Stable Multirate Control Algorithm for Haptic Dental Training System
Identifieur interne : 004D68 ( Main/Merge ); précédent : 004D67; suivant : 004D69Stable Multirate Control Algorithm for Haptic Dental Training System
Auteurs : Xiaowei Dai [République populaire de Chine] ; Yuru Zhang [République populaire de Chine] ; Yonggang Cao [République populaire de Chine] ; Dangxiao Wang [République populaire de Chine]Source :
- Lecture Notes in Computer Science [ 0302-9743 ] ; 2008.
Abstract
Abstract: This paper proposes a multirate control algorithm to guarantee the stability of haptic dental training system. In terms of a high-frequency force interpolating model, a multirate system with two levels up-sampling is introduced. The first level up-sampling achieves the haptic rendering with 1K Hz and the second level achieves the interpolating algorithm with 10K Hz or higher. Due to the slow velocity of dental training system, the complex virtual tooth surface can be regarded as a series of consecutive virtual tangent planes, in which the interpolating algorithm is designed with virtual wall model. Theoretical analysis proves that the multirate control algorithm can enlarge the range of virtual stiffness and improve the stability. Numerical and experimental results of a three degree-of-freedom haptic device demonstrate the effectiveness of the proposed method.
Url:
DOI: 10.1007/978-3-540-88518-4_4
Links toward previous steps (curation, corpus...)
- to stream Istex, to step Corpus: 003A02
- to stream Istex, to step Curation: 003A02
- to stream Istex, to step Checkpoint: 001149
Links to Exploration step
ISTEX:6973C5C8CC093CA21EEAE2F8A3FEFA1E9B2C1D6DLe document en format XML
<record><TEI wicri:istexFullTextTei="biblStruct:series"><teiHeader><fileDesc><titleStmt><title xml:lang="en">Stable Multirate Control Algorithm for Haptic Dental Training System</title><author><name sortKey="Dai, Xiaowei" sort="Dai, Xiaowei" uniqKey="Dai X" first="Xiaowei" last="Dai">Xiaowei Dai</name></author><author><name sortKey="Zhang, Yuru" sort="Zhang, Yuru" uniqKey="Zhang Y" first="Yuru" last="Zhang">Yuru Zhang</name></author><author><name sortKey="Cao, Yonggang" sort="Cao, Yonggang" uniqKey="Cao Y" first="Yonggang" last="Cao">Yonggang Cao</name></author><author><name sortKey="Wang, Dangxiao" sort="Wang, Dangxiao" uniqKey="Wang D" first="Dangxiao" last="Wang">Dangxiao Wang</name></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:6973C5C8CC093CA21EEAE2F8A3FEFA1E9B2C1D6D</idno><date when="2008" year="2008">2008</date><idno type="doi">10.1007/978-3-540-88518-4_4</idno><idno type="url">https://api.istex.fr/document/6973C5C8CC093CA21EEAE2F8A3FEFA1E9B2C1D6D/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">003A02</idno><idno type="wicri:Area/Istex/Curation">003A02</idno><idno type="wicri:Area/Istex/Checkpoint">001149</idno><idno type="wicri:doubleKey">0302-9743:2008:Dai X:stable:multirate:control</idno><idno type="wicri:Area/Main/Merge">004D68</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">Stable Multirate Control Algorithm for Haptic Dental Training System</title><author><name sortKey="Dai, Xiaowei" sort="Dai, Xiaowei" uniqKey="Dai X" first="Xiaowei" last="Dai">Xiaowei Dai</name><affiliation wicri:level="3"><country xml:lang="fr" wicri:curation="lc">République populaire de Chine</country><wicri:regionArea>State Key Laboratory of Virtual Reality Technology and System, Beihang University, 100083, Beijing</wicri:regionArea><placeName><settlement type="city">Pékin</settlement></placeName></affiliation><affiliation wicri:level="1"><country wicri:rule="url">République populaire de Chine</country></affiliation></author><author><name sortKey="Zhang, Yuru" sort="Zhang, Yuru" uniqKey="Zhang Y" first="Yuru" last="Zhang">Yuru Zhang</name><affiliation wicri:level="3"><country xml:lang="fr" wicri:curation="lc">République populaire de Chine</country><wicri:regionArea>State Key Laboratory of Virtual Reality Technology and System, Beihang University, 100083, Beijing</wicri:regionArea><placeName><settlement type="city">Pékin</settlement></placeName></affiliation><affiliation wicri:level="1"><country wicri:rule="url">République populaire de Chine</country></affiliation></author><author><name sortKey="Cao, Yonggang" sort="Cao, Yonggang" uniqKey="Cao Y" first="Yonggang" last="Cao">Yonggang Cao</name><affiliation wicri:level="3"><country xml:lang="fr" wicri:curation="lc">République populaire de Chine</country><wicri:regionArea>State Key Laboratory of Virtual Reality Technology and System, Beihang University, 100083, Beijing</wicri:regionArea><placeName><settlement type="city">Pékin</settlement></placeName></affiliation></author><author><name sortKey="Wang, Dangxiao" sort="Wang, Dangxiao" uniqKey="Wang D" first="Dangxiao" last="Wang">Dangxiao Wang</name><affiliation wicri:level="3"><country xml:lang="fr" wicri:curation="lc">République populaire de Chine</country><wicri:regionArea>State Key Laboratory of Virtual Reality Technology and System, Beihang University, 100083, Beijing</wicri:regionArea><placeName><settlement type="city">Pékin</settlement></placeName></affiliation></author></analytic><monogr></monogr><series><title level="s">Lecture Notes in Computer Science</title><imprint><date>2008</date></imprint><idno type="ISSN">0302-9743</idno><idno type="eISSN">1611-3349</idno><idno type="ISSN">0302-9743</idno></series><idno type="istex">6973C5C8CC093CA21EEAE2F8A3FEFA1E9B2C1D6D</idno><idno type="DOI">10.1007/978-3-540-88518-4_4</idno><idno type="ChapterID">4</idno><idno type="ChapterID">Chap4</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0302-9743</idno></seriesStmt></fileDesc><profileDesc><textClass></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Abstract: This paper proposes a multirate control algorithm to guarantee the stability of haptic dental training system. In terms of a high-frequency force interpolating model, a multirate system with two levels up-sampling is introduced. The first level up-sampling achieves the haptic rendering with 1K Hz and the second level achieves the interpolating algorithm with 10K Hz or higher. Due to the slow velocity of dental training system, the complex virtual tooth surface can be regarded as a series of consecutive virtual tangent planes, in which the interpolating algorithm is designed with virtual wall model. Theoretical analysis proves that the multirate control algorithm can enlarge the range of virtual stiffness and improve the stability. Numerical and experimental results of a three degree-of-freedom haptic device demonstrate the effectiveness of the proposed method.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 004D68 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 004D68 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Merge
|type= RBID
|clé= ISTEX:6973C5C8CC093CA21EEAE2F8A3FEFA1E9B2C1D6D
|texte= Stable Multirate Control Algorithm for Haptic Dental Training System
}}
| This area was generated with Dilib version V0.6.23. |  |