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IEEE Education Engineering (EDUCON)

作者： Sven Suppelt Felix Herbst Romol Chadda Markus Hessinger Niklas Schäfer Matthias Rutsch Larissa Vorpahl Lajos Basten Thomas Vogl Mario Kupnik Measurement and Sensor Technology Group Technische Universität Darmstadt Germany Independent. Institute for Diagnostic and Interventional Radiology Goethe University Frankfurt University Hospital Frankfurt Germany

ISBN: (数字)9798331539498

ISBN: (纸本)9798331539504

Despite the increasing importance of medical robotics in modern healthcare, these complex, precise, and costly systems are nearly absent in practical teaching environments for engineering and technology students. We present a scalable and affordable hands-on experiment for undergraduates to address this gap, which teaches the fundamentals of this essential and rapidly growing technology through the example of a robotassisted liver biopsy. Using a custom 3D-printed robotic arm with parts costing less than USD 1,000, students are guided through tasks that begin with navigating the robotic arm's workspace and understanding its kinematics. They explore how rotational joint movement creates linear motion at the end-effector before using a biopsy needle with force measurement capabilities. Students program the robotic arm to perform a controlled needle insertion into a liver phantom, recording forces to distinguish between tissue layers and locate a tumor model. During the experiment, students are encouraged to experiment with different programming and data analysis methods. We conducted a transfer test to assess the effectiveness of our educational approach, in which students who completed the experiment performed the task 21 % faster than those who did not, despite 27% of the students having less prior experience in programming or robotics. This suggests increased engagement and improved application of the skills learned. By significantly reducing costs, this lab experiment enhances accessibility to medical robotics training, preparing students to address future challenges in healthcare.

关键词： Training Medical robotics Educational robots Biopsy Liver Medical services Needles Recording Programming profession Tumors

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Role of quantum technologies in reshaping the future of temperature metrology

Role of quantum technologies in reshaping the future of temp...

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作者： Ahmed, Zeeshan Sensor Science Division Physical Measurement Laboratory National Institute of Standards and Technology GaithersburgMD20899 United States

Today's resistance thermometers can routinely measure temperatures with uncertainties of >1 mK–100 mK over multiple decades of temperatures. As the modern economy continues to evolve, so does the measurement infrastructure. In recent years, there has been a considerable progress in the development of novel temperature sensing technologies driven by advances in quantum information science and nano-photonics. Quantum technologies in particular hold the promise of field-deployable primary thermometry whilst ultra-stable nanophotonic thermometers could displace resistance thermometers as commodity sensors. © 2021

关键词： Thermometers

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Ultrastable, traceable optical frequencies for length metrology in long-range nanopositioning and nanomeasuring machines 22

Ultrastable, traceable optical frequencies for length metrol...

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22nd International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2022

作者： Blumröder, Ulrike Köchert, Paul Fröhlich, Thomas Füßl, Roland Ortlepp, Ingo Gerhardt, Uwe Mastylo, Rostyslav Flügge, Jens Bosse, Harald Manske, Eberhard Technische Universität Ilmenau Institute of Process Measurement and Sensor Technology Gustav-Kirchhoff-Str. 1 Ilmenau98693 Germany Precision Engineering Division Bundesallee 100 Braunschweig38116 Germany

ISBN: (纸本)9781998999118

Precise interferometric distance measurements play a crucial role in length measuring and positioning systems that provide resolving capabilities down to the sub-nm-range. Especially for applications in nanotechnology, length metrology has to face additional challenges due to increasing measurement ranges and traverse speed. Nanopositioning and measuring machines (NPMM) meet the demands on positioning with nm-accuracy over long measurement distances. Currently, the next generation of NPMMs (NPMM-200) provide a measuring range of 200 mm × 200 mm × 25 mm with a measuring repeatability up to 20 pm. This also sets new demands on the frequency stability of the laser sources used for interferometry. In this study we present two new approaches to create traceable, ultrastable optical frequencies at 633 nm that provide frequency stability below the electronic resolution limit of the interferometers (?s = 25.10-12) thus allowing to practically eliminate the influence of frequency distortions in the NPMM-200. Both approaches utilize an optical frequency comb to ensure traceability and long-term frequency stability. The first approach permanently couples the metrology lasers of the NPMM-200 to a comb line. The second approach is based on a diode laser stabilized to an ultrastable cavity. This allows to set up a frequency reference with enhanced-short-term frequency stability and high output power. Thus, in combination with the optical frequency comb a frequency stability better than 10-12independent on integration time is prospectively accessible. © European Society for Precision Engineering and Nanotechnology, Conference Proceedings - 22nd International Conference and Exhibition, EUSPEN 2022. All rights reserved.

关键词： Frequency stability

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System Evaluation of a Pyrometer Combined with an Optical Fiber

System Evaluation of a Pyrometer Combined with an Optical Fi...

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IEEE sensors Applications Symposium, SAS

作者： A. Poms B. Schweighofer H. Wegleiter Christian Doppler Laboratory for Measurement Systems for Harsh Operating Conditions Institute of Electrical Measurement and Sensor Systems Graz University of Technology Graz Austria AVL List GmbH Graz Austria

This paper discusses the use of pyrometers in harsh environments where the temperature position to be measured is difficult to access due to space limitations and/or the presence of strong electromagnetic fields. To overcome these challenges, optical fibers are used to guide the infrared radiation to the photodiode that converts it into an electrical signal. It also investigates commercially available optical fibers for their material properties, such as toxicity, and presents a detailed analysis of the components of the measurement chain, including the optical fiber, photodiode, and transimpedance amplifier. Using an optical fiber results in a lower radiation power, mainly due to the limiting acceptance cone of the fiber. A theoretical analysis of the radiation power losses and a practical test rig to verify the results are presented. Overall, the paper provides valuable insights for researchers and engineers in the field of non-contact temperature measurements.

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Design of Experiments based Study to Optimize Laster Induced Graphene Surfaces for Electrochemical sensor Applications

Design of Experiments based Study to Optimize Laster Induced...

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Impedance Spectroscopy (IWIS), International Workshop on

作者： Anurag Adiraju Ammar Al-Hamry Junfei Wang Tianqi Lu Igor Pasti Olfa Kanoun Professorship of Measurement and Sensor Technology Technische Üniversität Chemnitz Chemnitz Germany Faculty of Physical Chemistry University of Belgrade Belgrade Serbia

The photothermal interaction of a CO2 laser beam polyimide sheets results in the formation of graphenous surfaces termed as laser-induced graphene (LIG). Although the research and applications of LIG are manifold, there have been certain aspects that require investigation, such as the applicability of laser-induced conductive fibers, which are formed at certain combinations of laser parameters (power, scan rate, resolution). In this work, we aim to investigate the properties of the fibers and its suitability for electrochemical applications. Fourier transform infrared analysis and Raman spectroscopy revealed the existence of oxygen functional groups and defects on the surface. Electrochemical analysis by cyclic voltammetry and impedance spectroscopy concluded their unsuitability as the fibers are loosely bound to the surface and are removed after every cleaning step. Exfoliation by the scotch tape of the LIG surfaces engraved at different laser powers also revealed the removal of these materials after every exfoliation. Hence, to obtain a surface with high conductivity void of fibers, we report for the first time the implementation of DoE based on D-optimal design across the desirable range of laser parameters where LIG was void of fibers. Compared to conventional one-factor-at-a-time experiments, by implementing D optimal design we obtained the best parameters for achieving high performance electrochemical surfaces with very few experiments. The mathematical model for the dependency of output parameters with input included second order polynomial. This research provides fundamental insights on the LIG fibers and also showcases the implementation of time and resource-efficient DoE to obtain the optimal parameters for engraving LIG surfaces.

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Linear Variable Differential Transformer in Harsh Environments - A Displacement and Thermal Study

Linear Variable Differential Transformer in Harsh Environmen...

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IEEE Instrumentation and measurement technology Conference

作者： G. Gruber M. Neumayer B. Schweighofer T. Leitner M. Berger G. Klösch H. Wegleiter Christian Doppler Laboratory for Measurement Systems for Harsh Operating Conditions Institute of Electrical Measurement and Sensor Systems Graz University of Technology Graz Austria voestalpine Stahl Donawitz GmbH Leoben Austria

Linear variable differential transformers (LVDT) are high precision linear position sensors and capable of measuring position up to one meter. Especially in environments with high temperatures and temperature variations, the core material used, ferritic or non-ferritic, is critical. In this paper we present simulations and comparative measurements to interpret the dependency of LVDTs. We analyse the performance of the LVDT with respect to changes in the excitation signal, as well as uniform and non-uniform heating of the LVDT. The simulation model presented can be used to model the sensor behavior and reproduce the dependencies of the output voltages. The results show that the behavior of the sensor varies depending on the position of the core. This makes compensation measures difficult.

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Segment-Anything Models Achieve Zero-shot Robustness in Autonomous Driving

Segment-Anything Models Achieve Zero-shot Robustness in Auto...

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Automated Vehicle Validation Conference (IAVVC), IEEE International

作者： Jun Yan Pengyu Wang Danni Wang Weiquan Huang Daniel Watzenig Huilin Yin College of Electronics and Information Engineering Tongji University Shanghai China Institute of Electrical Measurement and Sensor Systems Graz University of Technology and with the Virtual Vehicle Research Graz Austria

ISBN: (数字)9798350354072

ISBN: (纸本)9798350354089

Semantic segmentation is a significant perception task in autonomous driving. It suffers from the risks of adversarial examples. In the past few years, deep learning has gradually transitioned from convolutional neural network (CNN) models with a relatively small number of parameters to foundation models with a huge number of parameters. The segment-anything model (SAM) is a generalized image segmentation framework that is capable of handling various types of images and is able to recognize and segment arbitrary objects in an image without the need to train on a specific object. It is a unified model that can handle diverse downstream tasks, including semantic segmentation, object detection, and tracking. In the task of semantic segmentation for autonomous driving, it is significant to study the zero-shot adversarial robustness of SAM. Therefore, we deliver a systematic empirical study on the robustness of SAM without additional training. Based on the experimental results, the zero-shot adversarial robustness of the SAM under the black-box corruptions and white-box adversarial attacks is acceptable, even without the need for additional training. The finding of this study is insightful in that the gigantic model parameters and huge amounts of training data lead to the phenomenon of emergence, which builds a guarantee of adversarial robustness. SAM is a vision foundation model that can be regarded as an early prototype of an artificial general intelligence (AGI) pipeline. In such a pipeline, a unified model can handle diverse tasks. Therefore, this research not only inspects the impact of vision foundation models on safe autonomous driving but also provides a perspective on developing trustworthy AGI. The code is available at: https://***/momo1986/robust_sam_iv.

关键词： Training Systematics Semantic segmentation Artificial general intelligence Pipelines Training data Prototypes Robustness Convolutional neural networks Autonomous vehicles

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Modular Wireless Inertial Motion Capture System with Self-Calibration

Modular Wireless Inertial Motion Capture System with Self-Ca...

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IEEE sensorS

作者： Niklas Schäfer Bastian Latsch Julian Seiler Lukas Hugo Hammen Lars Stein Felix Herbst Philipp Beckerle Mario Kupnik Measurement and Sensor Technology Group Technische Universität Darmstadt Germany Chair of Autonomous Systems and Mechatronics Friedrich-Alexander-Universität Erlangen-Nürnberg Germany

ISBN: (数字)9798350363517

ISBN: (纸本)9798350363524

Wearable inertial motion capture systems enable movement analysis outside the laboratory, thereby promising valuable data collection in natural environments. We present an open-source motion capture system consisting of a variable number of wireless IMU sensor modules and a modular software framework providing OpenSim compatibility. System calibration is achieved by automatic sensor-to-segment alignment (S2SA) using a weighted least squares approach, enabling self-calibration based on arbitrary movements and ongoing recalibration. The S2SA approach is evaluated in a simulation and a proof-of-concept walking experiment with a human participant. Both in the simulation and in the experiment, all initializations converge, demonstrating the robustness of the automatic S2SA approach. Position and orientation deviations are below 0.09 m and 1.28 0 , respectively. Lower limb joint angles exhibit root mean square errors ranging from 2.1 0 to 7.20 compared to a state-of-the-art S2SA method, while Pearson correlation coefficients are larger than 0.91 for all joints. Altogether, the results demonstrate the potential of self-calibration based on arbitrary movements, thereby enhancing the motion capture system's usability and paving the way towards clinical applicability.

关键词： Wireless communication Performance evaluation Wireless sensor networks Robot sensing systems Motion capture Software Robustness Calibration Usability Root mean square

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Calibration of the stiffness of soft cantilevers based on electromagnetic and electrostatic force compensation principles

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measurement: sensors 2024年 38卷

作者： Cherkasova, Valeriya Li, Zhi Popadic, Radovan Froehlich, Thomas Brand, Uwe Institute of Process Measurement and Sensor Technology Technische Universität Ilmenau Ilmenau Germany Department 5.1 Surface Metrology Physikalisch-Technische Bundesanstalt PTB Braunschweig Germany

This article presents a modified version of a traceable force-displacement measurement device developed at TU Ilmenau. The calibration of forces is carried out by a balance with the electromagnetic and electrostatic principles of force compensation. As part of this study, the device was used to calibrate the stiffness of soft cantilevers. The expanded relative uncertainty of the measured stiffnesses in the range from 13 mN/m to 100 mN/m ranged from 1.5 % to 2.7 %. The device was also verified through two-way comparison of measurements with the PTB, good agreement was obtained. © 2024

关键词： Electrostatic force

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Flexible Shielded sensors Based on Biocompatible Ferroelectrets for Heart Rate Monitoring

Flexible Shielded Sensors Based on Biocompatible Ferroelectr...

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IEEE International Conference on Flexible and Printable sensors and Systems (FLEPS)

作者： Alexander A. Altmann Sven Suppelt Bastian Latsch Omar Ben Dali Jan Helge Dörsam Daniel G. E. Thiem Mario Kupnik Measurement and Sensor Technology Group Technical University of Darmstadt Germany Department of Oral and Maxillofacial Surgery Facial Plastic Surgery University Medical Centre JGU Mainz Germany

ISBN: (数字)9798350383263

ISBN: (纸本)9798350383270

In the medical field, flexible sensors based on biocompatible materials monitoring biosignals ex and in vivo are essential. In this work, we present a flexible ferroelectret sensor with high sensitivity and additional shielding against electromagnetic interference, suitable for heart rate monitoring. The sensor structure is manufactured by 3D printing filament onto biocompatible bulk polylactic acid (PLA) film, thermally fusing bulk PLA film onto the 3D printed filament, and fully encapsulating the structure with biocompatible silicone rubber. We compare the normalized signal amplitude and signal-to-noise ratio (SNR) of a shielded and encapsulated sensor with a non-shielded sensor in an ex vivo experiment on the human common carotid artery. The optimized sensor outputs a voltage amplitude 2.54 times higher due to the improved structure, and the shielding improves the SNR by 10.58 dB. Additionally, we demonstrate the functionality of the sensor in an in vivo experiment on a pig in a medical environment, measuring both heart rate and signal amplitude. During ongoing operation, the heart rate is reliably monitored with sufficient signal amplitude, detecting each heartbeat consistently. Using a low-cost additive manufacturing approach with biocompatible materials, we present an adaptable sensor with high sensitivity for medical applications, suitable for long-term heart rate monitoring on transplants and in vivo applications.

关键词： Heart rate In vivo Sensitivity Thermal sensors Three-dimensional printing sensor systems sensors

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