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Passive and active acoustic sensing for soft pneumatic actuators

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 2023年第3期42卷 108-122页

作者： Wall, Vincent Zoeller, Gabriel Brock, Oliver Tech Univ Berlin Robot & Biol Lab Berlin Germany Res Cluster Excellence Sci Intelligence Berlin Germany

We propose a sensorization method for soft pneumatic actuators that uses an embedded microphone and speaker to measure different actuator properties. The physical state of the actuator determines the specific modulation of sound as it travels through the structure. Using simple machine learning, we create a computational sensor that infers the corresponding state from sound recordings. We demonstrate the acoustic sensor on a soft pneumatic continuum actuator and use it to measure contact locations, contact forces, object materials, actuator inflation, and actuator temperature. We show that the sensor is reliable (average classification rate for six contact locations of 93%), precise (mean spatial accuracy of 3.7 mm), and robust against common disturbances like background noise. Finally, we compare different sounds and learning methods and achieve best results with 20 ms of white noise and a support vector classifier as the sensor model.

关键词： Acoustic sensing force and tactile sensing computational sensor soft sensors pneumatic actuators soft robotics

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A Single Chip computational sensor System for Neutron Detection Applications

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IEEE sensorS JOURNAL 2010年第7期10卷 1226-1233页

作者： Schemm, Nathan Balkir, Sina Hoffman, Michael W. Bauer, Mark Schultz, David Petrosky, James C. McClory, John W. Natta, Marcus Brand, Jennifer I. Tang, Jinke Wang, Wendong Univ Nebraska Dept Elect Engn Lincoln NE 68588 USA USAF Inst Technol Wright Patterson AFB OH 45433 USA Univ Nebraska Coll Engn & Technol Lincoln NE 68588 USA Univ Nebraska Nebraska Ctr Mat & Nanosci Lincoln NE 68588 USA Univ Wyoming Dept Phys & Astron Laramie WY 82071 USA

This paper presents the design and test results of a standalone computational radiation sensor system based on a single chip solution. A low-power sensor front end with a charge sensitive amplifier and an event driven analog-to-digital converter is integrated on the same chip as a dedicated microcontroller to process and bin the data from the neutron detector diode heterojunction according to pulse height. This combination effectively implements a single chip multichannel analyzer with the capability to do further processing of the data in software. The design was fabricated in a 0.18 mu m CMOS technology with field tests demonstrating the validity of the approaches taken. The total system power consumption is 24 mu W.

关键词： computational sensor gadolinium hafnium oxide multichannel analyzer neutron detection radiation detector

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A CMOS image processing sensor for the detection of image features

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ANALOG INTEGRATED CIRCUITS AND SIGNAL PROCESSING 2005年第3期45卷 263-279页

作者： Nishimura, M Van der Spiegel, J Sankyo Co Ltd Shinagawa Ku Tokyo Japan Univ Penn Dept Elect & Syst Engn Philadelphia PA 19104 USA

(A) compact CMOS vision sensor for the detection of higher level image features, such as corners, junctions (T-, X-, Y-type) and linestops, is presented. The on-chip detection of these features significantly reduces the data amount and hence facilitates the subsequent processing of pattern recognition. The sensor performs a series of template matching operations in an analog/digital mixed mode for various kinds of image filtering operations including thinning, orientation decomposition, error correction, set operations, and others. The analog operations are done in the current domain. A design procedure, based on the formulation of the transistor mismatch, is applied to fulfill both accuracy and speed requirements. The architecture resembles a CNN-UM that can be programmed by a 30-bit word. The results of an experimental 16 x 16 pixel chip demonstrate that the sensor is able to detect features at high speed due to the pixel-parallel operation. Over 270 individual processing operations are performed in about 54 mu sec.

关键词： feature detection vision sensor smart sensor computational sensor template-matching transistor mismatch

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A computational image sensor with adaptive pixel-based integration time

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IEEE JOURNAL OF SOLID-STATE CIRCUITS 2001年第4期36卷 580-585页

作者： Hamamoto, T Aizawa, K Sci Univ Tokyo Dept Elect Engn Tokyo 1628601 Japan Univ Tokyo Dept Elect Engn Tokyo 1138656 Japan

An image sensor is proposed in which the pixel adapts its integration time to motion and light, The integration time of each pixel is shortened if motion is detected in the pixel or pixel intensity becomes saturated. The adaptivity of motion and light significantly enhances temporal resolution and dynamic range of the sensor, Because the integration time differs pixel-by-pixel, a scene containing both a bright and a dark region will be captured by pixels of shorter and longer integration times. Because the integration time adapts to motion, higher temporal resolution is obtained in a moving area and a higher signal-to-noise ratio in a static area. The control of the integration time is done on the sensor focal plane, with column parallel processing circuits integrated in CMOS image sensor. A prototype of 32 x 32 pixels has been fabricated by using 1-poly 2-metal CMOS 1-mum process, The fundamental functions have been verified. By the experiments, it has been verified that the sensor can reduce motion blur by adapting the integration time to motion and achieve wide dynamic range by adapting to light when the minimum integration interval is 680 mus.

关键词： column parallel architecture computational sensor dynamic range image sensor integration time

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Adaptive-integration-time image sensor with real-time reconstruction function

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IEEE TRANSACTIONS ON ELECTRON DEVICES 2003年第1期50卷 111-120页

作者： Yasuda, T Hamamoto, T Aizawa, K Tokyo Univ Sci Dept Elect Engn Tokyo 1628601 Japan Univ Tokyo Dept Elect Engn Tokyo 1138656 Japan

A computational image sensor is proposed in which the pixel controls its integration time to light. intensity. The integration time of each pixel is selected from among several lengths of integration time and the integration time is shortened if the pixel intensity becomes saturated. Although the integration time of each pixel varies, the pixel intensity is adjusted on the sensor in real time. The dynamic range of the pixel value output from the proposed sensor is greatly widened. A prototype of 64 x 48 pixels has been fabricated by using 2-poly 2-metal 0.8-mum CMOS process. The proposed sensor has simple functions for the comparison of intermediate integration value and threshold to control the integration time and nonlinear image reconstruction. Because the maximum number of the comparison-reset operations during a frame is three, one of the four integration times can be selected pixel by pixel. The circuit and layout design of the prototype which has computational elements based on column parallel architecture are described and the fundamental functions have been verified. By the experiments, it has been verified that the sensor can achieve a wide dynamic range by adapting to light.

关键词： computational sensor dynamic range image reconstruction image sensor integration time

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computational sensors - Vision VLSI

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IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS 1999年第3期E82D卷 580-588页

作者： Aizawa, K Univ Tokyo Dept Elect Engn Tokyo 1138656 Japan

computational sensor (smart sensor, vision chip in other words) is a very small integrated system, in which processing and sensing are unified an a single VLSI chip. It is designed for a specific targeted application. Research activities of computational sensor are described in this paper. There have been quite a few proposals and implementations in computational sensors. Firstly, their approaches are summarised from several points of view, such as advantage vs. disadvantage, neural vs. functional, architecture, analog vs, digital, local vs. global processing, imaging vs. processing, new processing paradigms. Then, several examples are introduced which are spatial processings, temporal processings, A/D conversions, programmable computational sensors. Finally, the paper is concluded.

关键词： computational sensor smart sensor vision chip intelligent sensor CMOS sensor silicon retina image processing system visual information processing system vision system

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Focal plane compression 128x128 image sensor based on column parallel architecture

Focal plane compression 128x128 image sensor based on column...

引用

EUROPTO Conference on Advanced Focal Plane Arrays and Electronic Cameras II

作者： Hamamoto, T Ohtsuka, Y Aizawa, K Sci Univ Tokyo Shinjuku Ku Tokyo 1628601 Japan

ISBN: (纸本)0819428620

In order to enhance the performance of image sensing, we have been investigating a novel image sensor which compresses image signal on the sensor focal plane. By the integration of sensing and compression, number of pixels in the image signal that has to be readout from the sensor can be significantly reduced, and the integration can consequently increase the pixel rate of the sensor. In this paper, we describe a new prototype sensor based on a column parallel architecture which has 128x128 pixels. We have improved the processing circuits of the new prototype to achieve much lower power dissipation and higher processing speed. We have verified that the processing circuits can be operated at 5000 frames/second.

关键词： computational sensor smart sensor image compression conditional replenishment column parallel architecture

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On sensor image compression

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS FOR VIDEO TECHNOLOGY 1997年第3期7卷 543-548页

作者： Aizawa, K Ohno, H Egi, Y Hamamoto, T Hatori, M Maruyama, H Yamazaki, J NHK JAPAN BROADCASTING CORP SCI & TECHNOL RES LABSSETAGAYA KUTOKYO 157JAPAN

In this paper, we propose a novel image sensor which compresses image signals on the sensor plane. Since an image signal is compressed on the sensor plane by making use of the parallel nature of image signals, the amount of signal read out from the sensor can be significantly reduced. Thus, the potential applications of the proposed sensor are high pixel rate cameras and processing systems which require very high speed imaging or very high resolution imaging. The very high bandwidth is the fundamental limitation to the feasibility of those high pixel rate sensors and processing systems. Conditional replenishment is employed for the compression algorithm. In each pixel, current pixel value is compared to that in the last replenished frame. The value and the address of the pixel are extracted and coded if the magnitude of the difference is greater than a threshold. Analog circuits have been designed for processing in each pixel. A first prototype of a VLSI chip has been fabricated. Some results of experiments obtained by using the first prototype are shown in this paper.

关键词： computational sensor image compression image sensor intelligent sensor vision chip

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Image compression sensor based on column parallel architecture

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COMPUTERS & ELECTRICAL ENGINEERING 1997年第6期23卷 463-473页

作者： Hamamoto, T Aizawa, K Hatori, M Univ Tokyo Dept Elect Engn Hatori Aizawa Lab Bunkyo Ku Tokyo 113 Japan

We propose a novel image sensor which has compression function on its sensor plane. The image compression sensor can significantly reduce the amount of pixel data output from the sensor. The proposed sensor is intended to overcome the communication bottle neck for high pixel rate imaging such as high frame rate imaging and high resolution imaging. The compression algorithm is based on conditional replenishment. It detects motion and encodes only the pixels in moving areas. We have been investigating pixel parallel and column parallel architectures of the image compression sensor. In this paper, we present the column parallel architecture of the proposed sensor. In this architecture, fill factor and power dissipation are comparable to conventional MOS sensors in spite of integration of the processing circuits. We have fabricated a prototype chip based on the column parallel architecture. We describe the circuit and layout design and the results of some experiments using the prototype. (C) 1998 Elsevier Science Ltd. All rights reserved.

关键词： compression smart sensor computational sensor intelligent sensor CMOS sensor conditional replenishment column parallel architecture

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A focal plane visual motion measurement sensor

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-FUNDAMENTAL THEORY AND APPLICATIONS 1997年第1期44卷 55-66页

作者： EtienneCummings, R VanderSpiegel, J Mueller, P UNIV PENN SCH ELECT ENGNCTR SENSOR TECHNOLPHILADELPHIAPA 19104 CORTICON INC PHILADELPHIAPA 19104

A motion detection algorithm, based on biological and computational models, for focal plane implementation has been developed, This Temporal Domain Optical Flow Measurement (TDOFM) algorithm uses computational components which have direct and compact electronic counterparts, It uses a binary image of zero-crossings, 2 level analog signals, the signs of spatiotemporal derivatives, 1-b multiplication and pulsewidths to measure image velocity, Compared to other IC visual motion detectors, this sensor represents the first instance of a robust, wideband and general purpose 2-D motion sensor which reports speed and direction explicitly, has a wide dynamic range and has a compact IC implementation. The front-end of the motion cells is an edge detection circuit which responds to 5-6 orders of magnitude of light intensity and produces near maximum outputs for contrasts as low as 40% in bright and dim ambient conditions. The theoretical velocity measurement dynamic range of the sensor is 4-5 orders of magnitude, and motion ranging over three orders of magnitude has been measured, The variation in the measured speed is less than 15% across 1- and 2-D implementations, multiple chips, cells and directions, The complete system, including the photoreceptors and edge detection circuits, consumes less than 0.4 mW per cell at +/- 3.5 V.

关键词： computational sensor motion chip visual motion detection

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