bluuebunny/crossref_metadata_2025_split huggingface dataset:
Optimization of Real-Time Multivariable Estimation in Grinding
Authors: Jenkins Hodge E. , Kurfess Thomas R. 
Published: July 2023

Abstract
To achieve cost-effective, high quality precision parts, it is important to determine the grinding process dynamics and subsequently control the process. Grinding is a time-varying process by nature, so real-time models are needed to develop adaptive controllers. In previous work by the authors real-time estimation of grinding model parameters was introduced. Multi-sensor input and windowing techniques for estimation of the process model parameters were presented. The paper is an extension of that work. Implementation and optimization issues as well as additional experiments are discussed in this paper.
Parameter estimation algorithms using the experimental grinding data are able to identify the process variation and calculate the grinding model parameters in real-time. These real-time models are superior to fixed-parameter grinding models in terms of calculating the achieved ground surface position. Several estimation algorithms are compared to the actual experimental data. Effects of several materials on modeling, estimation, and numerical optimizations of the parameter estimation algorithms are investigated. Various process sensors are examined for their influence on the grinding model parameter estimation error covariance. An implementation strategy for multivariable estimation and adaptive force control using parallel processors is also presented.
Haptic and Visual Feedback for Manipulation Aid in a Virtual Environment
Authors: Noma Haruo , Kitamura Yoshifumi , Miyasato Tsutomu , Kishino Fumio 
Published: July 2023

Abstract
This paper proposes a new method of object manipulation in a Virtual Environment that uses a visual and haptic feedback based manipulation aid. If the displayed position of the object is constrained on a face of another object in the virtual environment, a user can place the virtual object at a precise position as easily as in a real environment. The visual feedback based manipulation aid constrains the motion of the virtual object as if it were moved in a real environment. Furthermore, in simultaneous correspondence with the visual constraints, the haptic feedback based manipulation aid constrains the motion of the user’s hand in the real environment. The proposed method introduces a magnetic metaphor: the user has the sensation of manipulating a virtual object on a rigid surface without using a large and powerful robot arm and the time consuming simulation of detailed physical phenomena. The properties of this manipulation aid based on two kinds of feedback are discussed. Experimental results show the effectiveness of our proposed method.
PC-Based Virtual Reality System With Dextrous Force Feedback
Authors: Pere Emmanuel , Gomez Daniel , Burdea Grigore , Langrana Noshir 
Published: July 2023

Abstract
This paper describes a PC-based virtual reality system that provides dextrous force feedback through the Rutgers Master II (RM II) device. The RMII “smart” interface incorporates a 386 microprocessor that handles low-level communication and control of the haptic device. This reduces communication bandwidth with the host computer and increases control bandwidth and haptic feedback quality. In a dual-user configuration two such systems are interconnected over the ethemet allowing remote users to participate hapticly in a single VR simulation. The PC hosts display 3-D real-time graphics rendered by dissimilar graphics cards (Spea Fire board and Integraph board). A machine shop assembly task and a virtual dice game were developed using WorldToolKit VR-library to illustrate the concept.
Evaluation of a Force Feedback (Haptic) Computer Pointing Device in Zero Gravity
Authors: Payette Julie , Hayward Vincent , Ramstein Christophe , Bergeron Dominique 
Published: July 2023

Abstract
Haptic devices and specialized force-feedback hand controllers have been proposed as alternative Input/Output devices for use in challenging operational environments such as space. In the case described here, it is proposed that a pointing device with force-feedback (a haptic mouse) be used as a generic cursor device for operating computers in weightlessness. It is believed that such devices will decrease the effective workload of operators while increasing their efficiency in space. This paper describes an experiment that was designed to measure the effectiveness of a haptic device (hereby called Pantograph) in zero gravity conditions. The Pantograph was compared to a standard trackball pointing device. Both devices were tested on the ground and aboard a NASA reduced-gravity aircraft using a common graphical test interface (GUI). Results have shown that in zero gravity, the haptic device has proven more time efficient and has provided more pointing accuracy than the trackball in performing standard GUI operations such as clicking, dragging, and selecting.
The Impact of Visual Information on the Haptic Perception of Stiffness in Virtual Environments
Authors: Srinivasan M. A. , Beauregard G. L. , Brock D. L. 
Published: July 2023

Abstract
To study the impact of visually presented spatial cues on the human perception of mechanical stiffness in virtual environments, a three degree of freedom, force-reflecting haptic interface, the Planar Grasper, was utilized. In a series of psychophysical experiments on the discrimination of stiffness of two virtual springs, subjects pressed the springs and felt the corresponding displacements and forces through their hands, in addition to seeing the deformation of the springs displayed graphically on a computer monitor. Unknown to the subjects, the relationship between the visually presented deformation of each spring and actual deformation was systematically varied between experimental trials. This relationship ranged from fully registered (visual deformation was equal to the actual deformation of each spring) to completely interchanged (visual deformation of the softer spring was equal to the deformation of the harder spring for that force and vice versa).
The results demonstrated a clear visual dominance over the kinesthetic sense of hand position. The subjects essentially ignored all kinesthetic hand position information regarding spring deformation, and based their judgment on the relationship between the visual position information and the indentation force sensed factually. This caused an increasing misperception of stiffness with increasing mismatch between the visual and haptic position information, culminating in totally erroneous judgments when the two were interchanged. These results indicate such haptic illusions can be exploited to overcome some of the limitations of haptic interfaces and to enhance the range of haptic experience.
Nodicity and Nonlinear Interacting Dynamic Systems
Authors: Won Justin , Hogan Neville 
Published: July 2023

Abstract
Before solving the impedance selection problem, constraints on the impedance should be defined to guarantee the stability of the design. Often it is sufficient to constrain the selection to passive impedances, especially when interacting with passive environments but when interacting with active environments whose energy production may cause dynamic instabilities, more specific constraints must be identified. Unfortunately the tools available to perform this type of stability analysis are limited. Input/Output theory is a common method of analyzing the BIBO stability of nonlinear systems but in this paper we show that standard I/O theory cannot be applied to general interacting physical systems because it is based on a non-general assumption of nodic behavior. The non-nodic behavior of general physical systems is described and the applicability of an extension of I/O theory is considered.
The Concept and Implementation of a Passive Trajectory Enhancing Robot
Authors: Book Wayne , Charles Robert , Davis Hurley , Gomes Mario 
Published: July 2023

Abstract
A novel controlled passive device is described which allows its end effector to be pushed only along a specified but arbitrary path. The force to move the end effector must be provided by an external source such as a human, gravity, or fluid flow. Possible applications include computer assisted surgery, haptic displays, exercise machines, and teleoperator masters. Advantages of the passive approach taken include safety from run away motors and freedom from supplying substantial amounts of energy to the device. This paper describes the concept and how it has been implemented and shows feasibility through initial experiments with simple control of a prototype system.
Trajectory Tracking of Multibody Spacecraft
Authors: Kelkar A. G. , Joshi S. M. 
Published: July 2023

Abstract
This paper addresses the problem of trajectory tracking of multibody spacecraft. The class of systems considered consists of a central body to which a number of articulated appendages are attached. Each appendage itself could be a serial chain of bodies. For the case of rigid multibody systems, nonlinear equations of motion are obtained for the tracking error dynamics. The quaternion representation is used for the central body attitude. A trajectory tracking control law is given, and is shown to provide global asymptotic stability of the tracking error. For the case of multibody flexible spacecraft in the attitude-hold configuration, it is shown that the closed-loop system remains ℒ2-stable under the proposed tracking control law.
Automated Modeling to Support Robust Controller Design
Authors: Wilson Bruce H. , Eryilmaz Bora 
Published: July 2023

Abstract
Researchers in automated modeling and developers of automated modeling software have hitherto considered only the case in which a system’s parameters and model’s coefficients are known precisely. Researchers are well aware that real-world engineering does not provide such precision, but have perhaps operated under the common assumption that the true values are sufficiently close to the nominal values. For closed-loop system design, parametric uncertainty can easily result in a lack of robust stability: an undesirable situation. We have developed a convex-hull algorithm to analyze transfer functions with uncertain coefficients and have applied this procedure to robust controller analysis and design. This exercise, while useful, involved considerable effort and bookkeeping in synthesizing the rational functions for each model coefficient, and provided impetus for considering how automated-modeling software could support robust controller design. We discuss such support, both for the techniques illustrated in the paper, and for other techniques.
The Bond Graph Use for the Design and the Improvement of Instrumentation Architecture for System Monitoring
Authors: Tagina M. , Cassar J. P. , Dauphin-Tanguy G. , Staroswiecki M. 
Published: July 2023

Abstract
This paper presents two methods for direct generation of analytical redundancy relations from a bond graph model. These relations are then used to detect and isolate faults affecting the studied system, consisting of a horizontal plane robot with two arms. We also show how the bond graph model helps to conceive an instrumentation architecture, giving a satisfactory isolation ability for the monitoring system.
Verification of Hybrid Physical System Models
Authors: Mosterman Pieter J. , Biswas Gautam 
Published: July 2023

Abstract
Physical systems are by nature continuous, but often nonlinear. This increases model complexity and causes numerical stiffness in simulation. By modeling these nonlinearities as discontinuities, the models can be linearized and operate in multiple modes. This paper discusses a hybrid modeling methodology that combines continuous energy flow modeling using bond graphs and discrete signal flow modeling using controlled junctions with associated finite state automata to generate complex, multi-mode behavior. When threshold values are crossed, multiple discontinuous changes may occur before a new continuous mode of operation is reached. An analysis method is presented to establish physically inconsistent areas based on the energy distribution in the system at the time of switching. Time complexity of the method is constrained by a model partitioning approach based on identifying areas of instantaneous change.
A Synthesis of Design and Lagrangian Bond Graphs
Authors: Redfield Robin C. 
Published: July 2023

Abstract
Standard bond graphs of nonlinear mechanical systems lead to substantial derivative causality which makes equation formulation tough, however, many design variables are easily available in these formulations once the dependencies are sorted though. Lagrangian formulations represent an energetic derivation of the equations of motion with the flexibility and transparency of the bond graph method without derivative causality. Equation derivation is relatively easy. Unfortunately, Lagrangian compositions are minimal in some sense and do not include many of the design variables that may be necessary in real engineering (more than the dynamics). This work integrates the design and Lagrangian bond graph approaches to allow the ease of equation formulation with the benefits of variable availability.
Modeling and Control of a Non-Linear, Flexible, Physical Therapy Dynamometer
Authors: Leonhardt Patrick A. , Zhou Tong 
Published: July 2023

Abstract
This paper investigates the modeling and control of a physical therapy dynamometer with a flexible shaft and a non-linear damping function. Because of the disparate sizes of patients, the system loading varies. Computer models of the system were created by entering bond graphs into the Computer Aided Modeling Program - Graphical (CAMPG). These models were modified to include the non-linear element and were simulated numerically using the Advanced Continuous Simulation Language (ACSL).
Two families of controllers using the feedback linearization technique were formulated, one that treats the system as completely rigid, and a second that accounts for, and attempts to control the system flexibility. It was found that the second family of controllers had a performance advantage, because they can be made less sensitive to parametric variation by increasing the flexibility of the system. Increasing the system flexibility also has a cost advantage, because less sophisticated components can be used.
Hardware Method for Accurate Measurements in a Transmit-Receive Ultrasonic Ranging System
Authors: Tong Chia-Chang , Figueroa J. Fernando , Barbieri Enrique 
Published: July 2023

Abstract
This paper describes a method to accurately determine the distance between a transmitter and receiver in an Ultrasonic Ranging System. The method has an accuracy associated with phase measurement systems, which are more accurate than typical ranging systems that use magnitude thresholding to measure time-of-flight (TOF). The significance of the method described is that the maximum measurement range is not limited to one wavelength (or one period) of the acoustic wave used. This limitation is typical of phase-based ranging systems. The maximum range is limited only by the method used to measure TOF, which in our case was the maximum count of a 16-bit counter at 1 MHz clock rate. The acoustic ranging system described uses simple circuitry to extract a digital pulse with a duration equivalent to the TOF. The prototype system developed is very stable and robust, and it exhibits an accuracy of ±0.295 mm at a range of 0.5842 m. This accuracy could be further improved by compensating for variations in the speed of sound caused by temperature variations.
Force Analysis of a Stewart Platform-Based Force/Torque Sensor Using a Linearization Technique
Authors: Kang Chul-Goo , Han Jeong-Hoon 
Published: July 2023

Abstract
A Stewart platform-based force/torque sensor with 6 instrumented elastic legs needs the solution of forward kinematics of the Stewart platform in order to obtain the force and torque acting on the upper plate from given 6 leg forces. However, the solution of the forward kinematics is not known in a closed-form.
In this paper, a solution of the forward kinematics is derived by means of the linearization of the solution of inverse kinematics, and this solution of the forward kinematics is used for the calculation of the force and the torque of the force/torque sensor. In order to investigate the validity of the proposed method, the Stewart platform-based force/torque sensor is designed in view of the isotropy of the measurable forces and torques, and error analyses are conducted for the forces and the torques of the sensor.
Development and Uncertainty Assessment for a Novel Laser-Based, Optical Position Sensor
Authors: Beck B. Terry , White Warren N. , Garimella Vijay 
Published: July 2023

Abstract
This paper examines the feasibility of a novel laser-based optical position sensing technique. The method utilizes a laser light sheet to sense spatial position in one dimension, which could be applied to a machining head assembly or a robot arm link. The image of the light sheet is viewed on a flat diffusely reflective screen and is detected by a high resolution video camera and associated image acquiring hardware/software. Position information is obtained by processing the video image. The basic principles of the technique are demonstrated with a simplified experimental test setup for a single (position) degree of freedom. The method offers the advantages of being very simple, extremely inexpensive and highly accurate. The investigation involved a detailed experimental and theoretical evaluation of the potential of the measuring technique. The basic application of the necessary line sensing hardware/software, and a theoretical and experimental evaluation of the repeatability and potential overall accuracy of the method are discussed in this paper.
Preliminary Experiments on Using Direct Calibration for Determining Part-in-Hand Location
Authors: Murray William R. , Pohlhammer Christopher M. 
Published: July 2023

Abstract
The sensor system for a new vision-guided automated cell that fills part trays with parts that were shipped in bulk is described. In this automated cell, bulk parts first are singulated and presented by a vision-based, flexible parts feeder. Subsequently, the robot picks a part from the feeder output station, presents the part to a second sensor system where the part-in-hand location is sensed. Finally, correcting for measured errors in how the part was grasped, the robot places the part in the output part tray. The principal feature of this technical approach is the two stages of sensing: initial crude, fast sensing to determine part location with sufficient accuracy to allow the robot to grasp the part; and final sensing with the part in hand to allow for accurate placement in an output tray. Final sensing is necessary to accommodate errors in initial sensing as well as errors in grasping, which are significant with a gripper capable of handling multiple part styles.
The enabling technology for this approach is direct calibration, which is used in final sensing. In direct calibration, the entire manipulation system — the robot, the sensors, and the parts to be handled — is calibrated for the required task in a single procedure to directly determine the relationship between the part feature information in sensor coordinates and the part location (position and orientation) in robot coordinates. This calibration procedure is accomplished in two steps: calibration data are generated by using the robot to move the part(s) under the view of the sensors; and the best-fit mapping representing this process is determined.
As a proof-of-concept experiment, a prototype of this tray-loader system was run with six types of complex, injection-molded plastic parts from a desktop printer. Preliminary results from this experiment are presented. These results indicate that final sensing, based on direct calibration, is sufficiently accurate in determining part-in-hand location for use in flexible automatic tray loading.
Neural Network Control of Nonminimum Phase Systems Based on a Noncausal Inverse
Authors: Register Andrew H. , Book Wayne J. , Alford Cecil O. 
Published: July 2023

Abstract
A new approach for feedforward ANN control of nonminimum phase mechanical systems is proposed. A standard backpropagation-of-errors ANN is used to form an inverse model controller which is applied to simulated nonminimum phase systems. Learning in the new approach is based on the convolution between a noncausal impulse response and a desired tip trajectory. Selection of the proper input set, input scaling and the ANN structure are investigated. Once the input and structure are specified, the ANN is trained over a single trajectory. After training, the ANN is used to drive the system in an open-loop configuration. Plots of the system states resulting from the ideal excitation and from ANN excitation are compared. The results obtained by varying both the number of units and the input set are presented. The results demonstrate the effectiveness of the proposed ANN inverse model approach.
Sensor Technology Integration and Intelligent Decision Making in an Industrial Prototype for Herring Roe Grading
Authors: Croft Elizabeth A. , de Silva Clarence W. , Kurnianto Setiawan 
Published: July 2023

Abstract
The automated grading of non-uniform products, such as fruit, cuts of meat, and other discrepant goods is an ongoing problem. In some areas technical advances in have permitted the on-line, single-criteria sorting of millions of items per minute. However, for many non-uniform products, especially those for which a multi-factor decision about overall quality is required, grading is still done substantially by hand.
Herein, we describe the development and integration of sensor technology for Herring Roe Grading. Size, shape, firmness/texture and weight all play key roles in determining the grade of each roe skein. These variables are subjective both in the way they are determined by humans, and in the way they affect the grade of a skein. Thus, an “intelligent” decision-making system was used to determine the final grade of the product. The system uses a fuzzy-logic knowledge base developed through acquisition of knowledge from grading experts and off-line experiments.
Fuzzy-Based Energy Managment System for Large Buildings
Authors: Shoureshi R. , Brackney L. , DeRoo B. 
Published: July 2023

Abstract
A hierarchical fuzzy logic controller composed of supervisor, coordinator, and local levels is applied to the problem of building temperature and lighting control. The intelligent control structure is designed to take advantage of variable occupancy, utility cost, and building dynamics are used as inputs to an adaptive fuzzy relation which generates local controller setpoints based on accumulated knowledge of past building usage and behavior. The supervisor is autonomously optimized with respect to a performance index penalizing energy consumption, occupant discomfort, and fuzzy model error Implementation of the controller in an office building is discussed.
Recognition of Multiple Objects Using Geometric Hashing Techniques
Authors: Edwards Jeff , Shoureshi Rahmat 
Published: July 2023

Abstract
This paper discusses the technique of geometric hashing applied to the recognition of multiple, possibly occluded, objects in the presence of a typical industrial lighting environment. This approach is based on local features and accepts image interest point as input in its current form. The algorithm can also be expanded to accept more robust features such as line segments and curves as inputs. The implementation described in this paper is designed to recognize primarily flat objects from a camera perspective perpendicular to the surface of a worktable. However, the algorithm can be generalized into 3D vision system by incorporating the affine approximation to the perspective viewing transformation. Much of the computational load is performed off-line and stored in a hash table for rapid access times during actual object recognition. Because of these characteristics, the geometric hashing technique is highly suitable for flexible assembly cell applications as discussed herein.