scholarly journals Multi-functional Smart Skin for Multi-dimensional Perception for Humanoid Robots

2020 ◽  
Author(s):  
Yanning Dai ◽  
Shuo Gao
Keyword(s):  
Dielectric Property ◽  
Simple Structure ◽  
Humanoid Robots ◽  
Experimental Results ◽  
Large Area ◽  
Device Structure ◽  
System Cost ◽  
Multiple Function ◽  
Smart Skin ◽  
Polyimide Layer

Previously reported artificial smart skins for humanoid robots suffer difficulties in achieving multi-dimensional sensing in a simple structure with a low system cost. In this paper, we exhibit a polyimide/copper/PVDF structured smart skin for multidimensional sensing (including position, proximity, force and humidity), which is enabled by smart utilization of dielectric property of polyimide layer and piezoelectric of the PVDF layer. Experimental results demonstrate that the developed technique successfully obtains large area, flexibility, and multiple-function with simple device structure and low component cost, potentially enabling massive production and advanced services for the humanoid robots’ applications.

scholarly journals Multi-functional Smart Skin for Multi-dimensional Perception for Humanoid Robots

2020 ◽  
Author(s):  
Yanning Dai ◽  
Shuo Gao
Keyword(s):  
Dielectric Property ◽  
Simple Structure ◽  
Humanoid Robots ◽  
Experimental Results ◽  
Large Area ◽  
Device Structure ◽  
System Cost ◽  
Multiple Function ◽  
Smart Skin ◽  
Polyimide Layer

Previously reported artificial smart skins for humanoid robots suffer difficulties in achieving multi-dimensional sensing in a simple structure with a low system cost. In this paper, we exhibit a polyimide/copper/PVDF structured smart skin for multidimensional sensing (including position, proximity, force and humidity), which is enabled by smart utilization of dielectric property of polyimide layer and piezoelectric of the PVDF layer. Experimental results demonstrate that the developed technique successfully obtains large area, flexibility, and multiple-function with simple device structure and low component cost, potentially enabling massive production and advanced services for the humanoid robots’ applications.

scholarly journals Large Area Emission in p-Type Polymer-Based Light-Emitting Field-Effect Transistors by Incorporating Charge Injection Interlayers

Materials ◽  
2021 ◽  
Vol 14 (4) ◽  
pp. 901
Author(s):  
Gizem Acar ◽  
Muhammad Javaid Iqbal ◽  
Mujeeb Ullah Chaudhry
Keyword(s):  
Field Effect ◽  
Field Effect Transistors ◽  
Charge Injection ◽  
Limiting Factors ◽  
Hole Injection ◽  
Large Area ◽  
Device Structure ◽  
Light Emitting ◽  
Emission Area ◽  
P Type

Organic light-emitting field-effect transistors (LEFETs) provide the possibility of simplifying the display pixilation design as they integrate the drive-transistor and the light emission in a single architecture. However, in p-type LEFETs, simultaneously achieving higher external quantum efficiency (EQE) at higher brightness, larger and stable emission area, and high switching speed are the limiting factors for to realise their applications. Herein, we present a p-type polymer heterostructure-based LEFET architecture with electron and hole injection interlayers to improve the charge injection into the light-emitting layer, which leads to better recombination. This device structure provides access to hole mobility of ~2.1 cm2 V−1 s−1 and EQE of 1.6% at a luminance of 2600 cd m−2. Most importantly, we observed a large area emission under the entire drain electrode, which was spatially stable (emission area is not dependent on the gate voltage and current density). These results show an important advancement in polymer-based LEFET technology toward realizing new digital display applications.

MOTION PLANNING USING PREDICTED PERCEPTIVE CAPABILITY

2009 ◽  
Vol 06 (03) ◽  
pp. 435-457 ◽  
Author(s):  
PHILIPP MICHEL ◽  
JOEL CHESTNUTT ◽  
SATOSHI KAGAMI ◽  
KOICHI NISHIWAKI ◽  
JAMES J. KUFFNER ◽  
...  
Keyword(s):  
Motion Planning ◽  
Planning Process ◽  
Humanoid Robots ◽  
Experimental Results ◽  
Success Rates ◽  
Perception System ◽  
Task Success

We present an approach to motion planning for humanoid robots that aims to ensure reliable execution by augmenting the planning process to reason about the robot's ability to successfully perceive its environment during operation. By efficiently simulating the robot's perception system during search, our planner utilizes a perceptive capability metric that quantifies the 'sensability' of the environment in each state given the task to be accomplished. We have applied our method to the problem of planning robust autonomous grasping motions and walking sequences as performed by an HRP-2 humanoid. A fast GPU-accelerated 3D tracker is used for perception, with a grasp planner and footstep planner incorporating reasoning about the robot's perceptive capability. Experimental results show that considering information about the predicted perceptive capability ensures that sensing remains operational throughout the grasping or walking sequence and yields higher task success rates than perception-unaware planning.

Side-chain effect on the photovoltaic performance of conjugated polymers based on benzodifuran and benzodithiophene-4,8-dione

MRS Advances ◽  
2019 ◽  
Vol 4 (36) ◽  
pp. 2001-2007
Author(s):  
Enfang He ◽  
Hong Zhang ◽  
Yueyue Gao ◽  
Fengyun Guo ◽  
Shiyong Gao ◽  
...  
Keyword(s):  
Fill Factor ◽  
Open Circuit Voltage ◽  
Polymer Solar Cells ◽  
Photovoltaic Performance ◽  
Open Circuit ◽  
Side Chain ◽  
Large Area ◽  
Device Structure ◽  
Roll To Roll ◽  
Solvent Additive

ABSTRACT:Two benzodifuran (BDF) polymers, PBDF-C and PBDF-S, with alkyl and alkylthio substituted thiophene side-chains and benzodithiophene-4,8-dione (BDD) as the acceptor were designed and synthesized. Their optical, electrochemical properties and photovoltaic performances were systematically investigated. The polymer solar cells (PSCs) with a device structure of ITO/PEDOT:PSS/polymer:PC71BM/Ca/Al were fabricated. The PBDF-C based device showed a power conversion efficiency (PCE) of 3.01% after adding 1 vol% 1,8-diodooctane (DIO) as the solvent additive, and PBDF-S gave an enhanced PCE of 3.48% without any post-treatments. The enhancements were from the higher open-circuit voltage (Voc) and fill factor (FF). The thermal- and solvent-treatment-free processing is more favourable for the large area roll-to-roll manufacturing or printing technology for PSCs.

Attenuation of Acoustic Emission Signals in Structural Interfaces

2012 ◽  
Vol 569 ◽  
pp. 343-346
Author(s):  
Xiang Hong Wang ◽  
Hong Wei Hu ◽  
Zhi Yong Zhang
Keyword(s):  
Acoustic Emission ◽  
Real World ◽  
Simple Structure ◽  
Size Structure ◽  
Experimental Results ◽  
Signal Energy ◽  
Real World Applications ◽  
Structural Interfaces ◽  
Ae Signals

Received acoustic emission (AE) signals are transmitted across structural interfaces in many real-world applications. This paper studies attenuation of the signals across two common structural interfaces. The experimental results indicate that interface has effects on attenuation, which depends on the relative scales of structures. Signal energy is strengthened due to multiple flections of signals on the small-size structure when an interface is constructed by different scales. Thus the received signals are distorted worse than the original signals. So it is a better way to mount sensors on a simple structure with a size as much as a structure incurred AE sources.

Design and Implementation of the Reconfiguration Mechanism for a Modular Humanoid Robot

2006 ◽  
Vol 18 (3) ◽  
pp. 286-298 ◽  
Author(s):  
Tetsuya Taira ◽  
◽  
Nobuyuki Yamasaki
Keyword(s):  
Humanoid Robot ◽  
Humanoid Robots ◽  
Experimental Results ◽  
Functional Modules ◽  
Design And Implementation ◽  
Different Types ◽  
Robot Configuration

This paper describes the design and implementation of the reconfiguration mechanism for a modular humanoid robot. To aid researchers in their works and enable users to request various tasks, humanoid robots are expected to require such reconfiguration mechanism. A robot with the proposed reconfiguration mechanism potentially consists of several functional modules such as arms, mobile components, and heads, and can be used as some kinds of humanoid robots or as several autonomous functional robots. We evaluated the efficiency of our proposed reconfiguration mechanism through the experiences using reconfigurable modular humanoid robot prototype R1. Experimental results show that the proposed mechanism achieves expandable and flexible reconfiguration for researchers and users by changing the robot configuration to different types of robots for many purposes. We believe that our humanoid robot with the proposed reconfiguration mechanism will enable user-specific humanoid robots more easily than ever before.

Design and fabrication of a hybrid maglev model employing PML and SML

2017 ◽  
Vol 31 (25) ◽  
pp. 1745014 ◽  
Author(s):  
R. X. Sun ◽  
J. Zheng ◽  
L. J. Zhan ◽  
S. Y. Huang ◽  
H. T. Li ◽  
...  
Keyword(s):  
Permanent Magnet ◽  
Simple Structure ◽  
Magnetic Levitation ◽  
Experimental Results ◽  
Heavy Load ◽  
Passive Stability ◽  
Model Combining ◽  
Levitation System ◽  
The Stability

A hybrid maglev model combining permanent magnet levitation (PML) and superconducting magnetic levitation (SML) was designed and fabricated to explore a heavy-load levitation system advancing in passive stability and simple structure. In this system, the PML was designed to levitate the load, and the SML was introduced to guarantee the stability. In order to realize different working gaps of the two maglev components, linear bearings were applied to connect the PML layer (for load) and the SML layer (for stability) of the hybrid maglev model. Experimental results indicate that the hybrid maglev model possesses excellent advantages of heavy-load ability and passive stability at the same time. This work presents a possible way to realize a heavy-load passive maglev concept.

Large Area Silicon Avalanche Photodiodes: Photomultiplier Tube Alternate

1982 ◽  
Vol 16 ◽  
Author(s):  
G. Reiff ◽  
M.R. Squillante ◽  
H.B. Serreze ◽  
G. Entine ◽  
Gerald C. Huth
Keyword(s):  
Scintillation Detector ◽  
Gamma Spectroscopy ◽  
Avalanche Photodiodes ◽  
Low Noise ◽  
Ease Of Use ◽  
Active Area ◽  
Large Area ◽  
Device Structure ◽  
Optical Sensitivity ◽  
Large Active Area

ABSTRACTSilicon avalanche photodiodes have recently been shown to be a potential replacement for vacuum tube photomultipliers in many nuclear scintillation detector applications. The large active area, low noise, and ease of use of these solid-state photomultipliers makes them ideally suited to scintillation detector applications where overall size and ruggedness are a major concern. Historically, avalanche photodiodes have been limited for use in this capacity by small active areas, low internal gains, and poor optical sensitivity at the wavelengths at which most solid scintillator materials emit. Recent advances as the result of research aimed directly at the solution to these problems however, have successfully demonstrated one inch active area silicon avalanche photodiodes which produce a FWHM resolution of 9.5% for Cs137 at room temperature when coupled to a 1″ × 1″ NaI(Tl) scintillation crystal. Improvements to both material quality and device structure have advanced the state-of-the-art to make silicon avalanche photodiodes a viable alternative in scintillation gamma spectroscopy as well as for large area optical, beta, and low energy x-ray detectors.

A Low Temperature Polycrystalline Si TFT Technology for Large area AMLCD Drivers

1997 ◽  
Vol 472 ◽  
Author(s):  
Krishna C. Saraswat ◽  
V. Subramanian ◽  
S. Jurichich
Keyword(s):  
Low Temperature ◽  
Silicon Germanium ◽  
Liquid Crystal Display ◽  
Amorphous Film ◽  
Economic Modeling ◽  
Film Deposition ◽  
Manufacturing Cost ◽  
Large Area ◽  
Device Structure ◽  
Glass Substrates

ABSTRACTIn this paper we describe a low thermal budget technology to fabricate high performance CMOS thin-film transistors (TFTs) in polycrystalline silicon and silicon/germanium on low cost glass substrates, for active-matrix liquid crystal display (AMLCD) applications. Based on modeling of delay times of the scan and data lines driven by n-channel TFTs we show that for AMLCDs with integrated drive circuits, mobility in excess of 40 cm2/V. sec will be required. Through proper optimization of amorphous film deposition, crystallization (nucleation and grain growth), fabrication process parameters and device structure we have obtained mobility in excess of 50 cm2/V. sec in Si TFTs, using conventional manufacturing technology compatible with glass substrates. Economic modeling suggests that low-temperature poly-TFT LCDs with integrated drivers will have a competitive manufacturing cost to LCDs of an equivalent size and resolution with α-Si pixel TFTs and single crystal drivers.

Adaptation of Robot Skills Models to New Task Contraints

2015 ◽  
Vol 12 (03) ◽  
pp. 1550024 ◽  
Author(s):  
Daniel H. García ◽  
Concepción A. Monje ◽  
Carlos Balaguer
Keyword(s):  
Humanoid Robots ◽  
Dynamic Environments ◽  
Experimental Results ◽  
Robotic Systems ◽  
Learning Approaches ◽  
Learning Mechanisms ◽  
Complex Dynamic ◽  
Skills Learning

Humanoid robots are required to perform a wide repertoire of tasks working beside humans in complex dynamic environments. Learning mechanisms are important for building up these types of repertoires of robot skills. However, despite the clear advantages of these approaches, it would be impractical to teach the robot skills for every needed task and for every foreseen situation. Robot skills learning approaches to develop humanoid robotic systems would have greater impact if the models of the skills can be operated upon to generate new behaviors of increasing levels of complexity. A framework that allows the adaptation of previously learned motion skills to new unseen contexts is necessary. In this work, we present different modalities for the adaptation and generation of new skill models based on the already learned models of the skills. Experimental results are presented to validate this approach.

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