bluuebunny/crossref_metadata_2025_split huggingface dataset:
The Role of the End-Effector in the Perception of Virtual Surfaces Presented via Force-Feedback Haptic Interfaces
Authors: Weisenberger Janet M. , Krier Michael J. , Rinker Martha A. , Kreidler Sandra M. 
Published: December 2021

Abstract
Differences in the force profile delivered by different types of end-effectors suggest that the choice of end-effector for a haptic interface can have a considerable effect on the perception of the human user. In the present study two different end-effector types were evaluated for two different haptic interfaces. Conventional probe-stylus end-effectors were tested on the PHANToM 3-degree-of-freedom (DOF) force feedback haptic interface and for the Immersion IE2000 2-DOF force feedback joystick. These were compared to thimble-gimbal end-effectors into which the index fingertip is inserted (standard for the PHANToM and specially constructed for the IE2000). In a task in which subjects were asked to judge the orientation of virtual sinusoidal gratings, no significant differences in performance were observed. Results are discussed in terms of tasks in which the differential cues delivered by different end-effectors might influence performance.
Distributed Photo-Plethysmograph Fingernail Sensors: Finger Force Measurement Without Haptic Obstruction
Authors: Mascaro Stephen , Asada H. Harry 
Published: December 2021

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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

Abstract
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.