bluuebunny/crossref_metadata_2025_split huggingface dataset:
6-DOF Desk-Top Voice-Coil Joystick
Authors: Salcudean S. E. , Parker N. R. 
Published: March 2022

Abstract
This paper presents the design of a 6-DOF desk-top magnetically levitated force-feedback joystick utilizing voice-coil actuation. Relative to prior designs (Hollis et. al., 1991), (Salcudean et. al.. 1995), (Berkelman et. al., 1996), this haptic interface features a novel geometry, a novel optical sensor and optimized actuation. These allow for all the electronics including the control microprocessor to be integrated in its base, with the device tapering from a handle 5.5” high to a footprint of 10.5″ × 5.5″. The device has a maximum translational motion range of ±3mm limited by the actuation gap, and a predicted maximum rotational motion range of ±5° limited by the sensor motion range. The moving mass of 260 grams will have maximum accelerations exceeding 10 g’s, and will be able to exert continuous forces as large as 16N.
Real-Time Impulse-Based Simulation of Rigid Body Systems for Haptic Display
Authors: Chang Beeling , Colgate J. Edward 
Published: March 2022

Abstract
To date, haptic interfaces have rarely been used to display complex virtual environments such as those involving 3D mechanical assembly operations, or the use of hand tools. Of the limitations which have been encountered, one is the absence of suitable simulation techniques which provide a general, user-defined virtual environment. This paper discusses the use of an impulse-based simulation as a general purpose multibody simulator for haptic display. This technique uses Poisson’s hypothesis in conjunction with Coulomb friction as the basis of the contact model. Since haptic displays are required to run in real time with a constant step size and high update rate, changes to the algorithm are required. We identify the “impact state” as a critical feature of the contact model, and outline the various ways it can be chosen. Finally, we describe the implementation of a planar multibody simulator on one and two-axis haptic displays.
Contact Force Perception With an Ungrounded Haptic Interface
Authors: Richard Christopher , Cutkosky Mark R. 
Published: March 2022

Abstract
Two haptic interfaces, each able to provide either grounded or ungrounded haptic feedback, were constructed. Tests were conducted to compare a subject’s ability to perform boundary detection and object size discrimination tasks with grounded or ungrounded haptic feedback, with or without vision. Not surprisingly, grounded feedback is better than ungrounded feedback in displaying forces that stem from grounded sources. However, ungrounded haptic feedback can give comparable results in boundary detection tests.
Subjects also reported that the application of forces to the fingertips by a moving paddle, as employed in the ungrounded tests and in some of the grounded tests, enhanced the realism of the virtual boundary contacts. Additional results concerning the synchronization of different feedback mechanisms and the use of a brake for grounded feedback are discussed in terms of their implications for the design of haptic interfaces.
Identification of Sphere Size Using the PHANToM™: Towards a Set of Building Blocks for Rendering Haptic Environment
Authors: Tan Hong Z. 
Published: March 2022

Abstract
This paper presents an approach to developing building blocks for rendering synthetic haptic environments using force-reflective haptic interfaces. The task of sphere size identification is used to explore an accurate and efficient way of estimating human performance using the absolute identification paradigm. The results show that subjects can reliably identify 3 to 4 sphere sizes with a set of spheres ranging from 10 to 80 mm in radius. Subjects with prior experience with force-reflective haptic interfaces exhibit higher performance levels. The results also indicate that gradually increasing stimulus complexity yields more accurate measurements of information transmission at little additional cost in terms of total number of experimental trials. Subsequent studies will utilize the new experimental protocol developed in this study.
A New Approach to Estimation of Nonlinear Parametrization in Dynamic Systems
Authors: Annaswamy A. M. , Thanomsat C. , Mehta N. R. , Loh A. P. 
Published: March 2022

Abstract
Nonlinear parametrizations occur in dynamic models of several complex engineering problems. The theory of adaptive estimation and control has been applicable, by and large, to problems where parameters appear linearly. We have recently developed an adaptive controller that is capable of estimating parameters that appear nonlinearly in dynamic systems in a stable manner. In this paper, we present this algorithm and its applicability to the problem of temperature regulation in chemical reactors. It is shown in that the proposed controller leads to a significantly better performance than those based on linear parametrizations.
A Nonlinear Parametrization for Stable Neural Network-Based Identification and Control
Authors: Bošković Jovan D. 
Published: March 2022

Abstract
In this paper a stable neural network-based identification and control method for a class of first-order nonlinear plants is suggested. The method is based on neural networks built using a rational activation function. The paper discusses a method for stable adjustment of the network parameters and robustness issues in the resulting closed-loop system. The overall control scheme also includes a robust global controller that guarantees that the state of the system is confined to a region in the state space. The combination of robust global and neural network-based controllers appears to be well suited for performance improvement in complex nonlinear systems.
Partial State Feedback Based Real Time Neural Controller: Theory and Experiments
Authors: Shukla Deepak , Dawson Darren M. , Paul Frank W. 
Published: March 2022

Abstract
A partial state feedback based direct adaptive control scheme is developed using Orthonormal Activation Function based Neural Networks (OAFNN), for real time trajectory tracking control of a class of nonlinear systems. The OAFNNs are employed in the controller for feed-forward compensation of unknown system dynamics. The network weights are tuned on-line, in real time using Desired Compensation based Adaptive Laws (DCAL). The overall stability of the system and the neural networks is guaranteed using Lyapunov analysis and a modified integral version of projection algorithm. The developed neural controllers are evaluated experimentally and the experimental results support theoretical analysis.
Recurrent Neural Networks for Fault Diagnosis and Severity Assessment of a Screw Compressor
Authors: Li C. James , Fan Yimin 
Published: March 2022

Abstract
This paper describes a method to diagnose the most frequent faults of a screw compressor and assess the magnitude of these faults. To determine the condition of the compressor, a feedforward neural network model is first identified from the compressor’s operating data. A recurrent neural network is then used to classify the model into one of three conditions including baseline, gaterotor wear and excessive friction. Finally, another recurrent neural network estimates the magnitude of fault from the model. The method’s ability to generalize was evaluated. Experimental validation of the method was also performed. The results show significant improvement over the previous method which used only feedforward neural networks.
Observer-Based Control of a Gas Furnace via Fuzzy Modeling
Authors: Kiriakidis Kiriakos 
Published: March 2022

Abstract
The paper addresses the control problem of complex plants, using state space realizations derived from Takagi-Sugeno fuzzy models. In particular, a state feedback controller, based on estimated state information, is proposed for the regulation of gas furnaces. The method comprises procedures to design a converging state estimator and a stabilizing controller separately. It is shown that if the estimator and controller gains satisfy an additional sufficient condition the observer-based closed loop is stable. Simulation studies on the fuzzy model of the gas furnace process verify the result.
Adaptive Fuzzy Control of Vehicle Semi-Active Suspensions
Authors: Lieh Junghsen , Li Wei-Jie 
Published: March 2022

Abstract
The optimization of passive and controllable suspensions is subject to the constraint that conflicts the car body and tire modes. The application of control systems for improving ride quality has been studied for many years. The control force for an active suspension is derived from either full-state or partial-state signals, which requires extensive hardware, consumes higher energy, and has a low reliability. On-off and variable semiactive suspensions have been used for their simplicity, however they are lack of adaptive capability for nonlinear damping modulation.
The intent of this paper is to apply a fuzzy logic concept for control of semiactive damping that is normally nonlinear with stochastic disturbances. The nonlinear damping coefficient is adjustable in order to control the bounce acceleration, suspension travel and tire deflection. A quarter-car model is used to examine the fuzzy control rule. Results from simulation are presented.
New Laser-Based Optical Position Sensor With Applications to Robot End-Effector Motion
Authors: White W. N. , Beck B. T. , Garimella V. 
Published: March 2022

Abstract
This paper examines the characteristics of a new laser-based optical position sensing technique that has been under development in the Department of Mechanical Engineering at Kansas State University. Previous investigations with the technique focused on quasi-static single degree of freedom position measurements using a single laser-generated light sheet. The present paper extends the basic concept by utilizing two intersecting laser light sheets to sense spatial position in two dimensions. The image of the intersecting light sheets is viewed on a flat reflective screen. It is detected by a high resolution video camera, with associated frame grabbing hardware/software, and subsequently related to body position by processing the video image of the intersecting light sheets.
In Vitro Measurement of the Six Degree-of-Freedom Kinematics of the Human Knee During Simulated Gait
Authors: Sheshadri Vikram B. , Rullkoetter Paul J. , Hillberry Ben M. 
Published: March 2022

Abstract
This paper describes a method to determine the six degree-of-freedom kinematics of the human knee. A complete description of knee motion requires information on both the patellofemoral and the tibiofemoral joints. Six degree-of-freedom spatial linkages are used to determine the relative motion of each of the joints. One linkage is connected across the tibiofemoral joint and a second is connected across the patellofemoral joint. A three cylindric open chain model is then used to describe the motion of each of the joints. Sample kinematic data were developed using the Purdue Knee Simulator with natural knee specimens. The simulator is able to recreate anatomical loading of the knee during various activities. The natural specimens were mounted in the simulator with the linkages attached. Data were recorded for level walking and six degree-of-freedom kinematics were determined for the tibiofemoral as well as the patellofemoral joints.
Computer Modeling of Knee Simulator Tibio-Femoral and Patello-Femoral Loading
Authors: Maletsky Lorin P. , Hillberry Ben M. 
Published: March 2022

Abstract
With the continuing need to evaluate prosthetic wear and kinematics of the knee joint, a number of in vitro dynamic test machines, termed knee simulators, have been built. The objective of this work was to develop a model to predict the tibio-femoral and patello-femoral forces generated for a variety of different knee simulator designs and loading configurations. Moving contact areas determined from experimental kinematics were used to determine moment arms for the forces about the knee. The model was validated using data experimentally obtained using the Purdue Knee Simulator.
On the Spatial Compliance Control of Parallel Manipulators and Levitated Platforms
Authors: Fasse Ernest D. 
Published: March 2022

Abstract
This paper looks at the control of mechanical compliance of manipulators and platforms capable of complex spatial motion. The family of compliances used has spatial transformation properties that make it easier to select compliance parameters to perform useful tasks. Control laws were previously derived for serial manipulators; this is a first investigation into the control of other mechanisms. In particular, this paper presents control laws for (1) the so-called Stewart-Gough class of six degree-of-freedom, parallel manipulators, and (2) a six degree-of-freedom, electrodynamically levitated platform, assuming small motions. Simulation results are given.
The Realizable Space of Spatial Stiffnesses Achieved With a Parallel Connection of Simple Springs
Authors: Huang Shuguang , Schimmels Joseph M. 
Published: March 2022

Abstract
In this paper, we identify the space of spatial compliant behavior that can be achieved through the use of simple springs connected in parallel to a single rigid body. Here, the expression “simple spring” refers to the set of compliant relations associated with purely translational springs and purely rotational springs.
We show that, regardless of the number of springs used, there exists a subspace within the 21 dimensional symmetric spatial stiffness matrix space that cannot be reached by a parallel simple spring system. The subspace of “realizable” spatial stiffness matrices achieved with parallel simple springs is 20 dimensional and is defined by a linear necessary and sufficient condition on the positive semidefinite stiffness matrix. We show that any full-rank spatial stiffness matrix satisfying the condition can be realized using only line springs.
A Robust Universal Controller
Authors: Lam S. H. 
Published: March 2022

Abstract
The present paper advocates the use of ODE-based (instead of algebra-based) constraints on the output variables of a controlled system, and the use of dynamic control laws (instead of static control laws) — when finite but small errors in honoring the constraints are considered acceptable. It is assumed that the sensor signals are reliable and have good signal-to-noise ratios, that the controller has ample computational power, and that the hardware/software “sampling time” ts is much smaller than the system characteristic time tg. A universal dynamic control law is proposed which does not require detailed knowledge of the system itself — and is therefore completely robust with respect to uncertainties of the system — provided the control problem to be solved is reasonable. The meaning of the equivocal word “reasonable” will be explained.
On Line Inspection and Control of Workpiece Dimension Using Ultrasonic Sensors
Authors: Rosenberger T. , Teltz R. , Shawky A. , Elbestawi M. 
Published: March 2022

Abstract
In this paper new approaches to the inspection and control of workpiece dimension in turning are presented. The paper focuses on the novel application of ultrasonic sensors to provide improved part monitoring and feedback to the process controller. The measurement setup is used for both part diameter and wall thickness of hollow shafts. Compensation for sensor misalignment errors are addressed. The dimensional data obtained during cutting is used in a closed feedback control loop to compensate for dimensional errors in real time. The results demonstrate the accuracy, robustness, and capability of the described techniques in operating in wet cutting environment.
NARMAX Modeling and Robust Controller Design for Internal Combustion Engines
Authors: Glass John W. , Franchek Matthew A. 
Published: March 2022

Abstract
Presented in this paper is the conversion of NARMAX models to describing function based models for the purpose of robust feedback controller design. This investigation develops discrete NARMAX models to represent the nonlinear dynamics of a Ford 4.6L V-8 fuel injection engine operating at a preset idle speed. A SISO NARMAX model of the engine is developed between the By-Pass Idle Air Valve (BPAV) and engine speed. From this model, a describing function is obtained for the purpose of controller design. The objective of the controller design is to regulate engine speed within a 100 rpm tolerance about 700 rpm despite external torque disturbances. The design is executed in the frequency domain which incorporates model uncertainty and the transport delay of the engine. A controller is designed and verified using both numerical simulations and experimental verification.
A Finite Volume Colocated-Mesh Method for the Prediction of Non-Newtonian Fluid Flow
Authors: Oliveira Paulo J. , Pinho Fernando T. , Pinto Gilberte A. 
Published: March 2022

Abstract
This paper reports the development of a methodology for calculating the flow of upper convected Maxwell fluids using a finite-volume based method. The algorithm was developed for a general non-orthogonal collocated grid, and the pressure-velocity-stress coupling was addressed by a special interpolation technique inspired by Rhie and Chow’s (1982) method. The differencing schemes are second order accurate and calculations were carried on for a two-dimensional entry channel flow in order to assess the performance of the method. The interpolation technique specially devised for the stresses was found to work well and the results of the simulation compared favourably with those of the literature (Eggleton et al, 1996). Convergence was attained for Deborah and Reynolds numbers identical to those reported in the literature for a similar flow problem using other numerical methods.
Viscoelasticity was responsible for the development of very intense normal stresses, which were tractive in the wall region. As a consequence the viscoelastic fluid was forced to move away from the wall, in a more intense way than with Newtonian fluids, thus reducing locally the shear rates and the role of viscosity in redeveloping the flow.
Static and Dynamic Structures of Polarizable Fluids
Authors: Tao R. 
Published: March 2022

Abstract
In a strong electric field, polarizable fluids have a structural transition at a critical shear stress. When there is no flow, polarizable fluids form a body-centered tetragonal lattice which consists of closely packed chains. When the shear stress is increased from zero up to a critical value, the flow (in x-direction) has a flowing-chain (FC) structure, consisting of tilted or broken chains along the field (z-direction). At the critical shear stress, the FC structure gives way to a flowing-hexagonal-layered (FHL) structure, consisting of several two-dimensional layers which are parallel to the x-z plane. Within one layer, particles form strings in the flow direction. The effective viscosity drops dramatically at the structural change. As the shear stress reduces, the FHL structure persists even under a stress-free state if the thermal fluctuation is very weak.
Mixer-Type Rheometry for Complex Fluids
Authors: Ait-Kadi A. , Marchal P. , Chrissemant A. S. , Bousmina M. , Choplin L. 
Published: March 2022

Abstract
A procedure to quantitatively analyze torque/rotor speed data in order to extract viscosity/shear-rate curves using non conventional geometries is presented. The approach is based on the Couette analogy. It is first validated using a relatively simple geometry for which the equivalent internal radius used in the analogy can be analytically obtained. The results showed that the equivalent internal radius depends only slightly on the nature of the fluid. The experimental results with complex geometries and complex fluids are found to coincide, within experimental errors, with those obtained using standard geometries over a wide range of shear rates. For certain fluids such as tomato ketchup, only a specific mixing device (the helical ribbon impeller in this case) can be used to obtain reproducible viscosity/shear-rate curves.
Elongational Flow of Long Discontinuous Fiber Composites
Authors: Creasy Terry S. , Advani Suresh G. 
Published: March 2022

Abstract
Two fiber/polymer composite systems provided an opportunity to determine the dominant properties that set the behavior of the systems in extensional flow. Industrial users are interested in these systems for the savings of process time and labor they may bring to high strength composite construction. To understand the basic behavior of highly aligned fiber systems, the paper presents a model system designed to provide extensional data at low and moderate fiber aspect ratio and a high aspect ratio system. The model system shows the trend to a shift from neat polymer elongational response to a shear flow dominated response as the aspect ratio increases. The high aspect ratio system demonstrates the effect of extreme filament length on the transient response.
The ER Long-Stroke Damper: Experimental Verification of Mathematical Models
Authors: Peel D. J. , Stanway R. , Bullough W. A. 
Published: March 2022

Abstract
Traditionally, procedures of modelling the performance of electro-rheological (ER) devices have been severely hampered by the absence of robust methods for characterising the behaviour of the ER fluids themselves. Recent publications by the authors have described a non-dimensional characterisation procedure. Not only does this new approach drastically reduce the number of variables but through a generalised analysis enables tire steady flow characteristics of different types and sizes of devices to be related.
In this paper, the authors describe the extension of the characterisation technique to consider the behaviour of a controllable vibration damper which uses ER fluid as the working medium. A critical comparison is made between the model predictions and the observed behaviour of a test facility specially constructed to examine the response of an ER damper to harmonic displacement excitation. Emphasis is placed upon the influence of fluid inertia and compressibility on dynamic response and upon phenomena which are observed at the reversal of fluid motion; suggestions are made for further work.