Haptic Devices Based on Real-Time Dynamic Models of Multibody Systems.

Multibody modeling of mechanical systems can be applied to various applications. Human-in-the-loop interfaces represent a growing research field, for which increasingly more devices include a dynamic multibody model to emulate the system physics in real-time. In this scope, reliable and highly dynamic sensors, to both validate those models and to measure in real-time the physical system behavior, have become crucial. In this paper, a multibody modeling approach in relative coordinates is proposed, based on symbolic equations of the physical system. The model is running in a ROS environment, which interacts with sensors and actuators. Two real-time applications with haptic feedback are presented: a piano key and a car simulator. In the present work, several sensors are used to characterize and validate the multibody model, but also to measure the system kinematics and dynamics within the human-in-the-loop process, and to ultimately validate the haptic device behavior. Experimental results for both developed devices confirm the interest of an embedded multibody model to enhance the haptic feedback performances. Besides, model parameters variations during the experiments illustrate the infinite possibilities that such model-based configurable haptic devices can offer.

Strategies for formaldehyde detection in flames and engines using a single-mode Nd:YAG/OPO laser system.

This paper presents technical developments for the detection of formaldehyde (CH2O) using laser-induced fluorescence. The easily accessible third harmonic of the Nd:YAG laser at 355 nm was used for excitation of formaldehyde. In order to investigate potential background fluorescence, e.g., from large molecules such as polyaromatic hydrocarbons, special attention was paid to investigating the possibility of scanning the wavelength of a single-mode Nd:YAG laser under the gain profile, approximately 3 cm(-1), on and off resonance. Furthermore, a technique for simultaneous detection of formaldehyde and OH using one laser system is presented. The single-mode Nd: YAG laser at 355 nm in combination with an optical parametric oscillator (OPO) laser tuned to 283 nm was used for simultaneous two-dimensional imaging of both species using one charge-coupled device (CCD) detector equipped with a dual filter image separator. The techniques are demonstrated with measurements in laboratory flames and the combined measurements are also demonstrated in an engine.