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Sample records for 3d force sensor

  1. Design Principles for Rapid Prototyping Forces Sensors using 3D Printing

    PubMed Central

    Kesner, Samuel B.; Howe, Robert D.

    2011-01-01

    Force sensors provide critical information for robot manipulators, manufacturing processes, and haptic interfaces. Commercial force sensors, however, are generally not adapted to specific system requirements, resulting in sensors with excess size, cost, and fragility. To overcome these issues, 3D printers can be used to create components for the quick and inexpensive development of force sensors. Limitations of this rapid prototyping technology, however, require specialized design principles. In this paper, we discuss techniques for rapidly developing simple force sensors, including selecting and attaching metal flexures, using inexpensive and simple displacement transducers, and 3D printing features to aid in assembly. These design methods are illustrated through the design and fabrication of a miniature force sensor for the tip of a robotic catheter system. The resulting force sensor prototype can measure forces with an accuracy of as low as 2% of the 10 N measurement range. PMID:21874102

  2. Design Principles for Rapid Prototyping Forces Sensors using 3D Printing.

    PubMed

    Kesner, Samuel B; Howe, Robert D

    2011-07-21

    Force sensors provide critical information for robot manipulators, manufacturing processes, and haptic interfaces. Commercial force sensors, however, are generally not adapted to specific system requirements, resulting in sensors with excess size, cost, and fragility. To overcome these issues, 3D printers can be used to create components for the quick and inexpensive development of force sensors. Limitations of this rapid prototyping technology, however, require specialized design principles. In this paper, we discuss techniques for rapidly developing simple force sensors, including selecting and attaching metal flexures, using inexpensive and simple displacement transducers, and 3D printing features to aid in assembly. These design methods are illustrated through the design and fabrication of a miniature force sensor for the tip of a robotic catheter system. The resulting force sensor prototype can measure forces with an accuracy of as low as 2% of the 10 N measurement range.

  3. Design and Sensitivity Analysis Simulation of a Novel 3D Force Sensor Based on a Parallel Mechanism

    PubMed Central

    Yang, Eileen Chih-Ying

    2016-01-01

    Automated force measurement is one of the most important technologies in realizing intelligent automation systems. However, while many methods are available for micro-force sensing, measuring large three-dimensional (3D) forces and loads remains a significant challenge. Accordingly, the present study proposes a novel 3D force sensor based on a parallel mechanism. The transformation function and sensitivity index of the proposed sensor are analytically derived. The simulation results show that the sensor has a larger effective measuring capability than traditional force sensors. Moreover, the sensor has a greater measurement sensitivity for horizontal forces than for vertical forces over most of the measurable force region. In other words, compared to traditional force sensors, the proposed sensor is more sensitive to shear forces than normal forces. PMID:27999246

  4. Moving past normal force: capturing and classifying shear motion using 3D sensors.

    PubMed

    Kwan, Calvin; Salud, Lawrence; Ononye, Chiagozie; Zhao, Shenshen; Pugh, Carla

    2012-01-01

    In our previous research, we used clinical breast examination models instrumented with direct (normal) force sensors for training and assessment. A weakness of the normal force sensors is the ability to delineate, in detail, all of the performance measures we wish to understand. This study incorporated the use of newly developed shear force sensors to extend a framework for quantifying hands-on performance.

  5. Development of the crone seedlings handling system using 3D-sensor and force control gripper

    NASA Astrophysics Data System (ADS)

    Hojo, Hirotaka; Takarada, Hiroshi; Hiroyasu, Takahisa; Hata, Seiji

    2005-12-01

    The crone seedlings have unstable form and it is hard to handle. In order to transplant crone seedlings automatically, the functions of 3D-shape recognition and force control of grippers are indispensable. We have introduced the new handling technology which combines the 3D-mesurement using the relative stereo method and gripping method by gripping stroke control for high elasticity forceps structure. In this gripping method, the gripping force is controlled according to the shoot diameter which is measured by 3d-mesurment of relative stereo method. The experimental crone seedlings transplant system using the new handling technique has been shown.

  6. Development of 3D Force Sensors for Nanopositioning and Nanomeasuring Machine

    PubMed Central

    Tibrewala, Arti; Hofmann, Norbert; Phataralaoha, Anurak; Jäger, Gerd; Büttgenbach, Stephanus

    2009-01-01

    In this contribution, we report on different miniaturized bulk micro machined three-axes piezoresistive force sensors for nanopositioning and nanomeasuring machine (NPMM). Various boss membrane structures, such as one boss full/cross, five boss full/cross and swastika membranes, were used as a basic structure for the force sensors. All designs have 16 p-type diffused piezoresistors on the surface of the membrane. Sensitivities in x, y and z directions are measured. Simulated and measured stiffness ratio in horizontal to vertical direction is measured for each design. Effect of the length of the stylus on H:V stiffness ratio is studied. Minimum and maximum deflection and resonance frequency are measured for all designs. The sensors were placed in a nanopositioning and nanomeasuring machine and one point measurements were performed for all the designs. Lastly the application of the sensor is shown, where dimension of a cube is measured using the sensor. PMID:22412308

  7. A method of improving the dynamic response of 3D force/torque sensors

    NASA Astrophysics Data System (ADS)

    Osypiuk, Rafał; Piskorowski, Jacek; Kubus, Daniel

    2016-02-01

    In the paper attention is drawn to adverse dynamic properties of filters implemented in commercial measurement systems, force/torque sensors, which are increasingly used in industrial robotics. To remedy the problem, it has been proposed to employ a time-variant filter with appropriately modulated parameters, owing to which it is possible to suppress the amplitude of the transient response and, at the same time, to increase the pulsation of damped oscillations; this results in the improvement of dynamic properties in terms of reducing the duration of transients. This property plays a key role in force control and in the fundamental problem of the robot establishing contact with rigid environment. The parametric filters have been verified experimentally and compared with filters available for force/torque sensors manufactured by JR3. The obtained results clearly indicate the advantages of the proposed solution, which may be an interesting alternative to the classic methods of filtration.

  8. Flexible Piezoresistive Sensors Embedded in 3D Printed Tires

    PubMed Central

    Emon, Md Omar Faruk; Choi, Jae-Won

    2017-01-01

    In this article, we report the development of a flexible, 3D printable piezoresistive pressure sensor capable of measuring force and detecting the location of the force. The multilayer sensor comprises of an ionic liquid-based piezoresistive intermediate layer in between carbon nanotube (CNT)-based stretchable electrodes. A sensor containing an array of different sensing units was embedded on the inner liner surface of a 3D printed tire to provide with force information at different points of contact between the tire and road. Four scaled tires, as well as wheels, were 3D printed using a flexible and a rigid material, respectively, which were later assembled with a 3D-printed chassis. Only one tire was equipped with a sensor and the chassis was driven through a motorized linear stage at different speeds and load conditions to evaluate the sensor performance. The sensor was fabricated via molding and screen printing processes using a commercially available 3D-printable photopolymer as 3D printing is our target manufacturing technique to fabricate the entire tire assembly with the sensor. Results show that the proposed sensors, inserted in the 3D printed tire assembly, could detect forces, as well as their locations, properly. PMID:28327533

  9. Flexible Piezoresistive Sensors Embedded in 3D Printed Tires.

    PubMed

    Emon, Md Omar Faruk; Choi, Jae-Won

    2017-03-22

    In this article, we report the development of a flexible, 3D printable piezoresistive pressure sensor capable of measuring force and detecting the location of the force. The multilayer sensor comprises of an ionic liquid-based piezoresistive intermediate layer in between carbon nanotube (CNT)-based stretchable electrodes. A sensor containing an array of different sensing units was embedded on the inner liner surface of a 3D printed tire to provide with force information at different points of contact between the tire and road. Four scaled tires, as well as wheels, were 3D printed using a flexible and a rigid material, respectively, which were later assembled with a 3D-printed chassis. Only one tire was equipped with a sensor and the chassis was driven through a motorized linear stage at different speeds and load conditions to evaluate the sensor performance. The sensor was fabricated via molding and screen printing processes using a commercially available 3D-printable photopolymer as 3D printing is our target manufacturing technique to fabricate the entire tire assembly with the sensor. Results show that the proposed sensors, inserted in the 3D printed tire assembly, could detect forces, as well as their locations, properly.

  10. A 3D CFD Simulation and Analysis of Flow-Induced Forces on Polymer Piezoelectric Sensors in a Chinese Liquors Identification E-Nose

    PubMed Central

    Gu, Yu; Wang, Yang-Fu; Li, Qiang; Liu, Zu-Wu

    2016-01-01

    Chinese liquors can be classified according to their flavor types. Accurate identification of Chinese liquor flavors is not always possible through professional sommeliers’ subjective assessment. A novel polymer piezoelectric sensor electric nose (e-nose) can be applied to distinguish Chinese liquors because of its excellent ability in imitating human senses by using sensor arrays and pattern recognition systems. The sensor, based on the quartz crystal microbalance (QCM) principle is comprised of a quartz piezoelectric crystal plate sandwiched between two specific gas-sensitive polymer coatings. Chinese liquors are identified by obtaining the resonance frequency value changes of each sensor using the e-nose. However, the QCM principle failed to completely account for a particular phenomenon: we found that the resonance frequency values fluctuated in the stable state. For better understanding the phenomenon, a 3D Computational Fluid Dynamics (CFD) simulation using the finite volume method is employed to study the influence of the flow-induced forces to the resonance frequency fluctuation of each sensor in the sensor box. A dedicated procedure was developed for modeling the flow of volatile gas from Chinese liquors in a realistic scenario to give reasonably good results with fair accuracy. The flow-induced forces on the sensors are displayed from the perspective of their spatial-temporal and probability density distributions. To evaluate the influence of the fluctuation of the flow-induced forces on each sensor and ensure the serviceability of the e-nose, the standard deviation of resonance frequency value (SDF) and the standard deviation of resultant forces (SDFy) in y-direction (Fy) are compared. Results show that the fluctuations of Fy are bound up with the resonance frequency values fluctuations. To ensure that the sensor's resonance frequency values are steady and only fluctuate slightly, in order to improve the identification accuracy of Chinese liquors using

  11. A 3D CFD Simulation and Analysis of Flow-Induced Forces on Polymer Piezoelectric Sensors in a Chinese Liquors Identification E-Nose.

    PubMed

    Gu, Yu; Wang, Yang-Fu; Li, Qiang; Liu, Zu-Wu

    2016-10-20

    Chinese liquors can be classified according to their flavor types. Accurate identification of Chinese liquor flavors is not always possible through professional sommeliers' subjective assessment. A novel polymer piezoelectric sensor electric nose (e-nose) can be applied to distinguish Chinese liquors because of its excellent ability in imitating human senses by using sensor arrays and pattern recognition systems. The sensor, based on the quartz crystal microbalance (QCM) principle is comprised of a quartz piezoelectric crystal plate sandwiched between two specific gas-sensitive polymer coatings. Chinese liquors are identified by obtaining the resonance frequency value changes of each sensor using the e-nose. However, the QCM principle failed to completely account for a particular phenomenon: we found that the resonance frequency values fluctuated in the stable state. For better understanding the phenomenon, a 3D Computational Fluid Dynamics (CFD) simulation using the finite volume method is employed to study the influence of the flow-induced forces to the resonance frequency fluctuation of each sensor in the sensor box. A dedicated procedure was developed for modeling the flow of volatile gas from Chinese liquors in a realistic scenario to give reasonably good results with fair accuracy. The flow-induced forces on the sensors are displayed from the perspective of their spatial-temporal and probability density distributions. To evaluate the influence of the fluctuation of the flow-induced forces on each sensor and ensure the serviceability of the e-nose, the standard deviation of resonance frequency value (SDF) and the standard deviation of resultant forces (SDFy) in y-direction (Fy) are compared. Results show that the fluctuations of Fy are bound up with the resonance frequency values fluctuations. To ensure that the sensor's resonance frequency values are steady and only fluctuate slightly, in order to improve the identification accuracy of Chinese liquors using

  12. Fabrication of 3D Silicon Sensors

    SciTech Connect

    Kok, A.; Hansen, T.E.; Hansen, T.A.; Lietaer, N.; Summanwar, A.; Kenney, C.; Hasi, J.; Da Via, C.; Parker, S.I.; /Hawaii U.

    2012-06-06

    Silicon sensors with a three-dimensional (3-D) architecture, in which the n and p electrodes penetrate through the entire substrate, have many advantages over planar silicon sensors including radiation hardness, fast time response, active edge and dual readout capabilities. The fabrication of 3D sensors is however rather complex. In recent years, there have been worldwide activities on 3D fabrication. SINTEF in collaboration with Stanford Nanofabrication Facility have successfully fabricated the original (single sided double column type) 3D detectors in two prototype runs and the third run is now on-going. This paper reports the status of this fabrication work and the resulted yield. The work of other groups such as the development of double sided 3D detectors is also briefly reported.

  13. 3D Viscoelastic traction force microscopy.

    PubMed

    Toyjanova, Jennet; Hannen, Erin; Bar-Kochba, Eyal; Darling, Eric M; Henann, David L; Franck, Christian

    2014-10-28

    Native cell-material interactions occur on materials differing in their structural composition, chemistry, and physical compliance. While the last two decades have shown the importance of traction forces during cell-material interactions, they have been almost exclusively presented on purely elastic in vitro materials. Yet, most bodily tissue materials exhibit some level of viscoelasticity, which could play an important role in how cells sense and transduce tractions. To expand the realm of cell traction measurements and to encompass all materials from elastic to viscoelastic, this paper presents a general, and comprehensive approach for quantifying 3D cell tractions in viscoelastic materials. This methodology includes the experimental characterization of the time-dependent material properties for any viscoelastic material with the subsequent mathematical implementation of the determined material model into a 3D traction force microscopy (3D TFM) framework. Utilizing this new 3D viscoelastic TFM (3D VTFM) approach, we quantify the influence of viscosity on the overall material traction calculations and quantify the error associated with omitting time-dependent material effects, as is the case for all other TFM formulations. We anticipate that the 3D VTFM technique will open up new avenues of cell-material investigations on even more physiologically relevant time-dependent materials including collagen and fibrin gels.

  14. 3-D Force-balanced Magnetospheric Configurations

    SciTech Connect

    Sorin Zaharia; C.Z. Cheng; K. Maezawa

    2003-02-10

    The knowledge of plasma pressure is essential for many physics applications in the magnetosphere, such as computing magnetospheric currents and deriving magnetosphere-ionosphere coupling. A thorough knowledge of the 3-D pressure distribution has however eluded the community, as most in-situ pressure observations are either in the ionosphere or the equatorial region of the magnetosphere. With the assumption of pressure isotropy there have been attempts to obtain the pressure at different locations by either (a) mapping observed data (e.g., in the ionosphere) along the field lines of an empirical magnetospheric field model or (b) computing a pressure profile in the equatorial plane (in 2-D) or along the Sun-Earth axis (in 1-D) that is in force balance with the magnetic stresses of an empirical model. However, the pressure distributions obtained through these methods are not in force balance with the empirical magnetic field at all locations. In order to find a global 3-D plasma pressure distribution in force balance with the magnetospheric magnetic field, we have developed the MAG-3D code, that solves the 3-D force balance equation J x B = (upside-down delta) P computationally. Our calculation is performed in a flux coordinate system in which the magnetic field is expressed in terms of Euler potentials as B = (upside-down delta) psi x (upside-down delta) alpha. The pressure distribution, P = P(psi,alpha), is prescribed in the equatorial plane and is based on satellite measurements. In addition, computational boundary conditions for y surfaces are imposed using empirical field models. Our results provide 3-D distributions of magnetic field and plasma pressure as well as parallel and transverse currents for both quiet-time and disturbed magnetospheric conditions.

  15. Multi-resolution optical 3D sensor

    NASA Astrophysics Data System (ADS)

    Kühmstedt, Peter; Heinze, Matthias; Schmidt, Ingo; Breitbarth, Martin; Notni, Gunther

    2007-06-01

    A new multi resolution self calibrating optical 3D measurement system using fringe projection technique named "kolibri FLEX multi" will be presented. It can be utilised to acquire the all around shape of small to medium objects, simultaneously. The basic measurement principle is the phasogrammetric approach /1,2,3/ in combination with the method of virtual landmarks for the merging of the 3D single views. The system consists in minimum of two fringe projection sensors. The sensors are mounted on a rotation stage illuminating the object from different directions. The measurement fields of the sensors can be chosen different, here as an example 40mm and 180mm in diameter. In the measurement the object can be scanned at the same time with these two resolutions. Using the method of virtual landmarks both point clouds are calculated within the same world coordinate system resulting in a common 3D-point cloud. The final point cloud includes the overview of the object with low point density (wide field) and a region with high point density (focussed view) at the same time. The advantage of the new method is the possibility to measure with different resolutions at the same object region without any mechanical changes in the system or data post processing. Typical parameters of the system are: the measurement time is 2min for 12 images and the measurement accuracy is below 3μm up to 10 μm. The flexibility makes the measurement system useful for a wide range of applications such as quality control, rapid prototyping, design and CAD/CAM which will be shown in the paper.

  16. Force sensor

    DOEpatents

    Grahn, A.R.

    1993-05-11

    A force sensor and related method for determining force components is described. The force sensor includes a deformable medium having a contact surface against which a force can be applied, a signal generator for generating signals that travel through the deformable medium to the contact surface, a signal receptor for receiving the signal reflected from the contact surface, a generation controller, a reception controller, and a force determination apparatus. The signal generator has one or more signal generation regions for generating the signals. The generation controller selects and activates the signal generation regions. The signal receptor has one or more signal reception regions for receiving signals and for generating detections signals in response thereto. The reception controller selects signal reception regions and detects the detection signals. The force determination apparatus measures signal transit time by timing activation and detection and, optionally, determines force components for selected cross-field intersections. The timer which times by activation and detection can be any means for measuring signal transit time. A cross-field intersection is defined by the overlap of a signal generation region and a signal reception region.

  17. Force sensor

    DOEpatents

    Grahn, Allen R.

    1993-01-01

    A force sensor and related method for determining force components. The force sensor includes a deformable medium having a contact surface against which a force can be applied, a signal generator for generating signals that travel through the deformable medium to the contact surface, a signal receptor for receiving the signal reflected from the contact surface, a generation controller, a reception controller, and a force determination apparatus. The signal generator has one or more signal generation regions for generating the signals. The generation controller selects and activates the signal generation regions. The signal receptor has one or more signal reception regions for receiving signals and for generating detections signals in response thereto. The reception controller selects signal reception regions and detects the detection signals. The force determination apparatus measures signal transit time by timing activation and detection and, optionally, determines force components for selected cross-field intersections. The timer which times by activation and detection can be any means for measuring signal transit time. A cross-field intersection is defined by the overlap of a signal generation region and a signal reception region.

  18. 3D Multi-Spectrum Sensor System with Face Recognition

    PubMed Central

    Kim, Joongrock; Yu, Sunjin; Kim, Ig-Jae; Lee, Sangyoun

    2013-01-01

    This paper presents a novel three-dimensional (3D) multi-spectrum sensor system, which combines a 3D depth sensor and multiple optical sensors for different wavelengths. Various image sensors, such as visible, infrared (IR) and 3D sensors, have been introduced into the commercial market. Since each sensor has its own advantages under various environmental conditions, the performance of an application depends highly on selecting the correct sensor or combination of sensors. In this paper, a sensor system, which we will refer to as a 3D multi-spectrum sensor system, which comprises three types of sensors, visible, thermal-IR and time-of-flight (ToF), is proposed. Since the proposed system integrates information from each sensor into one calibrated framework, the optimal sensor combination for an application can be easily selected, taking into account all combinations of sensors information. To demonstrate the effectiveness of the proposed system, a face recognition system with light and pose variation is designed. With the proposed sensor system, the optimal sensor combination, which provides new effectively fused features for a face recognition system, is obtained. PMID:24072025

  19. 3D sensors for the HL-LHC

    NASA Astrophysics Data System (ADS)

    Vázquez Furelos, D.; Carulla, M.; Cavallaro, E.; Förster, F.; Grinstein, S.; Lange, J.; López Paz, I.; Manna, M.; Pellegrini, G.; Quirion, D.; Terzo, S.

    2017-01-01

    In order to increase its discovery potential, the Large Hadron Collider (LHC) accelerator will be upgraded in the next decade. The high luminosity LHC (HL-LHC) period requires new sensor technologies to cope with increasing radiation fluences and particle rates. The ATLAS experiment will replace the entire inner tracking detector with a completely new silicon-only system. 3D pixel sensors are promising candidates for the innermost layers of the Pixel detector due to their excellent radiation hardness at low operation voltages and low power dissipation at moderate temperatures. Recent developments of 3D sensors for the HL-LHC are presented.

  20. Quantifying Interparticle Forces and Heterogeneity in 3D Granular Materials

    NASA Astrophysics Data System (ADS)

    Hurley, R. C.; Hall, S. A.; Andrade, J. E.; Wright, J.

    2016-08-01

    Interparticle forces in granular materials are intimately linked to mechanical properties and are known to self-organize into heterogeneous structures, or force chains, under external load. Despite progress in understanding the statistics and spatial distribution of interparticle forces in recent decades, a systematic method for measuring forces in opaque, three-dimensional (3D), frictional, stiff granular media has yet to emerge. In this Letter, we present results from an experiment that combines 3D x-ray diffraction, x-ray tomography, and a numerical force inference technique to quantify interparticle forces and their heterogeneity in an assembly of quartz grains undergoing a one-dimensional compression cycle. Forces exhibit an exponential decay above the mean and partition into strong and weak networks. We find a surprising inverse relationship between macroscopic load and the heterogeneity of interparticle forces, despite the clear emergence of two force chains that span the system.

  1. Testbeam and laboratory characterization of CMS 3D pixel sensors

    NASA Astrophysics Data System (ADS)

    Bubna, M.; Bortoletto, D.; Alagoz, E.; Krzywda, A.; Arndt, K.; Shipsey, I.; Bolla, G.; Hinton, N.; Kok, A.; Hansen, T.-E.; Summanwar, A.; Brom, J. M.; Boscardin, M.; Chramowicz, J.; Cumalat, J.; Dalla Betta, G. F.; Dinardo, M.; Godshalk, A.; Jones, M.; Krohn, M. D.; Kumar, A.; Lei, C. M.; Mendicino, R.; Moroni, L.; Perera, L.; Povoli, M.; Prosser, A.; Rivera, R.; Solano, A.; Obertino, M. M.; Kwan, S.; Uplegger, L.; Vigani, L.; Wagner, S.

    2014-07-01

    The pixel detector is the innermost tracking device in CMS, reconstructing interaction vertices and charged particle trajectories. The sensors located in the innermost layers of the pixel detector must be upgraded for the ten-fold increase in luminosity expected at the High-Luminosity LHC (HL-LHC). As a possible replacement for planar sensors, 3D silicon technology is under consideration due to its good performance after high radiation fluence. In this paper, we report on pre- and post- irradiation measurements of CMS 3D pixel sensors with different electrode configurations from different vendors. The effects of irradiation on electrical properties, charge collection efficiency, and position resolution are discussed. Measurements of various test structures for monitoring the fabrication process and studying the bulk and surface properties of silicon sensors, such as MOS capacitors, planar and gate-controlled diodes are also presented.

  2. Optical Sensors and Methods for Underwater 3D Reconstruction

    PubMed Central

    Massot-Campos, Miquel; Oliver-Codina, Gabriel

    2015-01-01

    This paper presents a survey on optical sensors and methods for 3D reconstruction in underwater environments. The techniques to obtain range data have been listed and explained, together with the different sensor hardware that makes them possible. The literature has been reviewed, and a classification has been proposed for the existing solutions. New developments, commercial solutions and previous reviews in this topic have also been gathered and considered. PMID:26694389

  3. Increased Speed: 3D Silicon Sensors. Fast Current Amplifiers

    SciTech Connect

    Parker, Sherwood; Kok, Angela; Kenney, Christopher; Jarron, Pierre; Hasi, Jasmine; Despeisse, Matthieu; Da Via, Cinzia; Anelli, Giovanni; /CERN

    2012-05-07

    The authors describe techniques to make fast, sub-nanosecond time resolution solid-state detector systems using sensors with 3D electrodes, current amplifiers, constant-fraction comparators or fast wave-form recorders, and some of the next steps to reach still faster results.

  4. Study on 3D CFBG vibration sensor and its application

    NASA Astrophysics Data System (ADS)

    Nan, Qiuming; Li, Sheng

    2016-03-01

    A novel variety of three dimensional (3D) vibration sensor based on chirped fiber Bragg grating (CFBG) is developed to measure 3D vibration in the mechanical equipment field. The sensor is composed of three independent vibration sensing units. Each unit uses double matched chirped gratings as sensing elements, and the sensing signal is processed by the edge filtering demodulation method. The structure and principle of the sensor are theoretically analyzed, and its performances are obtained from some experiments and the results are as follows: operating frequency range of the sensor is 10 Hz‒500 Hz; acceleration measurement range is 2 m·s-2‒30 m·s-2; sensitivity is about 70 mV/m·s-2; crosstalk coefficient is greater than 22 dB; self-compensation for temperature is available. Eventually the sensor is applied to monitor the vibration state of radiation pump. Seen from its experiments and applications, the sensor has good sensing performances, which can meet a certain requirement for some engineering measurement.

  5. Testbeam and laboratory characterization of 3D CMS pixel sensors

    NASA Astrophysics Data System (ADS)

    Bubna, Mayur; Krzwyda, Alex; Alagoz, Enver; Bortoletto, Daniela

    2013-04-01

    Future generations of colliders, like High Luminosity Large Hadron Collider (HL-LHC) at CERN will deliver much higher radiation doses to the particle detectors, specifically those closer to the beam line. Inner tracker detectors will be the most affected part, causing increased occupancy and radiation damage to Silicon detectors. Planar Silicon sensors have not shown enough radiation hardness for the innermost layers where the radiation doses can reach values around 10^16 neq/cm^2. As a possible replacement of planar pixel sensors, 3D Silicon technology is under consideration as they show higher radiation hardness, and efficiencies comparable to planar sensors. Several 3D CMS pixel designs were fabricated at FBK, CNM, and SINTEF. They were bump bonded to the CMS pixel readout chip and characterized in the laboratory using radioactive source (Sr90), and at Fermilab MTEST beam test facility. Sensors were also irradiated with 800 MeV protons at Los Alamos National Lab to study post-irradiation behavior. In addition, several diodes and test structures from FBK were studied before and after irradiation. We report the laboratory and testbeam measurement results for the irradiated 3D devices.

  6. An omnidirectional 3D sensor with line laser scanning

    NASA Astrophysics Data System (ADS)

    Xu, Jing; Gao, Bingtuan; Liu, Chuande; Wang, Peng; Gao, Shuanglei

    2016-09-01

    An active omnidirectional vision owns the advantages of the wide field of view (FOV) imaging, resulting in an entire 3D environment scene, which is promising in the field of robot navigation. However, the existing omnidirectional vision sensors based on line laser can measure points only located on the optical plane of the line laser beam, resulting in the low-resolution reconstruction. Whereas, to improve resolution, some other omnidirectional vision sensors with the capability of projecting 2D encode pattern from projector and curved mirror. However, the astigmatism property of curve mirror causes the low-accuracy reconstruction. To solve the above problems, a rotating polygon scanning mirror is used to scan the object in the vertical direction so that an entire profile of the observed scene can be obtained at high accuracy, without of astigmatism phenomenon. Then, the proposed method is calibrated by a conventional 2D checkerboard plate. The experimental results show that the measurement error of the 3D omnidirectional sensor is approximately 1 mm. Moreover, the reconstruction of objects with different shapes based on the developed sensor is also verified.

  7. 3D sensor algorithms for spacecraft pose determination

    NASA Astrophysics Data System (ADS)

    Trenkle, John M.; Tchoryk, Peter, Jr.; Ritter, Greg A.; Pavlich, Jane C.; Hickerson, Aaron S.

    2006-05-01

    Researchers at the Michigan Aerospace Corporation have developed accurate and robust 3-D algorithms for pose determination (position and orientation) of satellites as part of an on-going effort supporting autonomous rendezvous, docking and space situational awareness activities. 3-D range data from a LAser Detection And Ranging (LADAR) sensor is the expected input; however, the approach is unique in that the algorithms are designed to be sensor independent. Parameterized inputs allow the algorithms to be readily adapted to any sensor of opportunity. The cornerstone of our approach is the ability to simulate realistic range data that may be tailored to the specifications of any sensor. We were able to modify an open-source raytracing package to produce point cloud information from which high-fidelity simulated range images are generated. The assumptions made in our experimentation are as follows: 1) we have access to a CAD model of the target including information about the surface scattering and reflection characteristics of the components; 2) the satellite of interest may appear at any 3-D attitude; 3) the target is not necessarily rigid, but does have a limited number of configurations; and, 4) the target is not obscured in any way and is the only object in the field of view of the sensor. Our pose estimation approach then involves rendering a large number of exemplars (100k to 5M), extracting 2-D (silhouette- and projection-based) and 3-D (surface-based) features, and then training ensembles of decision trees to predict: a) the 4-D regions on a unit hypersphere into which the unit quaternion that represents the vehicle [Q X, Q Y, Q Z, Q W] is pointing, and, b) the components of that unit quaternion. Results have been quite promising and the tools and simulation environment developed for this application may also be applied to non-cooperative spacecraft operations, Autonomous Hazard Detection and Avoidance (AHDA) for landing craft, terrain mapping, vehicle

  8. Heterogeneous force network in 3D cellularized collagen networks.

    PubMed

    Liang, Long; Jones, Christopher; Chen, Shaohua; Sun, Bo; Jiao, Yang

    2016-10-25

    Collagen networks play an important role in coordinating and regulating collective cellular dynamics via a number of signaling pathways. Here, we investigate the transmission of forces generated by contractile cells in 3D collagen-I networks. Specifically, the graph (bond-node) representations of collagen networks with collagen concentrations of 1, 2 and 4 mg ml(-1) are derived from confocal microscopy data and used to model the network microstructure. Cell contraction is modeled by applying correlated displacements at specific nodes of the network, representing the focal adhesion sites. A nonlinear elastic model is employed to characterize the mechanical behavior of individual fiber bundles including strain hardening during stretching and buckling under compression. A force-based relaxation method is employed to obtain equilibrium network configurations under cell contraction. We find that for all collagen concentrations, the majority of the forces are carried by a small number of heterogeneous force chains emitted from the contracting cells, which is qualitatively consistent with our experimental observations. The force chains consist of fiber segments that either possess a high degree of alignment before cell contraction or are aligned due to fiber reorientation induced by cell contraction. The decay of the forces along the force chains is significantly slower than the decay of radially averaged forces in the system, suggesting that the fibreous nature of biopolymer network structure can support long-range force transmission. The force chains emerge even at very small cell contractions, and the number of force chains increases with increasing cell contraction. At large cell contractions, the fibers close to the cell surface are in the nonlinear regime, and the nonlinear region is localized in a small neighborhood of the cell. In addition, the number of force chains increases with increasing collagen concentration, due to the larger number of focal adhesion sites

  9. Heterogeneous force network in 3D cellularized collagen networks

    NASA Astrophysics Data System (ADS)

    Liang, Long; Jones, Christopher; Chen, Shaohua; Sun, Bo; Jiao, Yang

    2016-12-01

    Collagen networks play an important role in coordinating and regulating collective cellular dynamics via a number of signaling pathways. Here, we investigate the transmission of forces generated by contractile cells in 3D collagen-I networks. Specifically, the graph (bond-node) representations of collagen networks with collagen concentrations of 1, 2 and 4 mg ml-1 are derived from confocal microscopy data and used to model the network microstructure. Cell contraction is modeled by applying correlated displacements at specific nodes of the network, representing the focal adhesion sites. A nonlinear elastic model is employed to characterize the mechanical behavior of individual fiber bundles including strain hardening during stretching and buckling under compression. A force-based relaxation method is employed to obtain equilibrium network configurations under cell contraction. We find that for all collagen concentrations, the majority of the forces are carried by a small number of heterogeneous force chains emitted from the contracting cells, which is qualitatively consistent with our experimental observations. The force chains consist of fiber segments that either possess a high degree of alignment before cell contraction or are aligned due to fiber reorientation induced by cell contraction. The decay of the forces along the force chains is significantly slower than the decay of radially averaged forces in the system, suggesting that the fibreous nature of biopolymer network structure can support long-range force transmission. The force chains emerge even at very small cell contractions, and the number of force chains increases with increasing cell contraction. At large cell contractions, the fibers close to the cell surface are in the nonlinear regime, and the nonlinear region is localized in a small neighborhood of the cell. In addition, the number of force chains increases with increasing collagen concentration, due to the larger number of focal adhesion sites

  10. Multi-sensor 3D volumetric reconstruction using CUDA

    NASA Astrophysics Data System (ADS)

    Aliakbarpour, Hadi; Almeida, Luis; Menezes, Paulo; Dias, Jorge

    2011-12-01

    This paper presents a full-body volumetric reconstruction of a person in a scene using a sensor network, where some of them can be mobile. The sensor network is comprised of couples of camera and inertial sensor (IS). Taking advantage of IS, the 3D reconstruction is performed using no planar ground assumption. Moreover, IS in each couple is used to define a virtual camera whose image plane is horizontal and aligned with the earth cardinal directions. The IS is furthermore used to define a set of inertial planes in the scene. The image plane of each virtual camera is projected onto this set of parallel-horizontal inertial-planes, using some adapted homography functions. A parallel processing architecture is proposed in order to perform human real-time volumetric reconstruction. The real-time characteristic is obtained by implementing the reconstruction algorithm on a graphics processing unit (GPU) using Compute Unified Device Architecture (CUDA). In order to show the effectiveness of the proposed algorithm, a variety of the gestures of a person acting in the scene is reconstructed and demonstrated. Some analyses have been carried out to measure the performance of the algorithm in terms of processing time. The proposed framework has potential to be used by different applications such as smart-room, human behavior analysis and 3D teleconference. [Figure not available: see fulltext.

  11. Multidimensional measurement by using 3-D PMD sensors

    NASA Astrophysics Data System (ADS)

    Ringbeck, T.; Möller, T.; Hagebeuker, B.

    2007-06-01

    Optical Time-of-Flight measurement gives the possibility to enhance 2-D sensors by adding a third dimension using the PMD principle. Various applications in the automotive (e.g. pedestrian safety), industrial, robotics and multimedia fields require robust three-dimensional data (Schwarte et al., 2000). These applications, however, all have different requirements in terms of resolution, speed, distance and target characteristics. PMDTechnologies has developed 3-D sensors based on standard CMOS processes that can provide an optimized solution for a wide field of applications combined with high integration and cost-effective production. These sensors are realized in various layout formats from single pixel solutions for basic applications to low, middle and high resolution matrices for applications requiring more detailed data. Pixel pitches ranging from 10 micrometer up to a 300 micrometer or larger can be realized and give the opportunity to optimize the sensor chip depending on the application. One aspect of all optical sensors based on a time-of-flight principle is the necessity of handling background illumination. This can be achieved by various techniques, such as optical filters and active circuits on chip. The sensors' usage of the in-pixel so-called SBI-circuitry (suppression of background illumination) makes it even possible to overcome the effects of bright ambient light. This paper focuses on this technical requirement. In Sect. 2 we will roughly describe the basic operation principle of PMD sensors. The technical challenges related to the system characteristics of an active optical ranging technique are described in Sect. 3, technical solutions and measurement results are then presented in Sect. 4. We finish this work with an overview of actual PMD sensors and their key parameters (Sect. 5) and some concluding remarks in Sect. 6.

  12. Device level 3D characterization using PeakForce AFM

    NASA Astrophysics Data System (ADS)

    Timoney, Padraig; Zhang, Xiaoxiao; Vaid, Alok; Hand, Sean; Osborne, Jason; Milligan, Eric; Feinstein, Adam

    2016-03-01

    Traditional metrology solutions face a range of challenges at the 1X node such as three dimensional (3D) measurement capabilities, shrinking overlay and critical dimension (CD) error budgets driven by multi-patterning and via in trench CD measurements. With advent of advanced technology nodes and 3D processing, an increasing need is emerging for in-die metrology including across-structure and structure-to-structure characterization. A myriad of work has emerged in the past few years intending to address these challenges from various aspects; in-die OCD with reduced spot size and tilt beam on traditional critical dimension scanning electron microscopy (CDSEM) for height measurements. This paper explores the latest capability offered by PeakForceTM Tapping Atomic Force Microscopy (PFT-AFM). The use of traditional harmonic tapping mode for scanning high aspect ratio, and complex "3D" wafer structures, results in limited depth probing capability as well as excessive tip wear. These limitations arise due to the large tip-sample interaction volume in such confined spaces. PeakForce Tapping eliminates these limitations through direct real time control of the tip-sample interaction contact force. The ability of PeakForce to measure, and respond directly to tip- sample interaction forces results in more detailed feature resolution, reduced tip wear, and improved depth capability. In this work, the PFT-AFM tool was applied for multiple applications, including the 14nm fin and replacement metal gate (RMG) applications outlined below. Results from DOE wafers, detailed measurement precision studies and correlation to reference metrology are presented for validation of this methodology. With the fin application, precision of 0.3nm is demonstrated by measuring 5 dies with 10 consecutive runs. Capability to resolve within-die and localized within-macro height variation is also demonstrated. Results obtained from the fin measurements support the increasing trend that measurements

  13. Sensorized Garment Augmented 3D Pervasive Virtual Reality System

    NASA Astrophysics Data System (ADS)

    Gulrez, Tauseef; Tognetti, Alessandro; de Rossi, Danilo

    Virtual reality (VR) technology has matured to a point where humans can navigate in virtual scenes; however, providing them with a comfortable fully immersive role in VR remains a challenge. Currently available sensing solutions do not provide ease of deployment, particularly in the seated position due to sensor placement restrictions over the body, and optic-sensing requires a restricted indoor environment to track body movements. Here we present a 52-sensor laden garment interfaced with VR, which offers both portability and unencumbered user movement in a VR environment. This chapter addresses the systems engineering aspects of our pervasive computing solution of the interactive sensorized 3D VR and presents the initial results and future research directions. Participants navigated in a virtual art gallery using natural body movements that were detected by their wearable sensor shirt and then mapped the signals to electrical control signals responsible for VR scene navigation. The initial results are positive, and offer many opportunities for use in computationally intelligentman-machine multimedia control.

  14. Handheld underwater 3D sensor based on fringe projection technique

    NASA Astrophysics Data System (ADS)

    Bräuer-Burchardt, Christian; Heinze, Matthias; Schmidt, Ingo; Meng, Lichun; Ramm, Roland; Kühmstedt, Peter; Notni, Gunther

    2015-05-01

    A new, handheld 3D surface scanner was developed especially for underwater use until a diving depth of about 40 meters. Additionally, the sensor is suitable for the outdoor use under bad weather circumstance like splashing water, wind, and bad illumination conditions. The optical components of the sensor are two cameras and one projector. The measurement field is about 250 mm x 200 mm. The depth resolution is about 50 μm and the lateral resolution is approximately 150 μm. The weight of the scanner is about 10 kg. The housing was produced of synthetic powder using a 3D printing technique. The measurement time for one scan is between a third and a half second. The computer for measurement control and data analysis is already integrated into the housing of the scanner. A display on the backside presents the results of each measurement graphically for a real-time evaluation of the user during the recording of the measurement data.

  15. Evaluation of Kinect 3D Sensor for Healthcare Imaging.

    PubMed

    Pöhlmann, Stefanie T L; Harkness, Elaine F; Taylor, Christopher J; Astley, Susan M

    2016-01-01

    Microsoft Kinect is a three-dimensional (3D) sensor originally designed for gaming that has received growing interest as a cost-effective and safe device for healthcare imaging. Recent applications of Kinect in health monitoring, screening, rehabilitation, assistance systems, and intervention support are reviewed here. The suitability of available technologies for healthcare imaging applications is assessed. The performance of Kinect I, based on structured light technology, is compared with that of the more recent Kinect II, which uses time-of-flight measurement, under conditions relevant to healthcare applications. The accuracy, precision, and resolution of 3D images generated with Kinect I and Kinect II are evaluated using flat cardboard models representing different skin colors (pale, medium, and dark) at distances ranging from 0.5 to 1.2 m and measurement angles of up to 75°. Both sensors demonstrated high accuracy (majority of measurements <2 mm) and precision (mean point to plane error <2 mm) at an average resolution of at least 390 points per cm(2). Kinect I is capable of imaging at shorter measurement distances, but Kinect II enables structures angled at over 60° to be evaluated. Kinect II showed significantly higher precision and Kinect I showed significantly higher resolution (both p < 0.001). The choice of object color can influence measurement range and precision. Although Kinect is not a medical imaging device, both sensor generations show performance adequate for a range of healthcare imaging applications. Kinect I is more appropriate for short-range imaging and Kinect II is more appropriate for imaging highly curved surfaces such as the face or breast.

  16. Cordless hand-held optical 3D sensor

    NASA Astrophysics Data System (ADS)

    Munkelt, Christoph; Bräuer-Burchardt, Christian; Kühmstedt, Peter; Schmidt, Ingo; Notni, Gunther

    2007-07-01

    A new mobile optical 3D measurement system using phase correlation based fringe projection technique will be presented. The sensor consist of a digital projection unit and two cameras in a stereo arrangement, whereby both are battery powered. The data transfer to a base station will be done via WLAN. This gives the possibility to use the system in complicate, remote measurement situations, which are typical in archaeology and architecture. In the measurement procedure the sensor will be hand-held by the user, illuminating the object with a sequence of less than 10 fringe patterns, within a time below 200 ms. This short sequence duration was achieved by a new approach, which combines the epipolar constraint with robust phase correlation utilizing a pre-calibrated sensor head, containing two cameras and a digital fringe projector. Furthermore, the system can be utilized to acquire the all around shape of objects by using the phasogrammetric approach with virtual land marks introduced by the authors 1, 2. This way no matching procedures or markers are necessary for the registration of multiple views, which makes the system very flexible in accomplishing different measurement tasks. The realized measurement field is approx. 100 mm up to 400 mm in diameter. The mobile character makes the measurement system useful for a wide range of applications in arts, architecture, archaeology and criminology, which will be shown in the paper.

  17. High Time Resolution Photon Counting 3D Imaging Sensors

    NASA Astrophysics Data System (ADS)

    Siegmund, O.; Ertley, C.; Vallerga, J.

    2016-09-01

    Novel sealed tube microchannel plate (MCP) detectors using next generation cross strip (XS) anode readouts and high performance electronics have been developed to provide photon counting imaging sensors for Astronomy and high time resolution 3D remote sensing. 18 mm aperture sealed tubes with MCPs and high efficiency Super-GenII or GaAs photocathodes have been implemented to access the visible/NIR regimes for ground based research, astronomical and space sensing applications. The cross strip anode readouts in combination with PXS-II high speed event processing electronics can process high single photon counting event rates at >5 MHz ( 80 ns dead-time per event), and time stamp events to better than 25 ps. Furthermore, we are developing a high speed ASIC version of the electronics for low power/low mass spaceflight applications. For a GaAs tube the peak quantum efficiency has degraded from 30% (at 560 - 850 nm) to 25% over 4 years, but for Super-GenII tubes the peak quantum efficiency of 17% (peak at 550 nm) has remained unchanged for over 7 years. The Super-GenII tubes have a uniform spatial resolution of <30 μm FWHM ( 1 x106 gain) and single event timing resolution of 100 ps (FWHM). The relatively low MCP gain photon counting operation also permits longer overall sensor lifetimes and high local counting rates. Using the high timing resolution, we have demonstrated 3D object imaging with laser pulse (630 nm 45 ps jitter Pilas laser) reflections in single photon counting mode with spatial and depth sensitivity of the order of a few millimeters. A 50 mm Planacon sealed tube was also constructed, using atomic layer deposited microchannel plates which potentially offer better overall sealed tube lifetime, quantum efficiency and gain stability. This tube achieves standard bialkali quantum efficiency levels, is stable, and has been coupled to the PXS-II electronics and used to detect and image fast laser pulse signals.

  18. A 3-D Force and Moment Motor for Small-Scale Biomechanics Experiments

    PubMed Central

    Sim, Jae Hoon; Puria, Sunil

    2010-01-01

    The inability to identify 3-D force and moment components for actuators and sensors is a major limiting factor in the study of 3-D force interactions with small-scale biological structures. While recent advances have been made in the measurement of stimulating forces using load cells and atomic-force microscopy in experimental preparations of biological structures such as mammalian temporal bones, these techniques have mostly been limited to one or two dimensions. In this paper, a method is described for stimulating biological structures using a small magnet (2 mg Sm2Co17) and a nearby current-conducting coil (46 gauge, 50 turns), that allows the 3-D Lorentz forces and moments acting on the magnet to be calculated. To make these calculations possible, the dimensions and placements of the magnet and coil are accurately determined (within 10 μm for in vitro preparations) using high-resolution micro-CT imaging. This noncontact force motor method has been used to study the mechanics of the malleus-incus complex in the mammalian middle ear in addition to basilar membrane mechanics and fluid flow inside the cochlea, and it can also be applied to the study of other biomechanical structures. PMID:20234800

  19. A 3-D Force and Moment Motor for Small-Scale Biomechanics Experiments.

    PubMed

    Sim, Jae Hoon; Puria, Sunil

    2009-10-30

    The inability to identify 3-D force and moment components for actuators and sensors is a major limiting factor in the study of 3-D force interactions with small-scale biological structures. While recent advances have been made in the measurement of stimulating forces using load cells and atomic-force microscopy in experimental preparations of biological structures such as mammalian temporal bones, these techniques have mostly been limited to one or two dimensions. In this paper, a method is described for stimulating biological structures using a small magnet (2 mg Sm(2)Co(17)) and a nearby current-conducting coil (46 gauge, 50 turns), that allows the 3-D Lorentz forces and moments acting on the magnet to be calculated. To make these calculations possible, the dimensions and placements of the magnet and coil are accurately determined (within 10 μm for in vitro preparations) using high-resolution micro-CT imaging. This noncontact force motor method has been used to study the mechanics of the malleus-incus complex in the mammalian middle ear in addition to basilar membrane mechanics and fluid flow inside the cochlea, and it can also be applied to the study of other biomechanical structures.

  20. GPS 3-D cockpit displays: Sensors, algorithms, and flight testing

    NASA Astrophysics Data System (ADS)

    Barrows, Andrew Kevin

    Tunnel-in-the-Sky 3-D flight displays have been investigated for several decades as a means of enhancing aircraft safety and utility. However, high costs have prevented commercial development and seriously hindered research into their operational benefits. The rapid development of Differential Global Positioning Systems (DGPS), inexpensive computing power, and ruggedized displays is now changing this situation. A low-cost prototype system was built and flight tested to investigate implementation and operational issues. The display provided an "out the window" 3-D perspective view of the world, letting the pilot see the horizon, runway, and desired flight path even in instrument flight conditions. The flight path was depicted as a tunnel through which the pilot flew the airplane, while predictor symbology provided guidance to minimize path-following errors. Positioning data was supplied, by various DGPS sources including the Stanford Wide Area Augmentation System (WAAS) testbed. A combination of GPS and low-cost inertial sensors provided vehicle heading, pitch, and roll information. Architectural and sensor fusion tradeoffs made during system implementation are discussed. Computational algorithms used to provide guidance on curved paths over the earth geoid are outlined along with display system design issues. It was found that current technology enables low-cost Tunnel-in-the-Sky display systems with a target cost of $20,000 for large-scale commercialization. Extensive testing on Piper Dakota and Beechcraft Queen Air aircraft demonstrated enhanced accuracy and operational flexibility on a variety of complex flight trajectories. These included curved and segmented approaches, traffic patterns flown on instruments, and skywriting by instrument reference. Overlays to existing instrument approaches at airports in California and Alaska were flown and compared with current instrument procedures. These overlays demonstrated improved utility and situational awareness for

  1. Silicon force sensor

    DOEpatents

    Galambos, Paul C.; Crenshaw, Thomas B.; Nishida, Erik E.; Burnett, Damon J.; Lantz, Jeffrey W.

    2016-07-05

    The various technologies presented herein relate to a sensor for measurement of high forces and/or high load shock rate(s), whereby the sensor utilizes silicon as the sensing element. A plate of Si can have a thinned region formed therein on which can be formed a number of traces operating as a Wheatstone bridge. The brittle Si can be incorporated into a layered structure comprising ductile and/or compliant materials. The sensor can have a washer-like configuration which can be incorporated into a nut and bolt configuration, whereby tightening of the nut and bolt can facilitate application of a compressive preload upon the sensor. Upon application of an impact load on the bolt, the compressive load on the sensor can be reduced (e.g., moves towards zero-load), however the magnitude of the preload can be such that the load on the sensor does not translate to tensile stress being applied to the sensor.

  2. Optical 3D sensor for large objects in industrial application

    NASA Astrophysics Data System (ADS)

    Kuhmstedt, Peter; Heinze, Matthias; Himmelreich, Michael; Brauer-Burchardt, Christian; Brakhage, Peter; Notni, Gunther

    2005-06-01

    A new self calibrating optical 3D measurement system using fringe projection technique named "kolibri 1500" is presented. It can be utilised to acquire the all around shape of large objects. The basic measuring principle is the phasogrammetric approach introduced by the authors /1, 2/. The "kolibri 1500" consists of a stationary system with a translation unit for handling of objects. Automatic whole body measurement is achieved by using sensor head rotation and changeable object position, which can be done completely computer controlled. Multi-view measurement is realised by using the concept of virtual reference points. In this way no matching procedures or markers are necessary for the registration of the different images. This makes the system very flexible to realise different measurement tasks. Furthermore, due to self calibrating principle mechanical alterations are compensated. Typical parameters of the system are: the measurement volume extends from 400 mm up to 1500 mm max. length, the measurement time is between 2 min for 12 images up to 20 min for 36 images and the measurement accuracy is below 50μm.The flexibility makes the measurement system useful for a wide range of applications such as quality control, rapid prototyping, design and CAD/CAM which will be shown in the paper.

  3. 3D customized and flexible tactile sensor using a piezoelectric nanofiber mat and sandwich-molded elastomer sheets

    NASA Astrophysics Data System (ADS)

    Bit Lee, Han; Kim, Young Won; Yoon, Jonghun; Lee, Nak Kyu; Park, Suk-Hee

    2017-04-01

    We developed a skin-conformal flexible sensor in which three-dimensional (3D) free-form elastomeric sheets were harmoniously integrated with a piezoelectric nanofiber mat. The elastomeric sheets were produced by polydimethylsiloxane (PDMS) molding via using a 3D printed mold assembly, which was adaptively designed from 3D scanned skin surface geometry. The mold assembly, fabricated using a multi-material 3D printer, was composed of a pair of upper/lower mold parts and an interconnecting hinge, with material properties are characterized by different flexibilities. As a result of appropriate deformabilites of the upper mold part and hinge, the skin-conformal PDMS structures were successfully sandwich molded and demolded with good repeatability. An electrospun poly(vinylidene fluoride trifluoroethylene) nanofiber mat was prepared as the piezoelectric active layer and integrated with the 3D elastomeric parts. We confirmed that the highly responsive sensing performances of the 3D integrated sensor were identical to those of a flat sensor in terms of sensitivity and the linearity of the input–output relationship. The close 3D conformal skin contact of the flexible sensor enabled discernable perception of various scales of physical stimuli, such as tactile force and even minute skin deformation caused by the tester’s pulse. Collectively from the 3D scanning design to the practical application, our achievements can potentially meet the needs of tailored human interfaces in the field of wearable devices and human-like robots.

  4. Alignment of a 3-D Sensor and a 2-D Sensor Measuring Azimuth and Elevation

    DTIC Science & Technology

    1992-04-01

    alignment algorithm discussed in this report were developed by the Combat System Technologies Branch (N35) of the Engineering and Technology Division ( N30 ...removal of alignment errors in dissimilar sensors (e.g., active and passive sensors, 2-D and 3-D sensors, etc.). However, the alignment of dissimilar...G21 (CARSOLA) 1 G70 1 G71 1 G71 (BLAIR) 1 G71 (PALEN) 1 G71 (RICE) 10 G73 (FONTANA) 1 N 1 N05 (GASTON) 1 N24 (HENDERSON) 1 N30 1 N33 (ERVIN) 1 N33

  5. The role of the cytoskeleton in cellular force generation in 2D and 3D environments

    NASA Astrophysics Data System (ADS)

    Kraning-Rush, Casey M.; Carey, Shawn P.; Califano, Joseph P.; Smith, Brooke N.; Reinhart-King, Cynthia A.

    2011-02-01

    To adhere and migrate, cells generate forces through the cytoskeleton that are transmitted to the surrounding matrix. While cellular force generation has been studied on 2D substrates, less is known about cytoskeletal-mediated traction forces of cells embedded in more in vivo-like 3D matrices. Recent studies have revealed important differences between the cytoskeletal structure, adhesion, and migration of cells in 2D and 3D. Because the cytoskeleton mediates force, we sought to directly compare the role of the cytoskeleton in modulating cell force in 2D and 3D. MDA-MB-231 cells were treated with agents that perturbed actin, microtubules, or myosin, and analyzed for changes in cytoskeletal organization and force generation in both 2D and 3D. To quantify traction stresses in 2D, traction force microscopy was used; in 3D, force was assessed based on single cell-mediated collagen fibril reorganization imaged using confocal reflectance microscopy. Interestingly, even though previous studies have observed differences in cell behaviors like migration in 2D and 3D, our data indicate that forces generated on 2D substrates correlate with forces within 3D matrices. Disruption of actin, myosin or microtubules in either 2D or 3D microenvironments disrupts cell-generated force. These data suggest that despite differences in cytoskeletal organization in 2D and 3D, actin, microtubules and myosin contribute to contractility and matrix reorganization similarly in both microenvironments.

  6. 3D, Flash, Induced Current Readout for Silicon Sensors

    SciTech Connect

    Parker, Sherwood I.

    2014-06-07

    A new method for silicon microstrip and pixel detector readout using (1) 65 nm-technology current amplifers which can, for the first time with silicon microstrop and pixel detectors, have response times far shorter than the charge collection time (2) 3D trench electrodes large enough to subtend a reasonable solid angle at most track locations and so have adequate sensitivity over a substantial volume of pixel, (3) induced signals in addition to, or in place of, collected charge

  7. Two-Layer Elastographic 3-D Traction Force Microscopy

    NASA Astrophysics Data System (ADS)

    Álvarez-González, Begoña; Zhang, Shun; Gómez-González, Manuel; Meili, Ruedi; Firtel, Richard A.; Lasheras, Juan C.; Del Álamo, Juan C.

    2017-01-01

    Cellular traction force microscopy (TFM) requires knowledge of the mechanical properties of the substratum where the cells adhere to calculate cell-generated forces from measurements of substratum deformation. Polymer-based hydrogels are broadly used for TFM due to their linearly elastic behavior in the range of measured deformations. However, the calculated stresses, particularly their spatial patterns, can be highly sensitive to the substratum’s Poisson’s ratio. We present two-layer elastographic TFM (2LETFM), a method that allows for simultaneously measuring the Poisson’s ratio of the substratum while also determining the cell-generated forces. The new method exploits the analytical solution of the elastostatic equation and deformation measurements from two layers of the substratum. We perform an in silico analysis of 2LETFM concluding that this technique is robust with respect to TFM experimental parameters, and remains accurate even for noisy measurement data. We also provide experimental proof of principle of 2LETFM by simultaneously measuring the stresses exerted by migrating Physarum amoeboae on the surface of polyacrylamide substrata, and the Poisson’s ratio of the substrata. The 2LETFM method could be generalized to concurrently determine the mechanical properties and cell-generated forces in more physiologically relevant extracellular environments, opening new possibilities to study cell-matrix interactions.

  8. Two-Layer Elastographic 3-D Traction Force Microscopy

    PubMed Central

    Álvarez-González, Begoña; Zhang, Shun; Gómez-González, Manuel; Meili, Ruedi; Firtel, Richard A.; Lasheras, Juan C.; del Álamo, Juan C.

    2017-01-01

    Cellular traction force microscopy (TFM) requires knowledge of the mechanical properties of the substratum where the cells adhere to calculate cell-generated forces from measurements of substratum deformation. Polymer-based hydrogels are broadly used for TFM due to their linearly elastic behavior in the range of measured deformations. However, the calculated stresses, particularly their spatial patterns, can be highly sensitive to the substratum’s Poisson’s ratio. We present two-layer elastographic TFM (2LETFM), a method that allows for simultaneously measuring the Poisson’s ratio of the substratum while also determining the cell-generated forces. The new method exploits the analytical solution of the elastostatic equation and deformation measurements from two layers of the substratum. We perform an in silico analysis of 2LETFM concluding that this technique is robust with respect to TFM experimental parameters, and remains accurate even for noisy measurement data. We also provide experimental proof of principle of 2LETFM by simultaneously measuring the stresses exerted by migrating Physarum amoeboae on the surface of polyacrylamide substrata, and the Poisson’s ratio of the substrata. The 2LETFM method could be generalized to concurrently determine the mechanical properties and cell-generated forces in more physiologically relevant extracellular environments, opening new possibilities to study cell-matrix interactions. PMID:28074837

  9. First Experiences with Kinect v2 Sensor for Close Range 3d Modelling

    NASA Astrophysics Data System (ADS)

    Lachat, E.; Macher, H.; Mittet, M.-A.; Landes, T.; Grussenmeyer, P.

    2015-02-01

    RGB-D cameras, also known as range imaging cameras, are a recent generation of sensors. As they are suitable for measuring distances to objects at high frame rate, such sensors are increasingly used for 3D acquisitions, and more generally for applications in robotics or computer vision. This kind of sensors became popular especially since the Kinect v1 (Microsoft) arrived on the market in November 2010. In July 2014, Windows has released a new sensor, the Kinect for Windows v2 sensor, based on another technology as its first device. However, due to its initial development for video games, the quality assessment of this new device for 3D modelling represents a major investigation axis. In this paper first experiences with Kinect v2 sensor are related, and the ability of close range 3D modelling is investigated. For this purpose, error sources on output data as well as a calibration approach are presented.

  10. 3D-TOF sensors in the automobile

    NASA Astrophysics Data System (ADS)

    Kahlmann, Timo; Oggier, Thierry; Lustenberger, Felix; Blanc, Nicolas; Ingensand, Hilmar

    2005-02-01

    In recent years, pervasive computing has become an important topic in automobile industry. Besides well-known driving assistant systems such as ABS, ASR and ESP several small tools that support driving activities were developed. The most important reason for integrating new technologies is to increase the safety of passengers as well as road users. The Centre Suisse d'Electronique et de Microtechnique SA (CSEM) Zurich presented the CMOS/CCD real-time range-imaging technology, a measurement principle with a wide field of applications in automobiles. The measuring system is based on the time-of-flight measurement principle using actively modulated radiation. Thereby, the radiation is emitted by the camera's illumination system, reflected by objects in the field of view and finally imaged on the CMOS/CCD sensor by the optics. From the acquired radiation, the phase delay and hence the target distance is derived within each individual pixel. From these distance measurements, three-dimensional coordinates can then be calculated. The imaging sensor acquires its environment data in a high-frequency mode and is therefore appropriate for real-time applications. The basis for decisions which contribute to the increased safety is thus available. In this contribution, first the operational principle of the sensor technology is outlined. Further, some implementations of the technology are presented. At the laboratories of the Institute of Geodesy and Photogrammetry (IGP) at ETH Zurich an implementation of the above mentioned measurement principle, the SwissRanger, was investigated in detail. Special attention was focused on the characteristics of this sensor and its calibration. Finally, sample applications within the automobile are introduced.

  11. 3D Underwater Imaging Using Vector Acoustic Sensors

    DTIC Science & Technology

    2007-12-01

    infidelity. Direc- tionality also can be lost when two waves from different directions arrive simultaneously. Figure 3 shows a hodograph of the direct...red) deviated substantially from the axis. The *-direction -0.2 -0.1 0 0.1 0.2 X-axis response Figure 3. Hodograph of the x...the sensor motions caused by the scattered waves from the targets. This hodograph illustrates the directional informa- tion in vector acoustic data

  12. Colored 3D surface reconstruction using Kinect sensor

    NASA Astrophysics Data System (ADS)

    Guo, Lian-peng; Chen, Xiang-ning; Chen, Ying; Liu, Bin

    2015-03-01

    A colored 3D surface reconstruction method which effectively fuses the information of both depth and color image using Microsoft Kinect is proposed and demonstrated by experiment. Kinect depth images are processed with the improved joint-bilateral filter based on region segmentation which efficiently combines the depth and color data to improve its quality. The registered depth data are integrated to achieve a surface reconstruction through the colored truncated signed distance fields presented in this paper. Finally, the improved ray casting for rendering full colored surface is implemented to estimate color texture of the reconstruction object. Capturing the depth and color images of a toy car, the improved joint-bilateral filter based on region segmentation is used to improve the quality of depth images and the peak signal-to-noise ratio (PSNR) is approximately 4.57 dB, which is better than 1.16 dB of the joint-bilateral filter. The colored construction results of toy car demonstrate the suitability and ability of the proposed method.

  13. Design of 3D scanner for surface contour mapping by ultrasonic sensor

    NASA Astrophysics Data System (ADS)

    Munir, Muhammad Miftahul; Billah, Mohammad Aziz; Surachman, Arif; Budiman, Maman; Khairurrijal

    2015-04-01

    Surface mapping systems have attracted great attention due to their potential applications in many areas. In this paper, a simple 3D scanner based on ultrasonic sensor was designed for mapping a contour of object surface. The scanner using an SRF02 ultrasonic sensor, a microcontroller and radio frequency (RF) module to collect coordinates of object surface (point cloud), and sent data to computer. The point cloud collection process was performed by moving two ultrasonic sensors in y and x directions. Both sensors measure a distance from an object surface to a reference point of each sensor. The measurement results represent the point cloud of object surface and the data will be sent to computer via RF module. The point cloud then converted to 3D model using MATLAB. It was found that the object contours can be reconstructed very well by the developed 3D scanner system.

  14. 3D position estimation using a single coil and two magnetic field sensors.

    PubMed

    Tadayon, P; Staude, G; Felderhoff, T

    2015-01-01

    This paper presents an algorithm which enables the estimation of relative 3D position of a sensor module with two magnetic sensors with respect to a magnetic field source using a single transmitting coil. Starting with the description of the ambiguity problem caused by using a single coil, a system concept comprising two sensors having a fixed spatial relation to each other is introduced which enables the unique determination of the sensors' position in 3D space. For this purpose, an iterative two-step algorithm is presented: In a first step, the data of one sensor is used to limit the number of possible position solutions. In a second step, the spatial relation between the sensors is used to determine the correct sensor position.

  15. Development of 3D carbon nanotube interdigitated finger electrodes on polymer substrate for flexible capacitive sensor application.

    PubMed

    Hu, Chih-Fan; Wang, Jhih-Yu; Liu, Yu-Chia; Tsai, Ming-Han; Fang, Weileun

    2013-11-08

    This study reports a novel approach to the implementation of 3D carbon nanotube (CNT) interdigitated finger electrodes on flexible polymer, and the detection of strain, bending curvature, tactile force and proximity distance are demonstrated. The merits of the presented CNT-based flexible sensor are as follows: (1) the silicon substrate is patterned to enable the formation of 3D vertically aligned CNTs on the substrate surface; (2) polymer molding on the silicon substrate with 3D CNTs is further employed to transfer the 3D CNTs to the flexible polymer substrate; (3) the CNT-polymer composite (~70 μm in height) is employed to form interdigitated finger electrodes to increase the sensing area and initial capacitance; (4) other structures such as electrical routings, resistors and mechanical supporters are also available using the CNT-polymer composite. The preliminary fabrication results demonstrate a flexible capacitive sensor with 50 μm high CNT interdigitated electrodes on a poly-dimethylsiloxane substrate. The tests show that the typical capacitance change is several dozens of fF and the gauge factor is in the range of 3.44-4.88 for strain and bending curvature measurement; the sensitivity of the tactile sensor is 1.11% N(-1); a proximity distance near 2 mm away from the sensor can be detected.

  16. Development of 3D carbon nanotube interdigitated finger electrodes on polymer substrate for flexible capacitive sensor application

    NASA Astrophysics Data System (ADS)

    Hu, Chih-Fan; Wang, Jhih-Yu; Liu, Yu-Chia; Tsai, Ming-Han; Fang, Weileun

    2013-11-01

    This study reports a novel approach to the implementation of 3D carbon nanotube (CNT) interdigitated finger electrodes on flexible polymer, and the detection of strain, bending curvature, tactile force and proximity distance are demonstrated. The merits of the presented CNT-based flexible sensor are as follows: (1) the silicon substrate is patterned to enable the formation of 3D vertically aligned CNTs on the substrate surface; (2) polymer molding on the silicon substrate with 3D CNTs is further employed to transfer the 3D CNTs to the flexible polymer substrate; (3) the CNT-polymer composite (˜70 μm in height) is employed to form interdigitated finger electrodes to increase the sensing area and initial capacitance; (4) other structures such as electrical routings, resistors and mechanical supporters are also available using the CNT-polymer composite. The preliminary fabrication results demonstrate a flexible capacitive sensor with 50 μm high CNT interdigitated electrodes on a poly-dimethylsiloxane substrate. The tests show that the typical capacitance change is several dozens of fF and the gauge factor is in the range of 3.44-4.88 for strain and bending curvature measurement; the sensitivity of the tactile sensor is 1.11% N-1 a proximity distance near 2 mm away from the sensor can be detected.

  17. Investigation of inclined dual-fiber optical tweezers for 3D manipulation and force sensing.

    PubMed

    Liu, Yuxiang; Yu, Miao

    2009-08-03

    Optical tweezers provide a versatile tool in biological and physical researches. Optical tweezers based on optical fibers are more flexible and ready to be integrated when compared with those based on microscope objectives. In this paper, the three-dimensional (3D) trapping ability of an inclined dual-fiber optical tweezers is demonstrated. The trapping efficiency with respect to displacement is experimentally calibrated along two dimensions. The system is studied numerically using a modified ray-optics model. The spring constants obtained in the experiment are predicted by simulations. It is found both experimentally and numerically that there is a critical value for the fiber inclination angle to retain the 3D trapping ability. The inclined dual-fiber optical tweezers are demonstrated to be more robust to z-axis misalignment than the counter-propagating fiber optical tweezers, which is a special case of th former when the fiber inclination angle is 90 masculine. This inclined dual-fiber optical tweezers can serve as both a manipulator and a force sensor in integrated systems, such as microfluidic systems and lab-on-a-chip systems.

  18. Optimized data processing for an optical 3D sensor based on flying triangulation

    NASA Astrophysics Data System (ADS)

    Ettl, Svenja; Arold, Oliver; Häusler, Gerd; Gurov, Igor; Volkov, Mikhail

    2013-05-01

    We present data processing methods for an optical 3D sensor based on the measurement principle "Flying Triangulation". The principle enables a motion-robust acquisition of the 3D shape of even complex objects: A hand-held sensor is freely guided around the object while real-time feedback of the measurement progress is delivered during the captioning. Although of high precision, the resulting 3D data usually may exhibit some weaknesses: e.g. outliers might be present and the data size might be too large. We describe the measurement principle and the data processing and conclude with measurement results.

  19. Test beam results of 3D silicon pixel sensors for the ATLAS upgrade

    NASA Astrophysics Data System (ADS)

    Grenier, P.; Alimonti, G.; Barbero, M.; Bates, R.; Bolle, E.; Borri, M.; Boscardin, M.; Buttar, C.; Capua, M.; Cavalli-Sforza, M.; Cobal, M.; Cristofoli, A.; Dalla Betta, G.-F.; Darbo, G.; Da Vià, C.; Devetak, E.; DeWilde, B.; Di Girolamo, B.; Dobos, D.; Einsweiler, K.; Esseni, D.; Fazio, S.; Fleta, C.; Freestone, J.; Gallrapp, C.; Garcia-Sciveres, M.; Gariano, G.; Gemme, C.; Giordani, M.-P.; Gjersdal, H.; Grinstein, S.; Hansen, T.; Hansen, T.-E.; Hansson, P.; Hasi, J.; Helle, K.; Hoeferkamp, M.; Hügging, F.; Jackson, P.; Jakobs, K.; Kalliopuska, J.; Karagounis, M.; Kenney, C.; Köhler, M.; Kocian, M.; Kok, A.; Kolya, S.; Korokolov, I.; Kostyukhin, V.; Krüger, H.; La Rosa, A.; Lai, C. H.; Lietaer, N.; Lozano, M.; Mastroberardino, A.; Micelli, A.; Nellist, C.; Oja, A.; Oshea, V.; Padilla, C.; Palestri, P.; Parker, S.; Parzefall, U.; Pater, J.; Pellegrini, G.; Pernegger, H.; Piemonte, C.; Pospisil, S.; Povoli, M.; Roe, S.; Rohne, O.; Ronchin, S.; Rovani, A.; Ruscino, E.; Sandaker, H.; Seidel, S.; Selmi, L.; Silverstein, D.; Sjøbæk, K.; Slavicek, T.; Stapnes, S.; Stugu, B.; Stupak, J.; Su, D.; Susinno, G.; Thompson, R.; Tsung, J.-W.; Tsybychev, D.; Watts, S. J.; Wermes, N.; Young, C.; Zorzi, N.

    2011-05-01

    Results on beam tests of 3D silicon pixel sensors aimed at the ATLAS Insertable B-Layer and High Luminosity LHC (HL-LHC) upgrades are presented. Measurements include charge collection, tracking efficiency and charge sharing between pixel cells, as a function of track incident angle, and were performed with and without a 1.6 T magnetic field oriented as the ATLAS inner detector solenoid field. Sensors were bump-bonded to the front-end chip currently used in the ATLAS pixel detector. Full 3D sensors, with electrodes penetrating through the entire wafer thickness and active edge, and double-sided 3D sensors with partially overlapping bias and read-out electrodes were tested and showed comparable performance.

  20. MBE based HgCdTe APDs and 3D LADAR sensors

    NASA Astrophysics Data System (ADS)

    Jack, Michael; Asbrock, Jim; Bailey, Steven; Baley, Diane; Chapman, George; Crawford, Gina; Drafahl, Betsy; Herrin, Eileen; Kvaas, Robert; McKeag, William; Randall, Valerie; De Lyon, Terry; Hunter, Andy; Jensen, John; Roberts, Tom; Trotta, Patrick; Cook, T. Dean

    2007-04-01

    Raytheon is developing HgCdTe APD arrays and sensor chip assemblies (SCAs) for scanning and staring LADAR systems. The nonlinear characteristics of APDs operating in moderate gain mode place severe requirements on layer thickness and doping uniformity as well as defect density. MBE based HgCdTe APD arrays, engineered for high performance, meet the stringent requirements of low defects, excellent uniformity and reproducibility. In situ controls for alloy composition and substrate temperature have been implemented at HRL, LLC and Raytheon Vision Systems and enable consistent run to run results. The novel epitaxial designed using separate absorption-multiplication (SAM) architectures enables the realization of the unique advantages of HgCdTe including: tunable wavelength, low-noise, high-fill factor, low-crosstalk, and ambient operation. Focal planes built by integrating MBE detectors arrays processed in a 2 x 128 format have been integrated with 2 x 128 scanning ROIC designed. The ROIC reports both range and intensity and can detect multiple laser returns with each pixel autonomously reporting the return. FPAs show exceptionally good bias uniformity <1% at an average gain of 10. Recent breakthrough in device design has resulted in APDs operating at 300K with essentially no excess noise to gains in excess of 100, low NEP <1nW and GHz bandwidth. 3D LADAR sensors utilizing these FPAs have been integrated and demonstrated both at Raytheon Missile Systems and Naval Air Warfare Center Weapons Division at China Lake. Excellent spatial and range resolution has been achieved with 3D imagery demonstrated both at short range and long range. Ongoing development under an Air Force Sponsored MANTECH program of high performance HgCdTe MBE APDs grown on large silicon wafers promise significant FPA cost reduction both by increasing the number of arrays on a given wafer and enabling automated processing.

  1. Study on embedding fiber Bragg grating sensor into the 3D printing structure for health monitoring

    NASA Astrophysics Data System (ADS)

    Li, Ruiya; Tan, Yuegang; Zhou, Zude; Fang, Liang; Chen, Yiyang

    2016-10-01

    3D printing technology is a rapidly developing manufacturing technology, which is known as a core technology in the third industrial revolution. With the continuous improvement of the application of 3D printing products, the health monitoring of the 3D printing structure is particularly important. Fiber Bragg grating (FBG) sensing technology is a new type of optical sensing technology with unique advantages comparing to traditional sensing technology, and it has great application prospects in structural health monitoring. In this paper, the FBG sensors embedded in the internal structure of the 3D printing were used to monitor the static and dynamic strain variation of 3D printing structure during loading process. The theoretical result and experimental result has good consistency and the characteristic frequency detected by FBG sensor is consistent with the testing results of traditional accelerator in the dynamic experiment. The results of this paper preliminary validate that FBG embedded in the 3D printing structure can effectively detecting the static and dynamic stain change of the 3D printing structure, which provide some guidance for the health monitoring of 3D printing structure.

  2. Comparison of 2D and 3D Displays and Sensor Fusion for Threat Detection, Surveillance, and Telepresence

    DTIC Science & Technology

    2003-05-19

    Comparison of 2D and 3D displays and sensor fusion for threat detection, surveillance, and telepresence T. Meitzler, Ph. D.a, D. Bednarz, Ph.D.a, K...camouflaged threats are compared on a two dimensional (2D) display and a three dimensional ( 3D ) display. A 3D display is compared alongside a 2D...technologies that take advantage of 3D and sensor fusion will be discussed. 1. INTRODUCTION Computer driven interactive 3D imaging has made

  3. Toward 3D reconstruction of outdoor scenes using an MMW radar and a monocular vision sensor.

    PubMed

    Natour, Ghina El; Ait-Aider, Omar; Rouveure, Raphael; Berry, François; Faure, Patrice

    2015-10-14

    In this paper, we introduce a geometric method for 3D reconstruction of the exterior environment using a panoramic microwave radar and a camera. We rely on the complementarity of these two sensors considering the robustness to the environmental conditions and depth detection ability of the radar, on the one hand, and the high spatial resolution of a vision sensor, on the other. Firstly, geometric modeling of each sensor and of the entire system is presented. Secondly, we address the global calibration problem, which consists of finding the exact transformation between the sensors' coordinate systems. Two implementation methods are proposed and compared, based on the optimization of a non-linear criterion obtained from a set of radar-to-image target correspondences. Unlike existing methods, no special configuration of the 3D points is required for calibration. This makes the methods flexible and easy to use by a non-expert operator. Finally, we present a very simple, yet robust 3D reconstruction method based on the sensors' geometry. This method enables one to reconstruct observed features in 3D using one acquisition (static sensor), which is not always met in the state of the art for outdoor scene reconstruction. The proposed methods have been validated with synthetic and real data.

  4. 3D-FBK pixel sensors with CMS readout: First test results

    NASA Astrophysics Data System (ADS)

    Obertino, M.; Solano, A.; Vilela Pereira, A.; Alagoz, E.; Andresen, J.; Arndt, K.; Bolla, G.; Bortoletto, D.; Boscardin, M.; Brosius, R.; Bubna, M.; Dalla Betta, G.-F.; Jensen, F.; Krzywda, A.; Kumar, A.; Kwan, S.; Lei, C. M.; Menasce, D.; Moroni, L.; Ngadiuba, J.; Osipenkov, I.; Perera, L.; Povoli, M.; Prosser, A.; Rivera, R.; Shipsey, I.; Tan, P.; Terzo, S.; Uplegger, L.; Wagner, S.; Dinardo, M.

    2013-08-01

    Silicon 3D detectors consist of an array of columnar electrodes of both doping types which penetrate entirely in the detector bulk, perpendicularly to the surface. They are emerging as one of the most promising technologies for innermost layers of tracking devices for the foreseen upgrades of the LHC. Until recently, properties of 3D sensors have been investigated mostly with ATLAS readout electronics. 3D pixel sensors compatible with the CMS readout were first fabricated at SINTEF (Oslo, Norway), and more recently at FBK (Trento, Italy) and CNM (Barcelona, Spain). Several sensors with different electrode configurations, bump-bonded with the CMS pixel PSI46 readout chip, were characterized in laboratory and tested at Fermilab with a proton beam of 120 GeV/c. Preliminary results of the data analysis are presented.

  5. Simulations of 3D-Si sensors for the innermost layer of the ATLAS pixel upgrade

    NASA Astrophysics Data System (ADS)

    Baselga, M.; Pellegrini, G.; Quirion, D.

    2017-03-01

    The LHC is expected to reach luminosities up to 3000 fb-1 and the innermost layer of the ATLAS upgrade plans to cope with higher occupancy and to decrease the pixel size. 3D-Si sensors are a good candidate for the innermost layer of the ATLAS pixel upgrade since they exhibit good performance under high fluences and the new designs will have smaller pixel size to fulfill the electronics expectations. This paper reports TCAD simulations of the 3D-Si sensors designed at IMB-CNM with non-passing-through columns that are being fabricated for the next innermost layer of the ATLAS pixel upgrade. It shows the charge collection response before and after irradiation, and the response of 3D-Si sensors located at large η angles.

  6. Disposable soft 3 axis force sensor for biomedical applications.

    PubMed

    Chathuranga, Damith Suresh; Zhongkui Wang; Yohan Noh; Nanayakkara, Thrishantha; Hirai, Shinichi

    2015-08-01

    This paper proposes a new disposable soft 3D force sensor that can be used to calculate either force or displacement and vibrations. It uses three Hall Effect sensors orthogonally placed around a cylindrical beam made of silicon rubber. A niobium permanent magnet is inside the silicon. When a force is applied to the end of the cylinder, it is compressed and bent to the opposite side of the force displacing the magnet. This displacement causes change in the magnetic flux around the ratiomatric linear sensors (Hall Effect sensors). By analysing these changes, we calculate the force or displacement in three directions using a lookup table. This sensor can be used in minimal invasive surgery and haptic feedback applications. The cheap construction, bio-compatibility and ease of miniaturization are few advantages of this sensor. The sensor design, and its characterization are presented in this work.

  7. A Simple, Low-Cost Conductive Composite Material for 3D Printing of Electronic Sensors

    PubMed Central

    Leigh, Simon J.; Bradley, Robert J.; Purssell, Christopher P.; Billson, Duncan R.; Hutchins, David A.

    2012-01-01

    3D printing technology can produce complex objects directly from computer aided digital designs. The technology has traditionally been used by large companies to produce fit and form concept prototypes (‘rapid prototyping’) before production. In recent years however there has been a move to adopt the technology as full-scale manufacturing solution. The advent of low-cost, desktop 3D printers such as the RepRap and Fab@Home has meant a wider user base are now able to have access to desktop manufacturing platforms enabling them to produce highly customised products for personal use and sale. This uptake in usage has been coupled with a demand for printing technology and materials able to print functional elements such as electronic sensors. Here we present formulation of a simple conductive thermoplastic composite we term ‘carbomorph’ and demonstrate how it can be used in an unmodified low-cost 3D printer to print electronic sensors able to sense mechanical flexing and capacitance changes. We show how this capability can be used to produce custom sensing devices and user interface devices along with printed objects with embedded sensing capability. This advance in low-cost 3D printing with offer a new paradigm in the 3D printing field with printed sensors and electronics embedded inside 3D printed objects in a single build process without requiring complex or expensive materials incorporating additives such as carbon nanotubes. PMID:23185319

  8. Pt nanoparticles functionalized 3D SnO2 nanoflowers for gas sensor application

    NASA Astrophysics Data System (ADS)

    Liu, Yinglin; Huang, Jing; Yang, Jiedi; Wang, Shurong

    2017-04-01

    3D SnO2 nanoflowers (NFs) assembled by rod-like nanostructures were synthesized by a facile hydrothermal method only using simple and inexpensive SnCl4·5H2O and NaOH as the starting materials, without using any surfactants or templates. The as-synthesized 3D SnO2 NFs were further functionalized by Pt nanoparticles (NPs) by a simple ammonia precipitate method, and the derived Pt NP-functionalized 3D SnO2 NFs were further investigated for gas sensor application using ethanol as a probe gas. Obtained results showed that the Pt NP-functionalized 3D SnO2 NF sensor exhibited much higher response in comparison with pure SnO2 sensor, altogether with short response/recovery times and good reproducibility. The enhanced gas sensing performances could be attributed to spill-over effect of Pt NPs for promoting gas sensing reactions, the synergic electronic interaction between Pt NPs and SnO2 support, the high surface-to-volume ratio and good electron mobility of the 1D SnO2 nanorod units, and unique 3D hierarchical flower-like nanostructures. It is also expected that the as-prepared 3D SnO2 NFs and Pt NP-functionalized product can be used in other fields such as optoelectronic devices, Li-ion battery and dye sensitized solar cells.

  9. A simple, low-cost conductive composite material for 3D printing of electronic sensors.

    PubMed

    Leigh, Simon J; Bradley, Robert J; Purssell, Christopher P; Billson, Duncan R; Hutchins, David A

    2012-01-01

    3D printing technology can produce complex objects directly from computer aided digital designs. The technology has traditionally been used by large companies to produce fit and form concept prototypes ('rapid prototyping') before production. In recent years however there has been a move to adopt the technology as full-scale manufacturing solution. The advent of low-cost, desktop 3D printers such as the RepRap and Fab@Home has meant a wider user base are now able to have access to desktop manufacturing platforms enabling them to produce highly customised products for personal use and sale. This uptake in usage has been coupled with a demand for printing technology and materials able to print functional elements such as electronic sensors. Here we present formulation of a simple conductive thermoplastic composite we term 'carbomorph' and demonstrate how it can be used in an unmodified low-cost 3D printer to print electronic sensors able to sense mechanical flexing and capacitance changes. We show how this capability can be used to produce custom sensing devices and user interface devices along with printed objects with embedded sensing capability. This advance in low-cost 3D printing with offer a new paradigm in the 3D printing field with printed sensors and electronics embedded inside 3D printed objects in a single build process without requiring complex or expensive materials incorporating additives such as carbon nanotubes.

  10. Investigation of leakage current and breakdown voltage in irradiated double-sided 3D silicon sensors

    NASA Astrophysics Data System (ADS)

    Dalla Betta, G.-F.; Ayllon, N.; Boscardin, M.; Hoeferkamp, M.; Mattiazzo, S.; McDuff, H.; Mendicino, R.; Povoli, M.; Seidel, S.; Sultan, D. M. S.; Zorzi, N.

    2016-09-01

    We report on an experimental study aimed at gaining deeper insight into the leakage current and breakdown voltage of irradiated double-sided 3D silicon sensors from FBK, so as to improve both the design and the fabrication technology for use at future hadron colliders such as the High Luminosity LHC. Several 3D diode samples of different technologies and layout are considered, as well as several irradiations with different particle types. While the leakage current follows the expected linear trend with radiation fluence, the breakdown voltage is found to depend on both the bulk damage and the surface damage, and its values can vary significantly with sensor geometry and process details.

  11. Inertial Sensor-Based Touch and Shake Metaphor for Expressive Control of 3D Virtual Avatars.

    PubMed

    Patil, Shashidhar; Chintalapalli, Harinadha Reddy; Kim, Dubeom; Chai, Youngho

    2015-06-18

    In this paper, we present an inertial sensor-based touch and shake metaphor for expressive control of a 3D virtual avatar in a virtual environment. An intuitive six degrees-of-freedom wireless inertial motion sensor is used as a gesture and motion control input device with a sensor fusion algorithm. The algorithm enables user hand motions to be tracked in 3D space via magnetic, angular rate, and gravity sensors. A quaternion-based complementary filter is implemented to reduce noise and drift. An algorithm based on dynamic time-warping is developed for efficient recognition of dynamic hand gestures with real-time automatic hand gesture segmentation. Our approach enables the recognition of gestures and estimates gesture variations for continuous interaction. We demonstrate the gesture expressivity using an interactive flexible gesture mapping interface for authoring and controlling a 3D virtual avatar and its motion by tracking user dynamic hand gestures. This synthesizes stylistic variations in a 3D virtual avatar, producing motions that are not present in the motion database using hand gesture sequences from a single inertial motion sensor.

  12. Inertial Sensor-Based Touch and Shake Metaphor for Expressive Control of 3D Virtual Avatars

    PubMed Central

    Patil, Shashidhar; Chintalapalli, Harinadha Reddy; Kim, Dubeom; Chai, Youngho

    2015-01-01

    In this paper, we present an inertial sensor-based touch and shake metaphor for expressive control of a 3D virtual avatar in a virtual environment. An intuitive six degrees-of-freedom wireless inertial motion sensor is used as a gesture and motion control input device with a sensor fusion algorithm. The algorithm enables user hand motions to be tracked in 3D space via magnetic, angular rate, and gravity sensors. A quaternion-based complementary filter is implemented to reduce noise and drift. An algorithm based on dynamic time-warping is developed for efficient recognition of dynamic hand gestures with real-time automatic hand gesture segmentation. Our approach enables the recognition of gestures and estimates gesture variations for continuous interaction. We demonstrate the gesture expressivity using an interactive flexible gesture mapping interface for authoring and controlling a 3D virtual avatar and its motion by tracking user dynamic hand gestures. This synthesizes stylistic variations in a 3D virtual avatar, producing motions that are not present in the motion database using hand gesture sequences from a single inertial motion sensor. PMID:26094629

  13. A nano-microstructured artificial-hair-cell-type sensor based on topologically graded 3D carbon nanotube bundles

    NASA Astrophysics Data System (ADS)

    Yilmazoglu, O.; Yadav, S.; Cicek, D.; Schneider, J. J.

    2016-09-01

    A design for a unique artificial-hair-cell-type sensor (AHCTS) based entirely on 3D-structured, vertically aligned carbon nanotube (CNT) bundles is introduced. Standard microfabrication techniques were used for the straightforward micro-nano integration of vertically aligned carbon nanotube arrays composed of low-layer multi-walled CNTs (two to six layers). The mechanical properties of the carbon nanotube bundles were intensively characterized with regard to various substrates and CNT morphology, e.g. bundle height. The CNT bundles display excellent flexibility and mechanical stability for lateral bending, showing high tear resistance. The integrated 3D CNT sensor can detect three-dimensional forces using the deflection or compression of a central CNT bundle which changes the contact resistance to the shorter neighboring bundles. The complete sensor system can be fabricated using a single chemical vapor deposition (CVD) process step. Moreover, sophisticated external contacts to the surroundings are not necessary for signal detection. No additional sensors or external bias for signal detection are required. This simplifies the miniaturization and the integration of these nanostructures for future microsystem set-ups. The new nanostructured sensor system exhibits an average sensitivity of 2100 ppm in the linear regime with the relative resistance change per micron (ppm μm-1) of the individual CNT bundle tip deflection. Furthermore, experiments have shown highly sensitive piezoresistive behavior with an electrical resistance decrease of up to ˜11% at 50 μm mechanical deflection. The detection sensitivity is as low as 1 μm of deflection, and thus highly comparable with the tactile hair sensors of insects, having typical thresholds on the order of 30-50 μm. The AHCTS can easily be adapted and applied as a flow, tactile or acceleration sensor as well as a vibration sensor. Potential applications of the latter might come up in artificial cochlear systems. In

  14. Sensitivity and 3 dB Bandwidth in Single and Series-Connected Tunneling Magnetoresistive Sensors

    PubMed Central

    Dąbek, Michał; Wiśniowski, Piotr; Stobiecki, Tomasz; Wrona, Jerzy; Cardoso, Susana; Freitas, Paulo P.

    2016-01-01

    As single tunneling magnetoresistive (TMR) sensor performance in modern high-speed applications is limited by breakdown voltage and saturation of the sensitivity, for higher voltage applications (i.e., compatible to 1.8 V, 3.3 V or 5 V standards) practically only a series connection can be applied. Thus, in this study we focused on sensitivity, 3 dB bandwidth and sensitivity-bandwidth product (SBP) dependence on the DC bias voltage in single and series-connected TMR sensors. We show that, below breakdown voltage, the strong bias influence on sensitivity and the 3 dB frequency of a single sensor results in higher SBP than in a series connection. However, the sensitivity saturation limits the single sensor SBP which, under 1 V, reaches the same level of 2000 MHz∙V/T as in a series connection. Above the single sensor breakdown voltage, linear sensitivity dependence on the bias and the constant 3 dB bandwidth of the series connection enable increasing its SBP up to nearly 10,000 MHz∙V/T under 5 V. Thus, although by tuning bias voltage it is possible to control the sensitivity-bandwidth product, the choice between the single TMR sensor and the series connection is crucial for the optimal performance in the high frequency range. PMID:27809223

  15. Sensitivity and 3 dB Bandwidth in Single and Series-Connected Tunneling Magnetoresistive Sensors.

    PubMed

    Dąbek, Michał; Wiśniowski, Piotr; Stobiecki, Tomasz; Wrona, Jerzy; Cardoso, Susana; Freitas, Paulo P

    2016-10-31

    As single tunneling magnetoresistive (TMR) sensor performance in modern high-speed applications is limited by breakdown voltage and saturation of the sensitivity, for higher voltage applications (i.e., compatible to 1.8 V, 3.3 V or 5 V standards) practically only a series connection can be applied. Thus, in this study we focused on sensitivity, 3 dB bandwidth and sensitivity-bandwidth product (SBP) dependence on the DC bias voltage in single and series-connected TMR sensors. We show that, below breakdown voltage, the strong bias influence on sensitivity and the 3 dB frequency of a single sensor results in higher SBP than in a series connection. However, the sensitivity saturation limits the single sensor SBP which, under 1 V, reaches the same level of 2000 MHz∙V/T as in a series connection. Above the single sensor breakdown voltage, linear sensitivity dependence on the bias and the constant 3 dB bandwidth of the series connection enable increasing its SBP up to nearly 10,000 MHz∙V/T under 5 V. Thus, although by tuning bias voltage it is possible to control the sensitivity-bandwidth product, the choice between the single TMR sensor and the series connection is crucial for the optimal performance in the high frequency range.

  16. External force back-projective composition and globally deformable optimization for 3-D coronary artery reconstruction.

    PubMed

    Yang, Jian; Cong, Weijian; Chen, Yang; Fan, Jingfan; Liu, Yue; Wang, Yongtian

    2014-02-21

    The clinical value of the 3D reconstruction of a coronary artery is important for the diagnosis and intervention of cardiovascular diseases. This work proposes a method based on a deformable model for reconstructing coronary arteries from two monoplane angiographic images acquired from different angles. First, an external force back-projective composition model is developed to determine the external force, for which the force distributions in different views are back-projected to the 3D space and composited in the same coordinate system based on the perspective projection principle of x-ray imaging. The elasticity and bending forces are composited as an internal force to maintain the smoothness of the deformable curve. Second, the deformable curve evolves rapidly toward the true vascular centerlines in 3D space and angiographic images under the combination of internal and external forces. Third, densely matched correspondence among vessel centerlines is constructed using a curve alignment method. The bundle adjustment method is then utilized for the global optimization of the projection parameters and the 3D structures. The proposed method is validated on phantom data and routine angiographic images with consideration for space and re-projection image errors. Experimental results demonstrate the effectiveness and robustness of the proposed method for the reconstruction of coronary arteries from two monoplane angiographic images. The proposed method can achieve a mean space error of 0.564 mm and a mean re-projection error of 0.349 mm.

  17. A Soft Sensor-Based Three-Dimensional (3-D) Finger Motion Measurement System

    PubMed Central

    Park, Wookeun; Ro, Kyongkwan; Kim, Suin; Bae, Joonbum

    2017-01-01

    In this study, a soft sensor-based three-dimensional (3-D) finger motion measurement system is proposed. The sensors, made of the soft material Ecoflex, comprise embedded microchannels filled with a conductive liquid metal (EGaln). The superior elasticity, light weight, and sensitivity of soft sensors allows them to be embedded in environments in which conventional sensors cannot. Complicated finger joints, such as the carpometacarpal (CMC) joint of the thumb are modeled to specify the location of the sensors. Algorithms to decouple the signals from soft sensors are proposed to extract the pure flexion, extension, abduction, and adduction joint angles. The performance of the proposed system and algorithms are verified by comparison with a camera-based motion capture system. PMID:28241414

  18. Toward 3D Reconstruction of Outdoor Scenes Using an MMW Radar and a Monocular Vision Sensor

    PubMed Central

    El Natour, Ghina; Ait-Aider, Omar; Rouveure, Raphael; Berry, François; Faure, Patrice

    2015-01-01

    In this paper, we introduce a geometric method for 3D reconstruction of the exterior environment using a panoramic microwave radar and a camera. We rely on the complementarity of these two sensors considering the robustness to the environmental conditions and depth detection ability of the radar, on the one hand, and the high spatial resolution of a vision sensor, on the other. Firstly, geometric modeling of each sensor and of the entire system is presented. Secondly, we address the global calibration problem, which consists of finding the exact transformation between the sensors’ coordinate systems. Two implementation methods are proposed and compared, based on the optimization of a non-linear criterion obtained from a set of radar-to-image target correspondences. Unlike existing methods, no special configuration of the 3D points is required for calibration. This makes the methods flexible and easy to use by a non-expert operator. Finally, we present a very simple, yet robust 3D reconstruction method based on the sensors’ geometry. This method enables one to reconstruct observed features in 3D using one acquisition (static sensor), which is not always met in the state of the art for outdoor scene reconstruction. The proposed methods have been validated with synthetic and real data. PMID:26473874

  19. Fusing inertial sensor data in an extended Kalman filter for 3D camera tracking.

    PubMed

    Erdem, Arif Tanju; Ercan, Ali Özer

    2015-02-01

    In a setup where camera measurements are used to estimate 3D egomotion in an extended Kalman filter (EKF) framework, it is well-known that inertial sensors (i.e., accelerometers and gyroscopes) are especially useful when the camera undergoes fast motion. Inertial sensor data can be fused at the EKF with the camera measurements in either the correction stage (as measurement inputs) or the prediction stage (as control inputs). In general, only one type of inertial sensor is employed in the EKF in the literature, or when both are employed they are both fused in the same stage. In this paper, we provide an extensive performance comparison of every possible combination of fusing accelerometer and gyroscope data as control or measurement inputs using the same data set collected at different motion speeds. In particular, we compare the performances of different approaches based on 3D pose errors, in addition to camera reprojection errors commonly found in the literature, which provides further insight into the strengths and weaknesses of different approaches. We show using both simulated and real data that it is always better to fuse both sensors in the measurement stage and that in particular, accelerometer helps more with the 3D position tracking accuracy, whereas gyroscope helps more with the 3D orientation tracking accuracy. We also propose a simulated data generation method, which is beneficial for the design and validation of tracking algorithms involving both camera and inertial measurement unit measurements in general.

  20. 3D-FBK Pixel Sensors: Recent Beam Tests Results with Irradiated Devices

    SciTech Connect

    Micelli, A.; Helle, K.; Sandaker, H.; Stugu, B.; Barbero, M.; Hugging, F.; Karagounis, M.; Kostyukhin, V.; Kruger, H.; Tsung, J.W.; Wermes, N.; Capua, M.; Fazio, S.; Mastroberardino, A.; Susinno, G.; Gallrapp, C.; Di Girolamo, B.; Dobos, D.; La Rosa, A.; Pernegger, H.; Roe, S.; /CERN /Prague, Tech. U. /Prague, Tech. U. /Freiburg U. /Freiburg U. /Freiburg U. /INFN, Genoa /Genoa U. /INFN, Genoa /Genoa U. /INFN, Genoa /Genoa U. /INFN, Genoa /Genoa U. /INFN, Genoa /Genoa U. /Glasgow U. /Glasgow U. /Glasgow U. /Hawaii U. /Barcelona, IFAE /Barcelona, IFAE /LBL, Berkeley /Barcelona, IFAE /LBL, Berkeley /LBL, Berkeley /Manchester U. /Manchester U. /Manchester U. /Manchester U. /Manchester U. /Manchester U. /Manchester U. /Manchester U. /Manchester U. /New Mexico U. /New Mexico U. /Oslo U. /Oslo U. /Oslo U. /Oslo U. /Oslo U. /SLAC /SLAC /SLAC /SLAC /SLAC /SLAC /SLAC /SLAC /SLAC /SUNY, Stony Brook /SUNY, Stony Brook /SUNY, Stony Brook /INFN, Trento /Trento U. /INFN, Trento /Trento U. /INFN, Trento /Trento U. /INFN, Trieste /Udine U. /INFN, Trieste /Udine U. /INFN, Trieste /Udine U. /INFN, Trieste /Udine U. /INFN, Trieste /Udine U. /INFN, Trieste /Udine U. /Barcelona, Inst. Microelectron. /Barcelona, Inst. Microelectron. /Barcelona, Inst. Microelectron. /Fond. Bruno Kessler, Trento /Fond. Bruno Kessler, Trento /Fond. Bruno Kessler, Trento /Fond. Bruno Kessler, Trento /Fond. Bruno Kessler, Trento /SINTEF, Oslo /SINTEF, Oslo /SINTEF, Oslo /SINTEF, Oslo /VTT Electronics, Espoo /VTT Electronics, Espoo

    2012-04-30

    The Pixel Detector is the innermost part of the ATLAS experiment tracking device at the Large Hadron Collider, and plays a key role in the reconstruction of the primary vertices from the collisions and secondary vertices produced by short-lived particles. To cope with the high level of radiation produced during the collider operation, it is planned to add to the present three layers of silicon pixel sensors which constitute the Pixel Detector, an additional layer (Insertable B-Layer, or IBL) of sensors. 3D silicon sensors are one of the technologies which are under study for the IBL. 3D silicon technology is an innovative combination of very-large-scale integration and Micro-Electro-Mechanical-Systems where electrodes are fabricated inside the silicon bulk instead of being implanted on the wafer surfaces. 3D sensors, with electrodes fully or partially penetrating the silicon substrate, are currently fabricated at different processing facilities in Europe and USA. This paper reports on the 2010 June beam test results for irradiated 3D devices produced at FBK (Trento, Italy). The performance of these devices, all bump-bonded with the ATLAS pixel FE-I3 read-out chip, is compared to that observed before irradiation in a previous beam test.

  1. New 3-D vision-sensor for shape-measurement applications

    NASA Astrophysics Data System (ADS)

    Moring, Ilkka; Myllyla, Risto A.; Honkanen, Esa; Kaisto, Ilkka P.; Kostamovaara, Juha T.; Maekynen, Anssi J.; Manninen, Markku

    1990-04-01

    In this paper we describe a new 3D-vision sensor developed in cooperation with the Technical Research Centre of Finland, the University of Oulu, and Prometrics Oy Co. The sensor is especially intended for the non-contact measurement of the shapes and dimensions of large industrial objects. It consists of a pulsed time-of-flight laser rangefinder, a target point detection system, a mechanical scanner, and a PC-based computer system. Our 3D-sensor has two operational modes: one for range image acquisition and the other for the search and measurement of single coordinate points. In the range image mode a scene is scanned and a 3D-image of the desired size is obtained. In the single point mode the sensor automatically searches for cooperative target points on the surface of an object and measures their 3D-coordinates. This mode can be used, e.g. for checking the dimensions of objects and for calibration. The results of preliminary performance tests are presented in the paper.

  2. MEMS-Based Flexible Force Sensor for Tri-Axial Catheter Contact Force Measurement.

    PubMed

    Pandya, Hardik J; Sheng, Jun; Desai, Jaydev P

    2017-02-01

    Atrial fibrillation (AFib) is a significant healthcare problem caused by the uneven and rapid discharge of electrical signals from pulmonary veins (PVs). The technique of radiofrequency (RF) ablation can block these abnormal electrical signals by ablating myocardial sleeves inside PVs. Catheter contact force measurement during RF ablation can reduce the rate of AFib recurrence, since it helps to determine effective contact of the catheter with the tissue, thereby resulting in effective power delivery for ablation. This paper presents the development of a three-dimensional (3D) force sensor to provide the real-time measurement of tri-axial catheter contact force. The 3D force sensor consists of a plastic cubic bead and five flexible force sensors. Each flexible force sensor was made of a PEDOT:PSS strain gauge and a PDMS bump on a flexible PDMS substrate. Calibration results show that the fabricated sensor has a linear response in the force range required for RF ablation. To evaluate its working performance, the fabricated sensor was pressed against gelatin tissue by a micromanipulator and also integrated on a catheter tip to test it within deionized water flow. Both experiments simulated the ventricular environment and proved the validity of applying the 3D force sensor in RF ablation.

  3. Fiber optic vibration sensor for high-power electric machines realized using 3D printing technology

    NASA Astrophysics Data System (ADS)

    Igrec, Bojan; Bosiljevac, Marko; Sipus, Zvonimir; Babic, Dubravko; Rudan, Smiljko

    2016-03-01

    The objective of this work was to demonstrate a lightweight and inexpensive fiber-optic vibration sensor, built using 3D printing technology, for high-power electric machines and similar applications. The working principle is based on modulating the light intensity using a blade attached to a bendable membrane. The sensor prototype was manufactured using PolyJet Matrix technology with DM 8515 Grey 35 Polymer. The sensor shows linear response, expected bandwidth (< 150 Hz), and from our measurements we estimated the damping ratio for used polymer to be ζ ≍ 0.019. The developed prototype is simple to assemble, adjust, calibrate and repair.

  4. 3D MEMS sensor for application on earthquakes early detection and Nowcast

    NASA Astrophysics Data System (ADS)

    Wu, Jerry; Liang, Jing; Szu, Harold

    2016-05-01

    This paper presents a 3D Microelectromechanical systems (MEMS) sensor system to quickly and reliably identify the precursors that precede every earthquake. When a precursor is detected and is expected to be followed by a major earthquake, the sensor system will analyze and determine the magnitude of the earthquake. This newly proposed 3D MEMS sensor can provide P-waves, S-waves, and surface waves along with timing measurements to a data processing unit. The out coming data is processed and filtered continuously by a set of proposed built-in programmable Digital Signal Process (DSP) filters in order to remove noise and other disturbances and determine an earthquake pattern. Our goal is to reliably initiate an alarm before the arrival of the destructive waves. Keywords:

  5. Virtual touch 3D interactive system for autostereoscopic display with embedded optical sensor

    NASA Astrophysics Data System (ADS)

    Huang, Yi-Pai; Wang, Guo-Zhen; Ma, Ming-Ching; Tung, Shang-Yu; Huang, Shu-Yi; Tseng, Hung-Wei; Kuo, Chung-Hong; Li, Chun-Huai

    2011-06-01

    The traidational 3D interactive sysetm which uses CCD camera to capture image is difficult to operate on near range for mobile applications.Therefore, 3D interactive display with embedded optical sensor was proposed. Based on optical sensor based system, we proposed four different methods to support differenct functions. T mark algorithm can obtain 5- axis information (x, y, z,θ, and φ)of LED no matter where LED was vertical or inclined to panel and whatever it rotated. Sequential mark algorithm and color filter based algorithm can support mulit-user. Finally, bare finger touch system with sequential illuminator can achieve to interact with auto-stereoscopic images by bare finger. Furthermore, the proposed methods were verified on a 4-inch panel with embedded optical sensors.

  6. 3D deformation field in growing plant roots reveals both mechanical and biological responses to axial mechanical forces.

    PubMed

    Bizet, François; Bengough, A Glyn; Hummel, Irène; Bogeat-Triboulot, Marie-Béatrice; Dupuy, Lionel X

    2016-10-01

    Strong regions and physical barriers in soils may slow root elongation, leading to reduced water and nutrient uptake and decreased yield. In this study, the biomechanical responses of roots to axial mechanical forces were assessed by combining 3D live imaging, kinematics and a novel mechanical sensor. This system quantified Young's elastic modulus of intact poplar roots (32MPa), a rapid <0.2 mN touch-elongation sensitivity, and the critical elongation force applied by growing roots that resulted in bending. Kinematic analysis revealed a multiphase bio-mechanical response of elongation rate and curvature in 3D. Measured critical elongation force was accurately predicted from an Euler buckling model, indicating that no biologically mediated accommodation to mechanical forces influenced bending during this short period of time. Force applied by growing roots increased more than 15-fold when buckling was prevented by lateral bracing of the root. The junction between the growing and the mature zones was identified as a zone of mechanical weakness that seemed critical to the bending process. This work identified key limiting factors for root growth and buckling under mechanical constraints. The findings are relevant to crop and soil sciences, and advance our understanding of root growth in heterogeneous structured soils.

  7. 3D deformation field in growing plant roots reveals both mechanical and biological responses to axial mechanical forces

    PubMed Central

    Bizet, François; Bengough, A. Glyn; Hummel, Irène; Bogeat-Triboulot, Marie-Béatrice; Dupuy, Lionel X.

    2016-01-01

    Strong regions and physical barriers in soils may slow root elongation, leading to reduced water and nutrient uptake and decreased yield. In this study, the biomechanical responses of roots to axial mechanical forces were assessed by combining 3D live imaging, kinematics and a novel mechanical sensor. This system quantified Young’s elastic modulus of intact poplar roots (32MPa), a rapid <0.2 mN touch-elongation sensitivity, and the critical elongation force applied by growing roots that resulted in bending. Kinematic analysis revealed a multiphase bio-mechanical response of elongation rate and curvature in 3D. Measured critical elongation force was accurately predicted from an Euler buckling model, indicating that no biologically mediated accommodation to mechanical forces influenced bending during this short period of time. Force applied by growing roots increased more than 15-fold when buckling was prevented by lateral bracing of the root. The junction between the growing and the mature zones was identified as a zone of mechanical weakness that seemed critical to the bending process. This work identified key limiting factors for root growth and buckling under mechanical constraints. The findings are relevant to crop and soil sciences, and advance our understanding of root growth in heterogeneous structured soils. PMID:27664958

  8. Sensor Fusion of Cameras and a Laser for City-Scale 3D Reconstruction

    PubMed Central

    Bok, Yunsu; Choi, Dong-Geol; Kweon, In So

    2014-01-01

    This paper presents a sensor fusion system of cameras and a 2D laser sensor for large-scale 3D reconstruction. The proposed system is designed to capture data on a fast-moving ground vehicle. The system consists of six cameras and one 2D laser sensor, and they are synchronized by a hardware trigger. Reconstruction of 3D structures is done by estimating frame-by-frame motion and accumulating vertical laser scans, as in previous works. However, our approach does not assume near 2D motion, but estimates free motion (including absolute scale) in 3D space using both laser data and image features. In order to avoid the degeneration associated with typical three-point algorithms, we present a new algorithm that selects 3D points from two frames captured by multiple cameras. The problem of error accumulation is solved by loop closing, not by GPS. The experimental results show that the estimated path is successfully overlaid on the satellite images, such that the reconstruction result is very accurate. PMID:25375758

  9. An analogue contact probe using a compact 3D optical sensor for micro/nano coordinate measuring machines

    NASA Astrophysics Data System (ADS)

    Li, Rui-Jun; Fan, Kuang-Chao; Miao, Jin-Wei; Huang, Qiang-Xian; Tao, Sheng; Gong, Er-min

    2014-09-01

    This paper presents a new analogue contact probe based on a compact 3D optical sensor with high precision. The sensor comprises an autocollimator and a polarizing Michelson interferometer, which can detect two angles and one displacement of the plane mirror at the same time. In this probe system, a tungsten stylus with a ruby tip-ball is attached to a floating plate, which is supported by four V-shape leaf springs fixed to the outer case. When a contact force is applied to the tip, the leaf springs will experience elastic deformation and the plane mirror mounted on the floating plate will be displaced. The force-motion characteristics of this probe were investigated and optimum parameters were obtained with the constraint of allowable physical size of the probe. Simulation results show that the probe is uniform in 3D and its contacting force gradient is within 1 mN µm - 1. Experimental results indicate that the probe has 1 nm resolution,  ± 10 µm measuring range in X - Y plane, 10 µm measuring range in Z direction and within 30 nm measuring standard deviation. The feasibility of the probe has been preliminarily verified by testing the flatness and step height of high precision gauge blocks.

  10. A sensor skid for precise 3D modeling of production lines

    NASA Astrophysics Data System (ADS)

    Elseberg, J.; Borrmann, D.; Schauer, J.; Nüchter, A.; Koriath, D.; Rautenberg, U.

    2014-05-01

    Motivated by the increasing need of rapid characterization of environments in 3D, we designed and built a sensor skid that automates the work of an operator of terrestrial laser scanners. The system combines terrestrial laser scanning with kinematic laser scanning and uses a novel semi-rigid SLAMmethod. It enables us to digitize factory environments without the need to stop production. The acquired 3D point clouds are precise and suitable to detect objects that collide with items moved along the production line.

  11. Integration of camera and range sensors for 3D pose estimation in robot visual servoing

    NASA Astrophysics Data System (ADS)

    Hulls, Carol C. W.; Wilson, William J.

    1998-10-01

    Range-vision sensor systems can incorporate range images or single point measurements. Research incorporating point range measurements has focused on the area of map generation for mobile robots. These systems can utilize the fact that the objects sensed tend to be large and planar. The approach presented in this paper fuses information obtained from a point range measurement with visual information to produce estimates of the relative 3D position and orientation of a small, non-planar object with respect to a robot end- effector. The paper describes a real-time sensor fusion system for performing dynamic visual servoing using a camera and a point laser range sensor. The system is based upon the object model reference approach. This approach, which can be used to develop multi-sensor fusion systems that fuse dynamic sensor data from diverse sensors in real-time, uses a description of the object to be sensed in order to develop a combined observation-dependency sensor model. The range- vision sensor system is evaluated in terms of accuracy and robustness. The results show that the use of a range sensor significantly improves the system performance when there is poor or insufficient camera information. The system developed is suitable for visual servoing applications, particularly robot assembly operations.

  12. Morphogenesis of 3D vascular networks is regulated by tensile forces

    PubMed Central

    Rosenfeld, Dekel; Landau, Shira; Shandalov, Yulia; Raindel, Noa; Freiman, Alina; Shor, Erez; Blinder, Yaron; Vandenburgh, Herman H.; Mooney, David J.; Levenberg, Shulamit

    2016-01-01

    Understanding the forces controlling vascular network properties and morphology can enhance in vitro tissue vascularization and graft integration prospects. This work assessed the effect of uniaxial cell-induced and externally applied tensile forces on the morphology of vascular networks formed within fibroblast and endothelial cell-embedded 3D polymeric constructs. Force intensity correlated with network quality, as verified by inhibition of force and of angiogenesis-related regulators. Tensile forces during vessel formation resulted in parallel vessel orientation under static stretching and diagonal orientation under cyclic stretching, supported by angiogenic factors secreted in response to each stretch protocol. Implantation of scaffolds bearing network orientations matching those of host abdominal muscle tissue improved graft integration and the mechanical properties of the implantation site, a critical factor in repair of defects in this area. This study demonstrates the regulatory role of forces in angiogenesis and their capacities in vessel structure manipulation, which can be exploited to improve scaffolds for tissue repair. PMID:26951667

  13. Bolt Shear Force Sensor

    DTIC Science & Technology

    2015-03-12

    cross-sections and a wire egress hole. The ring surrounds a bolt or fastener to be tested. The channel-like cross sections face exterior to a center...capture hoop strain from surrounding plates of the operating system which holds the fastener. A signal conditioner operationally connected via wire ...grating sensor 1 to an external connector 4. Other devices use washers instrumented with wire (foil) strain gages in which the gages only measure the

  14. Angle extended linear MEMS scanning system for 3D laser vision sensor

    NASA Astrophysics Data System (ADS)

    Pang, Yajun; Zhang, Yinxin; Yang, Huaidong; Zhu, Pan; Gai, Ye; Zhao, Jian; Huang, Zhanhua

    2016-09-01

    Scanning system is often considered as the most important part for 3D laser vision sensor. In this paper, we propose a method for the optical system design of angle extended linear MEMS scanning system, which has features of huge scanning degree, small beam divergence angle and small spot size for 3D laser vision sensor. The principle of design and theoretical formulas are derived strictly. With the help of software ZEMAX, a linear scanning optical system based on MEMS has been designed. Results show that the designed system can extend scanning angle from ±8° to ±26.5° with a divergence angle small than 3.5 mr, and the spot size is reduced for 4.545 times.

  15. Design and verification of diffractive optical elements for speckle generation of 3-D range sensors

    NASA Astrophysics Data System (ADS)

    Du, Pei-Qin; Shih, Hsi-Fu; Chen, Jenq-Shyong; Wang, Yi-Shiang

    2016-12-01

    The optical projection using speckles is one of the structured light methods that have been applied to three-dimensional (3-D) range sensors. This paper investigates the design and fabrication of diffractive optical elements (DOEs) for generating the light field with uniformly distributed speckles. Based on the principles of computer generated holograms, the iterative Fourier transform algorithm was adopted for the DOE design. It was used to calculate the phase map for diffracting the incident laser beam into a goal pattern with distributed speckles. Four patterns were designed in the study. Their phase maps were first examined by a spatial light modulator and then fabricated on glass substrates by microfabrication processes. Finally, the diffraction characteristics of the fabricated devices were verified. The experimental results show that the proposed methods are applicable to the DOE design of 3-D range sensors. Furthermore, any expected diffraction area and speckle density could be possibly achieved according to the relations presented in the paper.

  16. EEG-MRI co-registration and sensor labeling using a 3D laser scanner.

    PubMed

    Koessler, L; Cecchin, T; Caspary, O; Benhadid, A; Vespignani, H; Maillard, L

    2011-03-01

    This paper deals with the co-registration of an MRI scan with EEG sensors. We set out to evaluate the effectiveness of a 3D handheld laser scanner, a device that is not widely used for co-registration, applying a semi-automatic procedure that also labels EEG sensors. The scanner acquired the sensors' positions and the face shape, and the scalp mesh was obtained from the MRI scan. A pre-alignment step, using the position of three fiducial landmarks, provided an initial value for co-registration, and the sensors were automatically labeled. Co-registration was then performed using an iterative closest point algorithm applied to the face shape. The procedure was conducted on five subjects with two scans of EEG sensors and one MRI scan each. The mean time for the digitization of the 64 sensors and three landmarks was 53 s. The average scanning time for the face shape was 2 min 6 s for an average number of 5,263 points. The mean residual error of the sensors co-registration was 2.11 mm. These results suggest that the laser scanner associated with an efficient co-registration and sensor labeling algorithm is sufficiently accurate, fast and user-friendly for longitudinal and retrospective brain sources imaging studies.

  17. 3D handheld laser scanner based approach for automatic identification and localization of EEG sensors.

    PubMed

    Koessler, Laurent; Cecchin, Thierry; Ternisien, Eric; Maillard, Louis

    2010-01-01

    This paper describes and assesses for the first time the use of a handheld 3D laser scanner for scalp EEG sensor localization and co-registration with magnetic resonance images. Study on five subjects showed that the scanner had an equivalent accuracy, a better repeatability, and was faster than the reference electromagnetic digitizer. According to electrical source imaging, somatosensory evoked potentials experiments validated its ability to give precise sensor localization. With our automatic labeling method, the data provided by the scanner could be directly introduced in the source localization studies.

  18. Triboelectric Nanogenerators as a Self-Powered 3D Acceleration Sensor.

    PubMed

    Pang, Yao Kun; Li, Xiao Hui; Chen, Meng Xiao; Han, Chang Bao; Zhang, Chi; Wang, Zhong Lin

    2015-09-02

    A novel self-powered acceleration sensor based on triboelectric nanogenerator is proposed, which consists of an outer transparent shell and an inner mass-spring-damper mechanical system. The PTFE films on the mass surfaces can slide between two aluminum electrodes on an inner wall owing to the acceleration in the axis direction. On the basis of the coupling of triboelectric and electrostatic effects, the potential difference between the two aluminum electrodes is generated in proportion to the mass displacement, which can be used to characterize the acceleration in the axis direction with a detection range from about 13.0 to 40.0 m/s(2) at a sensitivity of 0.289 V·s(2)/m. With the integration of acceleration sensors in three axes, a self-powered 3D acceleration sensor is developed for vector acceleration measurement in any direction. The self-powered 3D acceleration sensor has excellent performance in the stability test, and the output voltages have a little decrease of ∼6% after 4000 cycles. Moreover, the self-powered acceleration sensor can be used to measure high collision acceleration, which has potential practicability in automobile security systems.

  19. A 3D Model of the Thermoelectric Microwave Power Sensor by MEMS Technology

    PubMed Central

    Yi, Zhenxiang; Liao, Xiaoping

    2016-01-01

    In this paper, a novel 3D model is proposed to describe the temperature distribution of the thermoelectric microwave power sensor. In this 3D model, the heat flux density decreases from the upper surface to the lower surface of the GaAs substrate while it was supposed to be a constant in the 2D model. The power sensor is fabricated by a GaAs monolithic microwave integrated circuit (MMIC) process and micro-electro-mechanical system (MEMS) technology. The microwave performance experiment shows that the S11 is less than −26 dB over the frequency band of 1–10 GHz. The power response experiment demonstrates that the output voltage increases from 0 mV to 27 mV, while the incident power varies from 1 mW to 100 mW. The measured sensitivity is about 0.27 mV/mW, and the calculated result from the 3D model is 0.28 mV/mW. The relative error has been reduced from 7.5% of the 2D model to 3.7% of the 3D model. PMID:27338395

  20. Sensor fusion of cameras and a laser for city-scale 3D reconstruction.

    PubMed

    Bok, Yunsu; Choi, Dong-Geol; Kweon, In So

    2014-11-04

    This paper presents a sensor fusion system of cameras and a 2D laser sensorfor large-scale 3D reconstruction. The proposed system is designed to capture data on afast-moving ground vehicle. The system consists of six cameras and one 2D laser sensor,and they are synchronized by a hardware trigger. Reconstruction of 3D structures is doneby estimating frame-by-frame motion and accumulating vertical laser scans, as in previousworks. However, our approach does not assume near 2D motion, but estimates free motion(including absolute scale) in 3D space using both laser data and image features. In orderto avoid the degeneration associated with typical three-point algorithms, we present a newalgorithm that selects 3D points from two frames captured by multiple cameras. The problemof error accumulation is solved by loop closing, not by GPS. The experimental resultsshow that the estimated path is successfully overlaid on the satellite images, such that thereconstruction result is very accurate.

  1. First production of new thin 3D sensors for HL-LHC at FBK

    NASA Astrophysics Data System (ADS)

    Sultan, D. M. S.; Dalla Betta, G.-F.; Mendicino, R.; Boscardin, M.; Ronchin, S.; Zorzi, N.

    2017-01-01

    Owing to their intrinsic (geometry dependent) radiation hardness, 3D pixel sensors are promising candidates for the innermost tracking layers of the forthcoming experiment upgrades at the "Phase 2" High-Luminosity LHC (HL-LHC) . To this purpose, extreme radiation hardness up to the expected maximum fluence of 2 × 1016 neq.cm-2 must come along with several technological improvements in a new generation of 3D pixels, i.e., increased pixel granularity (050×5 or 025× 10 μ m2 cell size), thinner active region (0~ 10 \\textmu m), narrower columnar electrodes (~ 5 \\textmu m diameter) with reduced inter-electrode spacing (0~ 3 μ m), and very slim edges (0~ 10 μ m). The fabrication of the first batch of these new 3D sensors was recently completed at FBK on Si-Si direct wafer bonded 6" substrates. Initial electrical test results, performed at wafer level on sensors and test structures, highlighted very promising performance, in good agreement with TCAD simulations: low leakage current (< 1 pA/column), intrinsic breakdown voltage of more than 150 V, capacitance of about 50 fF/column, thus assessing the validity of the design approach. A large variety of pixel sensors compatible with both existing (e.g., ATLAS FEI4 and CMS PSI46) and future (e.g., RD53) read-out chips were fabricated, that were also electrically tested on wafer using a temporary metal layer patterned as strips shorting rows of pixels together. This allowed a statistically significant distribution of the relevant electrical quantities to be obtained, thus gaining insight into the impact of process-induced defects. A few 3D strip test structures were irradiated with X-rays, showing inter-strip resistance of at least several GΩ even after 50 Mrad(Si) dose, thus proving the p-spray robustness. We present the most important design and technological aspects, and results obtained from the initial investigations.

  2. An approach for the calibration of a combined RGB-sensor and 3D-camera device

    NASA Astrophysics Data System (ADS)

    Schulze, M.

    2011-07-01

    The elds of application for 3d cameras are very dierent, because high image frequency and determination of 3d data. Often, 3d cameras are used for mobile robotic. They are used for obstacle detection or object recognition. So they also are interesting for applications in agriculture, in combination with mobile robots. Here, in addition to 3d data, there is often a necessity to get color information for each 3d point. Unfortunately, 3d cameras do not capture any color information. Therefore, an additional sensor is necessary, such as RGB plus possibly NIR. To combine data of two dierent sensors a reference to each other, via calibration, is important. This paper presents several calibration methods and discuss their accuracy potential. Based on a spatial resection, the algorithm determines the translation and rotation between the two sensors and the inner orientation of the used sensor.

  3. DLP/DSP-based optical 3D sensors for the mass market in industrial metrology and life sciences

    NASA Astrophysics Data System (ADS)

    Frankowski, G.; Hainich, R.

    2011-03-01

    GFM has developed and constructed DLP-based optical 3D measuring devices based on structured light illumination. Over the years the devices have been used in industrial metrology and life sciences for different 3D measuring tasks. This lecture will discuss integration of DLP Pico technology and DSP technology from Texas Instruments for mass market optical 3D sensors. In comparison to existing mass market laser triangulation sensors, the new 3D sensors provide a full-field measurement of up to a million points in less than a second. The lecture will further discuss different fields of application and advantages of the new generation of 3D sensors for: OEM application in industrial measuring and inspection; 3D metrology in industry, life sciences and biometrics, and industrial image processing.

  4. A 3D Chemically Modified Graphene Hydrogel for Fast, Highly Sensitive, and Selective Gas Sensor

    PubMed Central

    Wu, Jin; Tao, Kai; Guo, Yuanyuan; Li, Zhong; Wang, Xiaotian; Luo, Zhongzhen; Du, Chunlei; Chen, Di; Norford, Leslie K.

    2016-01-01

    Reduced graphene oxide (RGO) has proved to be a promising candidate in high‐performance gas sensing in ambient conditions. However, trace detection of different kinds of gases with simultaneously high sensitivity and selectivity is challenging. Here, a chemiresistor‐type sensor based on 3D sulfonated RGO hydrogel (S‐RGOH) is reported, which can detect a variety of important gases with high sensitivity, boosted selectivity, fast response, and good reversibility. The NaHSO3 functionalized RGOH displays remarkable 118.6 and 58.9 times higher responses to NO2 and NH3, respectively, compared with its unmodified RGOH counterpart. In addition, the S‐RGOH sensor is highly responsive to volatile organic compounds. More importantly, the characteristic patterns on the linearly fitted response–temperature curves are employed to distinguish various gases for the first time. The temperature of the sensor is elevated rapidly by an imbedded microheater with little power consumption. The 3D S‐RGOH is characterized and the sensing mechanisms are proposed. This work gains new insights into boosting the sensitivity of detecting various gases by combining chemical modification and 3D structural engineering of RGO, and improving the selectivity of gas sensing by employing temperature dependent response characteristics of RGO for different gases. PMID:28331786

  5. Two-alternative forced-choice evaluation of 3D CT angiograms

    NASA Astrophysics Data System (ADS)

    Habets, Damiaan F.; Chapman, Brian E.; Fox, Allan J.; Hyde, Derek E.; Holdsworth, David W.

    2001-06-01

    This study describes the development and evaluation of an appropriate methodology to study observer performance when comparing 2D and 3D angiographic techniques. 3D-CT angiograms were obtained from patients with cerebral aneurysms or occlusive carotid artery disease and perspective rendering of this 3D data was performed to produce maximum intensity projections (MIP) at view angles identical to digital subtraction angiography (DSA) images. Two-alternative-forced-choice methodology (2AFC) was then used to determine the percent correct (Pc), which is equivalent to the area Az under the receiver-operating characteristic (RTOC) curve. In a comparison of CRA MIP images and DSA images of the intracranial vasculature, the average value of Pc was 0.90+/- 0.03. Perspective reprojection produces digitally reconstructed radiographs (DRRs) with image quality that is nearly equivalent to conventional DSA, with the additional clinical advantage of providing digitally reconstructed images at an unlimited number of viewing angles.

  6. 3D Laboratory Measurements of Forces, Flows, and Collimation in Arched Flux Tubes

    NASA Astrophysics Data System (ADS)

    Haw, Magnus; Bellan, Paul

    2016-10-01

    Fully 3D, vector MHD force measurements from an arched, current carrying flux tube (flux rope) are presented. The experiment consists of two arched plasma-filled flux ropes each powered by a capacitor bank. The two loops are partially overlapped, as in a Venn diagram, and collide and reconnect during their evolution. B-field data is taken on the lower plasma arch using a 54 channel B-dot probe. 3D volumetric data is acquired by placing the probe at 2700 locations and taking 5 plasma shots at each location. The resulting data set gives high resolution (2cm, 10ns) volumetric B-field data with high reproducibility (deviation of 3% between shots). Taking the curl of the measured 3D B-field gives current densities (J) in good agreement with measured capacitor bank current. The JxB forces calculated from the data have a strong axial component at the base of the current channel and are shown to scale linearly with axial gradients in current density. Assuming force balance in the flux tube minor radius direction, we infer near-Alfvenic axial flows from the footpoint regions which are consistent with the measured axial forces. Flux tube collimation is observed in conjunction with these axial flows. These dynamic processes are relevant to the stability and dynamics of coronal loops. Supported provided by NSF, AFOSR.

  7. Note: Helical nanobelt force sensors

    NASA Astrophysics Data System (ADS)

    Hwang, G.; Hashimoto, H.

    2012-12-01

    We present the fabrication and characterization of helical nanobelt force sensors. These self-sensing force sensors are based on the giant piezoresistivity of helical nanobelts. The three-dimensional helical nanobelts are self-formed from 27 nm-thick n-type InGaAs/GaAs bilayers using rolled-up techniques, and assembled onto electrodes on a micropipette using nanorobotic manipulations. The helical nanobelt force sensors can be calibrated using a calibrated atomic force microscope cantilever system under scanning electron microscope. Thanks to their giant piezoresistance coefficient (515 × 10-10 Pa-1), low stiffness (0.03125 N/m), large-displacement capability (˜10 μm), and good fatigue resistance, they are well suited to function as stand-alone, compact (˜20 μm without the plug-in support), light (˜5 g including the plug-in support), versatile and large range (˜μN) and high resolution (˜nN) force sensors.

  8. The Performance Evaluation of Multi-Image 3d Reconstruction Software with Different Sensors

    NASA Astrophysics Data System (ADS)

    Mousavi, V.; Khosravi, M.; Ahmadi, M.; Noori, N.; Naveh, A. Hosseini; Varshosaz, M.

    2015-12-01

    Today, multi-image 3D reconstruction is an active research field and generating three dimensional model of the objects is one the most discussed issues in Photogrammetry and Computer Vision that can be accomplished using range-based or image-based methods. Very accurate and dense point clouds generated by range-based methods such as structured light systems and laser scanners has introduced them as reliable tools in the industry. Image-based 3D digitization methodologies offer the option of reconstructing an object by a set of unordered images that depict it from different viewpoints. As their hardware requirements are narrowed down to a digital camera and a computer system, they compose an attractive 3D digitization approach, consequently, although range-based methods are generally very accurate, image-based methods are low-cost and can be easily used by non-professional users. One of the factors affecting the accuracy of the obtained model in image-based methods is the software and algorithm used to generate three dimensional model. These algorithms are provided in the form of commercial software, open source and web-based services. Another important factor in the accuracy of the obtained model is the type of sensor used. Due to availability of mobile sensors to the public, popularity of professional sensors and the advent of stereo sensors, a comparison of these three sensors plays an effective role in evaluating and finding the optimized method to generate three-dimensional models. Lots of research has been accomplished to identify a suitable software and algorithm to achieve an accurate and complete model, however little attention is paid to the type of sensors used and its effects on the quality of the final model. The purpose of this paper is deliberation and the introduction of an appropriate combination of a sensor and software to provide a complete model with the highest accuracy. To do this, different software, used in previous studies, were compared and

  9. Dynamic 3-D chemical agent cloud mapping using a sensor constellation deployed on mobile platforms

    NASA Astrophysics Data System (ADS)

    Cosofret, Bogdan R.; Konno, Daisei; Rossi, David; Marinelli, William J.; Seem, Pete

    2014-05-01

    The need for standoff detection technology to provide early Chem-Bio (CB) threat warning is well documented. Much of the information obtained by a single passive sensor is limited to bearing and angular extent of the threat cloud. In order to obtain absolute geo-location, range to threat, 3-D extent and detailed composition of the chemical threat, fusion of information from multiple passive sensors is needed. A capability that provides on-the-move chemical cloud characterization is key to the development of real-time Battlespace Awareness. We have developed, implemented and tested algorithms and hardware to perform the fusion of information obtained from two mobile LWIR passive hyperspectral sensors. The implementation of the capability is driven by current Nuclear, Biological and Chemical Reconnaissance Vehicle operational tactics and represents a mission focused alternative of the already demonstrated 5-sensor static Range Test Validation System (RTVS).1 The new capability consists of hardware for sensor pointing and attitude information which is made available for streaming and aggregation as part of the data fusion process for threat characterization. Cloud information is generated using 2-sensor data ingested into a suite of triangulation and tomographic reconstruction algorithms. The approaches are amenable to using a limited number of viewing projections and unfavorable sensor geometries resulting from mobile operation. In this paper we describe the system architecture and present an analysis of results obtained during the initial testing of the system at Dugway Proving Ground during BioWeek 2013.

  10. 3D Measurement of Forearm and Upper Arm during Throwing Motion using Body Mounted Sensor

    NASA Astrophysics Data System (ADS)

    Koda, Hideharu; Sagawa, Koichi; Kuroshima, Kouta; Tsukamoto, Toshiaki; Urita, Kazutaka; Ishibashi, Yasuyuki

    The aim of this study is to propose the measurement method of three-dimensional (3D) movement of forearm and upper arm during pitching motion of baseball using inertial sensors without serious consideration of sensor installation. Although high accuracy measurement of sports motion is achieved by using optical motion capture system at present, it has some disadvantages such as the calibration of cameras and limitation of measurement place. Whereas the proposed method for 3D measurement of pitching motion using body mounted sensors provides trajectory and orientation of upper arm by the integration of acceleration and angular velocity measured on upper limb. The trajectory of forearm is derived so that the elbow joint axis of forearm corresponds to that of upper arm. Spatial relation between upper limb and sensor system is obtained by performing predetermined movements of upper limb and utilizing angular velocity and gravitational acceleration. The integration error is modified so that the estimated final position, velocity and posture of upper limb agree with the actual ones. The experimental results of the measurement of pitching motion show that trajectories of shoulder, elbow and wrist estimated by the proposed method are highly correlated to those from the motion capture system within the estimation error of about 10 [%].

  11. State-of-The-Art and Applications of 3D Imaging Sensors in Industry, Cultural Heritage, Medicine, and Criminal Investigation

    PubMed Central

    Sansoni, Giovanna; Trebeschi, Marco; Docchio, Franco

    2009-01-01

    3D imaging sensors for the acquisition of three dimensional (3D) shapes have created, in recent years, a considerable degree of interest for a number of applications. The miniaturization and integration of the optical and electronic components used to build them have played a crucial role in the achievement of compactness, robustness and flexibility of the sensors. Today, several 3D sensors are available on the market, even in combination with other sensors in a “sensor fusion” approach. An importance equal to that of physical miniaturization has the portability of the measurements, via suitable interfaces, into software environments designed for their elaboration, e.g., CAD-CAM systems, virtual renders, and rapid prototyping tools. In this paper, following an overview of the state-of-art of 3D imaging sensors, a number of significant examples of their use are presented, with particular reference to industry, heritage, medicine, and criminal investigation applications. PMID:22389618

  12. Package analysis of 3D-printed piezoresistive strain gauge sensors

    NASA Astrophysics Data System (ADS)

    Das, Sumit Kumar; Baptist, Joshua R.; Sahasrabuddhe, Ritvij; Lee, Woo H.; Popa, Dan O.

    2016-05-01

    Poly(3,4-ethyle- nedioxythiophene)-poly(styrenesulfonate) or PEDOT:PSS is a flexible polymer which exhibits piezo-resistive properties when subjected to structural deformation. PEDOT:PSS has a high conductivity and thermal stability which makes it an ideal candidate for use as a pressure sensor. Applications of this technology includes whole body robot skin that can increase the safety and physical collaboration of robots in close proximity to humans. In this paper, we present a finite element model of strain gauge touch sensors which have been 3D-printed onto Kapton and silicone substrates using Electro-Hydro-Dynamic ink-jetting. Simulations of the piezoresistive and structural model for the entire packaged sensor was carried out using COMSOLR , and compared with experimental results for validation. The model will be useful in designing future robot skin with predictable performances.

  13. Nonthreshold-based event detection for 3d environment monitoring in sensor networks

    SciTech Connect

    Li, M.; Liu, Y.H.; Chen, L.

    2008-12-15

    Event detection is a crucial task for wireless sensor network applications, especially environment monitoring. Existing approaches for event detection are mainly based on some predefined threshold values and, thus, are often inaccurate and incapable of capturing complex events. For example, in coal mine monitoring scenarios, gas leakage or water osmosis can hardly be described by the overrun of specified attribute thresholds but some complex pattern in the full-scale view of the environmental data. To address this issue, we propose a nonthreshold-based approach for the real 3D sensor monitoring environment. We employ energy-efficient methods to collect a time series of data maps from the sensor network and detect complex events through matching the gathered data to spatiotemporal data patterns. Finally, we conduct trace-driven simulations to prove the efficacy and efficiency of this approach on detecting events of complex phenomena from real-life records.

  14. Probabilistic Neighborhood-Based Data Collection Algorithms for 3D Underwater Acoustic Sensor Networks

    PubMed Central

    Han, Guangjie; Li, Shanshan; Zhu, Chunsheng; Jiang, Jinfang; Zhang, Wenbo

    2017-01-01

    Marine environmental monitoring provides crucial information and support for the exploitation, utilization, and protection of marine resources. With the rapid development of information technology, the development of three-dimensional underwater acoustic sensor networks (3D UASNs) provides a novel strategy to acquire marine environment information conveniently, efficiently and accurately. However, the specific propagation effects of acoustic communication channel lead to decreased successful information delivery probability with increased distance. Therefore, we investigate two probabilistic neighborhood-based data collection algorithms for 3D UASNs which are based on a probabilistic acoustic communication model instead of the traditional deterministic acoustic communication model. An autonomous underwater vehicle (AUV) is employed to traverse along the designed path to collect data from neighborhoods. For 3D UASNs without prior deployment knowledge, partitioning the network into grids can allow the AUV to visit the central location of each grid for data collection. For 3D UASNs in which the deployment knowledge is known in advance, the AUV only needs to visit several selected locations by constructing a minimum probabilistic neighborhood covering set to reduce data latency. Otherwise, by increasing the transmission rounds, our proposed algorithms can provide a tradeoff between data collection latency and information gain. These algorithms are compared with basic Nearest-neighbor Heuristic algorithm via simulations. Simulation analyses show that our proposed algorithms can efficiently reduce the average data collection completion time, corresponding to a decrease of data latency. PMID:28208735

  15. Probabilistic Neighborhood-Based Data Collection Algorithms for 3D Underwater Acoustic Sensor Networks.

    PubMed

    Han, Guangjie; Li, Shanshan; Zhu, Chunsheng; Jiang, Jinfang; Zhang, Wenbo

    2017-02-08

    Marine environmental monitoring provides crucial information and support for the exploitation, utilization, and protection of marine resources. With the rapid development of information technology, the development of three-dimensional underwater acoustic sensor networks (3D UASNs) provides a novel strategy to acquire marine environment information conveniently, efficiently and accurately. However, the specific propagation effects of acoustic communication channel lead to decreased successful information delivery probability with increased distance. Therefore, we investigate two probabilistic neighborhood-based data collection algorithms for 3D UASNs which are based on a probabilistic acoustic communication model instead of the traditional deterministic acoustic communication model. An autonomous underwater vehicle (AUV) is employed to traverse along the designed path to collect data from neighborhoods. For 3D UASNs without prior deployment knowledge, partitioning the network into grids can allow the AUV to visit the central location of each grid for data collection. For 3D UASNs in which the deployment knowledge is known in advance, the AUV only needs to visit several selected locations by constructing a minimum probabilistic neighborhood covering set to reduce data latency. Otherwise, by increasing the transmission rounds, our proposed algorithms can provide a tradeoff between data collection latency and information gain. These algorithms are compared with basic Nearest-neighbor Heuristic algorithm via simulations. Simulation analyses show that our proposed algorithms can efficiently reduce the average data collection completion time, corresponding to a decrease of data latency.

  16. A simulation technique for 3D MR-guided acoustic radiation force imaging

    PubMed Central

    Payne, Allison; de Bever, Josh; Farrer, Alexis; Coats, Brittany; Parker, Dennis L.; Christensen, Douglas A.

    2015-01-01

    Purpose: In magnetic resonance-guided focused ultrasound (MRgFUS) therapies, the in situ characterization of the focal spot location and quality is critical. MR acoustic radiation force imaging (MR-ARFI) is a technique that measures the tissue displacement caused by the radiation force exerted by the ultrasound beam. This work presents a new technique to model the displacements caused by the radiation force of an ultrasound beam in a homogeneous tissue model. Methods: When a steady-state point-source force acts internally in an infinite homogeneous medium, the displacement of the material in all directions is given by the Somigliana elastostatic tensor. The radiation force field, which is caused by absorption and reflection of the incident ultrasound intensity pattern, will be spatially distributed, and the tensor formulation takes the form of a convolution of a 3D Green’s function with the force field. The dynamic accumulation of MR phase during the ultrasound pulse can be theoretically accounted for through a time-of-arrival weighting of the Green’s function. This theoretical model was evaluated experimentally in gelatin phantoms of varied stiffness (125-, 175-, and 250-bloom). The acoustic and mechanical properties of the phantoms used as parameters of the model were measured using independent techniques. Displacements at focal depths of 30- and 45-mm in the phantoms were measured by a 3D spin echo MR-ARFI segmented-EPI sequence. Results: The simulated displacements agreed with the MR-ARFI measured displacements for all bloom values and focal depths with a normalized RMS difference of 0.055 (range 0.028–0.12). The displacement magnitude decreased and the displacement pattern broadened with increased bloom value for both focal depths, as predicted by the theory. Conclusions: A new technique that models the displacements caused by the radiation force of an ultrasound beam in a homogeneous tissue model theory has been rigorously validated through comparison

  17. A simulation technique for 3D MR-guided acoustic radiation force imaging

    SciTech Connect

    Payne, Allison; Bever, Josh de; Farrer, Alexis; Coats, Brittany; Parker, Dennis L.; Christensen, Douglas A.

    2015-02-15

    Purpose: In magnetic resonance-guided focused ultrasound (MRgFUS) therapies, the in situ characterization of the focal spot location and quality is critical. MR acoustic radiation force imaging (MR-ARFI) is a technique that measures the tissue displacement caused by the radiation force exerted by the ultrasound beam. This work presents a new technique to model the displacements caused by the radiation force of an ultrasound beam in a homogeneous tissue model. Methods: When a steady-state point-source force acts internally in an infinite homogeneous medium, the displacement of the material in all directions is given by the Somigliana elastostatic tensor. The radiation force field, which is caused by absorption and reflection of the incident ultrasound intensity pattern, will be spatially distributed, and the tensor formulation takes the form of a convolution of a 3D Green’s function with the force field. The dynamic accumulation of MR phase during the ultrasound pulse can be theoretically accounted for through a time-of-arrival weighting of the Green’s function. This theoretical model was evaluated experimentally in gelatin phantoms of varied stiffness (125-, 175-, and 250-bloom). The acoustic and mechanical properties of the phantoms used as parameters of the model were measured using independent techniques. Displacements at focal depths of 30- and 45-mm in the phantoms were measured by a 3D spin echo MR-ARFI segmented-EPI sequence. Results: The simulated displacements agreed with the MR-ARFI measured displacements for all bloom values and focal depths with a normalized RMS difference of 0.055 (range 0.028–0.12). The displacement magnitude decreased and the displacement pattern broadened with increased bloom value for both focal depths, as predicted by the theory. Conclusions: A new technique that models the displacements caused by the radiation force of an ultrasound beam in a homogeneous tissue model theory has been rigorously validated through comparison

  18. Multi-camera sensor system for 3D segmentation and localization of multiple mobile robots.

    PubMed

    Losada, Cristina; Mazo, Manuel; Palazuelos, Sira; Pizarro, Daniel; Marrón, Marta

    2010-01-01

    This paper presents a method for obtaining the motion segmentation and 3D localization of multiple mobile robots in an intelligent space using a multi-camera sensor system. The set of calibrated and synchronized cameras are placed in fixed positions within the environment (intelligent space). The proposed algorithm for motion segmentation and 3D localization is based on the minimization of an objective function. This function includes information from all the cameras, and it does not rely on previous knowledge or invasive landmarks on board the robots. The proposed objective function depends on three groups of variables: the segmentation boundaries, the motion parameters and the depth. For the objective function minimization, we use a greedy iterative algorithm with three steps that, after initialization of segmentation boundaries and depth, are repeated until convergence.

  19. Ag Nanoparticles-Modified 3D Graphene Foam for Binder-Free Electrodes of Electrochemical Sensors

    PubMed Central

    Han, Tao; Jin, Jianli; Wang, Congxu; Sun, Youyi; Zhang, Yinghe; Liu, Yaqing

    2017-01-01

    Ag nanoparticles-modified 3D graphene foam was synthesized through a one-step in-situ approach and then directly applied as the electrode of an electrochemical sensor. The composite foam electrode exhibited electrocatalytic activity towards Hg(II) oxidation with high limit of detection and sensitivity of 0.11 µM and 8.0 µA/µM, respectively. Moreover, the composite foam electrode for the sensor exhibited high cycling stability, long-term durability and reproducibility. These results were attributed to the unique porous structure of the composite foam electrode, which enabled the surface of Ag nanoparticles modified reduced graphene oxide (Ag NPs modified rGO) foam to become highly accessible to the metal ion and provided more void volume for the reaction with metal ion. This work not only proved that the composite foam has great potential application in heavy metal ions sensors, but also provided a facile method of gram scale synthesis 3D electrode materials based on rGO foam and other electrical active materials for various applications. PMID:28336878

  20. Ag Nanoparticles-Modified 3D Graphene Foam for Binder-Free Electrodes of Electrochemical Sensors.

    PubMed

    Han, Tao; Jin, Jianli; Wang, Congxu; Sun, Youyi; Zhang, Yinghe; Liu, Yaqing

    2017-02-16

    Ag nanoparticles-modified 3D graphene foam was synthesized through a one-step in-situ approach and then directly applied as the electrode of an electrochemical sensor. The composite foam electrode exhibited electrocatalytic activity towards Hg(II) oxidation with high limit of detection and sensitivity of 0.11 μM and 8.0 μA/μM, respectively. Moreover, the composite foam electrode for the sensor exhibited high cycling stability, long-term durability and reproducibility. These results were attributed to the unique porous structure of the composite foam electrode, which enabled the surface of Ag nanoparticles modified reduced graphene oxide (Ag NPs modified rGO) foam to become highly accessible to the metal ion and provided more void volume for the reaction with metal ion. This work not only proved that the composite foam has great potential application in heavy metal ions sensors, but also provided a facile method of gram scale synthesis 3D electrode materials based on rGO foam and other electrical active materials for various applications.

  1. Research on Joint Parameter Inversion for an Integrated Underground Displacement 3D Measuring Sensor

    PubMed Central

    Shentu, Nanying; Qiu, Guohua; Li, Qing; Tong, Renyuan; Shentu, Nankai; Wang, Yanjie

    2015-01-01

    Underground displacement monitoring is a key means to monitor and evaluate geological disasters and geotechnical projects. There exist few practical instruments able to monitor subsurface horizontal and vertical displacements simultaneously due to monitoring invisibility and complexity. A novel underground displacement 3D measuring sensor had been proposed in our previous studies, and great efforts have been taken in the basic theoretical research of underground displacement sensing and measuring characteristics by virtue of modeling, simulation and experiments. This paper presents an innovative underground displacement joint inversion method by mixing a specific forward modeling approach with an approximate optimization inversion procedure. It can realize a joint inversion of underground horizontal displacement and vertical displacement for the proposed 3D sensor. Comparative studies have been conducted between the measured and inversed parameters of underground horizontal and vertical displacements under a variety of experimental and inverse conditions. The results showed that when experimentally measured horizontal displacements and vertical displacements are both varied within 0 ~ 30 mm, horizontal displacement and vertical displacement inversion discrepancies are generally less than 3 mm and 1 mm, respectively, under three kinds of simulated underground displacement monitoring circumstances. This implies that our proposed underground displacement joint inversion method is robust and efficient to predict the measuring values of underground horizontal and vertical displacements for the proposed sensor. PMID:25871714

  2. Deriving 3d Point Clouds from Terrestrial Photographs - Comparison of Different Sensors and Software

    NASA Astrophysics Data System (ADS)

    Niederheiser, Robert; Mokroš, Martin; Lange, Julia; Petschko, Helene; Prasicek, Günther; Oude Elberink, Sander

    2016-06-01

    Terrestrial photogrammetry nowadays offers a reasonably cheap, intuitive and effective approach to 3D-modelling. However, the important choice, which sensor and which software to use is not straight forward and needs consideration as the choice will have effects on the resulting 3D point cloud and its derivatives. We compare five different sensors as well as four different state-of-the-art software packages for a single application, the modelling of a vegetated rock face. The five sensors represent different resolutions, sensor sizes and price segments of the cameras. The software packages used are: (1) Agisoft PhotoScan Pro (1.16), (2) Pix4D (2.0.89), (3) a combination of Visual SFM (V0.5.22) and SURE (1.2.0.286), and (4) MicMac (1.0). We took photos of a vegetated rock face from identical positions with all sensors. Then we compared the results of the different software packages regarding the ease of the workflow, visual appeal, similarity and quality of the point cloud. While PhotoScan and Pix4D offer the user-friendliest workflows, they are also "black-box" programmes giving only little insight into their processing. Unsatisfying results may only be changed by modifying settings within a module. The combined workflow of Visual SFM, SURE and CloudCompare is just as simple but requires more user interaction. MicMac turned out to be the most challenging software as it is less user-friendly. However, MicMac offers the most possibilities to influence the processing workflow. The resulting point-clouds of PhotoScan and MicMac are the most appealing.

  3. Determining the 3-D structure and motion of objects using a scanning laser range sensor

    NASA Astrophysics Data System (ADS)

    Nandhakumar, N.; Smith, Philip W.

    1993-12-01

    In order for the EVAHR robot to autonomously track and grasp objects, its vision system must be able to determine the 3-D structure and motion of an object from a sequence of sensory images. This task is accomplished by the use of a laser radar range sensor which provides dense range maps of the scene. Unfortunately, the currently available laser radar range cameras use a sequential scanning approach which complicates image analysis. Although many algorithms have been developed for recognizing objects from range images, none are suited for use with single beam, scanning, time-of-flight sensors because all previous algorithms assume instantaneous acquisition of the entire image. This assumption is invalid since the EVAHR robot is equipped with a sequential scanning laser range sensor. If an object is moving while being imaged by the device, the apparent structure of the object can be significantly distorted due to the significant non-zero delay time between sampling each image pixel. If an estimate of the motion of the object can be determined, this distortion can be eliminated; but, this leads to the motion-structure paradox - most existing algorithms for 3-D motion estimation use the structure of objects to parameterize their motions. The goal of this research is to design a rigid-body motion recovery technique which overcomes this limitation. The method being developed is an iterative, linear, feature-based approach which uses the non-zero image acquisition time constraint to accurately recover the motion parameters from the distorted structure of the 3-D range maps. Once the motion parameters are determined, the structural distortion in the range images is corrected.

  4. Design of a 3D-IC multi-resolution digital pixel sensor

    NASA Astrophysics Data System (ADS)

    Brochard, N.; Nebhen, J.; Dubois, J.; Ginhac, D.

    2016-04-01

    This paper presents a digital pixel sensor (DPS) integrating a sigma-delta analog-to-digital converter (ADC) at pixel level. The digital pixel includes a photodiode, a delta-sigma modulation and a digital decimation filter. It features adaptive dynamic range and multiple resolutions (up to 10-bit) with a high linearity. A specific row decoder and column decoder are also designed to permit to read a specific pixel chosen in the matrix and its neighborhood of 4 x 4. Finally, a complete design with the CMOS 130 nm 3D-IC FaStack Tezzaron technology is also described, revealing a high fill-factor of about 80%.

  5. 3D imaging of translucent media with a plenoptic sensor based on phase space optics

    NASA Astrophysics Data System (ADS)

    Zhang, Xuanzhe; Shu, Bohong; Du, Shaojun

    2015-05-01

    Traditional stereo imaging technology is not working for dynamical translucent media, because there are no obvious characteristic patterns on it and it's not allowed using multi-cameras in most cases, while phase space optics can solve the problem, extracting depth information directly from "space-spatial frequency" distribution of the target obtained by plenoptic sensor with single lens. This paper discussed the presentation of depth information in phase space data, and calculating algorithms with different transparency. A 3D imaging example of waterfall was given at last.

  6. Shape optimization of 3D continuum structures via force approximation techniques

    NASA Technical Reports Server (NTRS)

    Vanderplaats, Garret N.; Kodiyalam, Srinivas

    1988-01-01

    The existing need to develop methods whereby the shape design efficiency can be improved through the use of high quality approximation methods is addressed. An efficient approximation method for stress constraints in 3D shape design problems is proposed based on expanding the nodal forces in Taylor series with respect to shape variations. The significance of this new method is shown through elementary beam theory calculations and via numerical computations using 3D solid finite elements. Numerical examples including the classical cantilever beam structure and realistic automotive parts like the engine connecting rod are designed for optimum shape using the proposed method. The numerical results obtained from these methods are compared with other published results, to assess the efficiency and the convergence rate of the proposed method.

  7. Sensor Spatial Distortion, Visual Latency, and Update Rate Effects on 3D Tracking in Virtual Environments

    NASA Technical Reports Server (NTRS)

    Ellis, S. R.; Adelstein, B. D.; Baumeler, S.; Jense, G. J.; Jacoby, R. H.; Trejo, Leonard (Technical Monitor)

    1998-01-01

    Several common defects that we have sought to minimize in immersing virtual environments are: static sensor spatial distortion, visual latency, and low update rates. Human performance within our environments during large amplitude 3D tracking was assessed by objective and subjective methods in the presence and absence of these defects. Results show that 1) removal of our relatively small spatial sensor distortion had minor effects on the tracking activity, 2) an Adapted Cooper-Harper controllability scale proved the most sensitive subjective indicator of the degradation of dynamic fidelity caused by increasing latency and decreasing frame rates, and 3) performance, as measured by normalized RMS tracking error or subjective impressions, was more markedly influenced by changing visual latency than by update rate.

  8. Flying triangulation--an optical 3D sensor for the motion-robust acquisition of complex objects.

    PubMed

    Ettl, Svenja; Arold, Oliver; Yang, Zheng; Häusler, Gerd

    2012-01-10

    Three-dimensional (3D) shape acquisition is difficult if an all-around measurement of an object is desired or if a relative motion between object and sensor is unavoidable. An optical sensor principle is presented-we call it "flying triangulation"-that enables a motion-robust acquisition of 3D surface topography. It combines a simple handheld sensor with sophisticated registration algorithms. An easy acquisition of complex objects is possible-just by freely hand-guiding the sensor around the object. Real-time feedback of the sequential measurement results enables a comfortable handling for the user. No tracking is necessary. In contrast to most other eligible sensors, the presented sensor generates 3D data from each single camera image.

  9. Unilateral Outer Bow Expanded Cervical Headgear Force System: 3D Analysis Using Finite Element Method

    PubMed Central

    Mortezai, Omid; Esmaily, Masomeh; Darvishpour, Hojat

    2015-01-01

    Objectives: Headgears are among the effective orthodontic appliances to achieve treatment goals. Unilateral molar distal movement is sometimes needed during an orthodontic treatment, which can be achieved by an asymmetric headgear. Different unilateral headgears have been introduced. The main goal of this study was to analyze the force system of unilateral expanded outer bow asymmetric headgears by the finite element method (FEM). Materials and Methods: Six 3D finite element models of a mesiodistal slice of the maxilla containing upper first molars, their periodontal ligaments (PDLs), cancellous bone, cortical bone, and a cervical headgear with expanded outer bow attached to maxillary first molars were designed in SolidWorks 2010 and meshed in ANSYS Workbench ver. 12.1. The models were the same except for the degree of outer bow expansion. The outer bow ends were loaded with 2 N force. The distal driving force and the net moment were evaluated. Results: A decrease in the distalizing force in the normal side molar from 1.69 N to 1.37 N was shown by increasing the degree of unilateral expansion. At the same time, the force increased from 2.19 N to 2.49 N in the expanded side molar. A net moment increasing from 2.26 N.mm to 4.64 N.mm was also shown. Conclusion: Unilateral outer bow expansion can produce different distalizing forces in molars, which increase by increasing the expansion. PMID:26622282

  10. 3D modeling and characterization of a calorimetric flow rate sensor for sweat rate sensing applications

    NASA Astrophysics Data System (ADS)

    Iftekhar, Ahmed Tashfin; Ho, Jenny Che-Ting; Mellinger, Axel; Kaya, Tolga

    2017-03-01

    Sweat-based physiological monitoring has been intensively explored in the last decade with the hopes of developing real-time hydration monitoring devices. Although the content of sweat (electrolytes, lactate, urea, etc.) provides significant information about the physiology, it is also very important to know the rate of sweat at the time of sweat content measurements because the sweat rate is known to alter the concentrations of sweat compounds. We developed a calorimetric based flow rate sensor using PolydimethylSiloxane that is suitable for sweat rate applications. Our simple approach on using temperature-based flow rate detection can easily be adapted to multiple sweat collection and analysis devices. Moreover, we have developed a 3D finite element analysis model of the device using COMSOL Multiphysics™ and verified the flow rate measurements. The experiment investigated flow rate values from 0.3 μl/min up to 2.1 ml/min, which covers the human sweat rate range (0.5 μl/min-10 μl/min). The 3D model simulations and analytical model calculations covered an even wider range in order to understand the main physical mechanisms of the device. With a verified 3D model, different environmental heat conditions could be further studied to shed light on the physiology of the sweat rate.

  11. 3D imaging for ballistics analysis using chromatic white light sensor

    NASA Astrophysics Data System (ADS)

    Makrushin, Andrey; Hildebrandt, Mario; Dittmann, Jana; Clausing, Eric; Fischer, Robert; Vielhauer, Claus

    2012-03-01

    The novel application of sensing technology, based on chromatic white light (CWL), gives a new insight into ballistic analysis of cartridge cases. The CWL sensor uses a beam of white light to acquire highly detailed topography and luminance data simultaneously. The proposed 3D imaging system combines advantages of 3D and 2D image processing algorithms in order to automate the extraction of firearm specific toolmarks shaped on fired specimens. The most important characteristics of a fired cartridge case are the type of the breech face marking as well as size, shape and location of extractor, ejector and firing pin marks. The feature extraction algorithm normalizes the casing surface and consistently searches for the appropriate distortions on the rim and on the primer. The location of the firing pin mark in relation to the lateral scratches on the rim provides unique rotation invariant characteristics of the firearm mechanisms. Additional characteristics are the volume and shape of the firing pin mark. The experimental evaluation relies on the data set of 15 cartridge cases fired from three 9mm firearms of different manufacturers. The results show very high potential of 3D imaging systems for casing-based computer-aided firearm identification, which is prospectively going to support human expertise.

  12. Fast 3D modeling in complex environments using a single Kinect sensor

    NASA Astrophysics Data System (ADS)

    Yue, Haosong; Chen, Weihai; Wu, Xingming; Liu, Jingmeng

    2014-02-01

    Three-dimensional (3D) modeling technology has been widely used in inverse engineering, urban planning, robot navigation, and many other applications. How to build a dense model of the environment with limited processing resources is still a challenging topic. A fast 3D modeling algorithm that only uses a single Kinect sensor is proposed in this paper. For every color image captured by Kinect, corner feature extraction is carried out first. Then a spiral search strategy is utilized to select the region of interest (ROI) that contains enough feature corners. Next, the iterative closest point (ICP) method is applied to the points in the ROI to align consecutive data frames. Finally, the analysis of which areas can be walked through by human beings is presented. Comparative experiments with the well-known KinectFusion algorithm have been done and the results demonstrate that the accuracy of the proposed algorithm is the same as KinectFusion but the computing speed is nearly twice of KinectFusion. 3D modeling of two scenes of a public garden and traversable areas analysis in these regions further verified the feasibility of our algorithm.

  13. A Novel 3D Multilateration Sensor Using Distributed Ultrasonic Beacons for Indoor Navigation

    PubMed Central

    Kapoor, Rohan; Ramasamy, Subramanian; Gardi, Alessandro; Bieber, Chad; Silverberg, Larry; Sabatini, Roberto

    2016-01-01

    Navigation and guidance systems are a critical part of any autonomous vehicle. In this paper, a novel sensor grid using 40 KHz ultrasonic transmitters is presented for adoption in indoor 3D positioning applications. In the proposed technique, a vehicle measures the arrival time of incoming ultrasonic signals and calculates the position without broadcasting to the grid. This system allows for conducting silent or covert operations and can also be used for the simultaneous navigation of a large number of vehicles. The transmitters and receivers employed are first described. Transmission lobe patterns and receiver directionality determine the geometry of transmitter clusters. Range and accuracy of measurements dictate the number of sensors required to navigate in a given volume. Laboratory experiments were performed in which a small array of transmitters was set up and the sensor system was tested for position accuracy. The prototype system is shown to have a 1-sigma position error of about 16 cm, with errors between 7 and 11 cm in the local horizontal coordinates. This research work provides foundations for the future development of ultrasonic navigation sensors for a variety of autonomous vehicle applications. PMID:27740604

  14. Creation of 3D multi-body orthodontic models by using independent imaging sensors.

    PubMed

    Barone, Sandro; Paoli, Alessandro; Razionale, Armando Viviano

    2013-02-05

    In the field of dental health care, plaster models combined with 2D radiographs are widely used in clinical practice for orthodontic diagnoses. However, complex malocclusions can be better analyzed by exploiting 3D digital dental models, which allow virtual simulations and treatment planning processes. In this paper, dental data captured by independent imaging sensors are fused to create multi-body orthodontic models composed of teeth, oral soft tissues and alveolar bone structures. The methodology is based on integrating Cone-Beam Computed Tomography (CBCT) and surface structured light scanning. The optical scanner is used to reconstruct tooth crowns and soft tissues (visible surfaces) through the digitalization of both patients' mouth impressions and plaster casts. These data are also used to guide the segmentation of internal dental tissues by processing CBCT data sets. The 3D individual dental tissues obtained by the optical scanner and the CBCT sensor are fused within multi-body orthodontic models without human supervisions to identify target anatomical structures. The final multi-body models represent valuable virtual platforms to clinical diagnostic and treatment planning.

  15. Spherical cavity-expansion forcing function in PRONTO 3D for application to penetration problems

    SciTech Connect

    Warren, T.L.; Tabbara, M.R.

    1997-05-01

    In certain penetration events the primary mode of deformation of the target can be approximated by known analytical expressions. In the context of an analysis code, this approximation eliminates the need for modeling the target as well as the need for a contact algorithm. This technique substantially reduces execution time. In this spirit, a forcing function which is derived from a spherical-cavity expansion analysis has been implemented in PRONTO 3D. This implementation is capable of computing the structural and component responses of a projectile due to three dimensional penetration events. Sample problems demonstrate good agreement with experimental and analytical results.

  16. Relative stereo 3-D vision sensor and its application for nursery plant transplanting

    NASA Astrophysics Data System (ADS)

    Hata, Seiji; Hayashi, Junichiro; Takahashi, Satoru; Hojo, Hirotaka

    2007-10-01

    Clone nursery plants production is one of the important applications of bio-technology. Most of the production processes of bio-production are highly automated, but the transplanting process of the small nursery plants cannot be automated because the figures of small nursery plants are not stable. In this research, a transplanting robot system for clone nursery plants production is under development. 3-D vision system using relative stereo method detects the shapes and positions of small nursery plants through transparent vessels. A force controlled robot picks up the plants and transplants into a vessels with artificial soil.

  17. CasimirSim - A Tool to Compute Casimir Polder Forces for Nontrivial 3D Geometries

    SciTech Connect

    Sedmik, Rene; Tajmar, Martin

    2007-01-30

    The so-called Casimir effect is one of the most interesting macro-quantum effects. Being negligible on the macro-scale it becomes a governing factor below structure sizes of 1 {mu}m where it accounts for typically 100 kN m-2. The force does not depend on gravity, or electric charge but solely on the materials properties, and geometrical shape. This makes the effect a strong candidate for micro(nano)-mechanical devices M(N)EMS. Despite a long history of research the theory lacks a uniform description valid for arbitrary geometries which retards technical application. We present an advanced state-of-the-art numerical tool overcoming all the usual geometrical restrictions, capable of calculating arbitrary 3D geometries by utilizing the Casimir Polder approximation for the Casimir force.

  18. A 3-D nonisothermal flow simulation and pulling force model for injection pultrusion processes

    NASA Astrophysics Data System (ADS)

    Mustafa, Ibrahim

    1998-12-01

    Injected Pultrusion (IP) is an efficient way of producing high quality, low cost, high volume and constant cross-section polymeric composites. This process has been developed recently, and the efforts to optimize it are still underway. This work is related to the development of a 3-D non-isothermal flow model for the IP processes. The governing equations for transport of mass, momentum and, energy are formulated by using a local volume averaging approach, and the Finite Element/Control Volume method is used to solve the system of equations numerically. The chemical species balance equation is solved in the Lagrangian frame of reference whereas the energy equation is solved using Galerkin, SU (Streamline Upwind), and SUPG (Streamline Upwind Petrov Galerkin) approaches. By varying degrees of freedom and the flow rates of the resin, it is shown that at high Peclet numbers the SUPG formulation performs better than the SU and the Galerkin methods in all cases. The 3-D model predictions for degree of cure and temperature are compared with a one dimensional analytical solution and the results are found satisfactory. Moreover, by varying the Brinkman Number, it is shown that the effect of viscous dissipation is insignificant. The 3-D flow simulations have been carried out for both thin and thick parts and the results are compared with the 2-D model. It is shown that for thick parts 2-D simulations render erroneous results. The effect of changing permeability on the flow fronts is also addressed. The effect of increasing taper angle on the model prediction is also investigated. A parametric study is conducted to isolate optimum conditions for both isothermal and non-isothermal cases using a straight rectangular die and a die with a tapered inlet. Finally, a simple pulling force model is developed and the pulling force required to pull the carbon-epoxy fiber resin system is estimated for dies of varying tapered inlet.

  19. Micromachined piconewton force sensor for biophysics investigations

    SciTech Connect

    Koch, Steven J.; Thayer, Gayle E.; Corwin, Alex D.; Boer, Maarten P. de

    2006-10-23

    We describe a micromachined force sensor that is able to measure forces as small as 1 pN in both air and water. First, we measured the force field produced by an electromagnet on individual 2.8 {mu}m magnetic beads glued to the sensor. By repeating with 11 different beads, we measured a 9% standard deviation in saturation magnetization. We next demonstrated that the sensor was fully functional when immersed in physiological buffer. These results show that the force sensors can be useful for magnetic force calibration and also for measurement of biophysical forces on chip.

  20. A High-Resolution 3D Weather Radar, MSG, and Lightning Sensor Observation Composite

    NASA Astrophysics Data System (ADS)

    Diederich, Malte; Senf, Fabian; Wapler, Kathrin; Simmer, Clemens

    2013-04-01

    Within the research group 'Object-based Analysis and SEamless prediction' (OASE) of the Hans Ertel Centre for Weather Research programme (HerZ), a data composite containing weather radar, lightning sensor, and Meteosat Second Generation observations is being developed for the use in object-based weather analysis and nowcasting. At present, a 3D merging scheme combines measurements of the Bonn and Jülich dual polarimetric weather radar systems (data provided by the TR32 and TERENO projects) into a 3-dimensional polar-stereographic volume grid, with 500 meters horizontal, and 250 meters vertical resolution. The merging takes into account and compensates for various observational error sources, such as attenuation through hydrometeors, beam blockage through topography and buildings, minimum detectable signal as a function of noise threshold, non-hydrometeor echos like insects, and interference from other radar systems. In addition to this, the effect of convection during the radar 5-minute volume scan pattern is mitigated through calculation of advection vectors from subsequent scans and their use for advection correction when projecting the measurements into space for any desired timestamp. The Meteosat Second Generation rapid scan service provides a scan in 12 spectral visual and infrared wavelengths every 5 minutes over Germany and Europe. These scans, together with the derived microphysical cloud parameters, are projected into the same polar stereographic grid used for the radar data. Lightning counts from the LINET lightning sensor network are also provided for every 2D grid pixel. The combined 3D radar and 2D MSG/LINET data is stored in a fully documented netCDF file for every 5 minute interval, and is made ready for tracking and object based weather analysis. At the moment, the 3D data only covers the Bonn and Jülich area, but the algorithms are planed to be adapted to the newly conceived DWD polarimetric C-Band 5 minute interval volume scan strategy. An

  1. Automated Sensor for 3-D Reconstruction of Optical Emission from RF Plasmas

    NASA Astrophysics Data System (ADS)

    Collard, Corey; Shannon, S.; Brake, M. L.; Holloway, James Paul

    1999-10-01

    Three dimensional images are obtained by using an automated scanning sensor which collects optical emission from a RF (13.56 MHz) discharge in a capacitively coupled GEC cell. The sensor scans a plane parallel to the electrode surface and transmits the plasma spectral emission through a fiber optic cable to a monochromator. The fiber optic is attached to a motorized rotational stage attached to a manual vertical translational stage. Wedges of light (argon at 750.4 nm) are collected as the fiber scans across the plasma. The data is digitized and stored so that it can be input into an algorithm, which uses a Tikhonov regularization method to reconstruct the emissivity as a function of radial position. By varying the height of the sensor, a 3-D plot of the plasma emission can be obtained. Three dimensional plots of plasmas run at 75, 100, 150 and 200 peak to peak voltage at pressures of 100, 250, 500 and 1000 mTorr were obtained. The non-uniformity of the light emission as a function of pressure and power will be discussed.

  2. 3D silicon sensors: Design, large area production and quality assurance for the ATLAS IBL pixel detector upgrade

    NASA Astrophysics Data System (ADS)

    Da Via, Cinzia; Boscardin, Maurizio; Dalla Betta, Gian-Franco; Darbo, Giovanni; Fleta, Celeste; Gemme, Claudia; Grenier, Philippe; Grinstein, Sebastian; Hansen, Thor-Erik; Hasi, Jasmine; Kenney, Chris; Kok, Angela; Parker, Sherwood; Pellegrini, Giulio; Vianello, Elisa; Zorzi, Nicola

    2012-12-01

    3D silicon sensors, where electrodes penetrate the silicon substrate fully or partially, have successfully been fabricated in different processing facilities in Europe and USA. The key to 3D fabrication is the use of plasma micro-machining to etch narrow deep vertical openings allowing dopants to be diffused in and form electrodes of pin junctions. Similar openings can be used at the sensor's edge to reduce the perimeter's dead volume to as low as ˜4 μm. Since 2009 four industrial partners of the 3D ATLAS R&D Collaboration started a joint effort aimed at one common design and compatible processing strategy for the production of 3D sensors for the LHC Upgrade and in particular for the ATLAS pixel Insertable B-Layer (IBL). In this project, aimed for installation in 2013, a new layer will be inserted as close as 3.4 cm from the proton beams inside the existing pixel layers of the ATLAS experiment. The detector proximity to the interaction point will therefore require new radiation hard technologies for both sensors and front end electronics. The latter, called FE-I4, is processed at IBM and is the biggest front end of this kind ever designed with a surface of ˜4 cm2. The performance of 3D devices from several wafers was evaluated before and after bump-bonding. Key design aspects, device fabrication plans and quality assurance tests during the 3D sensors prototyping phase are discussed in this paper.

  3. Quality Assessment of 3d Reconstruction Using Fisheye and Perspective Sensors

    NASA Astrophysics Data System (ADS)

    Strecha, C.; Zoller, R.; Rutishauser, S.; Brot, B.; Schneider-Zapp, K.; Chovancova, V.; Krull, M.; Glassey, L.

    2015-03-01

    Recent mathematical advances, growing alongside the use of unmanned aerial vehicles, have not only overcome the restriction of roll and pitch angles during flight but also enabled us to apply non-metric cameras in photogrammetric method, providing more flexibility for sensor selection. Fisheye cameras, for example, advantageously provide images with wide coverage; however, these images are extremely distorted and their non-uniform resolutions make them more difficult to use for mapping or terrestrial 3D modelling. In this paper, we compare the usability of different camera-lens combinations, using the complete workflow implemented in Pix4Dmapper to achieve the final terrestrial reconstruction result of a well-known historical site in Switzerland: the Chillon Castle. We assess the accuracy of the outcome acquired by consumer cameras with perspective and fisheye lenses, comparing the results to a laser scanner point cloud.

  4. Prototyping a Sensor Enabled 3d Citymodel on Geospatial Managed Objects

    NASA Astrophysics Data System (ADS)

    Kjems, E.; Kolář, J.

    2013-09-01

    One of the major development efforts within the GI Science domain are pointing at sensor based information and the usage of real time information coming from geographic referenced features in general. At the same time 3D City models are mostly justified as being objects for visualization purposes rather than constituting the foundation of a geographic data representation of the world. The combination of 3D city models and real time information based systems though can provide a whole new setup for data fusion within an urban environment and provide time critical information preserving our limited resources in the most sustainable way. Using 3D models with consistent object definitions give us the possibility to avoid troublesome abstractions of reality, and design even complex urban systems fusing information from various sources of data. These systems are difficult to design with the traditional software development approach based on major software packages and traditional data exchange. The data stream is varying from urban domain to urban domain and from system to system why it is almost impossible to design a complete system taking care of all thinkable instances now and in the future within one constraint software design complex. On several occasions we have been advocating for a new end advanced formulation of real world features using the concept of Geospatial Managed Objects (GMO). This paper presents the outcome of the InfraWorld project, a 4 million Euro project financed primarily by the Norwegian Research Council where the concept of GMO's have been applied in various situations on various running platforms of an urban system. The paper will be focusing on user experiences and interfaces rather then core technical and developmental issues. The project was primarily focusing on prototyping rather than realistic implementations although the results concerning applicability are quite clear.

  5. The valuable use of Microsoft Kinect™ sensor 3D kinematic in the rehabilitation process in basketball

    NASA Astrophysics Data System (ADS)

    Braidot, Ariel; Favaretto, Guillermo; Frisoli, Melisa; Gemignani, Diego; Gumpel, Gustavo; Massuh, Roberto; Rayan, Josefina; Turin, Matías

    2016-04-01

    Subjects who practice sports either as professionals or amateurs, have a high incidence of knee injuries. There are a few publications that show studies from a kinematic point of view of lateral-structure-knee injuries, including meniscal (meniscal tears or chondral injury), without anterior cruciate ligament rupture. The use of standard motion capture systems for measuring outdoors sport is hard to implement due to many operative reasons. Recently released, the Microsoft Kinect™ is a sensor that was developed to track movements for gaming purposes and has seen an increased use in clinical applications. The fact that this device is a simple and portable tool allows the acquisition of data of sport common movements in the field. The development and testing of a set of protocols for 3D kinematic measurement using the Microsoft Kinect™ system is presented in this paper. The 3D kinematic evaluation algorithms were developed from information available and with the use of Microsoft’s Software Development Kit 1.8 (SDK). Along with this, an algorithm for calculating the lower limb joints angles was implemented. Thirty healthy adult volunteers were measured, using five different recording protocols for sport characteristic gestures which involve high knee injury risk in athletes.

  6. In-home hierarchical posture classification with a time-of-flight 3D sensor.

    PubMed

    Diraco, Giovanni; Leone, Alessandro; Siciliano, Pietro

    2014-01-01

    A non-invasive technique for posture classification suitable to be used in several in-home scenarios is proposed and preliminary validation results are presented. 3D point cloud sequences were acquired using a single time-of-flight sensor working in a privacy preserving modality and they were processed with a low power embedded PC. In order to satisfy different application requirements (e.g. covered distance range, processing speed and discrimination capabilities), a twofold discrimination approach was investigated in which features were hierarchically arranged from coarse to fine by exploiting both topological and volumetric representations. The topological representation encoded the intrinsic topology of the body's shape using a skeleton-based structure, thus guaranteeing invariance to scale, rotations and postural changes and achieving a high level of detail with a moderate computational cost. On the other hand, using the volumetric representation features were described in terms of 3D cylindrical histograms working within a wider range of distances in a faster way and also guaranteeing good invariance properties. The discrimination capabilities were evaluated in four different real-home scenarios related with the fields of ambient assisted living and homecare, namely "dangerous event detection", "anomalous behaviour detection", "activities recognition" and "natural human-ambient interaction". For each mentioned scenario, the discrimination capabilities were evaluated in terms of invariance to viewpoint changes, representation capabilities and classification performance, achieving promising results. The two feature representation approaches exhibited complementary characteristics showing high reliability with classification rates greater than 97%.

  7. Evaluation of the Kinect™ sensor for 3-D kinematic measurement in the workplace.

    PubMed

    Dutta, Tilak

    2012-07-01

    Recording posture and movement is important for determining risk of musculoskeletal injury in the workplace, but existing motion capture systems are not suited for field work. Estimates of the 3-D relative positions of four 0.10 m cubes from the Kinect were compared to estimates from a Vicon motion capture system to determine whether the hardware sensing components were sensitive enough to be used as a portable 3-D motion capture system for workplace ergonomic assessments. The root-mean-squared errors (SD) were 0.0065 m (0.0048 m), 0.0109 m (0.0059 m), 0.0057 m (0.0042 m) in the x, y and z directions (with x axis to the right, y axis away from the sensor and z axis upwards). These data were collected over a range of 1.0-3.0m from the device covering a field of view of 54.0 degrees horizontally and 39.1 degrees vertically. Requirements for software, hardware and subject preparation were also considered to determine the usability of the Kinect in the field.

  8. Image synchronization for 3D application using the NanEye sensor

    NASA Astrophysics Data System (ADS)

    Sousa, Ricardo M.; Wäny, Martin; Santos, Pedro; Dias, Morgado

    2015-03-01

    Based on Awaiba's NanEye CMOS image sensor family and a FPGA platform with USB3 interface, the aim of this paper is to demonstrate a novel technique to perfectly synchronize up to 8 individual self-timed cameras. Minimal form factor self-timed camera modules of 1 mm x 1 mm or smaller do not generally allow external synchronization. However, for stereo vision or 3D reconstruction with multiple cameras as well as for applications requiring pulsed illumination it is required to synchronize multiple cameras. In this work, the challenge to synchronize multiple self-timed cameras with only 4 wire interface has been solved by adaptively regulating the power supply for each of the cameras to synchronize their frame rate and frame phase. To that effect, a control core was created to constantly monitor the operating frequency of each camera by measuring the line period in each frame based on a well-defined sampling signal. The frequency is adjusted by varying the voltage level applied to the sensor based on the error between the measured line period and the desired line period. To ensure phase synchronization between frames of multiple cameras, a Master-Slave interface was implemented. A single camera is defined as the Master entity, with its operating frequency being controlled directly through a PC based interface. The remaining cameras are setup in Slave mode and are interfaced directly with the Master camera control module. This enables the remaining cameras to monitor its line and frame period and adjust their own to achieve phase and frequency synchronization. The result of this work will allow the realization of smaller than 3mm diameter 3D stereo vision equipment in medical endoscopic context, such as endoscopic surgical robotic or micro invasive surgery.

  9. Fluid force and static symmetry breaking modes of 3D bluff bodies.

    NASA Astrophysics Data System (ADS)

    Cadot, Olivier; Evrard, Antoine; DFA Team

    2015-11-01

    A cavity at the base of the squareback Ahmed model at Re =6.106 is able to reduce the base suction by 18% and the drag coefficient by 9%, while the flow at the separation remains unaffected. Instantaneous pressure measurements at the body base, fluid force measurements and wake velocity measurements are investigated varying the cavity depth from 0 to 35% of the base height. Due to the reflectional symmetry of the rectangular base, there are two Reflectional Symmetry Breaking (RSB) mirror modes present in the natural wake that switch from one to the other randomly in accordance with the recent findings of Grandemange et al. (2013). It is shown that these modes exhibit an energetic 3D static vortex system close to the base of the body. A sufficiently deep cavity is able to stabilize the wake toward a symmetry preserved wake, thus suppressing the RSB modes and leading to a weaker elliptical toric recirculation. The stabilization can be modeled with a Langevin equation. The plausible mechanism for drag reduction with the base cavity is based on the interaction of the static 3D vortex system of the RSB modes with the base and their suppression by stabilization. There are some strong evidences that this mechanism may be generalized to axisymmetric bodies with base cavity.

  10. The Use of Atomic Force Microscopy for 3D Analysis of Nucleic Acid Hybridization on Microarrays.

    PubMed

    Dubrovin, E V; Presnova, G V; Rubtsova, M Yu; Egorov, A M; Grigorenko, V G; Yaminsky, I V

    2015-01-01

    Oligonucleotide microarrays are considered today to be one of the most efficient methods of gene diagnostics. The capability of atomic force microscopy (AFM) to characterize the three-dimensional morphology of single molecules on a surface allows one to use it as an effective tool for the 3D analysis of a microarray for the detection of nucleic acids. The high resolution of AFM offers ways to decrease the detection threshold of target DNA and increase the signal-to-noise ratio. In this work, we suggest an approach to the evaluation of the results of hybridization of gold nanoparticle-labeled nucleic acids on silicon microarrays based on an AFM analysis of the surface both in air and in liquid which takes into account of their three-dimensional structure. We suggest a quantitative measure of the hybridization results which is based on the fraction of the surface area occupied by the nanoparticles.

  11. Spatio-temporal interpolation of soil moisture in 3D+T using automated sensor network data

    NASA Astrophysics Data System (ADS)

    Gasch, C.; Hengl, T.; Magney, T. S.; Brown, D. J.; Gräler, B.

    2014-12-01

    Soil sensor networks provide frequent in situ measurements of dynamic soil properties at fixed locations, producing data in 2- or 3-dimensions and through time (2D+T and 3D+T). Spatio-temporal interpolation of 3D+T point data produces continuous estimates that can then be used for prediction at unsampled times and locations, as input for process models, and can simply aid in visualization of properties through space and time. Regression-kriging with 3D and 2D+T data has successfully been implemented, but currently the field of geostatistics lacks an analytical framework for modeling 3D+T data. Our objective is to develop robust 3D+T models for mapping dynamic soil data that has been collected with high spatial and temporal resolution. For this analysis, we use data collected from a sensor network installed on the R.J. Cook Agronomy Farm (CAF), a 37-ha Long-Term Agro-Ecosystem Research (LTAR) site in Pullman, WA. For five years, the sensors have collected hourly measurements of soil volumetric water content at 42 locations and five depths. The CAF dataset also includes a digital elevation model and derivatives, a soil unit description map, crop rotations, electromagnetic induction surveys, daily meteorological data, and seasonal satellite imagery. The soil-water sensor data, combined with the spatial and temporal covariates, provide an ideal dataset for developing 3D+T models. The presentation will include preliminary results and address main implementation strategies.

  12. 3D beam shape estimation based on distributed coaxial cable interferometric sensor

    NASA Astrophysics Data System (ADS)

    Cheng, Baokai; Zhu, Wenge; Liu, Jie; Yuan, Lei; Xiao, Hai

    2017-03-01

    We present a coaxial cable interferometer based distributed sensing system for 3D beam shape estimation. By making a series of reflectors on a coaxial cable, multiple Fabry–Perot cavities are created on it. Two cables are mounted on the beam at proper locations, and a vector network analyzer (VNA) is connected to them to obtain the complex reflection signal, which is used to calculate the strain distribution of the beam in horizontal and vertical planes. With 6 GHz swept bandwidth on the VNA, the spatial resolution for distributed strain measurement is 0.1 m, and the sensitivity is 3.768 MHz mε ‑1 at the interferogram dip near 3.3 GHz. Using displacement-strain transformation, the shape of the beam is reconstructed. With only two modified cables and a VNA, this system is easy to implement and manage. Comparing to optical fiber based sensor systems, the coaxial cable sensors have the advantage of large strain and robustness, making this system suitable for structure health monitoring applications.

  13. An Effective 3D Shape Descriptor for Object Recognition with RGB-D Sensors

    PubMed Central

    Liu, Zhong; Zhao, Changchen; Wu, Xingming; Chen, Weihai

    2017-01-01

    RGB-D sensors have been widely used in various areas of computer vision and graphics. A good descriptor will effectively improve the performance of operation. This article further analyzes the recognition performance of shape features extracted from multi-modality source data using RGB-D sensors. A hybrid shape descriptor is proposed as a representation of objects for recognition. We first extracted five 2D shape features from contour-based images and five 3D shape features over point cloud data to capture the global and local shape characteristics of an object. The recognition performance was tested for category recognition and instance recognition. Experimental results show that the proposed shape descriptor outperforms several common global-to-global shape descriptors and is comparable to some partial-to-global shape descriptors that achieved the best accuracies in category and instance recognition. Contribution of partial features and computational complexity were also analyzed. The results indicate that the proposed shape features are strong cues for object recognition and can be combined with other features to boost accuracy. PMID:28245553

  14. PROP3D: A Program for 3D Euler Unsteady Aerodynamic and Aeroelastic (Flutter and Forced Response) Analysis of Propellers. Version 1.0

    NASA Technical Reports Server (NTRS)

    Srivastava, R.; Reddy, T. S. R.

    1996-01-01

    This guide describes the input data required, for steady or unsteady aerodynamic and aeroelastic analysis of propellers and the output files generated, in using PROP3D. The aerodynamic forces are obtained by solving three dimensional unsteady, compressible Euler equations. A normal mode structural analysis is used to obtain the aeroelastic equations, which are solved using either time domain or frequency domain solution method. Sample input and output files are included in this guide for steady aerodynamic analysis of single and counter-rotation propellers, and aeroelastic analysis of single-rotation propeller.

  15. A 3D Faraday Shield for Interdigitated Dielectrometry Sensors and Its Effect on Capacitance.

    PubMed

    Risos, Alex; Long, Nicholas; Hunze, Arvid; Gouws, Gideon

    2016-12-31

    Interdigitated dielectrometry sensors (IDS) are capacitive sensors investigated to precisely measure the relative permittivity ( ϵ r ) of insulating liquids. Such liquids used in the power industry exhibit a change in ϵ r as they degrade. The IDS ability to measure ϵ r in-situ can potentially reduce maintenance, increase grid stability and improve safety. Noise from external electric field sources is a prominent issue with IDS. This paper investigates the novelty of applying a Faraday cage onto an IDS as a 3D shield to reduce this noise. This alters the spatially distributed electric field of an IDS affecting its sensing properties. Therefore, dependency of the sensor's signal with the distance to a shield above the IDS electrodes has been investigated experimentally and theoretically via a Green's function calculation and FEM. A criteria of the shield's distance s = s 0 has been defined as the distance which gives a capacitance for the IDS equal to 1 - e - 2 = 86.5 % of its unshielded value. Theoretical calculations using a simplified geometry gave a constant value for s 0 / λ = 1.65, where λ is the IDS wavelength. In the experiment, values for s 0 were found to be lower than predicted as from theory and the ratio s 0 / λ variable. This was analyzed in detail and it was found to be resulting from the specific spatial structure of the IDS. A subsequent measurement of a common insulating liquid with a nearby noise source demonstrates a considerable reduction in the standard deviation of the relative permittivity from σ unshielded = ± 9.5% to σ shielded = ± 0.6%. The presented findings enhance our understanding of IDS in respect to the influence of a Faraday shield on the capacitance, parasitic capacitances of the IDS and external noise impact on the measurement of ϵ r .

  16. Wind forcing of upland lake hydrodynamics: implementation and validation of a 3D numerical model

    NASA Astrophysics Data System (ADS)

    Morales, L.; French, J.; Burningham, H.; Evans, C.; Battarbee, R.

    2010-12-01

    Upland lakes act as important archives of environmental change, yet inferences based on the analysis of sediment cores are frequently compromised by an incomplete understanding of the hydrodynamic processes controlling the distribution and completeness of lake sediment sequences and their linkages to wider environmental factors. Many upland lakes are characterized by complex vertical and horizontal circulation patterns induced by the action of wind on the water surface. Wind forcing is important not only for the resuspension of bottom sediments in shallow marginal areas, but may also control the broader distribution of sediment accumulation. The work presented here represents the first stage of a project aimed at elucidating the linkages between wind forcing and the distribution of bottom sediments in upland lakes and the extent to which simple 'sediment focusing' models provide an adequate basis for predicting optimal locations for the acquisition of core samples for palaeolimnological analysis. As a first step, a 3D numerical hydrodynamic model is implemented for Llyn Conwy, a small oligotrophic upland lake in North Wales, UK. This utilises the community ocean model, FVCOM, that solves the Navier-Stokes equations in 3D on an unstructured triangular mesh using the finite volume method. A new graphical user interface has been developed for FVCOM to facilitate pre- and post-processing of lake modelling problems. At Llyn Conwy, the model is forced using local meteorological data and validated against vertical temperature profiles recorded by a long-term buoy deployment and short-term observations of vertical current structure measured using an upward-looking acoustic doppler profiler and surface circulation obtained from GPS drifters. Challenges in the application of FVCOM to a small lake include the design of a mesh that ensures numerical stability whilst resolving a complex bathymetry, and the need for careful treatment of model 'spin-up'. Once calibrated, the

  17. Using a magnetite/thermoplastic composite in 3D printing of direct replacements for commercially available flow sensors

    NASA Astrophysics Data System (ADS)

    Leigh, S. J.; Purssell, C. P.; Billson, D. R.; Hutchins, D. A.

    2014-09-01

    Flow sensing is an essential technique required for a wide range of application environments ranging from liquid dispensing to utility monitoring. A number of different methodologies and deployment strategies have been devised to cover the diverse range of potential application areas. The ability to easily create new bespoke sensors for new applications is therefore of natural interest. Fused deposition modelling is a 3D printing technology based upon the fabrication of 3D structures in a layer-by-layer fashion using extruded strands of molten thermoplastic. The technology was developed in the late 1980s but has only recently come to more wide-scale attention outside of specialist applications and rapid prototyping due to the advent of low-cost 3D printing platforms such as the RepRap. Due to the relatively low-cost of the printers and feedstock materials, these printers are ideal candidates for wide-scale installation as localized manufacturing platforms to quickly produce replacement parts when components fail. One of the current limitations with the technology is the availability of functional printing materials to facilitate production of complex functional 3D objects and devices beyond mere concept prototypes. This paper presents the formulation of a simple magnetite nanoparticle-loaded thermoplastic composite and its incorporation into a 3D printed flow-sensor in order to mimic the function of a commercially available flow-sensing device. Using the multi-material printing capability of the 3D printer allows a much smaller amount of functional material to be used in comparison to the commercial flow sensor by only placing the material where it is specifically required. Analysis of the printed sensor also revealed a much more linear response to increasing flow rate of water showing that 3D printed devices have the potential to at least perform as well as a conventionally produced sensor.

  18. Practical issues in automatic 3D reconstruction and navigation applications using man-portable or vehicle-mounted sensors

    NASA Astrophysics Data System (ADS)

    Harris, Chris; Stennett, Carl

    2012-09-01

    The navigation of an autonomous robot vehicle and person localisation in the absence of GPS both rely on using local sensors to build a model of the 3D environment. Accomplishing such capabilities is not straightforward - there are many choices to be made of sensor and processing algorithms. Roke Manor Research has broad experience in this field, gained from building and characterising real-time systems that operate in the real world. This includes developing localization for planetary and indoor rovers, model building of indoor and outdoor environments, and most recently, the building of texture-mapped 3D surface models.

  19. A 3D Faraday Shield for Interdigitated Dielectrometry Sensors and Its Effect on Capacitance

    PubMed Central

    Risos, Alex; Long, Nicholas; Hunze, Arvid; Gouws, Gideon

    2016-01-01

    Interdigitated dielectrometry sensors (IDS) are capacitive sensors investigated to precisely measure the relative permittivity (ϵr) of insulating liquids. Such liquids used in the power industry exhibit a change in ϵr as they degrade. The IDS ability to measure ϵr in-situ can potentially reduce maintenance, increase grid stability and improve safety. Noise from external electric field sources is a prominent issue with IDS. This paper investigates the novelty of applying a Faraday cage onto an IDS as a 3D shield to reduce this noise. This alters the spatially distributed electric field of an IDS affecting its sensing properties. Therefore, dependency of the sensor’s signal with the distance to a shield above the IDS electrodes has been investigated experimentally and theoretically via a Green’s function calculation and FEM. A criteria of the shield’s distance s = s0 has been defined as the distance which gives a capacitance for the IDS equal to 1 − e−2=86.5% of its unshielded value. Theoretical calculations using a simplified geometry gave a constant value for s0/λ = 1.65, where λ is the IDS wavelength. In the experiment, values for s0 were found to be lower than predicted as from theory and the ratio s0/λ variable. This was analyzed in detail and it was found to be resulting from the specific spatial structure of the IDS. A subsequent measurement of a common insulating liquid with a nearby noise source demonstrates a considerable reduction in the standard deviation of the relative permittivity from σunshielded=±9.5% to σshielded=±0.6%. The presented findings enhance our understanding of IDS in respect to the influence of a Faraday shield on the capacitance, parasitic capacitances of the IDS and external noise impact on the measurement of ϵr. PMID:28042868

  20. 3D active edge silicon sensors: Device processing, yield and QA for the ATLAS-IBL production

    SciTech Connect

    Da Vià, Cinzia; Boscardil, Maurizio; Dalla Betta, GianFranco; Darbo, Giovanni; Fleta, Celeste; Gemme, Claudia; Giacomini, Gabriele; Grenier, Philippe; Grinstein, Sebastian; Hansen, Thor-Erik; Hasi, Jasmine; Kenney, Christopher; Kok, Angela; La Rosa, Alessandro; Micelli, Andrea; Parker, Sherwood; Pellegrini, Giulio; Pohl, David-Leon; Povoli, Marco; Vianello, Elisa; Zorzi, Nicola; Watts, S. J.

    2013-01-01

    3D silicon sensors, where plasma micromachining is used to etch deep narrow apertures in the silicon substrate to form electrodes of PIN junctions, were successfully manufactured in facilities in Europe and USA. In 2011 the technology underwent a qualification process to establish its maturity for a medium scale production for the construction of a pixel layer for vertex detection, the Insertable B-Layer (IBL) at the CERN-LHC ATLAS experiment. The IBL collaboration, following that recommendation from the review panel, decided to complete the production of planar and 3D sensors and endorsed the proposal to build enough modules for a mixed IBL sensor scenario where 25% of 3D modules populate the forward and backward part of each stave. The production of planar sensors will also allow coverage of 100% of the IBL, in case that option was required. This paper will describe the processing strategy which allowed successful 3D sensor production, some of the Quality Assurance (QA) tests performed during the pre-production phase and the production yield to date.

  1. Estimability of thrusting trajectories in 3-D from a single passive sensor with unknown launch point

    NASA Astrophysics Data System (ADS)

    Yuan, Ting; Bar-Shalom, Yaakov; Willett, Peter; Ben-Dov, R.; Pollak, S.

    2013-09-01

    The problem of estimating the state of thrusting/ballistic endoatmospheric projectiles moving in 3-dimensional (3-D) space using 2-dimensional (2-D) measurements from a single passive sensor is investigated. The location of projectile's launch point (LP) is unavailable and this could significantly affect the performance of the estimation and the IPP. The LP altitude is then an unknown target parameter. The estimability is analyzed based on the Fisher Information Matrix (FIM) of the target parameter vector, comprising the initial launch (azimuth and elevation) angles, drag coefficient, thrust and the LP altitude, which determine the trajectory according to a nonlinear motion equation. The full rank of the FIM ensures that one has an estimable target parameters. The corresponding Craḿer-Rao lower bound (CRLB) quantifies the estimation performance of the estimator that is statistically efficient and can be used for IPP. In view of the inherent nonlinearity of the problem, the maximum likelihood (ML) estimate of the target parameter vector is found by using a mixed (partially grid-based) search approach. For a selected grid in the drag-coefficient-thrust-altitude subspace, the proposed parallelizable approach is shown to have reliable estimation performance and further leads to the final IPP of high accuracy.

  2. Correlation between the respiratory waveform measured using a respiratory sensor and 3D tumor motion in gated radiotherapy

    SciTech Connect

    Tsunashima, Yoshikazu . E-mail: tsunashima@pmrc.tsukuba.ac.jp; Sakae, Takeji; Shioyama, Yoshiyuki; Kagei, Kenji; Terunuma, Toshiyuki; Nohtomi, Akihiro; Akine, Yasuyuki

    2004-11-01

    Purpose: The purpose of this study is to investigate the correlation between the respiratory waveform measured using a respiratory sensor and three-dimensional (3D) tumor motion. Methods and materials: A laser displacement sensor (LDS: KEYENCE LB-300) that measures distance using infrared light was used as the respiratory sensor. This was placed such that the focus was in an area around the patient's navel. When the distance from the LDS to the body surface changes as the patient breathes, the displacement is detected as a respiratory waveform. To obtain the 3D tumor motion, a biplane digital radiography unit was used. For the tumor in the lung, liver, and esophagus of 26 patients, the waveform was compared with the 3D tumor motion. The relationship between the respiratory waveform and the 3D tumor motion was analyzed by means of the Fourier transform and a cross-correlation function. Results: The respiratory waveform cycle agreed with that of the cranial-caudal and dorsal-ventral tumor motion. A phase shift observed between the respiratory waveform and the 3D tumor motion was principally in the range 0.0 to 0.3 s, regardless of the organ being measured, which means that the respiratory waveform does not always express the 3D tumor motion with fidelity. For this reason, the standard deviation of the tumor position in the expiration phase, as indicated by the respiratory waveform, was derived, which should be helpful in suggesting the internal margin required in the case of respiratory gated radiotherapy. Conclusion: Although obtained from only a few breathing cycles for each patient, the correlation between the respiratory waveform and the 3D tumor motion was evident in this study. If this relationship is analyzed carefully and an internal margin is applied, the accuracy and convenience of respiratory gated radiotherapy could be improved by use of the respiratory sensor.Thus, it is expected that this procedure will come into wider use.

  3. Ultraprecision micro-CMM using a low force 3D touch probe

    NASA Astrophysics Data System (ADS)

    Küng, A.; Meli, F.; Thalmann, R.

    2007-02-01

    METAS developed a new 3D coordinate measuring machine (CMM) dedicated to traceable measurement for small parts with nanometre accuracy. The innovative design of the touch probe is based on a parallel kinematic structure of flexure hinges in order to minimize the moving mass and ensure an isotropic low stiffness. This head features very weak probing forces, below 0.5 mN, and supports exchangeable probes down to 0.1 mm diameter. It was combined with a highly accurate positioning stage developed at Philips CFT. The machine features a 90 mm × 90 mm × 38 mm air bearing stage with interferometric position measurement with no Abbe offset. The relevant calibration measurements reported here proudly highlight a repeatability of about 5 nm achieved by our micro-CMM. At the reached level of precision, the shape deviation of the probing sphere becomes a major contribution to the uncertainty. Therefore a calibration method for spheres based on error separation techniques was implemented. The result of roundness measurements on three calibration spheres is also presented. In addition, a scanning measurement procedure was implemented without any loss of accuracy, as attested by a comparison using a roundness measuring machine.

  4. Force Sensor for Large Robot Arms

    NASA Technical Reports Server (NTRS)

    Bejczy, A. K.; Primus, H. C.; Scheinman, V. D.

    1985-01-01

    Modified Maltese-cross force sensor larger and more sensitive than earlier designs. Measures inertial forces and torques exerted on large robot arms during free movement as well as those exerted by claw on manipulated objects. Large central hole of sensor allows claw drive mounted inside arm instead of perpendicular to its axis, eliminating potentially hazardous projection. Originally developed for Space Shuttle, sensor finds applications in large industrial robots.

  5. MR Elastography Studies of the 3D Force Chain Structure in Dense Granular Media: Distribution of Chain Lengths

    NASA Astrophysics Data System (ADS)

    Sanfratello, L.; Fukushima, E.

    2009-06-01

    We recently developed a novel extension of MR Elastograpy (MRE) to image the force chain structure within a dense 3D quasi-static granular assembly. Subsequently, computer codes and algorithms to determine the distribution of the force chain lengths, where a chain is taken to be a relatively straight section between branching points, were developed. Similar tools were used previously to analyze 2D photoelastic data and now have been expanded to analyze our most current 3D MRE force chain data. These investigations reveal that the distribution of the chain lengths in 3D decays exponentially, as was observed in 2D. The exponential decay of the length distribution is consistent with DEM simulation results of Peters, et al. We conclude that the decay length of this distribution is a meaningful quantitative measure that characterizes granular assemblies.

  6. Measurement of dynamic cell-induced 3D displacement fields in vitro for traction force optical coherence microscopy

    PubMed Central

    Mulligan, Jeffrey A.; Bordeleau, François; Reinhart-King, Cynthia A.; Adie, Steven G.

    2017-01-01

    Traction force microscopy (TFM) is a method used to study the forces exerted by cells as they sense and interact with their environment. Cell forces play a role in processes that take place over a wide range of spatiotemporal scales, and so it is desirable that TFM makes use of imaging modalities that can effectively capture the dynamics associated with these processes. To date, confocal microscopy has been the imaging modality of choice to perform TFM in 3D settings, although multiple factors limit its spatiotemporal coverage. We propose traction force optical coherence microscopy (TF-OCM) as a novel technique that may offer enhanced spatial coverage and temporal sampling compared to current methods used for volumetric TFM studies. Reconstructed volumetric OCM data sets were used to compute time-lapse extracellular matrix deformations resulting from cell forces in 3D culture. These matrix deformations revealed clear differences that can be attributed to the dynamic forces exerted by normal versus contractility-inhibited NIH-3T3 fibroblasts embedded within 3D Matrigel matrices. Our results are the first step toward the realization of 3D TF-OCM, and they highlight the potential use of OCM as a platform for advancing cell mechanics research. PMID:28271010

  7. Assessment of Iterative Closest Point Registration Accuracy for Different Phantom Surfaces Captured by an Optical 3D Sensor in Radiotherapy

    PubMed Central

    Walke, Mathias; Gademann, Günther

    2017-01-01

    An optical 3D sensor provides an additional tool for verification of correct patient settlement on a Tomotherapy treatment machine. The patient's position in the actual treatment is compared with the intended position defined in treatment planning. A commercially available optical 3D sensor measures parts of the body surface and estimates the deviation from the desired position without markers. The registration precision of the in-built algorithm and of selected ICP (iterative closest point) algorithms is investigated on surface data of specially designed phantoms captured by the optical 3D sensor for predefined shifts of the treatment table. A rigid body transform is compared with the actual displacement to check registration reliability for predefined limits. The curvature type of investigated phantom bodies has a strong influence on registration result which is more critical for surfaces of low curvature. We investigated the registration accuracy of the optical 3D sensor for the chosen phantoms and compared the results with selected unconstrained ICP algorithms. Safe registration within the clinical limits is only possible for uniquely shaped surface regions, but error metrics based on surface normals improve translational registration. Large registration errors clearly hint at setup deviations, whereas small values do not guarantee correct positioning. PMID:28163773

  8. 3D measurements of alpine skiing with an inertial sensor motion capture suit and GNSS RTK system.

    PubMed

    Supej, Matej

    2010-05-01

    To date, camcorders have been the device of choice for 3D kinematic measurement in human locomotion, in spite of their limitations. This study examines a novel system involving a GNSS RTK that returns a reference trajectory through the use of a suit, imbedded with inertial sensors, to reveal subject segment motion. The aims were: (1) to validate the system's precision and (2) to measure an entire alpine ski race and retrieve the results shortly after measuring. For that purpose, four separate experiments were performed: (1) forced pendulum, (2) walking, (3) gate positions, and (4) skiing experiments. Segment movement validity was found to be dependent on the frequency of motion, with high accuracy (0.8 degrees , s = 0.6 degrees ) for 10 s, which equals approximately 10 slalom turns, while accuracy decreased slightly (2.1 degrees , 3.3 degrees , and 4.2 degrees for 0.5, 1, and 2 Hz oscillations, respectively) during 35 s of data collection. The motion capture suit's orientation inaccuracy was mostly due to geomagnetic secular variation. The system exhibited high validity regarding the reference trajectory (0.008 m, s = 0.0044) throughout an entire ski race. The system is capable of measuring an entire ski course with less manpower and therefore lower cost compared with camcorder-based techniques.

  9. Free energy force field (FEFF) 3D-QSAR analysis of a set of Plasmodium falciparum dihydrofolate reductase inhibitors

    NASA Astrophysics Data System (ADS)

    Santos-Filho, Osvaldo A.; Mishra, Rama K.; Hopfinger, A. J.

    2001-09-01

    Free energy force field (FEFF) 3D-QSAR analysis was used to construct ligand-receptor binding models for a set of 18 structurally diverse antifolates including pyrimethamine, cycloguanil, methotrexate, aminopterin and trimethoprim, and 13 pyrrolo[2,3-d]pyrimidines. The molecular target (`receptor') used was a 3D-homology model of a specific mutant type of Plasmodium falciparum (Pf) dihydrofolate reductase (DHFR). The dependent variable of the 3D-QSAR models is the IC50 inhibition constant for the specific mutant type of PfDHFR. The independent variables of the 3D-QSAR models (the descriptors) are scaled energy terms of a modified first-generation AMBER force field combined with a hydration shell aqueous solvation model and a collection of 2D-QSAR descriptors often used in QSAR studies. Multiple temperature molecular dynamics simulation (MDS) and the genetic function approximation (GFA) were employed using partial least square (PLS) and multidimensional linear regressions as the fitting functions to develop FEFF 3D-QSAR models for the binding process. The significant FEFF energy terms in the best 3D-QSAR models include energy contributions of the direct ligand-receptor interaction. Some changes in conformational energy terms of the ligand due to binding to the enzyme are also found to be important descriptors. The FEFF 3D-QSAR models indicate some structural features perhaps relevant to the mechanism of resistance of the PfDHFR to current antimalarials. The FEFF 3D-QSAR models are also compared to receptor-independent (RI) 4D-QSAR models developed in an earlier study and subsequently refined using recently developed generalized alignment rules.

  10. Parallel robot for micro assembly with integrated innovative optical 3D-sensor

    NASA Astrophysics Data System (ADS)

    Hesselbach, Juergen; Ispas, Diana; Pokar, Gero; Soetebier, Sven; Tutsch, Rainer

    2002-10-01

    Recent advances in the fields of MEMS and MOEMS often require precise assembly of very small parts with an accuracy of a few microns. In order to meet this demand, a new approach using a robot based on parallel mechanisms in combination with a novel 3D-vision system has been chosen. The planar parallel robot structure with 2 DOF provides a high resolution in the XY-plane. It carries two additional serial axes for linear and rotational movement in/about z direction. In order to achieve high precision as well as good dynamic capabilities, the drive concept for the parallel (main) axes incorporates air bearings in combination with a linear electric servo motors. High accuracy position feedback is provided by optical encoders with a resolution of 0.1 μm. To allow for visualization and visual control of assembly processes, a camera module fits into the hollow tool head. It consists of a miniature CCD camera and a light source. In addition a modular gripper support is integrated into the tool head. To increase the accuracy a control loop based on an optoelectronic sensor will be implemented. As a result of an in-depth analysis of different approaches a photogrammetric system using one single camera and special beam-splitting optics was chosen. A pattern of elliptical marks is applied to the surfaces of workpiece and gripper. Using a model-based recognition algorithm the image processing software identifies the gripper and the workpiece and determines their relative position. A deviation vector is calculated and fed into the robot control to guide the gripper.

  11. Sensor for In-Motion Continuous 3D Shape Measurement Based on Dual Line-Scan Cameras

    PubMed Central

    Sun, Bo; Zhu, Jigui; Yang, Linghui; Yang, Shourui; Guo, Yin

    2016-01-01

    The acquisition of three-dimensional surface data plays an increasingly important role in the industrial sector. Numerous 3D shape measurement techniques have been developed. However, there are still limitations and challenges in fast measurement of large-scale objects or high-speed moving objects. The innovative line scan technology opens up new potentialities owing to the ultra-high resolution and line rate. To this end, a sensor for in-motion continuous 3D shape measurement based on dual line-scan cameras is presented. In this paper, the principle and structure of the sensor are investigated. The image matching strategy is addressed and the matching error is analyzed. The sensor has been verified by experiments and high-quality results are obtained. PMID:27869731

  12. Sensor for In-Motion Continuous 3D Shape Measurement Based on Dual Line-Scan Cameras.

    PubMed

    Sun, Bo; Zhu, Jigui; Yang, Linghui; Yang, Shourui; Guo, Yin

    2016-11-18

    The acquisition of three-dimensional surface data plays an increasingly important role in the industrial sector. Numerous 3D shape measurement techniques have been developed. However, there are still limitations and challenges in fast measurement of large-scale objects or high-speed moving objects. The innovative line scan technology opens up new potentialities owing to the ultra-high resolution and line rate. To this end, a sensor for in-motion continuous 3D shape measurement based on dual line-scan cameras is presented. In this paper, the principle and structure of the sensor are investigated. The image matching strategy is addressed and the matching error is analyzed. The sensor has been verified by experiments and high-quality results are obtained.

  13. Concept for an airborne real-time ISR system with multi-sensor 3D data acquisition

    NASA Astrophysics Data System (ADS)

    Haraké, Laura; Schilling, Hendrik; Blohm, Christian; Hillemann, Markus; Lenz, Andreas; Becker, Merlin; Keskin, Göksu; Middelmann, Wolfgang

    2016-10-01

    In modern aerial Intelligence, Surveillance and Reconnaissance operations, precise 3D information becomes inevitable for increased situation awareness. In particular, object geometries represented by texturized digital surface models constitute an alternative to a pure evaluation of radiometric measurements. Besides the 3D data's level of detail aspect, its availability is time-relevant in order to make quick decisions. Expanding the concept of our preceding remote sensing platform developed together with OHB System AG and Geosystems GmbH, in this paper we present an airborne multi-sensor system based on a motor glider equipped with two wing pods; one carries the sensors, whereas the second pod downlinks sensor data to a connected ground control station by using the Aerial Reconnaissance Data System of OHB. An uplink is created to receive remote commands from the manned mobile ground control station, which on its part processes and evaluates incoming sensor data. The system allows the integration of efficient image processing and machine learning algorithms. In this work, we introduce a near real-time approach for the acquisition of a texturized 3D data model with the help of an airborne laser scanner and four high-resolution multi-spectral (RGB, near-infrared) cameras. Image sequences from nadir and off-nadir cameras permit to generate dense point clouds and to texturize also facades of buildings. The ground control station distributes processed 3D data over a linked geoinformation system with web capabilities to off-site decision-makers. As the accurate acquisition of sensor data requires boresight calibrated sensors, we additionally examine the first steps of a camera calibration workflow.

  14. Fiber based optical tweezers for simultaneous in situ force exertion and measurements in a 3D polyacrylamide gel compartment.

    PubMed

    Ti, Chaoyang; Thomas, Gawain M; Ren, Yundong; Zhang, Rui; Wen, Qi; Liu, Yuxiang

    2015-07-01

    Optical tweezers play an important role in biological applications. However, it is difficult for traditional optical tweezers based on objective lenses to work in a three-dimensional (3D) solid far away from the substrate. In this work, we develop a fiber based optical trapping system, namely inclined dual fiber optical tweezers, that can simultaneously apply and measure forces both in water and in a 3D polyacrylamide gel matrix. In addition, we demonstrate in situ, non-invasive characterization of local mechanical properties of polyacrylamide gel by measurements on an embedded bead. The fiber optical tweezers measurements agree well with those of atomic force microscopy (AFM). The inclined dual fiber optical tweezers provide a promising and versatile tool for cell mechanics study in 3D environments.

  15. Identifying High-Traffic Patterns in the Workplace with Radio Tomographic Imaging in 3D Wireless Sensor Networks

    DTIC Science & Technology

    2014-03-27

    monitored. The sensor network used in this research employs a token ring protocol, where each receiver reports respective RSS values to a base station...USAF AFIT-ENG-14-M-24 DEPARTMENT OF THE AIR FORCE AIR UNIVERSITY AIR FORCE INSTITUTE OF TECHNOLOGY Wright-Patterson Air Force Base, Ohio DISTRIBUTION...Graduate School of Engineering and Management Air Force Institute of Technology Air University Air Education and Training Command in Partial Fulfillment

  16. 3D sensor placement strategy using the full-range pheromone ant colony system

    NASA Astrophysics Data System (ADS)

    Shuo, Feng; Jingqing, Jia

    2016-07-01

    An optimized sensor placement strategy will be extremely beneficial to ensure the safety and cost reduction considerations of structural health monitoring (SHM) systems. The sensors must be placed such that important dynamic information is obtained and the number of sensors is minimized. The practice is to select individual sensor directions by several 1D sensor methods and the triaxial sensors are placed in these directions for monitoring. However, this may lead to non-optimal placement of many triaxial sensors. In this paper, a new method, called FRPACS, is proposed based on the ant colony system (ACS) to solve the optimal placement of triaxial sensors. The triaxial sensors are placed as single units in an optimal fashion. And then the new method is compared with other algorithms using Dalian North Bridge. The computational precision and iteration efficiency of the FRPACS has been greatly improved compared with the original ACS and EFI method.

  17. Grasp force sensor for robotic hands

    NASA Technical Reports Server (NTRS)

    Scheinman, Victor D. (Inventor); Bejczy, Antal K. (Inventor); Primus, Howard C. (Inventor)

    1989-01-01

    A grasp force sensor for robotic hands is disclosed. A flexible block is located in the base of each claw through which the grasp force is exerted. The block yields minute parallelogram deflection when the claws are subjected to grasping forces. A parallelogram deflection closely resembles pure translational deflection, whereby the claws remain in substantial alignment with each other during grasping. Strain gauge transducers supply signals which provide precise knowledge of and control over grasp forces.

  18. Diborane Electrode Response in 3D Silicon Sensors for the CMS and ATLAS Experiments

    SciTech Connect

    Brown, Emily R.; /Reed Coll. /SLAC

    2011-06-22

    Unusually high leakage currents have been measured in test wafers produced by the manufacturer SINTEF containing 3D pixel silicon sensor chips designed for the ATLAS (A Toroidal LHC ApparatuS) and CMS (Compact Muon Solenoid) experiments. Previous data has shown the CMS chips as having a lower leakage current after processing than ATLAS chips. Some theories behind the cause of the leakage currents include the dicing process and the usage of copper in bump bonding, and with differences in packaging and handling between the ATLAS and CMS chips causing the disparity between the two. Data taken at SLAC from a SINTEF wafer with electrodes doped with diborane and filled with polysilicon, before dicing, and with indium bumps added contradicts this past data, as ATLAS chips showed a lower leakage current than CMS chips. It also argues against copper in bump bonding and the dicing process as main causes of leakage current as neither were involved on this wafer. However, they still display an extremely high leakage current, with the source mostly unknown. The SINTEF wafer shows completely different behavior than the others, as the FEI3s actually performed better than the CMS chips. Therefore this data argues against the differences in packaging and handling or the intrinsic geometry of the two as a cause in the disparity between the leakage currents of the chips. Even though the leakage current in the FEI3s overall is lower, the current is still significant enough to cause problems. As this wafer was not diced, nor had it any copper added for bump bonding, this data argues against the dicing and bump bonding as causes for leakage current. To compliment this information, more data will be taken on the efficiency of the individual electrodes of the ATLAS and CMS chips on this wafer. The electrodes will be shot perpendicularly with a laser to test the efficiency across the width of the electrode. A mask with pinholes has been made to focus the laser to a beam smaller than the

  19. Networked sensors for the combat forces

    NASA Astrophysics Data System (ADS)

    Klager, Gene

    2004-11-01

    Real-time and detailed information is critical to the success of ground combat forces. Current manned reconnaissance, surveillance, and target acquisition (RSTA) capabilities are not sufficient to cover battlefield intelligence gaps, provide Beyond-Line-of-Sight (BLOS) targeting, and the ambush avoidance information necessary for combat forces operating in hostile situations, complex terrain, and conducting military operations in urban terrain. This paper describes a current US Army program developing advanced networked unmanned/unattended sensor systems to survey these gaps and provide the Commander with real-time, pertinent information. Networked Sensors for the Combat Forces plans to develop and demonstrate a new generation of low cost distributed unmanned sensor systems organic to the RSTA Element. Networked unmanned sensors will provide remote monitoring of gaps, will increase a unit"s area of coverage, and will provide the commander organic assets to complete his Battlefield Situational Awareness (BSA) picture for direct and indirect fire weapons, early warning, and threat avoidance. Current efforts include developing sensor packages for unmanned ground vehicles, small unmanned aerial vehicles, and unattended ground sensors using advanced sensor technologies. These sensors will be integrated with robust networked communications and Battle Command tools for mission planning, intelligence "reachback", and sensor data management. The network architecture design is based on a model that identifies a three-part modular design: 1) standardized sensor message protocols, 2) Sensor Data Management, and 3) Service Oriented Architecture. This simple model provides maximum flexibility for data exchange, information management and distribution. Products include: Sensor suites optimized for unmanned platforms, stationary and mobile versions of the Sensor Data Management Center, Battle Command planning tools, networked communications, and sensor management software. Details

  20. Force sensor using changes in magnetic flux

    NASA Technical Reports Server (NTRS)

    Pickens, Herman L. (Inventor); Richard, James A. (Inventor)

    2012-01-01

    A force sensor includes a magnetostrictive material and a magnetic field generator positioned in proximity thereto. A magnetic field is induced in and surrounding the magnetostrictive material such that lines of magnetic flux pass through the magnetostrictive material. A sensor positioned in the vicinity of the magnetostrictive material measures changes in one of flux angle and flux density when the magnetostrictive material experiences an applied force that is aligned with the lines of magnetic flux.

  1. Combination of Tls Point Clouds and 3d Data from Kinect v2 Sensor to Complete Indoor Models

    NASA Astrophysics Data System (ADS)

    Lachat, E.; Landes, T.; Grussenmeyer, P.

    2016-06-01

    The combination of data coming from multiple sensors is more and more applied for remote sensing issues (multi-sensor imagery) but also in cultural heritage or robotics, since it often results in increased robustness and accuracy of the final data. In this paper, the reconstruction of building elements such as window frames or door jambs scanned thanks to a low cost 3D sensor (Kinect v2) is presented. Their combination within a global point cloud of an indoor scene acquired with a terrestrial laser scanner (TLS) is considered. If the added elements acquired with the Kinect sensor enable to reach a better level of detail of the final model, an adapted acquisition protocol may also provide several benefits as for example time gain. The paper aims at analyzing whether the two measurement techniques can be complementary in this context. The limitations encountered during the acquisition and reconstruction steps are also investigated.

  2. Flying triangulation - A motion-robust optical 3D sensor for the real-time shape acquisition of complex objects

    NASA Astrophysics Data System (ADS)

    Willomitzer, Florian; Ettl, Svenja; Arold, Oliver; Häusler, Gerd

    2013-05-01

    The three-dimensional shape acquisition of objects has become more and more important in the last years. Up to now, there are several well-established methods which already yield impressive results. However, even under quite common conditions like object movement or a complex shaping, most methods become unsatisfying. Thus, the 3D shape acquisition is still a difficult and non-trivial task. We present our measurement principle "Flying Triangulation" which enables a motion-robust 3D acquisition of complex-shaped object surfaces by a freely movable handheld sensor. Since "Flying Triangulation" is scalable, a whole sensor-zoo for different object sizes is presented. Concluding, an overview of current and future fields of investigation is given.

  3. Online Stereo 3D Simulation in Studying the Spherical Pendulum in Conservative Force Field

    ERIC Educational Resources Information Center

    Zabunov, Svetoslav S.

    2013-01-01

    The current paper aims at presenting a modern e-learning method and tool that is utilized in teaching physics in the universities. An online stereo 3D simulation is used for e-learning mechanics and specifically the teaching of spherical pendulum as part of the General Physics course for students in the universities. This approach was realized on…

  4. A novel method for assessing the 3-D orientation accuracy of inertial/magnetic sensors.

    PubMed

    Faber, Gert S; Chang, Chien-Chi; Rizun, Peter; Dennerlein, Jack T

    2013-10-18

    A novel method for assessing the accuracy of inertial/magnetic sensors is presented. The method, referred to as the "residual matrix" method, is advantageous because it decouples the sensor's error with respect to Earth's gravity vector (attitude residual error: pitch and roll) from the sensor's error with respect to magnetic north (heading residual error), while remaining insensitive to singularity problems when the second Euler rotation is close to ±90°. As a demonstration, the accuracy of an inertial/magnetic sensor mounted to a participant's forearm was evaluated during a reaching task in a laboratory. Sensor orientation was measured internally (by the inertial/magnetic sensor) and externally using an optoelectronic measurement system with a marker cluster rigidly attached to the sensor's enclosure. Roll, pitch and heading residuals were calculated using the proposed novel method, as well as using a common orientation assessment method where the residuals are defined as the difference between the Euler angles measured by the inertial sensor and those measured by the optoelectronic system. Using the proposed residual matrix method, the roll and pitch residuals remained less than 1° and, as expected, no statistically significant difference between these two measures of attitude accuracy was found; the heading residuals were significantly larger than the attitude residuals but remained below 2°. Using the direct Euler angle comparison method, the residuals were in general larger due to singularity issues, and the expected significant difference between inertial/magnetic sensor attitude and heading accuracy was not present.

  5. Optimized design of a LED-array-based TOF range imaging sensor for fast 3-D shape measurement

    NASA Astrophysics Data System (ADS)

    Wang, Huanqin; Wang, Ying; Xu, Jun; He, Deyong; Zhao, Tianpeng; Ming, Hai; Kong, Deyi

    2011-06-01

    A LED-array-based range imaging sensor using Time-of-Flight (TOF) distance measurement was developed to capture the depth information of three-dimensional (3-D) object. By time-division electronic scanning of the LED heterodyne phase-shift TOF range finders in array, the range images were fast obtained without any mechanical moving parts. The design of LED-array-based range imaging sensor was adequately described and a range imaging theoretical model based on photoelectric signal processing was built, which showed there was mutual restriction relationship among the measurement time of a depth pixel, the bandwidth of receiver and the sensor's signal-to-noise ratio (SNR). In order to improve the key parameters of sensor such as range resolution and measurement speed simultaneously, some optimized designs needed to be done for the proposed range imaging sensor, including choosing proper parameters for the filters in receiver, adopting special structure feedback automatic gain control (AGC) circuit with short response time, etc. The final experiment results showed the sensor after optimization could acquire the range images at a rate of 10 frames per second with a range resolution as high as +/-2mm in the range of 50-1200mm. The essential advantages of the proposed range imaging sensor were construction with simple structure, high range resolution, short measurement time and low cost, which was sufficient for many robotic and industrial automation applications.

  6. Display of real-time 3D sensor data in a DVE system

    NASA Astrophysics Data System (ADS)

    Völschow, Philipp; Münsterer, Thomas; Strobel, Michael; Kuhn, Michael

    2016-05-01

    This paper describes the implementation of displaying real-time processed LiDAR 3D data in a DVE pilot assistance system. The goal is to display to the pilot a comprehensive image of the surrounding world without misleading or cluttering information. 3D data which can be attributed, i.e. classified, to terrain or predefined obstacle classes is depicted differently from data belonging to elevated objects which could not be classified. Display techniques may be different for head-down and head-up displays to avoid cluttering of the outside view in the latter case. While terrain is shown as shaded surfaces with grid structures or as grid structures alone, respectively, classified obstacles are typically displayed with obstacle symbols only. Data from objects elevated above ground are displayed as shaded 3D points in space. In addition the displayed 3D points are accumulated over a certain time frame allowing on the one hand side a cohesive structure being displayed and on the other hand displaying moving objects correctly. In addition color coding or texturing can be applied based on known terrain features like land use.

  7. Cells in 3D matrices under interstitial flow: effects of extracellular matrix alignment on cell shear stress and drag forces.

    PubMed

    Pedersen, John A; Lichter, Seth; Swartz, Melody A

    2010-03-22

    Interstitial flow is an important regulator of various cell behaviors both in vitro and in vivo, yet the forces that fluid flow imposes on cells embedded in a 3D extracellular matrix (ECM), and the effects of matrix architecture on those forces, are not well understood. Here, we demonstrate how fiber alignment can affect the shear and pressure forces on the cell and ECM. Using computational fluid dynamics simulations, we show that while the solutions of the Brinkman equation accurately estimate the average fluid shear stress and the drag forces on a cell within a 3D fibrous medium, the distribution of shear stress on the cellular surface as well as the peak shear stresses remain intimately related to the pericellular fiber architecture and cannot be estimated using bulk-averaged properties. We demonstrate that perpendicular fiber alignment of the ECM yields lower shear stress and pressure forces on the cells and higher stresses on the ECM, leading to decreased permeability, while parallel fiber alignment leads to higher stresses on cells and increased permeability, as compared to a cubic lattice arrangement. The Spielman-Goren permeability relationships for fibrous media agreed well with CFD simulations of flow with explicitly considered fibers. These results suggest that the experimentally observed active remodeling of ECM fibers by fibroblasts under interstitial flow to a perpendicular alignment could serve to decrease the shear and drag forces on the cell.

  8. Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System

    PubMed Central

    Park, Jae Byung; Lee, Seung Hun; Lee, Il Jae

    2009-01-01

    In this study, we propose a precise 3D lug pose detection sensor for automatic robot welding of a lug to a huge steel plate used in shipbuilding, where the lug is a handle to carry the huge steel plate. The proposed sensor consists of a camera and four laser line diodes, and its design parameters are determined by analyzing its detectable range and resolution. For the lug pose acquisition, four laser lines are projected on both lug and plate, and the projected lines are detected by the camera. For robust detection of the projected lines against the illumination change, the vertical threshold, thinning, Hough transform and separated Hough transform algorithms are successively applied to the camera image. The lug pose acquisition is carried out by two stages: the top view alignment and the side view alignment. The top view alignment is to detect the coarse lug pose relatively far from the lug, and the side view alignment is to detect the fine lug pose close to the lug. After the top view alignment, the robot is controlled to move close to the side of the lug for the side view alignment. By this way, the precise 3D lug pose can be obtained. Finally, experiments with the sensor prototype are carried out to verify the feasibility and effectiveness of the proposed sensor. PMID:22400007

  9. Transverse instability and viscous dissipation of forced 3-D gravity-capillary solitary waves on deep water

    NASA Astrophysics Data System (ADS)

    Cho, Yeunwoo

    2014-11-01

    The shedding phenomena of 3-D viscous gravity-capillary solitary waves generated by a moving air-forcing on the surface of deep water are investigated. Near the resonance where the forcing speed is close to 23 cm/s, two kinds of shedding modes are possible; Anti-symmetric and symmetric modes. A relevant theoretical model equation is numerically solved for the identification of shedding of solitary waves, and is analytically studied in terms of their linear stability to transverse perturbations. Furthermore, by tracing trajectories of shed solitary waves, the decay rate of a 3-D solitary wave due to viscous dissipation is estimated. This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (NRF-2014R1A1A1002441).

  10. Effectiveness Evaluation of Force Protection Training Using Computer-Based Instruction and X3d Simulation

    DTIC Science & Technology

    2007-09-01

    to growing operational constraints accelerated by the Global War on Terror, the United States Navy is looking for alternative methods of training to...accomplished efficiently and effectively, saving the U.S. Navy time and resources while maintaining a high state of readiness. The goal of this thesis is...COMPUTER-BASED INSTRUCTION AND X3D SIMULATION Wilfredo Cruzbaez Lieutenant, United States Navy B.A., Norfolk State University, 2001 Submitted in

  11. Piezoresistive Tactile Sensor Discriminating Multidirectional Forces

    PubMed Central

    Jung, Youngdo; Lee, Duck-Gyu; Park, Jonghwa; Ko, Hyunhyub; Lim, Hyuneui

    2015-01-01

    Flexible tactile sensors capable of detecting the magnitude and direction of the applied force together are of great interest for application in human-interactive robots, prosthetics, and bionic arms/feet. Human skin contains excellent tactile sensing elements, mechanoreceptors, which detect their assigned tactile stimuli and transduce them into electrical signals. The transduced signals are transmitted through separated nerve fibers to the central nerve system without complicated signal processing. Inspired by the function and organization of human skin, we present a piezoresistive type tactile sensor capable of discriminating the direction and magnitude of stimulations without further signal processing. Our tactile sensor is based on a flexible core and four sidewall structures of elastomer, where highly sensitive interlocking piezoresistive type sensing elements are embedded. We demonstrate the discriminating normal pressure and shear force simultaneously without interference between the applied forces. The developed sensor can detect down to 128 Pa in normal pressure and 0.08 N in shear force, respectively. The developed sensor can be applied in the prosthetic arms requiring the restoration of tactile sensation to discriminate the feeling of normal and shear force like human skin. PMID:26445045

  12. Image Forces on 3-D Dislocation Structures in Crystals of Finite Volume

    SciTech Connect

    El-Azab, Anter ); V.V. Bulatov

    1999-01-01

    The present work aims at studying the image stress and image Peach-Koehler force fields for three-dimensional dislocation configurations in a single crystal of finite volume. It is shown that the image stress field is significant within the entire crystal volume, and that the image Peach-Koehler force can be of the same order of magnitude as the direct interaction force calculated from the infinite domain solution. The results demonstrate that image stress gives rise to long-range interaction forces that are important in meso-scale dynamics of dislocation structures.

  13. Image forces on 3d dislocation structures in crystals of finite volume

    SciTech Connect

    El-Azab, A.

    1999-07-01

    The present work aims at studying the image stress and image Peach-Koehler force fields for three-dimensional dislocation configurations in a single crystal of finite volume. It is shown that the image stress field is significant within the entire crystal volume, and that the image Peach-Koehler force can be of the same order of magnitude as the direct interaction force calculated from the infinite domain solution. The results demonstrate that image stress gives rise to long-range interaction forces that are important in meso-scale dynamics of dislocation structures.

  14. A model and simulation to predict the performance of angle-angle-range 3D flash ladar imaging sensor systems

    NASA Astrophysics Data System (ADS)

    Grasso, Robert J.; Odhner, Jefferson E.; Russo, Leonard E.; McDaniel, Robert V.

    2004-11-01

    BAE SYSTEMS reports on a program to develop a high-fidelity model and simulation to predict the performance of angle-angle-range 3D flash LADAR Imaging Sensor systems. 3D Flash LADAR is the latest evolution of laser radar systems and provides unique capability in its ability to provide high-resolution LADAR imagery upon a single laser pulse; rather than constructing an image from multiple pulses as with conventional scanning LADAR systems. However, accurate methods to model and simulate performance from these 3D LADAR systems have been lacking, relying upon either single pixel LADAR performance or extrapolating from passive detection FPA performance. The model and simulation developed and reported here is expressly for 3D angle-angle-range imaging LADAR systems. To represent an accurate "real world" type environment, this model and simulation accounts for: 1) laser pulse shape; 2) detector array size; 3) atmospheric transmission; 4) atmospheric backscatter; 5) atmospheric turbulence; 6) obscurants, and; 7) obscurant path length. The angle-angle-range 3D flash LADAR model and simulation accounts for all pixels in the detector array by modeling and accounting for the non-uniformity of each individual pixel in the array. Here, noise sources are modeled based upon their pixel-to-pixel statistical variation. A cumulative probability function is determined by integrating the normal distribution with respect to detector gain, and, for each pixel, a random number is compared with the cumulative probability function resulting in a different gain for each pixel within the array. In this manner very accurate performance is determined pixel-by-pixel. Model outputs are in the form of 3D images of the far-field distribution across the array as intercepted by the target, gain distribution, power distribution, average signal-to-noise, and probability of detection across the array. Other outputs include power distribution from a target, signal-to-noise vs. range, probability of

  15. A model and simulation to predict the performance of angle-angle-range 3D flash LADAR imaging sensor systems

    NASA Astrophysics Data System (ADS)

    Grasso, Robert J.; Odhner, Jefferson E.; Russo, Leonard E.; McDaniel, Robert V.

    2005-10-01

    BAE SYSTEMS reports on a program to develop a high-fidelity model and simulation to predict the performance of angle-angle-range 3D flash LADAR Imaging Sensor systems. 3D Flash LADAR is the latest evolution of laser radar systems and provides unique capability in its ability to provide high-resolution LADAR imagery upon a single laser pulse; rather than constructing an image from multiple pulses as with conventional scanning LADAR systems. However, accurate methods to model and simulate performance from these 3D LADAR systems have been lacking, relying upon either single pixel LADAR performance or extrapolating from passive detection FPA performance. The model and simulation developed and reported here is expressly for 3D angle-angle-range imaging LADAR systems. To represent an accurate "real world" type environment, this model and simulation accounts for: 1) laser pulse shape; 2) detector array size; 3) atmospheric transmission; 4) atmospheric backscatter; 5) atmospheric turbulence; 6) obscurants, and; 7) obscurant path length. The angle-angle-range 3D flash LADAR model and simulation accounts for all pixels in the detector array by modeling and accounting for the non-uniformity of each individual pixel in the array. Here, noise sources are modeled based upon their pixel-to-pixel statistical variation. A cumulative probability function is determined by integrating the normal distribution with respect to detector gain, and, for each pixel, a random number is compared with the cumulative probability function resulting in a different gain for each pixel within the array. In this manner very accurate performance is determined pixel-by-pixel. Model outputs are in the form of 3D images of the far-field distribution across the array as intercepted by the target, gain distribution, power distribution, average signal-to-noise, and probability of detection across the array. Other outputs include power distribution from a target, signal-to-noise vs. range, probability of

  16. Intensifying the response of distributed optical fibre sensors using 2D and 3D image restoration

    PubMed Central

    Soto, Marcelo A.; Ramírez, Jaime A.; Thévenaz, Luc

    2016-01-01

    Distributed optical fibre sensors possess the unique capability of measuring the spatial and temporal map of environmental quantities that can be of great interest for several field applications. Although existing methods for performance enhancement have enabled important progresses in the field, they do not take full advantage of all information present in the measured data, still giving room for substantial improvement over the state-of-the-art. Here we propose and experimentally demonstrate an approach for performance enhancement that exploits the high level of similitude and redundancy contained on the multidimensional information measured by distributed fibre sensors. Exploiting conventional image and video processing, an unprecedented boost in signal-to-noise ratio and measurement contrast is experimentally demonstrated. The method can be applied to any white-noise-limited distributed fibre sensor and can remarkably provide a 100-fold improvement in the sensor performance with no hardware modification. PMID:26927698

  17. An orientation measurement method based on Hall-effect sensors for permanent magnet spherical actuators with 3D magnet array.

    PubMed

    Yan, Liang; Zhu, Bo; Jiao, Zongxia; Chen, Chin-Yin; Chen, I-Ming

    2014-10-24

    An orientation measurement method based on Hall-effect sensors is proposed for permanent magnet (PM) spherical actuators with three-dimensional (3D) magnet array. As there is no contact between the measurement system and the rotor, this method could effectively avoid friction torque and additional inertial moment existing in conventional approaches. Curved surface fitting method based on exponential approximation is proposed to formulate the magnetic field distribution in 3D space. The comparison with conventional modeling method shows that it helps to improve the model accuracy. The Hall-effect sensors are distributed around the rotor with PM poles to detect the flux density at different points, and thus the rotor orientation can be computed from the measured results and analytical models. Experiments have been conducted on the developed research prototype of the spherical actuator to validate the accuracy of the analytical equations relating the rotor orientation and the value of magnetic flux density. The experimental results show that the proposed method can measure the rotor orientation precisely, and the measurement accuracy could be improved by the novel 3D magnet array. The study result could be used for real-time motion control of PM spherical actuators.

  18. Self-Assembly of 3-D Multifunctional Ceramic Composites for Photonics and Sensors

    DTIC Science & Technology

    2011-05-02

    discoveries supported by our earlier MURI work. Specific applications include new IR photonic crystal based filters for multispectral imaging, optical ...Johnson, A. J. Baca, J. A. Rogers, J. A. Lewis and P. V. Braun: Multidimensional Architectures for Functional Optical Devices, Advanced Materials, 22...P.V. Braun, “Templated Growth of and Optical Emission from Single Crystal GaAs 3D Photonic Crystals,” SPIE Photonics West, January 2010

  19. DVE flight test results of a sensor enhanced 3D conformal pilot support system

    NASA Astrophysics Data System (ADS)

    Münsterer, Thomas; Völschow, Philipp; Singer, Bernhard; Strobel, Michael; Kramper, Patrick

    2015-06-01

    The paper presents results and findings of flight tests of the Airbus Defence and Space DVE system SFERION performed at Yuma Proving Grounds. During the flight tests ladar information was fused with a priori DB knowledge in real-time and 3D conformal symbology was generated for display on an HMD. The test flights included low level flights as well as numerous brownout landings.

  20. A MEMS sensor for microscale force measurements

    NASA Astrophysics Data System (ADS)

    Majcherek, S.; Aman, A.; Fochtmann, J.

    2016-02-01

    This paper describes the development and testing of a new MEMS-based sensor device for microscale contact force measurements. A special MEMS cell was developed to reach higher lateral resolution than common steel-based load cells with foil-type strain gauges as mechanical-electrical converters. The design provided more than one normal force measurement point with spatial resolution in submillimeter range. Specific geometric adaption of the MEMS-device allowed adjustability of its measurement range between 0.5 and 5 N. The thin film nickel-chromium piezo resistors were used to achieve a mechanical-electrical conversion. The production process was realized by established silicon processing technologies such as deep reactive ion etching and vapor deposition (sputtering). The sensor was tested in two steps. Firstly, the sensor characteristics were carried out by application of defined loads at the measurement points by a push-pull tester. As a result, the sensor showed linear behavior. A measurement system analysis (MSA1) was performed to define the reliability of the measurement system. The measured force values had the maximal relative deviation of 1% to average value of 1.97 N. Secondly, the sensor was tested under near-industrial conditions. In this context, the thermal induced relaxation behavior of the electrical connector contact springs was investigated. The handling of emerging problems during the characterization process of the sensor is also described.

  1. A Robust MEMS Based Multi-Component Sensor for 3D Borehole Seismic Arrays

    SciTech Connect

    Paulsson Geophysical Services

    2008-03-31

    The objective of this project was to develop, prototype and test a robust multi-component sensor that combines both Fiber Optic and MEMS technology for use in a borehole seismic array. The use such FOMEMS based sensors allows a dramatic increase in the number of sensors that can be deployed simultaneously in a borehole seismic array. Therefore, denser sampling of the seismic wave field can be afforded, which in turn allows us to efficiently and adequately sample P-wave as well as S-wave for high-resolution imaging purposes. Design, packaging and integration of the multi-component sensors and deployment system will target maximum operating temperature of 350-400 F and a maximum pressure of 15000-25000 psi, thus allowing operation under conditions encountered in deep gas reservoirs. This project aimed at using existing pieces of deployment technology as well as MEMS and fiber-optic technology. A sensor design and analysis study has been carried out and a laboratory prototype of an interrogator for a robust borehole seismic array system has been assembled and validated.

  2. A Multi-Resolution Approach for an Automated Fusion of Different Low-Cost 3D Sensors

    PubMed Central

    Dupuis, Jan; Paulus, Stefan; Behmann, Jan; Plümer, Lutz; Kuhlmann, Heiner

    2014-01-01

    The 3D acquisition of object structures has become a common technique in many fields of work, e.g., industrial quality management, cultural heritage or crime scene documentation. The requirements on the measuring devices are versatile, because spacious scenes have to be imaged with a high level of detail for selected objects. Thus, the used measuring systems are expensive and require an experienced operator. With the rise of low-cost 3D imaging systems, their integration into the digital documentation process is possible. However, common low-cost sensors have the limitation of a trade-off between range and accuracy, providing either a low resolution of single objects or a limited imaging field. Therefore, the use of multiple sensors is desirable. We show the combined use of two low-cost sensors, the Microsoft Kinect and the David laserscanning system, to achieve low-resolved scans of the whole scene and a high level of detail for selected objects, respectively. Afterwards, the high-resolved David objects are automatically assigned to their corresponding Kinect object by the use of surface feature histograms and SVM-classification. The corresponding objects are fitted using an ICP-implementation to produce a multi-resolution map. The applicability is shown for a fictional crime scene and the reconstruction of a ballistic trajectory. PMID:24763255

  3. A multi-resolution approach for an automated fusion of different low-cost 3D sensors.

    PubMed

    Dupuis, Jan; Paulus, Stefan; Behmann, Jan; Plümer, Lutz; Kuhlmann, Heiner

    2014-04-24

    The 3D acquisition of object structures has become a common technique in many fields of work, e.g., industrial quality management, cultural heritage or crime scene documentation. The requirements on the measuring devices are versatile, because spacious scenes have to be imaged with a high level of detail for selected objects. Thus, the used measuring systems are expensive and require an experienced operator. With the rise of low-cost 3D imaging systems, their integration into the digital documentation process is possible. However, common low-cost sensors have the limitation of a trade-off between range and accuracy, providing either a low resolution of single objects or a limited imaging field. Therefore, the use of multiple sensors is desirable. We show the combined use of two low-cost sensors, the Microsoft Kinect and the David laserscanning system, to achieve low-resolved scans of the whole scene and a high level of detail for selected objects, respectively. Afterwards, the high-resolved David objects are automatically assigned to their corresponding Kinect object by the use of surface feature histograms and SVM-classification. The corresponding objects are fitted using an ICP-implementation to produce a multi-resolution map. The applicability is shown for a fictional crime scene and the reconstruction of a ballistic trajectory.

  4. Integrating Dynamic Data and Sensors with Semantic 3D City Models in the Context of Smart Cities

    NASA Astrophysics Data System (ADS)

    Chaturvedi, K.; Kolbe, T. H.

    2016-10-01

    Smart cities provide effective integration of human, physical and digital systems operating in the built environment. The advancements in city and landscape models, sensor web technologies, and simulation methods play a significant role in city analyses and improving quality of life of citizens and governance of cities. Semantic 3D city models can provide substantial benefits and can become a central information backbone for smart city infrastructures. However, current generation semantic 3D city models are static in nature and do not support dynamic properties and sensor observations. In this paper, we propose a new concept called Dynamizer allowing to represent highly dynamic data and providing a method for injecting dynamic variations of city object properties into the static representation. The approach also provides direct capability to model complex patterns based on statistics and general rules and also, real-time sensor observations. The concept is implemented as an Application Domain Extension for the CityGML standard. However, it could also be applied to other GML-based application schemas including the European INSPIRE data themes and national standards for topography and cadasters like the British Ordnance Survey Mastermap or the German cadaster standard ALKIS.

  5. Atomic force microscopy imaging and 3-D reconstructions of serial thin sections of a single cell and its interior structures.

    PubMed

    Chen, Yong; Cai, Jiye; Zhao, Tao; Wang, Chenxi; Dong, Shuo; Luo, Shuqian; Chen, Zheng W

    2005-06-01

    The thin sectioning has been widely applied in electron microscopy (EM), and successfully used for an in situ observation of inner ultrastructure of cells. This powerful technique has recently been extended to the research field of atomic force microscopy (AFM). However, there have been no reports describing AFM imaging of serial thin sections and three-dimensional (3-D) reconstruction of cells and their inner structures. In the present study, we used AFM to scan serial thin sections approximately 60 nm thick of a mouse embryonic stem (ES) cell, and to observe the in situ inner ultrastructure including cell membrane, cytoplasm, mitochondria, nucleus membrane, and linear chromatin. The high-magnification AFM imaging of single mitochondria clearly demonstrated the outer membrane, inner boundary membrane and cristal membrane of mitochondria in the cellular compartment. Importantly, AFM imaging on six serial thin sections of a single mouse ES cell showed that mitochondria underwent sequential changes in the number, morphology and distribution. These nanoscale images allowed us to perform 3-D surface reconstruction of interested interior structures in cells. Based on the serial in situ images, 3-D models of morphological characteristics, numbers and distributions of interior structures of the single ES cells were validated and reconstructed. Our results suggest that the combined AFM and serial-thin-section technique is useful for the nanoscale imaging and 3-D reconstruction of single cells and their inner structures. This technique may facilitate studies of proliferating and differentiating stages of stem cells or somatic cells at a nanoscale.

  6. Haptic perception of force magnitude and its relation to postural arm dynamics in 3D

    PubMed Central

    van Beek, Femke E.; Bergmann Tiest, Wouter M.; Mugge, Winfred; Kappers, Astrid M. L.

    2015-01-01

    In a previous study, we found the perception of force magnitude to be anisotropic in the horizontal plane. In the current study, we investigated this anisotropy in three dimensional space. In addition, we tested our previous hypothesis that the perceptual anisotropy was directly related to anisotropies in arm dynamics. In experiment 1, static force magnitude perception was studied using a free magnitude estimation paradigm. This experiment revealed a significant and consistent anisotropy in force magnitude perception, with forces exerted perpendicular to the line between hand and shoulder being perceived as 50% larger than forces exerted along this line. In experiment 2, postural arm dynamics were measured using stochastic position perturbations exerted by a haptic device and quantified through system identification. By fitting a mass-damper-spring model to the data, the stiffness, damping and inertia parameters could be characterized in all the directions in which perception was also measured. These results show that none of the arm dynamics parameters were oriented either exactly perpendicular or parallel to the perceptual anisotropy. This means that endpoint stiffness, damping or inertia alone cannot explain the consistent anisotropy in force magnitude perception. PMID:26643041

  7. Haptic perception of force magnitude and its relation to postural arm dynamics in 3D.

    PubMed

    van Beek, Femke E; Bergmann Tiest, Wouter M; Mugge, Winfred; Kappers, Astrid M L

    2015-12-08

    In a previous study, we found the perception of force magnitude to be anisotropic in the horizontal plane. In the current study, we investigated this anisotropy in three dimensional space. In addition, we tested our previous hypothesis that the perceptual anisotropy was directly related to anisotropies in arm dynamics. In experiment 1, static force magnitude perception was studied using a free magnitude estimation paradigm. This experiment revealed a significant and consistent anisotropy in force magnitude perception, with forces exerted perpendicular to the line between hand and shoulder being perceived as 50% larger than forces exerted along this line. In experiment 2, postural arm dynamics were measured using stochastic position perturbations exerted by a haptic device and quantified through system identification. By fitting a mass-damper-spring model to the data, the stiffness, damping and inertia parameters could be characterized in all the directions in which perception was also measured. These results show that none of the arm dynamics parameters were oriented either exactly perpendicular or parallel to the perceptual anisotropy. This means that endpoint stiffness, damping or inertia alone cannot explain the consistent anisotropy in force magnitude perception.

  8. 3D measurements in conventional X-ray imaging with RGB-D sensors.

    PubMed

    Albiol, Francisco; Corbi, Alberto; Albiol, Alberto

    2017-04-01

    A method for deriving 3D internal information in conventional X-ray settings is presented. It is based on the combination of a pair of radiographs from a patient and it avoids the use of X-ray-opaque fiducials and external reference structures. To achieve this goal, we augment an ordinary X-ray device with a consumer RGB-D camera. The patient' s rotation around the craniocaudal axis is tracked relative to this camera thanks to the depth information provided and the application of a modern surface-mapping algorithm. The measured spatial information is then translated to the reference frame of the X-ray imaging system. By using the intrinsic parameters of the diagnostic equipment, epipolar geometry, and X-ray images of the patient at different angles, 3D internal positions can be obtained. Both the RGB-D and X-ray instruments are first geometrically calibrated to find their joint spatial transformation. The proposed method is applied to three rotating phantoms. The first two consist of an anthropomorphic head and a torso, which are filled with spherical lead bearings at precise locations. The third one is made of simple foam and has metal needles of several known lengths embedded in it. The results show that it is possible to resolve anatomical positions and lengths with a millimetric level of precision. With the proposed approach, internal 3D reconstructed coordinates and distances can be provided to the physician. It also contributes to reducing the invasiveness of ordinary X-ray environments and can replace other types of clinical explorations that are mainly aimed at measuring or geometrically relating elements that are present inside the patient's body.

  9. 3D-information fusion from very high resolution satellite sensors

    NASA Astrophysics Data System (ADS)

    Krauss, T.; d'Angelo, P.; Kuschk, G.; Tian, J.; Partovi, T.

    2015-04-01

    In this paper we show the pre-processing and potential for environmental applications of very high resolution (VHR) satellite stereo imagery like these from WorldView-2 or Pl'eiades with ground sampling distances (GSD) of half a metre to a metre. To process such data first a dense digital surface model (DSM) has to be generated. Afterwards from this a digital terrain model (DTM) representing the ground and a so called normalized digital elevation model (nDEM) representing off-ground objects are derived. Combining these elevation based data with a spectral classification allows detection and extraction of objects from the satellite scenes. Beside the object extraction also the DSM and DTM can directly be used for simulation and monitoring of environmental issues. Examples are the simulation of floodings, building-volume and people estimation, simulation of noise from roads, wave-propagation for cellphones, wind and light for estimating renewable energy sources, 3D change detection, earthquake preparedness and crisis relief, urban development and sprawl of informal settlements and much more. Also outside of urban areas volume information brings literally a new dimension to earth oberservation tasks like the volume estimations of forests and illegal logging, volume of (illegal) open pit mining activities, estimation of flooding or tsunami risks, dike planning, etc. In this paper we present the preprocessing from the original level-1 satellite data to digital surface models (DSMs), corresponding VHR ortho images and derived digital terrain models (DTMs). From these components we present how a monitoring and decision fusion based 3D change detection can be realized by using different acquisitions. The results are analyzed and assessed to derive quality parameters for the presented method. Finally the usability of 3D information fusion from VHR satellite imagery is discussed and evaluated.

  10. Numerical analysis of a 3D optical sensor based on single mode fiber to multimode interference graphene design

    NASA Astrophysics Data System (ADS)

    Mutter, Kussay N.; Jafri, Zubir M.; Tan, Kok Chooi

    2016-04-01

    In this paper, the simulation and design of a waveguide for water turbidity sensing are presented. The structure of the proposed sensor uses a 2x2 array of multimode interference (MMI) coupler based on micro graphene waveguide for high sensitivity. The beam propagation method (BPM) are used to efficiently design the sensor structure. The structure is consist of an array of two by two elements of sensors. Each element has three sections of single mode for field input tapered to MMI as the main core sensor without cladding which is graphene based material, and then a single mode fiber as an output. In this configuration MMI responses to any change in the environment. We validate and present the results by implementing the design on a set of sucrose solution and showing how these samples lead to a sensitivity change in the sensor based on the MMI structures. Overall results, the 3D design has a feasible and effective sensing by drawing topographical distribution of suspended particles in the water.

  11. Amplitude-modulated laser range-finder for 3D imaging with multi-sensor data integration capabilities

    NASA Astrophysics Data System (ADS)

    Bartolini, L.; Ferri de Collibus, M.; Fornetti, G.; Guarneri, M.; Paglia, E.; Poggi, C.; Ricci, R.

    2005-06-01

    A high performance Amplitude Modulated Laser Rangefinder (AM-LR) is presented, aimed at accurately reconstructing 3D digital models of real targets, either single objects or complex scenes. The scanning system enables to sweep the sounding beam either linearly across the object or circularly around it, by placing the object on a controlled rotating platform. Both phase shift and amplitude of the modulating wave of back-scattered light are collected and processed, resulting respectively in an accurate range image and a shade-free, high resolution, photographic-like intensity image. The best performances obtained in terms of range resolution are ~100 μm. Resolution itself can be made to depend mainly on the laser modulation frequency, provided that the power of the backscattered light reaching the detector is at least a few nW. 3D models are reconstructed from sampled points by using specifically developed software tools, optimized so as to take advantage of the system peculiarities. Special procedures have also been implemented to perform precise matching of data acquired independently with different sensors (LIF laser sensors, thermographic cameras, etc.) onto the 3D models generated using the AM-LR. The system has been used to scan different types of real surfaces (stone, wood, alloys, bones) and ca be applied in various fields, ranging from industrial machining to medical diagnostics, vision in hostile environments cultural heritage conservation and restoration. The relevance of this technology in cultural heritage applications is discussed in special detail, by providing results obtained in different campaigns with an emphasis on the system's multi-sensor data integration capabilities.

  12. MTS-MD of Biomolecules Steered with 3D-RISM-KH Mean Solvation Forces Accelerated with Generalized Solvation Force Extrapolation.

    PubMed

    Omelyan, Igor; Kovalenko, Andriy

    2015-04-14

    We developed a generalized solvation force extrapolation (GSFE) approach to speed up multiple time step molecular dynamics (MTS-MD) of biomolecules steered with mean solvation forces obtained from the 3D-RISM-KH molecular theory of solvation (three-dimensional reference interaction site model with the Kovalenko-Hirata closure). GSFE is based on a set of techniques including the non-Eckart-like transformation of coordinate space separately for each solute atom, extension of the force-coordinate pair basis set followed by selection of the best subset, balancing the normal equations by modified least-squares minimization of deviations, and incremental increase of outer time step in motion integration. Mean solvation forces acting on the biomolecule atoms in conformations at successive inner time steps are extrapolated using a relatively small number of best (closest) solute atomic coordinates and corresponding mean solvation forces obtained at previous outer time steps by converging the 3D-RISM-KH integral equations. The MTS-MD evolution steered with GSFE of 3D-RISM-KH mean solvation forces is efficiently stabilized with our optimized isokinetic Nosé-Hoover chain (OIN) thermostat. We validated the hybrid MTS-MD/OIN/GSFE/3D-RISM-KH integrator on solvated organic and biomolecules of different stiffness and complexity: asphaltene dimer in toluene solvent, hydrated alanine dipeptide, miniprotein 1L2Y, and protein G. The GSFE accuracy and the OIN efficiency allowed us to enlarge outer time steps up to huge values of 1-4 ps while accurately reproducing conformational properties. Quasidynamics steered with 3D-RISM-KH mean solvation forces achieves time scale compression of conformational changes coupled with solvent exchange, resulting in further significant acceleration of protein conformational sampling with respect to real time dynamics. Overall, this provided a 50- to 1000-fold effective speedup of conformational sampling for these systems, compared to conventional MD

  13. A model and simulation to predict 3D imaging LADAR sensor systems performance in real-world type environments

    NASA Astrophysics Data System (ADS)

    Grasso, Robert J.; Dippel, George F.; Russo, Leonard E.

    2006-08-01

    BAE SYSTEMS reports on a program to develop a high-fidelity model and simulation to predict the performance of angle-angle-range 3D flash LADAR Imaging Sensor systems. Accurate methods to model and simulate performance from 3D LADAR systems have been lacking, relying upon either single pixel LADAR performance or extrapolating from passive detection FPA performance. The model and simulation here is developed expressly for 3D angle-angle-range imaging LADAR systems. To represent an accurate "real world" type environment this model and simulation accounts for: 1) laser pulse shape; 2) detector array size; 3) detector noise figure; 4) detector gain; 5) target attributes; 6) atmospheric transmission; 7) atmospheric backscatter; 8) atmospheric turbulence; 9) obscurants; 10) obscurant path length, and; 11) platform motion. The angle-angle-range 3D flash LADAR model and simulation accounts for all pixels in the detector array by modeling and accounting for the non-uniformity of each individual pixel. Here, noise sources and gain are modeled based upon their pixel-to-pixel statistical variation. A cumulative probability function is determined by integrating the normal distribution with respect to detector gain, and, for each pixel, a random number is compared with the cumulative probability function resulting in a different gain for each pixel within the array. In this manner very accurate performance is determined pixel-by-pixel for the entire array. Model outputs are 3D images of the far-field distribution across the array as intercepted by the target, gain distribution, power distribution, average signal-to-noise, and probability of detection across the array.

  14. Articulated Non-Rigid Point Set Registration for Human Pose Estimation from 3D Sensors

    PubMed Central

    Ge, Song; Fan, Guoliang

    2015-01-01

    We propose a generative framework for 3D human pose estimation that is able to operate on both individual point sets and sequential depth data. We formulate human pose estimation as a point set registration problem, where we propose three new approaches to address several major technical challenges in this research. First, we integrate two registration techniques that have a complementary nature to cope with non-rigid and articulated deformations of the human body under a variety of poses. This unique combination allows us to handle point sets of complex body motion and large pose variation without any initial conditions, as required by most existing approaches. Second, we introduce an efficient pose tracking strategy to deal with sequential depth data, where the major challenge is the incomplete data due to self-occlusions and view changes. We introduce a visible point extraction method to initialize a new template for the current frame from the previous frame, which effectively reduces the ambiguity and uncertainty during registration. Third, to support robust and stable pose tracking, we develop a segment volume validation technique to detect tracking failures and to re-initialize pose registration if needed. The experimental results on both benchmark 3D laser scan and depth datasets demonstrate the effectiveness of the proposed framework when compared with state-of-the-art algorithms. PMID:26131673

  15. Resonances in the forced turbulent wake past a 3D blunt body

    NASA Astrophysics Data System (ADS)

    Barros, Diogo; Borée, Jacques; Noack, Bernd R.; Spohn, Andreas

    2016-06-01

    We study the resonances of a forced turbulent wake past a flat-based bluff body using symmetric and antisymmetric actuation modes. The natural, unforced wake flow exhibits broadband dynamics superimposed on oscillatory motions linked to the reminiscent laminar Bénard-von Kármán instability in the turbulent flow. Harmonic and subharmonic resonances can be controlled by the phase relationship of periodic forcing and are linked to the symmetry properties of vortex shedding. Symmetric forcing leads to a strong subharmonic amplification of vortex shedding in the wake, but no harmonic excitation. The robustness of the subharmonic resonance is confirmed at different Reynolds numbers. Antisymmetric actuation, however, promotes a harmonic resonance with very similar wake and drag features.

  16. Force sensing using 3D displacement measurements in linear elastic bodies

    NASA Astrophysics Data System (ADS)

    Feng, Xinzeng; Hui, Chung-Yuen

    2016-07-01

    In cell traction microscopy, the mechanical forces exerted by a cell on its environment is usually determined from experimentally measured displacement by solving an inverse problem in elasticity. In this paper, an innovative numerical method is proposed which finds the "optimal" traction to the inverse problem. When sufficient regularization is applied, we demonstrate that the proposed method significantly improves the widely used approach using Green's functions. Motivated by real cell experiments, the equilibrium condition of a slowly migrating cell is imposed as a set of equality constraints on the unknown traction. Our validation benchmarks demonstrate that the numeric solution to the constrained inverse problem well recovers the actual traction when the optimal regularization parameter is used. The proposed method can thus be applied to study general force sensing problems, which utilize displacement measurements to sense inaccessible forces in linear elastic bodies with a priori constraints.

  17. Enhancing the sensitivity of magnetic sensors by 3D metamaterial shells

    PubMed Central

    Navau, Carles; Mach-Batlle, Rosa; Parra, Albert; Prat-Camps, Jordi; Laut, Sergi; Del-Valle, Nuria; Sanchez, Alvaro

    2017-01-01

    Magnetic sensors are key elements in our interconnected smart society. Their sensitivity becomes essential for many applications in fields such as biomedicine, computer memories, geophysics, or space exploration. Here we present a universal way of increasing the sensitivity of magnetic sensors by surrounding them with a spherical metamaterial shell with specially designed anisotropic magnetic properties. We analytically demonstrate that the magnetic field in the sensing area is enhanced by our metamaterial shell by a known factor that depends on the shell radii ratio. When the applied field is non-uniform, as for dipolar magnetic field sources, field gradient is increased as well. A proof-of-concept experimental realization confirms the theoretical predictions. The metamaterial shell is also shown to concentrate time-dependent magnetic fields upto frequencies of 100 kHz. PMID:28303951

  18. Enhancing the sensitivity of magnetic sensors by 3D metamaterial shells.

    PubMed

    Navau, Carles; Mach-Batlle, Rosa; Parra, Albert; Prat-Camps, Jordi; Laut, Sergi; Del-Valle, Nuria; Sanchez, Alvaro

    2017-03-17

    Magnetic sensors are key elements in our interconnected smart society. Their sensitivity becomes essential for many applications in fields such as biomedicine, computer memories, geophysics, or space exploration. Here we present a universal way of increasing the sensitivity of magnetic sensors by surrounding them with a spherical metamaterial shell with specially designed anisotropic magnetic properties. We analytically demonstrate that the magnetic field in the sensing area is enhanced by our metamaterial shell by a known factor that depends on the shell radii ratio. When the applied field is non-uniform, as for dipolar magnetic field sources, field gradient is increased as well. A proof-of-concept experimental realization confirms the theoretical predictions. The metamaterial shell is also shown to concentrate time-dependent magnetic fields upto frequencies of 100 kHz.

  19. Enhancing the sensitivity of magnetic sensors by 3D metamaterial shells

    NASA Astrophysics Data System (ADS)

    Navau, Carles; Mach-Batlle, Rosa; Parra, Albert; Prat-Camps, Jordi; Laut, Sergi; Del-Valle, Nuria; Sanchez, Alvaro

    2017-03-01

    Magnetic sensors are key elements in our interconnected smart society. Their sensitivity becomes essential for many applications in fields such as biomedicine, computer memories, geophysics, or space exploration. Here we present a universal way of increasing the sensitivity of magnetic sensors by surrounding them with a spherical metamaterial shell with specially designed anisotropic magnetic properties. We analytically demonstrate that the magnetic field in the sensing area is enhanced by our metamaterial shell by a known factor that depends on the shell radii ratio. When the applied field is non-uniform, as for dipolar magnetic field sources, field gradient is increased as well. A proof-of-concept experimental realization confirms the theoretical predictions. The metamaterial shell is also shown to concentrate time-dependent magnetic fields upto frequencies of 100 kHz.

  20. Six component robotic force-torque sensor

    NASA Technical Reports Server (NTRS)

    Grahn, Allen R.; Hutchings, Brad L.; Johnston, David R.; Parsons, David C.; Wyatt, Roland F.

    1987-01-01

    The results of a two-phase contract studying the feasibility of a miniaturized six component force-torque sensor and development of a working laboratory system were described. The principle of operation is based upon using ultrasonic pulse-echo ranging to determine the position of ultrasonic reflectors attached to a metal or ceramic cover plate. Because of the small size of the sensor, this technology may have application in robotics, to sense forces and torques at the finger tip of a robotic end effector. Descriptions are included of laboratory experiments evaluating materials and techniques for sensor fabrication and of the development of support electronics for data acquisition, computer interface, and operator display.

  1. Proposal of a taste evaluating method of the sponge cake by using 3D range sensor

    NASA Astrophysics Data System (ADS)

    Kato, Kunihito; Yamamoto, Kazuhiko; Ogawa, Noriko

    2002-10-01

    Nowadays, the image processing techniques are while applying to the food industry in many situations. The most of these researches are applications for the quality control in plants, and there are hardly any cases of measuring the 'taste'. We are developing the measuring system of the deliciousness by using the image sensing. In this paper, we propose the estimation method of the deliciousness of a sponge cake. Considering about the deliciousness of the sponge cake, if the size of the bubbles on the surface is small and the number of them is large, then it is defined that the deliciousness of the sponge cake is better in the field of the food science. We proposed a method of detection bubbles in the surface of the sectional sponge cake automatically by using 3-D image processing. By the statistical information of these detected bubbles based on the food science, the deliciousness is estimated.

  2. 3-D sensor using relative stereo method for bio-seedlings transplanting system

    NASA Astrophysics Data System (ADS)

    Hiroyasu, Takehisa; Hayashi, Jun'ichiro; Hojo, Hirotaka; Hata, Seiji

    2005-12-01

    In the plant factory of crone seedlings, most of the production processes are highly automated, but the transplanting process of the small seedlings is hard to be automated because the figures of small seedlings are not stable and to handle the seedlings it is required to observe the shapes of the small seedlings. Here, a 3-D vision system for robot to be used for the transplanting process in a plant factory has been introduced. This system has been employed relative stereo method and slit light measuring method and it can detect the shape of small seedlings and decides the cutting point. In this paper, the structure of the vision system and the image processing method for the system is explained.

  3. Population-based 3D genome structure analysis reveals driving forces in spatial genome organization

    PubMed Central

    Li, Wenyuan; Kalhor, Reza; Dai, Chao; Hao, Shengli; Gong, Ke; Zhou, Yonggang; Li, Haochen; Zhou, Xianghong Jasmine; Le Gros, Mark A.; Larabell, Carolyn A.; Chen, Lin; Alber, Frank

    2016-01-01

    Conformation capture technologies (e.g., Hi-C) chart physical interactions between chromatin regions on a genome-wide scale. However, the structural variability of the genome between cells poses a great challenge to interpreting ensemble-averaged Hi-C data, particularly for long-range and interchromosomal interactions. Here, we present a probabilistic approach for deconvoluting Hi-C data into a model population of distinct diploid 3D genome structures, which facilitates the detection of chromatin interactions likely to co-occur in individual cells. Our approach incorporates the stochastic nature of chromosome conformations and allows a detailed analysis of alternative chromatin structure states. For example, we predict and experimentally confirm the presence of large centromere clusters with distinct chromosome compositions varying between individual cells. The stability of these clusters varies greatly with their chromosome identities. We show that these chromosome-specific clusters can play a key role in the overall chromosome positioning in the nucleus and stabilizing specific chromatin interactions. By explicitly considering genome structural variability, our population-based method provides an important tool for revealing novel insights into the key factors shaping the spatial genome organization. PMID:26951677

  4. The Bubble Box: Towards an Automated Visual Sensor for 3D Analysis and Characterization of Marine Gas Release Sites

    PubMed Central

    Jordt, Anne; Zelenka, Claudius; Schneider von Deimling, Jens; Koch, Reinhard; Köser, Kevin

    2015-01-01

    Several acoustic and optical techniques have been used for characterizing natural and anthropogenic gas leaks (carbon dioxide, methane) from the ocean floor. Here, single-camera based methods for bubble stream observation have become an important tool, as they help estimating flux and bubble sizes under certain assumptions. However, they record only a projection of a bubble into the camera and therefore cannot capture the full 3D shape, which is particularly important for larger, non-spherical bubbles. The unknown distance of the bubble to the camera (making it appear larger or smaller than expected) as well as refraction at the camera interface introduce extra uncertainties. In this article, we introduce our wide baseline stereo-camera deep-sea sensor bubble box that overcomes these limitations, as it observes bubbles from two orthogonal directions using calibrated cameras. Besides the setup and the hardware of the system, we discuss appropriate calibration and the different automated processing steps deblurring, detection, tracking, and 3D fitting that are crucial to arrive at a 3D ellipsoidal shape and rise speed of each bubble. The obtained values for single bubbles can be aggregated into statistical bubble size distributions or fluxes for extrapolation based on diffusion and dissolution models and large scale acoustic surveys. We demonstrate and evaluate the wide baseline stereo measurement model using a controlled test setup with ground truth information. PMID:26690168

  5. Modular optical topometric sensor for 3D acquisition of human body surfaces and long-term monitoring of variations.

    PubMed

    Bischoff, Guido; Böröcz, Zoltan; Proll, Christian; Kleinheinz, Johannes; von Bally, Gert; Dirksen, Dieter

    2007-08-01

    Optical topometric 3D sensors such as laser scanners and fringe projection systems allow detailed digital acquisition of human body surfaces. For many medical applications, however, not only the current shape is important, but also its changes, e.g., in the course of surgical treatment. In such cases, time delays of several months between subsequent measurements frequently occur. A modular 3D coordinate measuring system based on the fringe projection technique is presented that allows 3D coordinate acquisition including calibrated color information, as well as the detection and visualization of deviations between subsequent measurements. In addition, parameters describing the symmetry of body structures are determined. The quantitative results of the analysis may be used as a basis for objective documentation of surgical therapy. The system is designed in a modular way, and thus, depending on the object of investigation, two or three cameras with different capabilities in terms of resolution and color reproduction can be utilized to optimize the set-up.

  6. Response of microscale cell/matrix constructs to successive force application in a 3D environment

    NASA Astrophysics Data System (ADS)

    Liu, Alan; Chen, Christopher; Reich, Daniel

    2014-03-01

    Mechanical dilation of arteries by pulsatile blood flow is directly opposed by coordinated contraction of a band of smooth muscle tissue that envelops the vessels. This mechanical adaptation of smooth muscle cells to external loading is a critical feature of normal blood vessel function. While most previous studies on biomechanical systems have focused on single cells or large excised tissue, we utilize a device to apply forces to engineered smooth muscle microtissues. This device consists of arrayed pairs of elastomeric micro-cantilevers capable of magnetic actuation. Tissues are formed through self-assembly following the introduction of cell-infused collagen gel to the array. With this system, we are able to dynamically stretch and relax these sub-millimeter sized tissues. The timing and magnitude of the force application can be precisely controlled and thus can be used to mimic a wide range of physiological behavior. In particular, we will discuss results that show that the interval between successive force applications mediates the both the subsequent mechanical and active dynamics of the cell/matrix composite system. Understanding this process will lead to better understanding of the interplay between cell and extracellular matrix responses to mechanical stimulus at a novel length scale.

  7. 3D Buried Utility Location Using A Marching-Cross-Section Algorithm for Multi-Sensor Data Fusion.

    PubMed

    Dou, Qingxu; Wei, Lijun; Magee, Derek R; Atkins, Phil R; Chapman, David N; Curioni, Giulio; Goddard, Kevin F; Hayati, Farzad; Jenks, Hugo; Metje, Nicole; Muggleton, Jennifer; Pennock, Steve R; Rustighi, Emiliano; Swingler, Steven G; Rogers, Christopher D F; Cohn, Anthony G

    2016-11-02

    We address the problem of accurately locating buried utility segments by fusing data from multiple sensors using a novel Marching-Cross-Section (MCS) algorithm. Five types of sensors are used in this work: Ground Penetrating Radar (GPR), Passive Magnetic Fields (PMF), Magnetic Gradiometer (MG), Low Frequency Electromagnetic Fields (LFEM) and Vibro-Acoustics (VA). As part of the MCS algorithm, a novel formulation of the extended Kalman Filter (EKF) is proposed for marching existing utility tracks from a scan cross-section (scs) to the next one; novel rules for initializing utilities based on hypothesized detections on the first scs and for associating predicted utility tracks with hypothesized detections in the following scss are introduced. Algorithms are proposed for generating virtual scan lines based on given hypothesized detections when different sensors do not share common scan lines, or when only the coordinates of the hypothesized detections are provided without any information of the actual survey scan lines. The performance of the proposed system is evaluated with both synthetic data and real data. The experimental results in this work demonstrate that the proposed MCS algorithm can locate multiple buried utility segments simultaneously, including both straight and curved utilities, and can separate intersecting segments. By using the probabilities of a hypothesized detection being a pipe or a cable together with its 3D coordinates, the MCS algorithm is able to discriminate a pipe and a cable close to each other. The MCS algorithm can be used for both post- and on-site processing. When it is used on site, the detected tracks on the current scs can help to determine the location and direction of the next scan line. The proposed "multi-utility multi-sensor" system has no limit to the number of buried utilities or the number of sensors, and the more sensor data used, the more buried utility segments can be detected with more accurate location and orientation.

  8. Integrating eye tracking and motion sensor on mobile phone for interactive 3D display

    NASA Astrophysics Data System (ADS)

    Sun, Yu-Wei; Chiang, Chen-Kuo; Lai, Shang-Hong

    2013-09-01

    In this paper, we propose an eye tracking and gaze estimation system for mobile phone. We integrate an eye detector, cornereye center and iso-center to improve pupil detection. The optical flow information is used for eye tracking. We develop a robust eye tracking system that integrates eye detection and optical-flow based image tracking. In addition, we further incorporate the orientation sensor information from the mobile phone to improve the eye tracking for accurate gaze estimation. We demonstrate the accuracy of the proposed eye tracking and gaze estimation system through experiments on some public video sequences as well as videos acquired directly from mobile phone.

  9. Microwave and camera sensor fusion for the shape extraction of metallic 3D space objects

    NASA Technical Reports Server (NTRS)

    Shaw, Scott W.; Defigueiredo, Rui J. P.; Krishen, Kumar

    1989-01-01

    The vacuum of space presents special problems for optical image sensors. Metallic objects in this environment can produce intense specular reflections and deep shadows. By combining the polarized RCS with an incomplete camera image, it has become possible to better determine the shape of some simple three-dimensional objects. The radar data are used in an iterative procedure that generates successive approximations to the target shape by minimizing the error between computed scattering cross-sections and the observed radar returns. Favorable results have been obtained for simulations and experiments reconstructing plates, ellipsoids, and arbitrary surfaces.

  10. A Compact 3D Omnidirectional Range Sensor of High Resolution for Robust Reconstruction of Environments

    PubMed Central

    Marani, Roberto; Renò, Vito; Nitti, Massimiliano; D'Orazio, Tiziana; Stella, Ettore

    2015-01-01

    In this paper, an accurate range sensor for the three-dimensional reconstruction of environments is designed and developed. Following the principles of laser profilometry, the device exploits a set of optical transmitters able to project a laser line on the environment. A high-resolution and high-frame-rate camera assisted by a telecentric lens collects the laser light reflected by a parabolic mirror, whose shape is designed ad hoc to achieve a maximum measurement error of 10 mm when the target is placed 3 m away from the laser source. Measurements are derived by means of an analytical model, whose parameters are estimated during a preliminary calibration phase. Geometrical parameters, analytical modeling and image processing steps are validated through several experiments, which indicate the capability of the proposed device to recover the shape of a target with high accuracy. Experimental measurements show Gaussian statistics, having standard deviation of 1.74 mm within the measurable range. Results prove that the presented range sensor is a good candidate for environmental inspections and measurements. PMID:25621605

  11. Integrating Sensors into a Marine Drone for Bathymetric 3D Surveys in Shallow Waters.

    PubMed

    Giordano, Francesco; Mattei, Gaia; Parente, Claudio; Peluso, Francesco; Santamaria, Raffaele

    2015-12-29

    This paper demonstrates that accurate data concerning bathymetry as well as environmental conditions in shallow waters can be acquired using sensors that are integrated into the same marine vehicle. An open prototype of an unmanned surface vessel (USV) named MicroVeGA is described. The focus is on the main instruments installed on-board: a differential Global Position System (GPS) system and single beam echo sounder; inertial platform for attitude control; ultrasound obstacle-detection system with temperature control system; emerged and submerged video acquisition system. The results of two cases study are presented, both concerning areas (Sorrento Marina Grande and Marechiaro Harbour, both in the Gulf of Naples) characterized by a coastal physiography that impedes the execution of a bathymetric survey with traditional boats. In addition, those areas are critical because of the presence of submerged archaeological remains that produce rapid changes in depth values. The experiments confirm that the integration of the sensors improves the instruments' performance and survey accuracy.

  12. Integrating Sensors into a Marine Drone for Bathymetric 3D Surveys in Shallow Waters

    PubMed Central

    Giordano, Francesco; Mattei, Gaia; Parente, Claudio; Peluso, Francesco; Santamaria, Raffaele

    2015-01-01

    This paper demonstrates that accurate data concerning bathymetry as well as environmental conditions in shallow waters can be acquired using sensors that are integrated into the same marine vehicle. An open prototype of an unmanned surface vessel (USV) named MicroVeGA is described. The focus is on the main instruments installed on-board: a differential Global Position System (GPS) system and single beam echo sounder; inertial platform for attitude control; ultrasound obstacle-detection system with temperature control system; emerged and submerged video acquisition system. The results of two cases study are presented, both concerning areas (Sorrento Marina Grande and Marechiaro Harbour, both in the Gulf of Naples) characterized by a coastal physiography that impedes the execution of a bathymetric survey with traditional boats. In addition, those areas are critical because of the presence of submerged archaeological remains that produce rapid changes in depth values. The experiments confirm that the integration of the sensors improves the instruments’ performance and survey accuracy. PMID:26729117

  13. Characterizing microscale aluminum composite layer properties on silicon solar cells with hybrid 3D scanning force measurements.

    PubMed

    Bae, Sung-Kuk; Choi, Beomjoon; Chung, Haseung; Shin, Seungwon; Song, Hee-eun; Seo, Jung Hwan

    2016-03-07

    This article presents a novel technique to estimate the mechanical properties of the aluminum composite layer on silicon solar cells by using a hybrid 3-dimensional laser scanning force measurement (3-D LSFM) system. The 3-D LSFM system measures the material properties of sub-layers constituting a solar cell. This measurement is critical for realizing high-efficient ultra-thin solar cells. The screen-printed aluminum layer, which significantly affects the bowing phenomenon, is separated from the complete solar cell by removing the silicon (Si) layer with deep reactive ion etching. An elastic modulus of ~15.1 GPa and a yield strength of ~35.0 MPa for the aluminum (Al) composite layer were obtained by the 3-D LSFM system. In experiments performed for 6-inch Si solar cells, the bowing distances decreased from 12.02 to 1.18 mm while the Si layer thicknesses increased from 90 to 190 μm. These results are in excellent agreement with the theoretical predictions for ultra-thin Si thickness (90 μm) based on the obtained Al composite layer properties.

  14. Characterizing microscale aluminum composite layer properties on silicon solar cells with hybrid 3D scanning force measurements

    NASA Astrophysics Data System (ADS)

    Bae, Sung-Kuk; Choi, Beomjoon; Chung, Haseung; Shin, Seungwon; Song, Hee-Eun; Seo, Jung Hwan

    2016-03-01

    This article presents a novel technique to estimate the mechanical properties of the aluminum composite layer on silicon solar cells by using a hybrid 3-dimensional laser scanning force measurement (3-D LSFM) system. The 3-D LSFM system measures the material properties of sub-layers constituting a solar cell. This measurement is critical for realizing high-efficient ultra-thin solar cells. The screen-printed aluminum layer, which significantly affects the bowing phenomenon, is separated from the complete solar cell by removing the silicon (Si) layer with deep reactive ion etching. An elastic modulus of ~15.1 GPa and a yield strength of ~35.0 MPa for the aluminum (Al) composite layer were obtained by the 3-D LSFM system. In experiments performed for 6-inch Si solar cells, the bowing distances decreased from 12.02 to 1.18 mm while the Si layer thicknesses increased from 90 to 190 μm. These results are in excellent agreement with the theoretical predictions for ultra-thin Si thickness (90 μm) based on the obtained Al composite layer properties.

  15. Characterizing microscale aluminum composite layer properties on silicon solar cells with hybrid 3D scanning force measurements

    PubMed Central

    Bae, Sung-Kuk; Choi, Beomjoon; Chung, Haseung; Shin, Seungwon; Song, Hee-eun; Seo, Jung Hwan

    2016-01-01

    This article presents a novel technique to estimate the mechanical properties of the aluminum composite layer on silicon solar cells by using a hybrid 3-dimensional laser scanning force measurement (3-D LSFM) system. The 3-D LSFM system measures the material properties of sub-layers constituting a solar cell. This measurement is critical for realizing high-efficient ultra-thin solar cells. The screen-printed aluminum layer, which significantly affects the bowing phenomenon, is separated from the complete solar cell by removing the silicon (Si) layer with deep reactive ion etching. An elastic modulus of ~15.1 GPa and a yield strength of ~35.0 MPa for the aluminum (Al) composite layer were obtained by the 3-D LSFM system. In experiments performed for 6-inch Si solar cells, the bowing distances decreased from 12.02 to 1.18 mm while the Si layer thicknesses increased from 90 to 190 μm. These results are in excellent agreement with the theoretical predictions for ultra-thin Si thickness (90 μm) based on the obtained Al composite layer properties. PMID:26948248

  16. Qualification of a 3D structured light sensor for a reverse engineering application

    NASA Astrophysics Data System (ADS)

    Guarato, Alexandre Z.; Loja, Alexandre C.; Pereira, Leonardo P.; Braga, Sergio L.; Trevilato, Thales R. B.

    2016-11-01

    This paper deals with the qualification of a 3D structured light scanning system for an application of reverse engineering of a mechanical part. As this white light scanner is an electro-optical device and based on the principle of optical triangulation, the measurement accuracy is affected by the measured part geometry and its position within the scanning window. The effects of the scan depth and the projected angle, characterizing the surface normal of the measured surface to the scanning point of view, on the measurement of accuracy are not considered in the standard calibration process of manufacturers and have been identified by experiments in the present work. The digitization errors are analyzed and characterized thanks to a measurement protocol based on quality indicators. Theses quality indicators are evaluated thanks to simple calibrated artifacts. The aim of this work is to redefine the ideal relative distance and relative angle for minimizing the digitizing errors in relation to those stated by the manufacturer for a reverse engineering application.

  17. Force Sensor Characterization Under Sinusoidal Excitations

    PubMed Central

    Medina, Nieves; de Vicente, Jesús

    2014-01-01

    The aim in the current work is the development of a method to characterize force sensors under sinusoidal excitations using a primary standard as the source of traceability. During this work the influence factors have been studied and a method to minimise their contributions, as well as the corrections to be performed under dynamic conditions have been established. These results will allow the realization of an adequate characterization of force sensors under sinusoidal excitations, which will be essential for its further proper use under dynamic conditions. The traceability of the sensor characterization is based in the direct definition of force as mass multiplied by acceleration. To do so, the sensor is loaded with different calibrated loads and is maintained under different sinusoidal accelerations by means of a vibration shaker system that is able to generate accelerations up to 100 m/s2 with frequencies from 5 Hz up to 2400 Hz. The acceleration is measured by means of a laser vibrometer with traceability to the units of time and length. A multiple channel data acquisition system is also required to simultaneously acquire the electrical output signals of the involved instrument in real time. PMID:25290287

  18. Influence of Critical Current Density on Magnetic Force of Htsc Bulk above Pmr with 3D-MODELING Numerical Solutions

    NASA Astrophysics Data System (ADS)

    Lu, Yiyun; Lu, Bingjuan; Ge, Yunwang; Chen, Wenqing

    Numerical electromagnetic field simulations of high-temperature superconductors (HTSC) bulk were carried out to calculate the magnetic force between the HTSC bulk and the permanent magnet railway (PMR). A 3D-modeling numerical calculation method is proposed using the finite element method. The model is formulated with the magnetic field vector (H-method). The resulting code was written with FORTRAN language. The electric field intensity E and the current density J constitutive relation of HTSC were described with E-J power law. The Kim macro-model is used to describe critical current density Jc of HTSC bulk. Two virtual HTSC bulks were used to solve the critical current density Jc anisotropic properties of HTSC materials. A superconducting levitation system composed of one HTSC bulk and PMR is successfully investigated using the proposed method. By this method, the influence of critical current density on magnetic levitation force of the superconducting levitation system is mathematically studied.

  19. 3D Finite Element Modelling of Cutting Forces in Drilling Fibre Metal Laminates and Experimental Hole Quality Analysis

    NASA Astrophysics Data System (ADS)

    Giasin, Khaled; Ayvar-Soberanis, Sabino; French, Toby; Phadnis, Vaibhav

    2017-02-01

    Machining Glass fibre aluminium reinforced epoxy (GLARE) is cumbersome due to distinctively different mechanical and thermal properties of its constituents, which makes it challenging to achieve damage-free holes with the acceptable surface quality. The proposed work focuses on the study of the machinability of thin ( 2.5 mm) GLARE laminate. Drilling trials were conducted to analyse the effect of feed rate and spindle speed on the cutting forces and hole quality. The resulting hole quality metrics (surface roughness, hole size, circularity error, burr formation and delamination) were assessed using surface profilometry and optical scanning techniques. A three dimensional (3D) finite-element (FE) model of drilling GLARE laminate was also developed using ABAQUS/Explicit to help understand the mechanism of drilling GLARE. The homogenised ply-level response of GLARE laminate was considered in the FE model to predict cutting forces in the drilling process.

  20. Efficient Data Gathering in 3D Linear Underwater Wireless Sensor Networks Using Sink Mobility

    PubMed Central

    Akbar, Mariam; Javaid, Nadeem; Khan, Ayesha Hussain; Imran, Muhammad; Shoaib, Muhammad; Vasilakos, Athanasios

    2016-01-01

    Due to the unpleasant and unpredictable underwater environment, designing an energy-efficient routing protocol for underwater wireless sensor networks (UWSNs) demands more accuracy and extra computations. In the proposed scheme, we introduce a mobile sink (MS), i.e., an autonomous underwater vehicle (AUV), and also courier nodes (CNs), to minimize the energy consumption of nodes. MS and CNs stop at specific stops for data gathering; later on, CNs forward the received data to the MS for further transmission. By the mobility of CNs and MS, the overall energy consumption of nodes is minimized. We perform simulations to investigate the performance of the proposed scheme and compare it to preexisting techniques. Simulation results are compared in terms of network lifetime, throughput, path loss, transmission loss and packet drop ratio. The results show that the proposed technique performs better in terms of network lifetime, throughput, path loss and scalability. PMID:27007373

  1. A Robust Method to Detect Zero Velocity for Improved 3D Personal Navigation Using Inertial Sensors

    PubMed Central

    Xu, Zhengyi; Wei, Jianming; Zhang, Bo; Yang, Weijun

    2015-01-01

    This paper proposes a robust zero velocity (ZV) detector algorithm to accurately calculate stationary periods in a gait cycle. The proposed algorithm adopts an effective gait cycle segmentation method and introduces a Bayesian network (BN) model based on the measurements of inertial sensors and kinesiology knowledge to infer the ZV period. During the detected ZV period, an Extended Kalman Filter (EKF) is used to estimate the error states and calibrate the position error. The experiments reveal that the removal rate of ZV false detections by the proposed method increases 80% compared with traditional method at high walking speed. Furthermore, based on the detected ZV, the Personal Inertial Navigation System (PINS) algorithm aided by EKF performs better, especially in the altitude aspect. PMID:25831086

  2. Aerosols, Chemistry, and Radiative Forcing: A 3-D Model Analysis of Satellite and ACE-Asia data (ACMAP)

    NASA Technical Reports Server (NTRS)

    Chin, Mian; Ginoux, Paul; Torres, Omar; Zhao, Xue-Peng

    2005-01-01

    We propose a research project to incorporate a global 3-D model and satellite data into the multi-national Aerosol Characterization Experiment-Asia (ACE-Asia) mission. Our objectives are (1) to understand the physical, chemical, and optical properties of aerosols and the processes that control those properties over the Asian-Pacific region, (2) to investigate the interaction between aerosols and tropospheric chemistry, and (3) to determine the aerosol radiative forcing over the Asia-Pacific region. We will use the Georgia TecWGoddard Global Ozone Chemistry Aerosol Radiation and Transport (GOCART) model to link satellite observations and the ACE-Asia measurements. First, we will use the GOCART model to simulate aerosols and related species, and evaluate the model with satellite and in-situ observations. Second, the model generated aerosol vertical profiles and compositions will be used to validate the satellite products; and the satellite data will be used for during- and post- mission analysis. Third, we will use the model to analyze and interpret both satellite and ACE- Asia field campaign data and investigate the aerosol-chemistry interactions. Finally, we will calculate aerosol radiative forcing over the Asian-Pacific region, and assess the influence of Asian pollution in the global atmosphere. We propose a research project to incorporate a global 3-D model and satellite data into

  3. 3D Buried Utility Location Using A Marching-Cross-Section Algorithm for Multi-Sensor Data Fusion

    PubMed Central

    Dou, Qingxu; Wei, Lijun; Magee, Derek R.; Atkins, Phil R.; Chapman, David N.; Curioni, Giulio; Goddard, Kevin F.; Hayati, Farzad; Jenks, Hugo; Metje, Nicole; Muggleton, Jennifer; Pennock, Steve R.; Rustighi, Emiliano; Swingler, Steven G.; Rogers, Christopher D. F.; Cohn, Anthony G.

    2016-01-01

    We address the problem of accurately locating buried utility segments by fusing data from multiple sensors using a novel Marching-Cross-Section (MCS) algorithm. Five types of sensors are used in this work: Ground Penetrating Radar (GPR), Passive Magnetic Fields (PMF), Magnetic Gradiometer (MG), Low Frequency Electromagnetic Fields (LFEM) and Vibro-Acoustics (VA). As part of the MCS algorithm, a novel formulation of the extended Kalman Filter (EKF) is proposed for marching existing utility tracks from a scan cross-section (scs) to the next one; novel rules for initializing utilities based on hypothesized detections on the first scs and for associating predicted utility tracks with hypothesized detections in the following scss are introduced. Algorithms are proposed for generating virtual scan lines based on given hypothesized detections when different sensors do not share common scan lines, or when only the coordinates of the hypothesized detections are provided without any information of the actual survey scan lines. The performance of the proposed system is evaluated with both synthetic data and real data. The experimental results in this work demonstrate that the proposed MCS algorithm can locate multiple buried utility segments simultaneously, including both straight and curved utilities, and can separate intersecting segments. By using the probabilities of a hypothesized detection being a pipe or a cable together with its 3D coordinates, the MCS algorithm is able to discriminate a pipe and a cable close to each other. The MCS algorithm can be used for both post- and on-site processing. When it is used on site, the detected tracks on the current scs can help to determine the location and direction of the next scan line. The proposed “multi-utility multi-sensor” system has no limit to the number of buried utilities or the number of sensors, and the more sensor data used, the more buried utility segments can be detected with more accurate location and

  4. 3-D Raman Imagery and Atomic Force Microscopy of Ancient Microscopic Fossils

    NASA Astrophysics Data System (ADS)

    Schopf, J.

    2003-12-01

    Investigations of the Precambrian (~540- to ~3,500-Ma-old) fossil record depend critically on identification of authentic microbial fossils. Combined with standard paleontologic studies (e.g., of paleoecologic setting, population structure, cellular morphology, preservational variants), two techniques recently introduced to such studies -- Raman imagery and atomic force microscopy -- can help meet this need. Laser-Raman imagery is a non-intrusive, non-destructive technique that can be used to demonstrate a micron-scale one-to-one correlation between optically discernable morphology and the organic (kerogenous) composition of individual microbial fossils(1,2), a prime indicator of biogencity. Such analyses can be used to characterize the molecular-structural makeup of organic-walled microscopic fossils both in acid-resistant residues and in petrographic thin sections, and whether the fossils analyzed are exposed at the upper surface of, or are embedded within (to depths >65 microns), the section studied. By providing means to map chemically, in three dimensions, whole fossils or parts of such fossils(3), Raman imagery can also show the presence of cell lumina, interior cellular cavities, another prime indicator of biogenicity. Atomic force microscopy (AFM) has been used to visualize the nanometer-scale structure of the kerogenous components of single Precambrian microscopic fossils(4). Capable of analyzing minute fragments of ancient organic matter exposed at the upper surface of thin sections (or of kerogen particles deposited on flat surfaces), such analyses hold promise not only for discriminating between biotic and abiotic micro-objects but for elucidation of the domain size -- and, thus, the degree of graphitization -- of the graphene subunits of the carbonaceous matter analyzed. These techniques -- both new to paleobiology -- can provide useful insight into the biogenicity and geochemical maturity of ancient organic matter. References: (1) Kudryavtsev, A.B. et

  5. Multi-sensor super-resolution for hybrid range imaging with application to 3-D endoscopy and open surgery.

    PubMed

    Köhler, Thomas; Haase, Sven; Bauer, Sebastian; Wasza, Jakob; Kilgus, Thomas; Maier-Hein, Lena; Stock, Christian; Hornegger, Joachim; Feußner, Hubertus

    2015-08-01

    In this paper, we propose a multi-sensor super-resolution framework for hybrid imaging to super-resolve data from one modality by taking advantage of additional guidance images of a complementary modality. This concept is applied to hybrid 3-D range imaging in image-guided surgery, where high-quality photometric data is exploited to enhance range images of low spatial resolution. We formulate super-resolution based on the maximum a-posteriori (MAP) principle and reconstruct high-resolution range data from multiple low-resolution frames and complementary photometric information. Robust motion estimation as required for super-resolution is performed on photometric data to derive displacement fields of subpixel accuracy for the associated range images. For improved reconstruction of depth discontinuities, a novel adaptive regularizer exploiting correlations between both modalities is embedded to MAP estimation. We evaluated our method on synthetic data as well as ex-vivo images in open surgery and endoscopy. The proposed multi-sensor framework improves the peak signal-to-noise ratio by 2 dB and structural similarity by 0.03 on average compared to conventional single-sensor approaches. In ex-vivo experiments on porcine organs, our method achieves substantial improvements in terms of depth discontinuity reconstruction.

  6. ForceGen 3D structure and conformer generation: from small lead-like molecules to macrocyclic drugs.

    PubMed

    Cleves, Ann E; Jain, Ajay N

    2017-03-13

    We introduce the ForceGen method for 3D structure generation and conformer elaboration of drug-like small molecules. ForceGen is novel, avoiding use of distance geometry, molecular templates, or simulation-oriented stochastic sampling. The method is primarily driven by the molecular force field, implemented using an extension of MMFF94s and a partial charge estimator based on electronegativity-equalization. The force field is coupled to algorithms for direct sampling of realistic physical movements made by small molecules. Results are presented on a standard benchmark from the Cambridge Crystallographic Database of 480 drug-like small molecules, including full structure generation from SMILES strings. Reproduction of protein-bound crystallographic ligand poses is demonstrated on four carefully curated data sets: the ConfGen Set (667 ligands), the PINC cross-docking benchmark (1062 ligands), a large set of macrocyclic ligands (182 total with typical ring sizes of 12-23 atoms), and a commonly used benchmark for evaluating macrocycle conformer generation (30 ligands total). Results compare favorably to alternative methods, and performance on macrocyclic compounds approaches that observed on non-macrocycles while yielding a roughly 100-fold speed improvement over alternative MD-based methods with comparable performance.

  7. ForceGen 3D structure and conformer generation: from small lead-like molecules to macrocyclic drugs

    NASA Astrophysics Data System (ADS)

    Cleves, Ann E.; Jain, Ajay N.

    2017-03-01

    We introduce the ForceGen method for 3D structure generation and conformer elaboration of drug-like small molecules. ForceGen is novel, avoiding use of distance geometry, molecular templates, or simulation-oriented stochastic sampling. The method is primarily driven by the molecular force field, implemented using an extension of MMFF94s and a partial charge estimator based on electronegativity-equalization. The force field is coupled to algorithms for direct sampling of realistic physical movements made by small molecules. Results are presented on a standard benchmark from the Cambridge Crystallographic Database of 480 drug-like small molecules, including full structure generation from SMILES strings. Reproduction of protein-bound crystallographic ligand poses is demonstrated on four carefully curated data sets: the ConfGen Set (667 ligands), the PINC cross-docking benchmark (1062 ligands), a large set of macrocyclic ligands (182 total with typical ring sizes of 12-23 atoms), and a commonly used benchmark for evaluating macrocycle conformer generation (30 ligands total). Results compare favorably to alternative methods, and performance on macrocyclic compounds approaches that observed on non-macrocycles while yielding a roughly 100-fold speed improvement over alternative MD-based methods with comparable performance.

  8. On-machine measurement of the grinding wheels' 3D surface topography using a laser displacement sensor

    NASA Astrophysics Data System (ADS)

    Pan, Yongcheng; Zhao, Qingliang; Guo, Bing

    2014-08-01

    A method of non-contact, on-machine measurement of three dimensional surface topography of grinding wheels' whole surface was developed in this paper, focusing on an electroplated coarse-grained diamond grinding wheel. The measuring system consists of a Keyence laser displacement sensor, a Keyence controller and a NI PCI-6132 data acquisition card. A resolution of 0.1μm in vertical direction and 8μm in horizontal direction could be achieved. After processing the data by LabVIEW and MATLAB, the 3D topography of the grinding wheel's whole surface could be reconstructed. When comparing the reconstructed 3D topography of the grinding wheel's marked area to its real topography captured by a high-depth-field optical digital microscope (HDF-ODM) and scanning electron microscope (SEM), they were very similar to each other, proving that this method is accurate and effective. By a subsequent data processing, the topography of every grain could be extracted and then the active grain number, the active grain volume and the active grain's bearing ration could be calculated. These three parameters could serve as the criterion to evaluate the grinding performance of coarse-grained diamond grinding wheels. Then the performance of the grinding wheel could be evaluated on-machine accurately and quantitatively.

  9. Digital holographic interferometer using simultaneously three lasers and a single monochrome sensor for 3D displacement measurements.

    PubMed

    Saucedo-A, Tonatiuh; De la Torre-Ibarra, M H; Santoyo, F Mendoza; Moreno, Ivan

    2010-09-13

    The use of digital holographic interferometry for 3D measurements using simultaneously three illumination directions was demonstrated by Saucedo et al. (Optics Express 14(4) 2006). The technique records two consecutive images where each one contains three holograms in it, e.g., one before the deformation and one after the deformation. A short coherence length laser must be used to obtain the simultaneous 3D information from the same laser source. In this manuscript we present an extension of this technique now illuminating simultaneously with three different lasers at 458, 532 and 633 nm, and using only one high resolution monochrome CMOS sensor. This new configuration gives the opportunity to use long coherence length lasers allowing the measurement of large object areas. A series of digital holographic interferograms are recorded and the information corresponding to each laser is isolated in the Fourier spectral domain where the corresponding phase difference is calculated. Experimental results render the orthogonal displacement components u, v and w during a simple load deformation.

  10. Fully back-end TSV process by Cu electro-less plating for 3D smart sensor systems

    NASA Astrophysics Data System (ADS)

    Santagata, F.; Farriciello, C.; Fiorentino, G.; van Zeijl, H. W.; Silvestri, C.; Zhang, G. Q.; Sarro, P. M.

    2013-05-01

    A fully back-end process for high-aspect ratio through-silicon vias (TSVs) for 3D smart sensor systems is developed. Atomic layer deposition of TiN provides a highly conformal barrier as well as a seed layer for metal plating. Cu electro-less plating on the chemically activated TiN surfaces is applied to uniformly fill the TSVs in a significantly shorter time (2 h for 300 μm deep and 20 μm wide TSVs) than with Cu bottom-up electroplating (>20 h). The process is CMOS compatible and can be performed after the last metalization step, making it a fully back-end process (VIA-last approach). Wafers containing metal interconnections on both sides are in fact used as demonstrator. Four-terminal 3D Kelvin structures are fabricated and characterized. An average resistance value of 650 mΩ is measured for 300 μm deep TSVs with an aspect ratio of 15. The crosstalk between adjacent TSVs is also measured by means of S-parameters characterization on dedicated RF test structures. The closest TSVs (75 μm) show a reciprocal crosstalk of less than -20 dB at 30 GHz.

  11. 3D geometrical inspection of complex geometry parts using a novel laser triangulation sensor and a robot.

    PubMed

    Brosed, Francisco Javier; Aguilar, Juan José; Guillomía, David; Santolaria, Jorge

    2011-01-01

    This article discusses different non contact 3D measuring strategies and presents a model for measuring complex geometry parts, manipulated through a robot arm, using a novel vision system consisting of a laser triangulation sensor and a motorized linear stage. First, the geometric model incorporating an automatic simple module for long term stability improvement will be outlined in the article. The new method used in the automatic module allows the sensor set up, including the motorized linear stage, for the scanning avoiding external measurement devices. In the measurement model the robot is just a positioning of parts with high repeatability. Its position and orientation data are not used for the measurement and therefore it is not directly "coupled" as an active component in the model. The function of the robot is to present the various surfaces of the workpiece along the measurement range of the vision system, which is responsible for the measurement. Thus, the whole system is not affected by the robot own errors following a trajectory, except those due to the lack of static repeatability. For the indirect link between the vision system and the robot, the original model developed needs only one first piece measuring as a "zero" or master piece, known by its accurate measurement using, for example, a Coordinate Measurement Machine. The strategy proposed presents a different approach to traditional laser triangulation systems on board the robot in order to improve the measurement accuracy, and several important cues for self-recalibration are explored using only a master piece. Experimental results are also presented to demonstrate the technique and the final 3D measurement accuracy.

  12. Numerical modelling and measurement of cell trajectories in 3-D under the influence of dielectrophoretic and hydrodynamic forces.

    PubMed

    Holzner, Felix; Hagmeyer, Britta; Schütte, Julia; Kubon, Massimo; Angres, Brigitte; Stelzle, Martin

    2011-09-01

    This research is part of a program aiming at the development of a fluidic microsystem for in vitro drug testing. For this purpose, primary cells need to be assembled to form cellular aggregates in such a way as to resemble the basic functional units of organs. By providing for in vivo-like cellular contacts, proper extracellular matrix interaction and medium perfusion it is expected that cells will retain their phenotype over prolonged periods of time. In this way, in vitro test systems exhibiting in vivo type predictivity in drug testing are envisioned. Towards this goal a 3-D microstructure micro-milled in a cyclic olefin copolymer (COC) was designed in such a way as to assemble liver cells via insulator-based dielectrophoresis (iDEP) in a sinusoid-type fashion. First, numeric modelling and simulation of dielectrophoretic and hydrodynamic forces acting on cells in this microsystem was performed. In particular, the problem of the discontinuity of the electric field at the interface between the fluid media in the system and the polymer materials it consists of was addressed. It was shown that in certain cases, the material of the microsystem may be neglected altogether without introducing considerable error into the numerical solution. This simplification enabled the simulation of 3-D cell trajectories in complex chip geometries. Secondly, the assembly of HepG2 cells by insulator-based dielectrophoresis in this device is demonstrated. Finally, theoretical results were validated by recording 3-D cell trajectories and the Clausius-Mossotti factor of liver cells was determined by combining results obtained from both simulation and experiment.

  13. A new crank arm-based load cell for the 3D analysis of the force applied by a cyclist.

    PubMed

    Balbinot, Alexandre; Milani, Cleiton; Nascimento, Jussan da Silva Bahia

    2014-12-03

    This report describes a new crank arm-based force platform designed to evaluate the three-dimensional force applied to the pedals by cyclists in real conditions. The force platform was designed to be fitted on a conventional competition bicycle crankset while data is transmitted wirelessly through a Bluetooth™ module and also stored on a SD card. A 3D solid model is created in the SolidWorks (Dassault Systèmes SOLIDWORKS Corp.) to analyze the static and dynamic characteristics of the crank arm by using the finite elements technique. Each crankset arm is used as a load cell based on strain gauges configured as three Wheatstone bridges. The signals are conditioned on a printed circuit board attached directly to the structure. The load cell showed a maximum nonlinearity error between 0.36% and 0.61% and a maximum uncertainty of 2.3% referred to the sensitivity of each channel. A roller trainer equipped with an optical encoder was also developed, allowing the measurement of the wheel's instantaneous velocity.

  14. A New Crank Arm-Based Load Cell for the 3D Analysis of the Force Applied by a Cyclist

    PubMed Central

    Balbinot, Alexandre; Milani, Cleiton; Nascimento, Jussan da Silva Bahia

    2014-01-01

    This report describes a new crank arm-based force platform designed to evaluate the three-dimensional force applied to the pedals by cyclists in real conditions. The force platform was designed to be fitted on a conventional competition bicycle crankset while data is transmitted wirelessly through a BluetoothTM module and also stored on a SD card. A 3D solid model is created in the SolidWorks (Dassault Systèmes SOLIDWORKS Corp.) to analyze the static and dynamic characteristics of the crank arm by using the finite elements technique. Each crankset arm is used as a load cell based on strain gauges configured as three Wheatstone bridges. The signals are conditioned on a printed circuit board attached directly to the structure. The load cell showed a maximum nonlinearity error between 0.36% and 0.61% and a maximum uncertainty of 2.3% referred to the sensitivity of each channel. A roller trainer equipped with an optical encoder was also developed, allowing the measurement of the wheel's instantaneous velocity. PMID:25479325

  15. A flexible tactile sensor calibration method based on an air-bearing six-dimensional force measurement platform.

    PubMed

    Huang, Bin

    2015-07-01

    A number of common issues related to the process of flexible tactile sensor calibration are discussed in this paper, and an estimate of the accuracy of classical calibration methods, as represented by a weight-pulley device, is presented. A flexible tactile sensor calibration method that is based on a six-dimensional force measurement is proposed on the basis of a theoretical analysis. A high-accuracy flexible tactile sensor calibration bench based on the air-bearing six-dimensional force measurement principle was developed to achieve a technically challenging measurement accuracy of 2% full scale (FS) for three-dimensional (3D) flexible tactile sensor calibration. The experimental results demonstrate that the accuracy of the air-bearing six-dimensional force measurement platform can reach 0.2% FS. Thus, the system satisfies the 3D flexible tactile sensor calibration requirement of 2% FS.

  16. Triboelectric nanogenerator built on suspended 3D spiral structure as vibration and positioning sensor and wave energy harvester.

    PubMed

    Hu, Youfan; Yang, Jin; Jing, Qingshen; Niu, Simiao; Wu, Wenzhuo; Wang, Zhong Lin

    2013-11-26

    An unstable mechanical structure that can self-balance when perturbed is a superior choice for vibration energy harvesting and vibration detection. In this work, a suspended 3D spiral structure is integrated with a triboelectric nanogenerator (TENG) for energy harvesting and sensor applications. The newly designed vertical contact-separation mode TENG has a wide working bandwidth of 30 Hz in low-frequency range with a maximum output power density of 2.76 W/m(2) on a load of 6 MΩ. The position of an in-plane vibration source was identified by placing TENGs at multiple positions as multichannel, self-powered active sensors, and the location of the vibration source was determined with an error less than 6%. The magnitude of the vibration is also measured by the output voltage and current signal of the TENG. By integrating the TENG inside a buoy ball, wave energy harvesting at water surface has been demonstrated and used for lighting illumination light, which shows great potential applications in marine science and environmental/infrastructure monitoring.

  17. Computed Tomography Image Origin Identification based on Original Sensor Pattern Noise and 3D Image Reconstruction Algorithm Footprints.

    PubMed

    Duan, Yuping; Bouslimi, Dalel; Yang, Guanyu; Shu, Huazhong; Coatrieux, Gouenou

    2016-06-08

    In this paper, we focus on the "blind" identification of the Computed Tomography (CT) scanner that has produced a CT image. To do so, we propose a set of noise features derived from the image chain acquisition and which can be used as CT-Scanner footprint. Basically, we propose two approaches. The first one aims at identifying a CT-Scanner based on an Original Sensor Pattern Noise (OSPN) that is intrinsic to the X-ray detectors. The second one identifies an acquisition system based on the way this noise is modified by its 3D image reconstruction algorithm. As these reconstruction algorithms are manufacturer dependent and kept secret, our features are used as input to train an SVM based classifier so as to discriminate acquisition systems. Experiments conducted on images issued from 15 different CT-Scanner models of 4 distinct manufacturers demonstrate that our system identifies the origin of one CT image with a detection rate of at least 94% and that it achieves better performance than Sensor Pattern Noise (SPN) based strategy proposed for general public camera devices.

  18. Capturing 3D resistivity of semi-arid karstic subsurface in varying moisture conditions using a wireless sensor network

    NASA Astrophysics Data System (ADS)

    Barnhart, K.; Oden, C. P.

    2012-12-01

    The dissolution of soluble bedrock results in surface and subterranean karst channels, which comprise 7-10% of the dry earth's surface. Karst serves as a preferential conduit to focus surface and subsurface water but it is difficult to exploit as a water resource or protect from pollution because of irregular structure and nonlinear hydrodynamic behavior. Geophysical characterization of karst commonly employs resistivity and seismic methods, but difficulties arise due to low resistivity contrast in arid environments and insufficient resolution of complex heterogeneous structures. To help reduce these difficulties, we employ a state-of-the-art wireless geophysical sensor array, which combines low-power radio telemetry and solar energy harvesting to enable long-term in-situ monitoring. The wireless aspect removes topological constraints common with standard wired resistivity equipment, which facilitates better coverage and/or sensor density to help improve aspect ratio and resolution. Continuous in-situ deployment allows data to be recorded according to nature's time scale; measurements are made during infrequent precipitation events which can increase resistivity contrast. The array is coordinated by a smart wireless bridge that continuously monitors local soil moisture content to detect when precipitation occurs, schedules resistivity surveys, and periodically relays data to the cloud via 3G cellular service. Traditional 2/3D gravity and seismic reflection surveys have also been conducted to clarify and corroborate results.

  19. Fast and Forceful: Modulation of Response Activation Induced by Shifts of Perceived Depth in Virtual 3D Space

    PubMed Central

    Plewan, Thorsten; Rinkenauer, Gerhard

    2016-01-01

    Reaction time (RT) can strongly be influenced by a number of stimulus properties. For instance, there was converging evidence that perceived size rather than physical (i.e., retinal) size constitutes a major determinant of RT. However, this view has recently been challenged since within a virtual three-dimensional (3D) environment retinal size modulation failed to influence RT. In order to further investigate this issue in the present experiments response force (RF) was recorded as a supplemental measure of response activation in simple reaction tasks. In two separate experiments participants’ task was to react as fast as possible to the occurrence of a target located close to the observer or farther away while the offset between target locations was increased from Experiment 1 to Experiment 2. At the same time perceived target size (by varying the retinal size across depth planes) and target type (sphere vs. soccer ball) were modulated. Both experiments revealed faster and more forceful reactions when targets were presented closer to the observers. Perceived size and target type barely affected RT and RF in Experiment 1 but differentially affected both variables in Experiment 2. Thus, the present findings emphasize the usefulness of RF as a supplement to conventional RT measurement. On a behavioral level the results confirm that (at least) within virtual 3D space perceived object size neither strongly influences RT nor RF. Rather the relative position within egocentric (body-centered) space presumably indicates an object’s behavioral relevance and consequently constitutes an important modulator of visual processing. PMID:28018273

  20. Intracellular nanomanipulation by a photonic-force microscope with real-time acquisition of a 3D stiffness matrix

    NASA Astrophysics Data System (ADS)

    Bertseva, E.; Singh, A. S. G.; Lekki, J.; Thévenaz, P.; Lekka, M.; Jeney, S.; Gremaud, G.; Puttini, S.; Nowak, W.; Dietler, G.; Forró, L.; Unser, M.; Kulik, A. J.

    2009-07-01

    A traditional photonic-force microscope (PFM) results in huge sets of data, which requires tedious numerical analysis. In this paper, we propose instead an analog signal processor to attain real-time capabilities while retaining the richness of the traditional PFM data. Our system is devoted to intracellular measurements and is fully interactive through the use of a haptic joystick. Using our specialized analog hardware along with a dedicated algorithm, we can extract the full 3D stiffness matrix of the optical trap in real time, including the off-diagonal cross-terms. Our system is also capable of simultaneously recording data for subsequent offline analysis. This allows us to check that a good correlation exists between the classical analysis of stiffness and our real-time measurements. We monitor the PFM beads using an optical microscope. The force-feedback mechanism of the haptic joystick helps us in interactively guiding the bead inside living cells and collecting information from its (possibly anisotropic) environment. The instantaneous stiffness measurements are also displayed in real time on a graphical user interface. The whole system has been built and is operational; here we present early results that confirm the consistency of the real-time measurements with offline computations.

  1. Using Arduinos and 3D-printers to Build Research-grade Weather Stations and Environmental Sensors

    NASA Astrophysics Data System (ADS)

    Ham, J. M.

    2013-12-01

    Many plant, soil, and surface-boundary-layer processes in the geosphere are governed by the microclimate at the land-air interface. Environmental monitoring is needed at smaller scales and higher frequencies than provided by existing weather monitoring networks. The objective of this project was to design, prototype, and test a research-grade weather station that is based on open-source hardware/software and off-the-shelf components. The idea is that anyone could make these systems with only elementary skills in fabrication and electronics. The first prototypes included measurements of air temperature, humidity, pressure, global irradiance, wind speed, and wind direction. The best approach for measuring precipitation is still being investigated. The data acquisition system was deigned around the Arduino microcontroller and included an LCD-based user interface, SD card data storage, and solar power. Sensors were sampled at 5 s intervals and means, standard deviations, and maximum/minimums were stored at user-defined intervals (5, 30, or 60 min). Several of the sensor components were printed in plastic using a hobby-grade 3D printer (e.g., RepRap Project). Both passive and aspirated radiation shields for measuring air temperature were printed in white Acrylonitrile Butadiene Styrene (ABS). A housing for measuring solar irradiance using a photodiode-based pyranometer was printed in opaque ABS. The prototype weather station was co-deployed with commercial research-grade instruments at an agriculture research unit near Fort Collins, Colorado, USA. Excellent agreement was found between Arduino-based system and commercial weather instruments. The technology was also used to support air quality research and automated air sampling. The next step is to incorporate remote access and station-to-station networking using Wi-Fi, cellular phone, and radio communications (e.g., Xbee).

  2. Reconstructing 3-D maps of the local viscoelastic properties using a finite-amplitude modulated radiation force.

    PubMed

    Giannoula, Alexia; Cobbold, Richard; Bezerianos, Anastasios

    2014-02-01

    A modulated acoustic radiation force, produced by two confocal tone-burst ultrasound beams of slightly different frequencies (i.e. 2.0 MHz ± Δf/2, where Δf is the difference frequency), can be used to remotely generate modulated low-frequency (Δf ≤ 500 Hz) shear waves in attenuating media. By appropriately selecting the duration of the two beams, the energy of the generated shear waves can be concentrated around the difference frequency (i.e., Δf ± Δf/2). In this manner, neither their amplitude nor their phase information is distorted by frequency-dependent effects, thereby, enabling a more accurate reconstruction of the viscoelastic properties. Assuming a Voigt viscoelastic model, this paper describes the use of a finite-element-method model to simulate three-dimensional (3-D) shear-wave propagation in viscoelastic media containing a spherical inclusion. Nonlinear propagation is assumed for the two ultrasound beams, so that higher harmonics are developed in the force and shear spectrum. Finally, an inverse reconstruction algorithm is used to extract 3-D maps of the local shear modulus and viscosity from the simulated shear-displacement fields based on the fundamental and second-harmonic component. The quality of the reconstructed maps is evaluated using the contrast between the inclusion and the background and the contrast-to-noise ratio (CNR). It is shown that the shear modulus can be accurately reconstructed based on the fundamental component, such that the observed contrast deviates from the true contrast by a root-mean-square-error (RMSE) of only 0.38 and the CNR is greater than 30 dB. If the second-harmonic component is used, the RMSE becomes 1.54 and the corresponding CNR decreases by approximately 10-15 dB. The reconstructed shear viscosity maps based on the second harmonic are shown to be of higher quality than those based on the fundamental. The effects of noise are also investigated and a fusion operation between the two spectral components is

  3. Sensor fusion of 2D and 3D data for the processing of images of dental imprints

    NASA Astrophysics Data System (ADS)

    Methot, Jean-Francois; Mokhtari, Marielle; Laurendeau, Denis; Poussart, Denis

    1993-08-01

    This paper presents a computer vision system for the acquisition and processing of 3-D images of wax dental imprints. The ultimate goal of the system is to measure a set of 10 orthodontic parameters that will be fed to an expert system for automatic diagnosis of occlusion problems. An approach for the acquisition of range images of both sides of the imprint is presented. Range is obtained from a shape-from-absorption technique applied to a pair of grey-level images obtained at two different wavelengths. The accuracy of the range values is improved using sensor fusion between the initial range image and a reflectance image from the pair of grey-level images. The improved range image is segmented in order to find the interstices between teeth and, following further processing, the type of each tooth on the profile. Once each tooth has been identified, its accurate location on the imprint is found using a region- growing approach and its shape is reconstructed with third degree polynomial functions. The reconstructed shape will be later used by the system to find specific features that are needed to estimate the orthodontic parameters.

  4. Development of walking analysis system consisting of mobile force plate and motion sensor.

    PubMed

    Adachi, Wataru; Tsujiuchi, Nobutaka; Koizumi, Takayuki; Aikawa, Masataka; Shiojima, Kouzou; Tsuchiya, Youtaro; Inoue, Yoshio

    2011-01-01

    In walking analysis, which is one useful method for efficient physical rehabilitation, the ground reaction force, the center of pressure, and the body orientation data are measured during walking. In the past, these data were measured by a 3D motion analysis system consisting of high-speed cameras and force plates, which must be installed in the floor. However, a conventional 3D motion analysis system can measure the ground reaction force and the center of pressure just on force plates during a few steps. In addition, the subjects' stride lengths are limited because they have to walk on the center of the force plate. These problems can be resolved by converting conventional devices into wearable devices. We used a measuring device consisting of portable force plates and motion sensors. We developed a walking analysis system that calculates the ground reaction force, the center of pressure, and the body orientations and measured a walking subject to estimate this system. We simultaneously used a conventional 3D motion analysis system to compare with our development system and showed its validity for measurements of ground reaction force and the center of pressure.

  5. Compliant tactile sensor that delivers a force vector

    NASA Technical Reports Server (NTRS)

    Torres-Jara, Eduardo (Inventor)

    2010-01-01

    Tactile Sensor. The sensor includes a compliant convex surface disposed above a sensor array, the sensor array adapted to respond to deformation of the convex surface to generate a signal related to an applied force vector. The applied force vector has three components to establish the direction and magnitude of an applied force. The compliant convex surface defines a dome with a hollow interior and has a linear relation between displacement and load including a magnet disposed substantially at the center of the dome above a sensor array that responds to magnetic field intensity.

  6. On non-invasive 2D and 3D Chromatic White Light image sensors for age determination of latent fingerprints.

    PubMed

    Merkel, Ronny; Gruhn, Stefan; Dittmann, Jana; Vielhauer, Claus; Bräutigam, Anja

    2012-10-10

    The feasibility of 2D-intensity and 3D-topography images from a non-invasive Chromatic White Light (CWL) sensor for the age determination of latent fingerprints is investigated. The proposed method might provide the means to solve the so far unresolved issue of determining a fingerprints age in forensics. Conducting numerous experiments for an indoor crime scene using selected surfaces, different influences on the aging of fingerprints are investigated and the resulting aging variability is determined in terms of inter-person, intra-person, inter-finger and intra-finger variation. Main influence factors are shown to be the sweat composition, temperature, humidity, wind, UV-radiation, surface type, contamination of the finger with water-containing substances, resolution and measured area size, whereas contact time, contact pressure and smearing of the print seem to be of minor importance. Such influences lead to a certain experimental variability in inter-person and intra-person variation, which is higher than the inter-finger and intra-finger variation. Comparing the aging behavior of 17 different features using 1490 time series with a total of 41,520 fingerprint images, the great potential of the CWL technique in combination with the binary pixel feature from prior work is shown. Performing three different experiments for the classification of fingerprints into the two time classes [0, 5 h] and [5, 24 h], a maximum classification performance of 79.29% (kappa=0.46) is achieved for a general case, which is further improved for special cases. The statistical significance of the two best-performing features (both binary pixel versions based on 2D-intensity images) is manually shown and a feature fusion is performed, highlighting the strong dependency of the features on each other. It is concluded that such method might be combined with additional capturing devices, such as microscopes or spectroscopes, to a very promising age estimation scheme.

  7. Fabric Force Sensors for the Clinical Breast Examination Simulator

    PubMed Central

    LAUFER, Shlomi; RASSKE, Kristen; STOPFER, Lauren; KURZYNSKI, Clair; ABBOTT, Tim; PLATNER, Megan; TOWLES, Joseph; PUGH, Carla M

    2016-01-01

    Sensor enabled simulators may help in training and assessing clinical skill. Their are imitations on the locations current sensors can be placed without interfering with the clinical examination. In this study novel fabric force sensors were developed and tested. These sensors are soft and flexible and undetectable when placed in different locations in the simulator. Five sensors were added to our current sensor enabled breast simulator. Eight participants performed the clinical breast examination on the simulator and documented their findings. There was a significant relationship for both clinical breast examination time (r(6) = 0.99, p < 0.001 ) and average force (r(6) = 0.92, p < 0.005) between our current sensors and the new fabric sensors. In addition the senors were not noticed by the participants. These new sensors provide new methods to measure and assess clinical skill and performance. PMID:27046577

  8. Fluorophores as optical sensors for local forces.

    PubMed

    Marawske, Stefan; Dörr, Denis; Schmitz, Daniel; Koslowski, Axel; Lu, You; Ritter, Helmut; Thiel, Walter; Seidel, Claus A M; Kühnemuth, Ralf

    2009-08-24

    The main aim of this study is to investigate correlations between the impact of an external mechanical force on the molecular framework of fluorophores and the resultant changes in their fluorescence properties. Taking into account previous theoretical studies, we designed a suitable custom-tailored oligoparaphenylenevinylene derivative (OPV5) with a twisted molecular backbone. Thin foils made of PVC doped with 100 nM OPV were prepared. By applying uniaxial force, the foils were stretched and three major optical effects were observed simultaneously. First, the fluorescence anisotropy increased, which indicates a reorientation of the fluorophores within the matrix. Second, the fluorescence lifetime decreased by approximately 2.5% (25 ps). Finally, we observed an increase in the emission energy of about 0.2% (corresponding to a blue-shift of 1.2 nm). In addition, analogous measurements with Rhodamine 123 as an inert reference dye showed only minor effects, which can be attributed to matrix effects due to refractive index changes. To relate the observed spectroscopic changes to the underlying changes in molecular properties, quantum-chemical calculations were also performed. Semiempirical methods had to be used because of the size of the OPV5 chromophore. Two conformers of OPV5 (C(2) and C(i) symmetry) were considered and both gave very similar results. Both the observed blue-shift of fluorescence and the reduced lifetime of OPV5 under tensile stress are consistent with the results of the semiempirical calculations. Our study proves the feasibility of fluorescence-based local force probes for polymers under tension. Improved optical sensors of this type should in principle be able to monitor local mechanical stress in transparent samples down to the single-molecule level, which harbors promising applications in polymer science and nanotechnology.

  9. Quartic canonical force field in curvilinear internal coordinates for XY3 (D3h) molecules. The case of the BH3 molecule.

    PubMed

    Ródenas, Consuelo Rosales; Quesada, Juana Vázquez; Torres, Emilio Martínez; González, Juan Jesús López

    2014-06-01

    Using the canonical force field theory, expressions of quadratic, cubic, and quartic canonical force constants are obtained for XY3 (D3h) molecules in curvilinear redundant coordinates, i.e., simple valence internal coordinates (VICs), in terms of force constants in normal coordinates and in independent symmetry coordinates. To carry out this task, it was previously necessary to obtain for the first time the non-linear redundancy relation and the corresponding orthogonal projection onto the pure vibrational manifold for XY3 (D3h) molecules corresponding to a set of seven VICs. As an application, the quartic canonical force field in curvilinear redundant internal coordinates of BH3 is determined from ab initio force fields in normal coordinates calculated at the coupled-cluster singles and doubles level with perturbative treatment of the triples in conjunction with a triple- and quadruple-ζ size basis set. This anharmonic force field so obtained for the borane molecule, and in general for XY3 (D3h) molecules, is uniquely defined (therefore in an unambiguous form) and depending on the same number of parameters, i.e., force constants, when independent coordinates (natural or symmetry) are used in its description.

  10. A force vector and surface orientation sensor for intelligent grasping

    NASA Technical Reports Server (NTRS)

    Mcglasson, W. D.; Lorenz, R. D.; Duffie, N. A.; Gale, K. L.

    1991-01-01

    The paper discusses a force vector and surface orientation sensor suitable for intelligent grasping. The use of a novel four degree-of-freedom force vector robotic fingertip sensor allows efficient, real time intelligent grasping operations. The basis of sensing for intelligent grasping operations is presented and experimental results demonstrate the accuracy and ease of implementation of this approach.

  11. Analytical and simulation results of a triple micro whispering gallery mode probe system for a 3D blood flow rate sensor.

    PubMed

    Phatharacorn, Prateep; Chiangga, Surasak; Yupapin, Preecha

    2016-11-20

    The whispering gallery mode (WGM) is generated by light propagating within a nonlinear micro-ring resonator, which is modeled and made by an InGaAsP/InP material, and called a Panda ring resonator. An imaging probe can also be formed by the micro-conjugate mirror function for the appropriate Panda ring parameter control. The 3D WGM probe can be generated and used for a 3D sensor head and imaging probe. The analytical details and simulation results are given, in which the simulation results are obtained by using the MATLAB and Optiwave programs. From the obtained results, such a design system can be configured to be a thin-film sensor system that can contact the sample surface for the required measurements The outputs of the system are in the form of a WGM beam, in which the 3D WGM probe is also available with the micro-conjugate mirror function. Such a 3D probe can penetrate into the blood vessel and content, from which the time delay among those probes can be detected and measured, and where finally the blood flow rate can be calculated and the blood content 3D image can also be seen and used for medical diagnosis. The tested results have shown that the blood flow rate of 0.72-1.11  μs-1, with the blood density of 1060  kgm-3, can be obtained.

  12. Electrostatic excitation for the force amplification of microcantilever sensors.

    PubMed

    Shokuhfar, Ali; Heydari, Payam; Ebrahimi-Nejad, Salman

    2011-01-01

    This paper describes an electrostatic excited microcantilever sensor operating in static mode that is more sensitive than traditional microcantilevers. The proposed sensor comprises a simple microcantilever with electrostatic excitation ability and an optical or piezoresistive detector. Initially the microcantilever is excited by electrostatic force to near pull-in voltage. The nonlinear behavior of the microcantilever in near pull-in voltage i.e., the inverse-square relation between displacement and electrostatic force provides a novel method for force amplification. In this situation, any external load applied to the sensor will be amplified by electrostatic force leading to more displacement. We prove that the proposed microcantilever sensor can be 2 to 100 orders more sensitive compared with traditional microcantilevers sensors of the same dimensions. The results for surface stress and the free-end point force load are discussed.

  13. Transparent and flexible force sensor array based on optical waveguide.

    PubMed

    Kim, Youngsung; Park, Suntak; Park, Seung Koo; Yun, Sungryul; Kyung, Ki-Uk; Sun, Kyung

    2012-06-18

    This paper suggests a force sensor array measuring contact force based on intensity change of light transmitted throughout optical waveguide. For transparency and flexibility of the sensor, two soft prepolymers with different refractive index have been developed. The optical waveguide consists of two cladding layers and a core layer. The top cladding layer is designed to allow light scattering at the specific area in response to finger contact. The force sensor shows a distinct tendency that output intensity decreases with input force and measurement range is from 0 to -13.2 dB.

  14. Quantifying deficits in the 3D force capabilities of a digit caused by selective paralysis: application to the thumb with simulated low ulnar nerve palsy.

    PubMed

    Kuxhaus, Laurel; Roach, Stephanie S; Valero-Cuevas, Francisco J

    2005-04-01

    We present the development of a vision-feedback method to characterize how selective paralysis distorts the three-dimensional (3D) volume representing digit-tip force production capability and its application to healthy individuals producing thumb-tip force with and without simulated low ulnar nerve palsy (LUNP). Subjects produced maximal static voluntary force spanning the transverse, sagittal and frontal planes of the thumb (16, 15 and 10 subjects, respectively). Subjects produced thumb-tip force tasks in guided and self-selected directions. The envelope (convex hull) of extreme forces in each plane approximated that cross-section of the 3D volume of force capability. Some subjects repeated the tasks with a temporary ulnar nerve block applied at the wrist to simulate complete acute LUNP. Three geometric properties of the force convex hull characterized each cross-section's shape: the ratios of its principal moments of inertia (RPMIs), the orientation of its principal axis (OPA), and its centroid location. Our results show that force production in the thumb's sagittal plane may be a reproducible and objective test to grade motor impairment in LUNP: paired t-tests of the larger RPMI in this plane best distinguished the nerve-blocked cases from the control cases in the guided task (p = 0.012), and Discriminant Analysis of the centroid location for the self-selected task in this plane correctly classified 94.7% of subjects into the control and ulnar nerve-blocked groups. We show that our method measures and detects changes in a digit's force production capabilities. Towards a clinical test of motor impairment in LUNP, this biomechanical study dictates which 3D thumb-tip forces to measure (those in the sagittal plane) and how to measure them (using the self-selected task).

  15. A Large Area Tactile Sensor Patch Based on Commercial Force Sensors

    PubMed Central

    Vidal-Verdú, Fernando; Barquero, Maria Jose; Castellanos-Ramos, Julián; Navas-González, Rafael; Sánchez, Jose Antonio; Serón, Javier; García-Cerezo, Alfonso

    2011-01-01

    This paper reports the design of a tactile sensor patch to cover large areas of robots and machines that interact with human beings. Many devices have been proposed to meet such a demand. These realizations are mostly custom-built or developed in the lab. The sensor of this paper is implemented with commercial force sensors. This has the benefit of a more foreseeable response of the sensor if its behavior is understood as the aggregation of readings from all the individual force sensors in the array. A few reported large area tactile sensors are also based on commercial sensors. However, the one in this paper is the first of this kind based on the use of polymeric commercial force sensing resistors (FSR) as unit elements of the array or tactels, which results in a robust sensor. The paper discusses design issues related to some necessary modifications of the force sensor, its assembly in an array, and the signal conditioning. The patch has 16 × 9 force sensors mounted on a flexible printed circuit board with a spatial resolution of 18.5 mm. The force range of a tactel is 6 N and its sensitivity is 0.6 V/N. The array is read at a rate of 78 frames per second. Finally, two simple application examples are also carried out with the sensor mounted on the forearm of a rescue robot that communicates with the sensor through a CAN bus. PMID:22163910

  16. Using DOE-ARM and Space-Based Assets to Assess the Quality of Air Force Weather 3D Cloud Analysis and Forecast Products

    NASA Astrophysics Data System (ADS)

    Nobis, T. E.

    2015-12-01

    Air Force Weather (AFW) has documented requirements for global cloud analysis and forecasting to support DoD missions around the world. To meet these needs, AFW utilizes a number of cloud products. Cloud analyses are constructed using 17 different near real time satellite sources. Products include analysis of the individual satellite transmissions at native satellite resolution and an hourly global merge of all 17 sources on a 24km grid. AFW has also recently started creation of a time delayed global cloud reanalysis to produce a 'best possible' analysis for climatology and verification purposes. Forecasted cloud products include global short-range cloud forecasts created using advection techniques as well as statistically post processed cloud forecast products derived from various global and regional numerical weather forecast models. All of these cloud products cover different spatial and temporal resolutions and are produced on a number of different grid projections. The longer term vision of AFW is to consolidate these various approaches into uniform global numerical weather modeling (NWM) system using advanced cloudy-data assimilation processes to construct the analysis and a licensed version of UKMO's Unified Model to produce the various cloud forecast products. In preparation for this evolution in cloud modeling support, AFW has started to aggressively benchmark the performance of their current capabilities. Cloud information collected from so called 'active' sensors on the ground at the DOE-ARM sites and from space by such instruments as CloudSat, CALIPSO and CATS are being utilized to characterize the performance of AFW products derived largely by passive means. The goal is to understand the performance of the 3D cloud analysis and forecast products of today to help shape the requirements and standards for the future NWM driven system.This presentation will present selected results from these benchmarking efforts and highlight insights and observations

  17. Novel Low-Cost Sensor for Human Bite Force Measurement

    PubMed Central

    Fastier-Wooller, Jarred; Phan, Hoang-Phuong; Dinh, Toan; Nguyen, Tuan-Khoa; Cameron, Andrew; Öchsner, Andreas; Dao, Dzung Viet

    2016-01-01

    This paper presents the design and development of a low cost and reliable maximal voluntary bite force sensor which can be manufactured in-house by using an acrylic laser cutting machine. The sensor has been designed for ease of fabrication, assembly, calibration, and safe use. The sensor is capable of use within an hour of commencing production, allowing for rapid prototyping/modifications and practical implementation. The measured data shows a good linear relationship between the applied force and the electrical resistance of the sensor. The output signal has low drift, excellent repeatability, and a large measurable range of 0 to 700 N. A high signal-to-noise response to human bite forces was observed, indicating the high potential of the proposed sensor for human bite force measurement. PMID:27509496

  18. Sphere-Wall Impact Experiments with Piezoelectric Force Sensors

    SciTech Connect

    Sinko, John E.; Lassiter, Jonathan S.

    2008-04-28

    Measurement of impulse imparted to a target from {mu}s-timescale laser ablation events is often performed with piezoelectric force sensors. For pulsed laser ablation with a target resting on the force sensors, an effect can occur for a vertical thrust stand in an exhaust-up configuration that results in measurement of about twice the actual imparted impulse. A CO{sub 2} laser operating at 10.6 {mu}m wavelength, 300 ns pulse length, and up to 20 J pulse energy single shots was used to ablate samples of PCTFE. Force sensor measurements of the imparted impulse were compared to tests with a ballistic pendulum over a variety of fluences. The theoretical impulse delivered by the impacts of 6 mm diameter spheres of aluminum, steel, POM, and PTFE on the force sensor were studied, and the coefficients of restitution were measured for the targets. Practical issues for measurement of ablation-imparted impulse with piezoelectric sensors are discussed.

  19. Micro-Vibration-Based Slip Detection in Tactile Force Sensors

    PubMed Central

    Fernandez, Raul; Payo, Ismael; Vazquez, Andres S.; Becedas, Jonathan

    2014-01-01

    Tactile sensing provides critical information, such as force, texture, shape or temperature, in manipulation tasks. In particular, tactile sensors traditionally used in robotics are emphasized in contact force determination for grasping control and object recognition. Nevertheless, slip detection is also crucial to successfully manipulate an object. Several approaches have appeared to detect slipping, the majority being a combination of complex sensors with complex algorithms. In this paper, we deal with simplicity, analyzing how a novel, but simple, algorithm, based on micro-vibration detection, can be used in a simple, but low-cost and durable, force sensor. We also analyze the results of using the same principle to detect slipping in other force sensors based on flexible parts. In particular, we show and compare the slip detection with: (i) a flexible finger, designed by the authors, acting as a force sensor; (ii) the finger torque sensor of a commercial robotic hand; (iii) a commercial six-axis force sensor mounted on the wrist of a robot; and (iv) a fingertip piezoresistive matrix sensor. PMID:24394598

  20. Effects of 3D virtual haptics force feedback on brand personality perception: the mediating role of physical presence in advergames.

    PubMed

    Jin, Seung-A Annie

    2010-06-01

    This study gauged the effects of force feedback in the Novint Falcon haptics system on the sensory and cognitive dimensions of a virtual test-driving experience. First, in order to explore the effects of tactile stimuli with force feedback on users' sensory experience, feelings of physical presence (the extent to which virtual physical objects are experienced as actual physical objects) were measured after participants used the haptics interface. Second, to evaluate the effects of force feedback on the cognitive dimension of consumers' virtual experience, this study investigated brand personality perception. The experiment utilized the Novint Falcon haptics controller to induce immersive virtual test-driving through tactile stimuli. The author designed a two-group (haptics stimuli with force feedback versus no force feedback) comparison experiment (N = 238) by manipulating the level of force feedback. Users in the force feedback condition were exposed to tactile stimuli involving various force feedback effects (e.g., terrain effects, acceleration, and lateral forces) while test-driving a rally car. In contrast, users in the control condition test-drove the rally car using the Novint Falcon but were not given any force feedback. Results of ANOVAs indicated that (a) users exposed to force feedback felt stronger physical presence than those in the no force feedback condition, and (b) users exposed to haptics stimuli with force feedback perceived the brand personality of the car to be more rugged than those in the control condition. Managerial implications of the study for product trial in the business world are discussed.

  1. Temporal-spatial reach parameters derived from inertial sensors: Comparison to 3D marker-based motion capture.

    PubMed

    Cahill-Rowley, Katelyn; Rose, Jessica

    2017-02-08

    Reaching is a well-practiced functional task crucial to daily living activities, and temporal-spatial measures of reaching reflect function for both adult and pediatric populations with upper-extremity motor impairments. Inertial sensors offer a mobile and inexpensive tool for clinical assessment of movement. This research outlines a method for measuring temporal-spatial reach parameters using inertial sensors, and validates these measures with traditional marker-based motion capture. 140 reaches from 10 adults, and 30 reaches from nine children aged 18-20 months, were recorded and analyzed using both inertial-sensor and motion-capture methods. Inertial sensors contained three-axis accelerometers, gyroscopes, and magnetometers. Gravitational offset of accelerometer data was measured when the sensor was at rest, and removed using sensor orientation measured at rest and throughout the reach. Velocity was calculated by numeric integration of acceleration, using a null-velocity assumption at reach start. Sensor drift was neglected given the 1-2s required for a reach. Temporal-spatial reach parameters were calculated independently for each data acquisition method. Reach path length and distance, peak velocity magnitude and timing, and acceleration at contact demonstrated consistent agreement between sensor- and motion-capture-based methods, for both adult and toddler reaches, as evaluated by intraclass correlation coefficients from 0.61 to 1.00. Taken together with actual difference between method measures, results indicate that these functional reach parameters may be reliably measured with inertial sensors.

  2. Fiber optic micro sensor for the measurement of tendon forces.

    PubMed

    Behrmann, Gregory P; Hidler, Joseph; Mirotznik, Mark S

    2012-10-03

    A fiber optic sensor developed for the measurement of tendon forces was designed, numerically modeled, fabricated, and experimentally evaluated. The sensor incorporated fiber Bragg gratings and micro-fabricated stainless steel housings. A fiber Bragg grating is an optical device that is spectrally sensitive to axial strain. Stainless steel housings were designed to convert radial forces applied to the housing into axial forces that could be sensed by the fiber Bragg grating. The metal housings were fabricated by several methods including laser micromachining, swaging, and hydroforming. Designs are presented that allow for simultaneous temperature and force measurements as well as for simultaneous resolution of multi-axis forces.The sensor was experimentally evaluated by hydrostatic loading and in vitro testing. A commercial hydraulic burst tester was used to provide uniform pressures on the sensor in order to establish the linearity, repeatability, and accuracy characteristics of the sensor. The in vitro experiments were performed in excised tendon and in a dynamic gait simulator to simulate biological conditions. In both experimental conditions, the sensor was found to be a sensitive and reliable method for acquiring minimally invasive measurements of soft tissue forces. Our results suggest that this sensor will prove useful in a variety of biomechanical measurements.

  3. Fiber optic micro sensor for the measurement of tendon forces

    PubMed Central

    2012-01-01

    A fiber optic sensor developed for the measurement of tendon forces was designed, numerically modeled, fabricated, and experimentally evaluated. The sensor incorporated fiber Bragg gratings and micro-fabricated stainless steel housings. A fiber Bragg grating is an optical device that is spectrally sensitive to axial strain. Stainless steel housings were designed to convert radial forces applied to the housing into axial forces that could be sensed by the fiber Bragg grating. The metal housings were fabricated by several methods including laser micromachining, swaging, and hydroforming. Designs are presented that allow for simultaneous temperature and force measurements as well as for simultaneous resolution of multi-axis forces. The sensor was experimentally evaluated by hydrostatic loading and in vitro testing. A commercial hydraulic burst tester was used to provide uniform pressures on the sensor in order to establish the linearity, repeatability, and accuracy characteristics of the sensor. The in vitro experiments were performed in excised tendon and in a dynamic gait simulator to simulate biological conditions. In both experimental conditions, the sensor was found to be a sensitive and reliable method for acquiring minimally invasive measurements of soft tissue forces. Our results suggest that this sensor will prove useful in a variety of biomechanical measurements. PMID:23033868

  4. Proximity and Force Characteristics of CMC Touch Sensor with Square/Dome-shaped Sensor Elements

    NASA Astrophysics Data System (ADS)

    Kawamura, T.; Inaguma, N.; Kakizaki, Y.; Yamada, H.; Tani, K.

    2013-04-01

    A tactile sensor called Carbon Micro Coil (CMC) touch sensor was developed by CMC Technology Development Co., Ltd. The sensor's elements used in the experiments of this paper are made of silicon rubber containing CMCs several micrometers in diameter. One of the elements is molded into a square 30 mm on a side and 3 mm thick; the other is a dome 16 mm in diameter and 2 mm height. CMCs in the sensor element contribute to the electrical conductivity and the sensor element is considered to constitute an LCR circuit. When an object approaches to the sensor element or the sensor element is deformed mechanically, the impedance changes, and the CMC sensor detects the impedance changes by measuring the modulation of amplitude and phase of an input excitation signal to the sensor element. The CMC sensor also creates voltage signals of the R- and LC-components separately according to the amplitude and phase modulation. In this paper, the characteristics of the CMC sensor with respect to its proximity and force senses are investigated. First, the output of the CMC sensor with the square-shaped sensor element is measured when an object approaches to the sensor element. Next, the output of the CMC sensor with the dome-shaped sensor element is measured when fine deformations of 1 to 5 μm are applied to the sensor element under variable compression force. The results suggest that the CMC sensor can measure the force variance applied to the sensor element as well as the distance between the sensor element and an object.

  5. A heterogeneous sensor network simulation system with integrated terrain data for real-time target detection in 3D space

    NASA Astrophysics Data System (ADS)

    Lin, Hong; Tanner, Steve; Rushing, John; Graves, Sara; Criswell, Evans

    2008-03-01

    Large scale sensor networks composed of many low-cost small sensors networked together with a small number of high fidelity position sensors can provide a robust, fast and accurate air defense and warning system. The team has been developing simulations of such large networks, and is now adding terrain data in an effort to provide more realistic analysis of the approach. This work, a heterogeneous sensor network simulation system with integrated terrain data for real-time target detection in a three-dimensional environment is presented. The sensor network can be composed of large numbers of low fidelity binary and bearing-only sensors, and small numbers of high fidelity position sensors, such as radars. The binary and bearing-only sensors are randomly distributed over a large geographic region; while the position sensors are distributed evenly. The elevations of the sensors are determined through the use of DTED Level 0 dataset. The targets are located through fusing measurement information from all types of sensors modeled by the simulation. The network simulation utilizes the same search-based optimization algorithm as in our previous two-dimensional sensor network simulation with some significant modifications. The fusion algorithm is parallelized using spatial decomposition approach: the entire surveillance area is divided into small regions and each region is assigned to one compute node. Each node processes sensor measurements and terrain data only for the assigned sub region. A master process combines the information from all the compute nodes to get the overall network state. The simulation results have indicated that the distributed fusion algorithm is efficient enough so that an optimal solution can be reached before the arrival of the next sensor data with a reasonable time interval, and real-time target detection can be achieved. The simulation was performed on a Linux cluster with communication between nodes facilitated by the Message Passing Interface

  6. Detailed Study of Amplitude Nonlinearity in Piezoresistive Force Sensors

    PubMed Central

    Paredes-Madrid, Leonel; Emmi, Luis; Garcia, Elena; de Santos, Pablo Gonzalez

    2011-01-01

    This article upgrades the RC linear model presented for piezoresistive force sensors. Amplitude nonlinearity is found in sensor conductance, and a characteristic equation is formulated for modeling its response under DC-driving voltages below 1 V. The feasibility of such equation is tested on four FlexiForce model A201-100 piezoresistive sensors by varying the sourcing voltage and the applied forces. Since the characteristic equation proves to be valid, a method is presented for obtaining a specific sensitivity in sensor response by calculating the appropriate sourcing voltage and feedback resistor in the driving circuit; this provides plug-and-play capabilities to the device and reduces the start-up time of new applications where piezoresistive devices are to be used. Finally, a method for bypassing the amplitude nonlinearity is presented with the aim of reading sensor capacitance. PMID:22164109

  7. Detailed study of amplitude nonlinearity in piezoresistive force sensors.

    PubMed

    Paredes-Madrid, Leonel; Emmi, Luis; Garcia, Elena; de Santos, Pablo Gonzalez

    2011-01-01

    This article upgrades the RC linear model presented for piezoresistive force sensors. Amplitude nonlinearity is found in sensor conductance, and a characteristic equation is formulated for modeling its response under DC-driving voltages below 1 V. The feasibility of such equation is tested on four FlexiForce model A201-100 piezoresistive sensors by varying the sourcing voltage and the applied forces. Since the characteristic equation proves to be valid, a method is presented for obtaining a specific sensitivity in sensor response by calculating the appropriate sourcing voltage and feedback resistor in the driving circuit; this provides plug-and-play capabilities to the device and reduces the start-up time of new applications where piezoresistive devices are to be used. Finally, a method for bypassing the amplitude nonlinearity is presented with the aim of reading sensor capacitance.

  8. A Distributed Fiber Optic Sensor Network for Online 3-D Temperature and Neutron Fluence Mapping in a VHTR Environment

    SciTech Connect

    Tsvetkov, Pavel; Dickerson, Bryan; French, Joseph; McEachern, Donald; Ougouag, Abderrafi

    2014-04-30

    Robust sensing technologies allowing for 3D in-core performance monitoring in real time are of paramount importance for already established LWRs to enhance their reliability and availability per year, and therefore, to further facilitate their economic competitiveness via predictive assessment of the in-core conditions.

  9. Contact position sensor using constant contact force control system

    NASA Technical Reports Server (NTRS)

    Sturdevant, Jay (Inventor)

    1995-01-01

    A force control system (50) and method are provided for controlling a position contact sensor (10) so as to produce a constant controlled contact force therewith. The system (50) includes a contact position sensor (10) which has a contact probe (12) for contacting the surface of a target to be measured and an output signal (V.sub.o) for providing a position indication thereof. An actuator (30) is provided for controllably driving the contact position sensor (10) in response to an actuation control signal (I). A controller (52) receives the position indication signal (V.sub.o) and generates in response thereto the actuation control signal (I) so as to provide a substantially constant selective force (F) exerted by the contact probe (12). The actuation drive signal (I) is generated further in response to substantially linear approximation curves based on predetermined force and position data attained from the sensor (10) and the actuator (30).

  10. Micromachined force sensors for the study of cell mechanics

    NASA Astrophysics Data System (ADS)

    Yang, Shengyuan; Saif, Taher

    2005-04-01

    A technique using micromachined mechanical force sensors to measure the force response of living cells is introduced. The force sensors consist of a probe and flexible beams. The probe is used to indent and stretch the cells, and the flexible beams are used to measure the cell force response. The stiffness of the sensors is designed at several nanonewtons per micrometer, but can be varied over a wide range. The sensors are fabricated by the SCREAM process. The deformation of the cells and the deflection of flexible beams are measured by an optical microscope coupled with a charge-coupled device camera. Experimental demonstrations show the feasibility, simplicity, and versatility of this technique. It addresses several disadvantages of existing related techniques, and is complementary to many of them. We expect that this new technique will attract significant attention and be employed much more in the study of cell mechanics.

  11. Fusion of intraoperative force sensoring, surface reconstruction and biomechanical modeling

    NASA Astrophysics Data System (ADS)

    Röhl, S.; Bodenstedt, S.; Küderle, C.; Suwelack, S.; Kenngott, H.; Müller-Stich, B. P.; Dillmann, R.; Speidel, S.

    2012-02-01

    Minimally invasive surgery is medically complex and can heavily benefit from computer assistance. One way to help the surgeon is to integrate preoperative planning data into the surgical workflow. This information can be represented as a customized preoperative model of the surgical site. To use it intraoperatively, it has to be updated during the intervention due to the constantly changing environment. Hence, intraoperative sensor data has to be acquired and registered with the preoperative model. Haptic information which could complement the visual sensor data is still not established. In addition, biomechanical modeling of the surgical site can help in reflecting the changes which cannot be captured by intraoperative sensors. We present a setting where a force sensor is integrated into a laparoscopic instrument. In a test scenario using a silicone liver phantom, we register the measured forces with a reconstructed surface model from stereo endoscopic images and a finite element model. The endoscope, the instrument and the liver phantom are tracked with a Polaris optical tracking system. By fusing this information, we can transfer the deformation onto the finite element model. The purpose of this setting is to demonstrate the principles needed and the methods developed for intraoperative sensor data fusion. One emphasis lies on the calibration of the force sensor with the instrument and first experiments with soft tissue. We also present our solution and first results concerning the integration of the force sensor as well as accuracy to the fusion of force measurements, surface reconstruction and biomechanical modeling.

  12. Sensorization of a surgical robotic instrument for force sensing

    NASA Astrophysics Data System (ADS)

    Shahzada, Kaspar S.; Yurkewich, Aaron; Xu, Ran; Patel, Rajni V.

    2016-03-01

    This paper presents the development and application of an approach for sensorizing a surgical robotic instrument for two degree-of-freedom (DOF) lateral force sensing. The sensorized instrument is compatible with the da Vinci® Surgical System and can be used for skills assessment and force control in specific surgical tasks. The sensing technology utilizes a novel layout of four fiber Bragg grating (FBG) sensors attached to the shaft of a da Vinci® surgical instrument. The two cross-section layout is insensitive to error caused by combined force and torque loads, and the orientation of the sensors minimizes the condition number of the instrument's compliance matrix. To evaluate the instrument's sensing capabilities, its performance was tested using a commercially available force-torque sensor, and showed a resolution of 0.05N at 1 kHz sampling rate. The performance of the sensorized instrument was evaluated by performing three surgical tasks on phantom tissue using the da Vinci® system with the da Vinci Research Kit (dVRK): tissue palpation, knot tightening during suturing and Hem-O-Lok® tightening during knotless suturing. The tasks were designed to demonstrate the robustness of the sensorized force measurement approach. The paper reports the results of further evaluation by a group of expert and novice surgeons performing the three tasks mentioned above.

  13. Tropospheric Airborne Meteorological Data Reporting (TAMDAR) Sensor Validation and Verification on National Oceanographic and Atmospheric Administration (NOAA) Lockheed WP-3D Aircraft

    NASA Technical Reports Server (NTRS)

    Tsoucalas, George; Daniels, Taumi S.; Zysko, Jan; Anderson, Mark V.; Mulally, Daniel J.

    2010-01-01

    As part of the National Aeronautics and Space Administration's Aviation Safety and Security Program, the Tropospheric Airborne Meteorological Data Reporting project (TAMDAR) developed a low-cost sensor for aircraft flying in the lower troposphere. This activity was a joint effort with support from Federal Aviation Administration, National Oceanic and Atmospheric Administration, and industry. This paper reports the TAMDAR sensor performance validation and verification, as flown on board NOAA Lockheed WP-3D aircraft. These flight tests were conducted to assess the performance of the TAMDAR sensor for measurements of temperature, relative humidity, and wind parameters. The ultimate goal was to develop a small low-cost sensor, collect useful meteorological data, downlink the data in near real time, and use the data to improve weather forecasts. The envisioned system will initially be used on regional and package carrier aircraft. The ultimate users of the data are National Centers for Environmental Prediction forecast modelers. Other users include air traffic controllers, flight service stations, and airline weather centers. NASA worked with an industry partner to develop the sensor. Prototype sensors were subjected to numerous tests in ground and flight facilities. As a result of these earlier tests, many design improvements were made to the sensor. The results of tests on a final version of the sensor are the subject of this report. The sensor is capable of measuring temperature, relative humidity, pressure, and icing. It can compute pressure altitude, indicated air speed, true air speed, ice presence, wind speed and direction, and eddy dissipation rate. Summary results from the flight test are presented along with corroborative data from aircraft instruments.

  14. Automatic construction of 3D basic-semantic models of inhabited interiors using laser scanners and RFID sensors.

    PubMed

    Valero, Enrique; Adan, Antonio; Cerrada, Carlos

    2012-01-01

    This paper is focused on the automatic construction of 3D basic-semantic models of inhabited interiors using laser scanners with the help of RFID technologies. This is an innovative approach, in whose field scarce publications exist. The general strategy consists of carrying out a selective and sequential segmentation from the cloud of points by means of different algorithms which depend on the information that the RFID tags provide. The identification of basic elements of the scene, such as walls, floor, ceiling, windows, doors, tables, chairs and cabinets, and the positioning of their corresponding models can then be calculated. The fusion of both technologies thus allows a simplified 3D semantic indoor model to be obtained. This method has been tested in real scenes under difficult clutter and occlusion conditions, and has yielded promising results.

  15. Automatic Construction of 3D Basic-Semantic Models of Inhabited Interiors Using Laser Scanners and RFID Sensors

    PubMed Central

    Valero, Enrique; Adan, Antonio; Cerrada, Carlos

    2012-01-01

    This paper is focused on the automatic construction of 3D basic-semantic models of inhabited interiors using laser scanners with the help of RFID technologies. This is an innovative approach, in whose field scarce publications exist. The general strategy consists of carrying out a selective and sequential segmentation from the cloud of points by means of different algorithms which depend on the information that the RFID tags provide. The identification of basic elements of the scene, such as walls, floor, ceiling, windows, doors, tables, chairs and cabinets, and the positioning of their corresponding models can then be calculated. The fusion of both technologies thus allows a simplified 3D semantic indoor model to be obtained. This method has been tested in real scenes under difficult clutter and occlusion conditions, and has yielded promising results. PMID:22778609

  16. A Microfluidic DNA Sensor Based on Three-Dimensional (3D) Hierarchical MoS2/Carbon Nanotube Nanocomposites

    PubMed Central

    Yang, Dahou; Tayebi, Mahnoush; Huang, Yinxi; Yang, Hui Ying; Ai, Ye

    2016-01-01

    In this work, we present a novel microfluidic biosensor for sensitive fluorescence detection of DNA based on 3D architectural MoS2/multi-walled carbon nanotube (MWCNT) nanocomposites. The proposed platform exhibits a high sensitivity, selectivity, and stability with a visible manner and operation simplicity. The excellent fluorescence quenching stability of a MoS2/MWCNT aqueous solution coupled with microfluidics will greatly simplify experimental steps and reduce time for large-scale DNA detection. PMID:27854247

  17. Capillary forces exerted by liquid drops caught between crossed cylinders. A 3-D meniscus problem with free contact line

    NASA Technical Reports Server (NTRS)

    Patzek, T. W.; Scriven, L. E.

    1982-01-01

    The Young-Laplace equation is solved for three-dimensional menisci between crossed cylinders, with either the contact line fixed or the contact angle prescribed, by means of the Galerkin/finite element method. Shapes are computed, and with them the practically important quantities: drop volume, wetted area, capillary pressure force, surface tension force, and the total force exerted by the drop on each cylinder. The results show that total capillary force between cylinders increases with decreasing contact angle, i.e. with better wetting. Capillary force is also increases with decreasing drop volume, approaching an asymptotic limit. However, the wetted area on each cylinder decreases with decreasing drop volume, which raises the question of the optimum drop volume to strive for, when permanent bonding is sought from solidified liquid. For then the strength of the bond is likely to depend upon the area of contact, which is the wetted area when the bonding agent was introduced in liquid form.

  18. Silicon force sensor and method of using the same

    DOEpatents

    Galambos, Paul C.; Crenshaw, Thomas B.; Nishida, Erik E.; Burnett, Damon J.; Lantz, Jeffrey W.

    2016-10-04

    The various technologies presented herein relate to a sensor for measurement of high forces and/or high load shock rate(s), whereby the sensor utilizes silicon as the sensing element. A plate of Si can have a thinned region formed therein on which can be formed a number of traces operating as a Wheatstone bridge. The brittle Si can be incorporated into a layered structure comprising ductile and/or compliant materials. The sensor can have a washer-like configuration which can be incorporated into a nut and bolt configuration, whereby tightening of the nut and bolt can facilitate application of a compressive preload upon the sensor. Upon application of an impact load on the bolt, the compressive load on the sensor can be reduced (e.g., moves towards zero-load), however the magnitude of the preload can be such that the load on the sensor does not translate to tensile stress being applied to the sensor.

  19. A flexible piezoelectric force sensor based on PVDF fabrics

    NASA Astrophysics Data System (ADS)

    Wang, Y. R.; Zheng, J. M.; Ren, G. Y.; Zhang, P. H.; Xu, C.

    2011-04-01

    Polyvinylidene fluoride (PVDF) film has been widely investigated as a sensor and transducer material due to its high piezo-, pyro- and ferroelectric properties. To activate these properties, PVDF films require a mechanical treatment, stretching or poling. In this paper, we report on a force sensor based on PVDF fabrics with excellent flexibility and breathability, to be used as a specific human-related sensor. PVDF nanofibrous fabrics were prepared by using an electrospinning unit and characterized by means of scanning electron microscopy (SEM), FTIR spectroscopy and x-ray diffraction. Preliminary force sensors have been fabricated and demonstrated excellent sensitivity and response to external mechanical forces. This implies that promising applications can be made for sensing garment pressure, blood pressure, heartbeat rate, respiration rate and accidental impact on the human body.

  20. A 3D lower limb musculoskeletal model for simultaneous estimation of musculo-tendon, joint contact, ligament and bone forces during gait.

    PubMed

    Moissenet, Florent; Chèze, Laurence; Dumas, Raphaël

    2014-01-03

    Musculo-tendon forces and joint reaction forces are typically estimated using a two-step method, computing first the musculo-tendon forces by a static optimization procedure and then deducing the joint reaction forces from the force equilibrium. However, this method does not allow studying the interactions between musculo-tendon forces and joint reaction forces in establishing this equilibrium and the joint reaction forces are usually overestimated. This study introduces a new 3D lower limb musculoskeletal model based on a one-step static optimization procedure allowing simultaneous musculo-tendon, joint contact, ligament and bone forces estimation during gait. It is postulated that this approach, by giving access to the forces transmitted by these musculoskeletal structures at hip, tibiofemoral, patellofemoral and ankle joints, modeled using anatomically consistent kinematic models, should ease the validation of the model using joint contact forces measured with instrumented prostheses. A blinded validation based on four datasets was made under two different minimization conditions (i.e., C1 - only musculo-tendon forces are minimized, and C2 - musculo-tendon, joint contact, ligament and bone forces are minimized while focusing more specifically on tibiofemoral joint contacts). The results show that the model is able to estimate in most cases the correct timing of musculo-tendon forces during normal gait (i.e., the mean coefficient of active/inactive state concordance between estimated musculo-tendon force and measured EMG envelopes was C1: 65.87% and C2: 60.46%). The results also showed that the model is potentially able to well estimate joint contact, ligament and bone forces and more specifically medial (i.e., the mean RMSE between estimated joint contact force and in vivo measurement was C1: 1.14BW and C2: 0.39BW) and lateral (i.e., C1: 0.65BW and C2: 0.28BW) tibiofemoral contact forces during normal gait. However, the results remain highly influenced by the

  1. Multi-range force sensors utilizing shape memory alloys

    DOEpatents

    Varma, Venugopal K.

    2003-04-15

    The present invention provides a multi-range force sensor comprising a load cell made of a shape memory alloy, a strain sensing system, a temperature modulating system, and a temperature monitoring system. The ability of the force sensor to measure contact forces in multiple ranges is effected by the change in temperature of the shape memory alloy. The heating and cooling system functions to place the shape memory alloy of the load cell in either a low temperature, low strength phase for measuring small contact forces, or a high temperature, high strength phase for measuring large contact forces. Once the load cell is in the desired phase, the strain sensing system is utilized to obtain the applied contact force. The temperature monitoring system is utilized to ensure that the shape memory alloy is in one phase or the other.

  2. Effect of degree of crosslinking and polymerization of 3D printable polymer/ionic liquid composites on performance of stretchable piezoresistive sensors

    NASA Astrophysics Data System (ADS)

    Lee, Jeongwoo; Faruk Emon, Md Omar; Vatani, Morteza; Choi, Jae-Won

    2017-03-01

    Ionic liquid (IL)/polymer composites (1-ethyl-3-methyl-imidazolium tetrafluoroborate (EMIMBF4)/2-[[(butylamino)carbonyl]oxy]ethyl acrylate (BACOEA)) were fabricated to use as sensing materials for stretchable piezoresistive tactile sensors. The detectability of the IL/polymer composites was enhanced because the ionic transport properties of EMIMBF4 in the composites were improved by the synergic actions between the coordinate sites generated by the local motion of BACOEA chain segments under enough activation energy. The performance of the piezoresistive sensors was investigated with the degree of crosslinking and polymerization of the IL/polymer composites. As the compressive strain was increased, the distance between two electrodes decreased, and the motion of polymer chains and IL occurred, resulting in a decrease in the electrical resistance of the sensors. We have confirmed that the sensitivity of the sensors are affected by the degree of crosslink and polymerization of the IL/polymer composites. In addition, all of the materials (skins, sensing material, and electrode) used in this study are photo-curable, and thus the stretchable piezoresistive tactile sensors can be successfully fabricated by 3D printing.

  3. a Comparison among Different Optimization Levels in 3d Multi-Sensor Models. a Test Case in Emergency Context: 2016 Italian Earthquake

    NASA Astrophysics Data System (ADS)

    Chiabrando, F.; Sammartano, G.; Spanò, A.

    2017-02-01

    In sudden emergency contexts that affect urban centres and built heritage, the latest Geomatics technique solutions must enable the demands of damage documentation, risk assessment, management and data sharing as efficiently as possible, in relation to the danger condition, to the accessibility constraints of areas and to the tight deadlines needs. In recent times, Unmanned Vehicle System (UAV) equipped with cameras are more and more involved in aerial survey and reconnaissance missions, and they are behaving in a very cost-effective way in the direction of 3D documentation and preliminary damage assessment. More and more UAV equipment with low-cost sensors must become, in the future, suitable in every situation of documentation, but above all in damages and uncertainty frameworks. Rapidity in acquisition times and low-cost sensors are challenging marks, and they could be taken into consideration maybe with time spending processing. The paper will analyze and try to classify the information content in 3D aerial and terrestrial models and the importance of metric and non-metric withdrawable information that should be suitable for further uses, as the structural analysis one. The test area is an experience of Team Direct from Politecnico di Torino in centre Italy, where a strong earthquake occurred in August 2016. This study is carried out on a stand-alone damaged building in Pescara del Tronto (AP), with a multi-sensor 3D survey. The aim is to evaluate the contribution of terrestrial and aerial quick documentation by a SLAM based LiDAR and a camera equipped multirotor UAV, for a first reconnaissance inspection and modelling in terms of level of details, metric and non-metric information.

  4. Cantilevers orthodontics forces measured by fiber sensors

    NASA Astrophysics Data System (ADS)

    Schneider, Neblyssa; Milczewski, Maura S.; de Oliveira, Valmir; Guariza Filho, Odilon; Lopes, Stephani C. P. S.; Kalinowski, Hypolito J.

    2015-09-01

    Fibers Bragg Gratings were used to evaluate the transmission of the forces generates by orthodontic mechanic based one and two cantilevers used to move molars to the upright position. The results showed levels forces of approximately 0,14N near to the root of the molar with one and two cantilevers.

  5. Force/torque and tactile sensors for sensor-based manipulator control

    NASA Technical Reports Server (NTRS)

    Vanbrussel, H.; Belieen, H.; Bao, Chao-Ying

    1989-01-01

    The autonomy of manipulators, in space and in industrial environments, can be dramatically enhanced by the use of force/torque and tactile sensors. The development and future use of a six-component force/torque sensor for the Hermes Robot Arm (HERA) Basic End-Effector (BEE) is discussed. Then a multifunctional gripper system based on tactile sensors is described. The basic transducing element of the sensor is a sheet of pressure-sensitive polymer. Tactile image processing algorithms for slip detection, object position estimation, and object recognition are described.

  6. Calibration of an Optically Levitated Microsphere as a Force Sensor

    NASA Astrophysics Data System (ADS)

    Stutz, Jordan Hall

    By using an optically trapped and cooled microsphere (bead) as a force sensor, it is predicted to be possible to attain force sensitivity of 10 -21 N. This sensitivity is achieved because the force sensor is mechanically decoupled from the environment, which allows for larger quality factors. With this sensitivity, it is possible to test for corrections to Newtonian gravity at 1 mum length scales. This thesis describes the experimental setup of optically trapping and cooling a 3 mum sphere as well as a technique to calibrate the force sensitivity using applied electric fields. The long term goal of the experiment is to use this force sensor to measure gravity and other forces at short ranges, so calibrating the system is important. We have trapped a 3mum microsphere in an optical trap and have taken it to medium vacuum (2 torr). We have also cooled the bead's center of mass motion along three axes. We have applied an external force by using an electrical potential and have measured the force exerted on the bead. We have data that shows the force on the bead as a function of voltage, which allows us to find the charge on the beads. The charges on the beads range from zero electrons to upwards of 100. We have evidence that the charge on a bead can be reduced using light from a halogen light.

  7. Force-driven evolution of mesoscale structure in engineered 3D microtissues and the modulation of tissue stiffening

    PubMed Central

    Zhao, Ruogang; Chen, Christopher S.; Reich, Daniel H.

    2014-01-01

    The complex structures of tissues determine their mechanical strength. In engineered tissues formed through self-assembly in a mold, artificially imposed boundary constraints have been found to induce anisotropic clustering of the cells and the extracellular matrix in local regions. To understand how such tissue remodeling at the intermediate length-scale (mesoscale) affects tissue stiffening, we used a novel microtissue mechanical testing system to manipulate the remodeling of the tissue structures and to measure the subsequent changes in tissue stiffness. Microtissues were formed through cell driven self-assembly of collagen matrix in arrays of micro-patterned wells, each containing two flexible micropillars that measured the microtissues’ contractile forces and also their elastic moduli via magnetic actuation. We manipulated tissue remodeling by inducing myofibroblast differentiation with TGF-β1, by varying the micropillar spring constants or by blocking cell contractility with blebbistatin and collagen cross-linking with BAPN. We showed that increased anisotropic compaction of the collagen matrix, caused by increased micropillar spring constant or elevated cell contraction force, contributed to tissue stiffening. Conversely, collagen matrix and tissue stiffness were not affected by inhibition of cell-generated contraction forces.. Together, these measurements showed that mesoscale tissue remodeling is an important middle step linking tissue compaction forces and tissue stiffening. PMID:24630092

  8. Compliant tactile sensor for generating a signal related to an applied force

    NASA Technical Reports Server (NTRS)

    Torres-Jara, Eduardo (Inventor)

    2012-01-01

    Tactile sensor. The sensor includes a compliant convex surface disposed above a sensor array, the sensor array adapted to respond to deformation of the convex surface to generate a signal related to an applied force vector.

  9. A 3D-CFD code for accurate prediction of fluid flows and fluid forces in seals

    NASA Technical Reports Server (NTRS)

    Athavale, M. M.; Przekwas, A. J.; Hendricks, R. C.

    1994-01-01

    Current and future turbomachinery requires advanced seal configurations to control leakage, inhibit mixing of incompatible fluids and to control the rotodynamic response. In recognition of a deficiency in the existing predictive methodology for seals, a seven year effort was established in 1990 by NASA's Office of Aeronautics Exploration and Technology, under the Earth-to-Orbit Propulsion program, to develop validated Computational Fluid Dynamics (CFD) concepts, codes and analyses for seals. The effort will provide NASA and the U.S. Aerospace Industry with advanced CFD scientific codes and industrial codes for analyzing and designing turbomachinery seals. An advanced 3D CFD cylindrical seal code has been developed, incorporating state-of-the-art computational methodology for flow analysis in straight, tapered and stepped seals. Relevant computational features of the code include: stationary/rotating coordinates, cylindrical and general Body Fitted Coordinates (BFC) systems, high order differencing schemes, colocated variable arrangement, advanced turbulence models, incompressible/compressible flows, and moving grids. This paper presents the current status of code development, code demonstration for predicting rotordynamic coefficients, numerical parametric study of entrance loss coefficients for generic annular seals, and plans for code extensions to labyrinth, damping, and other seal configurations.

  10. Developing a 3D Constrained Variational Analysis Method to Calculate Large Scale Forcing Data and the Applications

    NASA Astrophysics Data System (ADS)

    Tang, S.; Zhang, M. H.

    2014-12-01

    Large-scale forcing data (vertical velocities and advective tendencies) are important atmospheric fields to drive single-column models (SCM), cloud-resolving models (CRM) and large-eddy simulations (LES), but they are difficult to calculate accurately. The current 1-dimensional constrained variational analysis (1D CVA) method (Zhang and Lin, 1997) used by the Atmospheric Radiation Measurement (ARM) program is limited to represent the average of a sounding network domain. We extended the original 1D CVA algorithm into 3-dimensional along with other improvements, calculated gridded large-scale forcing data, apparent heating sources (Q1) and moisture sinks (Q2), and compared with 5 reanalyses: ERA-Interim, NCEP CFSR, MERRA, JRA55 and NARR for a mid-latitude spring cyclone case. The results from a case study for in March 3rd 2000 at the Southern Great Plain (SGP) show that reanalyses generally captured the structure of the mid-latitude cyclone, but they have serious biases in the 2nd order derivative terms (divergences and horizontal derivations) at regional scales of less than a few hundred kilometers. Our algorithm provides a set of atmospheric fields consistent with the observed constraint variables at the surface and top of the atmosphere better than reanalyses. The analyzed atmospheric fields can be used in SCM, CRM and LES to provide 3-dimensional dynamical forcing, or be used to evaluate reanalyses or model simulations.

  11. Developing a Magnetic Resonance Imaging measurement of the forces within 3D granular materials under external loads

    NASA Astrophysics Data System (ADS)

    Elrington, Stefan; Bertrand, Thibault; Frey, Merideth; Shattuck, Mark; O'Hern, Corey; Barrett, Sean

    2014-03-01

    Granular materials are comprised of an ensemble of discrete macroscopic grains that interact with each other via highly dissipative forces. These materials are ubiquitous in our everyday life ranging in scale from the granular media that forms the Earth's crust to that used in agricultural and pharmaceutical industries. Granular materials exhibit complex behaviors that are poorly understood and cannot be easily described by statistical mechanics. Under external loads individual grains are jammed into place by a network of force chains. These networks have been imaged in quasi two-dimensional and on the outer surface of three-dimensional granular materials. Our goal is to use magnetic resonance imaging (MRI) to detect contact forces deep within three-dimensional granular materials, using hydrogen-1 relaxation times as a reporter for changes in local stress and strain. To this end, we use a novel pulse sequence to narrow the line width of hydrogen-1 in rubber. Here we present our progress to date, and prospects for future improvements.

  12. Fluid–Structure Interaction Analysis of Papillary Muscle Forces Using a Comprehensive Mitral Valve Model with 3D Chordal Structure

    SciTech Connect

    Toma, Milan; Jensen, Morten Ø.; Einstein, Daniel R.; Yoganathan, Ajit P.; Cochran, Richard P.; Kunzelman, Karyn S.

    2015-07-17

    Numerical models of native heart valves are being used to study valve biomechanics to aid design and development of repair procedures and replacement devices. These models have evolved from simple two-dimensional approximations to complex three-dimensional, fully coupled fluid-structure interaction (FSI) systems. Such simulations are useful for predicting the mechanical and hemodynamic loading on implanted valve devices. A current challenge for improving the accuracy of these predictions is choosing and implementing modeling boundary conditions. In order to address this challenge, we are utilizing an advanced in-vitro system to validate FSI conditions for the mitral valve system. Explanted ovine mitral valves were mounted in an in vitro setup, and structural data for the mitral valve was acquired with *CT. Experimental data from the in-vitro ovine mitral valve system were used to validate the computational model. As the valve closes, the hemodynamic data, high speed lea et dynamics, and force vectors from the in-vitro system were compared to the results of the FSI simulation computational model. The total force of 2.6 N per papillary muscle is matched by the computational model. In vitro and in vivo force measurements are important in validating and adjusting material parameters in computational models. The simulations can then be used to answer questions that are otherwise not possible to investigate experimentally. This work is important to maximize the validity of computational models of not just the mitral valve, but any biomechanical aspect using computational simulation in designing medical devices.

  13. Estimating 3D L5/S1 moments and ground reaction forces during trunk bending using a full-body ambulatory inertial motion capture system.

    PubMed

    Faber, G S; Chang, C C; Kingma, I; Dennerlein, J T; van Dieën, J H

    2016-04-11

    Inertial motion capture (IMC) systems have become increasingly popular for ambulatory movement analysis. However, few studies have attempted to use these measurement techniques to estimate kinetic variables, such as joint moments and ground reaction forces (GRFs). Therefore, we investigated the performance of a full-body ambulatory IMC system in estimating 3D L5/S1 moments and GRFs during symmetric, asymmetric and fast trunk bending, performed by nine male participants. Using an ambulatory IMC system (Xsens/MVN), L5/S1 moments were estimated based on the upper-body segment kinematics using a top-down inverse dynamics analysis, and GRFs were estimated based on full-body segment accelerations. As a reference, a laboratory measurement system was utilized: GRFs were measured with Kistler force plates (FPs), and L5/S1 moments were calculated using a bottom-up inverse dynamics model based on FP data and lower-body kinematics measured with an optical motion capture system (OMC). Correspondence between the OMC+FP and IMC systems was quantified by calculating root-mean-square errors (RMSerrors) of moment/force time series and the interclass correlation (ICC) of the absolute peak moments/forces. Averaged over subjects, L5/S1 moment RMSerrors remained below 10Nm (about 5% of the peak extension moment) and 3D GRF RMSerrors remained below 20N (about 2% of the peak vertical force). ICCs were high for the peak L5/S1 extension moment (0.971) and vertical GRF (0.998). Due to lower amplitudes, smaller ICCs were found for the peak asymmetric L5/S1 moments (0.690-0.781) and horizontal GRFs (0.559-0.948). In conclusion, close correspondence was found between the ambulatory IMC-based and laboratory-based estimates of back load.

  14. Fluid-Structure Interaction Analysis of Papillary Muscle Forces Using a Comprehensive Mitral Valve Model with 3D Chordal Structure.

    PubMed

    Toma, Milan; Jensen, Morten Ø; Einstein, Daniel R; Yoganathan, Ajit P; Cochran, Richard P; Kunzelman, Karyn S

    2016-04-01

    Numerical models of native heart valves are being used to study valve biomechanics to aid design and development of repair procedures and replacement devices. These models have evolved from simple two-dimensional approximations to complex three-dimensional, fully coupled fluid-structure interaction (FSI) systems. Such simulations are useful for predicting the mechanical and hemodynamic loading on implanted valve devices. A current challenge for improving the accuracy of these predictions is choosing and implementing modeling boundary conditions. In order to address this challenge, we are utilizing an advanced in vitro system to validate FSI conditions for the mitral valve system. Explanted ovine mitral valves were mounted in an in vitro setup, and structural data for the mitral valve was acquired with [Formula: see text]CT. Experimental data from the in vitro ovine mitral valve system were used to validate the computational model. As the valve closes, the hemodynamic data, high speed leaflet dynamics, and force vectors from the in vitro system were compared to the results of the FSI simulation computational model. The total force of 2.6 N per papillary muscle is matched by the computational model. In vitro and in vivo force measurements enable validating and adjusting material parameters to improve the accuracy of computational models. The simulations can then be used to answer questions that are otherwise not possible to investigate experimentally. This work is important to maximize the validity of computational models of not just the mitral valve, but any biomechanical aspect using computational simulation in designing medical devices.

  15. Neutron measurements with ultra-thin 3D silicon sensors in a radiotherapy treatment room using a Siemens PRIMUS linac.

    PubMed

    Guardiola, C; Gómez, F; Fleta, C; Rodríguez, J; Quirion, D; Pellegrini, G; Lousa, A; Martínez-de-Olcoz, L; Pombar, M; Lozano, M

    2013-05-21

    The accurate detection and dosimetry of neutrons in mixed and pulsed radiation fields is a demanding instrumental issue with great interest both for the industrial and medical communities. In recent studies of neutron contamination around medical linacs, there is a growing concern about the secondary cancer risk for radiotherapy patients undergoing treatment in photon modalities at energies greater than 6 MV. In this work we present a promising alternative to standard detectors with an active method to measure neutrons around a medical linac using a novel ultra-thin silicon detector with 3D electrodes adapted for neutron detection. The active volume of this planar device is only 10 µm thick, allowing a high gamma rejection, which is necessary to discriminate the neutron signal in the radiotherapy peripheral radiation field with a high gamma background. Different tests have been performed in a clinical facility using a Siemens PRIMUS linac at 6 and 15 MV. The results show a good thermal neutron detection efficiency around 2% and a high gamma rejection factor.

  16. Neutron measurements with ultra-thin 3D silicon sensors in a radiotherapy treatment room using a Siemens PRIMUS linac

    NASA Astrophysics Data System (ADS)

    Guardiola, C.; Gómez, F.; Fleta, C.; Rodríguez, J.; Quirion, D.; Pellegrini, G.; Lousa, A.; Martínez-de-Olcoz, L.; Pombar, M.; Lozano, M.

    2013-05-01

    The accurate detection and dosimetry of neutrons in mixed and pulsed radiation fields is a demanding instrumental issue with great interest both for the industrial and medical communities. In recent studies of neutron contamination around medical linacs, there is a growing concern about the secondary cancer risk for radiotherapy patients undergoing treatment in photon modalities at energies greater than 6 MV. In this work we present a promising alternative to standard detectors with an active method to measure neutrons around a medical linac using a novel ultra-thin silicon detector with 3D electrodes adapted for neutron detection. The active volume of this planar device is only 10 µm thick, allowing a high gamma rejection, which is necessary to discriminate the neutron signal in the radiotherapy peripheral radiation field with a high gamma background. Different tests have been performed in a clinical facility using a Siemens PRIMUS linac at 6 and 15 MV. The results show a good thermal neutron detection efficiency around 2% and a high gamma rejection factor.

  17. A Force-Detection NMR Sensor in CMOS-MEMS

    DTIC Science & Technology

    2003-01-01

    Lauterbur. “Design and Analysis of Microcoils for NMR Microscopy.” Journal of Magnetic Resonance B, Vol. 108, pp. 114-124. 1995. 59 [29] Protasis...A Force-Detection NMR Sensor in CMOS-MEMS by Kevin M. Frederick Bachelor of Science, 2001 Carnegie Mellon University, Pittsburgh...REPORT TYPE 3. DATES COVERED 00-00-2003 to 00-00-2003 4. TITLE AND SUBTITLE A Force-Detection NMR Sensor in CMOS-MEMS 5a. CONTRACT NUMBER 5b

  18. Process for manufacturing shell membrane force and deflection sensor

    NASA Technical Reports Server (NTRS)

    Park, Yong-Lae (Inventor); Moslehi, Behzad (Inventor); Black, Richard James (Inventor); Cutkosky, Mark R. (Inventor); Chau, Kelvin K. (Inventor)

    2012-01-01

    A sensor for force is formed from an elastomeric cylinder having a region with apertures. The apertures have passageways formed between them, and an optical fiber is introduced into these passageways, where the optical fiber has a grating for measurement of tension positioned in the passageways between apertures. Optionally, a temperature measurement sensor is placed in or around the elastomer for temperature correction, and if required, a copper film may be deposited in the elastomer for reduced sensitivity to spot temperature variations in the elastomer near the sensors.

  19. Facile synthesis of novel 3D nanoflower-like CuxO/multilayer graphene composites for room temperature NOx gas sensor application

    NASA Astrophysics Data System (ADS)

    Yang, Ying; Tian, Chungui; Wang, Jingchao; Sun, Li; Shi, Keying; Zhou, Wei; Fu, Honggang

    2014-06-01

    3D nanoflower-like CuxO/multilayer graphene composites (CuMGCs) have been successfully synthesized as a new type of room temperature NOx gas sensor. Firstly, the expanded graphite (EG) was activated by KOH and many moderate functional groups were generated; secondly, Cu(CH3COO)2 and CTAB underwent full infusion into the interlayers of activated EG (aEG) by means of a vacuum-assisted technique and then reacted with the functional groups of aEG accompanied by the exfoliation of aEG via reflux. Eventually, the 3D nanoflower consisting of 5-9 nm CuxO nanoparticles homogeneously grow in situ on aEG. The KOH activation of EG plays a key role in the uniform formation of CuMGCs. When being used as gas sensors for detection of NOx, the CuMGCs achieved a higher response at room temperature than that of the corresponding CuxO. In detail, the CuMGCs show a higher NOx gas sensing performance with low detection limit of 97 ppb, high gas response of 95.1% and short response time of 9.6 s to 97.0 ppm NOx at room temperature. Meanwhile, the CuMGC sensor presents a favorable linearity, good selectivity and stability. The enhancement of the sensing response is mainly attributed to the improved conductivity of the CuMGCs. A series of Mott-Schottky and EIS measurements demonstrated that the CuMGCs have much higher donor densities than CuxO and can easily capture and migrate electrons from the conduction band, resulting in the enhancement of electrical conductivity.3D nanoflower-like CuxO/multilayer graphene composites (CuMGCs) have been successfully synthesized as a new type of room temperature NOx gas sensor. Firstly, the expanded graphite (EG) was activated by KOH and many moderate functional groups were generated; secondly, Cu(CH3COO)2 and CTAB underwent full infusion into the interlayers of activated EG (aEG) by means of a vacuum-assisted technique and then reacted with the functional groups of aEG accompanied by the exfoliation of aEG via reflux. Eventually, the 3D nanoflower

  20. A comprehensive method for magnetic sensor calibration: a precise system for 3-D tracking of the tongue movements.

    PubMed

    Farajidavar, Aydin; Block, Jacob M; Ghovanloo, Maysam

    2012-01-01

    Magnetic localization has been used in a variety of applications, including the medical field. Small magnetic tracers are often modeled as dipoles and localization has been achieved by solving well-defined dipole equations. However, in practice, the precise calculation of the tracer location not only depends on solving the highly nonlinear dipole equations through numerical algorithms but also on the precision of the magnetic sensor, accuracy of the tracer magnetization, and the earth magnetic field (EMF) measurements. We have developed and implemented a comprehensive calibration method that addresses all of the aforementioned factors. We evaluated this method in a bench-top setting by moving the tracer along controlled trajectories. We also conducted several experiments to track the tongue movement in a human subject.

  1. Role of gastrocnemius-soleus muscle in forefoot force transmission at heel rise - A 3D finite element analysis.

    PubMed

    Chen, Wen-Ming; Park, Jaeyoung; Park, Seung-Bum; Shim, Victor Phyau-Wui; Lee, Taeyong

    2012-06-26

    The functions of the gastrocnemius-soleus (G-S) complex and other plantar flexor muscles are to stabilize and control major bony joints, as well as to provide primary coordination of the foot during the stance phase of gait. Geometric positioning of the foot and transferring of plantar loads can be adversely affected when muscular control is abnormal (e.g., equinus contracture). Although manipulation of the G-S muscle complex by surgical intervention (e.g., tendo-Achilles lengthening) is believed to be effective in restoring normal plantar load transfer in the foot, there is lack of quantitative data supporting that notion. Thus, the objective of this study is to formulate a three-dimensional musculoskeletal finite element model of the foot to quantify the precise role of the G-S complex in terms of biomechanical response of the foot. The model established corresponds to a muscle-demanding posture during heel rise, with simulated activation of major extrinsic plantar flexors. In the baseline (reference) case, required muscle forces were determined from what would be necessary to generate the targeted resultant ground reaction forces. The predicted plantar load transfer through the forefoot plantar surface, as indicated by plantar pressure distribution, was verified by comparison with experimental observations. This baseline model served as a reference for subsequent parametric analysis, where muscle forces applied by the G-S complex were decreased in a step-wise manner. Adaptive changes of the foot mechanism, in terms of internal joint configurations and plantar stress distributions, in response to altered muscular loads were analyzed. Movements of the ankle and metatarsophalangeal joints, as well as forefoot plantar pressure peaks and pressure distribution under the metatarsal heads (MTHs), were all found to be extremely sensitive to reduction in the muscle load in the G-S complex. A 40% reduction in G-S muscle stabilization can result in dorsal-directed rotations

  2. A Miniature Force Sensor for Prosthetic Hands

    NASA Technical Reports Server (NTRS)

    Platt, Robert; Chu, Mars; Diftler, Myron; Martin, Toby; Valvo, Michael

    2006-01-01

    Tactile sensing is an important part of the development of new prosthetic hands. A number of approaches to establishing an afferent pathway back to the patient for tactile information are becoming available including tactors and direct stimulation of the afferent nerves. Tactile information can also be used by low-level control systems that perform simple tasks for the patient such as establishing a stable grasp and maintaining the grasping forces needed to hold an object. This abstract reports on the design of a small fingertip load cell based on semi-conductor strain gauges. Since this load cell is so small (measuring only 8.5mm in diameter and 6.25 mm in height), it easily fits into the tip of an anthropomorphic mechatronic hand. This load cell is tested by comparing a time series of force and moment data with reference data acquired from a much larger high-precision commercial load cell.

  3. 3D simulation of AFM non-uniform piezoelectric micro-cantilever with various geometries subjected to the tip-sample forces

    NASA Astrophysics Data System (ADS)

    Korayem, Alireza Habibnejad; Abdi, Moein

    2017-03-01

    Atomic force microscope (AFM) is a powerful instrument for investigation of surface topography at different workspaces. It is important to understand the dynamic behavior of AFM to improve its performance. 3D numerical method is suitable in order to simulate experimental conditions. This paper has investigated modeling and dynamic simulation of rectangular, Dagger and V-shaped geometries of AFM piezoelectric micro-cantilever (MC) with two electrode layers in the air environment. For a better understanding of the system dynamic, multi-layer MC dynamic equation has been derived. Euler-Bernoulli beam theory has been used for modeling the AFM cantilever. Hamilton's principle has been used for the MC modeling and the finite element method (FEM) has been applied for its discretization. In 3D, with respect to the tip-sample forces piezoelectric MC has been simulated via the COMSOL software. The frequency and time responses have been also investigated. The topographies have been performed on different surfaces with various roughness's types in the tapping and non-contact mode. The results of these two methods have been compared with experimental results. Moreover, the effects of MC geometrical parameters on surfaces topography and frequency responses have been studied and optimal dimensions of topographies have been obtained for each of the beam geometries. Simulations of various tip geometries have been performed in order to examine the effects of tip dimensions on the frequency and time responses. Furthermore, the effect of tip displacement on the frequency response has been investigated for different MC lengths.

  4. Inner and outer coronary vessel wall segmentation from CCTA using an active contour model with machine learning-based 3D voxel context-aware image force

    NASA Astrophysics Data System (ADS)

    Sivalingam, Udhayaraj; Wels, Michael; Rempfler, Markus; Grosskopf, Stefan; Suehling, Michael; Menze, Bjoern H.

    2016-03-01

    In this paper, we present a fully automated approach to coronary vessel segmentation, which involves calcification or soft plaque delineation in addition to accurate lumen delineation, from 3D Cardiac Computed Tomography Angiography data. Adequately virtualizing the coronary lumen plays a crucial role for simulating blood ow by means of fluid dynamics while additionally identifying the outer vessel wall in the case of arteriosclerosis is a prerequisite for further plaque compartment analysis. Our method is a hybrid approach complementing Active Contour Model-based segmentation with an external image force that relies on a Random Forest Regression model generated off-line. The regression model provides a strong estimate of the distance to the true vessel surface for every surface candidate point taking into account 3D wavelet-encoded contextual image features, which are aligned with the current surface hypothesis. The associated external image force is integrated in the objective function of the active contour model, such that the overall segmentation approach benefits from the advantages associated with snakes and from the ones associated with machine learning-based regression alike. This yields an integrated approach achieving competitive results on a publicly available benchmark data collection (Rotterdam segmentation challenge).

  5. Tooteko: a Case Study of Augmented Reality for AN Accessible Cultural Heritage. Digitization, 3d Printing and Sensors for AN Audio-Tactile Experience

    NASA Astrophysics Data System (ADS)

    D'Agnano, F.; Balletti, C.; Guerra, F.; Vernier, P.

    2015-02-01

    Tooteko is a smart ring that allows to navigate any 3D surface with your finger tips and get in return an audio content that is relevant in relation to the part of the surface you are touching in that moment. Tooteko can be applied to any tactile surface, object or sheet. However, in a more specific domain, it wants to make traditional art venues accessible to the blind, while providing support to the reading of the work for all through the recovery of the tactile dimension in order to facilitate the experience of contact with art that is not only "under glass." The system is made of three elements: a high-tech ring, a tactile surface tagged with NFC sensors, and an app for tablet or smartphone. The ring detects and reads the NFC tags and, thanks to the Tooteko app, communicates in wireless mode with the smart device. During the tactile navigation of the surface, when the finger reaches a hotspot, the ring identifies the NFC tag and activates, through the app, the audio track that is related to that specific hotspot. Thus a relevant audio content relates to each hotspot. The production process of the tactile surfaces involves scanning, digitization of data and 3D printing. The first experiment was modelled on the facade of the church of San Michele in Isola, made by Mauro Codussi in the late fifteenth century, and which marks the beginning of the Renaissance in Venice. Due to the absence of recent documentation on the church, the Correr Museum asked the Laboratorio di Fotogrammetria to provide it with the aim of setting up an exhibition about the order of the Camaldolesi, owners of the San Michele island and church. The Laboratorio has made the survey of the facade through laser scanning and UAV photogrammetry. The point clouds were the starting point for prototypation and 3D printing on different supports. The idea of the integration between a 3D printed tactile surface and sensors was born as a final thesis project at the Postgraduate Mastercourse in Digital

  6. Vectorial scanning force microscopy using a nanowire sensor

    NASA Astrophysics Data System (ADS)

    Rossi, Nicola; Braakman, Floris R.; Cadeddu, Davide; Vasyukov, Denis; Tütüncüoglu, Gözde; Fontcuberta I Morral, Anna; Poggio, Martino

    2016-10-01

    Self-assembled nanowire (NW) crystals can be grown into nearly defect-free nanomechanical resonators with exceptional properties, including small motional mass, high resonant frequency and low dissipation. Furthermore, by virtue of slight asymmetries in geometry, a NW's flexural modes are split into doublets oscillating along orthogonal axes. These characteristics make bottom-up grown NWs extremely sensitive vectorial force sensors. Here, taking advantage of its adaptability as a scanning probe, we use a single NW to image a sample surface. By monitoring the frequency shift and direction of oscillation of both modes as we scan above the surface, we construct a map of all spatial tip-sample force derivatives in the plane. Finally, we use the NW to image electric force fields distinguishing between forces arising from the NW charge and polarizability. This universally applicable technique enables a form of atomic force microscopy particularly suited to mapping the size and direction of weak tip-sample forces.

  7. Tri-Axial MRI Compatible Fiber-optic Force Sensor

    PubMed Central

    Tan, U-Xuan; Yang, Bo; Gullapalli, Rao; Desai, Jaydev P.

    2011-01-01

    Magnetic resonance imaging (MRI) has been gaining popularity over standard imaging modalities like ultrasound and CT because of its ability to provide excellent soft-tissue contrast. However, due to the working principle of MRI, a number of conventional force sensors are not compatible. One popular solution is to develop a fiber-optic force sensor. However, the measurements along the principal axes of a number of these force sensors are highly cross-coupled. One of the objectives of this paper is to minimize this coupling effect. In addition, this paper describes the design of elastic frame structures that are obtained systematically using topology optimization techniques for maximizing sensor resolution and sensor bandwidth. Through the topology optimization approach, we ensure that the frames are linked from the input to output. The elastic frame structures are then fabricated using polymers materials, such as ABS and Delrin®, as they are ideal materials for use in MRI environment. However, the hysteresis effect seen in the displacement-load graph of plastic materials is known to affect the accuracy. Hence, this paper also proposes modeling and addressing this hysteretic effect using Prandtl-Ishlinskii play operators. Finally, experiments are conducted to evaluate the sensor’s performance, as well as its compatibility in MRI under continuous imaging. PMID:21666783

  8. Identification of Object Dynamics Using Hand Worn Motion and Force Sensors.

    PubMed

    Kortier, Henk G; Schepers, H Martin; Veltink, Peter H

    2016-11-26

    Emerging microelectromechanical system (MEMS)-based sensors become much more applicable for on-body measurement purposes lately. Especially, the development of a finger tip-sized tri-axial force sensor gives the opportunity to measure interaction forces between the human hand and environmental objects. We have developed a new prototype device that allows simultaneous 3D force and movement measurements at the finger and thumb tips. The combination of interaction forces and movements makes it possible to identify the dynamical characteristics of the object being handled by the hand. With this device attached to the hand, a subject manipulated mass and spring objects under varying conditions. We were able to identify and estimate the weight of two physical mass objects (0.44 kg: 29 . 3 % ± 18 . 9 % and 0.28 kg: 19 . 7 % ± 10 . 6 % ) and the spring constant of a physical spring object ( 16 . 3 % ± 12 . 6 % ). The system is a first attempt to quantify the interactions of the hand with the environment and has many potential applications in rehabilitation, ergonomics and sports.

  9. Identification of Object Dynamics Using Hand Worn Motion and Force Sensors

    PubMed Central

    Kortier, Henk G.; Schepers, H. Martin; Veltink, Peter H.

    2016-01-01

    Emerging microelectromechanical system (MEMS)-based sensors become much more applicable for on-body measurement purposes lately. Especially, the development of a finger tip-sized tri-axial force sensor gives the opportunity to measure interaction forces between the human hand and environmental objects. We have developed a new prototype device that allows simultaneous 3D force and movement measurements at the finger and thumb tips. The combination of interaction forces and movements makes it possible to identify the dynamical characteristics of the object being handled by the hand. With this device attached to the hand, a subject manipulated mass and spring objects under varying conditions. We were able to identify and estimate the weight of two physical mass objects (0.44 kg: 29.3%±18.9% and 0.28 kg: 19.7%±10.6%) and the spring constant of a physical spring object (16.3%±12.6%). The system is a first attempt to quantify the interactions of the hand with the environment and has many potential applications in rehabilitation, ergonomics and sports. PMID:27898040

  10. 3D radiative transfer effects in multi-angle/multispectral radio-polarimetric signals from a mixture of clouds and aerosols viewed by a non-imaging sensor

    NASA Astrophysics Data System (ADS)

    Davis, Anthony B.; Garay, Michael J.; Xu, Feng; Qu, Zheng; Emde, Claudia

    2013-09-01

    When observing a spatially complex mix of aerosols and clouds in a single relatively large field-of-view, nature entangles their signals non-linearly through polarized radiation transport processes that unfold in the 3D position and direction spaces. In contrast, any practical forward model in a retrieval algorithm will use only 1D vector radiative transfer (vRT) in a linear mixing technique. We assess the difference between the observed and predicted signals using synthetic data from a high-fidelity 3D vRT model with clouds generated using a Large Eddy Simulation model and an aerosol climatology. We find that this difference is signal—not noise—for the Aerosol Polarimetry Sensor (APS), an instrument developed by NASA. Moreover, the worst case scenario is also the most interesting case, namely, when the aerosol burden is large, hence hase the most impact on the cloud microphysics and dynamics. Based on our findings, we formulate a mitigation strategy for these unresolved cloud adjacency effects assuming that some spatial information is available about the structure of the clouds at higher resolution from "context" cameras, as was planned for NASA's ill-fated Glory mission that was to carry the APS but failed to reach orbit. Application to POLDER (POLarization and Directionality of Earth Reflectances) data from the period when PARASOL (Polarization and Anisotropy of Reflectances for Atmospheric Sciences coupled with Observations from a Lidar) was in the A-train is briefly discussed.

  11. Feasibility of novel four degrees of freedom capacitive force sensor for skin interface force

    PubMed Central

    2012-01-01

    Background The objective of our study was to develop a novel capacitive force sensor that enables simultaneous measurements of yaw torque around the pressure axis and normal force and shear forces at a single point for the purpose of elucidating pressure ulcer pathogenesis and establishing criteria for selection of cushions and mattresses. Methods Two newly developed sensors (approximately 10 mm×10 mm×5 mm (10) and 20 mm×20 mm×5 mm (20)) were constructed from silicone gel and four upper and lower electrodes. The upper and lower electrodes had sixteen combinations that had the function as capacitors of parallel plate type. The full scale (FS) ranges of force/torque were defined as 0–1.5 N, –0.5-0.5 N and −1.5-1.5 N mm (10) and 0–8.7 N, –2.9-2.9 N and −16.8-16.8 N mm (20) in normal force, shear forces and yaw torque, respectively. The capacitances of sixteen capacitors were measured by an LCR meter (AC1V, 100 kHz) when displacements corresponding to four degrees of freedom (DOF) forces within FS ranges were applied to the sensor. The measurement was repeated three times in each displacement condition (10 only). Force/torque were calculated by corrected capacitance and were evaluated by comparison to theoretical values and standard normal force measured by an universal tester. Results In measurements of capacitance, the coefficient of variation was 3.23% (10). The Maximum FS errors of estimated force/torque were less than or equal to 10.1 (10) and 16.4% (20), respectively. The standard normal forces were approximately 1.5 (10) and 9.4 N (20) when pressure displacements were 3 (10) and 2 mm (20), respectively. The estimated normal forces were approximately 1.5 (10) and 8.6 N (10) in the same condition. Conclusions In this study, we developed a new four DOF force sensor for measurement of force/torque that occur between the skin and a mattress. In measurement of capacitance, the repeatability was good and it was confirmed that the sensor had

  12. Mechanotransduction: Forces, Sensors, and Redox Signaling

    PubMed Central

    Chatterjee, Shampa

    2014-01-01

    Abstract Mechanotransduction describes the molecular mechanisms by which cells response to changes in their physical environment by translating mechanical stimuli into biochemical signals. It is now clear that reactive oxygen species (ROS) and redox signaling play a crucial role in mechanotransduction analogous to their role in chemotransduction. This Forum has particular emphasis on ROS generation with altered mechanical stress, the upstream signal transduction pathways that initiate ROS production, and the downstream effectors that lead to physiological responses. There is particular emphasis on the role of ion channels in the initial response and the role of NADPH oxidases as the major source of ROS. The latter enzyme serves as the fulcrum of the mechanotransduction cascade. Although it seems likely that all cells are mechanosensitive to some degree, we have highlighted the responses of unicellular organisms (bacteria), bone cells, and particularly cells of the vasculature (endothelial cells and vascular smooth muscle cells). These cell types have been useful for studying the responses to altered osmotic pressure, hemodynamic pressure, shear stress, and compressive forces while exploring the link between signal transduction and physiological/pathophysiological responses. Antioxid. Redox Signal. 20, 868–871. PMID:24354342

  13. An in vivo validation of the application of acoustic radiation force to enhance the diagnostic utility of molecular imaging using 3-d ultrasound.

    PubMed

    Gessner, Ryan C; Streeter, Jason E; Kothadia, Roshni; Feingold, Steven; Dayton, Paul A

    2012-04-01

    For more than a decade, the application of acoustic radiation force (ARF) has been proposed as a mechanism to increase ultrasonic molecular imaging (MI) sensitivity in vivo. Presented herein is the first noninvasive in vivo validation of ARF-enhanced MI with an unmodified clinical system. First, an in vitro optical-acoustical setup was used to optimize system parameters and ensure sufficient microbubble translation when exposed to ARF. 3-D ARF-enhanced MI was then performed on 7 rat fibrosarcoma tumors using microbubbles targeted to α(v)β₃ and nontargeted microbubbles. Low-amplitude (<25 kPa) 3-D ARF pulse sequences were tested and compared with passive targeting studies in the same animal. Our results demonstrate that a 78% increase in image intensity from targeted microbubbles can be achieved when using ARF relative to the passive targeting studies. Furthermore, ARF did not significantly increase image contrast when applied to nontargeted agents, suggesting that ARF did not increase nonspecific adhesion.

  14. Development of a microlateral force sensor and its evaluation using lateral force microscopy.

    PubMed

    Ando, Yasuhisa; Shiraishi, Naoki

    2007-03-01

    A microlateral force sensor (MLFS) was developed and evaluated using atomic force microscopy (AFM). The sensor was attached to a sensing table supported by a suspension system. The lateral motion of the sensing table was activated by a comb actuator. The driving voltage to the comb actuator was controlled to maintain a constant position of the sensing table by detecting the tunneling current at a detector, which consisted of two electrodes where the bias voltage was applied. An AFM was used to apply a lateral force to the sensing table of the sensor. When the probe of a cantilever was pressed against the sensing table and a raster scanning was conducted, the driving voltage of the comb actuator changed to compensate the friction force between the probe and sensing table. AFM measurements of an asperity array on the sensing table were conducted, and a lateral force microscopy image (LFM) was obtained from the change in driving voltage. The image by MLFS was very similar to the LFM image that was conventionally obtained from torsion of the cantilever. The LFM image strongly correlated with the gradient image calculated from the AFM topographic image. The force sensitivity of the MLFS was determined by comparing the LFM image obtained by using the MLFS with the tangential force derived from the gradient of the AFM image.

  15. Smartphone-based portable intensity modulated force sensor

    NASA Astrophysics Data System (ADS)

    Negri, Lucas H.; Schiefer, Elberth M.; Paterno, Aleksander S.; Muller, Marcia; Fabris, José L.

    2015-09-01

    This work proposes a low-cost force sensor, based on intensity modulation in an optical fibre. The transducer element is composed of a knot in a single mode fibre embedded to a silicone adhesive cuboid, and can be easily fabricated. A simple sensing scheme is devised by using a visible light source and a CCD camera of a smartphone, allowing implementation costs to be reduced. Experimental results have shown that the sensor presents a linear response and a standard uncertainty of 1:07N within the dynamical range from 0 to 30 N.

  16. 3D-calibration of three- and four-sensor hot-film probes based on collocated sonic using neural networks

    NASA Astrophysics Data System (ADS)

    Kit, Eliezer; Liberzon, Dan

    2016-09-01

    High resolution measurements of turbulence in the atmospheric boundary layer (ABL) are critical to the understanding of physical processes and parameterization of important quantities, such as the turbulent kinetic energy dissipation. Low spatio-temporal resolution of standard atmospheric instruments, sonic anemometers and LIDARs, limits their suitability for fine-scale measurements of ABL. The use of miniature hot-films is an alternative technique, although such probes require frequent calibration, which is logistically untenable in field setups. Accurate and truthful calibration is crucial for the multi-hot-films applications in atmospheric studies, because the ability to conduct calibration in situ ultimately determines the turbulence measurements quality. Kit et al (2010 J. Atmos. Ocean. Technol. 27 23-41) described a novel methodology for calibration of hot-film probes using a collocated sonic anemometer combined with a neural network (NN) approach. An important step in the algorithm is the generation of a calibration set for NN training by an appropriate low-pass filtering of the high resolution voltages, measured by the hot-film-sensors and low resolution velocities acquired by the sonic. In Kit et al (2010 J. Atmos. Ocean. Technol. 27 23-41), Kit and Grits (2011 J. Atmos. Ocean. Technol. 28 104-10) and Vitkin et al (2014 Meas. Sci. Technol. 25 75801), the authors reported on successful use of this approach for in situ calibration, but also on the method’s limitations and restricted range of applicability. In their earlier work, a jet facility and a probe, comprised of two orthogonal x-hot-films, were used for calibration and for full dataset generation. In the current work, a comprehensive laboratory study of 3D-calibration of two multi-hot-film probes (triple- and four-sensor) using a grid flow was conducted. The probes were embedded in a collocated sonic, and their relative pitch and yaw orientation to the mean flow was changed by means of motorized

  17. Sensor Prototype to Evaluate the Contact Force in Measuring with Coordinate Measuring Arms

    PubMed Central

    Cuesta, Eduardo; Telenti, Alejandro; Patiño, Hector; González-Madruga, Daniel; Martínez-Pellitero, Susana

    2015-01-01

    This paper describes the design, development and evaluation tests of an integrated force sensor prototype for portable Coordinate Measuring Arms (CMAs or AACMMs). The development is based on the use of strain gauges located on the surface of the CMAs’ hard probe. The strain gauges as well as their cables and connectors have been protected with a custom case, made by Additive Manufacturing techniques (Polyjet 3D). The same method has been selected to manufacture an ergonomic handle that includes trigger mechanics and the electronic components required for synchronizing the trigger signal when probing occurs. The paper also describes the monitoring software that reads the signals in real time, the calibration procedure of the prototype and the validation tests oriented towards increasing knowledge of the forces employed in manual probing. Several experiments read and record the force in real time comparing different ways of probing (discontinuous and continuous contact) and measuring different types of geometric features, from single planes to exterior cylinders, cones, or spheres, through interior features. The probing force is separated into two components allowing the influence of these strategies in probe deformation to be known. The final goal of this research is to improve the probing technique, for example by using an operator training programme, allowing extra-force peaks and bad contacts to be minimized or just to avoid bad measurements. PMID:26057038

  18. Resonance frequency-retuned quartz tuning fork as a force sensor for noncontact atomic force microscopy

    SciTech Connect

    Ooe, Hiroaki; Sakuishi, Tatsuya; Arai, Toyoko; Nogami, Makoto; Tomitori, Masahiko

    2014-07-28

    Based on a two-prong type quartz tuning fork, a force sensor with a high Q factor, which we call a retuned fork sensor, was developed for non-contact atomic force microscopy (nc-AFM) with atomic resolution. By cutting a small notch and attaching an AFM tip to one prong, its resonance frequency can be retuned to that of the other intact prong. In balancing the two prongs in this manner, a high Q factor (>50 000 in ultrahigh vacuum) is obtained for the sensor. An atomic resolution image of the Si(111)-7 × 7 surface was demonstrated using an nc-AFM with the sensor. The dependence of the Q factor on resonance frequency of the sensor and the long-range force between tip and sample were measured and analyzed in view of the various dissipation channels. Dissipation in the signal detection circuit turned out to be mainly limited by the total Q factor of the nc-AFM system.

  19. Monitoring Method of Cutting Force by Using Additional Spindle Sensors

    NASA Astrophysics Data System (ADS)

    Sarhan, Ahmed Aly Diaa; Matsubara, Atsushi; Sugihara, Motoyuki; Saraie, Hidenori; Ibaraki, Soichi; Kakino, Yoshiaki

    This paper describes a monitoring method of cutting forces for end milling process by using displacement sensors. Four eddy-current displacement sensors are installed on the spindle housing of a machining center so that they can detect the radial motion of the rotating spindle. Thermocouples are also attached to the spindle structure in order to examine the thermal effect in the displacement sensing. The change in the spindle stiffness due to the spindle temperature and the speed is investigated as well. Finally, the estimation performance of cutting forces using the spindle displacement sensors is experimentally investigated by machining tests on carbon steel in end milling operations under different cutting conditions. It is found that the monitoring errors are attributable to the thermal displacement of the spindle, the time lag of the sensing system, and the modeling error of the spindle stiffness. It is also shown that the root mean square errors between estimated and measured amplitudes of cutting forces are reduced to be less than 20N with proper selection of the linear stiffness.

  20. Laser interferometry force-feedback sensor for an interfacial force microscope

    DOEpatents

    Houston, Jack E.; Smith, William L.

    2004-04-13

    A scanning force microscope is provided with a force-feedback sensor to increase sensitivity and stability in determining interfacial forces between a probe and a sample. The sensor utilizes an interferometry technique that uses a collimated light beam directed onto a deflecting member, comprising a common plate suspended above capacitor electrodes situated on a substrate forming an interference cavity with a probe on the side of the common plate opposite the side suspended above capacitor electrodes. The probe interacts with the surface of the sample and the intensity of the reflected beam is measured and used to determine the change in displacement of the probe to the sample and to control the probe distance relative to the surface of the sample.

  1. Force and optical position sensors: limitations of sensors and sensing systems in robotic applications

    SciTech Connect

    Isik, C.; Chenette, E.R.

    1982-01-01

    Sensory feedback as an element of intelligent control, and force sensing and visual sensing within a hierarchical sensor-controller system are discussed. A six-component force sensor designed and developed in CIMAR laboratories is the main issue of this paper. Its single beam mechanical structure is described and signal processing and conditioning circuitry is explained. Basic limitations of force measurement using strain gages are studied and related design criteria suggested. The second part of the paper deals with different optical distance measurement techniques, and concentrates on the conceptual designs of two innovative methods which utilize triangulation, laser interferometry, and pulse width modulated light beams. Some basic limitation analysis and a tentative work plan are also included in this part of the paper.

  2. Comparison of force sensors for atomic force microscopy based on quartz tuning forks and length-extensional resonators

    NASA Astrophysics Data System (ADS)

    Giessibl, Franz J.; Pielmeier, Florian; Eguchi, Toyoaki; An, Toshu; Hasegawa, Yukio

    2011-09-01

    The force sensor is key to the performance of atomic force microscopy (AFM). Nowadays, most atomic force microscopes use micromachined force sensors made from silicon, but piezoelectric quartz sensors are being applied at an increasing rate, mainly in vacuum. These self-sensing force sensors allow a relatively easy upgrade of a scanning tunneling microscope to a combined scanning tunneling/atomic force microscope. Two fundamentally different types of quartz sensors have achieved atomic resolution: the “needle sensor,” which is based on a length-extensional resonator, and the “qPlus sensor,” which is based on a tuning fork. Here, we calculate and measure the noise characteristics of these sensors. We find four noise sources: deflection detector noise, thermal noise, oscillator noise, and thermal drift noise. We calculate the effect of these noise sources as a factor of sensor stiffness, bandwidth, and oscillation amplitude. We find that for self-sensing quartz sensors, the deflection detector noise is independent of sensor stiffness, while the remaining three noise sources increase strongly with sensor stiffness. Deflection detector noise increases with bandwidth to the power of 1.5, while thermal noise and oscillator noise are proportional to the square root of the bandwidth. Thermal drift noise, however, is inversely proportional to bandwidth. The first three noise sources are inversely proportional to amplitude while thermal drift noise is independent of the amplitude. Thus, we show that the earlier finding that quoted an optimal signal-to-noise ratio for oscillation amplitudes similar to the range of the forces is still correct when considering all four frequency noise contributions. Finally, we suggest how the signal-to-noise ratio of the sensors can be improved further, we briefly discuss the challenges of mounting tips, and we compare the noise performance of self-sensing quartz sensors and optically detected Si cantilevers.

  3. MEMS based Low Cost Piezoresistive Microcantilever Force Sensor and Sensor Module

    PubMed Central

    Pandya, H. J.; Kim, Hyun Tae; Roy, Rajarshi; Desai, Jaydev P.

    2014-01-01

    In the present work, we report fabrication and characterization of a low-cost MEMS based piezoresistive micro-force sensor with SU-8 tip using laboratory made silicon-on-insulator (SOI) substrate. To prepare SOI wafer, silicon film (0.8 µm thick) was deposited on an oxidized silicon wafer using RF magnetron sputtering technique. The films were deposited in Argon (Ar) ambient without external substrate heating. The material characteristics of the sputtered deposited silicon film and silicon film annealed at different temperatures (400–1050°C) were studied using atomic force microscopy (AFM) and X-ray diffraction (XRD) techniques. The residual stress of the films was measured as a function of annealing temperature. The stress of the as-deposited films was observed to be compressive and annealing the film above 1050°C resulted in a tensile stress. The stress of the film decreased gradually with increase in annealing temperature. The fabricated cantilevers were 130 µm in length, 40 µm wide and 1.0 µm thick. A series of force-displacement curves were obtained using fabricated microcantilever with commercial AFM setup and the data were analyzed to get the spring constant and the sensitivity of the fabricated microcantilever. The measured spring constant and sensitivity of the sensor was 0.1488N/m and 2.7mV/N. The microcantilever force sensor was integrated with an electronic module that detects the change in resistance of the sensor with respect to the applied force and displays it on the computer screen. PMID:24855449

  4. Development of cylindrical-type finger force measuring system using force sensors and its characteristics evaluation

    NASA Astrophysics Data System (ADS)

    Kim, Hyeon-Min; Yoon, Joungwon; Shin, Hee-Suk; Kim, Gab-Soon

    2012-02-01

    Some patients cannot use their hands because of the paralysis of their fingers. Their fingers can recover with rehabilitative training, and the extent of rehabilitation can be judged by grasping a cylindrical-object with their fingers. At present, the cylindrical-object used in hospitals is only a plastic cylinder, which cannot measure grasping force of the fingers. Therefore, doctors must judge the extent of rehabilitation by watching patients' fingers as they grasp the plastic cylinder. In this paper, the development of two cylindrical-type finger force measuring systems with four force sensors for left hand and right hand were developed. The developed finger force measuring system can measure the grasping force of patients' each finger (forefinger, middle finger, ring finger and little finger), and the measured results could be used to judge the rehabilitation extent of a finger patient. The grasping force tests of men and women were performed using the developed cylindrical-type finger force measuring systems. The tests confirm that the average finger forces of right hand and left hand for men were about 194 N and 179 N, and for women, 108 N and 95 N.

  5. Transducing mechanical force by use of a diffraction grating sensor.

    PubMed

    Wang, Wei-Chih; Ho, Chi-Ting; Lian, Yi-Ru; Chuang, Wei-Ching

    2006-03-20

    A novel means of transducing mechanical force by using a polymeric-based diffractive grating sensor is presented. The diffraction gratings are successfully fabricated upon poly(dimethyl siloxane) polymer substrates by holographic interference and micromolding. A micromaterial tensile test incorporated into the surface diffraction grating experiment showed that a relationship between the load and the observed diffraction-pattern shift could be obtained. The results show an excellent correlation between the optical measurement and load, with a sensitivity of 0.05 N.

  6. Intrinsic embedded sensors for polymeric mechatronics: flexure and force sensing.

    PubMed

    Jentoft, Leif P; Dollar, Aaron M; Wagner, Christopher R; Howe, Robert D

    2014-02-25

    While polymeric fabrication processes, including recent advances in additive manufacturing, have revolutionized manufacturing, little work has been done on effective sensing elements compatible with and embedded within polymeric structures. In this paper, we describe the development and evaluation of two important sensing modalities for embedding in polymeric mechatronic and robotic mechanisms: multi-axis flexure joint angle sensing utilizing IR phototransistors, and a small (12 mm), three-axis force sensing via embedded silicon strain gages with similar performance characteristics as an equally sized metal element based sensor.

  7. 16 CFR 1211.13 - Inherent force activated secondary door sensors.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... sensors. 1211.13 Section 1211.13 Commercial Practices CONSUMER PRODUCT SAFETY COMMISSION CONSUMER PRODUCT... § 1211.13 Inherent force activated secondary door sensors. (a) Normal operation test. (1) A force activated door sensor of a door system installed according to the installation instructions shall...

  8. Force sensitive handles and capacitive touch sensor for driving a flexible haptic-based immersive system.

    PubMed

    Covarrubias, Mario; Bordegoni, Monica; Cugini, Umberto

    2013-10-09

    In this article, we present an approach that uses both two force sensitive handles (FSH) and a flexible capacitive touch sensor (FCTS) to drive a haptic-based immersive system. The immersive system has been developed as part of a multimodal interface for product design. The haptic interface consists of a strip that can be used by product designers to evaluate the quality of a 3D virtual shape by using touch, vision and hearing and, also, to interactively change the shape of the virtual object. Specifically, the user interacts with the FSH to move the virtual object and to appropriately position the haptic interface for retrieving the six degrees of freedom required for both manipulation and modification modalities. The FCTS allows the system to track the movement and position of the user's fingers on the strip, which is used for rendering visual and sound feedback. Two evaluation experiments are described, which involve both the evaluation and the modification of a 3D shape. Results show that the use of the haptic strip for the evaluation of aesthetic shapes is effective and supports product designers in the appreciation of the aesthetic qualities of the shape.

  9. 3D display considerations for rugged airborne environments

    NASA Astrophysics Data System (ADS)

    Barnidge, Tracy J.; Tchon, Joseph L.

    2015-05-01

    The KC-46 is the next generation, multi-role, aerial refueling tanker aircraft being developed by Boeing for the United States Air Force. Rockwell Collins has developed the Remote Vision System (RVS) that supports aerial refueling operations under a variety of conditions. The system utilizes large-area, high-resolution 3D displays linked with remote sensors to enhance the operator's visual acuity for precise aerial refueling control. This paper reviews the design considerations, trade-offs, and other factors related to the selection and ruggedization of the 3D display technology for this military application.

  10. Autofocus for 3D imaging

    NASA Astrophysics Data System (ADS)

    Lee-Elkin, Forest

    2008-04-01

    Three dimensional (3D) autofocus remains a significant challenge for the development of practical 3D multipass radar imaging. The current 2D radar autofocus methods are not readily extendable across sensor passes. We propose a general framework that allows a class of data adaptive solutions for 3D auto-focus across passes with minimal constraints on the scene contents. The key enabling assumption is that portions of the scene are sparse in elevation which reduces the number of free variables and results in a system that is simultaneously solved for scatterer heights and autofocus parameters. The proposed method extends 2-pass interferometric synthetic aperture radar (IFSAR) methods to an arbitrary number of passes allowing the consideration of scattering from multiple height locations. A specific case from the proposed autofocus framework is solved and demonstrates autofocus and coherent multipass 3D estimation across the 8 passes of the "Gotcha Volumetric SAR Data Set" X-Band radar data.

  11. Development of Si neural probe with piezoresistive force sensor for minimally invasive and precise monitoring of insertion forces

    NASA Astrophysics Data System (ADS)

    Harashima, Takuya; Morikawa, Takumi; Kino, Hisashi; Fukushima, Takafumi; Tanaka, Tetsu

    2017-04-01

    A Si neural probe is one of the most important tools for neurophysiology and brain science because of its various functions such as optical stimulation and drug delivery. However, the Si neural probe is not robust compared with a metal tetrode, and could be broken by mechanical stress caused by insertion to the brain. Therefore, the Si neural probe becomes more useful if it has a stress sensor that can measure mechanical forces applied to the probe so as not to be broken. In this paper, we proposed and fabricated the Si neural probe with a piezoresistive force sensor for minimally invasive and precise monitoring of insertion forces. The fabricated piezoresistive force sensor accurately measured forces and successfully detected insertion events without buckling or bending in the shank of the Si neural probe. This Si neural probe with a piezoresistive force sensor has become one of the most versatile tools for neurophysiology and brain science.

  12. Air Force Research Laboratory Sensors Directorate Leadership Legacy, 1960-2011

    DTIC Science & Technology

    2011-03-01

    AFRL -RY-WP-TM-2011-1017 AIR FORCE RESEARCH LABORATORY SENSORS DIRECTORATE LEADERSHIP LEGACY, 1960-2011 Compiled by Raymond C. Rang...Structures Divi- sion, Space Vehicles Directorate, Air Force Research Laboratory , Kirtland AFB, N.M. 7. March 1998 - July 1999, Chief, Integration and... Research Laboratory ( AFRL ), and Deputy Director of the Sensors Direc- torate, Air Force Research

  13. A Sensor-Type PC Strand with an Embedded FBG Sensor for Monitoring Prestress Forces

    PubMed Central

    Kim, Sung Tae; Park, YoungHwan; Park, Sung Yong; Cho, Keunhee; Cho, Jeong-Rae

    2015-01-01

    Prestressed Concrete Wire and Strand (PC) strands are the most used materials to introduce prestress in a Pre-Stressed Concrete (PSC) structure. However, it is difficult to evaluate the final prestress force of the PC strand after prestressing or its residual prestress force after completion of the structure on site. This impossibility to assess eventual loss of prestress of the PC strand has resulted in a number of serious accidents and even in the collapse of several structures. This situation stresses the necessity to maintain the prestress force residual or after prestressing for the evaluation of the health of the concrete structure throughout its lifespan. Recently, several researchers have studied methods enabling one to verify the prestress force by inserting an optical fiber sensor inside the strand but failed to provide simple techniques for the fabrication of these devices to fulfill measurement performance from the design prestress to failure. Moreover, these methods require the additional installation of electrical resistance strain gages, displacement sensors and load cells on the outer surface of the structure for long-term precise measurement. This paper proposes a method enabling one to evaluate precisely and effectively the prestress force of the PC strand and intends to verify the applicability of the proposed method on actual concrete structures. To that end, an innovative PC strand is developed by embedding a Fiber Bragg Grating (FBG) sensor in the core wire of the PC strand so as to enable short term as well as long term monitoring. The measurement performance of the developed strand is then evaluated experimentally and the reliability of the monitoring data is assessed. PMID:25580903

  14. A sensor-type PC strand with an embedded FBG sensor for monitoring prestress forces.

    PubMed

    Kim, Sung Tae; Park, YoungHwan; Park, Sung Yong; Cho, Keunhee; Cho, Jeong-Rae

    2015-01-08

    Prestressed Concrete Wire and Strand (PC) strands are the most used materials to introduce prestress in a Pre-Stressed Concrete (PSC) structure. However, it is difficult to evaluate the final prestress force of the PC strand after prestressing or its residual prestress force after completion of the structure on site. This impossibility to assess eventual loss of prestress of the PC strand has resulted in a number of serious accidents and even in the collapse of several structures. This situation stresses the necessity to maintain the prestress force residual or after prestressing for the evaluation of the health of the concrete structure throughout its lifespan. Recently, several researchers have studied methods enabling one to verify the prestress force by inserting an optical fiber sensor inside the strand but failed to provide simple techniques for the fabrication of these devices to fulfill measurement performance from the design prestress to failure. Moreover, these methods require the additional installation of electrical resistance strain gages, displacement sensors and load cells on the outer surface of the structure for long-term precise measurement. This paper proposes a method enabling one to evaluate precisely and effectively the prestress force of the PC strand and intends to verify the applicability of the proposed method on actual concrete structures. To that end, an innovative PC strand is developed by embedding a Fiber Bragg Grating (FBG) sensor in the core wire of the PC strand so as to enable short term as well as long term monitoring. The measurement performance of the developed strand is then evaluated experimentally and the reliability of the monitoring data is assessed.

  15. Identifying Clinically Significant Prostate Cancers using 3-D In Vivo Acoustic Radiation Force Impulse Imaging with Whole-Mount Histology Validation.

    PubMed

    Palmeri, Mark L; Glass, Tyler J; Miller, Zachary A; Rosenzweig, Stephen J; Buck, Andrew; Polascik, Thomas J; Gupta, Rajan T; Brown, Alison F; Madden, John; Nightingale, Kathryn R

    2016-06-01

    Overly aggressive prostate cancer (PCa) treatment adversely affects patients and places an unnecessary burden on our health care system. The inability to identify and grade clinically significant PCa lesions is a factor contributing to excessively aggressive PCa treatment, such as radical prostatectomy, instead of more focal, prostate-sparing procedures such as cryotherapy and high-dose radiation therapy. We have performed 3-D in vivo B-mode and acoustic radiation force impulse (ARFI) imaging using a mechanically rotated, side-fire endorectal imaging array to identify regions suspicious for PCa in 29 patients being treated with radical prostatectomies for biopsy-confirmed PCa. Whole-mount histopathology analyses were performed to identify regions of clinically significant/insignificant PCa lesions, atrophy and benign prostatic hyperplasia. Regions of suspicion for PCa were reader-identified in ARFI images based on boundary delineation, contrast, texture and location. These regions of suspicion were compared with histopathology identified lesions using a nearest-neighbor regional localization approach. Of all clinically significant lesions identified on histopathology, 71.4% were also identified using ARFI imaging, including 79.3% of posterior and 33.3% of anterior lesions. Among the ARFI-identified lesions, 79.3% corresponded to clinically significant PCa lesions, with these lesions having higher indices of suspicion than clinically insignificant PCa. ARFI imaging had greater sensitivity for posterior versus anterior lesions because of greater displacement signal-to-noise ratio and finer spatial sampling. Atrophy and benign prostatic hyperplasia can cause appreciable prostate anatomy distortion and heterogeneity that confounds ARFI PCa lesion identification; however, in general, ARFI regions of suspicion did not coincide with these benign pathologies.

  16. Design of a decoupled MRI-compatible force sensor using fiber bragg grating sensors for robot-assisted prostate interventions

    NASA Astrophysics Data System (ADS)

    Monfaredi, Reza; Seifabadi, Reza; Fichtinger, Gabor; Iordachita, Iulian

    2013-03-01

    During prostate needle insertion, the gland rotates and displaces resulting in needle placement inaccuracy. To compensate for this error, we proposed master-slave needle steering under real-time MRI in a previous study. For MRI-compatibility and accurate motion control, the master (and the slave) robot uses piezo actuators. These actuators however, are non-backdrivable. To cope with this issue, force sensor is required. Force sensor is also required at the slave side to reflect the insertion force to clinician's hand through the master robot. Currently, there is no MRI-compatible force sensor commercially available. In order to generate a combination of linear and rotary motions for needle steering, this study is seeking to develop a MRI-compatible 2 Degrees of Freedom (DOF) force/torque sensor. Fiber Brag Grating (FBG) strain measuring sensors which are proven to be MRI-compatible are used. The active element is made of phosphor-bronze and other parts are made of brass. The force and torque measurements are designed to be entirely decoupled. The sensor measures -20 to 20 N axial force with 0.1 N resolution, and -200 to 200 Nmm axial torque with 1 Nmm resolution. Analytical and Finite Element (FE) analyses are performed to ensure the strains are within the measurable range of the FBG sensors. The sensor is designed to be compact (diameter =15 mm, height =20 mm) and easy to handle and install. The proposed sensor is fabricated and calibrated using a commercial force/torque sensor.

  17. Europeana and 3D

    NASA Astrophysics Data System (ADS)

    Pletinckx, D.

    2011-09-01

    The current 3D hype creates a lot of interest in 3D. People go to 3D movies, but are we ready to use 3D in our homes, in our offices, in our communication? Are we ready to deliver real 3D to a general public and use interactive 3D in a meaningful way to enjoy, learn, communicate? The CARARE project is realising this for the moment in the domain of monuments and archaeology, so that real 3D of archaeological sites and European monuments will be available to the general public by 2012. There are several aspects to this endeavour. First of all is the technical aspect of flawlessly delivering 3D content over all platforms and operating systems, without installing software. We have currently a working solution in PDF, but HTML5 will probably be the future. Secondly, there is still little knowledge on how to create 3D learning objects, 3D tourist information or 3D scholarly communication. We are still in a prototype phase when it comes to integrate 3D objects in physical or virtual museums. Nevertheless, Europeana has a tremendous potential as a multi-facetted virtual museum. Finally, 3D has a large potential to act as a hub of information, linking to related 2D imagery, texts, video, sound. We describe how to create such rich, explorable 3D objects that can be used intuitively by the generic Europeana user and what metadata is needed to support the semantic linking.

  18. A Three-Axis Force Sensor for Dual Finger Haptic Interfaces

    PubMed Central

    Fontana, Marco; Marcheschi, Simone; Salsedo, Fabio; Bergamasco, Massimo

    2012-01-01

    In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force and layout specifications for the application. In this paper the design of the sensor is presented, starting from an analytic model that describes the characteristic matrix of the sensor. A procedure for designing an optimal overload protection mechanism is proposed. In the last part of the paper the authors describe the experimental characterization and the integrated test on a haptic hand exoskeleton showing the improvements in the controller performances provided by the inclusion of the force sensor. PMID:23202012

  19. Biofeedback control analysis using a synchronized system of two CCD video cameras and a force-plate sensor

    NASA Astrophysics Data System (ADS)

    Tsuruoka, Masako; Shibasaki, Ryosuke; Murai, Shunji

    1999-01-01

    The biofeedback control analysis of human movement has become increasingly important in rehabilitation, sports medicine and physical fitness. In this study, a synchronized system was developed for acquiring sequential data of a person's movement. The setup employs a video recorder system linked with two CCD video cameras and fore-plate sensor system, which are configured to stop and start simultaneously. The feedback control movement of postural stability was selected as a subject for analysis. The person's center of body gravity (COG) was calculated by measured 3-D coordinates of major joints using videometry with bundle adjustment and self-calibration. The raw serial data of COG and foot pressure by measured force plate sensor are difficult to analyze directly because of their complex fluctuations. Utilizing auto regressive modeling, the power spectrum and the impulse response of movement factors, enable analysis of their dynamic relations. This new biomedical engineering approach provides efficient information for medical evaluation of a person's stability.

  20. Tactile Robotic Topographical Mapping Without Force or Contact Sensors

    NASA Technical Reports Server (NTRS)

    Burke, Kevin; Melko, Joseph; Krajewski, Joel; Cady, Ian

    2008-01-01

    A method of topographical mapping of a local solid surface within the range of motion of a robot arm is based on detection of contact between the surface and the end effector (the fixture or tool at the tip of the robot arm). The method was conceived to enable mapping of local terrain by an exploratory robot on a remote planet, without need to incorporate delicate contact switches, force sensors, a vision system, or other additional, costly hardware. The method could also be used on Earth for determining the size and shape of an unknown surface in the vicinity of a robot, perhaps in an unanticipated situation in which other means of mapping (e.g., stereoscopic imaging or laser scanning with triangulation) are not available. The method uses control software modified to utilize the inherent capability of the robotic control system to measure the joint positions, the rates of change of the joint positions, and the electrical current demanded by the robotic arm joint actuators. The system utilizes these coordinate data and the known robot-arm kinematics to compute the position and velocity of the end effector, move the end effector along a specified trajectory, place the end effector at a specified location, and measure the electrical currents in the joint actuators. Since the joint actuator current is approximately proportional to the actuator forces and torques, a sudden rise in joint current, combined with a slowing of the joint, is a possible indication of actuator stall and surface contact. Hence, even though the robotic arm is not equipped with contact sensors, it is possible to sense contact (albeit with reduced sensitivity) as the end effector becomes stalled against a surface that one seeks to measure.

  1. A temperature-compensated optical fiber force sensor for minimally invasive surgeries

    NASA Astrophysics Data System (ADS)

    Mo, Z.; Xu, W.; Broderick, N.; Chen, H.

    2015-12-01

    Force sensing in minimally invasive surgery (MIS) is a chronic problem since it has an intensive magnetic resonance (MR) operation environment, which causes a high influence to traditional electronic force sensors. Optical sensor is a promising choice in this area because it is immune to MR influence. However, the changing temperature introduces a lot of noise signals to them, which is the main obstacle for optical sensing applications in MIS. This paper proposes a miniature temperature-compensated optical force sensor by using Fabry-Perot interference (FPI) principle. It can be integrated into medical tools' tips and the temperature noise is decreased by using a reference FPI temperature sensor. An injection needle with embedded temperature-compensated FPI force sensor has been fabricated and tested. And the comparison between temperature-force simulation results and the temperature-force experiment results has been carried out.

  2. Real-time monitoring of 3D cell culture using a 3D capacitance biosensor.

    PubMed

    Lee, Sun-Mi; Han, Nalae; Lee, Rimi; Choi, In-Hong; Park, Yong-Beom; Shin, Jeon-Soo; Yoo, Kyung-Hwa

    2016-03-15

    Three-dimensional (3D) cell cultures have recently received attention because they represent a more physiologically relevant environment compared to conventional two-dimensional (2D) cell cultures. However, 2D-based imaging techniques or cell sensors are insufficient for real-time monitoring of cellular behavior in 3D cell culture. Here, we report investigations conducted with a 3D capacitance cell sensor consisting of vertically aligned pairs of electrodes. When GFP-expressing human breast cancer cells (GFP-MCF-7) encapsulated in alginate hydrogel were cultured in a 3D cell culture system, cellular activities, such as cell proliferation and apoptosis at different heights, could be monitored non-invasively and in real-time by measuring the change in capacitance with the 3D capacitance sensor. Moreover, we were able to monitor cell migration of human mesenchymal stem cells (hMSCs) with our 3D capacitance sensor.

  3. A Fuzzy-Based Fusion Method of Multimodal Sensor-Based Measurements for the Quantitative Evaluation of Eye Fatigue on 3D Displays

    PubMed Central

    Bang, Jae Won; Choi, Jong-Suk; Heo, Hwan; Park, Kang Ryoung

    2015-01-01

    With the rapid increase of 3-dimensional (3D) content, considerable research related to the 3D human factor has been undertaken for quantitatively evaluating visual discomfort, including eye fatigue and dizziness, caused by viewing 3D content. Various modalities such as electroencephalograms (EEGs), biomedical signals, and eye responses have been investigated. However, the majority of the previous research has analyzed each modality separately to measure user eye fatigue. This cannot guarantee the credibility of the resulting eye fatigue evaluations. Therefore, we propose a new method for quantitatively evaluating eye fatigue related to 3D content by combining multimodal measurements. This research is novel for the following four reasons: first, for the evaluation of eye fatigue with high credibility on 3D displays, a fuzzy-based fusion method (FBFM) is proposed based on the multimodalities of EEG signals, eye blinking rate (BR), facial temperature (FT), and subjective evaluation (SE); second, to measure a more accurate variation of eye fatigue (before and after watching a 3D display), we obtain the quality scores of EEG signals, eye BR, FT and SE; third, for combining the values of the four modalities we obtain the optimal weights of the EEG signals BR, FT and SE using a fuzzy system based on quality scores; fourth, the quantitative level of the variation of eye fatigue is finally obtained using the weighted sum of the values measured by the four modalities. Experimental results confirm that the effectiveness of the proposed FBFM is greater than other conventional multimodal measurements. Moreover, the credibility of the variations of the eye fatigue using the FBFM before and after watching the 3D display is proven using a t-test and descriptive statistical analysis using effect size. PMID:25961382

  4. A Fuzzy-Based Fusion Method of Multimodal Sensor-Based Measurements for the Quantitative Evaluation of Eye Fatigue on 3D Displays.

    PubMed

    Bang, Jae Won; Choi, Jong-Suk; Heo, Hwan; Park, Kang Ryoung

    2015-05-07

    With the rapid increase of 3-dimensional (3D) content, considerable research related to the 3D human factor has been undertaken for quantitatively evaluating visual discomfort, including eye fatigue and dizziness, caused by viewing 3D content. Various modalities such as electroencephalograms (EEGs), biomedical signals, and eye responses have been investigated. However, the majority of the previous research has analyzed each modality separately to measure user eye fatigue. This cannot guarantee the credibility of the resulting eye fatigue evaluations. Therefore, we propose a new method for quantitatively evaluating eye fatigue related to 3D content by combining multimodal measurements. This research is novel for the following four reasons: first, for the evaluation of eye fatigue with high credibility on 3D displays, a fuzzy-based fusion method (FBFM) is proposed based on the multimodalities of EEG signals, eye blinking rate (BR), facial temperature (FT), and subjective evaluation (SE); second, to measure a more accurate variation of eye fatigue (before and after watching a 3D display), we obtain the quality scores of EEG signals, eye BR, FT and SE; third, for combining the values of the four modalities we obtain the optimal weights of the EEG signals BR, FT and SE using a fuzzy system based on quality scores; fourth, the quantitative level of the variation of eye fatigue is finally obtained using the weighted sum of the values measured by the four modalities. Experimental results confirm that the effectiveness of the proposed FBFM is greater than other conventional multimodal measurements. Moreover, the credibility of the variations of the eye fatigue using the FBFM before and after watching the 3D display is proven using a t-test and descriptive statistical analysis using effect size.

  5. 16 CFR 1211.13 - Inherent force activated secondary door sensors.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 16 Commercial Practices 2 2011-01-01 2011-01-01 false Inherent force activated secondary door... § 1211.13 Inherent force activated secondary door sensors. (a) Normal operation test. (1) A force... when the door applies a 15 pound (66.7 N) or less force in the down or closing direction and when...

  6. 3d-3d correspondence revisited

    DOE PAGES

    Chung, Hee -Joong; Dimofte, Tudor; Gukov, Sergei; ...

    2016-04-21

    In fivebrane compactifications on 3-manifolds, we point out the importance of all flat connections in the proper definition of the effective 3d N = 2 theory. The Lagrangians of some theories with the desired properties can be constructed with the help of homological knot invariants that categorify colored Jones polynomials. Higgsing the full 3d theories constructed this way recovers theories found previously by Dimofte-Gaiotto-Gukov. As a result, we also consider the cutting and gluing of 3-manifolds along smooth boundaries and the role played by all flat connections in this operation.

  7. Design of a Lightweight, Cost Effective Thimble-Like Sensor for Haptic Applications Based on Contact Force Sensors

    PubMed Central

    Ferre, Manuel; Galiana, Ignacio; Aracil, Rafael

    2011-01-01

    This paper describes the design and calibration of a thimble that measures the forces applied by a user during manipulation of virtual and real objects. Haptic devices benefit from force measurement capabilities at their end-point. However, the heavy weight and cost of force sensors prevent their widespread incorporation in these applications. The design of a lightweight, user-adaptable, and cost-effective thimble with four contact force sensors is described in this paper. The sensors are calibrated before being placed in the thimble to provide normal and tangential forces. Normal forces are exerted directly by the fingertip and thus can be properly measured. Tangential forces are estimated by sensors strategically placed in the thimble sides. Two applications are provided in order to facilitate an evaluation of sensorized thimble performance. These applications focus on: (i) force signal edge detection, which determines task segmentation of virtual object manipulation, and (ii) the development of complex object manipulation models, wherein the mechanical features of a real object are obtained and these features are then reproduced for training by means of virtual object manipulation. PMID:22247677

  8. An Improved Tibial Force Sensor to Compute Contact Forces and Contact Locations In Vitro After Total Knee Arthroplasty.

    PubMed

    Roth, Joshua D; Howell, Stephen M; Hull, Maury L

    2017-04-01

    Contact force imbalance and contact kinematics (i.e., motion of the contact location in each compartment during flexion) of the tibiofemoral joint are both important predictors of a patient's outcome following total knee arthroplasty (TKA). Previous tibial force sensors have limitations in that they either did not determine contact forces and contact locations independently in the medial and lateral compartments or only did so within restricted areas of the tibial insert, which prevented them from thoroughly evaluating contact force imbalance and contact kinematics in vitro. Accordingly, the primary objective of this study was to present the design and verification of an improved tibial force sensor which overcomes these limitations. The improved tibial force sensor consists of a modified tibial baseplate which houses independent medial and lateral arrays of three custom tension-compression transducers each. This sensor is interchangeable with a standard tibial component because it accommodates tibial articular surface inserts with a range of sizes and thicknesses. This sensor was verified by applying known loads at known locations over the entire surface of the tibial insert to determine the errors in the computed contact force and contact location in each compartment. The root-mean-square errors (RMSEs) in contact force are ≤ 6.1 N which is 1.4% of the 450 N full-scale output. The RMSEs in contact location are ≤ 1.6 mm. This improved tibial force sensor overcomes the limitations of the previous sensors and therefore should be useful for in vitro evaluation of new alignment goals, new surgical techniques, and new component designs in TKA.

  9. [Comparision of forced expiratory time, recorded by two spirometers with flow sensors of various types, and acoustic duration of tracheal forced expiratory noises].

    PubMed

    Malaeva, V V; Pochekutova, I A; Korenbaum, V I

    2015-01-01

    In the sample of 44 volunteers forced expiratory time values obtained in spirometers, equipped with flow sensor of Lilly type and turbine flow sensor, and acoustic duration of tracheal forced expiratory noises are compared. It is shown that spirometric forced expiratory time is dependent on flow sensor type. Therefore it can't be used in diagnostic aims.

  10. Flexural Vibration Test of a Cantilever Beam with a Force Sensor: Fast Determination of Young's Modulus

    ERIC Educational Resources Information Center

    Digilov, Rafael M.

    2008-01-01

    We describe a simple and very inexpensive undergraduate laboratory experiment for fast determination of Young's modulus at moderate temperatures with the aid of a force sensor. A strip-shaped specimen rigidly bolted to the force sensor forms a clamped-free cantilever beam. Placed in a furnace, it is subjected to free-bending vibrations followed by…

  11. Speaking Volumes About 3-D

    NASA Technical Reports Server (NTRS)

    2002-01-01

    In 1999, Genex submitted a proposal to Stennis Space Center for a volumetric 3-D display technique that would provide multiple users with a 360-degree perspective to simultaneously view and analyze 3-D data. The futuristic capabilities of the VolumeViewer(R) have offered tremendous benefits to commercial users in the fields of medicine and surgery, air traffic control, pilot training and education, computer-aided design/computer-aided manufacturing, and military/battlefield management. The technology has also helped NASA to better analyze and assess the various data collected by its satellite and spacecraft sensors. Genex capitalized on its success with Stennis by introducing two separate products to the commercial market that incorporate key elements of the 3-D display technology designed under an SBIR contract. The company Rainbow 3D(R) imaging camera is a novel, three-dimensional surface profile measurement system that can obtain a full-frame 3-D image in less than 1 second. The third product is the 360-degree OmniEye(R) video system. Ideal for intrusion detection, surveillance, and situation management, this unique camera system offers a continuous, panoramic view of a scene in real time.

  12. Evaluating the Effectiveness of Waterside Security Alternatives for Force Protection of Navy Ships and Installations Using X3D Graphics and Agent-Based Simulation

    DTIC Science & Technology

    2006-09-01

    MOTIVATION ................................................................................................2 D. OBJECTIVES...16 Figure 9. Flux Studio 2.0 (formerly VizX3D) screen capture showing a close up of a female terrorist...since the USS Cole attack in Aden Harbor, Yemen on October 12, 2000 (CRS 2001). The Cole attack was a primary motivation for Harney’s work. On

  13. 3D and Education

    NASA Astrophysics Data System (ADS)

    Meulien Ohlmann, Odile

    2013-02-01

    Today the industry offers a chain of 3D products. Learning to "read" and to "create in 3D" becomes an issue of education of primary importance. 25 years professional experience in France, the United States and Germany, Odile Meulien set up a personal method of initiation to 3D creation that entails the spatial/temporal experience of the holographic visual. She will present some different tools and techniques used for this learning, their advantages and disadvantages, programs and issues of educational policies, constraints and expectations related to the development of new techniques for 3D imaging. Although the creation of display holograms is very much reduced compared to the creation of the 90ies, the holographic concept is spreading in all scientific, social, and artistic activities of our present time. She will also raise many questions: What means 3D? Is it communication? Is it perception? How the seeing and none seeing is interferes? What else has to be taken in consideration to communicate in 3D? How to handle the non visible relations of moving objects with subjects? Does this transform our model of exchange with others? What kind of interaction this has with our everyday life? Then come more practical questions: How to learn creating 3D visualization, to learn 3D grammar, 3D language, 3D thinking? What for? At what level? In which matter? for whom?

  14. Reaction force/torque sensing in a master-slave robot system without mechanical sensors.

    PubMed

    Liu, Tao; Li, Chunguang; Inoue, Yoshio; Shibata, Kyoko

    2010-01-01

    In human-robot cooperative control systems, force feedback is often necessary in order to achieve high precision and high stability. Usually, traditional robot assistant systems implement force feedback using force/torque sensors. However, it is difficult to directly mount a mechanical force sensor on some working terminals, such as in applications of minimally invasive robotic surgery, micromanipulation, or in working environments exposed to radiation or high temperature. We propose a novel force sensing mechanism for implementing force feedback in a master-slave robot system with no mechanical sensors. The system consists of two identical electro-motors with the master motor powering the slave motor to interact with the environment. A bimanual coordinated training platform using the new force sensing mechanism was developed and the system was verified in experiments. Results confirm that the proposed mechanism is capable of achieving bilateral force sensing and mirror-image movements of two terminals in two reverse control directions.

  15. Decoupling Principle Analysis and Development of a Parallel Three-Dimensional Force Sensor

    PubMed Central

    Zhao, Yanzhi; Jiao, Leihao; Weng, Dacheng; Zhang, Dan; Zheng, Rencheng

    2016-01-01

    In the development of the multi-dimensional force sensor, dimension coupling is the ubiquitous factor restricting the improvement of the measurement accuracy. To effectively reduce the influence of dimension coupling on the parallel multi-dimensional force sensor, a novel parallel three-dimensional force sensor is proposed using a mechanical decoupling principle, and the influence of the friction on dimension coupling is effectively reduced by making the friction rolling instead of sliding friction. In this paper, the mathematical model is established by combining with the structure model of the parallel three-dimensional force sensor, and the modeling and analysis of mechanical decoupling are carried out. The coupling degree (ε) of the designed sensor is defined and calculated, and the calculation results show that the mechanical decoupling parallel structure of the sensor possesses good decoupling performance. A prototype of the parallel three-dimensional force sensor was developed, and FEM analysis was carried out. The load calibration and data acquisition experiment system are built, and then calibration experiments were done. According to the calibration experiments, the measurement accuracy is less than 2.86% and the coupling accuracy is less than 3.02%. The experimental results show that the sensor system possesses high measuring accuracy, which provides a basis for the applied research of the parallel multi-dimensional force sensor. PMID:27649194

  16. Decoupling Principle Analysis and Development of a Parallel Three-Dimensional Force Sensor.

    PubMed

    Zhao, Yanzhi; Jiao, Leihao; Weng, Dacheng; Zhang, Dan; Zheng, Rencheng

    2016-09-15

    In the development of the multi-dimensional force sensor, dimension coupling is the ubiquitous factor restricting the improvement of the measurement accuracy. To effectively reduce the influence of dimension coupling on the parallel multi-dimensional force sensor, a novel parallel three-dimensional force sensor is proposed using a mechanical decoupling principle, and the influence of the friction on dimension coupling is effectively reduced by making the friction rolling instead of sliding friction. In this paper, the mathematical model is established by combining with the structure model of the parallel three-dimensional force sensor, and the modeling and analysis of mechanical decoupling are carried out. The coupling degree (ε) of the designed sensor is defined and calculated, and the calculation results show that the mechanical decoupling parallel structure of the sensor possesses good decoupling performance. A prototype of the parallel three-dimensional force sensor was developed, and FEM analysis was carried out. The load calibration and data acquisition experiment system are built, and then calibration experiments were done. According to the calibration experiments, the measurement accuracy is less than 2.86% and the coupling accuracy is less than 3.02%. The experimental results show that the sensor system possesses high measuring accuracy, which provides a basis for the applied research of the parallel multi-dimensional force sensor.

  17. Design and fabrication of auxetic stretchable force sensor for hand rehabilitation

    NASA Astrophysics Data System (ADS)

    Ko, Junghyuk; Bhullar, Sukhwinder; Cho, Yonghyun; Lee, Patrick C.; Byung-Guk Jun, Martin

    2015-07-01

    Using a melt electrospinning technique, stretchable force sensors were designed for use in an application of hand rehabilitation. The main purpose of this study was to verify that the use of auxetic sensors improved hand rehabilitation practices when compared to their absence. For this study, novel stretchable poly (ɛ-caprolactone) (PCL) force sensors were fabricated into the following formations: auxetic microfiber sheets (AMSs), auxetic solid sheets (ASSs), microfiber sheets (MSs), and solid sheets (SSs). A femtosecond laser device was used to make an auxetic structure in the MSs and SSs. Subsequently, these sensors were coated with gold particles to make them conductive for the electrical current resistance assays. Through the cycles of applied stress and strain, auxetic structures were able to retain their original shape once these forces have been dissipated. This stretchable sensor could potentially measure applied external loads, resistance, and strain and could also be attachable to a desired substrate. In order to verify the workability and practicality of our designed sensors, we have attempted to use the sensors on a human hand. The AMS sensor had the highest sensitivity on measuring force and resistance among the four types of sensors. To our knowledge, this is the first study to form a stretchable force sensor using a melt electrospinning technique.

  18. Enhanced performance in capacitive force sensors using carbon nanotube/polydimethylsiloxane nanocomposites with high dielectric properties.

    PubMed

    Jang, Hyeyoung; Yoon, Hyungsuk; Ko, Youngpyo; Choi, Jaeyoo; Lee, Sang-Soo; Jeon, Insu; Kim, Jong-Ho; Kim, Heesuk

    2016-03-14

    Force sensors have attracted tremendous attention owing to their applications in various fields such as touch screens, robots, smart scales, and wearable devices. The force sensors reported so far have been mainly focused on high sensitivity based on delicate microstructured materials, resulting in low reproducibility and high fabrication cost that are limitations for wide applications. As an alternative, we demonstrate a novel capacitive-type force sensor with enhanced performance owing to the increased dielectric properties of elastomers and simple sensor structure. We rationally design dielectric elastomers based on alkylamine modified-multi-walled carbon nanotube (MWCNT)/polydimethylsiloxane (PDMS) composites, which have a higher dielectric constant than pure PDMS. The alkylamine-MWCNTs show excellent dispersion in a PDMS matrix, thus leading to enhanced and reliable dielectric properties of the composites. A force sensor array fabricated with alkylamine-MWCNT/PDMS composites presents an enhanced response due to the higher dielectric constant of the composites than that of pure PDMS. This study is the first to report enhanced performance of capacitive force sensors by modulating the dielectric properties of elastomers. We believe that the disclosed strategy to improve the sensor performance by increasing the dielectric properties of elastomers has great potential in the development of capacitive force sensor arrays that respond to various input forces.

  19. Contractile force generation by 3D hiPSC-derived cardiac tissues is enhanced by rapid establishment of cellular interconnection in matrix with muscle-mimicking stiffness.

    PubMed

    Lee, Soah; Serpooshan, Vahid; Tong, Xinming; Venkatraman, Sneha; Lee, Meelim; Lee, Jaecheol; Chirikian, Orlando; Wu, Joseph C; Wu, Sean M; Yang, Fan

    2017-03-30

    Engineering 3D human cardiac tissues is of great importance for therapeutic and pharmaceutical applications. As cardiac tissue substitutes, extracellular matrix-derived hydrogels have been widely explored. However, they exhibit premature degradation and their stiffness is often orders of magnitude lower than that of native cardiac tissue. There are no reports on establishing interconnected cardiomyocytes in 3D hydrogels at physiologically-relevant cell density and matrix stiffness. Here we bioengineer human cardiac microtissues by encapsulating human induced pluripotent stem cell-derived cardiomyocytes (hiPSC-CMs) in chemically-crosslinked gelatin hydrogels (1.25 × 10(8)/mL) with tunable stiffness and degradation. In comparison to the cells in high stiffness (16 kPa)/slow degrading hydrogels, hiPSC-CMs in low stiffness (2 kPa)/fast degrading and intermediate stiffness (9 kPa)/intermediate degrading hydrogels exhibit increased intercellular network formation, α-actinin and connexin-43 expression, and contraction velocity. Only the 9 kPa microtissues exhibit organized sarcomeric structure and significantly increased contractile stress. This demonstrates that muscle-mimicking stiffness together with robust cellular interconnection contributes to enhancement in sarcomeric organization and contractile function of the engineered cardiac tissue. This study highlights the importance of intercellular connectivity, physiologically-relevant cell density, and matrix stiffness to best support 3D cardiac tissue engineering.

  20. Electromechanical behavior of a novel dielectric elastomer sensor for compressive force detection (Conference Presentation)

    NASA Astrophysics Data System (ADS)

    Liu, Junjie; Mao, Guoyong; Huang, Xiaoqiang; Zou, Zhanan; Qu, Shaoxing; Wang, Peng

    2016-04-01

    Dielectric elastomers (DEs) have been extensively studied as DE actuators, DE generators, and DE sensors. Compared with DE actuators and generators, DE sensing application has the advantage that it is no need for high voltage. However, to realize the high sensitivity of the DE sensor, a well-designed structure is essential. A typical DE sensor consists of DE membrane covered by compliant electrodes on both sides. Expanding in the area and shrinking in the thickness of DE membrane subjected to external force will lead to the increasement of the capacitance. We propose a novel DE sensor to detect compressive force. The DE sensor consists of three layers. The two layers of outside can penetrate each other to deform the middle layer and achieve high sensitivity for compressive force measurement. This sensor consists of a series of sensor elements made of DE membrane with out-of-plane deformation. Each sensor element experiences highly inhomogeneous large deformation to obtain high sensitivity. We conduct the experiment to optimize the performance of the sensor element, and also the corresponding theoretical analysis is developed. The effects of the prestretches and the aspect ratios of the sensor element on the sensitivity are achieved. The soft sensor composed of a series of such sensor elements may comply with complicated surfaces and can be used to detect both the total value and the distribution of the compressive force exerted on the surface. Furthermore, the reliability of the sensor element is studied by additional experimental investigation. The experiment shows that the sensor element operates steadily after 2000 cyclic loadings. This study provides guidance for the design and performance analysis of soft sensors. This work has been published in the Journal of Applied Mechanics, 82(10), No. 101004 (2015).

  1. A noncontact force sensor based on a fiber Bragg grating and its application for corrosion measurement.

    PubMed

    Pacheco, Clara J; Bruno, Antonio C

    2013-08-29

    A simple noncontact force sensor based on an optical fiber Bragg grating attached to a small magnet has been proposed and built. The sensor measures the force between the magnet and any ferromagnetic material placed within a few millimeters of the sensor. Maintaining the sensor at a constant standoff distance, material loss due to corrosion increases the distance between the magnet and the corroded surface, which decreases the magnetic force. This will decrease the strain in the optical fiber shifting the reflected Bragg wavelength. The measured shift for the optical fiber used was 1.36 nm per Newton. Models were developed to optimize the magnet geometry for a specific sensor standoff distance and for particular corrosion pit depths. The sensor was able to detect corrosion pits on a fuel storage tank bottom with depths in the sub-millimeter range.

  2. A Noncontact Force Sensor Based on a Fiber Bragg Grating and Its Application for Corrosion Measurement

    PubMed Central

    Pacheco, Clara J.; Bruno, Antonio C.

    2013-01-01

    A simple noncontact force sensor based on an optical fiber Bragg grating attached to a small magnet has been proposed and built. The sensor measures the force between the magnet and any ferromagnetic material placed within a few millimeters of the sensor. Maintaining the sensor at a constant standoff distance, material loss due to corrosion increases the distance between the magnet and the corroded surface, which decreases the magnetic force. This will decrease the strain in the optical fiber shifting the reflected Bragg wavelength. The measured shift for the optical fiber used was 1.36 nm per Newton. Models were developed to optimize the magnet geometry for a specific sensor standoff distance and for particular corrosion pit depths. The sensor was able to detect corrosion pits on a fuel storage tank bottom with depths in the sub-millimeter range. PMID:23995095

  3. A table-shaped tactile sensor for detecting triaxial force on the basis of strain distribution.

    PubMed

    Lee, Jeong Il; Kim, Min-Gyu; Shikida, Mitsuhiro; Sato, Kazuo

    2013-11-28

    A slim and flexible tactile sensor applicable to the interaction of human and intelligent robots is presented. In particular, a simple sensing principle for decoupling of three-dimensional force is proposed. Sensitivity of the proposed tactile sensor is tested experimentally. To improve the sensitivity of the sensor, a table-shaped sensing element was designed. Table-shaped structure can convert an external acting force into concentrated internal stress. A "triaxial force decoupling algorithm" was developed by combining two-dimensional mapping data calculated by finite element analysis. The sensor was calibrated under normal and tangential forces. The external loads applied to the sensor could be decoupled independently as a function of the strain-gauge responses.

  4. Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics.

    PubMed

    Noh, Yohan; Bimbo, Joao; Sareh, Sina; Wurdemann, Helge; Fraś, Jan; Chathuranga, Damith Suresh; Liu, Hongbin; Housden, James; Althoefer, Kaspar; Rhode, Kawal

    2016-11-17

    This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor's main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human-robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.

  5. A high performance sensor for triaxial cutting force measurement in turning.

    PubMed

    Zhao, You; Zhao, Yulong; Liang, Songbo; Zhou, Guanwu

    2015-04-03

    This paper presents a high performance triaxial cutting force sensor with excellent accuracy, favorable natural frequency and acceptable cross-interference for high speed turning process. Octagonal ring is selected as sensitive element of the designed sensor, which is drawn inspiration from ring theory. A novel structure of two mutual-perpendicular octagonal rings is proposed and three Wheatstone full bridge circuits are specially organized in order to obtain triaxial cutting force components and restrain cross-interference. Firstly, the newly developed sensor is tested in static calibration; test results indicate that the sensor possesses outstanding accuracy in the range of 0.38%-0.83%. Secondly, impacting modal tests are conducted to identify the natural frequencies of the sensor in triaxial directions (i.e., 1147 Hz, 1122 Hz and 2035 Hz), which implies that the devised sensor can be used for cutting force measurement in a high speed lathe when the spindle speed does not exceed 17,205 rev/min in continuous cutting condition. Finally, an application of the sensor in turning process is operated to show its performance for real-time cutting force measurement; the measured cutting forces demonstrate a good accordance with the variation of cutting parameters. Thus, the developed sensor possesses perfect properties and it gains great potential for real-time cutting force measurement in turning.

  6. A High Performance Sensor for Triaxial Cutting Force Measurement in Turning

    PubMed Central

    Zhao, You; Zhao, Yulong; Liang, Songbo; Zhou, Guanwu

    2015-01-01

    This paper presents a high performance triaxial cutting force sensor with excellent accuracy, favorable natural frequency and acceptable cross-interference for high speed turning process. Octagonal ring is selected as sensitive element of the designed sensor, which is drawn inspiration from ring theory. A novel structure of two mutual-perpendicular octagonal rings is proposed and three Wheatstone full bridge circuits are specially organized in order to obtain triaxial cutting force components and restrain cross-interference. Firstly, the newly developed sensor is tested in static calibration; test results indicate that the sensor possesses outstanding accuracy in the range of 0.38%–0.83%. Secondly, impacting modal tests are conducted to identify the natural frequencies of the sensor in triaxial directions (i.e., 1147 Hz, 1122 Hz and 2035 Hz), which implies that the devised sensor can be used for cutting force measurement in a high speed lathe when the spindle speed does not exceed 17,205 rev/min in continuous cutting condition. Finally, an application of the sensor in turning process is operated to show its performance for real-time cutting force measurement; the measured cutting forces demonstrate a good accordance with the variation of cutting parameters. Thus, the developed sensor possesses perfect properties and it gains great potential for real-time cutting force measurement in turning. PMID:25855035

  7. 3D Imaging.

    ERIC Educational Resources Information Center

    Hastings, S. K.

    2002-01-01

    Discusses 3 D imaging as it relates to digital representations in virtual library collections. Highlights include X-ray computed tomography (X-ray CT); the National Science Foundation (NSF) Digital Library Initiatives; output peripherals; image retrieval systems, including metadata; and applications of 3 D imaging for libraries and museums. (LRW)

  8. Analysis and experimental evaluation of a Stewart platform-based force/torque sensor

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Antrazi, Sami S.

    1992-01-01

    The kinematic analysis and experimentation of a force/torque sensor whose design is based on the mechanism of the Stewart Platform are discussed. Besides being used for measurement of forces/torques, the sensor also serves as a compliant platform which provides passive compliance during a robotic assembly task. It consists of two platforms, the upper compliant platform (UCP) and the lower compliant platform (LCP), coupled together through six spring-loaded pistons whose length variations are measured by six linear voltage differential transformers (LVDT) mounted along the pistons. Solutions to the forward and inverse kinematics of the force sensor are derived. Based on the known spring constant and the piston length changes, forces/torques applied to the LCP gripper are computed using vector algebra. Results of experiments conducted to evaluate the sensing capability of the force sensor are reported and discussed.

  9. 3D-printed mechanochromic materials.

    PubMed

    Peterson, Gregory I; Larsen, Michael B; Ganter, Mark A; Storti, Duane W; Boydston, Andrew J

    2015-01-14

    We describe the preparation and characterization of photo- and mechanochromic 3D-printed structures using a commercial fused filament fabrication printer. Three spiropyran-containing poly(ε-caprolactone) (PCL) polymers were each filamentized and used to print single- and multicomponent tensile testing specimens that would be difficult, if not impossible, to prepare using traditional manufacturing techniques. It was determined that the filament production and printing process did not degrade the spiropyran units or polymer chains and that the mechanical properties of the specimens prepared with the custom filament were in good agreement with those from commercial PCL filament. In addition to printing photochromic and dual photo- and mechanochromic PCL materials, we also prepare PCL containing a spiropyran unit that is selectively activated by mechanical impetus. Multicomponent specimens containing two different responsive spiropyrans enabled selective activation of different regions within the specimen depending on the stimulus applied to the material. By taking advantage of the unique capabilities of 3D printing, we also demonstrate rapid modification of a prototype force sensor that enables the assessment of peak load by simple visual assessment of mechanochromism.

  10. Flexible three-axial force sensor for soft and highly sensitive artificial touch.

    PubMed

    Viry, Lucie; Levi, Alessandro; Totaro, Massimo; Mondini, Alessio; Mattoli, Virgilio; Mazzolai, Barbara; Beccai, Lucia

    2014-05-01

    A soft tactile sensor able to detect both normal and tangential forces is fabricated with a simple method using conductive textile. Owing to the multi-layered architecture, the capacitive-based tactile sensor is highly sensitive (less than 10 mg and 8 μm, for minimal detectable weight and displacement, respectively) within a wide normal force range (potentially up to 27 N (400 kPa)) and natural touch-like tangential force ranges (from about 0.5 N to 1.8 N). Being flexible, soft, and low cost, this sensor represents an original approach in the emulation of natural touch.

  11. Weapon identification using antemortem computed tomography with virtual 3D and rapid prototype modeling--a report in a case of blunt force head injury.

    PubMed

    Woźniak, Krzysztof; Rzepecka-Woźniak, Ewa; Moskała, Artur; Pohl, Jerzy; Latacz, Katarzyna; Dybała, Bogdan

    2012-10-10

    A frequent request of a prosecutor referring to forensic autopsy is to determine the mechanism of an injury and to identify the weapons used to cause those injuries. This task could be problematic in many ways, including changes in the primary injury caused by medical intervention and the process of healing. To accomplish this task, the forensic pathologist has to gather all possible information during the post-mortem examination. The more data is collected, the easier it is to obtain an accurate answer to the prosecutor's question. The authors present a case of head injuries that the victim sustained under unknown circumstances. The patient underwent neurosurgical treatment which resulted in alteration of the bone fracture pattern. The only way to evaluate this injury was to analyze antemortem clinical data, especially CT scans, with virtual 3D reconstruction of the fractured skull. A physical model of a part of the broken skull was created with the use of 3D printing. These advanced techniques, applied for the first time in Poland for forensic purposes, allowed investigators to extract enough data to develop a hypothesis about the mechanism of injury and the weapon most likely used.

  12. 3D goes digital: from stereoscopy to modern 3D imaging techniques

    NASA Astrophysics Data System (ADS)

    Kerwien, N.

    2014-11-01

    In the 19th century, English physicist Charles Wheatstone discovered stereopsis, the basis for 3D perception. His construction of the first stereoscope established the foundation for stereoscopic 3D imaging. Since then, many optical instruments were influenced by these basic ideas. In recent decades, the advent of digital technologies revolutionized 3D imaging. Powerful readily available sensors and displays combined with efficient pre- or post-processing enable new methods for 3D imaging and applications. This paper draws an arc from basic concepts of 3D imaging to modern digital implementations, highlighting instructive examples from its 175 years of history.

  13. Realization of a fiber-optic force-torque sensor with six degrees of freedom

    NASA Astrophysics Data System (ADS)

    Müller, M. S.; Hoffmann, L.; Buck, T. S.; Koch, A. W.

    2008-11-01

    Multi-axial force and torque sensing is of importance for robot control and many force-feedback applications. Minimal invasive robotic surgery (MIRS) is a possible field of application of force and torque sensors with up to six degrees of freedom. Although these sensors are not yet employed in current commercial MIRS systems, extensive work has been carried out on the development of these sensors. Some of their issues are related to their electric working principle: they are limited in performance by thermal noise, need electric power inside the patient and are not usable under influence of strong magnet fields (e. g. in MRI machines). One possible alternative is seen in fiber optic force torque sensors, since the signal demodulation may be located in some distance to the actual sensor and they also do not have to include any magnetic material. This article presents a fiber optic force and torque sensor with six degrees of freedom. The general setup resembles a Stewart Platform, whereas its connecting beams are formed by the fiber itself, and the element creating stiffness may be of arbitrary form. Only a single fiber is needed to extract all six parameters since they are measured on six multiplexed fiber Bragg grating sensors. We demonstrate how the sensor is realized and show results of torque measurements with variable load.

  14. a Multi-Data Source and Multi-Sensor Approach for the 3d Reconstruction and Visualization of a Complex Archaelogical Site: the Case Study of Tolmo de Minateda

    NASA Astrophysics Data System (ADS)

    Torres-Martínez, J. A.; Seddaiu, M.; Rodríguez-Gonzálvez, P.; Hernández-López, D.; González-Aguilera, D.

    2015-02-01

    The complexity of archaeological sites hinders to get an integral modelling using the actual Geomatic techniques (i.e. aerial, closerange photogrammetry and terrestrial laser scanner) individually, so a multi-sensor approach is proposed as the best solution to provide a 3D reconstruction and visualization of these complex sites. Sensor registration represents a riveting milestone when automation is required and when aerial and terrestrial dataset must be integrated. To this end, several problems must be solved: coordinate system definition, geo-referencing, co-registration of point clouds, geometric and radiometric homogeneity, etc. Last but not least, safeguarding of tangible archaeological heritage and its associated intangible expressions entails a multi-source data approach in which heterogeneous material (historical documents, drawings, archaeological techniques, habit of living, etc.) should be collected and combined with the resulting hybrid 3D of "Tolmo de Minateda" located models. The proposed multi-data source and multi-sensor approach is applied to the study case of "Tolmo de Minateda" archaeological site. A total extension of 9 ha is reconstructed, with an adapted level of detail, by an ultralight aerial platform (paratrike), an unmanned aerial vehicle, a terrestrial laser scanner and terrestrial photogrammetry. In addition, the own defensive nature of the site (i.e. with the presence of three different defensive walls) together with the considerable stratification of the archaeological site (i.e. with different archaeological surfaces and constructive typologies) require that tangible and intangible archaeological heritage expressions can be integrated with the hybrid 3D models obtained, to analyse, understand and exploit the archaeological site by different experts and heritage stakeholders.

  15. Highly-Sensitive Surface-Enhanced Raman Spectroscopy (SERS)-based Chemical Sensor using 3D Graphene Foam Decorated with Silver Nanoparticles as SERS substrate

    PubMed Central

    Srichan, Chavis; Ekpanyapong, Mongkol; Horprathum, Mati; Eiamchai, Pitak; Nuntawong, Noppadon; Phokharatkul, Ditsayut; Danvirutai, Pobporn; Bohez, Erik; Wisitsoraat, Anurat; Tuantranont, Adisorn

    2016-01-01

    In this work, a novel platform for surface-enhanced Raman spectroscopy (SERS)-based chemical sensors utilizing three-dimensional microporous graphene foam (GF) decorated with silver nanoparticles (AgNPs) is developed and applied for methylene blue (MB) detection. The results demonstrate that silver nanoparticles significantly enhance cascaded amplification of SERS effect on multilayer graphene foam (GF). The enhancement factor of AgNPs/GF sensor is found to be four orders of magnitude larger than that of AgNPs/Si substrate. In addition, the sensitivity of the sensor could be tuned by controlling the size of silver nanoparticles. The highest SERS enhancement factor of ∼5 × 104 is achieved at the optimal nanoparticle size of 50 nm. Moreover, the sensor is capable of detecting MB over broad concentration ranges from 1 nM to 100 μM. Therefore, AgNPs/GF is a highly promising SERS substrate for detection of chemical substances with ultra-low concentrations. PMID:27020705

  16. Prestress-force monitoring of PSC girder bridges using wireless impedance sensor nodes

    NASA Astrophysics Data System (ADS)

    Park, Jae-Hyung; Lee, So-Young; Hong, Dong-Soo; Kim, Jeong-Tae

    2010-04-01

    In this study, a technique using wireless impedance sensor node and interface washer is proposed to monitor prestressforce in PSC girder bridges. In order to achieve the goal, the following approaches are implemented. Firstly, a wireless impedance sensor node is designed for automated and cost-efficient prestress-force monitoring. Secondly, an impedance-based algorithm is embedded in the wireless impedance sensor node for autonomous prestress-force monitoring. Thirdly, a prestress-force monitoring technique using an interface washer is proposed to overcome limitations of the wireless impedance sensor node such as measureable frequency ranges with narrow band. Finally, the feasibility and applicability of the proposed technique are evaluated in a lab-scaled PSC girder model for which several prestress-loss scenarios are experimentally monitored by the wireless impedance sensor node.

  17. SI traceable calibration of an instrumented indentation sensor spring constant using electrostatic force.

    PubMed

    Chung, Koo-Hyun; Scholz, Stefan; Shaw, Gordon A; Kramar, John A; Pratt, Jon R

    2008-09-01

    We present a measurement scheme for creating reference electrostatic forces that are traceable to the International System of Units. This scheme yields reference forces suitable for calibrating the force sensitivity of instrumented indentation machines and atomic force microscopes. Forces between 10 and 200 muN were created and expressed in terms of the voltage, length, and capacitance between a pair of interacting electrodes. The electrodes comprised an electrically conductive sphere mounted as a tip on an instrumented indentation sensor, and a planar counterelectrode fixed to a sample stage in close proximity to the sphere. For comparison, we applied mechanical forces of similar magnitudes, first using deadweights and then using a reference force sensor. The deflection of the sensor due to the various applied forces was measured using an interferometer. A spring constant for the sensor was computed from the observed records of force versus displacement. Each procedure yielded a relative standard uncertainty of approximately 1%; however, the electrostatic technique is scalable and could provide traceable reference forces as small as a few hundred piconewtons, a range far below anything yet achieved using deadweights.

  18. SI traceable calibration of an instrumented indentation sensor spring constant using electrostatic force

    SciTech Connect

    Chung, Koo-Hyun; Scholz, Stefan; Shaw, Gordon A.; Kramar, John A.; Pratt, Jon R.

    2008-09-15

    We present a measurement scheme for creating reference electrostatic forces that are traceable to the International System of Units. This scheme yields reference forces suitable for calibrating the force sensitivity of instrumented indentation machines and atomic force microscopes. Forces between 10 and 200 {mu}N were created and expressed in terms of the voltage, length, and capacitance between a pair of interacting electrodes. The electrodes comprised an electrically conductive sphere mounted as a tip on an instrumented indentation sensor, and a planar counterelectrode fixed to a sample stage in close proximity to the sphere. For comparison, we applied mechanical forces of similar magnitudes, first using deadweights and then using a reference force sensor. The deflection of the sensor due to the various applied forces was measured using an interferometer. A spring constant for the sensor was computed from the observed records of force versus displacement. Each procedure yielded a relative standard uncertainty of approximately 1%; however, the electrostatic technique is scalable and could provide traceable reference forces as small as a few hundred piconewtons, a range far below anything yet achieved using deadweights.

  19. AE3D

    SciTech Connect

    Spong, Donald A

    2016-06-20

    AE3D solves for the shear Alfven eigenmodes and eigenfrequencies in a torodal magnetic fusion confinement device. The configuration can be either 2D (e.g. tokamak, reversed field pinch) or 3D (e.g. stellarator, helical reversed field pinch, tokamak with ripple). The equations solved are based on a reduced MHD model and sound wave coupling effects are not currently included.

  20. Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics

    PubMed Central

    Noh, Yohan; Bimbo, Joao; Sareh, Sina; Wurdemann, Helge; Fraś, Jan; Chathuranga, Damith Suresh; Liu, Hongbin; Housden, James; Althoefer, Kaspar; Rhode, Kawal

    2016-01-01

    This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests. PMID:27869689

  1. Performance of a novel micro force vector sensor and outlook into its biomedical applications

    NASA Astrophysics Data System (ADS)

    Meiss, Thorsten; Rossner, Tim; Minamisava Faria, Carlos; Völlmeke, Stefan; Opitz, Thomas; Werthschützky, Roland

    2011-05-01

    For the HapCath system, which provides haptic feedback of the forces acting on a guide wire's tip during vascular catheterization, very small piezoresistive force sensors of 200•200•640μm3 have been developed. This paper focuses on the characterization of the measurement performance and on possible new applications. Besides the determination of the dynamic measurement performance, special focus is put onto the results of the 3- component force vector calibration. This article addresses special advantageous characteristics of the sensor, but also the limits of applicability will be addressed. As for the special characteristics of the sensor, the second part of the article demonstrates new applications which can be opened up with the novel force sensor, like automatic navigation of medical or biological instruments without impacting surrounding tissue, surface roughness evaluation in biomedical systems, needle insertion with tactile or higher level feedback, or even building tactile hairs for artificial organisms.

  2. Sensor for low force-noise detection in liquids

    DOEpatents

    Ziegler, Dominik; Ashby, Paul

    2016-01-05

    The embodiments described herein provide a sensor. In an exemplary embodiment, the sensor includes (1) a resonator, (2) a probe attached to the resonator, and (3) an encasement that encases the resonator, where the encasement includes an opening through which the probe can protrude and where the dimensions of the encasement are on the same order as the dimensions of the resonator.

  3. Enhanced performance in capacitive force sensors using carbon nanotube/polydimethylsiloxane nanocomposites with high dielectric properties

    NASA Astrophysics Data System (ADS)

    Jang, Hyeyoung; Yoon, Hyungsuk; Ko, Youngpyo; Choi, Jaeyoo; Lee, Sang-Soo; Jeon, Insu; Kim, Jong-Ho; Kim, Heesuk

    2016-03-01

    Force sensors have attracted tremendous attention owing to their applications in various fields such as touch screens, robots, smart scales, and wearable devices. The force sensors reported so far have been mainly focused on high sensitivity based on delicate microstructured materials, resulting in low reproducibility and high fabrication cost that are limitations for wide applications. As an alternative, we demonstrate a novel capacitive-type force sensor with enhanced performance owing to the increased dielectric properties of elastomers and simple sensor structure. We rationally design dielectric elastomers based on alkylamine modified-multi-walled carbon nanotube (MWCNT)/polydimethylsiloxane (PDMS) composites, which have a higher dielectric constant than pure PDMS. The alkylamine-MWCNTs show excellent dispersion in a PDMS matrix, thus leading to enhanced and reliable dielectric properties of the composites. A force sensor array fabricated with alkylamine-MWCNT/PDMS composites presents an enhanced response due to the higher dielectric constant of the composites than that of pure PDMS. This study is the first to report enhanced performance of capacitive force sensors by modulating the dielectric properties of elastomers. We believe that the disclosed strategy to improve the sensor performance by increasing the dielectric properties of elastomers has great potential in the development of capacitive force sensor arrays that respond to various input forces.Force sensors have attracted tremendous attention owing to their applications in various fields such as touch screens, robots, smart scales, and wearable devices. The force sensors reported so far have been mainly focused on high sensitivity based on delicate microstructured materials, resulting in low reproducibility and high fabrication cost that are limitations for wide applications. As an alternative, we demonstrate a novel capacitive-type force sensor with enhanced performance owing to the increased

  4. High ac-voltage sensitivity of a quartz needle sensor used in noncontact scanning force microscopy

    NASA Astrophysics Data System (ADS)

    Hartmann, C.; Mertin, W.; Bacher, G.

    2005-11-01

    The ac-voltage sensitivity of a needle sensor used in a scanning force microscope has been investigated. The voltage sensitivity varies depending if the needle sensor is used as an active or passive device. Using it as an active device, we achieve a voltage sensitivity down to 100μV if the frequency and phase of the excitation voltage of the needle sensor is matched to the voltage of the device under test.

  5. High-performance, mechanically flexible, and vertically integrated 3D carbon nanotube and InGaZnO complementary circuits with a temperature sensor.

    PubMed

    Honda, Wataru; Harada, Shingo; Ishida, Shohei; Arie, Takayuki; Akita, Seiji; Takei, Kuniharu

    2015-08-26

    A vertically integrated inorganic-based flexible complementary metal-oxide-semiconductor (CMOS) inverter with a temperature sensor with a high inverter gain of ≈50 and a low power consumption of <7 nW mm(-1) is demonstrated using a layer-by-layer assembly process. In addition, the negligible influence of the mechanical flexibility on the performance of the CMOS inverter and the temperature dependence of the CMOS inverter characteristics are discussed.

  6. Rapid 3D video/laser sensing and digital archiving with immediate on-scene feedback for 3D crime scene/mass disaster data collection and reconstruction

    NASA Astrophysics Data System (ADS)

    Altschuler, Bruce R.; Oliver, William R.; Altschuler, Martin D.

    1996-02-01

    We describe a system for rapid and convenient video data acquisition and 3-D numerical coordinate data calculation able to provide precise 3-D topographical maps and 3-D archival data sufficient to reconstruct a 3-D virtual reality display of a crime scene or mass disaster area. Under a joint U.S. army/U.S. Air Force project with collateral U.S. Navy support, to create a 3-D surgical robotic inspection device -- a mobile, multi-sensor robotic surgical assistant to aid the surgeon in diagnosis, continual surveillance of patient condition, and robotic surgical telemedicine of combat casualties -- the technology is being perfected for remote, non-destructive, quantitative 3-D mapping of objects of varied sizes. This technology is being advanced with hyper-speed parallel video technology and compact, very fast laser electro-optics, such that the acquisition of 3-D surface map data will shortly be acquired within the time frame of conventional 2-D video. With simple field-capable calibration, and mobile or portable platforms, the crime scene investigator could set up and survey the entire crime scene, or portions of it at high resolution, with almost the simplicity and speed of video or still photography. The survey apparatus would record relative position, location, and instantly archive thousands of artifacts at the site with 3-D data points capable of creating unbiased virtual reality reconstructions, or actual physical replicas, for the investigators, prosecutors, and jury.

  7. Next force sensing technology for robots: multi-axis resonant sensors

    NASA Astrophysics Data System (ADS)

    Castano-Cano, Davinson; Grossard, Mathieu; Hubert, Arnaud

    2016-05-01

    The aim of this paper is to present a novel resonant multi-axis force sensor with applications in robotics. A resonant force sensor is characterized by the use of a frequency output signal to estimate the applied forces, instead of using its amplitude as it is often the case for the other existing technologies used in robotics. The advantages of resonant force sensing for robotics are discussed, especially for the safety requirements in the collaborative field. We extend our analysis to show the main similarities and differences between more classical sensors (based on strain gages for instance) and resonant ones, with a focus on their design. More specifically, we detail the way the design of the sensitive element, which essentially transduces the applied forces into frequencies, plays a major role on its performances.

  8. Local Lorentz force flowmeter at a continuous caster model using a new generation multicomponent force and torque sensor

    NASA Astrophysics Data System (ADS)

    Hernández, Daniel; Schleichert, Jan; Karcher, Christian; Fröhlich, Thomas; Wondrak, Thomas; Timmel, Klaus

    2016-06-01

    Lorentz force velocimetry is a non-invasive velocity measurement technique for electrical conductive liquids like molten steel. In this technique, the metal flow interacts with a static magnetic field generating eddy currents which, in turn, produce flow-braking Lorentz forces within the fluid. These forces are proportional to the electrical conductivity and to the velocity of the melt. Due to Newton’s third law, a counter force of the same magnitude acts on the source of the applied static magnetic field which is in our case a permanent magnet. In this paper we will present a new multicomponent sensor for the local Lorentz force flowmeter (L2F2) which is able to measure simultaneously all three components of the force as well as all three components of the torque. Therefore, this new sensor is capable of accessing all three velocity components at the same time in the region near the wall. In order to demonstrate the potential of this new sensor, it is used to identify the 3-dimensional velocity field near the wide face of the mold of a continuous caster model available at the Helmholtz-Zentrum Dresden-Rossendorf. As model melt, the eutectic alloy GaInSn is used.

  9. Predicting propulsive forces using distributed sensors in a compliant, high DOF, robotic fin.

    PubMed

    Kahn, Jeff C; Peretz, David J; Tangorra, James L

    2015-05-18

    Engineered robotic fins have adapted principles of propulsion from bony-finned fish, using spatially-varying compliance and complex kinematics to produce and control the fin's propulsive force through time. While methods of force production are well understood, few models exist to predict the propulsive forces of a compliant, high degree of freedom, robotic fin as it moves through fluid. Inspired by evidence that the bluegill sunfish (Lepomis macrochirus) has bending sensation in its pectoral fins, the objective of this study is to understand how sensors distributed within a compliant robotic fin can be used to estimate and predict the fin's propulsive force. A biorobotic model of a bluegill sunfish pectoral fin was instrumented with pressure and bending sensors at multiple locations. Experiments with the robotic fin were executed that varied the swimming gait, flapping frequency, stroke phase, and fin stiffness to understand the forces and sensory measures that occur during swimming. A convolution-based, multi-input-single-output (MISO) model was selected to model and study the relationships between sensory data and propulsive force. Subsets of sensory data were studied to determine which sensor modalities and sensor placement locations resulted in the best force predictions. The propulsive forces of the fin were accurately predicted using the linear MISO model on intrinsic sensory data. Bending sensation was more effective than pressure sensation for predicting propulsive forces, and the importance of bending sensation was consistent with several results in biology and engineering studies. It was important to have a spatial distribution of sensors and multiple sensory modalities in order to predict forces across large changes to dynamics. The relationship between propulsive forces and intrinsic sensory measures is complex, and good models should allow for temporal lags between forces and sensory data, changes to the model within a fin stroke, and changes to the

  10. 3D change detection - Approaches and applications

    NASA Astrophysics Data System (ADS)

    Qin, Rongjun; Tian, Jiaojiao; Reinartz, Peter

    2016-12-01

    Due to the unprecedented technology development of sensors, platforms and algorithms for 3D data acquisition and generation, 3D spaceborne, airborne and close-range data, in the form of image based, Light Detection and Ranging (LiDAR) based point clouds, Digital Elevation Models (DEM) and 3D city models, become more accessible than ever before. Change detection (CD) or time-series data analysis in 3D has gained great attention due to its capability of providing volumetric dynamics to facilitate more applications and provide more accurate results. The state-of-the-art CD reviews aim to provide a comprehensive synthesis and to simplify the taxonomy of the traditional remote sensing CD techniques, which mainly sit within the boundary of 2D image/spectrum analysis, largely ignoring the particularities of 3D aspects of the data. The inclusion of 3D data for change detection (termed 3D CD), not only provides a source with different modality for analysis, but also transcends the border of traditional top-view 2D pixel/object-based analysis to highly detailed, oblique view or voxel-based geometric analysis. This paper reviews the recent developments and applications of 3D CD using remote sensing and close-range data, in support of both academia and industry researchers who seek for solutions in detecting and analyzing 3D dynamics of various objects of interest. We first describe the general considerations of 3D CD problems in different processing stages and identify CD types based on the information used, being the geometric comparison and geometric-spectral analysis. We then summarize relevant works and practices in urban, environment, ecology and civil applications, etc. Given the broad spectrum of applications and different types of 3D data, we discuss important issues in 3D CD methods. Finally, we present concluding remarks in algorithmic aspects of 3D CD.

  11. 3-D Seismic Interpretation

    NASA Astrophysics Data System (ADS)

    Moore, Gregory F.

    2009-05-01

    This volume is a brief introduction aimed at those who wish to gain a basic and relatively quick understanding of the interpretation of three-dimensional (3-D) seismic reflection data. The book is well written, clearly illustrated, and easy to follow. Enough elementary mathematics are presented for a basic understanding of seismic methods, but more complex mathematical derivations are avoided. References are listed for readers interested in more advanced explanations. After a brief introduction, the book logically begins with a succinct chapter on modern 3-D seismic data acquisition and processing. Standard 3-D acquisition methods are presented, and an appendix expands on more recent acquisition techniques, such as multiple-azimuth and wide-azimuth acquisition. Although this chapter covers the basics of standard time processing quite well, there is only a single sentence about prestack depth imaging, and anisotropic processing is not mentioned at all, even though both techniques are now becoming standard.

  12. Radiochromic 3D Detectors

    NASA Astrophysics Data System (ADS)

    Oldham, Mark

    2015-01-01

    Radiochromic materials exhibit a colour change when exposed to ionising radiation. Radiochromic film has been used for clinical dosimetry for many years and increasingly so recently, as films of higher sensitivities have become available. The two principle advantages of radiochromic dosimetry include greater tissue equivalence (radiologically) and the lack of requirement for development of the colour change. In a radiochromic material, the colour change arises direct from ionising interactions affecting dye molecules, without requiring any latent chemical, optical or thermal development, with important implications for increased accuracy and convenience. It is only relatively recently however, that 3D radiochromic dosimetry has become possible. In this article we review recent developments and the current state-of-the-art of 3D radiochromic dosimetry, and the potential for a more comprehensive solution for the verification of complex radiation therapy treatments, and 3D dose measurement in general.

  13. Optical 3D surface digitizing in forensic medicine: 3D documentation of skin and bone injuries.

    PubMed

    Thali, Michael J; Braun, Marcel; Dirnhofer, Richard

    2003-11-26

    Photography process reduces a three-dimensional (3D) wound to a two-dimensional level. If there is a need for a high-resolution 3D dataset of an object, it needs to be three-dimensionally scanned. No-contact optical 3D digitizing surface scanners can be used as a powerful tool for wound and injury-causing instrument analysis in trauma cases. The 3D skin wound and a bone injury documentation using the optical scanner Advanced TOpometric Sensor (ATOS II, GOM International, Switzerland) will be demonstrated using two illustrative cases. Using this 3D optical digitizing method the wounds (the virtual 3D computer model of the skin and the bone injuries) and the virtual 3D model of the injury-causing tool are graphically documented in 3D in real-life size and shape and can be rotated in the CAD program on the computer screen. In addition, the virtual 3D models of the bone injuries and tool can now be compared in a 3D CAD program against one another in virtual space, to see if there are matching areas. Further steps in forensic medicine will be a full 3D surface documentation of the human body and all the forensic relevant injuries using optical 3D scanners.

  14. Development of a measuring system of contact force during braille reading using an optical 6-axis force sensor.

    PubMed

    Watanabe, T; Oouchi, S; Yamaguchi, T; Shimojo, M; Shimada, S

    2006-01-01

    A system with an optical 6-axis force sensor was developed to measure contact force during braille reading. In using this system, we encountered two problems. One is a variability of output values depending on the contact point. This was solved by using two transformation techniques. The other is that subjects read braille in a different manner from the usual. We compared two manners of braille reading, one-handed vs two-handed, and found a small reduction in reading speed. Using this system, we collected data from four braille readers and quantitatively showed more minute contact force trajectories than those in earlier studies.

  15. Bootstrapping 3D fermions

    DOE PAGES

    Iliesiu, Luca; Kos, Filip; Poland, David; ...

    2016-03-17

    We study the conformal bootstrap for a 4-point function of fermions <ψψψψ> in 3D. We first introduce an embedding formalism for 3D spinors and compute the conformal blocks appearing in fermion 4-point functions. Using these results, we find general bounds on the dimensions of operators appearing in the ψ × ψ OPE, and also on the central charge CT. We observe features in our bounds that coincide with scaling dimensions in the GrossNeveu models at large N. Finally, we also speculate that other features could coincide with a fermionic CFT containing no relevant scalar operators.

  16. Bootstrapping 3D fermions

    SciTech Connect

    Iliesiu, Luca; Kos, Filip; Poland, David; Pufu, Silviu S.; Simmons-Duffin, David; Yacoby, Ran

    2016-03-17

    We study the conformal bootstrap for a 4-point function of fermions <ψψψψ> in 3D. We first introduce an embedding formalism for 3D spinors and compute the conformal blocks appearing in fermion 4-point functions. Using these results, we find general bounds on the dimensions of operators appearing in the ψ × ψ OPE, and also on the central charge CT. We observe features in our bounds that coincide with scaling dimensions in the GrossNeveu models at large N. Finally, we also speculate that other features could coincide with a fermionic CFT containing no relevant scalar operators.

  17. How We 3D-Print Aerogel

    SciTech Connect

    2015-04-23

    A new type of graphene aerogel will make for better energy storage, sensors, nanoelectronics, catalysis and separations. Lawrence Livermore National Laboratory researchers have made graphene aerogel microlattices with an engineered architecture via a 3D printing technique known as direct ink writing. The research appears in the April 22 edition of the journal, Nature Communications. The 3D printed graphene aerogels have high surface area, excellent electrical conductivity, are lightweight, have mechanical stiffness and exhibit supercompressibility (up to 90 percent compressive strain). In addition, the 3D printed graphene aerogel microlattices show an order of magnitude improvement over bulk graphene materials and much better mass transport.

  18. Capillary Force Driven Self-Assembly of Anisotropic Hierarchical Structures Prepared by Femtosecond Laser 3D Printing and Their Applications in Crystallizing Microparticles.

    PubMed

    Lao, Zhaoxin; Hu, Yanlei; Zhang, Chenchu; Yang, Liang; Li, Jiawen; Chu, Jiaru; Wu, Dong

    2015-12-22

    The hierarchical structures are the derivation of various functionalities in the natural world and have inspired broad practical applications in chemical systhesis and biological manipulation. However, traditional top-down fabrication approaches suffered from low complexity. We propose a laser printing capillary-assisted self-assembly (LPCS) strategy for fabricating regular periodic structures. Microscale pillars are first produced by the localized femtosecond laser polymerization and are subsequently self-assembled into periodic hierarchical architectures with the assistance of controlled capillary force. Moreover, based on anisotropic assemblies of micropillars, the LPCS method is further developed for the preparation of more complicated and advanced functional microstructures. Pillars cross section, height, and spatial arrangement can be tuned to guide capillary force, and diverse assemblies with different configurations are thus achieved. Finally, we developed a strategy for growing micro/nanoparticles in designed spatial locations through solution-evaporation self-assembly induced by morphology. Due to the high flexibility of LPCS method, the special arrangements, sizes, and distribution density of the micro/nanoparticles can be controlled readily. Our method will be employed not only to fabricate anisotropic hierarchical structures but also to design and manufacture organic/inorganic microparticles.

  19. Polymer fiber Bragg grating force sensors for minimally invasive surgical devices

    NASA Astrophysics Data System (ADS)

    Rajan, Ginu; Mathews, Sunish; Callaghan, Dean; Farrell, Gerald; Peng, Gang-Ding

    2015-07-01

    A feasibility study on using polymer fiber Bragg sensors (PFBG) for providing force feedback to minimally invasive surgical devices is carried out. For this purpose a 3 mm long PFBG is fabricated and characterized for strain and temperature sensitivities. The PFBG sensor is then integrated onto a commercial laparoscopic clip applicator which is used as a proof of concept device. The force characterization of the clip applicator is carried out, with a replica setup which simulates the clip forming process of the device. An original clip is then formed without and with synthetic tissue samples of different hardness. The replica device force profile and original clip forming force profile follows the same pattern and thus the calibration data can be used to calculate the original force exerting on the tissues which can help in optimizing the clip formation process or can be used for providing force feedback capability to the device.

  20. Silicon cantilever sensor for micro-/nanoscale dimension and force metrology

    NASA Astrophysics Data System (ADS)

    Peiner, Erwin; Doering, Lutz; Balke, Michael; Christ, Andreas

    2007-05-01

    A piezoresistive silicon cantilever-type tactile sensor was described as well as its application for dimensional metrology with micro components and as a transferable force standard in the micro-to-nano Newton range. As an example for tactile probing metrology the novel cantilever sensor was used for surface scanning with calibrated groove and roughness artifacts. Force metrology was addressed based on calibration procedures which were developed for commercial stylus instruments as well as for glass pipettes designed for the characterization of the vital forces of isolated cells.

  1. Re-poling process for piezoelectric-based multilayer ceramic capacitors force sensor

    NASA Astrophysics Data System (ADS)

    Lin, Keng-Ren; Chang, Chih-Han; Chiang, Cheng-Hung; Lin, Che-Hsin

    2013-04-01

    This study presents an industrial-grade piezoelectric-based multilayer ceramic capacitors (MLCCs) force sensor. In order to increase the sensitivity and reduce the variation of different MLCCs, a simple re-poling process is adopted by applying an external electric field at the Curie temperature of MLCCs. Results indicate that the re-poling treatment improved up to 100-fold for the force detection sensitivity and reduced the variation for the output force response by 10-fold in comparison with the MLCC sensors without re-poling.

  2. Integrated dynamic and static tactile sensor: focus on static force sensing

    NASA Astrophysics Data System (ADS)

    Wettels, Nicholas; Pletner, Baruch

    2012-04-01

    Object grasping by robotic hands in unstructured environments demands a sensor that is durable, compliant, and responsive to static and dynamic force conditions. In order for a tactile sensor to be useful for grasp control in these, it should have the following properties: tri-axial force sensing (two shear plus normal component), dynamic event sensing across slip frequencies, compliant surface for grip, wide dynamic range (depending on application), insensitivity to environmental conditions, ability to withstand abuse and good sensing behavior (e.g. low hysteresis, high repeatability). These features can be combined in a novel multimodal tactile sensor. This sensor combines commercial-off-the-shelf MEMS technology with two proprietary force sensors: a high bandwidth device based on PZT technology and low bandwidth device based on elastomers and optics. In this study, we focus on the latter transduction mechanism and the proposed architecture of the completed device. In this study, an embedded LED was utilized to produce a constant light source throughout a layer of silicon rubber which covered a plastic mandrel containing a set of sensitive phototransistors. Features about the contacted object such as center of pressure and force vectors can be extracted from the information in the changing patterns of light. The voltage versus force relationship obtained with this molded humanlike finger had a wide dynamic range that coincided with forces relevant for most human grip tasks.

  3. Venus in 3D

    NASA Technical Reports Server (NTRS)

    Plaut, Jeffrey J.

    1993-01-01

    Stereographic images of the surface of Venus which enable geologists to reconstruct the details of the planet's evolution are discussed. The 120-meter resolution of these 3D images make it possible to construct digital topographic maps from which precise measurements can be made of the heights, depths, slopes, and volumes of geologic structures.

  4. 3D photoacoustic imaging

    NASA Astrophysics Data System (ADS)

    Carson, Jeffrey J. L.; Roumeliotis, Michael; Chaudhary, Govind; Stodilka, Robert Z.; Anastasio, Mark A.

    2010-06-01

    Our group has concentrated on development of a 3D photoacoustic imaging system for biomedical imaging research. The technology employs a sparse parallel detection scheme and specialized reconstruction software to obtain 3D optical images using a single laser pulse. With the technology we have been able to capture 3D movies of translating point targets and rotating line targets. The current limitation of our 3D photoacoustic imaging approach is its inability ability to reconstruct complex objects in the field of view. This is primarily due to the relatively small number of projections used to reconstruct objects. However, in many photoacoustic imaging situations, only a few objects may be present in the field of view and these objects may have very high contrast compared to background. That is, the objects have sparse properties. Therefore, our work had two objectives: (i) to utilize mathematical tools to evaluate 3D photoacoustic imaging performance, and (ii) to test image reconstruction algorithms that prefer sparseness in the reconstructed images. Our approach was to utilize singular value decomposition techniques to study the imaging operator of the system and evaluate the complexity of objects that could potentially be reconstructed. We also compared the performance of two image reconstruction algorithms (algebraic reconstruction and l1-norm techniques) at reconstructing objects of increasing sparseness. We observed that for a 15-element detection scheme, the number of measureable singular vectors representative of the imaging operator was consistent with the demonstrated ability to reconstruct point and line targets in the field of view. We also observed that the l1-norm reconstruction technique, which is known to prefer sparseness in reconstructed images, was superior to the algebraic reconstruction technique. Based on these findings, we concluded (i) that singular value decomposition of the imaging operator provides valuable insight into the capabilities of

  5. Developments of a force image algorithm for micromachined optical bend loss sensor

    NASA Astrophysics Data System (ADS)

    Huang, Chu-Yu; Liu, Chao-Shih; Panergo, Reynold; Huang, Cheng-Sheng; Wang, Wei-Chih

    2005-05-01

    A flexible high-resolution sensor capable of measuring the distribution of both shear and pressure at the plantar interface are needed to study the actual distribution of this force during daily activities, and the role that shear plays in causing plantar ulceration. We have previously developed a novel means of transducing plantar shear and pressure stress via a new microfabricated optical system. However, a force image algorithm is needed to handle the complexity of construction of two-dimensional planar pressure and shear images. Here we have developed a force image algorithm for a micromachined optical bend loss sensor. A neural network is introduced to help identify different load shapes. According to the experimental result, we can conclude that once the neural network has been well trained, it can correctly identify the loading shape. With the neural network, our micromachined optical bend loss Sensor is able to construction the two-dimensional planar force images.

  6. Nonlinear-programming optimized fiber Bragg grating based force-torque-sensor with six degrees of freedom

    NASA Astrophysics Data System (ADS)

    Müller, Mathias S.; Hoffmann, Lars; Buck, Thorbjörn C.; Wojtech, Rolf; Koch, Alexander W.

    2011-05-01

    Force-torque sensors are key elements in modern force feedback and robotic control applications. For special applications resistance against electromagnetic interference, high amount of load cycles or chemical resistance are important. For these applications, fiber-Bragg-grating based force torque sensors have been seen as possible solutions. Yet the implementation of a force-torque-sensor with six degrees of freedom and well conditioned sensitivities is still lacking demonstration. In this work, we demonstrate the design of a miniaturized fiber-Bragg-grating based force-torque sensor with six degrees of freedom using a numerical nonlinear programming technique. We implement the optimized structure and show its feasibility and sensitivity.

  7. Advances in bio-tactile sensors for minimally invasive surgery using the fibre Bragg grating force sensor technique: a survey.

    PubMed

    Abushagur, Abdulfatah A G; Arsad, Norhana; Reaz, Mamun Ibne; Bakar, A Ashrif A

    2014-04-09

    The large interest in utilising fibre Bragg grating (FBG) strain sensors for minimally invasive surgery (MIS) applications to replace conventional electrical tactile sensors has grown in the past few years. FBG strain sensors offer the advantages of optical fibre sensors, such as high sensitivity, immunity to electromagnetic noise, electrical passivity and chemical inertness, but are not limited by phase discontinuity or intensity fluctuations. FBG sensors feature a wavelength-encoding sensing signal that enables distributed sensing that utilises fewer connections. In addition, their flexibility and lightness allow easy insertion into needles and catheters, thus enabling localised measurements inside tissues and blood. Two types of FBG tactile sensors have been emphasised in the literature: single-point and array FBG tactile sensors. This paper describes the current design, development and research of the optical fibre tactile techniques that are based on FBGs to enhance the performance of MIS procedures in general. Providing MIS or microsurgery surgeons with accurate and precise measurements and control of the contact forces during tissues manipulation will benefit both surgeons and patients.

  8. HATS (High Altitude Thermal Sounder): a passive sensor solution to 3D high-resolution mapping of upper atmosphere dynamics (Conference Presentation)

    NASA Astrophysics Data System (ADS)

    Gordley, Larry; Marshall, Benjamin T.; Lachance, Richard L.

    2016-10-01

    This presentation introduces a High Altitude Thermal Sensor (HATS) that has the potential to resolve the thermal structure of the upper atmosphere (cloud top to 100km) with both horizontal and vertical resolution of 5-7 km or better. This would allow the complete characterization of the wave structures that carry weather signature from the underlying atmosphere. Using a novel gas correlation technique, an extremely high-resolution spectral scan is accomplished by measuring a Doppler modulated signal as the atmospheric thermal scene passes through the HATS 2D FOV. This high spectral resolution, difficult to impossible to achieve with any other passive technique, enables the separation of radiation emanating at high altitudes from that emanating at low altitudes. A principal component analysis of these modulation signals then exposes the complete thermal structure of the upper atmosphere. We show that nadir sounding from low earth orbit, using various branches of CO2 emission in the 17 to 15 micron region, with sufficient spectral resolution and spectral measurement range, can distinguish thermal energy that peaks at various altitudes. By observing the up-welling atmospheric emission through a low pressure (Doppler broadened) gas cell, as the scene passes through our FOV, a modulation signal is created as the atmospheric emission lines are shifted through the spectral position of the gas cell absorption lines. The modulation signal is shown to be highly correlated to the emission coming from the spectral location of the gas cell lines relative to the atmospheric emission lines. This effectively produces a scan of the atmospheric emission with a Doppler line resolution. Similar to thermal sounding of the troposphere, a principal component analysis of the modulation signal can be used to produce an altitude resolved profile, given a reasonable a priori temperature profile. It is then shown that with the addition of a limb observation with one CO2 broadband channel

  9. Analysis of a Micro-Optomechatronic Force Sensor

    NASA Astrophysics Data System (ADS)

    Fakhrabadi, M. M. S.; Ghanbari, A.; Rostami, A.; Janabi Sharifi, F.

    2010-11-01

    The purpose of this article is to study the dynamic behavior and modal analysis of a micro-optomechatronic device with primary applications to force sensing and optical attenuation/coupling. The system consists of two initially aligned micro-cantilevers with a narrow gap between them. The light beam enters to the first waveguide and, after propagation along it, couples to second waveguide through the mentioned narrow gap. The externally static or dynamic applied force on the first micro-cantilever deflects it and results in reduced optical coupling between the two waveguides. Changes in this factor are measured to give the properties of the applied force.

  10. Biomechanical and mathematical analysis of human movement in medical rehabilitation science using time-series data from two video cameras and force-plate sensor

    NASA Astrophysics Data System (ADS)

    Tsuruoka, Masako; Shibasaki, Ryosuke; Box, Elgene O.; Murai, Shunji; Mori, Eiji; Wada, Takao; Kurita, Masahiro; Iritani, Makoto; Kuroki, Yoshikatsu

    1994-08-01

    In medical rehabilitation science, quantitative understanding of patient movement in 3-D space is very important. The patient with any joint disorder will experience its influence on other body parts in daily movement. The alignment of joints in movement is able to improve under medical therapy process. In this study, the newly developed system is composed of two non- metri CCD video cameras and a force plate sensor, which are controlled simultaneously by a personal computer. By this system time-series digital data from 3-D image photogrammetry, each foot pressure and its center position, is able to provide efficient information for biomechanical and mathematical analysis of human movement. Each specific and common points are indicated in any patient movement. This study suggests more various, quantitative understanding in medical rehabilitation science.

  11. From conventional sensors to fibre optic sensors for strain and force measurements in biomechanics applications: a review.

    PubMed

    Roriz, Paulo; Carvalho, Lídia; Frazão, Orlando; Santos, José Luís; Simões, José António

    2014-04-11

    In vivo measurement, not only in animals but also in humans, is a demanding task and is the ultimate goal in experimental biomechanics. For that purpose, measurements in vivo must be performed, under physiological conditions, to obtain a database and contribute for the development of analytical models, used to describe human biomechanics. The knowledge and control of the mechanisms involved in biomechanics will allow the optimization of the performance in different topics like in clinical procedures and rehabilitation, medical devices and sports, among others. Strain gages were first applied to bone in a live animal in 40's and in 80's for the first time were applied fibre optic sensors to perform in vivo measurements of Achilles tendon forces in man. Fibre optic sensors proven to have advantages compare to conventional sensors and a great potential for biomechanical and biomedical applications. Compared to them, they are smaller, easier to implement, minimally invasive, with lower risk of infection, highly accurate, well correlated, inexpensive and multiplexable. The aim of this review article is to give an overview about the evolution of the experimental techniques applied in biomechanics, from conventional to fibre optic sensors. In the next sections the most relevant contributions of these sensors, for strain and force in biomechanical applications, will be presented. Emphasis was given to report of in vivo experiments and clinical applications.

  12. Design and Analysis of a Sensor System for Cutting Force Measurement in Machining Processes.

    PubMed

    Liang, Qiaokang; Zhang, Dan; Coppola, Gianmarc; Mao, Jianxu; Sun, Wei; Wang, Yaonan; Ge, Yunjian

    2016-01-07

    Multi-component force sensors have infiltrated a wide variety of automation products since the 1970s. However, one seldom finds full-component sensor systems available in the market for cutting force measurement in machine processes. In this paper, a new six-component sensor system with a compact monolithic elastic element (EE) is designed and developed to detect the tangential cutting forces Fx, Fy and Fz (i.e., forces along x-, y-, and z-axis) as well as the cutting moments Mx, My and Mz (i.e., moments about x-, y-, and z-axis) simultaneously. Optimal structural parameters of the EE are carefully designed via simulation-driven optimization. Moreover, a prototype sensor system is fabricated, which is applied to a 5-axis parallel kinematic machining center. Calibration experimental results demonstrate that the system is capable of measuring cutting forces and moments with good linearity while minimizing coupling error. Both the Finite Element Analysis (FEA) and calibration experimental studies validate the high performance of the proposed sensor system that is expected to be adopted into machining processes.

  13. Design and Analysis of a Sensor System for Cutting Force Measurement in Machining Processes

    PubMed Central

    Liang, Qiaokang; Zhang, Dan; Coppola, Gianmarc; Mao, Jianxu; Sun, Wei; Wang, Yaonan; Ge, Yunjian

    2016-01-01

    Multi-component force sensors have infiltrated a wide variety of automation products since the 1970s. However, one seldom finds full-component sensor systems available in the market for cutting force measurement in machine processes. In this paper, a new six-component sensor system with a compact monolithic elastic element (EE) is designed and developed to detect the tangential cutting forces Fx, Fy and Fz (i.e., forces along x-, y-, and z-axis) as well as the cutting moments Mx, My and Mz (i.e., moments about x-, y-, and z-axis) simultaneously. Optimal structural parameters of the EE are carefully designed via simulation-driven optimization. Moreover, a prototype sensor system is fabricated, which is applied to a 5-axis parallel kinematic machining center. Calibration experimental results demonstrate that the system is capable of measuring cutting forces and moments with good linearity while minimizing coupling error. Both the Finite Element Analysis (FEA) and calibration experimental studies validate the high performance of the proposed sensor system that is expected to be adopted into machining processes. PMID:26751451

  14. A Nanocrystal Sensor for Luminescence Detection of Cellular Forces

    SciTech Connect

    Choi, Charina; Chou, Jonathan; Lutker, Katie; Werb, Zena; Alivisatos, Paul

    2011-09-29

    Quantum dots have been used as bright fluorescent tags with high photostability to probe numerous biological systems. In this work we present the tetrapod quantum dot as a dynamic, next-generation nanocrystal probe that fluorescently reports cellular forces with spatial and temporal resolution. Its small size and colloidal state suggest that the tetrapod may be further developed as a tool to measure cellular forces in vivo and with macromolecular spatial resolution.

  15. 3D-LZ helicopter ladar imaging system

    NASA Astrophysics Data System (ADS)

    Savage, James; Harrington, Walter; McKinley, R. Andrew; Burns, H. N.; Braddom, Steven; Szoboszlay, Zoltan

    2010-04-01

    A joint-service team led by the Air Force Research Laboratory's Munitions and Sensors Directorates completed a successful flight test demonstration of the 3D-LZ Helicopter LADAR Imaging System. This was a milestone demonstration in the development of technology solutions for a problem known as "helicopter brownout", the loss of situational awareness caused by swirling sand during approach and landing. The 3D-LZ LADAR was developed by H.N. Burns Engineering and integrated with the US Army Aeroflightdynamics Directorate's Brown-Out Symbology System aircraft state symbology aboard a US Army EH-60 Black Hawk helicopter. The combination of these systems provided an integrated degraded visual environment landing solution with landing zone situational awareness as well as aircraft guidance and obstacle avoidance information. Pilots from the U.S. Army, Air Force, Navy, and Marine Corps achieved a 77% landing rate in full brownout conditions at a test range at Yuma Proving Ground, Arizona. This paper will focus on the LADAR technology used in 3D-LZ and the results of this milestone demonstration.

  16. Estimating the relationship between urban 3D morphology and land surface temperature using airborne LiDAR and Landsat-8 Thermal Infrared Sensor data

    NASA Astrophysics Data System (ADS)

    Lee, J. H.

    2015-12-01

    Urban forests are known for mitigating the urban heat island effect and heat-related health issues by reducing air and surface temperature. Beyond the amount of the canopy area, however, little is known what kind of spatial patterns and structures of urban forests best contributes to reducing temperatures and mitigating the urban heat effects. Previous studies attempted to find the relationship between the land surface temperature and various indicators of vegetation abundance using remote sensed data but the majority of those studies relied on two dimensional area based metrics, such as tree canopy cover, impervious surface area, and Normalized Differential Vegetation Index, etc. This study investigates the relationship between the three-dimensional spatial structure of urban forests and urban surface temperature focusing on vertical variance. We use a Landsat-8 Thermal Infrared Sensor image (acquired on July 24, 2014) to estimate the land surface temperature of the City of Sacramento, CA. We extract the height and volume of urban features (both vegetation and non-vegetation) using airborne LiDAR (Light Detection and Ranging) and high spatial resolution aerial imagery. Using regression analysis, we apply empirical approach to find the relationship between the land surface temperature and different sets of variables, which describe spatial patterns and structures of various urban features including trees. Our analysis demonstrates that incorporating vertical variance parameters improve the accuracy of the model. The results of the study suggest urban tree planting is an effective and viable solution to mitigate urban heat by increasing the variance of urban surface as well as evaporative cooling effect.

  17. Ceramic-polymer capacitive sensors for tactile/force awareness in harsh environment robotic applications

    NASA Astrophysics Data System (ADS)

    Weadon, Timothy L.; Evans, Thomas H.; Sabolsky, Edward M.

    2013-12-01

    The need for force feedback and spatial awareness of contact in harsh environment applications, such as space servicing, has been unsatisfied due to the inability of current sensor technology to resist environmental effects. In this work, capacitive sensors based on a thick film 0:3 connectivity ceramic:polymer composite structure were evaluated for potential use in future operations within robotic end effectors, withstanding temperatures ranging from -80 ° C to 120 ° C and forces up to 350 kPa. A thick film design is utilized to allow for ease of embedding, allowing sensors to be implemented into exciting robotic hardware with minimal intrusion, and protecting sensors from electron bombardment, radiation, and point concentrations from metal-on-metal contact. Taguchi design of experiments allows composition variables including sensor thickness, ceramic composition, ceramic particle size, ceramic volume loading, polymer character, modifier character, and the polymer:modifier ratio to be evaluated simultaneously. Dynamic thermal and mechanical loading techniques were implemented to characterize the composite sensors with in situ electrical acquisition. Individual composition variables were linked to the sensor magnitude, sensitivity, drift, and hysteresis, showing that the sensor response is optimized with a thickness of single microns, 10 vol% loading of nano-particle ceramics, and high molecular weight polymers with a low content of simple architecture modifiers lacking glass or melting temperatures in the working range.

  18. Numerical modelling of the turbulent flow developing within and over a 3-d building array, part iii: a istributed drag force approach, its implementation and application

    NASA Astrophysics Data System (ADS)

    Lien, Fue-Sang; Yee, Eugene

    A modified k- model is used for the simulation of the mean wind speed and turbulence for a neutrally-stratified flow through and over a building array, where the array is treated as a porous medium with the drag on the unresolved buildings in the array represented by a distributed momentum sink. More specifically, this model is based on time averaging the spatially averaged Navier-Stokes equation, in which the effects of the obstacle-atmosphere interaction are included through the introduction of a distributed mean-momentum sink (representing drag on the unresolved buildings in the array). In addition, closure of the time-averaged, spatially averaged Navier-Stokes equation requires two additional prognostic equations, namely one for the time-averaged resolved-scale kinetic energy of turbulence,, and another for its dissipation rate, . The performance of the proposed model and some simplified versions derived from it is compared with the spatially averaged, time-mean velocity and various spatially averaged Reynolds stresses diagnosed from a high-resolution computational fluid dynamics (CFD) simulation of the flow within and over an aligned array of sharp-edged cubes with a plan area density of 0.25. Four different methods for diagnosis of the drag coefficient CDfor the aligned cube array, required for the volumetric drag force representation of the cubes, are investigated here. We found that the model predictions for mean wind speed and turbulence in the building array were not sensitive to the differing treatments of the source and sink terms in the and equations (e.g., inclusion of only the `zeroth-order'' approximation for the source/sink terms compared with inclusion of a higher-order approximation for the source/sink terms in the and equations), implying that the higher-order approximations of these source/sink terms did not offer any predictive advantage. A possible explanation for this is the utilization of the Boussinesq linear stress-strain constitutive

  19. Unattended Ground Sensors for Expeditionary Force 21 Intelligence Collections

    DTIC Science & Technology

    2015-06-01

    FUNDING NUMBERS 6. AUTHOR(S) Ryan F. Harrington 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) Naval Postgraduate School Monterey, CA 93943...Administrative Control AMOS Additional Military Occupational Specialty BFSB Battlefield Surveillance Brigade BSC Battlefield Surveillance Company C3...Science and Technology Priorities, Commanding General, I MEF, U.S. Marine Corps, Camp Pendleton, CA , 2015. [4] Remote Sensor Operations, MCRP 2–24B

  20. 3D Radiative Transfer Effects in Multi-Angle/Multi-Spectral Radio-Polarimetric Signals from a Mixture of Clouds and Aerosols Viewed by a Non-Imaging Sensor

    NASA Technical Reports Server (NTRS)

    Davis, Anthony B.; Garay, Michael J.; Xu, Feng; Qu, Zheng; Emde, Claudia

    2013-01-01

    When observing a spatially complex mix of aerosols and clouds in a single relatively large field-of-view, nature entangles their signals non-linearly through polarized radiation transport processes that unfold in the 3D position and direction spaces. In contrast, any practical forward model in a retrieval algorithm will use only 1D vector radiative transfer (vRT) in a linear mixing technique. We assess the difference between the observed and predicted signals using synthetic data from a high-fidelity 3D vRT model with clouds generated using a Large Eddy Simulation model and an aerosol climatology. We find that this difference is signal--not noise--for the Aerosol Polarimetry Sensor (APS), an instrument developed by NASA. Moreover, the worst case scenario is also the most interesting case, namely, when the aerosol burden is large, hence hase the most impact on the cloud microphysics and dynamics. Based on our findings, we formulate a mitigation strategy for these unresolved cloud adjacency effects assuming that some spatial information is available about the structure of the clouds at higher resolution from "context" cameras, as was planned for NASA's ill-fated Glory mission that was to carry the APS but failed to reach orbit. Application to POLDER (POLarization and Directionality of Earth Reflectances) data from the period when PARASOL (Polarization and Anisotropy of Reflectances for Atmospheric Sciences coupled with Observations from a Lidar) was in the A-train is briefly discussed.

  1. Optical knife-edge displacement sensor for high-speed atomic force microscopy

    SciTech Connect

    Braunsmann, Christoph; Schäffer, Tilman E.; Prucker, Veronika

    2014-03-10

    We show that an optical knife-edge technique can be used to detect the parallel shift of an object with sub-nanometer resolution over a wide bandwidth. This allows to design simple, contact-free, and high-speed displacement sensors that can be implemented in high-speed atomic force microscope scanners. In an experimental setup, we achieved a root-mean-square sensor noise of 0.8 nm within a bandwidth from 1 Hz to 1.1 MHz. We used this sensor to detect and correct the nonlinear z-piezo displacement during force curves acquired with rates of up to 5 kHz. We discuss the fundamental resolution limit and the linearity of the sensor.

  2. A continuum body force sensor designed for flexible surgical robotics devices.

    PubMed

    Noh, Yohan; Secco, Emanuele Lindo; Sareh, Sina; Wurdemann, Helge; Faragasso, Angela; Back, Junghwan; Liu, Hongbin; Sklar, Elizabeth; Althoefer, Kaspar

    2014-01-01

    This paper presents a novel three-axis force sensor based on optical photo interrupters and integrated with the robot arm STIFF-FLOP (STIFFness controllable Flexible and Learnable Manipulator for Surgical Operations) to measure external interacting forces and torques. The ring-shape bio-compatible sensor presented here embeds the distributed actuation and sensing system of the STIFF-FLOP manipulator and is applicable to the geometry of its structure as well to the structure of any other similar soft robotic manipulator. Design and calibration procedures of the device are introduced: experimental results allow defining a stiffness sensor matrix for real-time estimation of force and torque components and confirm the usefulness of the proposed optical sensing approach.

  3. Alignment of continuous video onto 3D point clouds.

    PubMed

    Zhao, Wenyi; Nister, David; Hsu, Steve

    2005-08-01

    We propose a general framework for aligning continuous (oblique) video onto 3D sensor data. We align a point cloud computed from the video onto the point cloud directly obtained from a 3D sensor. This is in contrast to existing techniques where the 2D images are aligned to a 3D model derived from the 3D sensor data. Using point clouds enables the alignment for scenes full of objects that are difficult to model; for example, trees. To compute 3D point clouds from video, motion stereo is used along with a state-of-the-art algorithm for camera pose estimation. Our experiments with real data demonstrate the advantages of the proposed registration algorithm for texturing models in large-scale semiurban environments. The capability to align video before a 3D model is built from the 3D sensor data offers new practical opportunities for 3D modeling. We introduce a novel modeling-through-registration approach that fuses 3D information from both the 3D sensor and the video. Initial experiments with real data illustrate the potential of the proposed approach.

  4. Development of a shear measurement sensor for measuring forces at human-machine interfaces.

    PubMed

    Cho, Young Kuen; Kim, Seong Guk; Kim, Donghyun; Kim, Hyung Joo; Ryu, Jeicheong; Lim, Dohyung; Ko, Chang-Yong; Kim, Han Sung

    2014-12-01

    Measuring shear force is crucial for investigating the pathology and treatment of pressure ulcers. In this study, we introduced a bi-axial shear transducer based on strain gauges as a new shear sensor. The sensor consisted of aluminum and polyvinyl chloride plates placed between quadrangular aluminum plates. On the middle plate, two strain gauges were placed orthogonal to one another. The shear sensor (54 mm × 54 mm × 4.1 mm), which was validated by using standard weights, displayed high accuracy and precision (measurement range, -50 to 50 N; sensitivity, 0.3N; linear relationship, R(2)=0.9625; crosstalk error, 0.635% ± 0.031%; equipment variation, 4.183). The shear force on the interface between the human body and a stand-up wheelchair was measured during sitting or standing movements, using two mats (44.8 cm × 44.8 cm per mat) that consisted of 24 shear sensors. Shear forces on the sacrum and ischium were almost five times higher (15.5 N at last posture) than those on other sites (3.5 N on average) during experiments periods. In conclusion, the proposed shear sensor may be reliable and useful for measuring the shear force on human-machine interfaces.

  5. Development of a Microforce Sensor and Its Array Platform for Robotic Cell Microinjection Force Measurement.

    PubMed

    Xie, Yu; Zhou, Yunlei; Lin, Yuzi; Wang, Lingyun; Xi, Wenming

    2016-04-06

    Robot-assisted cell microinjection, which is precise and can enable a high throughput, is attracting interest from researchers. Conventional probe-type cell microforce sensors have some real-time injection force measurement limitations, which prevent their integration in a cell microinjection robot. In this paper, a novel supported-beam based cell micro-force sensor with a piezoelectric polyvinylidine fluoride film used as the sensing element is described, which was designed to solve the real-time force-sensing problem during a robotic microinjection manipulation, and theoretical mechanical and electrical models of the sensor function are derived. Furthermore, an array based cell-holding device with a trapezoidal microstructure is micro-fabricated, which serves to improve the force sensing speed and cell manipulation rates. Tests confirmed that the sensor showed good repeatability and a linearity of 1.82%. Finally, robot-assisted zebrafish embryo microinjection experiments were conducted. These results demonstrated the effectiveness of the sensor working with the robotic cell manipulation system. Moreover, the sensing structure, theoretical model, and fabrication method established in this study are not scale dependent. Smaller cells, e.g., mouse oocytes, could also be manipulated with this approach.

  6. Development of a Microforce Sensor and Its Array Platform for Robotic Cell Microinjection Force Measurement

    PubMed Central

    Xie, Yu; Zhou, Yunlei; Lin, Yuzi; Wang, Lingyun; Xi, Wenming

    2016-01-01

    Robot-assisted cell microinjection, which is precise and can enable a high throughput, is attracting interest from researchers. Conventional probe-type cell microforce sensors have some real-time injection force measurement limitations, which prevent their integration in a cell microinjection robot. In this paper, a novel supported-beam based cell micro-force sensor with a piezoelectric polyvinylidine fluoride film used as the sensing element is described, which was designed to solve the real-time force-sensing problem during a robotic microinjection manipulation, and theoretical mechanical and electrical models of the sensor function are derived. Furthermore, an array based cell-holding device with a trapezoidal microstructure is micro-fabricated, which serves to improve the force sensing speed and cell manipulation rates. Tests confirmed that the sensor showed good repeatability and a linearity of 1.82%. Finally, robot-assisted zebrafish embryo microinjection experiments were conducted. These results demonstrated the effectiveness of the sensor working with the robotic cell manipulation system. Moreover, the sensing structure, theoretical model, and fabrication method established in this study are not scale dependent. Smaller cells, e.g., mouse oocytes, could also be manipulated with this approach. PMID:27058545

  7. Recovery of impact contact forces of composite plates using fiber optic sensors and neural networks

    NASA Astrophysics Data System (ADS)

    Akhavan, Farhad; Watkins, Steve E.; Chandrashekhara, K.

    1996-10-01

    Real-time determination of contact forces due to impact on composite plates is necessary for on-line impact damage detection and identification. We demonstrate the use of fiber optic strain sensor data as inputs to a neural network to obtain contact force history. An experimental study is conducted to determine the in-plane strains of a clamped graphite/epoxy composite plate upon low-velocity impacts using surface mounted extrinsic Fabry-Perot interferometric strain sensors. The plate is impacted with a semi-spherical impactor with various impact energies using the drop-weight technique. The impacts did not produce apparent damage in the composite plates. The significant features of the strain and contact force response are contact duration, peak strain, strain rise-time and full-width at half maximum. We have designed and built an instrumented drop-weight impact tower to facilitate the measurement of contact force during an impact event. The impact head assembly incorporates a load cell to measure the contact forces experimentally. The load cell data is used to train a three-layer feedforward neural network which utilizes the back-propagation algorithm. The output of the neural network simulation is the impact contact force history and the inputs are fiber optic sensor data in two different locations and time in 10 microsecond intervals. The efficiency and accuracy of the neural network method is discussed. The neural network scheme recovers the impact contact forces without using any complex signal processing techniques.

  8. Measuring equilibrants with a bracket-mounted force sensor

    NASA Astrophysics Data System (ADS)

    Kingman, Robert; Maddox, David

    1999-03-01

    One of the important concepts in introductory physics is vectors and their addition. We have developed a method that restores simplicity to teaching the idea of adding several forces, and does it with an experimental error of one percent or less.

  9. Twin Peaks - 3D

    NASA Technical Reports Server (NTRS)

    1997-01-01

    The two hills in the distance, approximately one to two kilometers away, have been dubbed the 'Twin Peaks' and are of great interest to Pathfinder scientists as objects of future study. 3D glasses are necessary to identify surface detail. The white areas on the left hill, called the 'Ski Run' by scientists, may have been formed by hydrologic processes.

    The IMP is a stereo imaging system with color capability provided by 24 selectable filters -- twelve filters per 'eye.

    Click below to see the left and right views individually. [figure removed for brevity, see original site] Left [figure removed for brevity, see original site] Right

  10. 3D and beyond

    NASA Astrophysics Data System (ADS)

    Fung, Y. C.

    1995-05-01

    This conference on physiology and function covers a wide range of subjects, including the vasculature and blood flow, the flow of gas, water, and blood in the lung, the neurological structure and function, the modeling, and the motion and mechanics of organs. Many technologies are discussed. I believe that the list would include a robotic photographer, to hold the optical equipment in a precisely controlled way to obtain the images for the user. Why are 3D images needed? They are to achieve certain objectives through measurements of some objects. For example, in order to improve performance in sports or beauty of a person, we measure the form, dimensions, appearance, and movements.

  11. 3D Audio System

    NASA Technical Reports Server (NTRS)

    1992-01-01

    Ames Research Center research into virtual reality led to the development of the Convolvotron, a high speed digital audio processing system that delivers three-dimensional sound over headphones. It consists of a two-card set designed for use with a personal computer. The Convolvotron's primary application is presentation of 3D audio signals over headphones. Four independent sound sources are filtered with large time-varying filters that compensate for motion. The perceived location of the sound remains constant. Possible applications are in air traffic control towers or airplane cockpits, hearing and perception research and virtual reality development.

  12. Head Tracking for 3D Audio Using a GPS-Aided MEMS IMU

    DTIC Science & Technology

    2005-03-01

    Aircraft, Directional Signals, GPS/INS Fusion , GPS/INS Integration, Head Tracking Systems, IMU (Inertial Measurement Unit), Inertial Sensors, MEMS...HEAD TRACKING FOR 3D AUDIO USING A GPS-AIDED MEMS IMU THESIS Jacque M. Joffrion, Captain, USAF AFIT/GE/ENG/05-09 DEPARTMENT OF THE AIR FORCE AIR...the United States Government. AFIT/GE/ENG/05-09 HEAD TRACKING FOR 3D AUDIO USING A GPS-AIDED MEMS IMU THESIS Presented to the Faculty of the Department

  13. Force and deflection sensor with shell membrane and optical gratings and method of manufacture

    NASA Technical Reports Server (NTRS)

    Park, Yong-Lae (Inventor); Moslehi, Behzad (Inventor); Black, Richard James (Inventor); Cutkosky, Mark R. (Inventor); Chau, Kelvin K (Inventor)

    2011-01-01

    A sensor for force is formed from an elastomeric cylinder having a region with apertures. The apertures have passageways formed between them, and an optical fiber is introduced into these passageways, where the optical fiber has a grating for measurement of tension positioned in the passageways between apertures. Optionally, a temperature measurement sensor is placed in or around the elastomer for temperature correction, and if required, a copper film may be deposited in the elastomer for reduced sensitivity to spot temperature variations in the elastomer near the sensors.

  14. Application of the FlexiForce contact surface force sensor to continuous extraocular compression monitoring during craniotomy for cerebral aneurysms.

    PubMed

    Mutoh, Tatsushi; Ishikawa, Tatsuya; Nishimura, Hiromi; Yasui, Nobuyuki

    2010-01-01

    The aims of this study were to introduce our newly developed device equipped with a contact surface force sensor (FlexiForce) for monitoring extraocular compression continuously, and to illustrate its potential clinical application using this device in patients undergoing uncomplicated frontotemporal or bifrontal craniotomy for surgical clipping of unruptured anterior circulation aneurysms. In a pilot study with volunteers, we determined the critical force of 100 gf to cause painful ocular sensation. Then we performed the bilateral extraocular force measurements in 15 patients undergoing uncomplicated frontotemporal or bifrontal craniotomy for surgical clipping of unruptured anterior circulation aneurysms. Extraocular force increased immediately after retraction of the flap, increased to 144+/-26 gf (mean+/-SD) during lower craniotomy close to the orbit, was maintained at 91+/-18 gf during microsurgery, and returned close to baseline at 24+/-14 gf after restoration of skin flap retraction. Such changes were observed only on the surgical side in frontotemporal craniotomy. Abnormal increase in extraocular force was effectively reduced by placing a real-time digital panel meter to warn surgeons to avoid excessive skin flap retraction during the surgical procedure. In conclusion, this new tool may allow us to monitor the external forces that can be applied intraoperatively to the ocular globe in the supine position.

  15. Investigation and experimental measurement of scissor blade cutting forces using fiber Bragg grating sensors

    NASA Astrophysics Data System (ADS)

    Callaghan, D. J.; Rajan, G.; McGrath, M. M.; Coyle, E.; Semenova, Y.; Farrell, G.

    2011-10-01

    This paper reports on unique and scalable sensorized medical scissor blades for application in minimally invasive robotic surgery. The blades exploit the strain sensing capabilities of a single fiber Bragg grating (FBG) sensor bonded to the blade surface. This smart sensing structure allows detection of friction and material fracture forces during cutting and subsequently enables accurate estimation of the blade kinetic friction coefficient and fracture toughness values of the material being cut. We present theory on the determination of strain variation along the blade length during combined direct and lateral loading of the blade element during operation. Demonstration of the sensorized instrument is realized on an application specific experimental test-bed employing a commercial interrogation system for signal demodulation. Friction and cutting forces measured using the FBG are validated against load cell force data from the test-bed. Characterization tests showed that the sensorized blade has an unfiltered force sensing resolution of 0.5 N over a 30 N load range. This work demonstrates that a single optical fiber placed onto cutting instrument blades can, in an unobtrusive manner, reliably measure friction forces and material fracture properties during surgical cutting.

  16. On Gait Analysis Estimation Errors Using Force Sensors on a Smart Rollator

    PubMed Central

    Ballesteros, Joaquin; Urdiales, Cristina; Martinez, Antonio B.; van Dieën, Jaap H.

    2016-01-01

    Gait analysis can provide valuable information on a person’s condition and rehabilitation progress. Gait is typically captured using external equipment and/or wearable sensors. These tests are largely constrained to specific controlled environments. In addition, gait analysis often requires experts for calibration, operation and/or to place sensors on volunteers. Alternatively, mobility support devices like rollators can be equipped with onboard sensors to monitor gait parameters, while users perform their Activities of Daily Living. Gait analysis in rollators may use odometry and force sensors in the handlebars. However, force based estimation of gait parameters is less accurate than traditional methods, especially when rollators are not properly used. This paper presents an evaluation of force based gait analysis using a smart rollator on different groups of users to determine when this methodology is applicable. In a second stage, the rollator is used in combination with two lab-based gait analysis systems to assess the rollator estimation error. Our results show that: (i) there is an inverse relation between the variance in the force difference between handlebars and support on the handlebars—related to the user condition—and the estimation error; and (ii) this error is lower than 10% when the variation in the force difference is above 7 N. This lower limit was exceeded by the 95.83% of our challenged volunteers. In conclusion, rollators are useful for gait characterization as long as users really need the device for ambulation. PMID:27834911

  17. On Gait Analysis Estimation Errors Using Force Sensors on a Smart Rollator.

    PubMed

    Ballesteros, Joaquin; Urdiales, Cristina; Martinez, Antonio B; van Dieën, Jaap H

    2016-11-10

    Gait analysis can provide valuable information on a person's condition and rehabilitation progress. Gait is typically captured using external equipment and/or wearable sensors. These tests are largely constrained to specific controlled environments. In addition, gait analysis often requires experts for calibration, operation and/or to place sensors on volunteers. Alternatively, mobility support devices like rollators can be equipped with onboard sensors to monitor gait parameters, while users perform their Activities of Daily Living. Gait analysis in rollators may use odometry and force sensors in the handlebars. However, force based estimation of gait parameters is less accurate than traditional methods, especially when rollators are not properly used. This paper presents an evaluation of force based gait analysis using a smart rollator on different groups of users to determine when this methodology is applicable. In a second stage, the rollator is used in combination with two lab-based gait analysis systems to assess the rollator estimation error. Our results show that: (i) there is an inverse relation between the variance in the force difference between handlebars and support on the handlebars-related to the user condition-and the estimation error; and (ii) this error is lower than 10% when the variation in the force difference is above 7 N. This lower limit was exceeded by the 95.83% of our challenged volunteers. In conclusion, rollators are useful for gait characterization as long as users really need the device for ambulation.

  18. 3-D capaciflector

    NASA Technical Reports Server (NTRS)

    Vranish, John M. (Inventor)

    1998-01-01

    A capacitive type proximity sensor having improved range and sensitivity between a surface of arbitrary shape and an intruding object in the vicinity of the surface having one or more outer conductors on the surface which serve as capacitive sensing elements shaped to conform to the underlying surface of a machine. Each sensing element is backed by a reflector driven at the same voltage and in phase with the corresponding capacitive sensing element. Each reflector, in turn, serves to reflect the electric field lines of the capacitive sensing element away from the surface of the machine on which the sensor is mounted so as to enhance the component constituted by the capacitance between the sensing element and an intruding object as a fraction of the total capacitance between the sensing element and ground. Each sensing element and corresponding reflecting element are electrically driven in phase, and the capacitance between the sensing elements individually and the sensed object is determined using circuitry known to the art. The reflector may be shaped to shield the sensor and to shape its field of view, in effect providing an electrostatic lensing effect. Sensors and reflectors may be fabricated using a variety of known techniques such as vapor deposition, sputtering, painting, plating, or deformation of flexible films, to provide conformal coverage of surfaces of arbitrary shape.

  19. 3D Surgical Simulation

    PubMed Central

    Cevidanes, Lucia; Tucker, Scott; Styner, Martin; Kim, Hyungmin; Chapuis, Jonas; Reyes, Mauricio; Proffit, William; Turvey, Timothy; Jaskolka, Michael

    2009-01-01

    This paper discusses the development of methods for computer-aided jaw surgery. Computer-aided jaw surgery allows us to incorporate the high level of precision necessary for transferring virtual plans into the operating room. We also present a complete computer-aided surgery (CAS) system developed in close collaboration with surgeons. Surgery planning and simulation include construction of 3D surface models from Cone-beam CT (CBCT), dynamic cephalometry, semi-automatic mirroring, interactive cutting of bone and bony segment repositioning. A virtual setup can be used to manufacture positioning splints for intra-operative guidance. The system provides further intra-operative assistance with the help of a computer display showing jaw positions and 3D positioning guides updated in real-time during the surgical procedure. The CAS system aids in dealing with complex cases with benefits for the patient, with surgical practice, and for orthodontic finishing. Advanced software tools for diagnosis and treatment planning allow preparation of detailed operative plans, osteotomy repositioning, bone reconstructions, surgical resident training and assessing the difficulties of the surgical procedures prior to the surgery. CAS has the potential to make the elaboration of the surgical plan a more flexible process, increase the level of detail and accuracy of the plan, yield higher operative precision and control, and enhance documentation of cases. Supported by NIDCR DE017727, and DE018962 PMID:20816308

  20. Martian terrain - 3D

    NASA Technical Reports Server (NTRS)

    1997-01-01

    An area of rocky terrain near the landing site of the Sagan Memorial Station can be seen in this image, taken in stereo by the Imager for Mars Pathfinder (IMP) on Sol 3. 3D glasses are necessary to identify surface detail. This image is part of a 3D 'monster' panorama of the area surrounding the landing site.

    Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is an operating division of the California Institute of Technology (Caltech). The Imager for Mars Pathfinder (IMP) was developed by the University of Arizona Lunar and Planetary Laboratory under contract to JPL. Peter Smith is the Principal Investigator.

    Click below to see the left and right views individually. [figure removed for brevity, see original site] Left [figure removed for brevity, see original site] Right

  1. Hysteresis Compensation of Piezoresistive Carbon Nanotube/Polydimethylsiloxane Composite-Based Force Sensors

    PubMed Central

    Kim, Ji-Sik; Kim, Gi-Woo

    2017-01-01

    This paper provides a preliminary study on the hysteresis compensation of a piezoresistive silicon-based polymer composite, poly(dimethylsiloxane) dispersed with carbon nanotubes (CNTs), to demonstrate its feasibility as a conductive composite (i.e., a force-sensitive resistor) for force sensors. In this study, the potential use of the nanotube/polydimethylsiloxane (CNT/PDMS) as a force sensor is evaluated for the first time. The experimental results show that the electrical resistance of the CNT/PDMS composite changes in response to sinusoidal loading and static compressive load. The compensated output based on the Duhem hysteresis model shows a linear relationship. This simple hysteresis model can compensate for the nonlinear frequency-dependent hysteresis phenomenon when a dynamic sinusoidal force input is applied. PMID:28125046

  2. Hysteresis Compensation of Piezoresistive Carbon Nanotube/Polydimethylsiloxane Composite-Based Force Sensors.

    PubMed

    Kim, Ji-Sik; Kim, Gi-Woo

    2017-01-24

    This paper provides a preliminary study on the hysteresis compensation of a piezoresistive silicon-based polymer composite, poly(dimethylsiloxane) dispersed with carbon nanotubes (CNTs), to demonstrate its feasibility as a conductive composite (i.e., a force-sensitive resistor) for force sensors. In this study, the potential use of the nanotube/polydimethylsiloxane (CNT/PDMS) as a force sensor is evaluated for the first time. The experimental results show that the electrical resistance of the CNT/PDMS composite changes in response to sinusoidal loading and static compressive load. The compensated output based on the Duhem hysteresis model shows a linear relationship. This simple hysteresis model can compensate for the nonlinear frequency-dependent hysteresis phenomenon when a dynamic sinusoidal force input is applied.

  3. Force Sensor-less Workspace Virtual Impedance Control Considering Resonant Vibration for Industrial Robot

    NASA Astrophysics Data System (ADS)

    Tungpataratanawong, Somsawas; Ohishi, Kiyoshi; Miyazaki, Toshimasa; Katsura, Seiichiro

    The motion control paradigm provides sufficient performance in many elementary industrial tasks. However, only stiff motion the robot cannot accommodate the interaction force under constrained motion. In such situation, the robot is required to perform interaction behavior with the environment. The conventional impedance control schemes require force-sensing devices to feedback force signals to the controllers. The force-sensing device is therefore indispensable and the performance of the system also depends on the quality of this device. This paper proposes a novel strategy for force sensor-less impedance control using disturbance observer and dynamic model of the robot to estimate the external force. In motion task, the robust D-PD (derivative-PD) control is used with feedforward inverse-dynamic torque compensation to ensure robustness and high-speed response with flexible joint model. When robot is in contact with environment, the proposed force sensor-less scheme impedance control with inner-loop D-PD control is utilized. D-PD control uses both position and speed as the references to implement the damping and stiffness characteristic of the virtual impedance model. In addition, the gravity and friction force-feedback compensation is computed by the same dynamic model, which is used in external force estimation. The flexible-joint robot model is utilized in both disturbance observer and motion control design. The workspace impedance control for robot interaction with human operator is implemented on the experimental setup three-degree-of-freedom (3-DOF) robot manipulator to assure the ability and performance of the proposed force sensor-less scheme for flexible-joint industrial robot.

  4. Versatile and inexpensive Hall-Effect force sensor for mechanical characterization of soft biological materials.

    PubMed

    Backman, Daniel E; LeSavage, Bauer L; Wong, Joyce Y

    2017-01-25

    Mismatch of hierarchical structure and mechanical properties between tissue-engineered implants and native tissue may result in signal cues that negatively impact repair and remodeling. With bottom-up tissue engineering approaches, designing tissue components with proper microscale mechanical properties is crucial to achieve necessary macroscale properties in the final implant. However, characterizing microscale mechanical properties is challenging, and current methods do not provide the versatility and sensitivity required to measure these fragile, soft biological materials. Here, we developed a novel, highly sensitive Hall-Effect based force sensor that is capable of measuring mechanical properties of biological materials over wide force ranges (μN to N), allowing its use at all steps in layer-by-layer fabrication of engineered tissues. The force sensor design can be easily customized to measure specific force ranges, while remaining easy to fabricate using inexpensive, commercial materials. Although we used the force sensor to characterize mechanics of single-layer cell sheets and silk fibers, the design can be easily adapted for different applications spanning larger force ranges (>N). This platform is thus a novel, versatile, and practical tool for mechanically characterizing biological and biomimetic materials.

  5. A force sensor and peak-reading recorder for measurement of cervical dilatation force.

    PubMed

    Crawford, A J; Plant, G R; Filshie, G M; Macpherson, M B; McCabe, A R

    1984-10-01

    Earlier dilatation force-sensing transducers, when subjected to side loads, suffered frictional losses which affected their accuracy. This new instrument incorporates a thermal-writing chart recorder and a digital readout of the peak force during dilatation of the cervix.

  6. 3D field harmonics

    SciTech Connect

    Caspi, S.; Helm, M.; Laslett, L.J.

    1991-03-30

    We have developed an harmonic representation for the three dimensional field components within the windings of accelerator magnets. The form by which the field is presented is suitable for interfacing with other codes that make use of the 3D field components (particle tracking and stability). The field components can be calculated with high precision and reduced cup time at any location (r,{theta},z) inside the magnet bore. The same conductor geometry which is used to simulate line currents is also used in CAD with modifications more readily available. It is our hope that the format used here for magnetic fields can be used not only as a means of delivering fields but also as a way by which beam dynamics can suggest correction to the conductor geometry. 5 refs., 70 figs.

  7. Piezoresistive in-line integrated force sensors for on-chip measurement and control

    NASA Astrophysics Data System (ADS)

    Teichert, Kendall; Waterfall, Tyler; Jensen, Brian; Howell, Larry; McLain, Tim

    2007-04-01

    This paper presents the design, fabrication, and testing of a force sensor for integrated use with thermomechanical in-plane microactuators. The force sensor is designed to be integrated with the actuator and fabricated in the same batch fabrication process. This sensor uses the piezoresistive property of silicon as a sensing signal by directing the actuation force through two thin legs, producing a tensile stress. This tensile load produces a resistance change in the thin legs by the piezoresistive effect. The resistance change is linearly correlated with the applied force. The device presented was designed by considering both its piezoresistive sensitivity and out-of- plane torsional stability. A design trade-off exists between these two objectives in that longer legs are more sensitive yet less stable. Fabrication of the sensor design was done using the MUMPs process. This paper presents experimental results from this device and a basic model for comparison with previously attained piezoresistive data. The results validate the concept of integral sensing using the piezoresistive property of silicon.

  8. 16 CFR 1211.13 - Inherent force activated secondary door sensors.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... sensors. 1211.13 Section 1211.13 Commercial Practices CONSUMER PRODUCT SAFETY COMMISSION CONSUMER PRODUCT... components shall withstand a total of 9 cycles of mechanical operation without failure with the force applied... the other end of the door at points one, three, and five feet from the floor. (3) The cycles are...

  9. 16 CFR 1211.13 - Inherent force activated secondary door sensors.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... sensors. 1211.13 Section 1211.13 Commercial Practices CONSUMER PRODUCT SAFETY COMMISSION CONSUMER PRODUCT... components shall withstand a total of 9 cycles of mechanical operation without failure with the force applied... the other end of the door at points one, three, and five feet from the floor. (3) The cycles are...

  10. Development of a mobile sensor for robust assessment of river bed grain forces

    NASA Astrophysics Data System (ADS)

    Maniatis, G.; Hoey, T.; Sventek, J.; Hodge, R. A.

    2013-12-01

    The forces experienced by sediment grains at entrainment and during transport, and those exerted on river beds, are significant for the development of river systems and landscape evolution. The assessment of local grain forces has been approached using two different methodologies. The first approach uses static impact sensors at points or cross-sections to measure velocity and/or acceleration. A second approach uses mobile natural or artificial 'smart' pebbles instrumented with inertia micro-sensors for directly measuring the local forces experienced by individual grains. The two approaches have yielded significantly different magnitudes of impact forces. Static sensors (piezoelectric plates connected to accelerometers) temporally smooth the impacts from several grains and infrequently detect the higher forces (up to ×100g) generated by direct single-grain impacts. The second method is currently unable to record the full range of impacts in real rivers due to the low measurement range of the deployed inertia sensors (×3g). Laboratory applications have required only low-range accelerometers, so excluding the magnitude of natural impacts from the design criteria. Here we present the first results from the development of a mobile sensor, designed for the purpose of measuring local grain-forces in a natural riverbed. We present two sets of measurements. The first group presents the calibration of a wide range micro-accelerometer from a set of vertical drop experiments (gravitational acceleration) and further experiments on a shaking table moving with pre-defined acceleration. The second group of measurements are from incipient motion experiments performed in a 9m x0.9m flume (slope 0.001 to 0.018) under steadily increasing discharge. Initially the spherical sensor grain was placed on an artificial surface of hemispheres of identical diameter to the sensor (111mm). Incipient motion was assessed under both whole and half-diameter exposure for each slope. Subsequently

  11. Using Force Sensors and Neural Models to Encode Tactile Stimuli as Spike-based Responses

    PubMed Central

    Kim, Elmer K.; Gerling, Gregory J.; Wellnitz, Scott A.; Lumpkin, Ellen A.

    2011-01-01

    Tactile sensors will augment the next generation of prosthetic limbs. However, currently available sensors do not produce biologically-compatible output. This work seeks to illustrate that a force sensor combined with a bi-phasic, neural spiking algorithm, or spiking-sensor, can produce spiking patterns similar to that of the slowly adapting type I (SAI) mechanoreceptor. Experiments were conducted where first spike latency and inter-spike interval, in response to a rapidly delivered (100 ms) sustained displacement (1.1, 1.3, 1.5 mm for 5 s), were compared between the spiking-sensor and SAI recording. The results indicated that the predicted spike times were similar, in magnitude and increasing linear trend, to those observed with the SAI. Over the three displacements, average dynamic ISIs were 7.3, 4.2, 3.8 ms for the spiking-sensor and 6.2, 6.9, 4.1 ms for the SAI, while average static ISIs were 69.0, 45.2, 35.1 ms and 159.9, 69.6, 38.8 ms. The predicted first spike latencies (74.3, 73.9, 96.3 ms) lagged in comparison to those observed for the SAI (26.8, 31.7, 28.8 ms), which may be due to both the different applied force ramp-ups and the SAI’s exquisite dynamic sensitivity range and rapid response time. PMID:21826287

  12. Estimating needle-tissue interaction forces for hollow needles using fiber Bragg grating sensors

    NASA Astrophysics Data System (ADS)

    Kumar, Saurabh; Shrikanth, V.; Bharadwaj, Amrutur; Asokan, Sundarrajan; Bobji, M. S.

    2016-03-01

    Brachytherapy and neurological procedures can benefit from real-time estimation of needle-tissue interaction forces, specifically for robotic or robot-assisted procedures. Fiber Bragg Grating Sensors provide advantages of very small size and electromagnetic immunity for use in measurement of the forces directly at the needle tip. This has advantages compared to measurements at the needle shaft which require extensive models of the friction between needle and tissues with varying depth. This paper presents the measurement of tip forces for a hollow needle and compensation for bending when encountering regions of varying stiffness in phantoms with multiple layers prepared using Polydimethylsiloxane.

  13. A flexible micromachined optical sensor for simultaneous measurement of pressure and shear force distribution on foot

    NASA Astrophysics Data System (ADS)

    Wang, Wei-Chih; Panergo, Reynold R.; Galvanin, Christopher M.; Ledoux, William; Sangeorzan, Bruce; Reinhall, Per G.

    2003-07-01

    Lower limb complications associated with diabetes include the development of plantar ulcers that can lead to infection and subsequent amputation. While it is known from force plate analyses that there are medial/lateral and anterior/posterior shear components of the ground reaction force, there is little known about the actual distribution of this force during daily activities, nor about the role that shear plays in causing plantar ulceration. Furthermore, one critical reason why these data have not been obtained previously is the lack of a validated, widely used, commercially available shear sensor, in part because of the various technical issues associated with shear measurement. Here we have developed novel means of tranducing plantar shear and pressure stress via a new microfabricated optical system. The pressure/shear sensor consists of an array of optical waveguides lying in perpendicular rows and columns separated by elastomeric pads. A map of pressure and shear stress is constructed based on observed macro bending through the intensity attenuation from the physical deformation of two adjacent perpendicular optical waveguides. The uniqueness of the sensor is in its batch fabrication process, which involves injection molding and embossing techniques with Polydimethylsiloxane (PDMS) as the optical medium. Here we present the preliminary results of the prototype. The sensor has been shown to have low noise and responds linearly to applied loads. The smallest detectable force on each sensor element based on the current setup is ~0.1 N. The smallest area we have resolved in our mesh sensor is currently 950x950μm2

  14. Development of low noise cantilever deflection sensor for multienvironment frequency-modulation atomic force microscopy

    NASA Astrophysics Data System (ADS)

    Fukuma, Takeshi; Kimura, Masayuki; Kobayashi, Kei; Matsushige, Kazumi; Yamada, Hirofumi

    2005-05-01

    We have developed a low noise cantilever deflection sensor with a deflection noise density of 17fm/√Hz by optimizing the parameters used in optical beam deflection (OBD) method. Using this sensor, we have developed a multienvironment frequency-modulation atomic force microscope (FM-AFM) that can achieve true molecular resolution in various environments such as in moderate vacuum, air, and liquid. The low noise characteristic of the deflection sensor makes it possible to obtain a maximum frequency sensitivity limited by the thermal Brownian motion of the cantilever in every environment. In this paper, the major noise sources in OBD method are discussed in both theoretical and experimental aspects. The excellent noise performance of the deflection sensor is demonstrated in deflection and frequency measurements. True molecular-resolution FM-AFM images of a polydiacetylene single crystal taken in vacuum, air, and water are presented.

  15. Development of low noise cantilever deflection sensor for multienvironment frequency-modulation atomic force microscopy

    SciTech Connect

    Fukuma, Takeshi; Kimura, Masayuki; Kobayashi, Kei; Matsushige, Kazumi; Yamada, Hirofumi

    2005-05-15

    We have developed a low noise cantilever deflection sensor with a deflection noise density of 17 fm/{radical}(Hz) by optimizing the parameters used in optical beam deflection (OBD) method. Using this sensor, we have developed a multienvironment frequency-modulation atomic force microscope (FM-AFM) that can achieve true molecular resolution in various environments such as in moderate vacuum, air, and liquid. The low noise characteristic of the deflection sensor makes it possible to obtain a maximum frequency sensitivity limited by the thermal Brownian motion of the cantilever in every environment. In this paper, the major noise sources in OBD method are discussed in both theoretical and experimental aspects. The excellent noise performance of the deflection sensor is demonstrated in deflection and frequency measurements. True molecular-resolution FM-AFM images of a polydiacetylene single crystal taken in vacuum, air, and water are presented.

  16. Experimental study of frost heaving force based on transient shock response using piezoceramic sensors

    NASA Astrophysics Data System (ADS)