bluuebunny/crossref_metadata_2025_split huggingface dataset:
Recognition and Tracking of Large Seam Based on Robotic Vision
Authors: Yue Hong , Sun Lixin , Li Kai , Shi Jianru 
Published: November 2021

Abstract
For the seams of large Structure, the low accordance of joint openings usually results in displacement of the real welding track from the robot teaching track, which will affect the welding quality of the structure. It has very important meanings to apply robotic vision for recognizing the feature parameters of the weld joints. A set of seam tracking system is presented. In order to remove arc noise, the methods of LOG filter and image segment filter are used in image processing.
Output Feedback Adaptive Robust Control of Linear Motors With Negligible Electrical Dynamics
Authors: Xu Li , Yao Bin 
Published: November 2021

Abstract
This paper studies high performance robust motion control of linear motors that have a negligible electrical dynamics. A discontinuous projection based adaptive robust controller (ARC) is constructed. Since only output signal is available for measurement, an observer is designed to provide exponentially convergent estimates of the unmeasurable states. This observer has an extended filter structure so that online parameter adaptation can be utilized to reduce the effect of the possible large nominal disturbance. Estimation errors that come from initial state estimates and uncompensated disturbances are effectively dealt with via certain robust feedback at each step of the ARC backstepping design. Theoretically the resulting controller achieves a guaranteed transient performance and a prescribed final tracking accuracy. In the presence of parametric uncertainties only, asymptotic output tracking is also achieved. This scheme is implemented on an epoxy core linear motor. Extensive experimental results are presented to illustrate the effectiveness and the achievable control performance of the proposed scheme.
Automated Speed Controller Design of Internal Combustion Engines via Adaptive Control
Authors: Cunningham Patrick J. , Franchek Matthew A. , Glass John W. 
Published: November 2021

Abstract
Presented in this paper is an adaptive control procedure applied to the idle speed control of an internal combustion (IC) engine. Adaptive control in this investigation is used to automate the design of the engine idle speed controller. The adaptive control process begins by tuning a feedback controller such that the closed loop system is stable. Next, reference step inputs are given to the tuned closed loop system. These transients are used to obtain a model of the IC engine between the by-pass air valve and engine speed. The online modeling procedure is constructed of a filtered derivative method so that the coefficients of the continuous-time model are recovered from the closed loop response. The execution of the proposed online modeling technology is realized using a recursive least squares approach. This online model of the engine process is then used to calculate a new (adapted) feedback controller. The adaptive controller is based on matching the open loop transfer function of the idle speed feedback system to an open loop transfer function that represents the desired transient and steady state performance. To implement the adapted controller, a bumpless transfer approach is used to switch the feedback controller from the tuned controller to the adapted controller. Experimental results performed on a Ford 4.6L fuel injected engine demonstrate the automated controller design process.
An Adaptive Pressure Servo-Control Design for Variable Displacement Pumps
Authors: Du Hongliu , Manring Noah D. 
Published: November 2021

Abstract
In this paper, a new pressure control scheme for a variable displacement pump is proposed under the consideration of various system uncertainties. The control design reported in this paper provides an effective approach for controlling the discharge pressure of variable displacement pumps to asymptotically track the desired pressure time history. With the provided nonlinear control design, the output pressure error dynamics are presented in a first order system with which the system performance is restricted by the limitations on control actuation, unmodeled dynamics, and parametric uncertainties. The discharge pressure overshoot is eliminated for the compensated closed-loop control system. On-line adaptive learning is introduced to compensate for the uncertainty in the pressure carry-over angle, which induces the most significant torque on the swashplate in a variable displacement pump. Experimental results are provided to validate the effectiveness of the proposed control approach.
Machine Diagnostics Using Nonlinear Output Observer and Neural Network Models
Authors: Fretheim Tor , Shoureshi Rahmat , Vincent Tyrone , Torgerson Duane , Work John 
Published: November 2021

Abstract
Predictive maintenance is rapidly becoming a familiar concept in industrial fault detection. The ability to detect early warning signals in systems in the form of small changes in dynamic behavior is essential to anticipate failures. In general, accurate system models are an essential part of residual based fault detection. However, in complex nonlinear systems, the development of accurate models can be very difficult, thus usually other approaches are often selected. As an alternative to the nonlinear analytical models, neural networks have shown significant potential in accurately representing nonlinear systems. In this paper we show how a system identified by a neural network, and a nonlinear observer can be used to detect changes in system dynamics. The neural network structure and identification have a significant impact on the observer performance. Different methods for observer design, and appropriate neural network structures for fault detection are discussed. The experimental section shows the observer implemented on a thermo fluid system. Several faults are introduced, and the observer prediction is compared to actual data.
Fault Diagnosis With a Model-Based Recurrent Neural Network
Authors: Gan Chengyu , Danai Kourosh 
Published: November 2021

Abstract
The utility of a model-based recurrent neural network (MBRNN) is demonstrated in fault diagnosis. The MBRNN can be formatted according to a state-space model. Therefore, it can use model-based fault detection and isolation (FDI) solutions as a starting point, and improve them via training by adapting them to plant nonlinearities. In this paper, the application of MBRNN to the IFAC Benchmark Problem is explored and its performance is compared with ‘black box’ neural network solutions. For this problem, the MBRNN is formulated according to the Eigen-Structure Assignment (ESA) residual generator developed by Jorgensen et al. [1]. The results indicate that the MBRNN provides better results than ‘black box’ neural networks, and that with training it can perform better than the ESA residual generator.
Powertrain Modeling With Modelica
Authors: Tiller Michael , Davis Cleon , Tummescheit Hubertus , Trigui Nizar 
Published: November 2021

Abstract
In this paper we will describe the development of models for prediction of powertrain performance. Our goal is to develop a library of components to model combustion, gas dynamics and mechanical response. We will also demonstrate the ease with which we can replace traditional component models (e.g., mechanically actuated valves) with non-traditional component models (e.g., electro-mechanically actuated valves) without having to change or reformulate any of the other components in our system.
The models were developed using the Modelica modeling language (Modelica Design Group, 1999) which allows component-based descriptions of behavior for complex engineering systems. Modelica is particularly well suited for creating behavioral models that are typical for powertrain plant models In addition to writing component models, the freely available Modelica Standard Library contains basic models from various engineering disciplines (e.g., resistors, shafts, springs).
With this approach, models can be symbolically preprocessed to improve computational performance. In addition, code can be generated from the Modelica model which can be used as either a stand alone analysis tool, imported into Simulink as an S-function or downloaded for use in real-time hardware in the loop experiments.
A Control Scheme to Produce a Catalyst Feedgas With Arbitrary Periodic Air-to-Fuel Ratio
Authors: Davison Daniel E. , Cornelius Stephen J. , Glover Keith 
Published: November 2021

Abstract
Motivated by investigations into catalytic converter modelling, this paper considers the problem of using an engine to generate a catalyst feedgas which has a predefined periodic air-to-fuel ratio. A simple feedback control scheme is proposed. The scheme is intended for fixed air flow and fixed engine speed operating conditions. Its main advantage is that it does not require a fuel puddling model, yet it can achieve high tracking performance that is usually associated only with feedforward schemes. Both theoretical and experimental results are presented.
PDAE Formulation for Multi-Domain Dynamic Systems With Application to Fluid-Structure Interactions in Arterial Hemodynamics
Authors: Tarraf Danielle C. , Asada H. Harry 
Published: November 2021

Abstract
A systematic approach to modeling coupled distributed dynamical systems by formulating them as partial differential equations and algebraic constraints (PDAEs) is presented. Several advantages of the PDAE formulation are listed and discussed. The challenges of ensuring well-posedness are also touched upon. The PDAE system is converted by semi-discretization into a corresponding DAE system. It is subsequently realized for the purpose of simulations using a recently emerging control based approach. Thus, the typical requirement of consistent initialization is avoided for a large class of systems. The PDAE formulation and the numerical solution approach are illustrated through a particular application: modeling of fluid-structure interactions in arterial hemodynamics.
Distributed Control of Rotating Stall in an Axial Flow Compressor With Actuator Constraints
Authors: Buhr Craig A. , Franchek Matthew A. , Fleeter Sanford 
Published: November 2021

Abstract
Presented in this paper is an analytical study evaluating the closed loop stability of rotating stall control in an axial flow compressor subject to a nonlinear spatial actuation constraint that limits the amplitude of a spatial mode input. Absolute stability of the rotating stall control system is investigated by applying the circle criterion to a linearized model of an axial compressor in series with the saturation element. This stability analysis is then used to design the gain and phase of the ‘classical’ complex gain feedback control law. Resulting is a systematic method for designing the parameters of the complex gain control law which increases the region of absolute stability guaranteed by the circle criterion for the closed-loop system.
Lumped-Parameter Modeling of Visco-Elastically Coupled Rigid Bodies Using Clifford’s Biquaternions
Authors: Fasse Ernest D. 
Published: November 2021

Abstract
This work considers the problem of modeling visco-elastically coupled rigid bodies, with application to modeling and computer simulation of spatial, flexural mechanisms. A method of modeling visco-elastic coupling based on Clifford’s biquaternions (dual quaternions) is presented. The potential utility of the method is demonstrated by simulating the behavior of a complex spatial, flexural mechanism.
Devices for a Micromanipulation System
Authors: Haddab Yassine , Chaillet Nicolas , Cabodevila Gonzalo , Bourjault Alain 
Published: November 2021

Abstract
The manufacture of MEMS requires the use of tools and machines able to execute dexterous manipulation of small mechanical components. Since several years various prototypes of micromanipulators using various types of actuators have been designed. The tools designed are often able to handle only specific microobjects and in particular conditions, the prototypes designed are rarely equipped with powerful sensors. Generally, designers of micromanipulators focus on the actuation principles. This is why the microgrippers designed are rarely equipped with powerful sensors. In this paper we present devices used as parts of our micromanipulation system. The micromanipulation system is able to perform 3D micromanipulation tasks in a volume of several mm3. The microgripper designed is characterized by a positioning accuracy of 10 nm and it allow us to measure the forces applied on the manipulated objects. Precise manipulation tasks can be performed.
A Visually Servoed Active Camera for Miniature Mobile Robots
Authors: Yesin Kemal B. , Nelson Bradley J. 
Published: November 2021

Abstract
In this paper, an active vision system for a miniature mobile reconnaissance robot is presented. The system consists of a single-chip CMOS video sensor, a wireless video transmitter and miniature brushless D.C. motors. Visual tracking and servoing techniques were used to test the dynamic capabilities of the system. Additionally, a simple yet effective motion detection and tracking algorithm suitable for systems with limited computational power was developed and implemented. Available technologies for image sensing and actuation are surveyed for compatibility with the severe size, weight and power restrictions that the robot presents. The video system is designed to be concealed inside the robot and performs a deploy-retract motion in addition to pan and tilt. Different mechanism designs to reduce the number of actuators are presented.
Perceiving Surface Roughness Through a Probe: Effects of Applied Force and Probe Diameter
Authors: Lederman Susan J. , Klatzky Roberta L. , Hamilton Cheryl , Grindley Molly 
Published: November 2021

Abstract
The current paper constitutes a continuation of our psychophysical research on perceiving the surface roughness of raised-dot surfaces via a rigid probe. Here we investigated the perceptual consequences of varying applied force (Experiment 1) and probe diameter (Experiment 2). A passive-touch mode was used to effect contact between probe and surface. All psychophysical roughness functions were best fit by quadratic equations. Increasing force resulted in increased roughness estimates, without a corresponding shift in the peak position of the function along the interelement-spacing axis (Experiment 1). Perceived roughness decreased overall with increasing probe diameter for the narrower interelement spacings; however, perceived roughness increased overall with increasing probe diameter for the wider interelement spacings. This reversal was explained by a corresponding shift in the position of the peaks of the psychophysical functions toward the wider end of the interelement-spacing axis as probe diameter increased (Experiment 2). Implications for the design of haptic interfaces for virtual environments are also considered.
In the last couple of years, we have been reporting the results of a comprehensive research program investigating how people perceive surface texture via a rigid probe. The initial and current stage of this research program involves conducting psychophysical experiments to determine a small number of critical parameters that will describe how vibration — induced by the interaction between surface and rigid probe, and passed to the skin — leads to an internal representation of surface roughness. In the second stage of this research program, we intend to develop a model that describes texture perception from a probe as the transition from mechanical interactions between probe tip and surface to perceptual responses. In the third stage of the program, we will use the vibration based model to create virtual textures with a haptic-interface by delivering vibratory forces to the fingertip.
We begin by reviewing the psychophysical literature on perceiving roughness via the bare finger versus a rigid probe as intermediary.
On the Use of Two Channels for Bilateral Telemanipulation
Authors: Fite Kevin B. , Speich John E. , Goldfarb Michael 
Published: November 2021

Abstract
A two-channel architecture is presented for the control of a bilateral telemanipulation system. The use of two channels enables the authors to cast the control problem in a classical unity-feedback control loop form, which in turn enables the use of frequency-domain loop shaping techniques. Specifically, the human-manipulators-environment loop can be supplemented with a compensator of a lead/lag form, which can be utilized to simultaneously increase the stability robustness and the transparency bandwidth of the system. This design approach is illustrated with a single-degree-of-freedom example.
Effect of Electrode Geometry and Intensity Control Method on Comfort of Electrotactile Stimulation on the Tongue
Authors: Kaczmarek Kurt A. , Tyler Mitchell E. 
Published: November 2021

Abstract
Electrotactile (electrocutaneous) stimulation for sensory substitution and augmentation possesses a variety of sensory attributes, including intensity, pitch, and more qualitative factors relating to the degree of comfort or discomfort of the stimulus. This study examined the roles of electrode geometry (size and presence or absence of a coaxial ground plane), and intensity control method (voltage or current), on the relative comfort of the electrotactile stimulus on the tongue. Only electrode size was found to significantly affect comfort, with larger electrodes resulting in more preferable percepts.
Comparison of Teleoperator Control Architectures for Palpation Task
Authors: Sherman Alana , Çavuşoğlu Murat Cenk , Tendick Frank 
Published: November 2021

Abstract
This work focuses on the design and testing of teleoperation controllers which are required to discriminate changes in compliance, addressing the question of which controller architecture performs the best in the high fidelity application of telesurgery. Three teleoperator controller architectures are compared for their ability to detect objects in compliant environments. These architectures are: position error based force feedback (PERR), kinesthetic force feedback (KFF), and position and force feedback (P+FF). The gains for each controller are chosen based on stability, tracking performance, and fidelity of the system. Stability is determined by a robust stability criterion. A sensitivity function is used to determine a tracking criterion. A new fidelity measure is introduced which looks at the sensitivity of the transmitted impedance to changes in the environmental compliance. Experiments are conducted to determine which control architecture allows the operator to most easily determine a change in compliance. This experimental task is designed to mimic palpation of soft tissue performed in medical procedures. The results suggest that the hybrid controller (P+FF) outperforms both PERR and KFF.
Telemanipulator for Dexterity Enhanced Laparoscopic Surgery Based on the Direct Coupling of Two Parallel Mechanisms
Authors: Reboulet Claude , Theron Alain 
Published: November 2021

Abstract
This paper deals with the design of a mechanism based on a new kinematics which behaves as a master slave manipulator. Thanks to a direct mechanical coupling, this telemanipulator is easy and cheap to build, since it requires neither sensor nor actuator. Moreover this new mechanism, based on a redundant parallel structure, is well adapted to surgical applications or more generally to all tasks requiring micro-manipulation. Finally, a relationship between some global performance index and the capability of kinesthetic feedback, is shown.
A Translational-to-Rotational Continuously Variable Transmission Element for a Parallel Cobot
Authors: Emrich Richard , Hodgson Antony J. 
Published: November 2021

Abstract
Cobots are inherently passive devices which constrain the motions of an end-effector powered by external means (often a human user). Previous cobot designs have relied either on a wheel or a rotational continuously variable transmission (CVT) to couple joint velocities; these elements are best suited to planar or serial manipulator designs. In this paper, we describe the design of a new CVT mechanism which is well suited for parallel manipulators and outline a potential application in computer-assisted surgery.
Actuator Array for Display of Distributed Tactile Information: Design and Preliminary Experiments
Authors: Kammermeier Peter , Buss Martin , Schmidt Günther 
Published: November 2021

Abstract
In this paper we present the design of a new tactile actuator array for the display of distributed tactile dynamic shape information in telepresence and Virtual Environment (VE) applications. In actuator design we focussed on high pin forces and a bandwidth sufficient for most one-fingered tactile shape exploration tasks performed by dynamic interaction. As a result, the overall device dimensions currently prohibit its attachment to the effector of typical kinesthetic feedback devices. Experimental results are presented using the prototype in a finger-on-conveyer-belt scenario with objects moving relative to a resting fingertip. Experiments showed that the dynamic tactile display enabled probands to give parameter estimates of displayed objects with an accuracy exceeding the pin resolution of the tactile feedback device.
Finite Element Stress Response Analysis of Stepped-Lap Adhesive Joints Subjected to Impact Tensile Load
Authors: Sawa Toshiyuki , Ohmori Takahiro 
Published: November 2021

Abstract
The stress wave propagation and the stress distribution in stepped-lap adhesive joints of similar adherends subjected to impact tensile loads and elastic deformation are analyzed using three-dimensional finite-element method (FEM). The impact load is applied to the joint by dropping a weight. One end of the upper adherend is fixed, and the other end of the lower adherend is subjected to an impact load. FEM code employed is DYNA3D. The effects of Young’s modulus of the adherends, the number of lapped steps, and the adhesive thickness on the stress wave propagation at the lapped, and fee butted interfaces are examined. It is also found that the maximum value of the maximum principal stress σ1 occurs at the end of the butted interface between the adhesive and the lower adherend to which the impact load is applied. As the number of the lapped steps increases, the maximum value of the maximum principal stress σ1 increases. It is found that the maximum value of the maximum principal stress σ1 increases as the adhesive thickness decreases. The maximum value of σ1 increases as Young’s modulus of the adherends increases. In addition, the experiments were carried out to measure the strain response of stepped-lap adhesive joints subjected to impact tensile loads using strain gauges. A fairly good agreement is seen between the analytical, and the experimental results.
Mathematical Modeling of Seat and Occupant Interaction in Rear Impact
Authors: Chai Li , Barbat Saeed D. 
Published: November 2021

Abstract
Automobile occupant injuries related to rear-end collisions have become the most expensive insurance claims even though fatality rate is relatively low compared to other types of injuries. The concept of designing seats for safety has caught the attention of researchers in recent years. The finite element analysis (FEA) technique has been used as an efficient tool in vehicle safety technology development, but limited work has been reported in its application to seat design for safety. In this paper, a seat/dummy FEA model is developed and presented. The seat geometry is accurately generated from CAD data. The material properties of the seat foams are derived from tests. The seat/dummy model is validated against sled tests in 16 kph and 40 kph rear impact modes. The predicted dummy responses in terms of head acceleration, neck forces and moments, chest acceleration, lumbar spine force and moment, and pelvis acceleration are discussed. Model predictions are favorably correlated with tests. Therefore, this model can be deemed as ready for rear impact studies.