Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance

A crucial part of dynamic motions is the interaction with other objects or the environment. Floating base robots have yet to perform these motions repeatably and reliably. Force torque sensors are able to provide the full description of a contact. Despite that, their use beyond a simple threshold logic is not widespread in floating base robots. Force torque sensors might change performance when mounted, which is why in situ calibration methods can improve the performance of robots by ensuring better force torque measurements. The Model-Based in situ calibration method with temperature compensation has shown promising results in improving FT sensor measurements. There are two main goals for this paper. The first is to facilitate the use and understanding of the method by providing guidelines that show their usefulness through experimental results. Then the impact of having better FT measurements with no temperature drift are demonstrated by proving that the offset estimated with this method is still useful days and even a month from the time of estimation. The effect of this is showcased by comparing the sensor response with different offsets simultaneously during real robot experiments. Furthermore, quantitative results of the improvement in dynamic behaviors due to the in situ calibration are shown. Finally, we show how using better FT measurements as feedback in low and high level controllers can impact the performance of floating base robots during dynamic motions. Experiments were performed on the floating base robot iCub.

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Applying an in-situ calibration method of spectral line shape to determine flame temperature of methane and ethylene spherically expanding flames

Combustion and Flame ◽

10.1016/j.combustflame.2021.111743 ◽

2021 ◽

pp. 111743

Author(s):

Xunchen Liu ◽

Sibo Huang ◽

Guoqing Wang ◽

Hongyu Xiong ◽

Fei Qi

Keyword(s):

Spectral Line ◽

Line Shape ◽

Flame Temperature ◽

Calibration Method ◽

Spectral Line Shape ◽

In Situ Calibration

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Model based in situ calibration of six axis force torque sensors

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) ◽

10.1109/humanoids.2016.7803310 ◽

2016 ◽

Cited By ~ 2

Author(s):

Francisco Javier Andrade Chavez ◽

Silvio Traversaro ◽

Daniele Pucci ◽

Francesco Nori

Keyword(s):

Model Based ◽

In Situ Calibration

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Extended virtual in-situ calibration method in building systems using Bayesian inference

Automation in Construction ◽

10.1016/j.autcon.2016.10.008 ◽

2017 ◽

Vol 73 ◽

pp. 20-30 ◽

Cited By ~ 18

Author(s):

Sungmin Yoon ◽

Yuebin Yu

Keyword(s):

Bayesian Inference ◽

Calibration Method ◽

In Situ Calibration ◽

Building Systems

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Virtual in-situ calibration method in building systems

Automation in Construction ◽

10.1016/j.autcon.2015.08.003 ◽

2015 ◽

Vol 59 ◽

pp. 59-67 ◽

Cited By ~ 21

Author(s):

Yuebin Yu ◽

Haorong Li

Keyword(s):

Calibration Method ◽

In Situ Calibration ◽

Building Systems

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Framework for the Simulation of Sensor Networks Aimed at Evaluating In Situ Calibration Algorithms

Sensors ◽

10.3390/s20164577 ◽

2020 ◽

Vol 20 (16) ◽

pp. 4577

Author(s):

Florentin Delaine ◽

Bérengère Lebental ◽

Hervé Rivano

Keyword(s):

Sensor Networks ◽

Sensor Network ◽

Low Cost ◽

Test Case ◽

Dense Networks ◽

In Situ Calibration ◽

Primary Test ◽

The Impact

The drastically increasing availability of low-cost sensors for environmental monitoring has fostered a large interest in the literature. One particular challenge for such devices is the fast degradation over time of the quality of their data. Therefore, the instruments require frequent calibrations. Traditionally, this operation is carried out on each sensor in dedicated laboratories. This is not economically sustainable for dense networks of low-cost sensors. An alternative that has been investigated is in situ calibration: exploiting the properties of the sensor network, the instruments are calibrated while staying in the field and preferably without any physical intervention. The literature indicates there is wide variety of in situ calibration strategies depending on the type of sensor network deployed. However, there is a lack for a systematic benchmark of calibration algorithms. In this paper, we propose the first framework for the simulation of sensor networks enabling a systematic comparison of in situ calibration strategies with reproducibility, and scalability. We showcase it on a primary test case applied to several calibration strategies for blind and static sensor networks. The performances of calibration are shown to be tightly related to the deployment of the network itself, the parameters of the algorithm and the metrics used to evaluate the results. We study the impact of the main modelling choices and adjustments of parameters in our framework and highlight their influence on the results of the calibration algorithms. We also show how our framework can be used as a tool for the design of a network of low-cost sensors.

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An Investigation Into Acoustic Dipole Source Calibration Methods for Turbomachinery Sound Radiation in Reverberant Fields

Volume 13: Acoustics, Vibration, and Wave Propagation ◽

10.1115/imece2016-66815 ◽

2016 ◽

Author(s):

Michael L. Jonson ◽

Steven D. Young

Keyword(s):

Near Field ◽

Dipole Source ◽

Acoustic Source ◽

In Situ Calibration ◽

Calibration Methods ◽

Penn State ◽

Radiated Sound ◽

Reverberant Field ◽

Dipole Sources

In-situ calibration methods using a single spherical-shaped transmitting hydrophone (idealized as a monopole acoustic source) have traditionally been used for radiated sound measurements of turbomachinery performed in the Garfield Thomas 1.22-m diameter water tunnel located at The Pennsylvania State University’s Applied Research Laboratory (ARL Penn State). In this reverberant field, the monopole source containing known transmitting characteristics was used to calibrate acoustic sensors that were either near or far from the source. This method typically works well when the type of source is monopole in nature; however, many acoustics sources can be dipole or quadrupole in nature. In this study we investigated the applicability of using dipole sources in a space such as a well-characterized reverberant tank, and we found through a virtual dipole method that the radiation still appears monopole in the reverberant field. The method was extended for the vibration of a panel (a known dipole source) and once again the monopole assumption for the in-situ calibration for a near-field hydrophone and conventional reverberant hydrophones remained consistent.

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An in-situ calibration method and the effects on stimulus frequency otoacoustic emissions

BioMedical Engineering OnLine ◽

10.1186/1475-925x-13-95 ◽

2014 ◽

Vol 13 (1) ◽

pp. 95 ◽

Cited By ~ 5

Author(s):

Shixiong Chen ◽

Haoshi Zhang ◽

Lan Wang ◽

Guanglin Li

Keyword(s):

Otoacoustic Emissions ◽

Stimulus Frequency ◽

Calibration Method ◽

In Situ Calibration ◽

Stimulus Frequency Otoacoustic Emissions

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Infra-AUV project: Metrology for low-frequency sound and vibration

10.5194/egusphere-egu21-16476 ◽

2021 ◽

Author(s):

Lars Ceranna ◽

Thomas Bruns ◽

Christian Koch ◽

Dominique Rodrigues ◽

Stephen Robinson ◽

...

Keyword(s):

Low Frequency ◽

Monitoring Networks ◽

Vibration Data ◽

In Situ Calibration ◽

Laboratory Calibration ◽

Calibration Methods ◽

National Measurement ◽

Eu Project

Infra-AUV is a new EU project that will establish primary measurements standards for low frequency phenomena across the fields of airborne and underwater acoustics and vibration (seismology). Combining expertise from the national measurement institutes and geophysical monitoring station operators, it will develop both high-precision laboratory-based methods of calibration and methods suitable for field use. Infra-AUV will also address requirements for reference sensors that link laboratory calibration capabilities to field requirements for measurement traceability.To establish standards in the three technical areas, a variety of calibration principles will be employed, including extension of existing techniques such as reciprocity and optical interferometry, and development of new methods. There will also be an investigation of the potential for in-situ calibration methods, including use of both artificially generated and naturally occurring stimuli such as microseisms and microbaroms. The influence of calibration uncertainties on the determination of the measurands required by the monitoring networks will also be studied.The project was strongly motivated by the CTBTO strategy to drive new metrology capability to underpin IMS data. The intention is to maintain interaction with stakeholders, not only in connection with the IMS, but with the broad range of users of low frequency acoustic and vibration data.&#160;

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