bluuebunny/crossref_metadata_2025_split huggingface dataset:
Robust and Efficient Feedrate Selection for 3-Axis Machining
Authors: Hemmett Jeffrey G. , Fussell Barry K. , Jerard Robert B. 
Published: November 2021

Abstract
This research effort is focused on improving the efficiency of CNC machining by automatic computer selection of feedrate for 3-axis sculptured surface machining. A feedrate process planner for complex sculptured end milling cuts is described and the geometric model of ball end milling is developed in detail. For each tool move, the geometric model calculates the cut geometry, and a mechanistic model is used along with a maximum allowable cutting force to determine a desired feedrate. The results are written into the part program resulting in a file with optimized feedrates. Experimental tests on a sculptured surface demonstrate the robustness and efficiency of the algorithms in maintaining a desired force.
Object-Oriented Modeling for Real-Time Simulation
Authors: Otaduy Miguel A. , Martínez Ana I. , Vidarte Ana , Landaluze Joseba , Reyero Raúl 
Published: November 2021

Abstract
The fast growing processing capability of digital circuits allows real-time simulation of mechatronic systems to embrace new applications at a lower cost. However, the development of real-time simulation models is still a difficult task. Object-oriented modeling, along with efficient mathematical formulation, seems to solve this matter. The work covered by this paper was carried out in order to evaluate existing possibilities for the development of real-time simulations of mechatronic systems by means of object-oriented modeling tools.
Structured Modeling of Mechatronic Components Using Multiport Templates
Authors: Hales Michael K. , Rosenberg Ronald C. 
Published: November 2021

Abstract
Mathematical modeling of mechatronic systems is increasing in its importance to industry for product development. Mathematical modeling helps companies reduce the lead time for new product development, allows for consideration of more design alternatives, provides a means for capture of engineering knowledge, and facilitates sharing of engineering efforts with suppliers. Structured modeling further assists engineers in meeting these goals by supporting effective, clear communication of model information. This paper describes a modeling environment for mechatronic system design based on structured modeling concepts. Structured modeling is implemented using a multiport template approach. A multiport template allows the engineer to create new user-defined model types, which are in turn used to create computational instances. The focus is on mechatronic component modeling. Illustrations of the method are given.
Modeling, Realization, and Simulation of Thermo-Fluid Coupled Systems Using Singularly Perturbed Sliding Manifolds
Authors: Gordon Brandon W. , Asada Harry 
Published: November 2021

Abstract
A new approach based on sliding control is presented for modeling and simulation of thermo-fluid systems described by differential-algebraic equations (DAEs). The dynamics of thermo-fluid systems are often complicated by momentum interactions that occur on a time scale that is orders of magnitude faster than the time scale of interest. To address this problem the momentum equation is often modeled using algebraic steady state approximations. This will, in general, result in a model described by nonlinear DAEs for which few control methods are currently applicable. In this paper, the modeling problem is addressed using an approach that systematically constructs an explicit state space approximation of the DAEs. The state space model can in turn be used with existing control methods. This procedure, known as realization, is achieved by solving an associated nonlinear control problem by combining boundary layer sliding control with the singular perturbation method. The necessary criteria for key properties such as convergence are established. Further, the new approach is illustrated using a vapor compression cycle example. This demonstrates significant advantages over directly modeling momentum interactions.
Flexural Joints in Mechanisms
Authors: Koster M. P. 
Published: November 2021

Abstract
The application of flexural joints in mechanisms has a number of advantages. Extreme repeatability of position is obtained because of the absence of backlash and friction. From a tribological point of view, no lubrication is needed and no wear exists. In many cases their application gives rise to a low cost assembly. Flexural elements have their particular drawbacks as well. Deflections are limited; only oscillating motions can be performed and work has to be done as a consequence of the elastic deflection. Flexural fatigue sets another limit to their application.
The paper gives an overview of a design methodology that has been developed at the Philips Center for Industrial Technology by the author and his colleagues over the last several decades. Some aspects of this methodology are well known; other aspects are unique. The methodology is described in detail in a book by the author about design principles (Koster 1998). The methodology has been used to design hundreds of practical mechanisms incorporated in scientific instruments, manufacturing equipment and consumer goods. Many examples are given in (Koster 1998). Several interesting examples are given in this paper.
Spatial Compliances Achieved With Serial Elastic Mechanisms
Authors: Huang Shuguang , Schimmels Joseph M. 
Published: November 2021

Abstract
Previously, the structure of a spatial stiffness matrix and its realization using a parallel elastic system have been addressed. This paper extends those results to the analysis and realization of a spatial compliance matrix using a serial mechanism.
We show that, a spatial compliance matrix can be decomposed into a set of rank-1 primitive matrices, each of which can be realized with an elastic joint in a serial mechanism. To realize a general spatial compliance, the serial mechanism must contain joints that couple the translational and rotational motion along/about an axis. The structure of a spatial compliance matrix can be uniquely interpreted by a 6-joint serial elastic mechanism whose geometry is obtained from the eigenscrew decomposition of the compliance matrix. The results obtained from the analysis of spatial compliant behavior and its realization in a serial mechanism are compared with those obtained for spatial stiffness behavior and its realization in a parallel mechanism.
Human-Robot Interactive Control Sharing Same Workspace
Authors: Lew Jae Y. , Jou Yung-Tsan , Pasic Hajrudin 
Published: November 2021

Abstract
The paper presents a basic motion planning / feedback control algorithm for a robot working with a human in the same workspace. With the proposed control scheme, robots can be safe and easy to use when unexpected events occur. The algorithm is based on: (1) inertia reduction (2) passivity and (3) parametric path planning. A preliminary simulation study is performed to show its effectiveness with a two link manipulator.
Virtual Surfaces and Haptic Shape Perception
Authors: Robles-De-La-Torre Gabriel , Hayward Vincent 
Published: November 2021

Abstract
Lateral force fields (LFFs) have been used before to generate haptic textures [3]. We propose that LFFs can be used to study haptic shape perception. We present preliminary results of an experiment in which human subjects interact with realistic LFFs. The LFFs encode shape information in the magnitude of unidimensional force vectors. Subjects explore the LFFs and classify them into haptic categories. We found that subjects can consistently perform this classification. This and subjects’ qualitative judgments of the stimuli suggest that haptic interaction with LFFs resembles the experience of touching a real 3D object.
Improving Reality-Based Models for Vibration Feedback
Authors: Okamura Allison M. , Hage Matthew W. , Cutkosky Mark R. , Dennerlein Jack Tigh 
Published: November 2021

Abstract
Reality-based modeling of vibrations can be used to enhance the haptic display of hard surfaces in virtual environments. In this work, we propose modifying reality-based vibrations through psychophysical experiments. Virtual vibration models were developed from empirical vibration waveforms measured by tapping on real surfaces with the instrumented stylus of a three degree-of-freedom haptic display. The haptic display was then evaluated on its ability to display the desired waveforms. Psychophysical experiments utilizing the display were performed to evaluate the realism of various vibration parameter values used in the vibration model. From these experiments, it was discovered that the best parameters differed from those of the original reality-based model. Additional experiments verified the effectiveness of vibration feedback by showing that subjects could differentiate between materials in a virtual environment.
Toward Deformation Modeling With Haptic Feedback
Authors: Cai ZhuLiang , Dill John , Payandeh Shahram 
Published: November 2021

Abstract
A fast deformation modeling method is presented. Based on elastic theory, an algorithm for animating viscoelastic systems is proposed. The integration scheme derived from implicit integration allows developers to obtain interactive realistic animation of models of viscoelastic objects. This method provides a simple, stable and tunable model for deformable object suitable for virtual reality environments. An implementation demonstrates this deformation analysis approach.
Telepresent Microassembly for Industrial Applications
Authors: Anton O. , Cuiper R. , Ehrenstrasser M. , Patron C. , Reinhart G. 
Published: November 2021

Abstract
Today’s teleaction systems, most of which consist of single proprietary solutions, stand out for their high integration density and complexity. They are therefore only conditionally fit for industrial applications owing to the considerable amount of interfacing work required. The subject of this paper is a modular telepresence and teleaction architecture based on CORBA developed for industrial microassembly. Modularization supports the use of different commercial components on both the operator and teleoperator side. An initial test set-up consisting of a PHANTOM 6 DOF and stereoscopic projection onto a holobench is described to allow an assessment of the concept presented.
Passive Feedforward Approach to Bilateral Teleoperated Manipulators
Authors: Li Perry Y. , Lee Dongjun 
Published: November 2021

Abstract
A control scheme for linear dynamically similar bilateral teleoperated manipulator system which ensures that the closed loop system is energetically passive is proposed. Energetic passivity implies that the teleoperated manipulator system is safe to interact with, and that the coupling between the system and any strictly passive environment is stable. The control objective is for the two manipulators in the system to behave in unison under the influence of both the operator and the work environment, while maintaining energetic passivity. The dynamics of the system in unison and its response to the operator and work environment can be specified as kinematic and power scalings. To maintain energetic passivity with feedback and feedforward actions, the proposed control makes use of two fictitious internal energy storages. The result is that when the internal state of the storage elements are suitably initialized, the teleoperated manipulator system achieves asymptotic locking even in the presence of external (bounded) forcing from the operator and work environment.
Physically-Based Simulation of Object Manipulation
Authors: Hirota Koichi , Hirayama Masaki , Tanaka Atsuko , Hirose Michitaka , Kaneko Toyohisa 
Published: November 2021

Abstract
Objects manipulation is one of the most fundamental operation in the virtual environment. We propose a method to realize the manipulation via physically-based simulation. In the method, the interaction force between the user’s finger and the object is computed, and, based on the force, the motion of the object is simulated. For the fast computation of the interaction force, we propose a novel algorithm to physically simulate the interaction. This algorithm is based on the concept that the force is caused as a result of the physical constraints on the spatial motion of fingers. Through an experimental implementation, we conclude that the proposed simulation method is applicable for the real-time manipulation of objects with force feedback.
A Contact Point Intermediate Representation for 6-DOF Haptic Interaction With Dynamic Simulations
Authors: Berkelman Peter J. , Hollis Ralph L. 
Published: November 2021

Abstract
A new method for integrating a haptic interface device with 3-D dynamic simulations has been implemented which minimizes effects caused by the limited update rate of the simulation and unpredictable communication delays. The new contact point intermediate representation method is compared with a previously implemented method of virtual coupling. Both methods were applied to a recently developed 6 DOF haptic interface device based on Lorentz magnetic levitation connected with a real-time dynamic physical simulation environment.
With virtual coupling, the position and orientation data from the interface device and the simulated tool each act as impedance control setpoints for the other, with error and velocity feedback acting as virtual coupling between the two systems. The simple feedback coupling enables the overall stiffness and stability of the system to be tuned easily. In the contact point intermediate representation integration method, the haptic device controller uses additional contact point position and direction information from the simulation to react to user motions by changing the device impedance appropriately at the faster update rate of the controller rather than at the slower simulation rate. The contact point intermediate representation provides a crisper, more responsive feeling than virtual coupling during interaction but is not as easily stabilized. Experimental data from the virtual coupling and a modified contact point intermediate representation implementation are presented.
Haptic Rendering of Data on Irregular Grids
Authors: Novoselov Roman Y. , Lawrence Dale A. , Pao Lucy Y. 
Published: November 2021

Abstract
Haptic rendering of data on irregular grids requires additional data storage and real time computation compared to the same size data sets on regular grids. At the same time, it is important to keep computation time small to avoid noticeable artifacts in haptic rendering. When the rendering algorithm is implemented on DSP processors, memory is often much smaller than on contemporary general purpose computers. By appropriate partitioning of algorithms between preprocessing and real time computation, and by quantizing and packing data, we show how scientific visualization of data sets on the order of 1 million elements by real time haptic rendering can be accomplished.
HFSM-Based Software Implementation of Haptic Interactions
Authors: Chau I. , Salcudean S. E. , Pai D. K. 
Published: November 2021

Abstract
We present a novel method to encapsulate and formalize haptic interaction in a compact systematic format using hierarchical finite state machines (HFSMs). HFSMs capture both reality-based and synthesized haptic interactions. The lowest level states in the hierarchy are impedances implemented by the haptic device. Transitions between states are governed by inequalities defining geometric and dynamic constraints. This model is compatible with other haptic rendering techniques and can be used as a low level application programming interface. We will describe the format and implementation and illustrate the approach with an example. Experimental results with a three-degree-of-freedom planar haptic interface are also presented.
Design of a Tension Based Haptic Interface: Spidar-G
Authors: Kim Seahak , Ishii Masahiro , Koike Yasuharu , Sato Makoto 
Published: November 2021

Abstract
In this paper, we explain a haptic device which can input translation and orientation measuring the length of strings and display reflect force with 6 degrees of freedom (DOF) by using the tension of strings. We propose 2 methods to calculate translation and orientation and to display reflect force. Finally, we refer the characteristic of this device and its validity through the Pick-and-Place task.
GraspIt!: A Versatile Simulator for Grasp Analysis
Authors: Miller Andrew T. , Allen Peter K. 
Published: November 2021

Abstract
We have created a unique tool for grasp simulation, visualization, and analysis that allows a user to create and analyze grasps of a given 3D object model with a given articulated hand model. The grasps can be performed either automatically, where the system closes the fingers around the object at preset velocities, or manually through direct manipulation of the joints. As collisions occur between the links of the fingers and the object, the system locates the contacts and analyzes the evolving grasp on the fly. Each time the grasp changes, the system updates two numeric measures of quality and recomputes 3D projections of the grasp wrench space which are useful when visualizing a grasp’s capabilities. We provide examples of the system being used with four different articulated robotic hand models, each grasping different object models. We feel the system is very useful for hand designers who prototype different hand models in simulation and determine how design decisions affect a hand’s grasping ability. It is also useful for researchers in grasp planning or for simulation and virtual reality designers wishing to perform realistic grasping in a virtual setting.
Sensitivity to Visual-Haptic Asynchrony
Authors: Vogels Ingrid M. L. C. 
Published: November 2021

Abstract
Many application areas that involve visual displays can benefit from the addition of haptic feedback about the state of the man-machine system that is being controlled. Due to technical and physical constraints interface signals are often delayed with respect to each other and/or with respect to the action of the user. As a result an interface consisting of a visual display and a haptic interaction device does not naturally stimulate the two modalities concurrently. Asynchronies between modalities can impede the completion time of manipulation tasks and decrease subjective telepresence. Knowledge about temporal sensitivities of the human perceptual system is therefore essential in the design of man-machine interfaces. Some temporal characteristics of the visual, auditory and tactile senses have been studied in the past (e.g. Hirsh and Sherrick, 1961). However, the perception of synchrony between visual and haptic stimuli has received little attention.
Design Specifications for the Second Generation Sarcos Treadport Locomotion Interface
Authors: Hollerbach John M. , Xu Yangming , Christensen Robert R. , Jacobsen Stephen C. 
Published: November 2021

Abstract
The Sarcos Treadport is a locomotion interface comprised of a large tilting treadmill, an active mechanical tether, and a CAVE-like visual display. This paper presents the design specifications for the second-generation Sarcos Treadport.
Tactile Display Device Using Distributed Lateral Skin Stretch
Authors: Hayward Vincent , Cruz-Hernández Juan Manuel 
Published: November 2021

Abstract
In the past, tactile displays were of one of two kinds: they were either shape displays, or relied on distributed vibrotactile stimulation. A tactile display device is described in this paper which is distinguished by the fact that it relies exclusively on lateral skin stretch stimulation. It is constructed from an array of 64 closely packed piezoelectric actuators connected to a membrane. The deformations of this membrane cause an array of 112 skin contactors to create programmable lateral stress fields in the skin of the finger pad. Some preliminary observations are reported with respect to the sensations that this kind of display can produce.
Axisymmetric Stress Analysis and Strength Evaluation of Bonded Shrink Fitted Joints of Circular Pipes Subjected to Internal Pressure and Tensile Loads
Authors: Katsuo Masahide , Sawa Toshiyuki , Yoneno Masahiro 
Published: November 2021

Abstract
This study deals with the stress analysis and the strength evaluation of a bonded shrink fitted joint of circular pipes subjected to an internal pressure and a tensile load. In the analysis, two pipes and the adhesive are replaced with finite hollow cylinders, and the stress distributions in the joint are analyzed by using the axisymmetric theory of elasticity. From the numerical calculations, the following results are obtained: (1) Both the compressive and shear stresses at the interface between the adherend and the adhesive increase as Young’s modulus of the adherend increases. (2) The stress becomes singular at the edges of the interfaces. (3) The joint strength can be evaluated using the compressive and shear stresses near the edge of the interface. In the experiments, bonded shrink fitted joints consisting of dissimilar circular pipes were manufactured, and rupture tests of the joints were carried out by applying an internal pressure, and a tensile load to the joints. From the results, the joint strength of the bonded shrink fitted joint was found to be greater than that of the shrink fitted joint. Furthermore, the numerical results are in fairly good agreement with the experimental ones.
A New Finite Element Modeling Technique for Disbonded Adhesive Joints
Authors: Yen H.-Y. , Shen M.-H. Herman 
Published: November 2021

Abstract
A new disbonded interface model and a finite element procedure have been developed to calculate the stress distributions of the adhesive joints with imperfectly-bonded interfaces under tensile loading. The finite element modeling of the weakened strength of the disbonded interfaces is accomplished by a new line element and a spring element. The finite element procedure consists of a new modeling technique for assessing the effects of disbonded interfaces on the stress fields of adhesive joints. The results for this work can be used as a basis for the development of the bonded joint reliability prediction method and accept/reject inspection criteria.
Solution of Structural Mechanics Problems by the Differential Quadrature Finite Difference Method
Authors: Chen Chang-New 
Published: November 2021

Abstract
The differential quadrature finite difference method (DQFDM) has been proposed by the author. The finite difference operators are derived by the differential quadrature (DQ). They can be obtained by using the weighting coefficients for DQ discretizations. The derivation is straight and easy. By using different orders or the same order but different grid DQ discretizations for the same derivative or partial derivative, various finite difference operators for the same differential or partial differential operator can be obtained. Finite difference operators for unequally spaced and irregular grids can also be generated through the use of generic differential quadrature (GDQ). The derivation of higher order finite difference operators is also easy. By adopting the same order of approximation to all mathematical terms existing in the problem to be solved, excellent convergence can be obtained due to the consistent approximation. The DQFDM is effective for solving structural mechanics problems. The numerical simulations for solving anisotropic nonuniform plate problems and two-dimensional plane elasticity problems are carried out. Numerical results are presented. They demonstrate the DQFDM.