Piezoelectric transducer (PZT) patches can be attached to a structure in order to reduce vibration. The PZT patches essentially convert vibrational mechanical energy into electrical energy. The electrical energy can be dissipated via an electrical impedance. Currently, impedance designs require experimental tuning of resistive circuit elements to provide optimal performance. A systematic method...

This dissertation addresses three related topics in the application of virtual fixtures to bilateral telemanipulation systems. Bilateral telemanipulation is the direct human control of a remote robot, with force and/or tactile feedback, and virtual fixtures are guidance modes, implemented in software, that assist the user in accomplishing a telemanipulated task. The first topic addressed in thi...

Objective Over the past few years, virtual surgical planning (VSP) has evolved into a useful tool for the craniofacial surgeon. Virtual planning and computer-aided design and manufacturing (CAD/CAM) may assist in orthognathic, cranio-orbital, traumatic, and microsurgery of the craniofacial skeleton. Despite its increasing popularity, little emphasis has been placed on the learning curve. Meth...

There has been recent interest in novel human-machine collaborative control laws, called “virtual fixtures,” which provide operator assistance for telemanipulation tasks. A forbidden-region virtual fixture is a constraint, implemented in software, that seeks to prevent the slave manipulator of a master/slave telemanipulation system from entering into a forbidden region of the workspace. In this...

This paper presents a gesture-based variable impedance control approach for haptic guidance in humanrobot interaction. In this approach, applied forces have adaptively been calculated in real time with respect to gestural differences between user motions and reference models. A virtual task has been segmented into primitive gestures and reference hidden Markov models (HMMs) have been trained ac...

Runtime verification focuses on analyzing the execution of a given program by a monitor to determine if it is likely to violate its specifications. There is often an impedance mismatch between the assumptions/model of the monitor and that of the underlying program. This constitutes problems especially for distributed systems, where the concept of current time and state are inherently uncertain....

The Inter feeder Power Flow Regulator (IFPFR) proposed in this paper consists of several voltage source inverters with common dc bus; each inverter is connected in series with one of different independent distribution feeders in the power system. This paper is concerned with how to transfer power between the feeders for load sharing purpose. The power controller of each inverter injects the pow...

Several interaction control algorithms have been proposed for physical human-robot interaction (pHRI) with the aim of assisting human movements. Some example are “path control” [4], “virtual model control” [7], “clime” [9] or gravity compensation [5], [3]. This class of algorithms is often built upon a force/torque controller that is supposed to be ideally fast. However when the algorithm is im...

A novel diagnosis method has been developed based on transistor operating point analysis. The method is worked by the way of fault logic propagation trace based on voltage value and the way of operation time setting of each gate circuit. The former way is to detect penetration current net result from fault, replace the net with impedance net, calculate voltage value of each node of the impedanc...