The remediation and management of various nuclear sites will require inspection, removal and surveillance operations within many waste storage tanks. Due to the large dimensions, many tasks will be performed with a small ...

This paper investigates the modeling and control of a new dissipative passive haptic display that uses magneto rheological (MR) brakes as actuators. The device is energetically passive, meaning that it can only remove ...

Wave variables based on passivity and scattering theory provide a good tool for establishing bilateral teleoperation in the presence of a constant time delay. Recently, these techniques have been extended to be used for a ...

A laboratory robot with 3m links is modeled using an assumed mode method. The model is compared to experiments and to several theoretical limiting cases. The most demanding comparison is the comparison of frequency response ...

Digital Clay is a new generation of 3D computer input and output device for surface shape. Its three control levels are introduced in this paper. The device consists of arrays of fluidically actuated cells under the control ...

The creation of a PC-based Hardware-In-the-Loop Simulation facility for testing hydraulic and other drive components and their controllers is described. High performance electric motors are used to produce both drive and ...

Digital Clay is a new generation 3D computer input and output device for surface shape and haptic effects. The device consists of arrays of fluidically actuated cells under the control of valves connected to two pressure ...

An existing two degree-of-freedom passive haptic display is used to perform obstacle avoidance tasks. Two types of controllers are examined. One attempts to control the velocity direction of the display's handle in order ...

This paper describes a novel fabric manipulation method for fabric control during the sewing process. It addresses issues with past attempts concerning fabric position and tension control. The method described involves ...

Robotic devices now commonly interact physically with humans. Control issues surrounding this constraint are discussed and several approaches are considered. Examined in detail is the use of energetically passive designs, ...