Multi-dimensional passive sampled Port-Hamiltonian systems

M.C.J. Franken, Rob Reilink, Sarthak Misra, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Abstract

Passivity of virtual environments running in discrete time is a sufficient condition for stability of the system. The framework for passive sampled Port-Hamiltonian systems allows multi-dimensional virtual environments exhibiting internal dynamic behavior to be computed on a discrete medium in a passive manner. It is shown that a causality analysis is required in the framework to detect if any of the model elements have, a time dependent change of energy function in the energy balance of the system. The Standard Linear Solid model, which is often used to simulate the visco-elastic interaction with soft biological tissue is used as an example. Simulated and experimental results are provided to demonstrate the benefit of the described framework. It is shown that using this approach a multi-dimensional model which is passive in the continuous domain remains passive in the discrete domain, whereas a standard discretization approach can become non-passive.
Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation
PublisherIEEE Robotic and Automation Society
Pages1320-1326
Number of pages7
ISBN (Print)978-1-4244-5038-1
DOIs
Publication statusPublished - 3 May 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, United States
Duration: 3 May 20107 May 2010

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Abbreviated titleICRA
CountryUnited States
CityAnchorage
Period3/05/107/05/10

Fingerprint

Hamiltonians
Virtual reality
Energy balance
Tissue

Keywords

  • EWI-18172
  • METIS-270923

Cite this

Franken, M. C. J., Reilink, R., Misra, S., & Stramigioli, S. (2010). Multi-dimensional passive sampled Port-Hamiltonian systems. In 2010 IEEE International Conference on Robotics and Automation (pp. 1320-1326). IEEE Robotic and Automation Society. https://doi.org/10.1109/ROBOT.2010.5509268
Franken, M.C.J. ; Reilink, Rob ; Misra, Sarthak ; Stramigioli, Stefano. / Multi-dimensional passive sampled Port-Hamiltonian systems. 2010 IEEE International Conference on Robotics and Automation. IEEE Robotic and Automation Society, 2010. pp. 1320-1326
@inproceedings{6514da1460804221b1fc5482dcc5ebb0,
title = "Multi-dimensional passive sampled Port-Hamiltonian systems",
abstract = "Passivity of virtual environments running in discrete time is a sufficient condition for stability of the system. The framework for passive sampled Port-Hamiltonian systems allows multi-dimensional virtual environments exhibiting internal dynamic behavior to be computed on a discrete medium in a passive manner. It is shown that a causality analysis is required in the framework to detect if any of the model elements have, a time dependent change of energy function in the energy balance of the system. The Standard Linear Solid model, which is often used to simulate the visco-elastic interaction with soft biological tissue is used as an example. Simulated and experimental results are provided to demonstrate the benefit of the described framework. It is shown that using this approach a multi-dimensional model which is passive in the continuous domain remains passive in the discrete domain, whereas a standard discretization approach can become non-passive.",
keywords = "EWI-18172, METIS-270923",
author = "M.C.J. Franken and Rob Reilink and Sarthak Misra and Stefano Stramigioli",
year = "2010",
month = "5",
day = "3",
doi = "10.1109/ROBOT.2010.5509268",
language = "English",
isbn = "978-1-4244-5038-1",
pages = "1320--1326",
booktitle = "2010 IEEE International Conference on Robotics and Automation",
publisher = "IEEE Robotic and Automation Society",

}

Franken, MCJ, Reilink, R, Misra, S & Stramigioli, S 2010, Multi-dimensional passive sampled Port-Hamiltonian systems. in 2010 IEEE International Conference on Robotics and Automation. IEEE Robotic and Automation Society, pp. 1320-1326, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, United States, 3/05/10. https://doi.org/10.1109/ROBOT.2010.5509268

Multi-dimensional passive sampled Port-Hamiltonian systems. / Franken, M.C.J.; Reilink, Rob; Misra, Sarthak; Stramigioli, Stefano.

2010 IEEE International Conference on Robotics and Automation. IEEE Robotic and Automation Society, 2010. p. 1320-1326.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

TY - GEN

T1 - Multi-dimensional passive sampled Port-Hamiltonian systems

AU - Franken, M.C.J.

AU - Reilink, Rob

AU - Misra, Sarthak

AU - Stramigioli, Stefano

PY - 2010/5/3

Y1 - 2010/5/3

N2 - Passivity of virtual environments running in discrete time is a sufficient condition for stability of the system. The framework for passive sampled Port-Hamiltonian systems allows multi-dimensional virtual environments exhibiting internal dynamic behavior to be computed on a discrete medium in a passive manner. It is shown that a causality analysis is required in the framework to detect if any of the model elements have, a time dependent change of energy function in the energy balance of the system. The Standard Linear Solid model, which is often used to simulate the visco-elastic interaction with soft biological tissue is used as an example. Simulated and experimental results are provided to demonstrate the benefit of the described framework. It is shown that using this approach a multi-dimensional model which is passive in the continuous domain remains passive in the discrete domain, whereas a standard discretization approach can become non-passive.

AB - Passivity of virtual environments running in discrete time is a sufficient condition for stability of the system. The framework for passive sampled Port-Hamiltonian systems allows multi-dimensional virtual environments exhibiting internal dynamic behavior to be computed on a discrete medium in a passive manner. It is shown that a causality analysis is required in the framework to detect if any of the model elements have, a time dependent change of energy function in the energy balance of the system. The Standard Linear Solid model, which is often used to simulate the visco-elastic interaction with soft biological tissue is used as an example. Simulated and experimental results are provided to demonstrate the benefit of the described framework. It is shown that using this approach a multi-dimensional model which is passive in the continuous domain remains passive in the discrete domain, whereas a standard discretization approach can become non-passive.

KW - EWI-18172

KW - METIS-270923

U2 - 10.1109/ROBOT.2010.5509268

DO - 10.1109/ROBOT.2010.5509268

M3 - Conference contribution

SN - 978-1-4244-5038-1

SP - 1320

EP - 1326

BT - 2010 IEEE International Conference on Robotics and Automation

PB - IEEE Robotic and Automation Society

ER -

Franken MCJ, Reilink R, Misra S, Stramigioli S. Multi-dimensional passive sampled Port-Hamiltonian systems. In 2010 IEEE International Conference on Robotics and Automation. IEEE Robotic and Automation Society. 2010. p. 1320-1326 https://doi.org/10.1109/ROBOT.2010.5509268