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Haptic refers to feedback of a physical signal to a human user through touch. A haptic system realizes this feedback. In most of the applications today, the physical signal refers to force but not necessary. Virtual environment haptic systems refers to the situation where the force to be feedback from the objects in a virtual environment or computer. Virtual environment haptic robotic systems are...
In this paper, a superconducting augmented rail-type electromagnetic launch system (SAREML) is proposed due to its inherent advantages in terms of lower current, smaller rail ablation, higher propulsive force, and higher energy efficiency. A superconducting coil to enhance the magnetic field was designed and analyzed. The inductance was calculated using the finite element method. Then, the mathematic...
Artificial Neural network (ANN) has been widely used in solving complex real world problems. It is commonly known as a black-box approach in the sense that examples (input and output pairs) are learned in the process of establishing an ANN model. However, there is a long debate in literature on whether ANN is a white-box or a black-box approach. In this article, we take a more conceptual view towards...
In this paper, two control strategies are developed to control the piezoelectric inertia-friction actuator (PIFA) systems with a great attention to counter for the thermal effect. The first strategy is to use two controllers: one is the main controller (used to control the actuation) and the other is the auxiliary controller to adjust the contact pressure (used to compensate the thermal effect). The...
This paper provides a classification of in-pipe robots or robotic mechanisms in literature with the help of axiomatic design theory (ADT). The existing classification of these designs focuses on either their mobility or contact of the robot with the pipe inner surface. Such classification fails to provide a framework to guide the design of such robots. In this paper, we first propose a new approach...
In a companion paper published elsewhere [1], we proposed a design approach based on the general redundancy concept to improve the dynamic performance of a mechanism, especially shaking moment and driving torque, while fulfilling the required task. The approach was based on a partial redundancy function of the servomotor, so the approach is called partial redundancy servomotor (PRSM). In this paper,...
During radiotherapy of lung tumors, the respiratory motion must be tracked to reduce radiation of healthy tissue. This is usually done by using a respiratory surrogate, but with limited accuracy. We investigate how patient-specific finite element models (FEM) of respiratory mechanics can predict the motion of the lungs. First, the anatomical models of the lungs and thorax are extracted from CT images...
A new optical near-field force between plasmonic metamaterials and dielectric/metallic surfaces is identified. It can exceed Casimir, radiation and gravitational forces to provide an optically-controlled adhesion mechanism mimicking the gecko toe.
Tire model for vehicle braking performance simulation analysis has been built in this paper. Through theoritical analysis, the expression of longitudinal force, side-force and self-aligning torque of the tire in joint working conditions was obtained. By means of neural network module in MATLAB, BP neural network model of the tire in joint working conditions was built. Vertical load, slipping ratio,...
A challenge in virtual reality based laparoscopic cholecystectomy simulation is to construct a fast and accurate deformable gallbladder model. This paper proposes a multi-layer mass-spring model which can adapt well to the built-in accelerating algorithms in PhysX-engine of GPU. The gallbladder is first segmented from clinical CT images. A multi-layer model based on the anatomical structure of gallbladder...
Modeling forces applied to cut biological material with laparoscopic scissors is important for haptic rendering in laparoscopic surgical simulation. The cutting process is characterized in deformation and fracture. An analytical model for cutting human iliac artery with laparoscopic scissors is derived with concepts of shearing deformation and fracture mechanics in this study. An experimental set-up...
This paper presents a novel formula describing traveling body wave in fish swimming, offering an enhanced understanding of the locomotion and body shape of those fish swimming by body and/or caudal fin (BCF) movements. The formula is mainly determined by the linear density of the fish, under the constraint that the center of mass of the fish is fixed on the axis along the swimming direction. Further,...
Dispersion of fine dry powders in the size range 1.0 to 10.0 mum in aerodynamic diameters requires a high energy dispersive force since the powders in this size range are very cohesive and their dispersion by vibrational, centrifugal or by aerodynamic force (using air currents) is inefficient in most cases. The adhesive force, that includes van der Waals, electrostatic, and liquid bridge forces, is,...
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