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Elevating haptic interfaces:Dual-rate sampling and field programmable gate array implementation for multi-degree-of-freedom performance enhancement

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International Journal of Mechanical System Dynamics 2024年第2期4卷 171-187页

作者： Majid Koul suhail khosa Babar Ahmad Mechanical Engineering Islamic University of Science and TechnologyKashmirJammu and KashmirIndia Mechanical Engineering National Institute of Technology SrinagarJammu and KashmirIndia

In this work,our primary focus centered on exploring the adaptability of the dualrate sampling scheme proposed earlier to enhance the performance of multi-degreeof-freedom(multi-DOF)impedance-based haptic *** scheme employed independent sampling rates in a haptics controller,effectively mitigating the issue of reduced Z-width at higher sampling rates.A key aspect of our investigation was the intricate implementation of the dual-rate sampling scheme on a field programmable gate array(FPGA).This implementation on a logic hardware FPGA was challenging and led to the effective comparison of the uniform-rate and dual-rate sampling schemes of the multi-DOF haptic *** used an in-house developed two-DOF pantograph as the haptic interface and an FPGA for implementing the controller ***-based implementation presented challenges that were vital in testing controller performances at higher sampling *** wall experiments were conducted to determine the stable and unstable interactions with the virtual *** complement the experimental results,we simulated the haptics force law for multi-DOF system on Simulink/***,the dual-rate sampling approach maintained the Z-width of the two-DOF haptic interface,even at higher controller sampling rates,distinguishing it from the conventional two-DOF uniform-rate control *** example,employing a dual-rate sampling combination of 20–2 kHz consistently ensured the stable rendering of a maximum virtual stiffness of approximately 700 N/mm and maintained a reliable virtual damping range spanning from 0 to 5 Ns/*** contrast,the 20 kHz uniform-rate sampling approach failed to ensure interface stability in the presence of virtual damping,ultimately resulting in the unsuccessful implementation of any virtual stiffness at higher sampling *** work,therefore,establishes the potential of dual-rate sampling in the realm of haptic technology,with practical applications in multi-DOF systems.

关键词： control FPGA haptic device simulation virtual reality Z-width

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Revealing high-dimensional dynamical symmetry in alignment magnetic resonance

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Science China(Physics,Mechanics & Astronomy) 2024年第10期67卷 162-163页

作者： M.suhail Zubairy Institute for Quantum Science and Engineering(IQSE)and Department of Physics and Astronomy Texas A&M UniversityCollege StationTexas 77843-4242USA

Symmetry permeates throughout science,underlying people's understanding on intriguing physical *** include conserved quantities,critical phenomena and selection *** symmetry,the counterpart of geometrical symmetry or static symmetry referring to the geometrical shape or structure of a physical system,is present in the motion behavior.

关键词： properties symmetry alignment

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General Formalism for the BRST Symmetry

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Communications in Theoretical Physics 2013年第4期59卷 439-442页

作者： suhail Ahmad Departmet of Physics Jamia Millia Islamia University

In this paper we will discuss Faddeev-Popov method for gauge theories with a general form of gauge symmetry in an abstract way. We will then develope a general formalism for dealing with the BRST symmetry. This formal... 详细信息

关键词： BRST symmetry Faddeev-Popov method

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A note on teleparallel Killing vector fields in Bianchi type Ⅷ and Ⅸ space-times in teleparallel theory of gravitation

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Chinese Physics B 2011年第7期20卷 88-93页

作者： Ghulam Shabbir Amjad Ali suhail Khan Faculty of Engineering Sciences GIK Institute of Engineering Sciences and TechnologyTopiSwabiKhyber PukhtoonkhwaPakistan Department of Basic Sciences University of Engineering and TechnologyPeshawarKhyber PukhtoonkhwaPakistan

In this paper we classify Bianchi type Ⅷ and IX space-times according to their teleparallel Killing vector fields in the teleparallel theory of gravitation by using a direct integration technique. It turns out that the dimensions of the teleparallel Killing vector fields are either 4 or 5. From the above study we have shown that the Killing vector fields for Bianchi type Ⅷ and Ⅸ space-times in the context of teleparallel theory are different from that in general relativity.

关键词： WeitzenbSck geometry teleparallel theory of gravitation conservation laws

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Recent advances in 3D printed electrode materials for electrochemical energy storage devices

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Journal of Energy Chemistry 2023年第6期81卷 272-312,I0008页

作者： suhail Mubarak Duraisami Dhamodharan Hun-Soo Byun Department of Chemical and Biomolecular Engineering Chonnam National UniversityYeosuJeonnam 59626Republic of Korea Greenlab Department of prosthodonticsSaveetha Dental College and HospitalsSaveetha Institute of Medical and Technical SciencesChennaiTamil Nadu 600077India

Electrochemical energy storage(EES)systems like batteries and supercapacitors are becoming the key power sources for attempts to change the energy dependency from inadequate fossil fuels to sustainable and renewable *** energy storage devices(EESDs)operate efficiently as a result of the construction and assemblage of electrodes and electrolytes with appropriate structures and effective *** manufacturing procedures have restrictions on regulating the morphology and architecture of the electrodes,which would influence the performance of the devices.3D printing(3DP)is an advanced manufacturing technology combining computer-aided design and has been recognised as an artistic method of fabricating different fragments of energy storage devices with its ability to precisely control the geometry,porosity,and morphology with improved specific energy and power *** capacity to create mathematically challenging shape or configuration designs and high-aspect-ratio 3D architectures makes 3D printing technology unique in its ***,the control settings,interactive manufacturing processes,and protracted post-treatments will affect the reproducibility of the printed *** intelligent software,sophisticated control systems,high-grade industrial equipment,and post-treatment-free methods are necessary to develop.3D printed(3DPd)EESDs necessitate dynamic printable materials and composites that are influenced by performance criteria and fundamental ***,we review the recent advances in 3DPd electrodes for EES *** emphasis is on printable material synthesis,3DP techniques,and the electrochemical performance of printed *** the fabrication of electrodes,we concentrate on major 3DP technologies such as direct ink writing(DIW),inkjet printing(IJP),fused deposition modelling(FDM),and stereolithography3DP(SLA).The benefits and drawbacks of each 3DP technology are extensively di

关键词： 3D printing 3D printed electrodes Electrochemical energy storage Lithium-ion battery Zinc-ion battery Supercapacitor

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Classification of Teleparallel Homothetic Vector Fields in Cylindrically Symmetric Static Space-Times in Teleparallel Theory of Gravitation

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Communications in Theoretical Physics 2010年第10期54卷 675-678页

作者： Ghulam Shabbir suhail Khan Faculty of Engineering Sciences GIK Institute of Engineering Sciences and Technology

In this paper we classify cylindrically symmetric static space-times according to their teleparallel homothetic vector fields using direct integration technique. It turns out that the dimensions of the teleparallel homothetic vector fields are 4, 5, 7 or 11, which are the same in numbers as in general relativity. In case of 4, 5 or 7 proper teleparallel homothetic vector fields exist for the special choice to the space-times. In the case of 11 teleparallel homothetic vector fields the space-time becomes Minkowski with all the zero torsion components. Teleparallel homothetic vector fields in this case are exactly the same as in general relativity. It is important to note that this classification also covers the plane symmetric static space-times.

关键词： teleparallel homothetic vector fields WeitzenbSck connections torsion

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Spherical Gravitational Collapse in f(R) Gravity with Linear Equation of State

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Communications in Theoretical Physics 2018年第8期69卷 185-189页

作者： Zahid Ahmad Hassan Shah suhail Khan Department of Mathematics COMSATS Institute of Information Technology Department of Mathematics University of Peshawar

In a paper [Gen. Relativ. Gravit. 48(2016) 57] Chakrabarti and Banerjee investigated perfect fluid collapse in f(R) gravity model and claimed that such a collapse is possible. In this paper we show that without the assumption of dark energy it is not possible that perfect fluid spherical gravitational collapse will occur. We have solved the field equations by assuming linear equation of state(p = ωμ) in metric f(R) gravity with ω =-1. It is shown that Chakrabarti and Banerjee reached to false conclusion as they derived wrong field equations. We have also discussed formation of apparent horizon and singularity.

关键词： gravitational collapse matching conditions dark energy apparent horizon

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An Improved Security Scheme for IEC 61850MMS Messages in Intelligent Substation Communication Networks

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Journal of Modern Power Systems and Clean Energy 2020年第3期8卷 591-595页

作者： Taha Selim Ustun S.M.suhail Hussain Fukushima Renewable Energy Institute AIST(FREA)FukushimaJapan Research Institute of the Energy Frontier TsukubaJapan

Advanced connectivity in substations brings along cybersecurity considerations. Especially, the use of standardized data objects and message structures stipulated by IEC 61850 makes them much more vulnerable to unauthorized access and manipulation. In order to tackle these vulnerabilities, different methods are investigated by researchers all over the world. An important aspect of such efforts is the real-time performance consideration since power systems are bound by the rules of physics and all control/communication tasks need to be completed in a certain time frame. Security schemes for substation communication have been proposed in the recent literature. However, they must be improved to ensure a full security solution. Recently published IEC 62351 standard aims to fill this gap. Node authentication is vital for substation communication networks based on IEC 61850 to mitigate a variety of attacks such as man-in-the-middle(MITM) attack. This short communication presents a node authentication mechanism based on transport layer security(TLS) with certificates to address this knowledge gap. It also investigates the real-time performance by implementing the proposed scheme with Python.

关键词： IEC 62351 standard certificate authority cer-tificate-based authentication cybersecurity smart grid

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A Note on Classification of Spatially Homogeneous Rotating Space-Times According to Their Teleparallel Killing Vector Fields in Teleparallel Theory of Gravitation

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Communications in Theoretical Physics 2011年第2期55卷 268-272页

作者： Ghulam Shabbir suhail Khan Amjad Ali Faculty of Engineering Sciences GIK Institute of Engineering Sciences and Technology Topi Swabi NWFP Pakistan Department of Basic Sciences and Islamiat University of Engineering and Technology Peshawar NWFP Pakistan

In this paper we classify spatially homogeneous rotating space-times according to their teleparallel Killing vector fields using direct integration *** turns out that the dimension of the teleparallel Killing vector fields is 5 or *** the case of 10 teleparallel Killing vector fields the space-time becomes Minkowski and all the torsion components are *** Killing vector fields in this case are exactly the same as in general *** the cases of 5 teleparallel Killing vector fields we get two more conservation laws in the teleparallel theory of *** we also discuss some well-known examples of spatially homogeneous rotating space-times according to their teleparallel Killing vector fields.

关键词： teleparallel killing vector fields Weitzenbock geometry torsion

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PARAMETRIC STUDIES ON THE STATIC BEHAVIOUR OF MARINE RISER

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China Ocean Engineering 1990年第1期5卷 13-28页

作者： suhail Ahmad T.K.Datta Lecturer Dept. of Applied Mechanics Indian Institute of Technology Delhi India Professor Dept. of Civil Engineering Indian Institute of Technology Delhi India

The behaviour of marine risers is investigated under the forces produced by selfweight, wave and current and quasistatic motion of the top vessel. The parameters include the applied tension, geometric nonlinearity, magnitude of surge, heave and pitch motion of the top vessel and wave height. The study shows that the above parameters have considerable influence on the riser response.

关键词： PARAMETRIC STUDIES ON THE STATIC BEHAVIOUR OF MARINE RISER

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