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This paper defines a model-based control hap tic guidance (MPC-HG) approach to improve the performance of a user in a minimally invasive surgery (MIS) training while performing a surgical related task. In this approach, a robot applies controlled forces on the hand of the user to guide him/her through an MIS training task according to an MIS reference model and desired set of motions. The main challenges...
Fluid flowing with small-scale details is involved in many games or animation effects. This paper aims to add such small-scale details to fast smoke simulation. In the paper, the whole smoke motion is divided into two parts: a low-resolution motion field and a high-resolution detail motion field, both of which are handled respectively and then combined with each other. The low-resolution motion field...
In this paper, we present a control technique to editing the fire motion with the geometry goal shape, which is designed without connection to physical parameters and physical equation solving. To fulfill this, controlling elements are extracted from the input curves conveying the target shape of fire animation. Then a force field is obtained according to these controlling elements, which would drive...
Artistic effects of Chinese character deformation have been attracting more and more attention, especially in the fields of films, TV programs and games. In this paper, we introduce a fast and effective Chinese character deformation method based on smoke simulation. During the smoke simulation, an external force field is generated according to current state frame by frame and this force field controls...
In recent years, realistic simulation of vehicles on soft terrain has increasingly gained importance due to its use in operator training, mission planning and design. In this work we present a method which is tailored to the requirements of real-time simulation of soft soil in Virtual Reality applications. We combine models from terramechanics and soil mechanics in order to represent the interaction...
This paper presents a fast implementation of multi-band blending for combining a set of registered images into a composite mosaic with no visible seams and minimal texture distortion. We first compute a unique seam image using two-pass nearest distance transform, which is independent on the order of input images and has good scalability. Each individual mask can be extracted from this seam image quickly...
This article analyzes those conditions that must be fulfilled so that a workpiece can be clamped over a through hole. By clamping a workpiece over a through hole the size of the required fixture can be reduced, and more surfaces can be machined in the same setup compared to other clamping solutions.
The goal of this work is to study the application of switchable magnets (SM) for climbing robots. A switchable magnet is a device which uses moving permanent magnets to change the magnetic flux path and switch on or off the magnetic attraction force. In our work we used Comsol Multiphysics, a physics simulation software in order to simulate the flow of the magnetic flux on switchable magnets on its...
The Dual-SLIP model has been proposed as a walking template that inherently encodes a rich set of human-like features. Previous work has used the 3D Dual-SLIP with bio-inspired leg actuation to generate a human-like dynamic walking gait over a wide range of speeds. The work presented in this paper extends the 3D Dual-SLIP walking strategy to uneven terrain. With nonlinear optimization based on a multiple-shooting...
In order to solve the incompatibility between real-time property and realism, we introduce a method for 3D rock fracturing simulation based on the Havok Physical Engine in this paper. Firstly, during the model preprocessing stage, the seed points are inserted inside the model and the 3D Voronoi fragments are generated as many as the seed points. At the same time, the breakable linear constraints between...
This paper addresses modeling issues for a class of nano-robotic systems using piezoelectric stick-slip actuators. The work focuses on the friction force modeling to describe the dynamics of a stick-slip actuator in a wide operating range needed in nano-robotics. Based on the theory of the single state elasto-plastic model and on an experimental analysis, necessary conditions on presiding modeling...
Series elastic actuators primarily use linear springs in their drivetrains, which introduces a design tradeoff: soft springs provide higher torque resolution at the cost of system bandwidth, whereas stiff springs provide a fast response but lower torque resolution. Nonlinear springs (NLSs) potentially incorporate the benefits of both soft and stiff springs, but such springs are often large. An NLS...
This paper presents a novel approach to achieving aerial pitch righting in a mobile robot, inspired by the draglines used by jumping spiders. We developed and simulated a mathematical model of the spider during the aerial phase of its jump to gain further insight into the factors affecting the pitch response. The results demonstrate that the dragline could also potentially function as a brake, slowing...
Seismocardiography (SCG) is measurement of sternal acceleration caused by heart beats. Although fiducial cardiac events have been associated with seismocardiogram extrema, the forces that cause the vibrations are unknown. The goal of this study was to create a 3D model of the thorax capable of modelling its vibrations under heart-like forces.
The isolation plugging tool is normally developed for deep water pipeline repairing. It is a mechanical structure of plugging and sealing fluid in high-pressure pipelines to make sure the pipe maintenance operation under normal transmission. In order to design control the plugging tool, the analysis of underlying flow field physics in pipeline is necessary based on the in-situ situation. The flow...
This paper describes efficient, scalable parallel implementations of the conventional cell list method and a modified cell list method to calculate the total system intermolecular Lennard-Jones force interactions in the Monte Carlo Gibbs ensemble. We targeted this part of the Gibbs ensemble for optimization because it is the most computationally demanding part of the force interactions in the simulation,...
This work studied three-dimensional path planning of rotary-wing flying robot in free flight model. Path planning algorithm combining artificial potential field with ant colony algorithm was proposed for the complex problem in three-dimensional environment. These two algorithms were integrated and optimized for three-dimensional environment with advantages and disadvantages of these two algorithm...
This paper presents the design, analysis, fabrication, and experimental testing of a two-axis micro-motion machine dedicated to precision alignment applications. The designed machine features a long alignment distance over ±5 mm in each axis and a well decoupling motion in the two axes. The design is devised using metal flexure mechanisms based on multistage leaf spring, which allows a precise movement...
The planetary gears system is an important part as the speed increasing gearbox commonly used in the semi-direct drive wind turbines. In this paper, the 3-D model of the speed increasing planetary gear system is established by CAD software. The motion pairs, drive and load of the model are defined by using ADAMS software. The dynamical mesh force and vibration responses of the planetary gear, ring...
In this paper a FEM model is proposed to simulate the guide wire navigation procedure in moving vascular structures. The virtual instruments are discretized with the multi-body representation, while the moving vascular structures are represented by a sequence of binary volumes segmented from the patient's data sets. The corresponding potential fields can be obtained by applying distance transform...
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