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In order to more deeply understand the crucial technical issues that size of different cutting edge radius directly affects cutting performance, 3D finite element modeling and simulation of milling process for TI-6Al-4V titanium alloy are provided in this paper. Improved titanium alloy material constitutive model is used for this finite element simulation. Three dimensional model of traditional slot...
While hand trajectory has been successfully modeled for single arm reaching movement, few works have considered the bimanual reaching movement and no study has modeled the dyadic reaching movement. In a bimanual task, both hands belong to the same person, while in a dyadic task each hand belongs to a different person. In this paper, we study both bimanual and dyadic reaching movements and show that...
We study the stability of three-dimensional (3D) haptic interaction in Model-mediated Teleoperation (MMT) systems. In MMT, a simple object model is employed on the master side to approximate the remote environment. The haptic feedback is rendered locally on the master side based on model parameters which are estimated on the slave side. The main advantage of the MMT approach is that the haptic control...
This paper presents an extended data-driven haptic rendering method capable of reproducing force responses during sliding interaction on a large surface area. The core part of the approach is a novel input variable set for data interpolation model training, which includes the position of a proxy - the contact point on a surface when undeformed. This enables us to estimate friction in both sliding...
This work describes a Demo to be presented in the Demo Session at exp.at15, related to a DIY Kit system of 1 Degree Of Freedom (DOF) to be used for interacting with virtual reality (VR) applications of simple models. The DIY Kit system and the VR applications to be downloaded by the user are available at the web page: http://onlinelab.fe.up.pt/vr_exp.html.
This paper presents a computational framework for an optimal aerodynamic blade design. Analysis of the wind turbine rotor is conducted using blade element momentum (BEM) theory. The geometric parameters of the wind turbine also have been calculated by BEM theory. The methodology and design approach is discussed in detail throughout this paper. A small three-bladed horizontal axis wind turbine (HAWT)...
Magnetic skyrmions are stable spin configurations which originate from chiral interactions. Their topologically protected nature confers upon them a high stability while still retaining their very small size. These highly desirable characteristics have attracted significant scientific interest in the creation of a skyrmion-based memory device. However, skyrmions are also highly resistant to the conventional...
In this paper we propose to track online computed force trajectories to control the energy of various types of pendulum-like objects. The considered pendulum-like objects can be controlled by multiple agents and swing in different oscillation degrees of freedom. Our goal is to excite one specific oscillation, the intended oscillation, while damping all other disturbance oscillations. By approximating...
This paper presents a method for the generation of dynamic walking gaits with a 3D Dual-SLIP model and its application to a simulated Hubo+ based humanoid. Previous approaches with the Dual-SLIP model have only focused on the planar case, wherein self-stable gaits can be found. When extended to 3D here, this model has not been found to exhibit self-stable gaits, requiring new methods for gait optimization...
Tooth extraction is a typical process in clinical dental operations. Interactive haptic simulation of tooth extraction may provide a useful tool for dental students to learn the correct force pattern and tool posture to accomplish a safe tooth extraction. In this paper, we extended our previous configuration-based optimization approach to simulate the six Degree-of-Freedom (DoF) haptic interaction...
In order to visually simulate the burning phenomenon of a single plant, we present a computer method based on the law of physics. First, we respectively simulate the plant and the burning frame by using the technique of fractal and particles system, and then simulate the process of deformation and discoloration of branches based on dynamics of physics. The proposed method was realized on the graphics...
In this paper, we propose a novel 3D sensing model for the sensor placement optimization problem given a three dimensional environment. The model take into account the angles of a sensor, the distance between the sensor and a given point in the terrain, the Line-of-Sight (visibility) capability, the constraints of the terrain and the number of sensors needed to maximize the coverage over the terrain...
Diagnosing a torn Anterior Cruciate Ligament (ACL) of the knee is a difficult task which is usually performed by physical therapist using physical manipulation of the knee. To help training physical therapy students recognizing the difference between an intact and torn ACL this work proposes a simplified physical model to be fabricated. The model is proposed to replicate the Lachman's test which measures...
Current mandibulomaxillary fixation (MMF) systems tend to deform easily and maintain proper alignment between the mandible and maxilla relatively poorly, resulting in malocclusion in approximately 36% of cases. A novel device was designed to specifically minimize deflection leading to misalignment by optimizing the structural dimensions of a C-channel beam that directly bridges the mandible and maxilla...
We present a general software architecture to carry out interactive molecular simulations in a game engine environment. Our implementation is based on the UnityMol framework and the HireRNA physics engine. With UnityMol, we pursue the goal to create an interactive virtual laboratory enabling researchers in biology to visualize biomolecular systems, run simulations and interact with physical models...
Motion-copying system (MCS) enables to preserve and reproduce the human motion faithfully, and various studies about MCS have been accomplished. Thereby, the concept of the motion database is created, and it is considered that preservation and reproduction of the motion data will spread in the various field including the industry, art and medical care. Then, The demand for processing the saved motion...
Numerical investigations on stratospheric airships of different tail configurations are conducted based on the Reynolds-averaged N-S equations and k-ω SST turbulent model in the condition of the same volume and total area of the tails. The influence of tail configurations on the force and moment characteristics as well as flow phenomena on both hull and fins are analyzed. In particular, the hull-fin...
This paper is to present a technological solution for implementing a force feedback haptic interface in the context of virtual reality interaction applications. The real-time haptic algorithms are implemented in TwinCAT runtime environment to control drivers via EtherCAT fieldbus. A 3-dimensional visualization model for the virtual reality interaction is developed through Virtual Reality Toolbox in...
This paper presents a compact model for Fixed-fixed beams (FFBs), which are commonly found in Micro-electromechanical systems such as RF MEMS switches and Microspectrometers. A major limitation of these devices is the presence of dielectric charging effects. Which introduce hysteresis in the actuation voltage-displacement relationship. A transient simulator is required to evaluate schemes aimed at...
This note presents a preliminary study on a high-level model based task programming framework for secure multimodal human-robot interaction in industrial context. The case study of robotic polishing tasks, in particular the task of polishing the whole surfaces of objects of interest, is considered. Our main focus is on system modeling and optimal synthesis of surface coverage trajectories in robotic...
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