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Digital channel-enabled distributed force decoding via small datasets for hand-centric interactions

SCIENCE ADVANCES 2025年第4期11卷 eadt2641页

作者： Tang, Yifeng Li, Gen Zhang, Tieshan Ren, Hao Yang, Xiong Yang, Liu Guo, Dong Shen, Yajing City Univ Hong Kong Robot & Automat Ctr Hong Kong 999077 Peoples R China City Univ Hong Kong Dept Biomed Engn Hong Kong 999077 Peoples R China Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Hong Kong 999077 Peoples R China Hong Kong Univ Sci & Technol Ctr Smart Mfg Hong Kong 999077 Peoples R China

Tactile interfaces are essential for enhancing human-machine interactions, yet achieving large-scale, precise distributed force sensing remains challenging due to signal coupling and inefficient data processing. Inspired by the spiral structure of Aloe polyphylla and the processing.principles of neuronal systems, this study presents a digital channel-enabled distributed force decoding strategy, resulting in a phygital tactile sensing system named PhyTac. This innovative system effectively prevents marker overlap and accurately identifies multipoint stimuli up to 368 regions from coupled signals. By integrating physics into model training, we reduce the dataset size to just 45 kilobytes, surpassing conventional methods that typically exceed 1 gigabyte. Results demonstrate PhyTac's impressive fidelity of 97.7% across a sensing range of 0.5 to 25 newtons, enabling diverse applications in medical evaluation, sports training, virtual reality, and robotics. This research not only enhances our understanding of hand-centric actions but also highlights the convergence of physical and digital realms, paving the way for advancements in AI-based sensor technologies.

关键词： Virtual reality

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A Hovercraft Visual Simultaneous Localization and Mapping System Performance Evaluation for River Monitoring Application 18

A Hovercraft Visual Simultaneous Localization and Mapping Sy...

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18th IEEE International colloquium on signal processing.and Applications (CSPA)

作者： Bahri, Muhammad Naufal Zulkarnain Saiful Ibrahim, Mohd Faisal Huddin, Aqilah Baseri Univ Kebangsaan Malaysia Dept Elect Elect & Syst Engn Bangi Selangor Malaysia

ISBN: (纸本)9781665485296

The dynamic geographical shape of a river provides a unique challenge in adopting an autonomous hovercraft-like robot for river monitoring. Specifically, performing the mapping and localization task in such an environment is non-trivial. Few factors need to be considered including the dynamic of the hovercraft and the severity of the surrounding environment. In this study, an investigation was carried out to evaluate the performance of a visual simultaneous localization and mapping (SLAM) technique in generating the environment model of a simulated river. The main objective of this study is to build a SLAM system of a hovercraft such that the robot can traverse the river surface autonomously. A depth camera was used as the visual sensor, and acts as the main odometry in the process of mapping and localization of the hovercraft. Data from the visual sensor was tuned and optimized to adapt to the river surface environment. The performance of the tuned SLAM was measured by comparing several configuration settings to get the best output. The result of this study shows that with proper tuning and optimization, a SLAM technique can be used to generate an accurate river surface map and monitor the hovercraft trajectories.

关键词： hovercraft SLAM visual odometry visual sensor

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Fast FBG Interrogator on Chip Based on Silicon on Insulator Ring Resonator Add/Drop Filters

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JOURNAL OF LIGHTWAVE TECHNOLOGY 2022年第15期40卷 5328-5336页

作者： Tozzetti, Lorenzo Bontempi, Francesca Giacobbe, Anna Di Pasquale, Fabrizio Faralli, Stefano Scuola Super Sant Anna Inst Mech Intelligence I-56124 Pisa Italy Scuola Super Sant Anna Dept Excellence Robot & AI I-56127 Pisa Italy

A fast FBG sensor interrogator on chip based on SOI ring resonator (RR) filters is presented. The measurement of the Bragg wavelength shift is based on the detection of multiple signals at the output ports of the RR filter, providing fast dynamic strain measurement capabilities, fundamentally limited by the photodetector bandwidth and signal processing. The ring resonator resonance wavelength is tuned and fixed by an integrated heater and the ring acts as a passband filter for the reflected FBG spectrum. After a theoretical analysis of the interrogation method, which allows the optimization of the RR characteristics depending on the specific application and requirements, we present experimental results on a single RR based interrogation scheme applying high frequency dynamic strain up to 40 kHz. We also theoretically evaluate the performance of multi-ring resonators. The proposed scheme provides low cost, high scalability to mass-volume market applications as well as an extremely fast interrogation method.

关键词： Fiber gratings Optical ring resonators Bandwidth Convolution robot sensing systems Resonator filters Arrayed waveguide gratings Fiber bragg grating integrated photonics optical fiber sensor photonic integrated circuits silicon on insulator

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On the Integration of Enabling Wireless Technologies and sensor Fusion for Next-Generation Connected and Autonomous Vehicles

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IEEE ACCESS 2022年 10卷 14643-14668页

作者： Butt, Faran Awais Chattha, Jawwad Nasar Ahmad, Jameel Zia, Muhammad Umer Rizwan, Muhammad Naqvi, Ijaz Haider Univ Management & Technol Sch Engn Dept Elect Engn Lahore 54770 Pakistan Univ Management & Technol Sch Syst & Technol Dept Comp Sci Lahore 54770 Pakistan Lahore Univ Management Sci Sch Sci & Engn Lahore 54792 Pakistan

The automotive industry is transitioning towards intelligent, connected, and autonomous vehicles to avoid traffic congestion, conflicts, and collisions with increased driver safety. Connected and autonomous vehicles (CAV) must be aware of their surroundings and act as per their environment. Communication infrastructure can be vital in transmitting necessary information to peers and receiving critical information for timely decisions. This article provides a comprehensive review of the topic, covering the aspects of enabling wireless technologies and sensor fusion. The article reviews data acquisition using various sensing devices such as RADAR (Radio Detection and Ranging), LiDAR (Light Detection and Ranging), cameras, and multi-modal sensor fusion of the acquired data after signal processing. Thereafter, it reviews the communication and networking infrastructure for intra- and inter-vehicle communication and related technologies. For each of these themes, research challenges and future directions have been identified.

关键词： Automation Automobiles Autonomous vehicles Vehicles Roads robot sensing systems Radar sensor fusion inter-vehicle communication intra-vehicle communication environment sensing road safety Internet of Vehicles connected and autonomous vehicles 5G networks

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Advancing dielectric elastomers in soft robotics: project BROADCAST's multidisciplinary approach 26

Advancing dielectric elastomers in soft robotics: project BR...

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Conference on Electroactive Polymer Actuators and Devices (EAPAD) XXVI

作者： De Lorenzo, Mario Lay, Makara Liu, Lingyu Kister, Thomas Marschner, Uwe Kraus, Tobias Richter, Andreas Henke, E. F. Markus Tech Univ Dresden Inst Semicond & Microsyst Dresden Germany INM Leibniz Inst New Mat Saarbrucken Germany Saarland Univ Colloid & Interface Chem Saarbrucken Germany

ISBN: (数字)9781510671973

ISBN: (纸本)9781510671973;9781510671966

Project BROADCAST will deliver a new class of powerful soft, biomimetic systems that can interact with their environment in a save, bio-inspired way. The approach is based on major advances in the production technology of dielectric elastomers (DE) circuitry, new soft electronic materials, and new approaches in signal processing. BROADCAST investigates multi-functional DEs that drive robotic structures based on bio-inspired electro-mechanical control strategies such as central pattern generators, autonomous peristalsis, locomotion and similar others. This requires new materials for flexible electrodes and sensors that provide curtailed electrical and electro-mechanical properties, such as Young's modulus, conductivity and piezoresistivity. These materials will provide new features in robotics such as sensorless system where the DEA will act both as an actuator and a sensor by providing continuous feedback in real-time.

关键词： Dielectic elastomer actuator carbon black piezoresistivity Young's modulus conductivity electrodes soft robot biomimetic

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Integrating the Role of Computational Intelligence and Digital signal processing.in Education: Emerging Technologies and Mathematical Tools

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IEEE signal processing.MAGAZINE 2021年第3期38卷 154-162页

作者： Prochazka, Ales Vysata, Oldrich Marik, Vladimir Czech Tech Univ Cybernet Prague Czech Republic Univ Chem & Technol Dept Comp & Control Engn Prague 16628 Czech Republic Czech Tech Univ Czech Inst Informat Robot & Cybernet Prague 16628 Czech Republic Charles Univ Prague Fac Med Hradec Kralove Dept Neurol Prague 50005 Czech Republic Czech Tech Univ Czech Inst Informat Robot & Cybernet Prague 16000 Czech Republic

Rapid progress in the development of technological and computational tools has motivated substantial changes in the educational approach to the different disciplines of signal, image, and video processing. Moreover, the parallel evolution of sensor systems, data acquisition methods, and computational intelligence has emphasized the importance of signal processing.and information engineering, particularly its role in integrating different scientific disciplines through the use of a common set of tools and underlying mathematics. Modern educational courses follow these trends and generally combine the teaching of fundamental computational methods of signal and system modeling with applications to selected case studies. The unifying idea is to apply similar mathematical methods for data processing.in completely diverse areas. Emerging methods used in education contribute to this progress, and they provide opportunities to bring together specialists from different disciplines. New technologies facilitate real or virtual activities through excursions to remote laboratories, allowing the demonstration of robotic and speech recognition systems, for example. Participation in seminars, videoconferences, and discussions during colloquia meetings, when included in educational courses, can form further progressive and attractive teaching methods for the rapidly developing interdisciplinary area of signal processing.

关键词： Collaboration Digital signal processing Speech recognition Software tools Systems modeling Mathematics Educational courses Curriculum development Engineering education

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Embedded Barometric Pressure sensor Unit for Force Myography in Exoskeletons 21

Embedded Barometric Pressure Sensor Unit for Force Myography...

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IEEE-RAS 21st International Conference on Humanoid robots (Humanoids)

作者： Marquardt, Charlotte Weiner, Pascal Dezman, Miha Asfour, Tamim Karlsruhe Inst Technol KIT Inst Anthropomat & Robot High Performance Humanoid Technol Lab Karlsruhe Germany

ISBN: (纸本)9798350309799

Exoskeletons and other wearable devices benefit from sensor systems that are based on biofeedback for detecting muscle activity. However, such sensor systems in wearable applications are often impractical due to the need for direct skin contact or due to non-linear signal output, both requiring extensive calibration and post-processing. This paper presents a compact and robust barometer-based pressure sensor unit for detecting surface muscle pressure in an exoskeleton interface shell that is light, thin and does not require direct contact with the skin. It consists of an array of five miniature barometric sensors mounted on a custom embedded printed circuit board enclosed in a silicon dome. Evaluation of this sensor unit in a controlled experimental setup showed high sensitivity and an almost linear response to the normal force applied to the silicon dome. Additionally, a pilot study was conducted with four participants in a wearable application to compare the performance of the proposed sensor with that of electromyography (EMG). The results showed higher robustness to positioning, consistent signal, low variance and inter-subject variability compared to EMG.

关键词： Pressure sensors

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Hardware-Accelerated Real-Time Spectrum Analyzer With a Broadband Fast Sweep Feature Based on the Cost-Effective SDR Platform

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IEEE ACCESS 2022年 10卷 110934-110946页

作者： Flak, Przemyslaw Silesian Tech Univ Fac Automat Control Elect & Comp Sci PhD Sch Dept Automat Control & Robot PL-44100 Gliwice Poland

Radio Frequency (RF) spectrum monitoring and broadband signal analysis have multiple application areas, especially in the era of a constantly growing number of wireless devices. One of the essential challenges for a spectrum sensor is to achieve an adequate measurement rate over a wide bandwidth to detect signals of short duration so that a low latency response can be provided. In procedures that require field measurements, and some compromise in accuracy is acceptable, low-cost Software Defined Radio (SDR) devices can be used instead of expensive and bulky professional spectrum analyzers. This paper introduces a real-time swept spectrum sensor based on LimeSDR-USB with custom embedded Field Programmable Gate Array (FPGA) firmware, designed to outperform similar software implementations. The Welch's spectral density estimation is implemented in hardware to minimise the USB transfer rate and offload the host PC signal processing. Furthermore, the frequency tuning state machine and cache calibration memory are also managed by the FPGA to reduce the blind time during broadband sweep. The performance of the proposed solution indicates up to 96 MHz of real-time bandwidth along with a capability of less than millisecond cumulative sweep time per gigahertz. The characteristics of various design elements are investigated and refined during simulation and laboratory measurements, whereas the final prototype implementation is verified in real-world scenarios. The results demonstrate the effectiveness of the proposed device as a sensor for propagation studies, multiband spectrum utilisation monitoring, and spectral white spaces detection.

关键词： Field programmable gate arrays Radio frequency Broadband communication Universal Serial Bus sensors Real-time systems Electromagnetic analysis Software defined networking Electromagnetic analysis field programmable gate array radio frequency software defined radio surveillance

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A Non-destructive Metal Classification System Based on Magnetic Induction and Mutual Impedance Measurement

A Non-destructive Metal Classification System Based on Magne...

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2024 Photonics and Electromagnetics Research Symposium, PIERS 2024

作者： Deng, Ji Tang, Jincheng Guo, Feng Cai, Qiang-Ming Cao, Xin Zhou, Longjian Li, Haoran Du, Zhen-Yong Li, Yixiang Zhu, Yuyu Pu, Bo Fan, Jun Southwest University of Science and Technology School of Information Engineering Mianyang China Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Mianyang China China Chengdu Juji Millimeter Wave Technology Co. Ltd Chengdu China DeTooLIC Technology Co. Ltd Zhejiang Ningbo China

ISBN: (纸本)9798350375909

This paper presents a non-destructive metal classification system, which is based on magnetic induction and mutual impedance measurement technology. The detection system mainly consists of a signal source, a power amplifier, an ADC acquisition module and a dual-coil sensor. In the dual-coil sensor, the primary coil is excited by low-frequency current, and it then produce a changing magnetic field. In the secondary coil, electromotive force is induced. The current and induced electromotive force are measured through ADC acquisition. And then, mutual impedance of the dual-coil sensor can be obtained by signal processing. The metal material, which is placed between the dual-coil sensor, can influence the measured mutual impedance, and this can be utilized in classification. A prototype was manufactured, and the measured and simulated results are also provided to demonstrate the validity of this non-destructive metal classification system. Additionally, for enhancing the robustness of the system, an RNN model is investigated to alleviate the influence of variations in metal material size. © 2024 IEEE.

关键词： Magnetic amplifiers

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Application and performance of laser speckle odometry applied to a mobile industrial robot 13

Application and performance of laser speckle odometry applie...

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Optical Measurement Systems for Industrial Inspection XIII 2023

作者： Charrett, Thomas O.H. Gibson, Sam J. Tatam, Ralph P. Centre for Engineering Photonics Cranfield University MK43 0AL United Kingdom

ISBN: (数字)9781510664463

ISBN: (纸本)9781510664456

In this paper we report the application of a laser speckle odometer to a mobile industrial robot in a typical factory floor environment. The suitability of typical floor surfaces and features is assessed in terms of the ability to form speckle patterns with sufficient signal to noise for correlation-based processing. All tested surfaces including concrete, rubber tile, dried paint and oil stains, and hazard tapes were found to be suitable. A comparison of the velocimetry sensor output to the industrial robot’s internal SLAM and wheel encoder data is presented with good agreement of © 2023 SPIE.

关键词： Floors

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