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Thick film strain gauges on insulated metal substrates for high sensitivity mechanical sensors

Thick film strain gauges on insulated metal substrates for h...

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IEEE Instrumentation and Measurement Technology conference

作者： D. Marioli P. Rolla A. Taroni Department of Electronics for Automation University of Brescia Brescia Italy

New thick film (TF) pastes have been tested on unconventional metal substrates for applications in sensor manufacturing. The good elastic properties of selected metals and alloys can improve TF transducer sensitivity. The compatibility of metal substrates and pastes with respect to TF technology has been characterized. Various systems have been tested with regard to the adhesion and to the dielectric surface condition; strain gauges have been printed and fired on the obtained insulated substrates and data on the measured values of some electrical parameters such as the sheet resistance value, the temperature coefficient of resistance (TCR), the gauge factor (GF) are reported.< >

关键词： Thick films Capacitive sensors Insulation Dielectric substrates Surface resistance Strain measurement Electric resistance Testing sensor phenomena and characterization Thick film sensors

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A tactile sensing system for dexterous manipulation

A tactile sensing system for dexterous manipulation

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： B.L. Gery S.N. Gottschlich New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

One factor that limits the range of tasks that robots can perform robustly is the scarcity of useful sensors available to provide feedback to the robot control system. While much progress has been made with vision sensors and force/torque sensors, tactile sensing systems have fallen behind, and so general-purpose tactile sensing systems are not commercially available. The aim of this work is therefore to produce a tactile sensing system that could be manufactured inexpensively, could be used on a wide variety of robotic systems, and would provide the kind of output typically required in dexterous manipulation applications. Such a tactile sensing system will be presented in this paper. The tactile transducers used in this system are based on semiconductive ink technology that allows transducers of any size, shape, and resistance range to be produced merely by altering the ink printing process and substrate geometry. Each sensor outputs three pieces of information that are useful in robotic manipulation-two parameters indicating the location of a contact point on the transducer and one parameter specifying the amount of force being exerted at the contact point. So that the sensing system could support transducers of different shapes and sizes, the analog interface circuitry of this system has been designed to be fully programmable, and also includes circuitry to enable self-calibration with appropriate software.< >

关键词： Transducers Robot sensing systems sensor systems Tactile sensors Force sensors Ink Shape Circuits Robust control Feedback

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A fuzzy-behavior-based approach for controlling mining excavator bucket/rock interactions

A fuzzy-behavior-based approach for controlling mining excav...

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conference Record of the IEEE Industry applications Society Annual Meeting (IAS)

作者： P.J.A. Lever Fei-Yue Wang Xiaobo Shi Deqian Chen Advanced Mining Systems Laboratory Mining and Geological Engineering Department University of Arizona Tucson Tucson AZ USA Robotics and Automation Laboratory Systems and Industrial Engineering Department University of Arizona Tucson Tucson AZ USA

Successful control of an autonomous mining excavator requires sensor feedback from the excavation tool to control unpredictable tool/rock interactions. Conventional control approaches cannot deal effectively with uncertainties in the dynamic and unstructured mining environment. This paper presents a new intelligent control approach that utilizes fuzzy behaviors with fuzzy strategies to control bucket motions for autonomous excavation tasks. In this approach, the control system uses feedback from a bucket mounted force/torque sensor to control excavation motions by sensing and reacting to interactions with rock particles during excavation. A behaviour coordination configuration is developed to improve the controllers effectiveness in reaching its overall excavation goals. It uses fuzzy logic rules to adjust control system output variables and performs goal-driven behaviour selection. This technique is a first step towards realistic control of complex machine/environment interactions in difficult and unpredictable environments, where traditional control approaches are either impossible or computationally excessive. The discussion here focuses on: (a) development of a new control architecture; (b) the individual components of the architecture; and (c) experiments with a simulated excavator using a PUMA 560 robotic arm.< >

关键词： Motion control Control systems Intelligent sensors Fuzzy control Force control Torque control Force feedback Computer architecture Uncertainty Intelligent control

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Occupant position sensing systems: Functional requirements and technical means

Occupant position sensing systems: Functional requirements a...

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Worldwide Passenger Car conference and Exposition

作者： Gillis, Ed Gioutsos, Tony Automotive Systems Lab.

In this paper we discuss possible applications and design considerations for an Occupant Position Sensing System (OPSS). First, the minimum functional requirements and possible advanced applications for an OPSS are presented. The relation of an OPSS to current and future deployment decision systems is discussed. We then consider the implications of the functional requirements for the choice of technology. Finally, we describe a prototype occupant position sensor, and display its position and motion tracking capability. © Copyright 1993 Society of Automotive Engineers, Inc.

关键词： Automotive engineering

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1993 International conference on Intelligent Robots and systems

1993 International Conference on Intelligent Robots and Syst...

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Proceedings of the IEEE/RSJ International conference on Intelligent Robots and systems

ISBN: (纸本)0780308239

The conference first volume contains 93 papers. The topics covered include flexible manipulators;information and power flow in human-machine interactive systems;advanced motion control;dexterous hands and fingers;new trends in dexterous manipulation;sensing for dexterous manipulation;bio/medical robot;neuro-control;dynamic vision;cooperative behaviors of multiple robots;tele-robotics;sensor fusion and integration;self-organization and swarm intelligence;robot for manufacturing applications;underground, underwater and construction applications;legged locomotion;outdoor mobile robots;uncertainty management;and geometric/qualitative reasoning.

关键词： Intelligent robots

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Expert system as an operator interface for advanced controls

Expert system as an operator interface for advanced controls

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Proceedings of the 3rd Annual conference of the Industrial Computing Society

作者： Ilgen, Mike Fisher-Rosemount Systems Austin United States

ISBN: (纸本)1556174640

Model-based predictive control (MPC) is a widely used technique for controlling highly interactive and complex refinery and chemical operations. MPC applications typically generate massive amounts of information that may be difficult for operators to assimilate and understand. An expert system provides an excellent interface to organize and handle these large amounts of data. Some examples in which an expert system can be used in conjunction with MPC include comparison of predicted operating conditions to current operating conditions;detection of sensor faults;communication of operator messages, rules, and goals;predictive alarming;and multiple constraint handling.

关键词： Expert systems

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COMPUTER-SIMULATION OF A SMALL SATELLITE sensor FOR FORESTRY applications

COMPUTER-SIMULATION OF A SMALL SATELLITE SENSOR FOR FORESTRY...

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conference on Recent Advances in sensors, Radiometric Calibration, and Processing of Remotely Sensed Data

作者： MONTPETIT, MJ BHARADWAJ, P SPAR AEROSP LTD DIV SATELLITE & COMMUN SYSTST ANNE BELLEVUE H9X 3R2PQCANADA

ISBN: (纸本)0819411744

The need for low-cost, high quality and application-targeted spaceborne sensing is rapidly gaining in prominence. In response to this need, Spar Aerospace Limited is a major contributor to PROGERT, a Quebec-Government funded project to enhance remote sensing services to the provincial forestry user community. The computer simulation of advanced electro-optical concepts is being performed at Spar in PROGERT and applied to the development of a new satellite imaging instrument. As part of the overall design strategy, Spar is developing a model, based on forest physical parameters and standard sensor sub-systems. The purpose of this model is to explore system-level trade-offs in the early design phases thus reducing costly hardware development. In particular, the use of this model allows optimal specification of data acquisition parameters within the constraints of mission and end-user requirements.

关键词： sensors Modulation transfer functions CCD image sensors Computer simulations Signal to noise ratio Data acquisition Electrons Satellites Data modeling Forestry

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A human-machine interface for reconfigurable sensor-based control systems

A human-machine interface for reconfigurable sensor-based co...

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AIAA Space Programs and Technologies conference and Exhibit, 1993

作者： Gertz, Matthew W. Stewart, David B. Khosla, Pradeep K. Dept. of Electrical and Computer Engineering The Robotics Institute Carnegie Mellon University PittsburghPA15213 United States

The development of software for dynamically reconfigurable sensor-based control systems is a complicated and tedious process, requiring specialization in real-time systems programming and an amount of time which may not be available, for instance, in a space laboratory. The total development time can be reduced by automatically integrating reusable software modules to create applications. The integration of these modules can be further simplified by the use of a high-level programming interface which can integrate modules developed at different sites. We have developed Onika, an iconically programmed human-machine interface, to interact with a reconfigurable software framework to create reusable code. Onika presents appropriate work environments for both application engineers and end-users. For engineers, icons representing real-time software modules can be combined to form real-time jobs. For the end-user, icons representing these jobs are assembled by the user into applications. Onika verifies that all jobs and applications are syntactically correct, non-ambiguous, and complete. They can then be executed from within Onika, or can be saved as a stand-alone program which can be executed independently on the underlying real-time operating system. Onika can retrieve and use software modules created at other sites with modules created locally. While Onika has been fully integrated with the Chimera real-time operating system in order to control several different robotic systems in the advanced Manipulators Laboratory at Carnegie Mellon University, it can also function independently of Chimera. Onika will be used in connection with NASA Langley Research Center’s Intravehicular Autonomous Robot (IVAR) space manipulator laboratory. © 1993 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Control systems

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Overview of the FAA’s differential GPS CAT III technical feasibility demonstration program

Overview of the FAA’s differential GPS CAT III technical fe...

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Guidance, Navigation and Control conference, 1993

作者： Loh, Robert Shively, Curtis Swider, Ray Center for Advanced Aviation Systems Development The MITRE Corporation McLeanVA United States Washington DC United States

FAA and NASA have established a joint program to evaluate the technical feasibility of using guidance from the satellite-based NAVSTAR Global Positioning System (GPS) for Category I11 (CAT III) precision approaches. A combination of analyses, simulation tests and flight tests will be used to evaluate Differential GPS (DGPS) techniques for CAT III applications. Emphasis will be placed on meeting accuracy and integrity requirements for a complete DGPS-based CAT III autoland capability. Contractors will be requested to supply the ground and airborne equipment for computing the DGPS-based aircraft position and velocity. Contractors will also provide their own aircraft completely equipped with a DGPS-based capability. Feasibility will be demonstrated by meeting either sensor accuracy requirements for Instrument Landing System (ILS) CAT III applications or Total System Error (TSE) requirements currently under development. Additionally, the existing FAA Advisory Circulzus for CAT 11, CAT III and autoland approaches should be used as a guide for system development. It is expected that meeting TSE requirements would place less demand on the performance of the DGPS-based sensor than meeting ILSbased navigation sensor requirements. This paper,waves an overview of the DGPS CAT III system architecture, requirements and demonstration program. © 1993, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Contractors

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Compatibility of multiplexed optical fiber sensors with optical communications systems onboard military and commercial aircraft

Compatibility of multiplexed optical fiber sensors with opti...

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IEEE National conference on Aerospace and Electronics (NAECON)

作者： B.D. Zimmermann FIMOD Corporation Blacksburg VA USA

The compatibility of optical fiber time domain (OFTD) sensors with aircraft optical communications systems is discussed. The OFTD sensors are multiplexed using serial and parallel formats that allow three dimensional strain and temperature mapping. The optical fibers used in these sensor arrays are similar, if not identical, to those used in aircraft optical communication data buses. A 100/140 mu m core/cladding diameter silica (glass) fiber using a high temperature resistant polyimide protective coating is employed. This multi-mode (MM) fiber format is typical for short-haul local area networks (LANs) used in aircraft. Furthermore, the 100/140 mu m optical fiber is compatible with commercially available fiber optic connectors, splices, splitters, and other peripheral hardware. This opens up the possibility for hybrid fiber optic communication/sensor networks either embedded in or attached to aircraft structures. Results are presented on tests performed with prototype sensors using the 100/140 mu m MM fiber type. These sensors were embedded in composite laminates that are representative of materials used in advanced technology aircraft. Structural strain was monitored and compared with data gathered through conventional means (strain gages and extensometers). Future applications and possibilities for advanced field trials which combine the OFTD sensor concept with existing fiber optic data buses on aircraft are also proposed.< >

关键词： Optical fiber sensors Optical sensors Aircraft Optical fiber communication Optical fibers Temperature sensors Capacitive sensors sensor arrays Optical fiber LAN Optical arrays

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