scholarly journals 1C1-2 Human Assist by a mobile manipulator with high speed tactile sensors and a 3D range camera : Basic method and system configuration

2009 ◽  
Vol 2009 (0) ◽  
pp. 10-13
Author(s):  
Hisashi YAMAGUCHI ◽  
Natsumi TSUKADA ◽  
Aiguo MING ◽  
Makoto SHIMOJO
Keyword(s):  
High Speed ◽  
Basic Method ◽  
Mobile Manipulator ◽  
System Configuration ◽  
Tactile Sensors ◽  
Range Camera

STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

2011 ◽  
Vol 08 (03) ◽  
pp. 181-195
Author(s):  
ZHAOXIAN XIE ◽  
HISASHI YAMAGUCHI ◽  
MASAHITO TSUKANO ◽  
AIGUO MING ◽  
MAKOTO SHIMOJO
Keyword(s):  
Fuzzy Logic ◽  
Feedback Control ◽  
Experimental Verification ◽  
High Speed ◽  
Center Of Pressure ◽  
Tactile Sensor ◽  
Mobile Manipulator ◽  
Tactile Sensing ◽  
Robot Arm ◽  
Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

scholarly journals Tactile Occupant Detection Sensor for Automotive Airbag

Energies ◽  
2021 ◽  
Vol 14 (17) ◽  
pp. 5288
Author(s):  
Naveen Shirur ◽  
Christian Birkner ◽  
Roman Henze ◽  
Thomas M. Deserno
Keyword(s):  
High Speed ◽  
Tactile Sensors ◽  
Low Velocity ◽  
Speed Test ◽  
Multi Stage ◽  
The Matrix ◽  
Contact Data ◽  
Single Sensor ◽  
Matrix Sensor ◽  
Contact Position

Automotive airbags protect occupants from crash forces during severe vehicle collisions. They absorb energy and restrain the occupants by providing a soft cushion effect known as the restraint effect. Modern airbags offer partial restraint effect control by controlling the bag’s vent holes and providing multi-stage deployment. Full restraint effect control is still a challenge because the closed-loop restraint control system needs airbag–occupant contact and interaction feedback. In this work, we have developed novel single and matrix capacitive tactile sensors to measure the occupant’s contact data. They can be integrated with the airbag surface and folded to follow the dynamic airbag shape during the deployment. The sensors are tested under a low-velocity pendulum impact and benchmarked with high-speed test videos. The results reveal that the single sensor can successfully measure occupant–airbag contact time and estimate the area, while the contact position is additionally identified from the matrix sensor.

Study and Realize of High-Speed Data Transmission System Based on MODEM

2012 ◽  
Vol 155-156 ◽  
pp. 77-81
Author(s):  
Jing Zhang ◽  
Wei Dong
Keyword(s):  
Data Transmission ◽  
High Speed ◽  
Serial Communication ◽  
Transmission System ◽  
Serial Port ◽  
System Configuration ◽  
High Speed Data ◽  
Data Transmission System ◽  
Speed Data Transmission

System uses micro-controller MSP430 as MCU of a whole system, using an embedded MODEM as a MODEM of data of system, MODEM connection with the microcontroller through the serial port, using another chip of microcontroller to implement a serial communication with PC interface in order to achieve the overall system configuration. The innovations of author: system uses the data achieved by MSP430F149 to transmission system,it has some versatility, it is through an embedded MODEM module connection with the UART of microcontroller for data transmission.

Computational and Experimental Approach to Understanding Legged Mobility in Micro Ground Vehicles

2014 ◽  
Author(s):  
Rudranarayan Mukherjee ◽  
Scott Moreland ◽  
Isaac Kim ◽  
Nikhil Lele ◽  
Stephen Goodwin ◽  
...  
Keyword(s):  
High Speed ◽  
High Performance ◽  
Granular Media ◽  
Necessary Condition ◽  
High Fidelity ◽  
Natural Environments ◽  
Ground Vehicles ◽  
Tactile Sensors ◽  
High Speed Imaging ◽  
Vehicle Mobility

The army has a vision for using autonomous micro ground vehicles (MGV) for soldier support in the last 100 meters of operations in urban and natural environments. These MGVs are expected to typically fit in a human palm and weigh in the order of 30–50 grams. Robust mobility is a necessary condition to ensure operations. Given the severe challenge of size, weight and power (SWAP) of the MGVs, significant uncertainties currently remain in quantifying micro ground vehicle mobility. In this paper we describe a research methodology and representative results for understanding legged MGV mobility in different types of terrain. Our methodology is based on a synergy of novel experimental setup and high-fidelity computational methods. We report the use of a novel “single-leg” test rig that uses tactile sensors to measure ground interaction loads. We also report the use of high speed imaging and use of particle image velocimetry to understand soil deformation during legged interactions with terrain. Finally, we report on the use of multibody dynamics and High Performance Computing (HPC) based granular media simulations. This conference paper emphases more on the overall approach based on synergistic use of high fidelity modeling and experimental methods supported by representative results rather than presenting a detailed analyses of the results.

Induction System Effects on Small-Scale Turbulence in a High-Speed Diesel Engine

1987 ◽  
Vol 109 (4) ◽  
pp. 491-502 ◽  
Author(s):  
A. E. Catania ◽  
A. Mittica
Keyword(s):  
Diesel Engine ◽  
Turbulence Intensity ◽  
High Speed ◽  
Engine Speed ◽  
Small Scale ◽  
Cylinder Wall ◽  
System Configuration ◽  
Intake System ◽  
Induction System ◽  
Scale Turbulence

The influence of the induction system on small-scale turbulence in a high-speed, automotive diesel engine was investigated under variable swirl conditions. The induction system was made up of two equiverse swirl tangential ducts, and valves of the same size and lift. Variable swirl conditions were obtained by keeping one of the inlet valves either closed or functioning, and by changing engine speed. The investigation was carried out for two induction system configurations: with both ducts operating and with only one of them operating. Two different engine speeds were considered, one relatively low (1600 rpm) and the other quite high (3000 rpm), the latter being the highest speed at which engine turbulence has been measured up to now. Cycle-resolved hot-wire anemometry measurements of air velocity were performed throughout the induction and compression strokes, under motored conditions, along a radial direction at an axial level that was virtually in the middle of the combustion chamber at top dead center. The velocity data were analyzed using the nonstationary time-averaging procedure previously developed by the authors. Correlation and spectral analysis of the small-scale turbulence so determined was also performed. The turbulence intensity and its degree of nonhomogeneity and anisotropy were sensibly influenced by the variable swirl conditions, depending on both the intake system configuration and engine speed; they generally showed an increase with increasing swirl intensity, at the end of the compression stroke. A similar trend was observed in the cyclic fluctuation of both the mean velocity and turbulence intensity. The micro time scale of turbulence was found to be almost uniform during induction and compression, showing a slight dependence on the measurement point and on the intake system configuration, but a more sensible dependence on the engine speed. No effect of the cylinder wall on turbulence was apparent.

A High-Speed Mesh of Tactile Sensors Fitting Arbitrary Surfaces

2010 ◽  
Vol 10 (4) ◽  
pp. 822-830 ◽  
Author(s):  
Makoto Shimojo ◽  
Takuma Araki ◽  
Aigou Ming ◽  
Masatoshi Ishikawa
Keyword(s):  
High Speed ◽  
Tactile Sensors
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