Tactile Display for Virtual Shape Rendering Based on Servo Actuated Modules

2015 ◽  
Author(s):  
Alessandro Mansutti ◽  
Mario Covarrubias Rodriguez ◽  
Monica Bordegoni ◽  
Umberto Cugini
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Tactile Display ◽  
Elastic Behaviour ◽  
Maximum Point ◽  
Surface Rendering ◽  
Aesthetic Quality ◽  
High Performing ◽  
Manual Exploration ◽  
The Aesthetic

This paper presents a new concept of a desktop tangible shape display for virtual surface rendering. The proposed system is able to represent in the real environment the shape of a digital model of a product, which can be explored naturally through a free-hand interaction. Aim of the shape display is to allow product designers to explore the rendered surface through a continuous touch of curves lying on the product shape. Ideally, the designer selects curves, which can be considered as style features of the shape, on the shape surface, and evaluates the aesthetic quality of these curves by manual exploration. In order to physically represent these selected curves, a flexible surface is modelled by means of servo-actuated modules controlling a physical deforming strip. The behaviour of the strip is controlled by acting on the position and rotations of a discrete number of control sectors. Each control sector is controlled by a module, which is based on an absolute positioning approach and equipped with five degrees of freedom. The developed system is able to manage the elastic behaviour of the strip in terms of bending, twisting and local tangency. The tangency control allows us to manage the local tangency of the strip to the rendered trajectory, thus increasing the accuracy of the representation. Moreover, a preliminary second version of the module is presented, which has been designed so as to allow the control sectors to slide on the strip. Thanks to this feature, it will be possible to place the control sector in a given point of the trajectory, such as point of maximum, point of minimum or inflection points. The device is designed to be portable, low cost, modular and high performing in terms of types of shapes that can be represented. A prototype equipped with three modules has been developed in order to evaluate the usability and the performances of the display.

scholarly journals Reconstruction of Relative Phase of Self-Transmitting Devices by Using Multiprobe Solutions and Non-Convex Optimization

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2459
Author(s):  
Rubén Tena Sánchez ◽  
Fernando Rodríguez Varela ◽  
Lars J. Foged ◽  
Manuel Sierra Castañer
Keyword(s):  
Iterative Algorithm ◽  
Degrees Of Freedom ◽  
Relative Phase ◽  
Low Cost ◽  
Initial Guess ◽  
Noise Model ◽  
Medium Size ◽  
Phase Reconstruction ◽  
Linear Combinations ◽  
Iterative Optimization Algorithm

Phase reconstruction is in general a non-trivial problem when it comes to devices where the reference is not accessible. A non-convex iterative optimization algorithm is proposed in this paper in order to reconstruct the phase in reference-less spherical multiprobe measurement systems based on a rotating arch of probes. The algorithm is based on the reconstruction of the phases of self-transmitting devices in multiprobe systems by taking advantage of the on-axis top probe of the arch. One of the limitations of the top probe solution is that when rotating the measurement system arch, the relative phase between probes is lost. This paper proposes a solution to this problem by developing an optimization iterative algorithm that uses partial knowledge of relative phase between probes. The iterative algorithm is based on linear combinations of signals when the relative phase is known. Phase substitution and modal filtering are implemented in order to avoid local minima and make the algorithm converge. Several noise-free examples are presented and the results of the iterative algorithm analyzed. The number of linear combinations used is far below the square of the degrees of freedom of the non-linear problem, which is compensated by a proper initial guess. With respect to noisy measurements, the top probe method will introduce uncertainties for different azimuth and elevation positions of the arch. This is modelled by considering the real noise model of a low-cost receiver and the results demonstrate the good accuracy of the method. Numerical results on antenna measurements are also presented. Due to the numerical complexity of the algorithm, it is limited to electrically small- or medium-size problems.

scholarly journals Integrating high-performing electrochemical transducers in lateral flow assay

2021 ◽  
Author(s):  
Antonia Perju ◽  
Nongnoot Wongkaew
Keyword(s):  
High Performance ◽  
Point Of Care ◽  
Low Cost ◽  
High Sensitivity ◽  
Lateral Flow ◽  
Analytical Performance ◽  
Label Free ◽  
High Performing ◽  
Lateral Flow Assays ◽  
Electrochemical Transducers

AbstractLateral flow assays (LFAs) are the best-performing and best-known point-of-care tests worldwide. Over the last decade, they have experienced an increasing interest by researchers towards improving their analytical performance while maintaining their robust assay platform. Commercially, visual and optical detection strategies dominate, but it is especially the research on integrating electrochemical (EC) approaches that may have a chance to significantly improve an LFA’s performance that is needed in order to detect analytes reliably at lower concentrations than currently possible. In fact, EC-LFAs offer advantages in terms of quantitative determination, low-cost, high sensitivity, and even simple, label-free strategies. Here, the various configurations of EC-LFAs published are summarized and critically evaluated. In short, most of them rely on applying conventional transducers, e.g., screen-printed electrode, to ensure reliability of the assay, and additional advances are afforded by the beneficial features of nanomaterials. It is predicted that these will be further implemented in EC-LFAs as high-performance transducers. Considering the low cost of point-of-care devices, it becomes even more important to also identify strategies that efficiently integrate nanomaterials into EC-LFAs in a high-throughput manner while maintaining their favorable analytical performance.

scholarly journals Bimetallic Ni-Based Catalysts for CO2 Methanation: A Review

Nanomaterials ◽  
2020 ◽  
Vol 11 (1) ◽  
pp. 28
Author(s):  
Anastasios I. Tsiotsias ◽  
Nikolaos D. Charisiou ◽  
Ioannis V. Yentekakis ◽  
Maria A. Goula
Keyword(s):  
Low Temperature ◽  
Noble Metals ◽  
Recent Progress ◽  
Low Cost ◽  
Alloy Formation ◽  
Co2 Methanation ◽  
High Performing ◽  
Mobile Sources ◽  
Low Dispersion ◽  
Made In

CO2 methanation has recently emerged as a process that targets the reduction in anthropogenic CO2 emissions, via the conversion of CO2 captured from point and mobile sources, as well as H2 produced from renewables into CH4. Ni, among the early transition metals, as well as Ru and Rh, among the noble metals, have been known to be among the most active methanation catalysts, with Ni being favoured due to its low cost and high natural abundance. However, insufficient low-temperature activity, low dispersion and reducibility, as well as nanoparticle sintering are some of the main drawbacks when using Ni-based catalysts. Such problems can be partly overcome via the introduction of a second transition metal (e.g., Fe, Co) or a noble metal (e.g., Ru, Rh, Pt, Pd and Re) in Ni-based catalysts. Through Ni-M alloy formation, or the intricate synergy between two adjacent metallic phases, new high-performing and low-cost methanation catalysts can be obtained. This review summarizes and critically discusses recent progress made in the field of bimetallic Ni-M (M = Fe, Co, Cu, Ru, Rh, Pt, Pd, Re)-based catalyst development for the CO2 methanation reaction.

scholarly journals 60–700 K CTAT and PTAT Temperature Sensors with 4H-SiC Schottky Diodes

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 942
Author(s):  
Razvan Pascu ◽  
Gheorghe Pristavu ◽  
Gheorghe Brezeanu ◽  
Florin Draghici ◽  
Philippe Godignon ◽  
...  
Keyword(s):  
Low Cost ◽  
Schottky Diodes ◽  
Schottky Contact ◽  
High Sensitivity ◽  
Xrd Analysis ◽  
Absolute Temperature ◽  
Lower Sensitivity ◽  
Readout Circuit ◽  
Sensing Element ◽  
High Performing

A SiC Schottky dual-diode temperature-sensing element, suitable for both complementary variation of VF with absolute temperature (CTAT) and differential proportional to absolute temperature (PTAT) sensors, is demonstrated over 60–700 K, currently the widest range reported. The structure’s layout places the two identical diodes in close, symmetrical proximity. A stable and high-barrier Schottky contact based on Ni, annealed at 750 °C, is used. XRD analysis evinced the even distribution of Ni2Si over the entire Schottky contact area. Forward measurements in the 60–700 K range indicate nearly identical characteristics for the dual-diodes, with only minor inhomogeneity. Our parallel diode (p-diode) model is used to parameterize experimental curves and evaluate sensing performances over this far-reaching domain. High sensitivity, upwards of 2.32 mV/K, is obtained, with satisfactory linearity (R2 reaching 99.80%) for the CTAT sensor, even down to 60 K. The PTAT differential version boasts increased linearity, up to 99.95%. The lower sensitivity is, in this case, compensated by using a high-performing, low-cost readout circuit, leading to a peak 14.91 mV/K, without influencing linearity.

scholarly journals A review on allotropes of carbon and natural filler-reinforced thermomechanical properties of upgraded epoxy hybrid composite

2021 ◽  
Vol 60 (1) ◽  
pp. 237-275
Author(s):  
Krushna Gouda ◽  
Sumit Bhowmik ◽  
Biplab Das
Keyword(s):  
Hybrid Composite ◽  
Low Cost ◽  
Extraction Process ◽  
Thermomechanical Properties ◽  
Neat Epoxy ◽  
Inorganic Filler ◽  
Nonrenewable Resource ◽  
High Performing ◽  
Thermosetting Polymers ◽  
Natural Filler

Abstract The scarcity of nonrenewable resource motivated inclination towards the environmental-friendly novel materials and development of waste natural filler-based hybrid composite is encouraged to fulfill the material demand. Epoxy resins-based composites are high-performing thermosetting polymers and have outstanding blending properties, good machinability, and low cost. Due to these advantages, thermoset plastic is largely used in a broad range of engineering applications; however, thermomechanical properties of neat epoxy are low. Thus, to enhance the thermomechanical properties of epoxy, it is interfaced materials such as graphite, graphene nanoplatelet, boron, carbon fiber, aluminium, silver, etc. Among various substances, graphene has been deliberated as an acceptable novel filler because of its exceptional properties. In addition to inorganic filler inclusion, natural filler/fiber like hemp, sisal, flax, bamboo, jute, etc. can be utilized in a higher percentage as biodegradable material. The present article assisted to improve thermomechanical properties of neat epoxy. This work identifies and addresses (i) processes used for graphene modification; (ii) treatment utilized for enhancing the binding properties of natural filler; (iii) various natural filler extraction process employed; (iv) neat epoxy modification; and (v) influence of different dimensions of fillers.

scholarly journals Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control

2016 ◽  
Author(s):  
Lee-Huang Chen ◽  
Kyunam Kim ◽  
Ellande Tang ◽  
Kevin Li ◽  
Richard House ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Space Exploration ◽  
Robot Design ◽  
The Novel ◽  
Flexible Design ◽  
Spherical Robot ◽  
Potential Benefits ◽  
And Performance ◽  
And Control

This paper presents the design, analysis and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees of freedom in movement and flexible design. However to fully take advantage of these properties a significant fraction of the tensile elements should be active, leading to a potential increase in complexity, messy cable and power routing systems and increased design difficulty. Here we describe an elegant solution to a fully actuated tensegrity robot: The TT-3 (version 3) tensegrity robot, developed at UC Berkeley, in collaboration with NASA Ames, is a lightweight, low cost, modular, and rapidly prototyped spherical tensegrity robot. This robot is based on a ball-shaped six-bar tensegrity structure and features a unique modular rod-centered distributed actuation and control architecture. This paper presents the novel mechanism design, architecture and simulations of TT-3, the first untethered, fully actuated cable-driven six-bar tensegrity spherical robot ever built and tested for mobility. Furthermore, this paper discusses the controls and preliminary testing performed to observe the system’s behavior and performance.

scholarly journals Strain-dependent twist–stretch elasticity in chiral filaments

2007 ◽  
Vol 5 (20) ◽  
pp. 303-310 ◽  
Author(s):  
M Upmanyu ◽  
H.L Wang ◽  
H.Y Liang ◽  
R Mahajan
Keyword(s):  
Degrees Of Freedom ◽  
Single Walled Carbon Nanotubes ◽  
Design Principles ◽  
Elastic Behaviour ◽  
Large Strains ◽  
Theoretical Frameworks ◽  
Nonlinear Elastic ◽  
Walled Carbon Nanotubes ◽  
Strain Dependent ◽  
Microscopic Origin

Coupling between axial and torsional degrees of freedom often modifies the conformation and expression of natural and synthetic filamentous aggregates. Recent studies on chiral single-walled carbon nanotubes and B-DNA reveal a reversal in the sign of the twist–stretch coupling at large strains. The similarity in the response in these two distinct supramolecular assemblies and at high strains suggests a fundamental, chirality-dependent nonlinear elastic behaviour. Here we seek the link between the microscopic origin of the nonlinearities and the effective twist–stretch coupling using energy-based theoretical frameworks and model simulations. Our analysis reveals a sensitive interplay between the deformation energetics and the sign of the coupling, highlighting robust design principles that determine both the sign and extent of these couplings. These design principles have already been exploited by nature to dynamically engineer such couplings, and have broad implications in mechanically coupled actuation, propulsion and transport in biology and technology.

Low-cost Indirect Measurement Methods for Self-x Integrated Sensory Electronics for Industry 4.0

2020 ◽  
Vol 87 (s1) ◽  
pp. s79-s84
Author(s):  
Qummar Zaman ◽  
Senan Alraho ◽  
Andreas König
Keyword(s):  
Industry 4.0 ◽  
Degrees Of Freedom ◽  
Performance Metrics ◽  
Low Cost ◽  
Indirect Measurement ◽  
Measurement Methods ◽  
Instrumentation Amplifier ◽  
Performance Parameters ◽  
Current Feedback ◽  
Indirect Measurements

AbstractThe conventional method for testing the performance of reconfigurable sensory electronics of industry 4.0 relies on the direct measurement methods. This approach gives higher accuracy but at the price of extremely high testing cost and does not utilize the new degrees of freedom for measurement methods enabled by industry 4.0. In order to reduce the test cost and use available resources more efficiently, a primary approach, called indirect measurements or alternative testing has been proposed using a non-intrusive sensor. Its basic principle consists in using the indirect measurements, in order to estimate the sensory electronics performance parameters without measuring directly. The non-intrusive property of the proposed method offers better performance of the sensing electronics and virtually applicable to any sensing electronics. Efficiency is evaluated in terms of model accuracy by using six different classical metrics. It uses an indirect current-feedback instrumentation amplifier (InAmp) as a test vehicle to evaluate the performance parameters of the circuit. The device is implemented using CMOS 0.35 μm technology. The achieved maximum value of average expected error metrics is 0.24, and the lowest value of correlation performance metrics is 0.91, which represent an excellent efficiency of InAmp performance predictor.

THE ROLE OF URBAN AESTHETICS ON ENHANCING VITALITY OF URBAN SPACES

2021 ◽  
pp. xx-xx
Keyword(s):  
Urban Design ◽  
Direct Consequence ◽  
Point Of View ◽  
Urban Spaces ◽  
Urban Setting ◽  
Aesthetic Quality ◽  
Aesthetic Design ◽  
Active Involvement ◽  
The Aesthetic

Several scholars have focused on the different approaches in designing convivial urban spaces, but literary evidence shows that the essence of aesthetic design in public urban spaces, by referring to the main dimensions involved in the shaping of urban vitality, has not been adequately researched. In this regard, this study, by hypothesizing that the quality of urban design leads to a vital urban environment, focuses on urban vitality from the aesthetic point of view. Thus, in using qualitative grounded theory as a main methodological tool and using a systematic review of the related literature as the main induction approach for collecting qualitative data, five main dimensions of urban vitality, which are necessary to attain a correlation with the aesthetic quality of urban design, were conceptualized. The study concludes that the aesthetic design of an urban setting has a direct effect on the active involvement of its users and that this, therefore, has a direct consequence on the level of public urban vitality, manifested. Integrating the complexity theory with the five main dimensions used for assessing urban vitality was suggested as a viable area for further research.

Design of a Teaching Robot with Three Degrees of Freedom

2012 ◽  
Vol 619 ◽  
pp. 325-328
Author(s):  
You Jun Huang ◽  
Ze Lun Li ◽  
Zhi Cheng Huang
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Degree Of Freedom ◽  
Good Repeatability ◽  
Main Components ◽  
Opening And Closing ◽  
Three Degree Of Freedom ◽  
Three Degrees Of Freedom ◽  
Application Prospects

A teaching robot with three degree of freedom is designed. The three degrees of freedom are: waist rotation, lifting and stretching of the arm and opening and closing of the gripper. The designs of the main components are: a mobile chassis, parallel rails, horizontal rails and manipulator. The teaching robot designed has the features of low cost, easy to regulation, good repeatability and it has good promotion and application prospects in the field of teaching.

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