Operator-in-the-loop simulation of a redundant manipulator under teleoperation
Article Abstract:
For an interactive simulation of 7 degree-of-freedom redundant manipulator under teleoperation, this paper describes an iterative form of resolved-motion rate control in which the constraint Jacobian is constructed on-line in real time and used in the pseudoinverse method as the manipulator is teleoperated. The manipulator's tasks may involve trajectory following in free space and frequent contact with the environment through pick-and-put operation. The operator's command is interpreted as a series of increments in Cartesian space, and then the constraint Jacobian is developed between two successive increments by viewing the predecessor as the initial configuration and the successor as the target configuration. The pseudoinverse of the constraint Jacobian then generates necessary changes in joint variables and subsequently joint torque. The Jacobian constructed in this way enables us to treat both free motion and environmental contact in the same way. The simulator is built on a two-processor IRIS workstation, with one processor for graphics and the other for dynamics and control analysis. This simulator has a potential for training the teleoperator, developing operational scenarios through visualization of the simulation, and testing the design of operator-machine interface. (Reprinted by permission of the publisher.)
Publication Name: SIMULATION
Subject: Engineering and manufacturing industries
ISSN: 0037-5497
Year: 1993
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A forest canopy height surface model for scene simulation
Article Abstract:
A model of forest canopy heights can support realistic remote sensing scene simulation. The final pixel (x,y) array of canopy heights results from merging structural and statistical sub-models. The structural model consider tree crowns to be structural primitives and permits explicit specification of forest structural characteristics (crown forms and spacing). The statistical model allows the inclusion of smaller scale effects (clumping or roughness), and nonstationary effects can be introduced by merging the structural and statistical model results with spatially varying weights. The model supports several tasks in realistic scene simulation (e.g., for use with algorithms which use surface geometry to determine pixel brightness). It also helps define realistic forest-top geometry classes or types so that simulations do not require high-level user expertise or detailed specification. The model also provides controlled test-bed data for canopy measurement and analysis technique development. By retaining tree shape and spacing information in a height surface, the model partially fills the gap between stochastic texture modeling and three-dimensional tree (object) models in scene synthesis. (Reprinted by permission of the publisher.)
Publication Name: SIMULATION
Subject: Engineering and manufacturing industries
ISSN: 0037-5497
Year: 1987
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Simulation of a Small Surface Coal Operator
Article Abstract:
Government regulations can represent an insurmountable financial obstacle to the small coal operator. A simulation model to assess the impact of public policy on these businesses has been developed. The model represents the coal market, government, banks and the coal operators functions. Land management, production management, and cash flow are all considered. A test run simulating lengthy permit processing times during a slow market was made. The run indicated that reduction of processing time alleviated pressures on the coal operator. Graphs summarizing run results and diagrams depicting aspects of the model are included.
Publication Name: SIMULATION
Subject: Engineering and manufacturing industries
ISSN: 0037-5497
Year: 1984
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