A Probabilistic Framework for Sonar Scan Matching Localization

Scan matching is a popular localization technique based on comparing two sets of range readings gathered at consecutive robot poses. Scan matching algorithms implicitly assume that matching readings correspond to the same object in the environment. This is a reasonable assumption when using accurate sensors such as laser range finders and that is why they are extensively used to perform scan matching localization. However, when using other sensors such as ultrasonic range finders or visual sonar, this assumption is no longer valid because of their lower angular resolution and the sparsity of the readings. In this paper we present a sonar scan matching framework, the spIC, which is able to deal with the sparseness and low angular resolution of sonar sensors. To deal with sparseness, a process to group sonar readings gathered along short robot trajectories is presented. Probabilistic models of ultrasonic and odometric sensors are defined to cope with the low sonar angular resolution. Consequently, a probabilistic scan matching process is performed. Finally, the correction of the whole robot trajectory involved in the matching process is presented as a constrained optimization problem.     

System modeling based measurement error analysis of digital sun sensors

Stringent attitude determination accuracy is required for the development of the advanced space technologies and thus the accuracy improvement of digital sun sensors is necessary.In this paper,we presented a proposal for measurement error analysis of a digital sun sensor.A system modeling including three different error sources was built and employed for system error analysis.Numerical simulations were also conducted to study the measurement error introduced by different sources of error.Based on our model and study,the system errors from different error sources are coupled and the system calibration should be elaborately designed to realize a digital sun sensor with extra-high accuracy.     

Sensor system of a small biped entertainment robot

SDR-4X II is the latest prototype model of a small biped entertainment robot. It is the improved model of SDR-4X. In this paper we report on the sensing system of this robot, which is important and essential for a small biped entertainment robot which will be used in the home environment. One technology is the design of the motion sensing system, i.e. the inclination sensor system and the force sensor system which obtains the inclination of the trunk and the foot with force. Another technology is the real-world sensing system. One aspect is the touch sensing system. The robot is used in a normal home environment, so we should strongly consider the safety aspects for human. Another is the vision sensor system. The configuration and the distance image acquisition are explained. Next is the audio sensor system which obtains the sound and the voice information. The hardware system and the direction recognition are explained. These sensing systems are the key to making the biped robot walking and dynamic motion highly stable, and understanding the real-world around the robot.     

Sensor properties of SBS block copolymer and carbon composite film structures

Abstract

Carbon composite thin films were prepared from a styrene butadiene styrene (SBS) block copolymer matrix with dispersed graphitic carbon as the second phase. Precursor solutions in the viscosity range of 150–200 cps were developed from codispersion of SBS–carbon in toluene as solvent base. Film coatings were prepared by spin coat onto glass, alumina or silicon substrates at 2000 rev min^?1 followed by drying and vacuum heat treatment at ～80°C. Characterisation of the films was carried out using differential scanning calorimetry (DSC), X-ray diffraction (XRD) and SEM techniques. Degree of crystallinity in the composite film structures was correlated with the strong positive temperature coefficient (PTC) effect. These composite thin films also showed high resistance sensitivity to temperature in the range from 2 90 to ?90 to +90°C. A unique feature of the resistance/temperature response was the observed negative temperature coefficient (NTC) behaviour below ～0°C combined with a strong PTC response above ～0°C. When exposed to various organic vapours, the composite films showed high selectivity, indicated by sensitive change in resistivity values.     

Microwave processing of thermosets: non-contact cure monitoring and fibre optic temperature sensors

Abstract

Conventionally, curing thermosetting resins involves heating the sample in an autoclave or an oven where heat is transferred to the sample through conduction and convection involving long processing time. Microwave curing offers an efficient alternative to thermal processing as heating occurs directly inside the sample resulting in lower energy consumption and faster curing. However, it requires non-metallic cure monitoring systems. In this study, a non-contact fibre optic probe was constructed and deployed inside a custom-modified microwave oven to record near-infrared (NIR) spectra, in real-time, of a thermoset undergoing cure. Simultaneous spectroscopic and temperature data on the sample during cure have been obtained for a range of microwave power levels. Comparison is also made between a sample cured in the microwave oven with one cured conventionally. In the final part, two optical fibre temperature sensors were designed and evaluated with an aim to use them in the microwave oven for temperature metrology. The sensors were based on the Fabry-Perot interferometer. The first sensor was evaluated from ambient to 400°C with an accuracy of ± 1·0°C, while the second sensor was tested from ambient to 300°C. The accuracy of the second sensor was ± 0·5°C.     

Processing and performance of Cr2O3–Fe2O3 reference electrode powders prepared by oxide coprecipitation

Abstract

Cr₂O₃–Fe₂O₃ based oxide mixtures for reference electrode powders of oxygen sensors were processed using oxide coprecipitation route. A special method for preparing reference electrode powders has been developed by mixing coarse Cr particles with the oxide mixture in the form of Cr–Fe hydroxide. Morphology and size of the mixed oxide powders were characterised by means of scanning electron microscopy and laser diffraction method. With the coprecipitation process, chemically homogeneous and very fine powders with a mean particle size of 1.53 μm were prepared. This powder mixture adhered and loosely coated to Cr particles. The processed reference electrode powders were tested in low level oxygen concentration measurements of steelmaking process under industrial scale. The reference electrode powders showed excellent results in terms of electromotive force reproducibility, response time and accuracy in soluble aluminium predictions at the oxygen concentration measurements. Most of the particles of the reference electrode powder remained separated after dipping to molten steel.     

Applicatons of Ink-Jet Printing Technology to BioMEMS and Microfluidic Systems

Applications of microfluidics and MEMS (micro-electromechanical systems) technology are emerging in many areas of biological and life sciences. Non-contact microdispensing systems for accurate, high-throughput deposition of bioactive fluids can be an enabling technology for these applications. In addition to bioactive fluid dispensing, ink-jet based microdispensing allows integration of features (electronic, photonic, sensing, structural, etc.) that are not possible, or very difficult, with traditional photolithographic-based MEMS fabrication methods. Our single fluid and multifluid (MatrixJet™) piezoelectric microdispensers have been used for spot synthesis of peptides, production of microspheres to deliver drugs/biological materials, microprinting of biodegradable polymers for cell proliferation in tissue engineering applications, and spot deposition for DNA, diagnostic immunoassay, antibody and protein arrays. We have created optical elements, sensors, and electrical interconnects by microdeposition of polymers and metal alloys. We have also demonstrated the integration of a reversed phase microcolumn within a piezoelectric dispenser for use in the fractionation of peptides for mass spectrometer analysis.     

The development of a fault-tolerant control approach and its implementation on a flexible arm robot

This article presents a robust sensor fault-tolerant control (FTC) scheme and its implementation on a flexible arm robot. Sensor faults affect the system's performance in the closed loop when the faulty sensor readings are used to generate the control input. In this article, the non-faulty sensors are used to reconstruct the faults on the potentially faulty sensors. The reconstruction is subtracted from the faulty sensors to generate a 'virtual sensor' which (instead of the normally used faulty sensor output) is then used to generate the control input. A design method is also presented in which the virtual sensor is made insensitive to any system uncertainties (which could corrupt the fault reconstruction) that cannot fit into the framework of the model used. Two fault conditions are tested: total failure and incipient faults. Then the scheme robustness is tested and evaluated through its implementation on two flexible arm systems, one with a flexible joint and the other with a flexible link. Excellent results have been obtained for both cases (joint and link); the FTC scheme produced system performance almost identical to the fault-free scenario, whilst providing an indication that a fault is present, even for simultaneous faults.