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Статті в журналах з теми "Intermittent contact interface":
1
Labardi, M., P. Tripathi, S. Capaccioli, and R. Casalini. "Intermittent-contact local dielectric spectroscopy of nanostructured interfaces." Nanotechnology 33, no. 21 (February 28, 2022): 210002. http://dx.doi.org/10.1088/1361-6528/ac52be.
Анотація:
Abstract Local dielectric spectroscopy (LDS) is a scanning probe method, based on dynamic-mode atomic force microscopy (AFM), to discriminate dielectric properties at surfaces with nanometer-scale lateral resolution. Until now a sub-10 nm resolution for LDS has not been documented, that would give access to the length scale of fundamental physical phenomena such as the cooperativity length related to structural arrest in glass formers (2–3 nm). In this work, LDS performed by a peculiar variant of intermittent-contact mode of AFM, named constant-excitation frequency modulation, was introduced and extensively explored in order to assess its best resolution capability. Dependence of resolution and contrast of dielectric imaging and spectroscopy on operation parameters like probe oscillation amplitude and free amplitude, the resulting frequency shift, and probe/surface distance-regulation feedback gain, were explored. By using thin films of a diblock copolymer of polystyrene (PS) and polymethylmethacrylate (PMMA), exhibiting phase separation on the nanometer scale, lateral resolution of at least 3 nm was demonstrated in both dielectric imaging and localized spectroscopy, by operating with optimized parameters. The interface within lamellar PS/PMMA was mapped, with a best width in the range between 1 and 3 nm. Changes of characteristic time of the secondary (β) relaxation process of PMMA could be tracked across the interface with PS.
2
Peng, Wei, James Kiely, and Yiao-Tee Hsia. "Wear Analysis of Head-Disk Interface During Contact." Journal of Tribology 127, no. 1 (January 1, 2005): 171–79. http://dx.doi.org/10.1115/1.1843832.
Анотація:
To achieve a higher storage density in a hard disk drive, the fly height of the air bearing slider, as part of the magnetic spacing, has to be minimized. At an ultralow fly height, the intermittent–continuous contact at the head–disk interface (HDI) is unavoidable and directly affects the mechanical and magnetic performance of the hard disk drive, and is of great interest. The HDI wear has a nonlinear and time-varying nature due to the change of contact force and roughness. To predict the HDI wear evolution, an iterative model of Coupled Head And Disk (CHAD) wear, is developed based on the contact mechanics. In this model, a composite transient wear coefficient is adopted and multiple phases of the wear evolution are established. A comprehensive contact stiffness is derived to characterize the contact at the HDI. The abrasive and adhesive wear is calculated based on the extended Archard’s wear law. The plastic and elastic contact areas are calculated with a three-dimensional (3D) sliding contact model. Based on the CHAD wear model, for the first time, the coupling between head and disk wear evolutions is thoroughly investigated. Accelerated wear tests have also been performed to verify the disk wear effect on the slider wear. A wear coefficient drop with time is observed during the tests and it is attributed to a wear mechanism shift from abrasive to adhesive wear. A shift in the type of contact from plastic to elastic accounts for the wear mechanism change.
3
Lotfi, Mohammad, Saeid Amini, and Hossein Ashrafi. "Theoretical and numerical modeling of tool–chip friction in ultrasonic-assisted turning." Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering 233, no. 4 (November 15, 2018): 824–38. http://dx.doi.org/10.1177/0954408918812271.
Анотація:
Decrease of friction in tool–chip contact zone is a key subject in metal cutting operation. Therefore, effect of ultrasonic vibration in this area is analyzed by using experimental and simulation methods. In this study, a theoretical model is firstly developed based on the shear friction model, and then sticking–sliding contact zones plus their contact lengths are defined in order to simulate conventional and ultrasonic-assisted turning. Accordingly, shear angle, sticky length, and cutting forces were measured in experiments as input parameters for the calculation of friction coefficients. As a result, intermittent contact of vibrated tool decreases the time of thermal conduction in tool–chip interface, resulting in a significant reduction in friction coefficient and contact length, particularly, in sticky region.
4
Maeno, Takashi, and David B. Bogy. "Effect of the Rotor/Stator Interface Condition Including Contact Type, Geometry, and Material on the Performance of Ultrasonic Motor." Journal of Tribology 116, no. 4 (October 1, 1994): 726–32. http://dx.doi.org/10.1115/1.2927326.
Анотація:
The purpose of this paper is to show the dynamic contact characteristics and the motor performance of several types of ultrasonic motors. First, we compare the performance of “intermittent” and “traveling” contact type ultrasonic motors by using the locally deforming rotor model. We show that the motor performances are the same when the shape of the stator’s amplitude, and the rotor’s interpenetration are the same. Then, we show that the performance of these two types of motors are different according to the effects of inertia and actual three dimensional displacement by using the FE (finite element) analysis. Finally, the effects of the teeth and a surface layer at the contact interface on the performance of the ultrasonic motor, including T-N (torque-speed) characteristics and friction loss, are analyzed.
5
Polycarpou, A. A., and A. Soom. "A Two-Component Mixed Friction Model for a Lubricated Line Contact." Journal of Tribology 118, no. 1 (January 1, 1996): 183–89. http://dx.doi.org/10.1115/1.2837076.
Анотація:
A two-component, two-dimensional friction model for a lubricated line contact, operating in boundary and mixed lubrication regimes, is developed. The friction is explicitly decomposed into the solid and the fluid shear components. The solid component is due to the asperity interactions and the fluid shear arises from the lubricant present at the interface. The friction model includes the sliding velocity, the instantaneous separation of the sliding bodies, normal to the sliding direction, the normal load and fluid properties. The model is based on unsteady friction experiments carried out under constant normal loads and time-varying sliding velocities. The model is applied to quasi-steady sliding, unsteady continuous and intermittent sliding, including sticking and momentary reversals of motion. In each case it becomes possible to track the instantaneous fluid shear and solid friction components.
6
Annakodi, Vivek Anand, Ramachandra Arvind Singh, Subramanian Jayalakshmi, Yupeng Zhang, Muhammed Anaz Khan, Koppula Srinivas Rao, and Rajashekhara Shabadi. "Patterning SS304 Surface at Microscale to Reduce Wettability and Corrosion in Saline Water." Metals 12, no. 7 (July 3, 2022): 1137. http://dx.doi.org/10.3390/met12071137.
Анотація:
Stainless steel 304 (SS304) experiences corrosion when it is exposed to a saline atmosphere, which attains severity due to its high surface wettability. Topographical modification of metallic surfaces is an effective route to reduce wettability and thereby mitigate liquid-mediated corrosion. In this work, topographical modification of stainless steel 304 flat surface in the form of micropillars was done (pillar width: 100 μm, inter-pillar distance: 100 μm and height: 80 μm). Micropillars were fabricated by a chemical etching process. Wetting and corrosion of the micropillars was studied over long-time duration in comparison with flat surface, before and after intermittent and continuous exposures to saline water for 168 h. Wetting was characterized by measuring the static water contact angle on the test surfaces and their corrosion by electrochemical polarization tests (electrolyte: 3.5 wt.% sodium chloride solution). The relationship between the nature of wetting of the test surfaces and their corrosion was examined. Micropillars showed predominantly composite wetting over a long time, which imparted an effective resistance against corrosion over a long time to the SS304 surface. When compared to the flat surface, the corrosion rates of the micropillars were lower by two orders of magnitude, prior to and also upon long-time contact with the NaCl solution. Micropillars lowered corrosion due to composite wetting, i.e., solid-liquid-air interface that reduced the area that was in contact with the NaCl solution. The efficiency of corrosion inhibition (η) of micropillars was 88% before long-time contact, 84% after intermittent contact, and 77% after continuous contact with NaCl solution. Topographical modification in the form of micropillars that can impart composite wetting is an effective route to induce long-term anticorrosion ability to the SS304 surface.
7
Santhosh, B., S. Narayanan, and C. Padmanabhan. "Nonlinear Dynamics of Shrouded Turbine Blade System with Impact and Friction." Applied Mechanics and Materials 706 (December 2014): 81–92. http://dx.doi.org/10.4028/www.scientific.net/amm.706.81.
Анотація:
Dry friction dampers are passive devices used to reduce the resonant vibration amplitudes in turbine bladed systems. In shrouded turbine blade systems, in addition to the stick- slip motion induced by dry friction during the contact state in the tangential direction, the interface also undergoes intermittent separation in the normal direction. The problem can thus be treated as a combination of impact and friction. In this work, the dynamics of dry friction damped oscillators which are representative models of dry friction damped bladed system is investigated. A one dimensional contact model which is capable of modeling the interface under constant and variable normal load is used. The steady state periodic solutions are obtained by multi - harmonic balance method (MHBM). Frequency response plots are generated for different values of normal load using the arc length continuation procedure. The MHBM solutions are validated using numerical integration. A single degree of freedom (dof) model under constant normal load with constant and variable friction coefficients, a dry friction damped two dof system under constant normal load and a two dof system under variable normal load are investigated. In the presence of variable normal load, the system shows multivalued frequency response and jump phenomenon. The optimal value of the normal load which gives minimum resonant response is also obtained.
8
Tagawa, N., and M. Hashimoto. "Self-Loading Slider Dynamics for Noncontact Start Stop Operation With Negative Pressure Air-Lubricated Slider Bearing in Magnetic Disk Storage." Journal of Tribology 111, no. 4 (October 1, 1989): 698–702. http://dx.doi.org/10.1115/1.3261997.
Анотація:
This paper proposes self-loading flying head slider mechanisms to be used for information storage on magnetic disk media under noncontact start/stop mode conditions. The mechanisms consist of a zero-load negative pressure air-lubricated slider bearing, a slider suspension mechanism, and a twin-structure piezoelectric actuator as the head loading mechanism. Experimental research was carried out on fundamental flying characteristics for the slider. The dynamics of a self-loading/unloading negative pressure air-lubricated slider bearing were successfully studied in detail with a laser Doppler vibrometer. No intermittent contact between head and disk was observed in either the self-load or unload cases. A theoretical study on the self-loading phenomenon was carried out, and its conclusions were in good agreement with the experimental results. This suggests the feasibility of achieving a high head/disk interface reliability and, in particular, of overcoming problems regarding stiction and tribology between head and disk.
9
Sun, Haichao, Yunlai Shi, Qiang Wang, Xing Li, and Junhan Wang. "Modeling and Design Optimization of a New Piezoelectric Inchworm Actuator with Screw Clamping Mechanisms." Micromachines 13, no. 12 (November 22, 2022): 2038. http://dx.doi.org/10.3390/mi13122038.
Анотація:
A new piezoelectric inchworm actuator with screw clamping mechanisms has been developed recently for the wing folding mechanism of a small unmanned aircraft where the actuator power density is a great concern. Considering that the prototype actuator was designed just with engineering intuition and the performance optimization through experimental developments would take a vast amount of cost and time, a mathematical model was developed to investigate the actuator’s critical design parameters and optimize its presently undesirable performance. Based on the lumped parameter method reported previously, and taking full account of the detailed modeling of the complex actuator housing and the actual nonlinear behaviors from the high-force contact and friction occurring at the screw-nut interface, as well as the output performance of the main drive elements including the piezoelectric stack and hollow ultrasonic motors (HUSMs), this model was built and then was experimentally verified for its accuracy and availability. Finally, nine design parameters were studied for their individual effect on the actuator’s output using the proposed model. The simulation results indicate that the performance can be considerably improved by performing a slight modification to the prototype, and the dynamic modeling and parameter optimization methods used in this study can also serve as a useful reference for the design of similar piezoelectric inchworm actuators with intermittent clamping behaviors.
10
Annakodi, Vivek Anand, Ramachandra Arvind Singh, Subramanian Jayalakshmi, Yupeng Zhang, Koppula Srinivas Rao, and Rajashekhara Shabadi. "Anticorrosion Behaviour of SS304 Microgroove Surfaces in Saline Water." Metals 11, no. 10 (September 28, 2021): 1543. http://dx.doi.org/10.3390/met11101543.
Анотація:
The 304 Stainless Steel (SS304) is severely affected by salt water corrosion due to its high surface wettability. By reducing its surface wettability, its corrosion can be reduced. To achieve this, topographical modification of the steel surface is an effective route. In this work, SS304 flat surfaces were topographically modified into microgrooves (ridge width 250 μm to 500 μm, groove width 200 μm, width ratio = ridge width/groove width >1). Wire cut electrical discharge machining was used to fabricate the microgrooves. Long-term wetting characteristics and long-term corrosion behaviour of flat surface and microgrooves were studied. The influence of the nature of wetting of the tested surfaces on their corrosion behaviour was examined. The sessile drop method and potentiodynamic polarization tests in sodium chloride (3.5 wt. % NaCl) solution (intermittent and continuous exposures for 168 h) were studied to characterize their wetting and corrosion behaviours, respectively. Topographical modification imparted long-term hydrophobicity and, as a consequence, long-term anticorrosion ability of the steel surface. Micropatterning reduced the corrosion rate by two orders of magnitude due to reduction in interfacial contact area with the corrosive fluid via composite wetting, i.e., solid–liquid–air interface. Microgrooves showed corrosion inhibition efficiency ≥88%, upon long-term exposure to NaCl solution. By comparing the wetting and corrosion behaviours of the microgrooves with those of the previously studied microgrooves (ridge width/groove width <1), it was found that the surface roughness of their ridges strongly influences their wetting and corrosion properties.
Дисертації з теми "Intermittent contact interface":
1
Gonzalez, Franck. "Contributions au développement d'une interface haptique à contacts intermittents." Thesis, Paris 6, 2015. http://www.theses.fr/2015PA066068/document.
Анотація:
Les interfaces haptiques permettent à un opérateur d'interagir avec un environnement virtuel ou distant via le sens du toucher.La majorité des interfaces de l'état de l'art restent au contact de l’utilisateur pendant toute la durée de la manipulation. La liaison permanente entre le robot et l’opérateur nuit à la qualité de l’interaction, notamment en réduisant la transparence en espace libre. Ce problème est d’autant plus prégnant dans le cadre des interfaces haptiques dextres.Cette thèse a pour objectif d'étudier la possibilité d'augmenter la transparence et le réalisme de l'interaction à travers le développement d’interfaces à contacts intermittents. Il s’agit de déconnecter le robot de l'utilisateur lorsqu’aucun contact avec l’environnement n’est nécessaire. Un état de l’art des performances de la manipulation humaine, des interfaces haptiques dextres ainsi que des travaux relatifs au contact intermittent, est d’abord présenté. Un effecteur plan pour le contact intermittent est ensuite conçu. Il est installé à l’extrémité distale d'une interface haptique et plusieurs solutions sont envisagées pour sa loi de commande. Les performances de dix utilisateurs sont comparées dans le cadre d'une tâche de détection de contact en utilisant d'une part l'effecteur adapté au contact intermittent, d'autre part une interface haptique classique. L'élaboration d'une interface permettant une interaction plus naturelle avec l'environnement est ensuite initiée par l'élaboration d'une méthodologie de choix des zones de contact de la main à prendre en compte dans la conception d'une interface haptique. Des perspectives sont finalement données quant à l'extension de ces résultats à une interface haptique dextre à contacts intermittentsHaptic interfaces allow an operator to interact with a virtual environment through the sense of touch. Nowadays, most existing interfaces are mechanically connected to the user's hand throughout the simulation. Therefore he or she interacts with the virtual environment by means of a handle. Thus the interaction is neither natural nor intuitive, and the permanent connection between the robot and the operator is the source of perturbations which prevent the interaction from being perfectly transparent and realistic. The goal of this study is to increase transparency as much as possible by disconnecting the robot from the user when s/he is not in contact with the virtual environment, through the design of a dexterous haptic interface allowing for a more natural interaction than with a classical interface taking into account only one contact point. A state-of-the-art of dexterous haptic interfaces and another for intermittent contact devices are first gathered, and the human performances that should be taken into account for the design of a dexterous haptic interface are analysed. A bidirectional end-effector for intermittent contact is then devised. It is set up at the tip of a haptic interface and several solutions are tested for its control. The performances of six users are compared on the context of a contact detection task, first using the intermittent contact end-effector, then using a classical haptic device. A methodology for the choice of the hand contact areas that should be taken into account in the design of a dexterous haptic interface to enhance the naturalness of the interaction is proposed. Finally, some perspectives are given as for the extension of this study for the design of a dexterous encounter-type haptic interface
2
Guda, Vamsi Krishna. "Contributions à l'utilisation de cobots comme interfaces haptiques à contact intermittent en réalité virtuelle." Thesis, Ecole centrale de Nantes, 2022. http://www.theses.fr/2022ECDN0033.
Анотація:
La réalité virtuelle (RV) est de plus en plus utilisée dans des simulations industrielles mais la possibilité de toucher les objets manque rapidement par exemple pour juger de la qualité perçue dans la conception de véhicule automobile. Les interfaces haptiques actuels ne permettent de restituer aisément la notion de texture, l’approche envisagée est donc une interface à contact intermittent. Un cobot vient positionner une surface mobile à l’endroit du contact avec un objet virtuel pour permettre un contact physique avec la main de l’opérateur.Les contributions de cette thèse portent sur plusieurs aspects : le placement du robot, la modélisation de l’opérateur, la gestion du déplacement et de la vitesse du robot et la détection des intentions de l’opérateur. Le placement du robot est choisi pourpermettre d’atteindre les différentes zones de travail et pour assurer une sécurité passive en rendant impossible au robot de heurter la têteet le buste de l’opérateur en position normale de travail, i.e. assis dans un fauteuil. Un modèle de l'utilisateur, incluant un torse et desbras, est conçu et testé pour suivre les mouvements de l'utilisateur en temps réel. L’interaction est possible sur un ensemble de pose prédéfinies que l’utilisateur enchaine comme il le désire. Différentes stratégies sont proposées pour prédire les intentions de l'utilisateur. Les aspects clés de la prédiction sont basés sur la direction du regard et la position de la main de l'utilisateur. Une étudeexpérimentale ainsi que l'analyse qui en découle montrent l’apport de la prise en compte de la direction du regard. L’intérêt d’introduire des points dit « de sécurité » pour éloigner le robot de l’opérateur et permettre des déplacements rapides du robot est mis en évidenceVirtual reality (VR) is evolving and being used in industrial simulations but the possibility to touch objects is missing, for example to judge the perceived quality in the design of a car. The current haptic interfaces do not allow to easily restore the notion of texture, therefore an approach is considered “intermittent contact interface” to achieve this. A cobot positions a mobile surface at the point of contact with a virtual object to allow physical contact with the operator's hand. The contributions of this thesis concern several aspects: the placement of the robot, the modeling of the operator, the management of the displacement and the speed of the robot and the detection of the operator's intentions. The placement of the robot is chosen to allow reaching the different working areas and to ensure passive safety by making it impossible for the robot to hit the head and chest of the operator in a normal working position, i.e. sitting in a chair. A model of the user, including a torso and arms, is designed and tested to follow the user's movements in real time Interaction is possible on a set of predefined poses that the user chains together as desired. Different strategies are proposed to predict the user's intentions. The key aspects of the prediction are based on the gaze direction and the hand position of the user. An experimental study as well as the resulting analysis show the contribution of taking into account the gaze direction. The interest of introducing "safety" points to move the robot away from the operator and allow fast robot movements is highlighted
3
Cruz, Fierro Oscar Eduardo de la. "Contributions to the Study of Intermittent Contact Haptic Interfaces." Thesis, Sorbonne université, 2019. http://www.theses.fr/2019SORUS071.
Анотація:
Les interfaces à retour d'effort sont des systèmes robotisés permettant d'interagir gestuellement de façon naturelle avec des environnements virtuels ou distants. Ces dispositifs sont utilisés dans différents contextes tels que la téléopération (e.g. nucléaire, sous-marine, spatiale), le manufacturing, les jeux vidéo, l'éducation, la médecine ou la rééducation, pour ne citer que quelques exemples. Pour les applications en réalité virtuelle, les utilisateurs manipulent généralement ces interfaces à l'aide d'une poignée qui est reliée mécaniquement au robot. Ce lien a une influence importante puisqu'il conduit l'utilisateur à ressentir la présence du robot même en espace libre (frottements, vibrations, inertie de la structure mécanique du robot), ce qui réduit le réalisme de l'interaction. Les interfaces à contacts intermittents (CI) constituent une alternative prometteuse pour essayer de surmonter ces inconvénients. Elles proposent de suivre les mouvements de l'utilisateur à faible distance en espace libre et de ne venir à son contact que lorsque l'on veut appliquer un retour d'effort. Elles visent de cette façon à améliorer le réalisme des interactions. Cette thèse s'intéresse à l'étude et à l'amélioration des performances d'une telle interface CIForce feedback interfaces are robotic systems allowing natural motion interactions with virtual or remote environments. They are employed in several domains such as remote handling (e.g. nuclear, subsea, space), manufacturing, entertainment, education, medicine and rehabilitation, just to mention the most popular. In virtual reality (VR) applications, the user typically holds a handle that is mechanically linked to the end-effector of the robot. This link has a non-negligible influence since the presence of the robot can be felt (friction, inertia and vibrations of the mechanical structure) even in free space, decreasing the realism of the interaction. Intermittent-contact haptic interfaces (IC-HIs) represent a promising approach to cope with this issue. These interfaces track and closely follow (without contact) the user movements in free space and come to his/her contact only when force feedback is required. This way IC interfaces aim to improve the realism of the interactions. The thesis presented concerns the study and improvement of such IC-His
4
Chabrier, Anthony. "Etude théorique et expérimentale d'une interface à retour d'effort augmenté." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066383/document.
Анотація:
Les interactions physiques comportent divers gestes dextres et sont sources d’échanges d’informations très variées. Différentes interfaces haptiques ont été développées pour reproduire ces mouvements dextres et ces interactions. Cependant il est impossible actuellement de concevoir une interface simulant tous les types d’interactions avec un retour haptique réaliste. Je propose d’identifier les interactions les plus importantes et les zones de la main les plus intéressantes à stimuler, et ensuite d’étudier comment associer certains dispositifs pour améliorer le ressenti de l’utilisateur. Il semble intéressant de développer une interface se concentrant sur : la transition entre les mouvements de l’utilisateur en espace libre et au contact d’un objet, le retour d’effort, et enfin la déformation locale et globale de la pulpe, et ce sur 4 zones : les phalanges distales du pouce, de l’index et de l’annulaire, et le côté extérieur de l’index. Afin de rendre cela réalisable dans le cadre d’une thèse, j’ai entrepris de développer une interface à retour d’effort à contacts intermittents sur le pouce et l’index, tout en prenant en compte l’ajout futur d’un retour plus complet. Pour cela, j’ai tout d’abord élaboré un effecteur instrumenté permettant d’acquérir, sans contact, la position de la dernière phalange d’un doigt en 6D. Puis j’ai dimensionné une interface de type gant à deux doigts, capable de déplacer, en 6D, ces effecteurs dans l’ensemble de l’espace de travail des doigts et de générer un retour d’effort quand cela est nécessaire. Enfin j’ai étudié la commande de ce système lors de ses différentes phases de fonctionnement et ses performances ont été évaluéesPhysical interactions involve highly dexterous movements and exchanges of diverse information. Numerous haptic interfaces were developed with the aim to reproduce these dexterous gestures and each of these interactions. However, it is technically impossible to date to design an interface simulating all of them with a realistic haptic feedback.I propose to identify the most important interactions and the hand areas the most interesting to stimulate, and then to study how associate different devices to improve the feeling of an operator. I decided to focus on: the transition between user’s movements in free space and in contact with an object, force feedback, and finally local and global deformation of the fingers’ pulp, with an emphasis on the four following areas: distal phalanges of the thumb, index and middle finger, plus the external side of the index finger. To make this possible during a PhD, I finally decided to focus on an intermittent contact force feedback interface for the thumb and index fingers, by taking into account the future integration of more complete feedback. Therefore, I first developed instrumented end-effectors able to remotely measure the 6D configuration of the distal phalanx of the fingers without any contact with them. Then I dimensioned and designed a glove-type haptic interface with two fingers. This device allows controlling the position and orientation of the intermittent contact end-effectors in 6D throughout the whole fingers workspace. It is also able to generated force feedback when necessary. Finally, I studied the control laws of this interface in all its operating phases and its performances were evaluated
5
Mercado, Garcia Victor Rodrigo. "Contribution to the Study of Usability and Haptic Feedback of Encountered-Type Haptic Displays." Thesis, Rennes, INSA, 2021. https://tel.archives-ouvertes.fr/tel-03789676.
Анотація:
Les interfaces à contact intermittent (ICIs) sont des dispositifs robotisés qui suivent la main de l'utilisateur et se placent en position de rencontre lorsque l'utilisateur souhaite toucher des objets dans une réalité virtuelle (RV) immersive. Malgré ces avantages, plusieurs défis doivent encore être résolus en matière d'utilisabilité et de retour haptique. Cette thèse présente une série de contributions pour tirer profit des ICIs à travers des axes de recherche l'utilisabilité et le retour haptique.La première contribution dans l'axe de l'utilisabilité a étudié la conception de techniques de sécurité pour les ICIs basés sur le retour visuel. Ensuite, une série de techniques d'interaction pour l'exploration de surface avec les ICIs est présentée. Ces techniques ont exploré plusieurs combinaisons de facteurs liés au contrôle des ICIs afin de donner aux utilisateurs la sensation de toucher une grande surface dans la RV.Concernant l'axe du retour haptique, nous présentons une approche pour le rendu de grandes surfaces multi-texturées. Cette approche est basée sur un accessoire cylindrique rotatif, multi-texturé, attaché à l'effecteur d'un ICIs. Finalement, la thèse présente une contribution à la manipulation d'objets dans la RV en utilisant un objet tangible détachable et un ICIs. Cette contribution permet de créer, détruire et reconfigurer des objets tangibles dans des environnements virtuels immersifsEncountered-Type Haptic Displays (ETHDs) are robotic devices that follow the users' hand and locate themselves in an encountered position when users want to touch objects in immersive virtual reality (VR). Despite these advantages, several challenges are yet to be solved in matters of usability and haptic feedback. This thesis presents a series of contributions to leverage ETHDs through research axes for both usability and haptic feedback.The first contribution in the usability axis studied the design of safety techniques for ETHDs based on visual feedback. Then, a series of interaction techniques for surface exploration with ETHDs is presented. These techniques explored several combinations of factors related to ETHD control to give users the sensation of touching a large surface in VR.Concerning the haptic feedback axis, we introduce an approach for large, multi-textured surface rendering. This approach is based on a rotating, multi-textured, cylindrical prop attached to an ETHD's end-effector. Finally, the thesis presents a contribution to object manipulation in VR using a detachable tangible object and an ETHD. This contribution permits creating, destroying and reconfiguring tangible objects in immersive virtual environments
Тези доповідей конференцій з теми "Intermittent contact interface":
1
Mugisha, Stanley, Matteo Zoppi, Rezia Molfino, Vamsi Guda, Christine Chevallereau, and Damien Chablat. "Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface." In ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/detc2021-71518.
Анотація:
Abstract In the list of interfaces used to make virtual reality, haptic interfaces allow users to touch a virtual world with their hands. Traditionally, the user’s hand touches the end effector of a robotic arm. When there is no contact, the robotic arm is passive; when there is contact, the arm suppresses mobility to the user’s hand in certain directions. Unfortunately, the passive mode is never completely seamless to the user. Haptic interfaces with intermittent contacts are interfaces using industrial robots that move towards the user when contact needs to be made. As the user is immersed via a virtual reality Head Mounted Display (HMD), he cannot perceive the danger of a collision when he changes his area of interest in the virtual environment. The objective of this article is to describe movement strategies for the robot to be as fast as possible on the contact zone while guaranteeing safety. This work uses the concept of predicting the position of the user through his gaze direction and the position of his dominant hand (the one touching the object). A motion generation algorithm is proposed and then applied to a UR5 robot with an HTC vive tracker system for an industrial application involving the analysis of materials in the interior of a car.
2
Peng, Wei, James Kiely, and Yiao-Tee Hsia. "Wear Analysis of Head-Disk Interface During Contact." In ASME/STLE 2004 International Joint Tribology Conference. ASMEDC, 2004. http://dx.doi.org/10.1115/trib2004-64050.
Анотація:
To achieve a higher storage density in a hard disk drive, the fly height of the air bearing slider, as part of the magnetic spacing, has to be minimized. At an ultra-low fly height, the intermittent / continuous contact at the head–disk interface (HDI) is unavoidable and directly affects the mechanical and magnetic performance of the hard disk drive, and is of great interest. The HDI wear has a non-linear and time-varying nature due to the change of contact force and roughness. To predict the HDI wear evolution, an iterative model of Coupled Head And Disk (CHAD) wear, is developed based on the contact mechanics. In this model, a composite transient wear coefficient is adopted and multiple phases of the wear evolution are established. A comprehensive contact stiffness is derived to characterize the contact at the HDI. The abrasive and adhesive wear is calculated based on the extended Archard’s wear law. The plastic and elastic contact areas are calculated with a 3-D sliding contact model. Based on the CHAD wear model, for the first time, the coupling between head and disk wear evolutions is thoroughly investigated. Accelerated wear tests have also been performed to verify the disk wear effect on the slider wear. A wear coefficient drop with time is observed during the tests and it is attributed to a wear mechanism shift from abrasive to adhesive wear. A shift in the type of contact from plastic to elastic accounts for the wear mechanism change.
3
Petrov, E. P. "Multiharmonic Analysis of Nonlinear Whole Engine Dynamics With Bladed Disc-Casing Rubbing Contacts." In ASME Turbo Expo 2012: Turbine Technical Conference and Exposition. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/gt2012-68474.
Анотація:
A method has been developed for frequency domain analysis of steady state forced response in gas turbine engines in the presence of rubbing and snubbing contacts between bladed discs and casing and between other rotor and stator engine components. The multiharmonic contact interface elements have been derived for modelling the nonlinear contact interactions: (i) at bearings and (ii) bladed disc-casing rubbing contacts with using flexible models for rotor and stator structures. The elements allow for the asymmetry of the casing, the discrete blade contacts with casing, individual blade-casing gap values, nonlinear dependency of the contact forces on rotor-stator incursion and friction forces, intermittent contacts between blades and the casing. High accuracy and computational efficiency of the methods and models developed has been demonstrated on a set of test cases and on an example of analysis of a realistic gas turbine structure.
4
Ito, Takahiro, Jun Shimizu, Hideyuki Nakayama, and Yutaka Kukita. "Effects of Contact Line Condition on Excitation of Internal Waves Confined by a Cylindrical Wall." In 12th International Conference on Nuclear Engineering. ASMEDC, 2004. http://dx.doi.org/10.1115/icone12-49187.
Анотація:
Standing internal waves can be excited when fluids overlaid in a stationary enclosure are subjected to harmonic, vertical oscillations. The oscillatory deformation of the fluid-fluid interface near the wall, due to the limited mobility of the fluid-fluid-wall contact line, can play an important role in the excitation of waves. The contact line may or may not move depending on the amplitude of fluid excitation. When it moves, it may do so only in a limited portion of each cycle. We analyze numerically the wave excitation associated with such nonlinear, intermittent motions of the contact line. The analytical results consistently reproduce the experimental results, and give insight into the interactions between the contact line motions and the waves on the interface.
5
Chuprakov, Dimitry, and Romain Prioul. "Hydraulic Fracture Height Containment by Weak Horizontal Interfaces." In SPE Hydraulic Fracturing Technology Conference. SPE, 2015. http://dx.doi.org/10.2118/spe-173337-ms.
Анотація:
Abstract Weak formation bedding planes create a unique mechanism for hydraulic fracture height containment. They arrest the vertical growth of hydraulic fracture. The propagation across them may or may not occur. To quantify this fracture behavior, first we developed an analytical model of the elastic T-shaped fracture contact with frictional and cohesional interfaces. The model evaluates the fracture blunting and the shear activation of the interfaces. It predicts the buildup of the net pressure necessary for the fracture to cross the given interface. Next we conduct numerical simulations of the 3D fracture propagation in a formation with closely spaced horizontal interfaces. These simulations manifest intermittent and decelerated fracture growth in height, especially with low-viscosity fracturing fluids. This mechanism of fracture height containment is independent of the multilayer stress-contrast mechanism used conventionally. Combined with the stress mechanism, the fracture height containment model could alleviate the problem of height growth overestimation in some fracturing simulation cases.
6
Frammelsberger, Werner, Guenther Benstetter, Thomas Schweinboeck, Richard Stamp, and Janice Kiely. "Advanced Analysis of Thin and Ultrathin SiO2 Films and SiO2/Si Interfaces with Combined Atomic Force Microscopy Methods." In ISTFA 2003. ASM International, 2003. http://dx.doi.org/10.31399/asm.cp.istfa2003p0406.
Анотація:
Abstract In this work a procedure is presented to look beneath the surface of a SiO2 film and to study the impact of the SiO2/Si interface morphology on the tunneling current, with high lateral resolution, by use of combined Conductive Atomic Force Microscopy (C-AFM) and Intermittent-Contact AFM (IC-AFM) measurements. Evidence is given that interface structures do have direct influence on the distribution of high current spots in MOS capacitors.
7
Wang, Zhaofeng. "Flip-Chip Bump Interface Failure Mechanisms In Plastic BGA Packages and Failure Analysis Process Flow." In ISTFA 2008. ASM International, 2008. http://dx.doi.org/10.31399/asm.cp.istfa2008p0036.
Анотація:
Abstract The present paper studies several failure mechanisms at both UBM and Cu substrate side for flip-chip die open contact failures in multi-chip-module plastic BGA-LGA packages. A unique failure analysis process flow, starting from non-disturbance inspection of x-ray, substrate and die level C-SAM, bump x-section followed by a bump interface integrity test including under-fill etching and bump pull test and/or substrate etch has been developed. Four different types of failure mechanism in multiple chip module that are associated with open/intermittent contact, ranging from device layout design, UBM forming process defect, to assembly related bump-substrate interface delamination have been identified. The established FA process has been proved to be efficient and accurate with repeatable result. It has facilitated and accelarated new product qualification processes for a line of high power MCM modules.
8
Gu, Weiwei, Zili Xu, and Lv Qiang. "Forced Response of Shrouded Blades With Intermittent Dry Friction Force." In ASME Turbo Expo 2008: Power for Land, Sea, and Air. ASMEDC, 2008. http://dx.doi.org/10.1115/gt2008-51041.
Анотація:
The gap friction damper model is presented in this paper, which is employed to simulate the friction forces at the contact points of the shroud interface. Using the harmonic balance method (HBM), the friction force can be approximated by a series of harmonic functions. The governing differential equations of blade motion are transformed into a set of nonlinear algebraic equations, which can be solved iteratively to yield the steady-state response. The results show that the forced response is attenuated due to the additional damping introduced by frictional slip. The predicted results agree well with those of the Runge-Kutta method. In addition, the effect of parameters of damping structures such as the gap size, friction coefficient and normal load on the forced response of blades were studied. The results show that increasing the damper gap size causes a increase in resonant response. However, the increment isn’t obvious. In addition, an increase in friction coefficient or normal load decreases the forced response of blade.
9
Lee, Sung-Chang, and Andreas A. Polycarpou. "Predicting Fly-Height Modulation and Contact Forces in Ultra-Low Flying Head-Disk Interfaces Using a Tri-State Switching Dynamic Contact Model." In STLE/ASME 2001 International Joint Tribology Conference. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/trib-nano2001-104.
Анотація:
Abstract In order to achieve higher recording densities up to 1 Tbit/In2 using conventional recording technologies, the recording slider will need to “fly” within 5 nm or less from the rotating disk. In such ultra-low flying height regimes, intermittent head/disk contact is unavoidable. Head/disk contact can cause large vibrations of the recording slider in the normal and lateral (off-track) directions as well as damage the disk due to large dynamic contact forces. This paper describes a simple continuum mechanics-based model that includes the dynamics of a flying head/disk interface (HDI) as well as the contact dynamics. Specifically, a lumped parameter one degree-of-freedom, three state nonlinear dynamic model representing the normal dynamics of the HDI and an asperity-based contact model are developed. The effects of realistic (dynamic microwaviness) and harmonic input excitations, contact stiffness (surface roughness) and air-bearing force during contact on fly-height modulation (FHM) and contact force are investigated. Based on the tri-state model predictions, design guidelines for reduced FHM and dynamic contact force are suggested.
10
Sanders, John W., Harry Dankowicz, and Walter Lacarbonara. "Design and Analysis of a Microelectromechanical Device Capable of Testing Theoretical Models of Impact at the Microscale." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70889.
Анотація:
This paper proposes a conceptual design for a microscale experimental device that could be used to investigate oblique, intermittent contact while allowing for tangential slip and adhesion/stiction at the contact interface. The discussion includes a formulation of a reduced-order model of the nonlinear device dynamics. Emphasis is given to a possible contact model that incorporates normal and tangential compliance, friction-like limits on the ratio of tangential to normal contact forces, adhesive interactions, and irreversible energy loss in the normal contact interactions. A preliminary theoretical and numerical analysis is performed on this contact model in order to assess the influence of adhesion and energy loss on the contact phase. The results consider both the case of a normal collision in the absence of coupling between normal and tangential degrees of freedom as well as the general case of an oblique impact with such coupling. The paper argues that there is great value in an experimental validation of such a model for microscale contact, as a growing number of devices either rely on contact directly or must accommodate and design for its possible occurrence. In addition, mention is made of a number of inconsistencies and paradoxes observed in macroscopic models of rigid-body contact with friction that warrant validation or resolution through appropriate experimental designs.