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Velocity Field Design for the Modular Distributed Manipulator System (MDMS)
, 1998
"... This paper upgrades the authors' previous work in two dimensions by significantly reducing the amount of calculation necessary to calculate the forces and torques, allowing for the inversion of the dynamics. A wheel velocity field is thus generated which produce desired parcel dynamics with a single ..."
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Cited by 11 (8 self)
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This paper upgrades the authors' previous work in two dimensions by significantly reducing the amount of calculation necessary to calculate the forces and torques, allowing for the inversion of the dynamics. A wheel velocity field is thus generated which produce desired parcel dynamics with a single equilibrium position regardless of symmetry and cell resolution, and, under certain assumptions, a single orientational position (within symmetry) to the resolution of the cells.
OpenLoop Orientability of Objects on Actuator Arrays
 IN PROCEEDINGS, IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION
, 1999
"... An actuator array is a form of distributed manipulation where an object being transported and manipulated rests on a large number of supporting actuators. On a discrete array employing an openloop field, some size and shape objects may have unstable equilibria due to this discreteness. The function ..."
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Cited by 7 (6 self)
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An actuator array is a form of distributed manipulation where an object being transported and manipulated rests on a large number of supporting actuators. On a discrete array employing an openloop field, some size and shape objects may have unstable equilibria due to this discreteness. The functional relationship between object dimensions relative to array spacing and rotational stability is examined, and a map of this function is generated. The geometry behind this relationship is also examined, and analytical expressions for the boundaries between stable and unstable regions in the map are derived.
Distributed Manipulation Using Discrete Actuator Arrays
, 2001
"... Distributed manipulation systems induce motions on objects through the application of many external forces. An actuator array performs distributed manipulation using a planar array of many small stationary elements (which are called cells) that cooperate to manipulate larger objects. Typically, high ..."
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Cited by 7 (0 self)
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Distributed manipulation systems induce motions on objects through the application of many external forces. An actuator array performs distributed manipulation using a planar array of many small stationary elements (which are called cells) that cooperate to manipulate larger objects. Typically, highly dense actuator arrays are modeled as spatially continuous, programmable force fields, although in many implementations a relatively small number of actuators supports an object and continuous assumptions break down. This paper serves two purposes: to present a methodology for modeling and analyzing the dynamics of manipulation on a highly discrete actuator array and to present a methodology for designing manipulation strategies on discrete actuator arrays. This is done in the context of a particular macroscale actuator array comprising a fixed planar array of motorized wheels. Modeling of the dynamics takes into account several models of the interaction between the actuators and the object, the distribution of the weight of the object among the supports, and the discrete nature of the system. Under certain modeling assumptions, the manipulation dynamics of an object are extremely simple for a given set of supporting cells. An inversion of these piecewisecontinuous dynamics generates a fully continuous openloop manipulation strategy, effectively smoothing out the discontinuities. The authors show that although the resulting manipulation field may stably position and orient any object in the continuous field case, discreteness causes many objects to experience unstable rotational equilibria. Thus, poor orientation precision is a limitation of openloop manipulation using discrete actuator arrays and motivates the use of feedback. The authors also derive closedloop manipula...
Discrete Actuator Array Vectorfield Design for Distributed Manipulation
 In Proc. IEEE Int. Conf. on Robotics and Automation (ICRA
, 1999
"... The Modular Distributed Manipulator System (MDMS) is a macroscopic actuator array which can manipulate objects in the plane. The piecewiseconstant dynamics of manipulation on the MDMS are developed based on an exact discrete representation of the system. The resulting dynamics are inverted enabling ..."
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Cited by 2 (0 self)
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The Modular Distributed Manipulator System (MDMS) is a macroscopic actuator array which can manipulate objects in the plane. The piecewiseconstant dynamics of manipulation on the MDMS are developed based on an exact discrete representation of the system. The resulting dynamics are inverted enabling the calculation of an openloop vector field which provides arbitrary uniform object dynamics. The vector field positions, and under certain assumptions, orients objects. 1 Introduction The Modular Distributed Manipulator System (MDMS) is a macroscopic actuator array which transfers, as well as manipulates, objects in the plane, enhancing applications such as flexible manufacturing and package handling systems. This system has been described in detail in previous work [4, 6] 1 . Essentially, the MDMS comprises an fixed array of actuators (cells) each of which is an orthogonally mounted pair or roller wheels whose combined motion provides a directable traction force to an object resting o...
The Actuated Workbench:
 Proceedings UIST 2002
, 2002
"... The Actuated Workbench is a device that uses magnetic forces to move objects on a table in two dimensions. It is intended for use with existing tabletop tangible interfaces, providing an additional feedback loop for computer output, and helping to resolve inconsistencies that otherwise arise from th ..."
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The Actuated Workbench is a device that uses magnetic forces to move objects on a table in two dimensions. It is intended for use with existing tabletop tangible interfaces, providing an additional feedback loop for computer output, and helping to resolve inconsistencies that otherwise arise from the computer's inability to move objects on the table. We describe the Actuated Workbench in detail as an enabling technology, and then propose several applications in which this technology could be useful.
2D Actuation in Tabletop Tangible Interfaces
, 2003
"... The Actuated Workbench is a new actuation mechanism that uses magnetic forces to control the twodimensional movement of physical objects on flat surfaces. This mechanism is intended for use with existing tabletop Tangible User Interfaces, providing computercontrolled movement of the physical objec ..."
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The Actuated Workbench is a new actuation mechanism that uses magnetic forces to control the twodimensional movement of physical objects on flat surfaces. This mechanism is intended for use with existing tabletop Tangible User Interfaces, providing computercontrolled movement of the physical objects on the table, and creating an additional feedback layer for Human Computer Interaction (HCI). Use of this actuation technique makes possible new kinds of physical interactions with tabletop interfaces, and allows the computer to maintain consistency between the physical and digital states of data objects in the interface. This thesis focuses on the design and implementation of the actuation mechanism as an enabling technology, introduces new techniques for motion control, and discusses practical and theoretical implications
Workbench Tangible User Interfaces
, 2003
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