bluuebunny/crossref_metadata_2025_split huggingface dataset:
Modelling of Surface Identifying Characteristics Using Fourier Series
Authors: Wall Steven A. , Harwin William S. 
Published: December 2021

Abstract
Texture and small-scale surface details are widely recognised as playing an important role in the haptic identification of objects. In order to simulate realistic textures in haptic virtual environments, it has become increasingly necessary to identify a robust technique for modelling of surface profiles. This paper describes a method whereby Fourier series spectral analysis is employed in order to describe the measured surface profiles of several characteristic surfaces. The results presented suggest that a bandlimited Fourier series can be used to provide a realistic approximation to surface amplitude profiles.
Combining a Multirate Repetitive Learning Controller With Command Shaping for Improved Flexible Manipulator Control
Authors: Rhim Sungsoo , Hu Ai-Ping , Sadegh Nader , Book Wayne J. 
Published: December 2021

Abstract
Command shaping, a feedforward approach used to control flexible manipulators, performs most effectively when applied to a linear system. In practice, various nonlinearities are present in a given system that will deteriorate the performance of command shaping. In this work, a multirate repetitive learning controller (MRLC) is used in conjunction with a command shaping method known as the optimal arbitrary time-delay filter (OATF) for discrete-time joint control of a single flexible link manipulator containing nonlinearities. With very little a priori knowledge of the given system, a MRLC is able to cancel the nonlinearities at select frequencies and achieve near-perfect tracking of a periodic desired trajectory. By doing this, a MRLC controls the joint to follow a given shaped command more closely, thus allowing the OATF to more effectively attenuate residual tip vibrations. It is shown both analytically and experimentally that this controller is more effective than a conventional PID and OATF controller at attenuating residual tip vibrations.
Control of Camless Intake Process: Part II
Authors: Ashhab M.-S. S. , Stefanopoulou A. G. , Cook J. A. , Levin M. B. 
Published: December 2021

Abstract
A model-based control scheme is designed to regulate the cylinder air charge of a camless multicylinder engine for unthrottled operation. The controller consists of a feedforward and an adaptive feedback scheme based on a control-oriented model of the breathing process of an engine equipped with electro-hydraulic springless valve-train. The nonlinear control scheme is designed to achieve cylinder-to-cylinder balancing, fast cycle-to-cycle response, and minimization of pumping losses. The algorithm uses conventional sensor measurements of intake manifold pressure and mass air flow to the intake manifold, and intake valve duration measurement. Closed loop simulation results are shown for a four cylinder engine.
Computational Delay and Free Mode Environment Design for Haptic Display
Authors: Miller Brian E. , Colgate J. Edward , Freeman Randy A. 
Published: December 2021

Abstract
This paper develops a technique for the design of haptic systems that guarantees the absence of oscillations. Valid components of the haptic system are general devices, virtual couplings and virtual environments, linear or nonlinear, however the current work focuses on linear components. Once developed, the method will be applied to a haptic system to investigate stability conditions for passive environments versus those for non-passive environments. Examples of computational delay and free mode environment design will be developed as meaningful design problems that fall into the category of non-passive environments.
A Novel Tendon Driven 5-Bar Linkage With a Large Isotropic Workspace
Authors: Prisco Giuseppe Maria , Frisoli Antonio , Salsedo Fabio , Bergamasco Massimo 
Published: December 2021

Abstract
An innovative, tension-tendon drive system is proposed to increase the kinematically isotropic workspace and the average force transmission ratio of the closed chain 5-bar linkage. Tendons ran from the grounded actuators all along the mechanism closed chain and terminate on the ground. In this way, each of the two actuators transmits torques to all the five joints of the mechanism. A careful choice of the radii of the joint pulleys which route the tendons allows to improve the global kinematic isotropy performance up to 1.5.3 times and the average force transmission ratio up to 2.97 times with respect to drive of base joints.
The advantages and disadvantages of such a system for the realization of a Highly Isotropic Haptic Interface are discussed.
Preliminary Investigation of Mesh Stability for Linear Systems
Authors: Seiler Pete , Pant Aniruddha , Hedrick J. K. 
Published: December 2021

Abstract
Damping of disturbances as they propagate through a chain of interconnected systems, termed string stability, has been the subject of significant research. In this paper, we investigate mesh stability, which is the two-dimensional extension of string stability. We review the key results used for string stability analysis and then generalize the conditions for MIMO systems. These results are then applied to a simple class of linear systems which form a mesh in two-dimensions. It is shown (as in the one-dimensional case) that communicating the velocity and acceleration of the lead vehicle to all subsystems is sufficient for mesh stability. This result is then verified by simulation.
Intelligent Cruise Control Systems and Traffic Flow Behavior
Authors: Swaroop Darbha , Rajagopal K. R. 
Published: December 2021

Abstract
In analogy to the flow of fluids, it is expected that the aggregate density and the velocity of vehicles in a section of a freeway adequately describe the traffic flow dynamics. The conservation of mass equation together with the aggregation of the vehicle following dynamics of controlled vehicles describes the evolution of the traffic density and the aggregate speed of a traffic flow. There are two kinds of stability associated with traffic flow problems — string stability (or car-following stability) and traffic flow stability. We make a clear distinction between traffic flow stability and string stability, and such a distinction has not been recognized in the literature, thus far. String stability is stability with respect to intervehicular spacing; intuitively, it ensures the knowledge of the position and velocity of every vehicle in the traffic, within reasonable bounds of error, from the knowledge of the position and velocity of a vehicle in the traffic. String stability is analyzed without adding vehicles to or removing vehicles from the traffic. On the other hand, traffic flow stability deals with the evolution of traffic velocity and density in response to the addition and/or removal of vehicles from the flow. Traffic flow stability can be guaranteed only if the velocity and density solutions of the coupled set of equations is stable, i.e., only if stability with respect to automatic vehicle following and stability with respect to density evolution is guaranteed. Therefore, the flow stability and critical capacity of any section of a highway is dependent not only on the vehicle following control laws and the information used in their synthesis, but also on the spacing policy employed by the control system. Such a dependence has practical consequences in the choice of a spacing policy for adaptive cruise control laws and on the stability of the traffic flow consisting of vehicles equipped with adaptive cruise control features on the existing and future highways. This critical dependence is the subject of investigation in this paper. This problem is analyzed in two steps: The first step is to understand the effect of spacing policy employed by the Intelligent Cruise Control (ICC) systems on traffic flow stability. The second step is to understand how the dynamics of ICC system affects traffic flow stability. Using such an analysis, it is shown that cruise control systems that employ a constant time headway policy lead to unacceptable characteristics for the traffic flows.
Measuring Stiffness During Arm Movements in Various Dynamic Environments
Authors: Burdet E. , Osu R. , Franklin D. , Milner T. E. , Kawato M. 
Published: December 2021

Abstract
The technique presented in this paper enables a simple, accurate and unbiased measurement of hand stiffness during human arm movements. Using a computer-controlled mechanical interface, the hand is shifted relative to a prediction of the undisturbed trajectory. Stiffness is then computed as the restoring force divided by the position amplitude of the perturbation. A precise prediction algorithm insures the measurement quality.
We used this technique to measure stiffness in free movements and after adaptation to a linear velocity dependent force field. The subjects compensated for the external force by co-contracting muscles selectively. The stiffness geometry changed with learning and stiffness tended to increase in the direction of the external force.
Development of a Track Tension Monitoring System in Tracked Vehicles
Authors: Huh Kunsoo , Cho Byung Hee , Choi Jin Hwan 
Published: December 2021

Abstract
The mobility of tracked vehicles is mainly influenced by the characteristics of the track assembly and by the interaction between tracks and soil. In particular, the track tension is closely related to the maneuverability of tracked vehicles and the durability of tracks and suspension systems. In order to minimize the excessive load on the tracks and to prevent the peal-off of tracks from the road wheels, it is required to maintain the optimum track tension throughout the maneuver. However, the track tension cannot be easily measured due to the limitation in the sensor technology, harsh environment, etc. In this paper an indirect track tension monitoring system is developed based on idler assembly models, a geometric relation around the idler, and the tractive force estimated by using the Extended Kalman Filter. The performance of the tension monitoring system is verified with the results obtained from the Multi-Body Dynamics model.
Neural Network-Based Adaptive Monitoring System for Power Transformer
Authors: Ottele Andy , Shoureshi Rahmat , Torgerson Duane , Work John 
Published: December 2021

Abstract
Power transformers are major elements of the electric power transmission and distribution infrastructure. Transformer failure has severe economical impacts from the utility industry and customers. This paper presents analysis, design, development and experimental results of a robust failure diagnostic technique. Hopfield neural networks are used to identify variations in physical parameters of the system in a systematic way, and adapt the transformer model based on the state of the system. In addition, the Hopfield network is used to design an observer which provides accurate estimates of the internal states of the transformer that can not be accessed or measured during operation. The estimated physical parameters are then passed to a neural network to be classified into regions representing various parameter patterns. Analytical and experimental results of this adaptive observer for power transformer diagnostics are presented.
Towards an Energy-Based Linear Analysis of Nonholonomic Systems
Authors: Bikdash Marwan , Layton Richard A. 
Published: December 2021

Abstract
Guidelines toward an energy-based, linear analysis of discrete physical systems are presented, based on previous work in systematic modeling using Lagrangian differential-algebraic equations (DAEs). Recent work in this area is extended by accommodating nonholonomic constraints and explicit inputs. An equilibrium postulate is proposed and equilibrium is characterized for static and steady-state conditions. Lagrangian DAEs are linearized using a local, indirect approach. Alternate descriptor formulations leading to different linear singular systems are compared and one formulation is determined to be a good foundation for future work in linear analysis using Lagrangian DAEs.
Robot-Aided Neuro-Rehabilitation in Stroke: Neuro-Recovery for Thalamic Lesion
Authors: Krebs Hermano I. , Hogan Neville , Volpe Bruce , Aisen Mindy , Edelstein Lisa , Diels Christa 
Published: December 2021

Abstract
We are applying robotics and information technology to assist, enhance, and quantify neuro-rehabilitation. Our goal is a new class of interactive, user-affectionate clinical devices designed not only for evaluating patients, but also for delivering meaningful therapy via engaging “video games.” Notably, the novel robot MIT-MANUS has been designed and programmed for clinical neurological applications, and has undergone extensive clinical trials for more than four years at Burke Rehabilitation Hospital – White Plains, NY. This paper will review the main result of the pilot clinical trial of the 20 patients focusing on the consequences of thalamic lesions.
Truss Analyses by DQEM
Authors: Chen Chang-New 
Published: December 2021

Abstract
A new numerical approach for solving generic three-dimensional truss problems having nonprismatic members is developed. This approach employs the differential quadrature (DQ) technique to discretize the element-based governing differential equations, the transition conditions at joints and the boundary conditions on the domain boundary. A global algebraic equation system can be obtained by assembling all of the discretized equations. A numerically rigorous solution can be obtained by solving the global algebraic equation system. Mathematical formulations for two-dimensional differential quadrature element method (DQEM) truss model are carried out. By using this DQEM model, accurate results of two-dimensional truss problems can efficiently be obtained. Numerical results demonstrate this DQEM model.
Intelligent Control of Parallel Hybrid Electric Vehicles
Authors: Glenn Bradley , Washington Gregory , Rizzoni Giorgio 
Published: December 2021

Abstract
Currently Hybrid Electric Vehicles (HEV) are being considered as an alternative to conventional automobiles in order to improve efficiency and reduce emissions. To demonstrate the potential of an advanced control strategy for HEV’s, a fuzzy logic control strategy has been developed and implemented in simulation in the National Renewable Energy Laboratory’s simulator Advisor (version 2.0.2). The Fuzzy Logic Controller (FLC) utilizes the electric motor in a parallel hybrid electric vehicle (HEV) to force the ICE (66KW Volkswagen TDI) to operate at or near its peak point of efficiency or at or near its best fuel economy. Results with advisor show that the vehicle with the Fuzzy Logic Controller can achieve (56) mpg in the city, while maintaining a state of charge of .68 for the battery pack, compared to (43) mpg for a conventional vehicle. This scheme has also brought to light various rules of thumb for the design and operation of HEV’s.
Systematic Machine Tool Error Identification and Compensation Through Test Part
Authors: Huh Ilkyu , Yuan Jingxia , Koren Yoram 
Published: December 2021

Abstract
The enhancement of machine tool accuracy has a direct effect on part quality. The state-of-the-art technology for this is the compensation method based on the measurement of the machine tool error parameters. This technology, however, has two major drawbacks: (i) it requires long calibration time (ii) for many applications this complicated compensation process is over specified because the parts have limited features and dimensions, and hence the compensation of whole working space is not needed. Furthermore, if the compensation of machining systems for high-volume production is considered, then the fast error measurement and subsequent rapid compensation becomes critical, and the current technology obviously cannot meet these requirements. An alternative method that we propose in this paper is to measure the part rather than the machine, and compensate the machine tools according to these measurements. This proposed methodology requires the modeling of the relationship between the machine tool errors and the part errors, which is called here “machine-part error mapping model”. The modeling enables to identify the individual machine tool error parameters that contribute on the part error. In order to use this model to compensate for the machine tool error, test part should be carefully developed. In this paper, several rules in the design of test part are presented first, and as an example, the test part for the flatness error compensation of horizontal machining center was designed. From the measurement result of the machined test part, each error source parameters that are responsible for the chosen machining process were identified, and compensated by using the real time compensation system.
Similarity Conditions for Sandwich Shell-Like Configurations
Authors: Simitses G. J. , Song G. , Birman V. , Frostig Y. “Shuki” 
Published: December 2021

Abstract
There is renewed interest in the use of sandwich construction, especially for future large transport aircraft. The design and manufacture of these aircraft will require extensive experimental evaluation, which consists of the verification of the design before going to production. This step, the experimental verification, requires the production and testing of large components and prototypes, which is very expensive and time consuming. Use of similitude theory to establish similarity among structural systems can reduce the time and expense by testing small-scale models and use their data to predict the behavior of large prototypes.
This paper deals with the derivation of similarity conditions (scaling laws) for shell-like sandwich configurations. These conditions are needed to (a) design the small-scale models and (b) predict the behavior of the large prototype by employing the test data of the small-scale model and the scaling laws. The basis of the derivation of the scaling laws is that both systems are analytically governed by the same equations. Through the use of scale factors (prototype/model parameters) one can find the conditions under which the two systems of governing equations become identical.
Both the symbolic code “MAPLE” and the long hand manipulation of equations were used in the derivation of the similarity conditions. Details of the use of the symbolic code are not given, herein.
Swept-Volume Computation for Virtual Reality Application of Machining Simulation
Authors: Maiteh Bilal Y. , Leu Ming C. , Blackmore Denis , Liu Guangyu , Abdel-Malek Layek 
Published: December 2021

Abstract
Growing interest in Virtual Reality (VR) over the past few years has led to the development of VR techniques for applications such as virtual manufacturing, virtual assembly, virtual training, etc. Most of these applications involve the moving of objects and interaction of them with the environment in virtual space. One foreseeable important application of virtual manufacturing is Numerically Controlled (NC) machining path generation and verification in a VR environment. In this application the efficient computation and accurate representation of swept volumes of the machining cutters is an important issue.
This paper describes a fast and accurate method for generating the swept volume of a moving object undergoing an arbitrary translational and rotational motion, with application to NC machining simulation in a VR setting. The Sweep Differential Equation (SDE) method, which we initially developed for representing and computing the swept volumes of rigid moving objects and subsequently extended to objects that may deform during the course of motion, forms the basis for the VR application of NC cutter path generation and verification. An example is provided to demonstrate the effectiveness of the SDE method for simulation of multi-axis NC machining.
Industrial Virtual Reality Engineering Applications
Authors: Rantzau Dirk , Breining Ralf , Riedel Oliver , Haefner Ulrich , Scharm Holger , Wierse Andreas , Lang Ulrich 
Published: December 2021

Abstract
Virtual Reality (VR) in conjunction with Immersive Projection Technology (IPT) are well introduced and highly accepted in the international society of institutional research. But does the (manufacturing) industry share this excitement about recent stereo projection technology? What are the key factors of successfully creating a VR solution with production quality? How to identify fields of application and how to get return on invest?
These questions will be addressed especially for the automotive industry. While some of the considerations hold for other manufacturing industries as well, some do not.
Problems and solutions will be discussed on sample installations and applications for the automotive industry. These VR systems help engineers to deal with different problems:
• evaluation of exterior car design,
• analysis of thermal comfort in a car cabin,
• visualization of a production line
• acceptance of tools for deep drawing
We will outline the different projection and software technologies used for these engineering tasks as well as the user interface aspects, because there is a special correlation between used projection technology and useful user interaction. The careful design of a special purpose 3D user interface is one of the keys for user productivity and user acceptance.
VRHose — Virtual Hydraulic Hose Routing Design
Authors: Chipperfield Kurt A. , Vance Judy M. 
Published: December 2021

Abstract
Hydraulic hoses, which are used to transport high pressure hydraulic fluid, are key components in many large industrial vehicles. In the design of an industrial vehicle, designers must allow sufficient space for hydraulic hoses to pass through the vehicle. Because these hoses are typically stiff and do not bend easily, planning the routing of the hoses around components in the vehicle is challenging. Currently designers use CAD programs to design vehicles and rely on past experience to plan hose routes and allow sufficient space for the hoses in a new vehicle. Later, during the prototype build, the actual hoses are fit and cut to length to determine exact specifications. This paper describes the program VRHose which provides the designer with a three-dimensional interface to aid in planning hose paths. VRHose allows designers to lay out hose routes through the vehicle by defining points in space which constrain the hose path. Virtual reality (VR) is used as the human-computer interface to provide three-dimensional viewing and interaction with the digital models. The initial development of VRHose has concentrated on providing the user with a three-dimensional input and evaluation tool to lay out hose routings. Future versions of VRHose will include hose material properties which will constrain the hose paths to those which are feasible.