Development of a Tactile Sensor Array

2010 ◽  
Vol 166-167 ◽  
pp. 277-284 ◽  
Author(s):  
Nicolae Marian ◽  
Alin Drimus ◽  
Arne Bilberg
Keyword(s):  
Object Recognition ◽  
Research Work ◽  
Sensory Information ◽  
Tactile Sensor ◽  
Normal Forces ◽  
Geometrical Features ◽  
Good Grasp ◽  
Batch Sizes ◽  
Gripping Force ◽  
And Control

Flexible grasping robots are needed for enabling automated, profitable and competitive production of small batch sizes including complex handling processes of often fragile objects. This development will create new conditions for value-adding activities in the production of the future world. The paper describes the related research work we have developed for sensor design, exploration and control for a robot gripping system, in order to analyze normal forces applied on the tactile pixels for gripping force control and generate tactile images for gripping positioning and object recognition. Section 1 gives an introduction of principles and technologies in tactile sensing for robot grippers. Section 2 presents the sensor cell (taxel) and array design and characterization. Section 3 introduces object recognition and shape analysis ideas showing a few preliminary examples, where geometrical features of small objects are identified. Slip detection in order to define optimum grasp pressure is addressed in section 4. The paper will conclude by addressing future ideas about how to judge or forecast a good grasp quality from sensory information.

Nonparametric Object Recognition With a New Tactile Sensor

1992 ◽  
Author(s):  
S. Unsal ◽  
A. Shirkhodaie ◽  
A. H. Soni
Keyword(s):  
Decision Making ◽  
Object Recognition ◽  
Sensory Information ◽  
Tactile Sensor ◽  
Operating Environment ◽  
Tactile Sensors ◽  
Binary Array ◽  
Software And Hardware ◽  
Robotic Applications

Abstract Adding sensing capability to a robot provides the robot with intelligent perception capability and flexibility of decision making. To perform intelligent tasks, robots are highly required to perceive their operating environment, and react accordingly. With this regard, tactile sensors offer to extend the scope of intelligence of a robot for performing tasks which require object touching, recognition, and manipulation. This paper presents the design of an inexpensive pneumatic binary-array tactile sensor for such robotic applications. The paper describes some of the techniques implemented for object recognition from binary sensory information. Furthermore, it details the development of software and hardware which facilitate the sensor to provide useful information to a robot so that the robot perceives its operating environment during manipulation of objects.

Neuromuscular Control of Movement

2018 ◽  
Keyword(s):  
Nervous System ◽  
Sensory Information ◽  
Neuromuscular Control ◽  
Complex Environments ◽  
Locomotor Rhythm ◽  
Motor Responses ◽  
Reflex Pathways ◽  
Local Reflex ◽  
Local Circuits ◽  
And Control

The control of movement is essential for animals traversing complex environments and operating across a range of speeds and gaits. We consider how animals process sensory information and initiate motor responses, primarily focusing on simple motor responses that involve local reflex pathways of feedback and control, rather than the more complex, longer-term responses that require the broader integration of higher centers within the nervous system. We explore how local circuits facilitate decentralized coordination of locomotor rhythm and examine the fundamentals of sensory receptors located in the muscles, tendons, joints, and at the animal’s body surface. These sensors monitor the animal’s physical environment and the action of its muscles. The sensory information is then carried back to the animal’s nervous system by afferent neurons, providing feedback that is integrated at the level of the spinal cord of vertebrates and sensory-motor ganglia of invertebrates.

scholarly journals Laboratory measurement method for the mechanical interaction between a tactile sensor and a cartonboard package – presentation and evaluation

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Daniel Eriksson ◽  
Camilla Persson ◽  
Henry Eriksson ◽  
Tore Käck ◽  
Christer Korin
Keyword(s):  
Measurement Method ◽  
Sensory Information ◽  
Tactile Sensor ◽  
Laboratory Measurement ◽  
Purchasing Decisions ◽  
Mechanical Interaction ◽  
Package Design ◽  
Measurement Result ◽  
Good Repeatability

Abstract The importance of sensory information in product purchasing decisions has gained increasing attention in recent years. Tactile properties of packaging are usually measured with the help of trained evaluators. An objective, fast and repeatable method that describes the mechanical interaction and does not rely on a panel would have many benefits. We propose and evaluate such a method for measuring the mechanical interaction between a deformable finger-like shaped sensor and a package. Evaluation of the method shows good repeatability, the variability in the measurement result is within a few percent in most cases. The method captures indentation differences at contact between sensor and package due to measurement position and package design.

Demonstration of aircraft dynamic stability and response for aeronautical engineering students

1994 ◽  
Vol 98 (975) ◽  
pp. 192-193
Author(s):  
A.W. Bloy
Keyword(s):  
Dynamic Stability ◽  
Degrees Of Freedom ◽  
Engineering Students ◽  
Six Degrees Of Freedom ◽  
Stability And Control ◽  
Good Grasp ◽  
Aircraft Motion ◽  
Aeronautical Engineering ◽  
And Control ◽  
Aircraft Stability And Control

The teaching of aircraft stability and control at university usually progresses to the complexity of six degrees of freedom with a large array of aerodynamic, gravitational and inertial terms. It is therefore essential to ensure that students have a good grasp of fundamental dynamic characteristics such as damping and natural frequency, and any demonstration in which students observe aircraft motion is particularly helpful. At Manchester University this is achieved by a windtunnel demonstration of aircraft dynamic stability and response in pitch to a sinusoidal gust generator.

An Efficient Method for Motor Protection System Control Using Labview

2014 ◽  
Vol 4 (1) ◽  
pp. 43-50
Author(s):  
Abhay Kumar Singh ◽  
Shabbiruddin
Keyword(s):  
Fault Detection ◽  
Efficient Method ◽  
Motor System ◽  
Research Work ◽  
Protection System ◽  
System Control ◽  
Large Motor ◽  
And Control ◽  
Motor Protection ◽  
Financial Losses

The need for a motor protection system can be well understood by the fact that motors are integral device in any of the present day industries. Malfunctioning or any other faults in motor can halt the functioning of such industries. This can cause huge financial losses. So an efficient motor protection system is necessary. The present research work deals with the application of Labview for motor protection system, which can constantly monitor and control, a large motor system. This paper presents a highly reliable approach towards protection of commonly used motors. Here we deal with different kinds of motor faults and detection of all these faults using NI LABVIEW™. The present paper will not only be helpful for industrial purposes but it can also be helpful for students to understand motor fault detection. The LABVIEW has been successfully applied to make an efficient motor protection system.

scholarly journals Digital Governance of Moroccan School Establishments

2021 ◽  
pp. 348-355
Author(s):  
Abderrazak Mazouak ◽  
Malika Tridane ◽  
Said Belaaouad
Keyword(s):  
Research Work ◽  
Project Planning ◽  
Pedagogical Practices ◽  
Third Phase ◽  
First Results ◽  
On Line ◽  
The One ◽  
Traditional Paradigm ◽  
And Control ◽  
Relationship Of

Digital technologies have come to shake up the traditional paradigm of learning, and to change the existing relationship of "know-teaching" to put in place a key concept of the time is "to accompany through digital tools Our intervention is part of a technical-pedagogical approach and will focus on an action research work in which we will try:First, to present on line an accessible digital device that facilitates and organizes project planning and provides means to govern and control the quality of administrative acts.Next, We will show the first results of the experimentation of this tool in our context of research represented by 355 directors of the secondary schools of the provincial delegation of Taza. Morocco, pointing out all the constraints and limitations that hampered its implementation.Finally, we confirm that the use of this device by our sampling has caused a triple effect on their pedagogical practices: the professionalization of strategic planning on the one hand, and the governance of resources and the rationalization of pedagogical decisions on the other hand and immediate evaluation and regulation in the third phase.

scholarly journals Characteristics of Optical Silicone Tactile Sensor

2015 ◽  
Vol 76 (1) ◽  
Author(s):  
Nurul Fathiah Mohamed Rosli ◽  
Muhammad Azmi Ayub ◽  
Roseleena Jaafan
Keyword(s):  
Endoscopic Surgery ◽  
Biomedical Applications ◽  
Force Measurement ◽  
Research Work ◽  
Surface Hardness ◽  
Tactile Sensor ◽  
Computer Algorithm ◽  
Anal Ysis ◽  
Area And Perimeter ◽  
Images Processing

The main objective of this research work is to anal yze the characteristics of a newly developed optical tactile sensor for sensing surface hardness. Many optical tactile sensors are bulky in size and lack of dexterity for biomedical applications. Therefore, this tactile sensor is design relative small in size and flexible for easier insertion in endoscopic surgery application. The characteristics of the tactile sensor are calibrated with respect to changes in the diameter, area and perimeter of a silicon tactile sensor subjected to normal forces applied at the point of interaction. A surface exploration computer algorithm to obtain the sensing information was developed to analyse the characteristic of the optical tactile sensor. The overall image anal ysis technique involves the following main stages: image acquisition (capturing of images), processing (thresholding, noise filtering and boundary detection ) and evaluation (force measurement). The measured forces were then compared to the actual forces to determine the accuracy of the tactile sensor’s characteristics. The results showed tluit the sensing characteristic with respect to changes in perimeter of the tactile sensor is more accurate compared to the other sensing characteristics. The outcomes of this research shows that the functionality of the developed new image anal ysis computer algorithm coupled with the silicone tactile sensor is suitable for biomedical applications such as in endoscopic surgery for measurement of tissue softness.

scholarly journals Etude de l’effet rémanent de Mavi MNPV dans un champ de niébé

2020 ◽  
Vol 14 (6) ◽  
pp. 2219-2229
Author(s):  
A. Kindozandji ◽  
B.D. Datinon ◽  
K. Amevoin ◽  
A.N. Nondichao ◽  
A.I. Glitho ◽  
...  
Keyword(s):  
Research Work ◽  
Residual Effect ◽  
Maruca Vitrata ◽  
Sub Saharan Africa ◽  
Important Food ◽  
Food Legumes ◽  
Significant Difference ◽  
Sub Saharan ◽  
Rate Of Emergence ◽  
And Control

Le niébé est l’une des légumineuses alimentaires la plus importante dans toutes les régions de l’Afrique Sub-saharienne. L’objectif de ce travail était d’étudier l’effet rémanent de Mavi Multinucléo polyhedrovirus (Mavi MNPV) après la récolte du niébé au champ. Le champ a été traité 5 fois au biopesticide Mavi MNPV à la fréquence de sept jours. Deux semaines après la récolte, deux plants ainsi que les graines de chaque traitement sur chaque unité parcellaire ayant reçu les traitements de Mavi MNPV de 107, 108 et 109 virions/ml ont été collectés et amenés au laboratoire avec le substrat de développement de la plante (sable). Aucune des formulations issues des substrats sable, racines, feuilles, tiges et graines n’a affecté la mortalité des larves L2 et L3 de Maruca vitrata et aucune différence significative n’a été observée entre les traitements et le témoin. Quels que soient les traitements, le taux d’émergence des adultes est élevé ; ce qui signifie que la variation de la concentration de Mavi MNPV ne conditionne pas sa présence dans le sol, les tiges, les feuilles, les racines et les graines. Le biopesticide Mavi MNPV n’est pas persistant dans la nature.Mots clés : Niébé, Mavi MNPV, Maruca vitrata, Effet rémanent   English Title: Study of the residual effect of Mavi MNPV in a cowpea field Cowpea is one of the most important food legumes in all regions of Sub-Saharan Africa. The objective of this research work was to study the persistence effect of Mavi Multinucleus polyhedrovirus (Mavi MNPV) after field harvest of the cowpea. The field was treated 5 times with Mavi MNPV biopesticide at seven days. Two weeks after harvest, two plants as well as the seeds from each treatment on each plot unit that received Mavi MNPV treatments of 107, 108 and 109 virions / ml were removed and brought to the laboratory with the plant development substrate (sand). None of the formulations from sand, root, leaf, stem and seed substrates did not affect the mortality of L2 and L3 larvae of Maruca vitrata and no significant difference was observed between treatments and control. Regardless of the treatments, the rate of emergence of adults is high; this means that the variation in the concentration of Mavi MNPV does not condition its presence in soil, stems, leaves, roots and seeds. Mavi MNPV biopesticide is not persistent in nature.Keywords: Cowpea, Mavi MNPV, Maruca vitrata, Residual effect.      

Tactile sensor system for object recognition

2002 ◽  
Author(s):  
W.S. McMath ◽  
S.K. Yeung ◽  
M.D. Colven ◽  
E.M. Petriu ◽  
C. Gal ◽  
...  
Keyword(s):  
Object Recognition ◽  
Tactile Sensor ◽  
Sensor System

scholarly journals Design and Control of a Piezoelectric-Driven Microgripper Perceiving Displacement and Gripping Force

Micromachines ◽  
2020 ◽  
Vol 11 (2) ◽  
pp. 121 ◽  
Author(s):  
Yanru Zhao ◽  
Xiaojie Huang ◽  
Yong Liu ◽  
Geng Wang ◽  
Kunpeng Hong
Keyword(s):  
Pid Controller ◽  
Closed Loop ◽  
Tracking Error ◽  
Closed Loop Control ◽  
Structure Parameters ◽  
Loop Control ◽  
Amplification Ratio ◽  
Gripping Force ◽  
And Control ◽  
Tip Displacement

A piezoelectric-driven microgripper with three-stage amplification was designed, which is able to perceive the tip displacement and gripping force. The key structure parameters of the microgripper were determined by finite element optimization and its theoretical amplification ratio was derived. The tracking experiments of the tip displacement and gripping force were conducted with a PID controller. It is shown that the standard deviation of tracking error of the tip displacement is less than 0.2 μm and the gripping force is 0.35 mN under a closed-loop control. It would provide some references for realizing high-precision microassembly tasks with the designed microgripper which can control the displacement and gripping force accurately.

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