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The 4th International Conference on Information Technologies and Electrical Engineering

作者： HaiLong Liu Li Yang Rail Transit Intelligent Control College Hunan Railway Professional Technology College China

ISBN: (纸本)9781450386494

In the automatic loading and unloading operations of industrial robots, due to the specific requirements of the force of materials, it is necessary to realize real-time monitoring and precise control of the gripping force of the front-end fixture of the industrial robot. This paper designs a high-precision force sensor signal acquisition system based on the HX711 chip. The signal acquisition system is under the action of multi-dimensional external forces, the sensitive components of the sensor front end can perceive the external force, and the size of the force can be converted into the change of current in the form of physical elastic deformation, and an efficient driver program is designed to achieve the Real-time data collection and processing. The test results show that the time for the force sensor to achieve 24-bit signal acquisition is less than 1ms, the acquisition accuracy is less than 0.01g, the operation is stable and reliable, and it has good application value.

关键词： driver HX711 force measurement

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Low-Cost Self-Calibration Data Glove Based on Space-Division Multiplexed Flexible Optical Fiber sensor

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POLYMERS 2022年第19期14卷 3935页

作者： Yu, Hui Zheng, Daifu Liu, Yun Chen, Shimeng Wang, Xiaona Peng, Wei Dalian Univ Technol Sch Phys Dalian 116024 Peoples R China Dalian Univ Technol Sch Optoelect Engn & Instrumentat Sci Dalian 116024 Peoples R China Dalian Maritime Univ Marine Engn Coll Dalian 116026 Peoples R China

Wearable devices such as data gloves have experienced tremendous growth over the past two decades. It is vital to develop flexible sensors with fast response, high sensitivity and high stability for intelligent data gloves. Therefore, a tractable low-cost flexible data glove with self-calibration function based on a space-division multiplexed flexible optical fiber sensor is proposed. A simple, stable and economical method was used to fabricate flexible silicone rubber fiber for a stretchable double-layered coaxial cylinder. The test results show that the fiber is not sensitive to the temperature range of (20 similar to 50 degrees C) and exhibits excellent flexibility and high stability under tensile, bending and torsional deformation. In addition, the signal detection part of the data glove enables compact and efficient real-time information acquisition and processing. Combined with a self-calibration function that can improve the accuracy of data acquisition, the data glove can be self-adaptive according to different hand sizes and bending habits. In a gesture capture test, it can accurately recognize and capture each gesture, and guide the manipulator to make the same action. The low-cost, fast-responding and structurally robust data glove has potential applications in areas such as sign language recognition, telemedicine and human-robot interaction.

关键词： optical fiber data glove wearable devices flexible sensor human-robot interaction

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RSL-Net: Localising in Satellite Images From a Radar on the Ground

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IEEE robotICS AND AUTOMATION LETTERS 2020年第2期5卷 1087-1094页

作者： Tang, Tim Yuqing De Martini, Daniele Barnes, Dan Newman, Paul Univ Oxford Oxford Robot Inst Oxford OX1 2JD England

This letter is about localising a vehicle in an overhead image using FMCW radar mounted on a ground vehicle. FMCW radar offers extraordinary promise and efficacy for vehicle localisation. It is impervious to all weather types and lighting conditions. However the complexity of the interactions between millimetre radar wave and the physical environment makes it a challenging domain. Infrastructure-free large-scale radar-based localisation is in its infancy. Typically here a map is built and suitable techniques, compatible with the nature of sensor, are brought to bear. In this work we eschew the need for a radar-based map;instead we simply use an overhead image - a resource readily available everywhere. This letter introduces a method that not only naturally deals with the complexity of the signal type but does so in the context of cross modal processing.

关键词： Autonomous vehicle navigation deep learning in robotics and automation localization range sensing

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Subspace-Based Near-Field Source Localization in Unknown Spatially Nonuniform Noise Environment

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IEEE TRANSACTIONS ON signal processing 2020年 68卷 4713-4726页

作者： Zuo, Weiliang Xin, Jingmin Zheng, Nanning Ohmori, Hiromitsu Sano, Akira Inst Artificial Intelligence & Robot Xian 710049 Peoples R China Xi An Jiao Tong Univ Natl Engn Lab Visual Informat Proc & Applicat Xian 710049 Peoples R China Keio Univ Dept Syst Design Engn Yokohama Kanagawa 2238522 Japan

In this paper, we investigate the problem of estimating the directions-of-arrival (DOAs) and ranges of multiple narrowband near-field sources in unknown spatially nonuniform noise (spatially inhomogeneous temporary white noise) environment, which is usually encountered in many practical applications of sensor array processing. A new subspace-based localization of near-field sources (SLONS) is proposed by exploiting the advantages of a symmetric uniform linear sensor array and using Toeplitzation of the array correlations. Firstly three Toeplitz correlation matrices are constructed by using the anti-diagonal elements of the array covariance matrix, where the nonuniform variances of additive noises are reduced to a uniform one, and then the location parameters (i.e., the DOAs and ranges) of near-field sources can be estimated by using the MUSIC-like method, while a new pair-matching scheme is developed to associate the estimated DOAs and ranges. Additionally, an alternating iterative scheme is considered to improve the estimation accuracy of the location parameters by utilizing the oblique projection operator, where the "saturation behavior" caused by finite number of snapshots is overcome effectively. Furthermore, the closed-form stochastic Cramer-Rao lower bound (CRB) is also derived explicitly for the near-field sources in the additive unknown nonuniform noises. Finally, the effectiveness of the proposed method and the theoretical analysis are substantiated through numerical examples.

关键词： Direction-of-arrival estimation Covariance matrices sensor arrays Correlation Additive noise Estimation Near-field oblique projector source localization symmetric uniform linear array unknown spatially nonuniform noises

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A kilohertz bandwidth and sensitive scalar atomic magnetometer using an optical multipass cell

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MEASUREMENT 2022年 190卷 1页

作者： Li, Shuguang Liu, Jinsheng Jin, Ming Akiti, Kenneth Tetteh Dai, Pengfeng Xu, Zekai Nwodom, Tochukwu Eric-Theophilus Zhejiang Univ Sci & Technol Dept Measurement & Control Technol Hangzhou 310023 Peoples R China Key Inst Robot Ind Zhejiang Prov Hangzhou 310023 Peoples R China

High-frequency ultraweak magnetic field measurements are essential. We demonstrate a scalar rubidium atomic magnetometer with effective measurement bandwidth of kilohertz and sensitivity of subpicotesla operating at a temperature of 365 K in an ambient field of 50 mu T. The Faraday rotation signal is enhanced by a more simplified optical multipass cell compared to previous works. We developed an approach of continuous or burst sampling mode to maximize the frequency capability of the system, and propose a scheme of precise control pulse series as well as an analytical method of data processing. Experimental results show that high contrast atomic spin projection noise and free induction decay signal are observed, and a sampling rate of 2 kHz along with the sensitivity of 0.7 pT/Hz(1/2) between 20 and 1000 Hz have been achieved. It would help further research in physics and biomedical investigations that need high bandwidth magnetometers or sensor arrays in the earth's field.

关键词： Atomic magnetometer Multipass cell High bandwidth Weak magnetic field

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Embedded Barometric Pressure sensor Unit for Force Myography in Exoskeletons

Embedded Barometric Pressure Sensor Unit for Force Myography...

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IEEE-RAS International Conference on Humanoid robots

作者： Charlotte Marquardt Pascal Weiner Miha Dežman Tamim Asfour High Performance Humanoid Technologies Lab Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology (KIT) Germany

ISBN: (纸本)9798350309805

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 Exoskeletons Muscles robot sensing systems Electromyography Skin Silicon

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Acoustic Pressure and Particle Velocity for Spatial Filtering of Bottom Arrivals

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IEEE JOURNAL OF OCEANIC ENGINEERING 2019年第1期44卷 179-192页

作者： Felisberto, Paulo Santos, Paulo Jesus, Sergio M. Univ Algarve Lab Robot & Syst Engn & Sci P-8005139 Faro Portugal

This paper discusses the advantages of using a combination of acoustic pressure and particle velocitymotion for filtering bottom arrivals. A possible area of application is reflection seismology where, traditionally, the seismic image is extracted from the bottom-reflected broadband acoustic signals received on hydrophones. Since hydrophones are omnidirectional in nature, the received bottom returns are often contaminated by waterborne signals, sea surface reflections, and noise. A substantial part of the processing.of the data is dedicated to filtering out these unwanted signals. Today, vector sensors allow us to measure both acoustic pressure and particle velocity motion in a single and compact sensor. The combination of pressure and particle velocity measured at a single location or particle velocity and particle velocity gradient at closely spaced locations allows for spatial beam steering to predetermined directions and filter out unwanted replicas from other directions. Moreover, this can be done at the sensor level, dramatically decreasing the offline processing. The spatial filtering capabilities of various pressure-pressure, particle velocity-particle velocity, and pressure-particle velocity combinations are analyzed in view of filtering the bottom arrivals. It is shown that the combination of pressure and vertical particle velocity and, particularly, the combination of vertical particle velocity and particle velocity gradient enhance bottom arrivals. Moreover, a simple steering procedure combining pressure and particle velocity components of a triaxial sensor allows us to determine the tridimensional structure of the acoustic field and the separation of the bottom reflections. The spatial selectivity of the various sensor combinations is shown with simulations and verified with experimental data acquired with 10 cm separated vector sensors in the 800-1250-Hz band, during the Makai 2005 sea trial, off Kauai Island, HI, USA.

关键词： Geophysical signal processing seismic measurements spatial filtering underwater acoustic vector sensor (VS)

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Development of wearable dry sEMG sensor and selection of optimal location through anatomical consideration for the prosthetic hand 19

Development of wearable dry sEMG sensor and selection of opt...

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19th International Conference on Control, Automation and Systems (ICCAS)

作者： Cho, Younggeol Cho, Minsu. Lee, Yeungseok. Kim, Kyung-Soo Korea Adv Inst Sci & Technol Dept Mech Engn Daejeon 34141 South Korea

ISBN: (纸本)9788993215182

The aim of this study is to design a wearable sensor device and to optimize the position of the sensor attachment, which is one of the important factors for the prosthetic hand control based on the surface electromyography (sEMG). Through anatomical examination of the arm, the independence of the surface electromyogram acquired in each channel is increased and the signal to noise ratio (SNR) is also increased by signal processing. We introduce a study on the research trend and sensor position of the surface EMG-based prosthetic hand in Introduction. In body, the design and characteristics of the developed sensor are explained, and correlation analysis between each channel and finger force is performed by selecting the position of the sensor through anatomical examination of the arm. In conclusion, we use the correlation analysis result and find the optimal sensor location.

关键词： Surface electromyography (sEMG) Wearable device Prosthetic robot hand

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基于机器人网络的高速激光填丝钎焊系统

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电焊机 2022年第12期52卷 114-121页

作者：叶潘吴焰路华峰东风本田汽车有限公司湖北武汉430058

传统的激光填丝钎焊工艺采用单激光束作为焊接热源已无法满足更高加工速度下的使用要求,因此研究开发了基于机器人网络的新型高速激光填丝钎焊系统。阐述了高速激光填丝钎焊组成单元的功能特点以及关键使用方法;通过机器人DeviceNet现... 详细信息

传统的激光填丝钎焊工艺采用单激光束作为焊接热源已无法满足更高加工速度下的使用要求,因此研究开发了基于机器人网络的新型高速激光填丝钎焊系统。阐述了高速激光填丝钎焊组成单元的功能特点以及关键使用方法;通过机器人DeviceNet现场总线及必要的安全信号对激光发生器、送丝机、视觉传感设备进行信号交互与安全控制;实现用户程序对焊接参数、焊接过程的完全可控;同时结合实际生产中获得的焊缝形貌与力学特征,表明基于双激光热源构建的高速激光填丝钎焊工艺能够获得更高强度的焊缝,显著提升车身的结构性能。

关键词：工业机器人机器人网络 DeviceNet现场总线激光填丝钎焊激光焊接系统白车身

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Design and characterization of a MEMS piezoelectric acoustic sensor with the enhanced signal-to-noise ratio

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sensorS AND ACTUATORS A-PHYSICAL 2020年 311卷 112087-112087页

作者： Rahaman, Ashiqur Park, Chung Hyuk Kim, Byungki Korea Univ Technol & Educ Sch Mechatron Engn Cheonan 31253 South Korea George Washington Univ Dept Biomed Engn Washington DC 20052 USA

The signal-to-noise ratio (SNR) - governed by the sensitivity and noise - determines the usefulness of a MEMS acoustic sensor. Low-SNR poses functional inability in a noisy environment and difficulty in signal processing. The literature is abundant with various approaches to mitigate low-SNR, however, it shows a lack of simultaneous improvement of sensitivity and noise. This paper reports on a MEMS piezoelectric acoustic sensor (PAS) with 7-30 dB higher SNR as compared to the state-of-the-art of PAS. The developed PAS uses analytically modeled aluminum nitride (AlN), and D33 transducer mode with a nominal electrode spacing, i.e., 20 mu m. At 1 kHz frequency, the measured SNR is found to be 67.03 dB which varies from 70 dB to 85 dB in the bandwidth. In addition to the substantial improvement of the SNR, the equivalent input-referred noise (EIN) is found to be 26.97 dB SPL;whereas, the A-weighted noise is 27.23 dBA which is the lowest noise ever analytically and experimentally reported in the state-of-the-art of PAS. Notably, all the measured results are found in full compliance with the analytical predictions. With the analytical and experimental results - in addition to its millimeter size - the developed PAS can be implemented in some cutting edge applications where an acoustic sensor with very high SNR is required like a mobile robot, noise monitoring, position tracking of the incoming sound, and voice-activated human-computer interaction. (C) 2020 Elsevier B.V. All rights reserved.

关键词： Enhanced signal-to-noise ratio High sensitivity Low-noise Piezoelectricity MEMS Acoustic sensor

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