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Journal articles on the topic 'Deformable linear objects'

Author: Grafiati

Published: 4 June 2021

Last updated: 7 September 2024

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1

Koo, Kyongmo, Xin Jiang, Atsushi Konno, and Masaru Uchiyama. "Development of a Wire Harness Assembly Motion Planner for Redundant Multiple Manipulators." Journal of Robotics and Mechatronics 23, no. 6 (2011): 907–18. http://dx.doi.org/10.20965/jrm.2011.p0907.

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This article discusses a motion planner for manipulating deformable linear objects with multiple manipulators. When multiple manipulators grip a rigid body, hand positions and postures of those manipulators are dependent variables of the positions and postures of the gripped rigid body. On the other hand, when multiple manipulators grip a deformable linear object, constraint conditions are eased compared to those for a rigid body. However, there is another problem: the need for consideration of deformation of a deformable linear object by the motion plan of a robot. In this research, in order to grip and operate such deformable linear objects with multiple manipulators, we developed a sampling-based robot motion planner. By combining basic motions generated by the developed robot motion planner, we will show that a complicated task, such as the assembly of a deformable linear object with the multiple manipulators, is possible. Using the example of a wire harness assembly work on an automobile production line, we perform motion planning using the developed motion planner, and we verify its effectiveness through simulations.

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2

Moll, M., and L. E. Kavraki. "Path planning for deformable linear objects." IEEE Transactions on Robotics 22, no. 4 (2006): 625–36. http://dx.doi.org/10.1109/tro.2006.878933.

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3

Saha, M., and P. Isto. "Manipulation Planning for Deformable Linear Objects." IEEE Transactions on Robotics 23, no. 6 (2007): 1141–50. http://dx.doi.org/10.1109/tro.2007.907486.

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4

Wakamatsu, Hidefumi, Eiji Arai, and Shinichi Hirai. "Knotting/Unknotting Manipulation of Deformable Linear Objects." International Journal of Robotics Research 25, no. 4 (2006): 371–95. http://dx.doi.org/10.1177/0278364906064819.

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5

Almaghout, Karam, and Alexandr Klimchik. "Planar Shape Control of Deformable Linear Objects." IFAC-PapersOnLine 55, no. 10 (2022): 2469–74. http://dx.doi.org/10.1016/j.ifacol.2022.10.079.

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6

García, Marcos, César Mendoza, Luis Pastor, and Angel Rodríguez. "Optimized linear FEM for modeling deformable objects." Computer Animation and Virtual Worlds 17, no. 3-4 (2006): 393–402. http://dx.doi.org/10.1002/cav.142.

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7

Tabata, Kenta, Renato Miyagusuku, and Hiroaki Seki. "Motion Planning for Dynamic Three-Dimensional Manipulation for Unknown Flexible Linear Object." Journal of Robotics and Mechatronics 36, no. 4 (2024): 950–60. http://dx.doi.org/10.20965/jrm.2024.p0950.

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Generally, deformable objects have large and nonlinear deformations. Because of these characteristics, recognition and estimation of their movement are difficult. Many studies have been conducted aimed at manipulating deformable objects at will. However, they have been focused on situations wherein a rope’s properties are already known from prior experiments. In our previous work, we proposed a motion planning algorithm to manipulate unknown ropes using a robot arm. Our approach considered three steps: motion generation, manipulation, and parameter estimation. By repeating these three steps, a parameterized flexible linear object model that can express the actual rope movements was estimated, and manipulation was realized. However, our previous work was limited to 2D space manipulation. In this paper, we extend our previously proposed method to address casting manipulation in a 3D space. Casting manipulation involves targeting the flexible linear object tips at the desired object. While our previous studies focused solely on two-dimensional manipulation, this work examines the applicability of the same approach in 3D space. Moreover, 3D manipulation using an unknown flexible linear object has never been reported for dynamic manipulation with flexible linear objects. In this work, we show that our proposed method can be used for 3D manipulation.

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Chang, Peng, and Taşkın Padır. "Model-Based Manipulation of Linear Flexible Objects: Task Automation in Simulation and Real World." Machines 8, no. 3 (2020): 46. http://dx.doi.org/10.3390/machines8030046.

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Manipulation of deformable objects is a desired skill in making robots ubiquitous in manufacturing, service, healthcare, and security. Common deformable objects (e.g., wires, clothes, bed sheets, etc.) are significantly more difficult to model than rigid objects. In this research, we contribute to the model-based manipulation of linear flexible objects such as cables. We propose a 3D geometric model of the linear flexible object that is subject to gravity and a physical model with multiple links connected by revolute joints and identified model parameters. These models enable task automation in manipulating linear flexible objects both in simulation and real world. To bridge the gap between simulation and real world and build a close-to-reality simulation of flexible objects, we propose a new strategy called Simulation-to-Real-to-Simulation (Sim2Real2Sim). We demonstrate the feasibility of our approach by completing the Plug Task used in the 2015 DARPA Robotics Challenge Finals both in simulation and real world, which involves unplugging a power cable from one socket and plugging it into another. Numerical experiments are implemented to validate our approach.

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9

Ma, Jiangtao, Jianhua Liu, Xiaoyu Ding, and Naijing Lv. "Motion Planning for Deformable Linear Objects Under Multiple Constraints." Robotica 38, no. 5 (2019): 819–30. http://dx.doi.org/10.1017/s0263574719001103.

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SUMMARYDeformable linear objects (DLOs) have a wide variety of applications in a range of fields. Their key characteristic is that they extend much further in one of their dimensions than in the other two. Accurate motion planning is particularly important in the case of DLOs used in robotics applications. In this paper, a new strategy for planning the motions of DLOs under multiple constraints is proposed. The DLO was modeled as Cosserat elastic rods so that the deformation is simulated accurately and efficiently. The control of the motion of the DLO was enhanced by supplementing one gripper installed at each end with additional supports. This allows DLOs to undergo complex deformations, and thus avoid collisions during motion. The appropriate number of supports and their positions were determined, and then a rapidly exploring random tree algorithm was used to search for the best path to guide the DLO toward its target destination. The motion of the simulated DLO is described as it is controlled using two grippers and specific numbers of supports. To prove that the proposed DLO motion planning strategy can successfully guide relatively long DLOs through complex environments without colliding with obstacles, a case study of the strategy was conducted when guiding a DLO through a puzzle.

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10

Khalifa, Alaa, and Gianluca Palli. "New model-based manipulation technique for reshaping deformable linear objects." International Journal of Advanced Manufacturing Technology 118, no. 11-12 (2021): 3575–83. http://dx.doi.org/10.1007/s00170-021-08107-x.

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11

Zhu, Jihong, Benjamin Navarro, Robin Passama, Philippe Fraisse, Andre Crosnier, and Andrea Cherubini. "Robotic Manipulation Planning for Shaping Deformable Linear Objects WithEnvironmental Contacts." IEEE Robotics and Automation Letters 5, no. 1 (2020): 16–23. http://dx.doi.org/10.1109/lra.2019.2944304.

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12

Yue, Shigang, and Dominik Henrich. "Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill." Journal of Intelligent and Robotic Systems 46, no. 3 (2006): 201–19. http://dx.doi.org/10.1007/s10846-006-9049-1.

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13

Yue, Shigang, and Dominik Henrich. "Manipulating deformable linear objects: Attachable adjustment-motions for vibration reduction." Journal of Robotic Systems 18, no. 7 (2001): 375–89. http://dx.doi.org/10.1002/rob.1030.

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14

KAJIOKA, Daisuke, Hiromasa ONAKA, Zhang CHI, Yuichiro TODA, Takayuki MATUNO, and Mamoru MINAMI. "Recognition of linear deformable objects using point cloud data for various objects mixedly placed." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021 (2021): 2P2—H09. http://dx.doi.org/10.1299/jsmermd.2021.2p2-h09.

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15

Popov, I. P., N. M. Filkin, O. Yu Moiseev, and V. V. Kharin. "Analysis and rationale of TOW units for tractors with massive towed objects." Vestnik IzhGTU imeni M.T. Kalashnikova 26, no. 1 (2023): 48–54. http://dx.doi.org/10.22213/2413-1172-2023-1-48-54.

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The most difficult stage in the operation of a tractor with massive towed objects is the starting mode. This is due to the need to overcome the static friction force, which significantly exceeds the motion friction force. As a solution to this problem, we can consider the use of the initial kinetic energy of the tractor, which can be developed when using limited elastically deformable tow units. To optimize the mathematical model, the following assumptions are made: traction force F on the hook of the tractor is a constant value; the inertial masses of the tractor and towed objects are the same and equal m. The dynamics of a tractor and massive towed objects is described by means of theoretical mechanics, taking into account the elastic deformation of tow units. The composed systems of linear homogeneous differential equations with right-hand sides are solved by the method of elimination of functions with increasing of exponential order, as a result of which differential equations of the fourth and sixth power are formed. Initial conditions at t = 0: since the tow unit is not deformed and no force is applied to the towed object. The periods t2 and t3 are determined, during which the tow units will undergo maximum deformation. To assess the effectiveness of the use of elastically deformable tow units, the results obtained should be compared with similar results corresponding to absolutely rigid tow units. Comparison of displacements, speeds and energy testifies to the high efficiency of the elastically deformable tow units. The use of elastically deformable tow units makes it possible to accumulate the initial kinetic energy of an aircraft tow tractor, which makes it possible to overcome the static friction force and ensure the starting of heavy towed objects. Comparison of the kinematic and dynamic parameters of the tractor with towed objects for options with absolutely rigid and elastically deformable tow units shows that the efficiency of using the latter increases with an increase in the number of towed objects. Elastically deformable tow units can cause oscillations of the tractor-towed objects system. To prevent them, the tow units must be blocked at the moment of their maximum deformation.

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16

Tang, Te, Changhao Wang, and Masayoshi Tomizuka. "A Framework for Manipulating Deformable Linear Objects by Coherent Point Drift." IEEE Robotics and Automation Letters 3, no. 4 (2018): 3426–33. http://dx.doi.org/10.1109/lra.2018.2852770.

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17

Yan, Mengyuan, Yilin Zhu, Ning Jin, and Jeannette Bohg. "Self-Supervised Learning of State Estimation for Manipulating Deformable Linear Objects." IEEE Robotics and Automation Letters 5, no. 2 (2020): 2372–79. http://dx.doi.org/10.1109/lra.2020.2969931.

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18

Dirr, Jonas, Daniel Gebauer, Jiajun Yao, and Rüdiger Daub. "Automatic Image Generation Pipeline for Instance Segmentation of Deformable Linear Objects." Sensors 23, no. 6 (2023): 3013. http://dx.doi.org/10.3390/s23063013.

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Robust detection of deformable linear objects (DLOs) is a crucial challenge for the automation of handling and assembly of cables and hoses. The lack of training data is a limiting factor for deep-learning-based detection of DLOs. In this context, we propose an automatic image generation pipeline for instance segmentation of DLOs. In this pipeline, a user can set boundary conditions to generate training data for industrial applications automatically. A comparison of different replication types of DLOs shows that modeling DLOs as rigid bodies with versatile deformations is most effective. Further, reference scenarios for the arrangement of DLOs are defined to generate scenes in a simulation automatically. This allows the pipelines to be quickly transferred to new applications. The validation of models trained with synthetic images and tested on real-world images shows the feasibility of the proposed data generation approach for segmentation of DLOs. Finally, we show that the pipeline yields results comparable to the state of the art but has advantages in reduced manual effort and transferability to new use cases.

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19

Dirr, Jonas, Daniel Gebauer, and Rüdiger Daub. "Localization and Grasp Planning for Bin Picking of Deformable Linear Objects." Procedia CIRP 118 (2023): 235–40. http://dx.doi.org/10.1016/j.procir.2023.06.041.

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20

Cirillo, Andrea, Gianluca Laudante, and Salvatore Pirozzi. "Tactile Sensor Data Interpretation for Estimation of Wire Features." Electronics 10, no. 12 (2021): 1458. http://dx.doi.org/10.3390/electronics10121458.

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At present, the tactile perception is essential for robotic applications when performing complex manipulation tasks, e.g., grasping objects of different shapes and sizes, distinguishing between different textures, and avoiding slips by grasping an object with a minimal force. Considering Deformable Linear Object manipulation applications, this paper presents an efficient and straightforward method to allow robots to autonomously work with thin objects, e.g., wires, and to recognize their features, i.e., diameter, by relying on tactile sensors developed by the authors. The method, based on machine learning algorithms, is described in-depth in the paper to make it easily reproducible by the readers. Experimental tests show the effectiveness of the approach that is able to properly recognize the considered object’s features with a recognition rate up to 99.9%. Moreover, a pick and place task, which uses the method to classify and organize a set of wires by diameter, is presented.

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21

PUJOL, ORIOL, and PETIA RADEVA. "TEXTURE SEGMENTATION BY STATISTICAL DEFORMABLE MODELS." International Journal of Image and Graphics 04, no. 03 (2004): 433–52. http://dx.doi.org/10.1142/s021946780400149x.

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Deformable models have received much popularity due to their ability to include high-level knowledge on the application domain into low-level image processing. Still, most proposed active contour models do not sufficiently profit from the application information and they are too generalized, leading to non-optimal final results of segmentation, tracking or 3D reconstruction processes. In this paper we propose a new deformable model defined in a statistical framework to segment objects of natural scenes. We perform a supervised learning of local appearance of the textured objects and construct a feature space using a set of co-occurrence matrix measures. Linear Discriminant Analysis allows us to obtain an optimal reduced feature space where a mixture model is applied to construct a likelihood map. Instead of using a heuristic potential field, our active model is deformed on a regularized version of the likelihood map in order to segment objects characterized by the same texture pattern. Different tests on synthetic images, natural scene and medical images show the advantages of our statistic deformable model.

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22

Ding, Feng, Jian Huang, Yongji Wang, Takayuki Matsuno, and Toshio Fukuda. "Vibration damping in manipulation of deformable linear objects using sliding mode control." Advanced Robotics 28, no. 3 (2013): 157–72. http://dx.doi.org/10.1080/01691864.2013.861769.

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23

Dirr, Jonas, Andre Siepmann, Daniel Gebauer, and Rüdiger Daub. "Evaluation metric for instance segmentation in robotic grasping of deformable linear objects." Procedia CIRP 120 (2023): 726–31. http://dx.doi.org/10.1016/j.procir.2023.09.066.

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24

Estevez, Julian, Jose M. Lopez-Guede, and Manuel Graña. "Particle Swarm Optimization Quadrotor Control for Cooperative Aerial Transportation of Deformable Linear Objects." Cybernetics and Systems 47, no. 1-2 (2016): 4–16. http://dx.doi.org/10.1080/01969722.2016.1128759.

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25

García, Marcos, Oscar D. Robles, Luis Pastor, and Angel Rodríguez. "MSRS: A fast linear solver for the real-time simulation of deformable objects." Computers & Graphics 32, no. 3 (2008): 293–306. http://dx.doi.org/10.1016/j.cag.2008.01.008.

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26

Shah, Ankit, Lotta Blumberg, and Julie Shah. "Planning for Manipulation of Interlinked Deformable Linear Objects With Applications to Aircraft Assembly." IEEE Transactions on Automation Science and Engineering 15, no. 4 (2018): 1823–38. http://dx.doi.org/10.1109/tase.2018.2811626.

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27

Yue, Shigang, and Dominik Henrich. "Manipulating deformable linear objects: Sensor-based skills of adjustment motions for vibration reduction." Journal of Robotic Systems 22, no. 2 (2005): 67–85. http://dx.doi.org/10.1002/rob.20049.

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28

Gao, Haipeng, and Yadong Teng. "Contrastive Prediction and Estimation of Deformable Objects based on Improved Resnet." Frontiers in Computing and Intelligent Systems 8, no. 3 (2024): 37–43. http://dx.doi.org/10.54097/hkzmv453.

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Because the dynamic model of deformable linear object is complex, the learning based on visual model is difficult, and the feature information extraction is insufficient. Therefore, we propose a joint visual representation model using contrast learning of optimized encoder. We start with the encoder, add the residual structure to the encoder, optimize the extraction and compression of its feature information, and control its parameters to 3 million. In this way, we can not only obtain excellent feature information, but also have good efficiency. In the rope experiment, we collect information from the simulated environment without manual marking, extract features through the encoder and transmit them to the downstream task. Experiments show that the evaluation of our model at 135 ° and 45 ° is improved by about 50%.

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29

Matsuno, T., D. Tamaki, F. Arai, and T. Fukuda. "Manipulation of deformable linear objects using knot invariants to classify the object condition based on image sensor information." IEEE/ASME Transactions on Mechatronics 11, no. 4 (2006): 401–8. http://dx.doi.org/10.1109/tmech.2006.878557.

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30

Estevez, Julian, Manuel Graña, and Jose Manuel Lopez-Guede. "Online fuzzy modulated adaptive PD control for cooperative aerial transportation of deformable linear objects." Integrated Computer-Aided Engineering 24, no. 1 (2016): 41–55. http://dx.doi.org/10.3233/ica-160530.

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31

Estevez, Julian, Jose Manuel Lopez-Guede, Gorka Garate, and Manuel Graña. "Hybrid Modeling of Deformable Linear Objects for Their Cooperative Transportation by Teams of Quadrotors." Applied Sciences 12, no. 10 (2022): 5253. http://dx.doi.org/10.3390/app12105253.

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This paper deals with the control of a team of unmanned air vehicles (UAVs), specifically quadrotors, for which their mission is the transportation of a deformable linear object (DLO), i.e., a cable, hose or similar object in quasi-stationary state, while cruising towards destination. Such missions have strong industrial applications in the transportation of hoses or power cables to specific locations, such as the emergency power or water supply in hazard situations such as fires or earthquake damaged structures. This control must be robust to withstand strong and sudden wind disturbances and remain stable after aggressive maneuvers, i.e., sharp changes of direction or acceleration. To cope with these, we have previously developed the online adaptation of the proportional derivative (PD) controllers of the quadrotors thrusters, implemented by a fuzzy logic rule system that experienced adaptation by a stochastic gradient rule. However, sagging conditions appearing when the transporting drones are too close or too far away induce singularities in the DLO catenary models, breaking apart the control system. The paper’s main contribution is the formulation of the hybrid selective model of the DLO sections as either catenaries or parabolas, which allows us to overcome these sagging conditions. We provide the specific decision rule to shift between DLO models. Simulation results demonstrate the performance of the proposed approach under stringent conditions.

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32

Nguyen, Huong Giang, and Jörg Franke. "Deep learning-based optical inspection of rigid and deformable linear objects in wiring harnesses." Procedia CIRP 104 (2021): 1765–70. http://dx.doi.org/10.1016/j.procir.2021.11.297.

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33

Shneor, Ran, and Sigal Berman. "Assembly Sequence Planning with Deformable Linear Objects in the Smart Factory: Dilemmas and Injections." IFAC-PapersOnLine 55, no. 10 (2022): 2457–62. http://dx.doi.org/10.1016/j.ifacol.2022.10.077.

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34

Xie, Yinghong, Xiaosheng Yu, and Chengdong Wu. "Tracking objects using Grassmann manifold appearance modeling based on wireless multimedia sensor networks." International Journal of Distributed Sensor Networks 14, no. 3 (2018): 155014771876685. http://dx.doi.org/10.1177/1550147718766856.

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Visual object tracking methods based on wireless multimedia sensor network is one of the research hotspots while the present linear method for processing feature vectors often lead to the tracking drift when tracking object with significant nonplanar pose variations through wireless sensor networks. In this article, we propose a novel nonlinear algorithm for tracking significant deformable objects. The proposed tracking scheme has two filters. On one hand, considering that Grassmann manifold is one of entropy manifold in Lie group manifold, which can describe and process the data of appearance feature more accurately, one filter is designed on it, to estimate the object appearance, by making full use of the transformation relationship between the point on manifold and its corresponding point on tangent space. On the other hand, considering that the process of objects imaging is essentially projection transformation process, the other filter is designed on projection transformation (SL(3)) group, describing the geometric deformation of the objects. The two filters execute alternatively to mitigate tracking drift. Extensive experiments prove that the proposed method can realize stable and accurate tracking for targets with significant geometric deformation, even obscured and illumination changes.

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35

Wakamatsu, Hidefumi, Akira Tsumaya, Eiji Arai, and Shinichi Hirai. "Topological Manipulation Planning for Knotting and Tightening of Deformable Linear Objects Based on Knot Theory." Journal of the Robotics Society of Japan 24, no. 4 (2006): 523–32. http://dx.doi.org/10.7210/jrsj.24.523.

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36

Ducato, Antonino, Davide Campanella, Gianluca Buffa, and Livan Fratini. "Design of Numerical Simulations of Linear Friction Welding Processes: Issues and Difficulties." Key Engineering Materials 639 (March 2015): 451–58. http://dx.doi.org/10.4028/www.scientific.net/kem.639.451.

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In this paper, a critical analysis of the technical difficulties and numerical issues in running simulations of linear friction welding processes is carried out. The focus of the paper is the comparison of different modeling strategies of a numerical analysis for the LFW process of Ti-6Al-4V titanium alloy, for which the thermal aspect strongly influences the mechanical behavior due to the phase transformation, taking place over a definite range of temperature. A 3D simulation campaign, conducted using the FEA code DEFORMTM, was considered in order to show advantages and disadvantages of each approach, including the most critic limitations and complexity in a correct simulation design using two deformable objects.

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37

Guo, Jiuming, Jiwen Zhang, Dan Wu, Yuhang Gai, and Ken Chen. "A local manipulation path replanning algorithm on deformable linear objects for collisions resulted from model deviation." Journal of Manufacturing Systems 65 (October 2022): 362–77. http://dx.doi.org/10.1016/j.jmsy.2022.09.015.

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38

Huo, Shengzeng, Anqing Duan, Chengxi Li, et al. "Keypoint-Based Planar Bimanual Shaping of Deformable Linear Objects Under Environmental Constraints With Hierarchical Action Framework." IEEE Robotics and Automation Letters 7, no. 2 (2022): 5222–29. http://dx.doi.org/10.1109/lra.2022.3154842.

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39

Zhou, Peng, Pai Zheng, Jiaming Qi, et al. "Reactive human–robot collaborative manipulation of deformable linear objects using a new topological latent control model." Robotics and Computer-Integrated Manufacturing 88 (August 2024): 102727. http://dx.doi.org/10.1016/j.rcim.2024.102727.

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40

Malvido Fresnillo, Pablo, Saigopal Vasudevan, Wael M. Mohammed, Jose L. Martinez Lastra, and Jose A. Perez Garcia. "An approach based on machine vision for the identification and shape estimation of deformable linear objects." Mechatronics 96 (December 2023): 103085. http://dx.doi.org/10.1016/j.mechatronics.2023.103085.

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41

Aspragathos, Nikos A. "Intelligent Robot Systems for Manipulation of Non-Rigid Objects." Solid State Phenomena 260 (July 2017): 20–29. http://dx.doi.org/10.4028/www.scientific.net/ssp.260.20.

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In this paper, methodologies are presented for the development of intelligent robot systems for the manipulation of linear and sheet like objects with low and/or very low bending rigidity. In the introduction the non-rigid objects are defined and classified considering their shape, bending rigidity and extensibility. The industrial and service applications of these systems are presented and the state of the art approaches for the manipulation of various categories of the non-rigid objects are presented. A brief State-of the-Art on the manipulation of the deformable objects with relatively low bending rigidity and presenting elastic behavior like foam, sheet metal is presented as well.The main part of the paper is devoted to the robotic manipulation of the sheet-like objects with very low rigidity such as fabrics and leather. Laboratory demonstrators accompany the presentation of the developed intelligent robotic systems for manipulation of non-rigid objects and the paper concludes with hints for the future directions of the research and development in robotic systems for handling non-rigid objects.

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42

Cirillo, Andrea, Gianluca Laudante, and Salvatore Pirozzi. "Proximity Sensor for Thin Wire Recognition and Manipulation." Machines 9, no. 9 (2021): 188. http://dx.doi.org/10.3390/machines9090188.

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In robotic grasping and manipulation, the knowledge of a precise object pose represents a key issue. The point acquires even more importance when the objects and, then, the grasping areas become smaller. This is the case of Deformable Linear Object manipulation application where the robot shall autonomously work with thin wires which pose and shape estimation could become difficult given the limited object size and possible occlusion conditions. In such applications, a vision-based system could not be enough to obtain accurate pose and shape estimation. In this work the authors propose a Time-of-Flight pre-touch sensor, integrated with a previously designed tactile sensor, for an accurate estimation of thin wire pose and shape. The paper presents the design and the characterization of the proposed sensor. Moreover, a specific object scanning and shape detection algorithm is presented. Experimental results support the proposed methodology, showing good performance. Hardware design and software applications are freely accessible to the reader.

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43

SHOELE, KOUROSH, and QIANG ZHU. "Flow-induced vibrations of a deformable ring." Journal of Fluid Mechanics 650 (March 16, 2010): 343–62. http://dx.doi.org/10.1017/s0022112009993697.

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To understand flow-induced vibrations of deformable objects, we numerically investigate dynamics of a pressurized elastic ring pinned at one point within a uniform flow by using an immersed-boundary algorithm. The boundary of the ring consists of a fibre with no bending stiffness, which can be modelled as a linear spring with spring constant k and zero unstretched length. The vibration of the ring is decomposed into two parts: a pitching motion that includes a rigid-body rotation and a flexible bending motion in the transverse direction, and a tapping motion in the longitudinal direction. The pitching motion is dominated by the frequency of vortex shedding, whereas the primary frequency of the tapping motion is twice the frequency of vortex shedding. At the Reynolds number of 100, resonance is observed when k ~ 0.2 (k is normalized by the diameter of the undeformed ring, the speed of the upcoming flow and the fluid density). Across the resonance region, abrupt jumps in terms of the motion amplitudes as well as the hydrodynamic loads are recorded. Within the resonance region, the lift force demonstrates a beating phenomenon reminiscent of findings through reduced models and low-degree-of-freedom systems.

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44

Srinivasan, M. A., and R. H. LaMotte. "Tactual discrimination of softness." Journal of Neurophysiology 73, no. 1 (1995): 88–101. http://dx.doi.org/10.1152/jn.1995.73.1.88.

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1. We investigated the ability of humans to tactually discriminate the softness of objects, using novel elastic objects with deformable and rigid surfaces. For objects with deformable surfaces, we cast transparent rubber specimens with variable compliances. For objects with rigid surfaces ("spring cells") we fabricated telescoping hollow cylinders with the inner cylinder supported by several springs. To measure the human discriminability and to isolate the associated information-processing mechanisms, we performed psychophysical experiments under three conditions: 1) active touch with the normal finger, where both tactile and kinesthetic information was available to the subject: 2) active touch with local cutaneous anesthesia, so that only kinesthetic information was available; and 3) passive touch, where a computer-controlled mechanical stimulator brought down the compliant specimens onto the passive fingerpad of the subject, who therefore had only tactile information. 2. We first characterized the mechanical behavior of the human fingerpad and the test objects by determining the relationship between the depth and force of indentation during constant-velocity indentations by a rigid probe. The fingerpad exhibited a pronounced nonlinear behavior in the indentation depth versus force trace such that compliance, as indicated by the local slope of the trace, decreased with increases in indentation depth. The traces for all the rubber specimens were approximately linear, indicating a constant but distinct value of compliance for each specimen. The fingerpad was more compliant than each of the rubber specimens. 3. All the human subjects showed excellent softness discriminability in ranking the rubber specimens by active touch, and the subjective perception of softness correlated one-to-one with the objectively measured compliance. The ability of subjects to discriminate the compliance of spring cells was consistently poorer compared with that of the rubber specimens. 4. For pairwise discrimination of a selected set of rubber specimens, kinesthetic information alone was insufficient. However, tactile information alone was sufficient, even when the velocities and forces of specimen application were randomized. In contrast, for discriminating pairs of spring cells, tactile information alone was insufficient, and both tactile and kinesthetic information were found to be necessary. 5. The differences in the sufficiency of tactile information for the discrimination of the two types of objects can be explained by the mechanics of contact of the fingerpad and its effect on tactile information. For objects with deformable surfaces, the spatial pressure distribution within the contact region depends on both the force applied and the specimen compliance.(ABSTRACT TRUNCATED AT 250 WORDS)

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Hsu, Jerry, Nghia Truong, Cem Yuksel, and Kui Wu. "A general two-stage initialization for sag-free deformable simulations." ACM Transactions on Graphics 41, no. 4 (2022): 1–13. http://dx.doi.org/10.1145/3528223.3530165.

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Initializing simulations of deformable objects involves setting the rest state of all internal forces at the rest shape of the object. However, often times the rest shape is not explicitly provided. In its absence, it is common to initialize by treating the given initial shape as the rest shape. This leads to sagging, the undesirable deformation under gravity as soon as the simulation begins. Prior solutions to sagging are limited to specific simulation systems and material models, most of them cannot handle frictional contact, and they require solving expensive global nonlinear optimization problems. We introduce a novel solution to the sagging problem that can be applied to a variety of simulation systems and materials. The key feature of our approach is that we avoid solving a global nonlinear optimization problem by performing the initialization in two stages. First, we use a global linear optimization for static equilibrium. Any nonlinearity of the material definition is handled in the local stage, which solves many small local problems efficiently and in parallel. Notably, our method can properly handle frictional contact orders of magnitude faster than prior work. We show that our approach can be applied to various simulation systems by presenting examples with mass-spring systems, cloth simulations, the finite element method, the material point method, and position-based dynamics.

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Aggogeri, Francesco, Andrea Avanzini, Alberto Borboni, and Stefano Pandini. "A Robot Gripper in Polymeric Material for Solid Micro-Meso Parts." International Journal of Automation Technology 11, no. 2 (2017): 311–21. http://dx.doi.org/10.20965/ijat.2017.p0311.

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This paper proposes a robot gripper in polymeric material for solid micro-meso parts. The gripper is developed using a light-weight, highly deformable and low cost material, that allows elastic deformations. The proposed solution consists of a simple geometry, incorporating the complexity of the mechanical transmission in the non-linear high deformations of the flexible elements of the device. This choice permits to grip multi-sizes objects. The design approach focuses on Ludwick material model, that describes deformable materials with a nonlinear elastic behavior. The kinematics of the gripper is presented and the results are verified with the finite element analysis. Finally, the gripper was fabricated and validated through a set of experimetal tests. The obtained resulsts confirmed the theoretical and simultion models. The maximum opening and force of the gripping jaws are 1,500 μm and 155 mN, repsectively. Nevetheless further performances may be obtained using different geometrical choices developed in the kinematic analysis.

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Furtak, Kazimierz, and Mariusz Hebda. "Damage to an overpass bridge from WBS prefab beams." MATEC Web of Conferences 284 (2019): 01002. http://dx.doi.org/10.1051/matecconf/201928401002.

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The article presents a description and analysis of the causes of damage to a road viaduct, made of prefabricated compressed beams of the WBS type in the 1970s. Both the design and damage are typical for objects made in those years. Damage results from the deck slab being too thin, low quality waterproof membrane, easily deformable deck surface, leaking bridge deck expansion joints, linear-contact bearings at excessively long spans, undurable drainage system elements. On the basis of the static and strength analysis, proposals for a way of repairing the viaduct were given, which, taking into account the occurrence of similar structural solutions in existing facilities, can be used as a guide when designing renovation and modernization.

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Yau, Jeffrey M., Sung Soo Kim, Pramodsingh H. Thakur, and Sliman J. Bensmaia. "Feeling form: the neural basis of haptic shape perception." Journal of Neurophysiology 115, no. 2 (2016): 631–42. http://dx.doi.org/10.1152/jn.00598.2015.

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The tactile perception of the shape of objects critically guides our ability to interact with them. In this review, we describe how shape information is processed as it ascends the somatosensory neuraxis of primates. At the somatosensory periphery, spatial form is represented in the spatial patterns of activation evoked across populations of mechanoreceptive afferents. In the cerebral cortex, neurons respond selectively to particular spatial features, like orientation and curvature. While feature selectivity of neurons in the earlier processing stages can be understood in terms of linear receptive field models, higher order somatosensory neurons exhibit nonlinear response properties that result in tuning for more complex geometrical features. In fact, tactile shape processing bears remarkable analogies to its visual counterpart and the two may rely on shared neural circuitry. Furthermore, one of the unique aspects of primate somatosensation is that it contains a deformable sensory sheet. Because the relative positions of cutaneous mechanoreceptors depend on the conformation of the hand, the haptic perception of three-dimensional objects requires the integration of cutaneous and proprioceptive signals, an integration that is observed throughout somatosensory cortex.

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Almaghout, K., and A. Klimchik. "Vision-Based Robotic Comanipulation for Deforming Cables." Nelineinaya Dinamika 18, no. 5 (2022): 0. http://dx.doi.org/10.20537/nd221213.

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Although deformable linear objects (DLOs), such as cables, are widely used in the majority of life fields and activities, the robotic manipulation of these objects is considerably more complex compared to the rigid-body manipulation and still an open challenge. In this paper, we introduce a new framework using two robotic arms cooperatively manipulating a DLO from an initial shape to a desired one. Based on visual servoing and computer vision techniques, a perception approach is proposed to detect and sample the DLO as a set of virtual feature points. Then a manipulation planning approach is introduced to map between the motion of the manipulators end effectors and the DLO points by a Jacobian matrix. To avoid excessive stretching of the DLO, the planning approach generates a path for each DLO point forming profiles between the initial and desired shapes. It is guaranteed that all these intershape profiles are reachable and maintain the cable length constraint. The framework and the aforementioned approaches are validated in real-life experiments.

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Lesser, Steve, Alexey Stomakhin, Gilles Daviet, et al. "Loki." ACM Transactions on Graphics 41, no. 4 (2022): 1–20. http://dx.doi.org/10.1145/3528223.3530058.

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We introduce Loki, a new framework for robust simulation of fluid, rigid, and deformable objects with non-compromising fidelity on any single element, and capabilities for coupling and representation transitions across multiple elements. Loki adapts multiple best-in-class solvers into a unified framework driven by a declarative state machine where users declare 'what' is simulated but not 'when,' so an automatic scheduling system takes care of mixing any combination of objects. This leads to intuitive setups for coupled simulations such as hair in the wind or objects transitioning from one representation to another, for example bulk water FLIP particles to SPH spray particles to volumetric mist. We also provide a consistent treatment for components used in several domains, such as unified collision and attachment constraints across 1D, 2D, 3D deforming and rigid objects. Distribution over MPI, custom linear equation solvers, and aggressive application of sparse techniques keep performance within production requirements. We demonstrate a variety of solvers within the framework and their interactions, including FLIPstyle liquids, spatially adaptive volumetric fluids, SPH, MPM, and mesh-based solids, including but not limited to discrete elastic rods, elastons, and FEM with state-of-the-art constitutive models. Our framework has proven powerful and intuitive enough for voluntary artist adoption and has delivered creature and FX simulations for multiple major movie productions in the preceding four years.

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