharged Diesel Engines With Exhaust Gas Recirculation
Authors: Kolmanovsky I. , van Nieuwstadt M. , Moraal P.
Published: December 2021

This paper presents results on the optimal transient control of diesel engines with exhaust gas recirculation (EGR) and a variable geometry turbocharger (VGT). The implications of these results for feedback controller design axe discussed.
Excalibur, a Three-Axis Force Display
Authors: Adams Richard J. , Moreyra Manuel R. , Hannaford Blake
Published: December 2021

In haptic simulation, a force feedback device is combined with a digital representation of a virtual world to create a kinesthetically immersive experience. The force feedback device, or haptic display, is usually a robotic manipulator with which a human operator interacts physically through a handle, stylus, finger-pad or some other form of customized interface. Modeling of the haptic display is often overlooked when building a haptic simulation. Understanding the dynamic behavior of the device is critical in assessing the stability and performance of the overall system as well as in the construction of the digital simulation. This paper describes some of the special modeling requirements for haptic displays. A dynamic model for Excalibur, a new three axis force display, is developed in a two step process. First an analytical model is constructed based on measured values and basic principals. Then the model is tuned using the results of vibrational testing to achieve a close match between the modal behavior of the theoretical and real systems. Numerical and experimental results are presented for representative points in the device’s workspace.
Passive Stiffness Simulation With Rate-Independent Hysteresis
Authors: Goldfarb Michael , Wang Jie
Published: December 2021

Dynamics and discretization in the haptic simulation of a pure stiffness can generate energetically active behavior in a theoretically passive element, and thus can lead to unstable behavior. The authors propose a physically-based approach to ensuring passive behavior in the haptic simulation of a stiffness by coupling a rate-independent hysteresis with the pure stiffness. The former is implemented in a simple causal form by incorporating a generalized Maxwell slip description of hysteresis. Experiments were conducted to compare the proposed approach to the simulation of a pure stiffness. Experimental results indicate that the proposed approach demonstrates significantly better stability for given stiffness and sampling rate. Results also demonstrate that the proposed approach enables stable simulation of a significantly larger stiffness for a given sampling rate, and simulation at a significantly lower sampling rate for a given stiffness.
Bilateral Parallel Force/Position Teleoperation Control
Authors: Hashtrudi-Zaad Keyvan , Salcudean Septimiu E.
Published: December 2021

The application of parallel force/position control to teleoperation systems is considered in this paper. Higher priority is given to position control at the master side and to force control at the slave side of the teleoperation system. The stability and performance of the proposed controller is investigated by analyzing the three decoupled systems obtained from projecting the closed-loop system dynamics onto the slave task-space orthogonal directions. Experimental results demonstrate the excellent force and position tracking performance provided by the new controller.
Hybrid Control of Air Traffic Management
Authors: Tomlin Claire J.
Published: December 2021

This paper provides a brief introduction to air traffic management and to two new technologies available for its modernization. A new architecture for an automated air traffic management system is introduced, and a mathematical representation of such an architecture, called a nonlinear hybrid system, is presented. A computational method for synthesizing controllers for hybrid systems is then discussed, followed by a two-aircraft conflict resolution example. The paper is concluded with a discussion of ongoing research.
6-DOF Haptic Interface for Neurosurgical Simulation System
Authors: Asano Takeo , Matsuzaki Hiroshi , Saito Akito , Furuhashi Yukihiko , Akatsuka Yuichiro , Kosaka Akio , Shibasaki Takao
Published: December 2021

Practical use of medical simulation system with virtual reality technology is expected because of the learning of the operation procedure. We have therefore developed a neurosurgical simulation system for minimally invasive surgery. Our system is composed of PC and one or two haptic interfaces. Operator can pick up the region of interest to specify the disease portion from DICOM format image data, then three-dimensional model have made by volume and surface rendering with this data. In the next step, system estimates and indicates on CRT the minimally invasive path from the head surface to the disease target that was picked up beforehand by this system which retains healthy human’s three-dimensional atlas data. Finally, the operator can perform a virtual surgery operation by the haptic interface that has been connected to PC, and can cut off an exact or approximate portion of the disease. The operator can feel the resistance from this virtual object. This operation process can be recorded for medical doctors to review later.
Six Degree-of-Freedom Haptic System as a Desktop Virtual Prototyping Interface
Authors: Cohen Abbe , Chen Elaine
Published: December 2021

This paper describes a new six degree of freedom haptic interface with a large translational and rotational range of motion. The 6DOF haptic interface is demonstrated with an example industrial-scale virtual prototyping simulation which shows a moderately complex object Interacting with an arbitrarily complex virtual environment, using a full-service collision detection and response package to calculate the force and torque response in all six degrees of freedom.
Control Electronics and Hybrid Dynamic System-Based API for a 6-DOF Desktop Haptic Interface
Authors: Salcudean S. E. , Six R. , Barman R. , Kingdon S. , Chau I. , Murray D. , Steenburgh M.
Published: December 2021

A six-degree-of-freedom desktop magnetically levitated haptic interface has been developed by the authors. Its electromechanical design is described in (Salcudean and Parker, 1997). In this paper, aspects of electronic hardware architecture and the control of actuator currents are discussed.

To program this device, a new low level applications programming interface (API) that models the haptic interface as a hybrid dynamic system is proposed. The user can define a finite state machine in which every state is a device impedance. State transitions occur upon the satisfaction of linear inequalities in terms of the device location, velocity and force. Examples of the use of such hybrid dynamic systems to produce haptic effects are given.
Restricted Access: Exploratory Procedures and Object Properties
Authors: O’Modhrain M. Sile
Published: December 2021

In this paper, we present the results of a pilot study that examines whether restricting how people can explore objects haptically effects the object attributes they notice and the efficiency with which they can perform a simple sorting task. 25 observers were each randomly assigned to one of five exploration conditions: two hands (the control), one hand, thumb/forefinger, one finger, or probe. All observers performed a series of two-bin sorts. Stimuli were eight multi-propertied cubes which could be divided into two equal bins according to three properties: size, texture, and compliance. Preliminary results indicate that the restrictions on manual exploration we imposed affected both the exploratory procedures observers chose to use and the efficiency with which they could perform the task. Haptic interface designs inevitably restrict the exploratory procedures available to the user. This study attempts to determine the cost of these restrictions on the efficiency with which a user can explore multi-propertied objects in a virtual or telepresence environment.
A System for Japanese Calligraphy Lesson With Force Feedback on Internet
Authors: Sakuma Masayasu , Masamori Susumu , Harada Tetsuya
Published: December 2021

This paper shows one of the internet-based virtual reality applications for a remote lesson for Japanese calligraphy. Using this system, remote teachers can teach pupils how to write Japanese calligraphy by providing force feedback to their pupils. There are some skills that are difficult to learn by just listening to or reading advice. We think Japanese calligraphy is a good example. This system assists pupils in writing letters in the traditional Japanese way by teaching them the movement of the brush. This system works via the Internet. So by using the system, teachers can teach calligraphy by force feedback without the pupils being present.

We conducted experiments of a remote lesson with this system between Japan and Germany via the Internet. It was proven that this system could assist people in writing letters in the traditional Japanese way. In Japanese calligraphy, velocity of the brush movement is important. During the lesson, pupils could write at nearly the correct velocity, and after the lesson, their writing velocity was closer to that of the teacher’s.

Following these experiments, we created a new version of the system. In the new system, visual feedback was added with see-through HMD so the problems in the old version were resolved. This is also described in this paper.
A Haptic Device Driven by Grasping Force for Hand Gesture Tele-Communication
Authors: Sawada Hideyuki , Hashimoto Shuji
Published: December 2021

The importance of human-machine interface is widely acknowledged in accordance with the increase of the computer powers. In human to human communication, we communicate with each other by using not only verbal media but also non-verbal media. Especially information transmitted through the five senses is able to affect our emotions and feelings directly making for smooth communication. This paper introduces the development of a new haptic device driven by hand gestures. Since the device is molded with silicon-rubber with the softness of human skin, a user is able to make hand gestures with his “sense of force” by the transforming manipulations. The device is able not only to sense user’s twiddling gestures but also to display reactions against the hand gestures by vibration patterns. As an experimental trial of a tele-communication system, the device was employed for terminal devices, and questionnaires were conducted to evaluate the device in the haptic communication.
Speed Fuzzy Logic Control for an Autonomous Vehicle
Authors: Hodge Neil Eugene , Shi Linda Zhixia , Trabia Mohamed B.
Published: December 2021

Autonomous vehicles can be used in variety of applications such as hazardous environment or intelligent highway system. Fuzzy logic seems to be an appropriate choice for this area since it can deal with uncertainties. This paper proposes a fuzzy logic controller for the speed of an autonomous vehicle as it moves toward a target amid static and dynamic obstacles. The controller is divided into separate modules to mimic the way humans think while driving. One module speeds and slows the vehicle as it moves toward the target while another controls the speed in the neighborhood of obstacles. A third module controls the speed of the vehicle as it turns sharp corners. The paper also proposes a method for automatic tuning of the target throttle control module to stabilize the velocity of the vehicle as it approaches its target. The paper contains a simulation example to demonstrate the presented concepts.
Support for Efficient Modeling of Multidisciplinary Systems
Authors: Mann Heřman
Published: December 2021

The paper advocates for the multipole approach to physical modeling. Thanks to isomorphism between the configuration of real systems and their multipole models, these models can be easily set up based on mere inspection of the systems. The relationship between multipole and bond-graph approaches is explained in the paper using linear graphs. It is shown that it is the oversimplified representation of multiports what makes the bond graphs so cumbersome and ambiguous.
State Space Modeling of Differential-Algebraic Systems Using Singularly Perturbed Sliding Manifolds
Authors: Gordon Brandon W. , Liu Sheng , Asada Haruhiko H.
Published: December 2021

Physical systems are often most systematically modeled using a mixed set of Differential and Algebraic Equations (DAEs). However, high index DAE systems which possess identically singular algebraic constraints can present a number of problems in simulation and control. A key difficulty with these systems is that they are not expressed in an explicit state space representation. This paper describes a new modeling approach based on singularly perturbed sliding manifolds for developing state space realizations of high index DAE systems. The new method is illustrated for a model of a two phase flow heat exchanger.
Modular Modeling of Engineering Systems Using Fixed Input-Output Structure
Authors: Byam Brooks P. , Radcliffe Clark J.
Published: December 2021

Computer modeling is common in the design and development of complex engineering systems. A system model is built up by connecting the inputs and outputs of several subsystem models. This process requires flexible modeling tools. Models with arbitrary input-output structure have this flexibility but must have their internal equations reformulated to agree with the inputs and outputs used. The flexibility achieved with arbitrary input-output structure occurs at the cost of globally reformulating the equations of each subsystem and component model with every change. Each model equation formulation requires performance verification because every formulation does not have the same guaranteed performance. This can be particularly cumbersome in large models. A fixed input-output structure allows elements to be used without modification of their internal equations. Modular simulation models have the property that their elements have fixed input-output structure while maintaining the flexible assembly required in today’s large complex modeling environments. Structural and automotive examples are given.
Multi Domain Co-Simulation of the Human Thermoregulatory System
Authors: Gu Bei , Asada Haruhiko H.
Published: December 2021

This paper presents a new lumped-parameter model based simulation that describes the dynamics of the human thermoregulatory system. This approach captures the dynamic behavior of the circulation, thermal, and neural control subsystems. These coupled dynamics have never been studied even though subsystem models have existed for some time. The simulator relates the ambient air temperature to the mean arterial blood pressure, skin blood flow, and skin temperature. Experiments are used to verify the model. The simulation results are agreed with the real time experimental measurements. Furthermore, the coupled model and the co-simulator are constructed in a modular fashion that satisfies many requirements of large-scale complex physiological co-simulation.
Optimal Sensor Location Using Observability Analysis of Distributed Structures
Authors: Chaghajerdi Amir H. , Shoureshi Rahmat A.
Published: December 2021

In order to monitor, diagnose, and assess the state of a structure, which is a distributed parameter system, the spatial distribution and numbers of sensors play a very important role. This paper presents analytical derivation for N-mode observability for structures as a general representation of distributed parameter systems. This derivation provides engineering tools for optimal location of monitoring systems (e.g. sensors) on a structure. To verify these results, this technique has been applied to model of a cable-stayed bridge. Experimental modal analysis is done on the bridge. The resultant natural frequencies and mode shapes are applied to extract optimal sensor locations for the first six vertical modes of the bridge. The optimal sensor locations are evaluated based on a specified performance index related to observability grammians for both cases of displacement sensors and velocity sensors. This observability analysis is applied to the experimental bridge and results are verified.
Comparison Between Parkinson Disease Patients and Healthy Subjects in a Procedural Motor Learning Task: Preliminary Results
Authors: Krebs Hermano I. , Hogan Neville , Hening Wayne , Adamovich Sergei , Poizner Howard
Published: December 2021

We are studying if Parkinson disease patients (PD) have a learning deficit, particularly a procedural motor learning deficit. PD patients, age-matched and young adult controls were asked to execute point-to-point movements in a “virtual mechanical environment” generated by a portable robot. We compare the learning rate of subjects while they learned to manipulate the novel force field. Our preliminary results suggest that PD patients present a deficit in the rate of procedural motor learning and that we can estimate their learning specific “equivalent” age.
Ultrasonic Sensor Placement Strategy for a Long Cane
Authors: Cai Xiaofeng , Gao Robert X.
Published: December 2021

This paper addresses the placement strategy of ultrasonic sensors to be embedded into a long cane to serve as an electronic aid for the visually impaired. The strategy is based on performance measures for overhanging obstacle detection, which include detectable spatial zone, measurement accuracy, and long cane dynamics. A finite element analysis has been performed to simulate the vibratory response of a long cane with embedded sensors. Experiments have been conducted to verify the analytically derived results. The study provided insight for an optimized structural design of a new type of sensor-embedded long cane that can be used as an effective electronic travel aid for the blind.
Force Tracking Control for Electrohydraulic Active Suspensions Using Output Redefinition
Authors: Osorio Carlos F. , Gopalasamy Srinivasan , Hedrick Karl
Published: December 2021

This paper presents an output redefinition strategy for the design of a dual sliding surface force tracking controller for a two degrees of freedom electrohydraulic active suspension system. In the proposed approach, an appropriately redefined output is made to track a modified reference trajectory, which effectively compensates for undesired behavior and controller bandwidth limitations introduced into the system by the built-in feedback of the suspension velocity to the actuator dynamics. Results show a noticeable performance improvement in the controller’s ability to track a variety of desired force reference trajectories, while adequately handling external road disturbances. The careful design of this force tracking controller is an important step towards implementation and realization of the full potential of several linear active suspension control techniques that consider the suspension actuator force as the input to the system. The experimental evaluation of the controller was performed on the UC Berkeley Active Suspension Test Rig.
The Virginia Tech Center for Automotive Fuel Cell Systems, a US Dept. of Energy GATE Center
Authors: Nelson Douglas J. , Ogburn Michael J. , von Spakovsky Michael R. , Olsommer Benoit , Ellis Michael W.
Published: December 2021

The U.S. Department of Energy (DoE), Office of Advanced Automotive Technologies, has established ten Centers of Automotive Technology Excellence under the Graduate Automotive Technology Education (GATE) program. The Virginia Tech GATE Center for Automotive Fuel Cell Systems is an interdisciplinary, government and industry collaboration for research and education. The center has research, laboratory and education programs in fuel cell systems technology for advanced vehicles. Five GATE Fellowships are funded by DoE at the center starting in Fall, 1999. The center is developing laboratory facilities and a graduate course to support the center research.
Sensor Module for Integrated Bearing Condition Monitoring
Authors: Wang Changting , Gao Robert X.
Published: December 2021

To obtain bearing fault signals with high signal-to-noise ratio, an appropriate sensor module needs to be designed and implemented that can be placed in the vicinity of the bearing to be monitored. This paper presents several design issues related to the sensor module, the build-in electronics, and the scheme of wireless signal communication. Advantages of using an integrated sensor over an external sensor for acquiring bearing signals are presented. Experimental studies have been conducted under various loading and speed conditions, using a commercially available ball bearing that has a seeded defect on its inner ring. The defect was detected using power spectrum analysis techniques. The results provided useful input to the further development of signal processing algorithms for bearing defect feature extraction.
Application of Magneto Rheological Dampers for Controlling Shock Loading
Authors: Ahmadian Mehdi , Poynor James C. , Gooch Jason M.
Published: December 2021

This study will examine the effectiveness of magneto-rheological (MR) dampers for controlling shock dynamics. Using a system that includes a 50-caliber rifle and a magneto-rheological damper, it is experimentally shown that MR dampers can be quite effective in controlling the compromise that commonly exists between shock forces and strokes across the shock absorber mechanism. A series of tests are conducted to demonstrate that different damping forces by the MR damper can result in different shock-force/stroke profiles. The test results further show that MR dampers can be used in a closed-loop system to adjust the shock loading characteristics in a manner that fits the dynamic system constraints and requirements.
Precision Measurement of Tool-Tip Displacement Using Strain Gages in Precision Flexible Line Boring
Authors: Li Chen-Jung , Ulsoy A. Galip
Published: December 2021

Precision displacement measurement is a critical element to achieve active control for high-precision (e.g. 5 μm) flexible line boring. Since current measurement methods are difficult to apply in this application, a new measurement method has been developed. This paper presents a new strain-gage based method for the high-precision vibration measurement of a beam. This method is based on the fact that the vibration displacement can be expressed in terms of an infinite number of vibration modes and related to the measured strains through the strain-displacement relationship. By placing multiple sets of strain gages, multiple modes can be taken into account to achieve high-precision measurement. Both simulation and experimental results were obtained and are provided for validation. From these results, it can be concluded that this new measurement method is applicable to high-precision flexible line boring, enabling active control to compensate for the tool-tip displacement to achieve a high-precision machining process.
Input Design for the System Identification (IDSI) of an Ultrasonic 3D Position Estimation System
Authors: Schoen Marco P. , Mahajan Ajay , Kuo Chien-Hsun , Chinvorarat Sinchai , Huang J. K.
Published: December 2021

The purpose of this work is to develop an input design for the system identification (IDSI) method for improved performance of a 3D position estimation system that uses multiple ultrasonic transducers. In this paper, an input design is proposed based on input/output data gathered from random excitation so as to excite all modes. The data set is then used to compose a new set of input data, from which the system is excited again and identified. The input design method is used for the system identification of ultrasonic sensor pairs (transmitter-receiver) so as to obtain an accurate model. This model is essential for the analysis of the system and its eventual optimization. Results are given that show the comparison of the actual output signal of the system and the output of the model obtained from the IDSI method as well as the identifiability indicator. It is shown that the IDSI is a useful method and improves system identification even in the presence of excessive noise.
Design and Development of a Multi-Module Deployable Manipulator
Authors: Wong Kenneth , Modi Vinod J. , de Silva Clarence W. , Misra Arun K.
Published: December 2021

This paper presents the design and development of a Multi-module Deployable Manipulator System (MDMS) as well as a dynamical formulation for it. The system is designed for experimental investigations aimed at dynamics and control of this variable geometry manipulator by implementing different control algorithms to regulate its performance. The manipulator operates in a horizontal plane and is unique in that it comprises of four modules, each of which has one revolute joint and one prismatic joint, connected in a chain topology. Each module has a slewing link of approximately 20cm length and is capable of extending by 15cm. The manipulator design involves the selection and sizing of actuators, the design of mounting and connecting components, and the selection of hardware as well as software for real-time control. The dynamical model is formulated using an O(N) algorithm, based on the Lagrangian approach and velocity transformations. The O(N) character is computationally efficient permitting real-time control of the system.
Performance Evaluation of Control Networks for Manufacturing Systems
Authors: Lian F.-L. , Moyne J. R. , Tilbury D. M.
Published: December 2021

There are many different networks which have been promoted for use in manufacturing control systems. In this paper, we discuss the features of three candidates: Ethernet (CSMA/CD), ControlNet (Token Bus) and DeviceNet (CAN Bus). We consider how each of these control networks could be used as a communication backbone for a networked control system. A detailed discussion of the medium access control protocol for each network is provided. The medium access control protocol is responsible for providing both the satisfaction of the time-critical/real-time response requirement over the network and the quality and reliability of the communication between devices on the network. For each protocol, we derive the key parameters of the corresponding network when used in a control situation, including bandwidth, magnitude of the expected time delay, and variation in time delays. Simulation results are presented for several different scenarios, and the advantages and disadvantages of each network are summarized.
Modeling of the Dynamic Contour Error of Five-Axis CNC Machine Tools
Authors: Lin Rong-Shine , Hu C. W.
Published: December 2021

This paper focuses on the dynamic contour errors due to the coordinated five-axis motion. The dynamic contour error for tracking a contour is defined as the difference between the desired contour and the actual responded tool trajectory to the contouring motion command. We present a methodology on modeling the contour error under a 5-axis machining motion that requires moving the rotation axes and translation axes simultaneously. The derivation includes the forward kinematics and inverse kinematics in terms of homogeneous transformation matrices of a horizontal live-axis machine tool. The input to the contour error model is the measured axial error on each axis. Tire output is the contour error caused by the coordinated five-axis motion. The axial error considered in this model is assumed due to the drive dynamics and the friction force. Computer programs are developed for simulation of the contour error caused by the five-axis motion. The simulation results and analyses are also provided in this paper.
Adaptive Process Control in Noncircular Grinding
Authors: Tönshoff Hans Kurt , Scherger Stephan , Hinkenhuis Helmut
Published: December 2021

Conventional process control in noncircular grinding requires high efforts concerning adjustment and optimization. The increasing demands on multi-product-ability as well as small lot sizes or single piece production do no longer allow these efforts. Furthermore, process relevant information like normal or tangential forces is not monitored, consequently there is no possibility for process quality control to support a constant workpiece quality.

This article introduces a hybrid adaptive control which consists of three components:

The contour pre-filtering unit converts the contour data into a nominal value curve that is twice differentiable.

Limited dynamic ranges of the drives, especially at high rates of workpiece rotations, are considered in the predictive feeddrive position control unit.

The normal force control unit keeps the swelling of the machine at a constant value and therefore improves the dimensional accuracy of noncircular workpieces like e.g. cams.

The hybrid adaptive control dramatically reduces the setup time of the process and results in improved workpiece quality.
Process Feedback Control of Non-Circular Turning for Camshaft Machining
Authors: Sun Zongxuan , Tsao Tsu-Chin
Published: December 2021

This paper presents a process feedback control scheme for cam profile generation by non-circular turning process. While precise tool slide motion can be generated based on real-time servo feedback control, it does not necessarily ensure accurate machined cam profiles. The effects of tool/workpiece geometry, tool wears, machine deformations, and spindle runout error can not be measured by the tool slide displacement sensor and hence are not compensated for by the servo control. A process feedback controller is designed to compensate for the repeatable profile errors from one machining cycle to another. Utilizing the fact that the desired cam profile is periodic over one spindle rotation, process feedback control is analyzed and designed in the frequency domain. Implementation of the process feedback control on a steel camshaft turning demonstrates improvement of the maximum cam profile errors from 80 microns to within 20 microns in five iterations.
Buckling of Debonded (Delaminated) Sandwich Panels With Transversely Flexible Core
Authors: Frostig Y. , Sokolinsky V.
Published: December 2021

Buckling behavior of sandwich panels with a compressible core which are debonded at one of their face sheet-core interfaces is presented. The buckling analysis is based on the principles of the High-Order Sandwich Panel Theory (HSAPT). The effect of the delamination length and location on the critical loads and the buckling modes is studied numerically. Edge delamination as well as inner delamination results are presented. The effect of contact on the critical loads and the buckling modes is presented. A comparison with experimental buckling modes is discussed and conclusions are drawn.
Application of Microwave Heating for Adhesive Joining
Authors: Thostenson Erik T. , Chou Tsu-Wei
Published: December 2021

In conventional joining of composite materials and sandwich structures, reductions in processing time are limited by inefficient heat transfer. In conventional processing the thermal energy must diffuse through the composite layers to heat the joint interface and cure the thermosetting adhesive, and this outside-in process of heating results in excessive processing times and wasted energy. The purpose of the current work is to examine microwave heating as an alternative to conventional heating for joining of composite structures. Through proper material selection, microwaves are able to penetrate the substrate materials and cure the adhesives in-situ. Selective heating with microwaves is achieved by incorporating interlayer materials that have high dielectric loss properties relative to the substrate materials. In this study, a processing window for elevated temperature curing of an epoxy paste adhesive system (HYSOL EA 9359.3) was developed and composite joint systems were manufactured using conventional and microwave techniques and tested in shear. Microwave curing resulted in both enhanced shear strength and less scatter in experimental data.
Active Sandwich Trim Panels for Quieter Aircraft Interior
Authors: Sun J. Q.
Published: December 2021

Recent research in the area of structural acoustic control for aircraft interior noise suppression has been focused on developing active trim panels. Active trim panels being part of non-critical structures offer many advantages over active controls applied to load critical structures such as aircraft frames and skins. This paper presents a study of active sandwich composite trim panels. The paper first investigates the effect of curvature on the dynamics of the trim panel, and the power transfer between the actuator and the host panel. Experimental data of interior noise control are then presented to demonstrate the application of the active trim panels.
Designing With High Temperature Composites
Authors: Miller Robert J.
Published: December 2021

Actual and potential composite applications in commercial and military aircraft gas turbine engines range from low temperature graphite/polymer matrix composite (PMC) components at the front of the engine, such as, fan blades, vanes, struts and cases, to high temperature ceramic matrix composite (CMC) turbine, combustor, augmentor, and nozzle components. Currently the “building block” approach is primarily used in the development of composite components for gas turbine engines. Critical issues associated with the design of composite structures for both commercial and military aircraft gas turbine engines are defined. Critical structural components for both commercial and military gas turbine engines are designed to meet strict safety-of-flight requirements established by the FAA and the Air Force/Navy, respectively. Key design requirements established for damage tolerance and durability are emphasized.
Neowand: A New Device and Paradigms for Immersive Interactions
Authors: Russo Michael , Pimentel Kenneth
Published: December 2021

Natural interactions within immersive environments have been restricted by the limited degree of interaction provided by existing software and mechanical devices for mediating this interface. Furthermore, this interaction has typically depended on techniques that assume 20Hz+ frame-rates. These techniques then suffer from the real-world vagaries of constantly changing frame-rates, and sensor latency that may range from 1Hz to 60Hz. This paper describes both a new set of paradigms for picking, navigating, manipulating and editing objects within an immersive environment and a new device custom-designed for such use. Additionally, this paper describes a technique for ensuring interaction with immersive environments at human-rates (20Hz+) that are independent of scene complexity and most hardware. Finally, this paper describes early results of comparing these new techniques against other practices.
Telemetry-Based Depth Recovery for Virtual Factory Construction and Extension to Remote Facility Management
Authors: Zetu Dan , Banerjee Pat , Akgunduz Ali
Published: December 2021

The fast construction of a Virtual Factory model without using a CAD package can be made possible by using computer vision techniques. In order to create a realistic Virtual Manufacturing environment, especially when such a model has to be created in correlation to an existing facility, a reliable algorithm that extracts 3D models from camera images is needed, and this requires exact knowledge of the camera location when capturing images. In this paper, we describe an approach for depth recovery from 2D images based on tracking a camera within the environment. We also explore the extension of our telemetry-based algorithm to remote facility management, by tracking and synchronizing human motion on the shop floor with motion of an avatar in a Virtual Environment representing the same shop floor.
Evaluation of Some Commercial VR Environments: Trends and Directions
Authors: Hudson A. , Dodds B. , Curtis J. , Banerjee A. , Banerjee P. , DeFanti T.
Published: December 2021

Some of the commercially available software systems for VR applications are evaluated for a number of desired features. These features are useful in determining the choice of software while developing a VR application. The capabilities and drawbacks of the software systems are highlighted using a grading procedure and the current trends and future needs in VR software are discussed.