MIMO output estimation with reduced multirate sampling for real-time haptic rendering
Identifieur interne : 005B81 ( Main/Merge ); précédent : 005B80; suivant : 005B82MIMO output estimation with reduced multirate sampling for real-time haptic rendering
Auteurs : Kyungno Lee [Corée du Sud] ; DOO YONG LEE [Corée du Sud]Source :
- IEEE transactions on robotics [ 1552-3098 ] ; 2007.
Descripteurs français
- Pascal (Inist)
- Système MIMO, Identification système, Système multicadence, Echantillonnage, Temps réel, Sensibilité tactile, Grande déformation, Temps retard, Stabilité fréquence, Représentation graphique, Erreur sortie, Signal sortie, Modélisation, Méthode élément fini, Système masse ressort, Approche déterministe, Modèle entrée sortie, Méthode moindre carré, Estimation erreur, Erreur estimation, Méthode graphique, Convergence numérique.
English descriptors
- KwdEn :
- Delay time, Deterministic approach, Error estimation, Estimation error, Finite element method, Frequency stability, Graphic method, Graphics, High strain, Input output model, Least squares method, MIMO system, Modeling, Multirate system, Numerical convergence, Output error, Output signal, Real time, Sampling, Spring mass system, System identification, Tactile sensitivity.
Abstract
This paper presents an output-estimation method with reduced multirate sampling for real-time multi-input-multi-output (MIMO) haptic rendering. Haptic systems employ physics-based deformation models such as finite-element models and mass-spring models. These physics-based deformation models for high fidelity have to deal with complex geometries, material properties, and realistic behavior of virtual objects. This incurs heavy computational burden and time delays so that the reflective force often cannot be computed at 1 kHz which is a safe frequency for stability of the haptic systems. Lower update rates of the haptic loop and the computational time delay also deteriorate the realism of the haptic system. This problem is resolved by the proposed MIMO output-estimation method. The haptic system is designed to have two sampling times, T and JT, for the haptic loop and the graphic loop, respectively. Dynamics of the physics-based deformation is captured in a discrete and deterministic input-output model. The MIMO output estimation method is developed drawing on a least-squares algorithm and an output-error estimation model. The P-matrix resetting algorithm is also designed to deal with the changing input-output relationship of the deformation model. The parameters of the discrete input-output model are adjusted online. Intersample outputs are computed from the estimated input-output model at a high rate, and traces the correct output computed from the deformation model. This method enables graphics rendering at a lower update rate, and haptic rendering at a higher update rate. Convergence of the proposed method is proved, and performance is demonstrated through simulation with both a linear tensor-mass and a linear mass-spring models.
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Pascal:07-0451859Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">MIMO output estimation with reduced multirate sampling for real-time haptic rendering</title><author><name sortKey="Lee, Kyungno" sort="Lee, Kyungno" uniqKey="Lee K" first="Kyungno" last="Lee">Kyungno Lee</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology</s1><s2>Daejeon 305-701</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Daejeon 305-701</wicri:noRegion></affiliation></author><author><name sortKey="Doo Yong Lee" sort="Doo Yong Lee" uniqKey="Doo Yong Lee" last="Doo Yong Lee">DOO YONG LEE</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology</s1><s2>Daejeon 305-701</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Daejeon 305-701</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">07-0451859</idno><date when="2007">2007</date><idno type="stanalyst">PASCAL 07-0451859 INIST</idno><idno type="RBID">Pascal:07-0451859</idno><idno type="wicri:Area/PascalFrancis/Corpus">000B09</idno><idno type="wicri:Area/PascalFrancis/Curation">000986</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000809</idno><idno type="wicri:doubleKey">1552-3098:2007:Lee K:mimo:output:estimation</idno><idno type="wicri:Area/Main/Merge">005B81</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">MIMO output estimation with reduced multirate sampling for real-time haptic rendering</title><author><name sortKey="Lee, Kyungno" sort="Lee, Kyungno" uniqKey="Lee K" first="Kyungno" last="Lee">Kyungno Lee</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology</s1><s2>Daejeon 305-701</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Daejeon 305-701</wicri:noRegion></affiliation></author><author><name sortKey="Doo Yong Lee" sort="Doo Yong Lee" uniqKey="Doo Yong Lee" last="Doo Yong Lee">DOO YONG LEE</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology</s1><s2>Daejeon 305-701</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Corée du Sud</country><wicri:noRegion>Daejeon 305-701</wicri:noRegion></affiliation></author></analytic><series><title level="j" type="main">IEEE transactions on robotics </title><title level="j" type="abbreviated">IEEE trans. robot. </title><idno type="ISSN">1552-3098</idno><imprint><date when="2007">2007</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">IEEE transactions on robotics </title><title level="j" type="abbreviated">IEEE trans. robot. </title><idno type="ISSN">1552-3098</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Delay time</term><term>Deterministic approach</term><term>Error estimation</term><term>Estimation error</term><term>Finite element method</term><term>Frequency stability</term><term>Graphic method</term><term>Graphics</term><term>High strain</term><term>Input output model</term><term>Least squares method</term><term>MIMO system</term><term>Modeling</term><term>Multirate system</term><term>Numerical convergence</term><term>Output error</term><term>Output signal</term><term>Real time</term><term>Sampling</term><term>Spring mass system</term><term>System identification</term><term>Tactile sensitivity</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Système MIMO</term><term>Identification système</term><term>Système multicadence</term><term>Echantillonnage</term><term>Temps réel</term><term>Sensibilité tactile</term><term>Grande déformation</term><term>Temps retard</term><term>Stabilité fréquence</term><term>Représentation graphique</term><term>Erreur sortie</term><term>Signal sortie</term><term>Modélisation</term><term>Méthode élément fini</term><term>Système masse ressort</term><term>Approche déterministe</term><term>Modèle entrée sortie</term><term>Méthode moindre carré</term><term>Estimation erreur</term><term>Erreur estimation</term><term>Méthode graphique</term><term>Convergence numérique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper presents an output-estimation method with reduced multirate sampling for real-time multi-input-multi-output (MIMO) haptic rendering. Haptic systems employ physics-based deformation models such as finite-element models and mass-spring models. These physics-based deformation models for high fidelity have to deal with complex geometries, material properties, and realistic behavior of virtual objects. This incurs heavy computational burden and time delays so that the reflective force often cannot be computed at 1 kHz which is a safe frequency for stability of the haptic systems. Lower update rates of the haptic loop and the computational time delay also deteriorate the realism of the haptic system. This problem is resolved by the proposed MIMO output-estimation method. The haptic system is designed to have two sampling times, T and JT, for the haptic loop and the graphic loop, respectively. Dynamics of the physics-based deformation is captured in a discrete and deterministic input-output model. The MIMO output estimation method is developed drawing on a least-squares algorithm and an output-error estimation model. The P-matrix resetting algorithm is also designed to deal with the changing input-output relationship of the deformation model. The parameters of the discrete input-output model are adjusted online. Intersample outputs are computed from the estimated input-output model at a high rate, and traces the correct output computed from the deformation model. This method enables graphics rendering at a lower update rate, and haptic rendering at a higher update rate. Convergence of the proposed method is proved, and performance is demonstrated through simulation with both a linear tensor-mass and a linear mass-spring models.</div></front></TEI><affiliations><list><country><li>Corée du Sud</li></country></list><tree><country name="Corée du Sud"><noRegion><name sortKey="Lee, Kyungno" sort="Lee, Kyungno" uniqKey="Lee K" first="Kyungno" last="Lee">Kyungno Lee</name></noRegion><name sortKey="Doo Yong Lee" sort="Doo Yong Lee" uniqKey="Doo Yong Lee" last="Doo Yong Lee">DOO YONG LEE</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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