The Experts below are selected from a list of 123 Experts worldwide ranked by ideXlab platform
Uchechukwu C. Wejinya - One of the best experts on this subject based on the ideXlab platform.
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IROS - An active micro-force sensing system with piezoelectric servomechanism
2005 IEEE RSJ International Conference on Intelligent Robots and Systems, 2005Co-Authors: Yantao Shen, C.a. Pomeroy, Uchechukwu C. WejinyaAbstract:This paper aims at developing an active force sensing technology for micromanipulation and microassembly using in-situ piezoelectric polyvinylidene fluoride (PVDF) films symmetrically bonded to the surface of a flexible cantilever Beam structure. The designed micro-force sensing Beam has both sensing and actuating layers. The sensing layer can detect the deformation signal due to the external micro-force acting at the Sensor tip, the signal is then fed back to the actuating layer through a servoed transfer function or servo controller, as a result, a counteracting bending moment generated by the actuating layer can be used to balance the deformation of Sensor Beam in real time. Once balanced, the Sensor tip will maintain in the equilibrium position as if the Sensor stiffness is virtually improved, yielding accurate motion control of the Sensor tip. Especially, the micro-force can be obtained by calculating the balance force through the counteracting servo voltage applied to the actuating layer. The developed active structure greatly enlarge dynamic range of micro-force Sensor and enhance the manipulability during micromanipulation/ microassembly when the Sensor is mounted at the end-effector. Preliminary calibration and experimental results both verified the performance of the developed active micro-force Sensor and the effectiveness of the models. © 2005 IEEE.Link_to_subscribed_fulltex
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Optimal Control Based Active Force Sensing System for Micromanipulation
Proceedings 2005 IEEE ASME International Conference on Advanced Intelligent Mechatronics., 1Co-Authors: E. Winder, Yantao Shen, Weihua Sheng, Uchechukwu C. Wejinya, C.a. PomeroyAbstract:This paper presents the development of an active force sensing technology for micromanipulation using in-situ polyvinylidene fluoride (PVDF) layers symmetrically bonded to the surface of a flexible cantilever Beam structure. This Beam has both sensing and actuating PVDF layers. The sensing layer detects the deformation signal due to an external micro-force acting at the Sensor tip. Using a LQR optimal feedback control scheme, a counteracting bending moment is generated by the actuating layer, balancing the deformation of the Sensor Beam. The Sensor tip will then maintain the equilibrium position as though the Sensor stiffness is virtually improved, yielding accurate motion control of the Sensor tip. Furthermore, the micro-force value can be obtained by calculating the balance force generated by the counteracting servo voltage applied to the actuating layer. Experimental results verify both the per- formance of the active micro-force Sensor and the effectiveness of the models. In this paper, the much more sensitive, stable and robust approach of piezoelectric sensing/actuating is used. The active Sensor is built based on the bilateral mechanical- electrical behaviors of piezoelectric PVDF film. Both sensing and actuating functions are reliable, which enables high performance active sensing with wide application to different micromanipulation environments. The objective of this paper is to develop an active micro scale force sensing system using a cantilever Beam-based Sensor structure with symmetrically bonded PVDF sensing and actuating layers. When an external micro-force deforms the Sensor, and the contact force is recorded by the PVDF sensing layer and fed back to the PVDF actuating layer through a LQR optimal servo controller. A counteracting deformation is then generated by the bending moment of the actuating layer to balance the deformation. Thus the Sensor Beam becomes straight, and the tip will remain in the equilibrium position. Furthermore, the value of the micro- force can be obtained simultaneously using the balance voltage which is applied to the actuating layer. Using the LQR compensator, the tip deflection and velocity can be estimated by the observer without the measurements. This active approach enlarges the dynamic range of the Sensor and will enhance manipulability during micromanipulation. This Sensor is highly sensitive with a simple structure. Experimental results verify both the performance of this active micro-force Sensor and the effectiveness of the models.
Yantao Shen - One of the best experts on this subject based on the ideXlab platform.
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IROS - An active micro-force sensing system with piezoelectric servomechanism
2005 IEEE RSJ International Conference on Intelligent Robots and Systems, 2005Co-Authors: Yantao Shen, C.a. Pomeroy, Uchechukwu C. WejinyaAbstract:This paper aims at developing an active force sensing technology for micromanipulation and microassembly using in-situ piezoelectric polyvinylidene fluoride (PVDF) films symmetrically bonded to the surface of a flexible cantilever Beam structure. The designed micro-force sensing Beam has both sensing and actuating layers. The sensing layer can detect the deformation signal due to the external micro-force acting at the Sensor tip, the signal is then fed back to the actuating layer through a servoed transfer function or servo controller, as a result, a counteracting bending moment generated by the actuating layer can be used to balance the deformation of Sensor Beam in real time. Once balanced, the Sensor tip will maintain in the equilibrium position as if the Sensor stiffness is virtually improved, yielding accurate motion control of the Sensor tip. Especially, the micro-force can be obtained by calculating the balance force through the counteracting servo voltage applied to the actuating layer. The developed active structure greatly enlarge dynamic range of micro-force Sensor and enhance the manipulability during micromanipulation/ microassembly when the Sensor is mounted at the end-effector. Preliminary calibration and experimental results both verified the performance of the developed active micro-force Sensor and the effectiveness of the models. © 2005 IEEE.Link_to_subscribed_fulltex
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Optimal Control Based Active Force Sensing System for Micromanipulation
Proceedings 2005 IEEE ASME International Conference on Advanced Intelligent Mechatronics., 1Co-Authors: E. Winder, Yantao Shen, Weihua Sheng, Uchechukwu C. Wejinya, C.a. PomeroyAbstract:This paper presents the development of an active force sensing technology for micromanipulation using in-situ polyvinylidene fluoride (PVDF) layers symmetrically bonded to the surface of a flexible cantilever Beam structure. This Beam has both sensing and actuating PVDF layers. The sensing layer detects the deformation signal due to an external micro-force acting at the Sensor tip. Using a LQR optimal feedback control scheme, a counteracting bending moment is generated by the actuating layer, balancing the deformation of the Sensor Beam. The Sensor tip will then maintain the equilibrium position as though the Sensor stiffness is virtually improved, yielding accurate motion control of the Sensor tip. Furthermore, the micro-force value can be obtained by calculating the balance force generated by the counteracting servo voltage applied to the actuating layer. Experimental results verify both the per- formance of the active micro-force Sensor and the effectiveness of the models. In this paper, the much more sensitive, stable and robust approach of piezoelectric sensing/actuating is used. The active Sensor is built based on the bilateral mechanical- electrical behaviors of piezoelectric PVDF film. Both sensing and actuating functions are reliable, which enables high performance active sensing with wide application to different micromanipulation environments. The objective of this paper is to develop an active micro scale force sensing system using a cantilever Beam-based Sensor structure with symmetrically bonded PVDF sensing and actuating layers. When an external micro-force deforms the Sensor, and the contact force is recorded by the PVDF sensing layer and fed back to the PVDF actuating layer through a LQR optimal servo controller. A counteracting deformation is then generated by the bending moment of the actuating layer to balance the deformation. Thus the Sensor Beam becomes straight, and the tip will remain in the equilibrium position. Furthermore, the value of the micro- force can be obtained simultaneously using the balance voltage which is applied to the actuating layer. Using the LQR compensator, the tip deflection and velocity can be estimated by the observer without the measurements. This active approach enlarges the dynamic range of the Sensor and will enhance manipulability during micromanipulation. This Sensor is highly sensitive with a simple structure. Experimental results verify both the performance of this active micro-force Sensor and the effectiveness of the models.
C.a. Pomeroy - One of the best experts on this subject based on the ideXlab platform.
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IROS - An active micro-force sensing system with piezoelectric servomechanism
2005 IEEE RSJ International Conference on Intelligent Robots and Systems, 2005Co-Authors: Yantao Shen, C.a. Pomeroy, Uchechukwu C. WejinyaAbstract:This paper aims at developing an active force sensing technology for micromanipulation and microassembly using in-situ piezoelectric polyvinylidene fluoride (PVDF) films symmetrically bonded to the surface of a flexible cantilever Beam structure. The designed micro-force sensing Beam has both sensing and actuating layers. The sensing layer can detect the deformation signal due to the external micro-force acting at the Sensor tip, the signal is then fed back to the actuating layer through a servoed transfer function or servo controller, as a result, a counteracting bending moment generated by the actuating layer can be used to balance the deformation of Sensor Beam in real time. Once balanced, the Sensor tip will maintain in the equilibrium position as if the Sensor stiffness is virtually improved, yielding accurate motion control of the Sensor tip. Especially, the micro-force can be obtained by calculating the balance force through the counteracting servo voltage applied to the actuating layer. The developed active structure greatly enlarge dynamic range of micro-force Sensor and enhance the manipulability during micromanipulation/ microassembly when the Sensor is mounted at the end-effector. Preliminary calibration and experimental results both verified the performance of the developed active micro-force Sensor and the effectiveness of the models. © 2005 IEEE.Link_to_subscribed_fulltex
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Optimal Control Based Active Force Sensing System for Micromanipulation
Proceedings 2005 IEEE ASME International Conference on Advanced Intelligent Mechatronics., 1Co-Authors: E. Winder, Yantao Shen, Weihua Sheng, Uchechukwu C. Wejinya, C.a. PomeroyAbstract:This paper presents the development of an active force sensing technology for micromanipulation using in-situ polyvinylidene fluoride (PVDF) layers symmetrically bonded to the surface of a flexible cantilever Beam structure. This Beam has both sensing and actuating PVDF layers. The sensing layer detects the deformation signal due to an external micro-force acting at the Sensor tip. Using a LQR optimal feedback control scheme, a counteracting bending moment is generated by the actuating layer, balancing the deformation of the Sensor Beam. The Sensor tip will then maintain the equilibrium position as though the Sensor stiffness is virtually improved, yielding accurate motion control of the Sensor tip. Furthermore, the micro-force value can be obtained by calculating the balance force generated by the counteracting servo voltage applied to the actuating layer. Experimental results verify both the per- formance of the active micro-force Sensor and the effectiveness of the models. In this paper, the much more sensitive, stable and robust approach of piezoelectric sensing/actuating is used. The active Sensor is built based on the bilateral mechanical- electrical behaviors of piezoelectric PVDF film. Both sensing and actuating functions are reliable, which enables high performance active sensing with wide application to different micromanipulation environments. The objective of this paper is to develop an active micro scale force sensing system using a cantilever Beam-based Sensor structure with symmetrically bonded PVDF sensing and actuating layers. When an external micro-force deforms the Sensor, and the contact force is recorded by the PVDF sensing layer and fed back to the PVDF actuating layer through a LQR optimal servo controller. A counteracting deformation is then generated by the bending moment of the actuating layer to balance the deformation. Thus the Sensor Beam becomes straight, and the tip will remain in the equilibrium position. Furthermore, the value of the micro- force can be obtained simultaneously using the balance voltage which is applied to the actuating layer. Using the LQR compensator, the tip deflection and velocity can be estimated by the observer without the measurements. This active approach enlarges the dynamic range of the Sensor and will enhance manipulability during micromanipulation. This Sensor is highly sensitive with a simple structure. Experimental results verify both the performance of this active micro-force Sensor and the effectiveness of the models.
Steven M. Lavalle - One of the best experts on this subject based on the ideXlab platform.
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ICRA - Planning under topological constraints using Beam-graphs
2013 IEEE International Conference on Robotics and Automation, 2013Co-Authors: Venkatraman Narayanan, Paul Vernaza, Maxim Likhachev, Steven M. LavalleAbstract:We present a framework based on graph search for navigation in the plane with a variety of topological constraints. The method is based on modifying a standard graph-based navigation approach to keep an additional state variable that encodes topological information about the path. The topological information is represented by a sequence of virtual Sensor Beam crossings. By considering classes of Beam crossing sequences to be equivalent under certain equivalence relations, we obtain a general method for planning with topological constraints that subsumes existing approaches while admitting more favorable representational characteristics. We provide experimental results that validate the approach and show how the planner can be used to find loop paths for autonomous surveillance problems, simultaneously satisfying minimum-cost objectives and in dynamic environments. As an additional application, we demonstrate the use of our planner on the PR2 robot for automated building of 3D object models.
Frédéric Smektala - One of the best experts on this subject based on the ideXlab platform.
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Infrared optical Sensor for CO2 detection
Optical Sensors 2009, 2009Co-Authors: Frédéric Charpentier, Johann Troles, Virginie Nazabal, Quentin Coulombier, Laurent Brilland, Hervé Lhermite, Joël Charrier, Petr Nemec, Catherine Boussard-plédel, Frédéric SmektalaAbstract:conference 7366 " Optical Sensors ", session 8 " Chemical Sensors " [7356-36], http://spie.org/optics-optoelectronics.xmlInternational audienceAmong the measures to reduce CO2 emissions, capture and geological storage holds out promise for the future in the fight against climate change. The aim of this project is to develop a remote optical Sensor working in the mid-infrared range which will be able to detect and monitor carbon dioxide gas. Thus, chalcogenide glasses, transmitting light in the 1-6 μm range, are matchless materials. The first of our optical device is based on the use of two GeSe4 chalcogenide optical fibers, connected to an FTIR spectrometer and where CO2 gas can flow freely through a 4 mm-spacing between fibers. Such Sensor system is fully reversible and the sensitivity threshold is about 0.5 vol.%. Fiber Evanescent Wave Spectroscopy technology was also studied using a microstructured chalcogenide fiber and first tests led at 4.2 μm have provided very promising results. Finally, in order to explore the potentiality of integrated optical structures for microSensor, sulphide or selenide Ge25Sb10S(Se)65 rib waveguide were deposited on Si/SiO2 wafer substrates, using pulsed laser deposition and RF magnetron sputtering deposition methods. The final aim of this study is to develop a rib waveguide adapted for middle-IR including an Y-splitter with a reference Beam and Sensor Beam targeting an accurate CO2 detection
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Infrared optical Sensor for CO2 detection
2009Co-Authors: Frédéric Charpentier, Bruno Bureau, Johann Troles, Virginie Nazabal, Quentin Coulombier, Laurent Brilland, Frédéric Smektala, Hervé Lhermite, Joël Charrier, Petr NemecAbstract:Among the measures to reduce CO2 emissions, capture and geological storage holds out promise for the future in the fight against climate change. The aim of this project is to develop a remote optical Sensor working in the mid-infrared range which will be able to detect and monitor carbon dioxide gas. Thus, chalcogenide glasses, transmitting light in the 1-6 μm range, are matchless materials. The first of our optical device is based on the use of two GeSe4 chalcogenide optical fibers, connected to an FTIR spectrometer and where CO2 gas can flow freely through a 4 mm-spacing between fibers. Such Sensor system is fully reversible and the sensitivity threshold is about 0.5 vol.%. Fiber Evanescent Wave Spectroscopy technology was also studied using a microstructured chalcogenide fiber and first tests led at 4.2 μm have provided very promising results. Finally, in order to explore the potentiality of integrated optical structures for microSensor, sulphide or selenide Ge25Sb10S(Se)65 rib waveguide were deposited on Si/SiO2 wafer substrates, using pulsed laser deposition and RF magnetron sputtering deposition methods. The final aim of this study is to develop a rib waveguide adapted for middle-IR including an Y-splitter with a reference Beam and Sensor Beam targeting an accurate CO2 detection.
