5,314 research outputs found
A microchip optomechanical accelerometer
The monitoring of accelerations is essential for a variety of applications
ranging from inertial navigation to consumer electronics. The basic operation
principle of an accelerometer is to measure the displacement of a flexibly
mounted test mass; sensitive displacement measurement can be realized using
capacitive, piezo-electric, tunnel-current, or optical methods. While optical
readout provides superior displacement resolution and resilience to
electromagnetic interference, current optical accelerometers either do not
allow for chip-scale integration or require bulky test masses. Here we
demonstrate an optomechanical accelerometer that employs ultra-sensitive
all-optical displacement read-out using a planar photonic crystal cavity
monolithically integrated with a nano-tethered test mass of high mechanical
Q-factor. This device architecture allows for full on-chip integration and
achieves a broadband acceleration resolution of 10 \mu g/rt-Hz, a bandwidth
greater than 20 kHz, and a dynamic range of 50 dB with sub-milliwatt optical
power requirements. Moreover, the nano-gram test masses used here allow for
optomechanical back-action in the form of cooling or the optical spring effect,
setting the stage for a new class of motional sensors.Comment: 16 pages, 9 figure
Under Pressure: Learning to Detect Slip with Barometric Tactile Sensors
Despite the utility of tactile information, tactile sensors have yet to be
widely deployed in industrial robotics settings -- part of the challenge lies
in identifying slip and other key events from the tactile data stream. In this
paper, we present a learning-based method to detect slip using barometric
tactile sensors. Although these sensors have a low resolution, they have many
other desirable properties including high reliability and durability, a very
slim profile, and a low cost. We are able to achieve slip detection accuracies
of greater than 91% while being robust to the speed and direction of the slip
motion. Further, we test our detector on two robot manipulation tasks involving
common household objects and demonstrate successful generalization to
real-world scenarios not seen during training. We show that barometric tactile
sensing technology, combined with data-driven learning, is potentially suitable
for complex manipulation tasks such as slip compensation.Comment: Submitted to th RoboTac Workshop in the IEEE/RSJ International
Conference on Intelligent Robotics and Systems (IROS'21), Prague, Czech
Republic, Sept 27- Oct 1, 202
Adaptive optics in high-contrast imaging
The development of adaptive optics (AO) played a major role in modern
astronomy over the last three decades. By compensating for the atmospheric
turbulence, these systems enable to reach the diffraction limit on large
telescopes. In this review, we will focus on high contrast applications of
adaptive optics, namely, imaging the close vicinity of bright stellar objects
and revealing regions otherwise hidden within the turbulent halo of the
atmosphere to look for objects with a contrast ratio lower than 10^-4 with
respect to the central star. Such high-contrast AO-corrected observations have
led to fundamental results in our current understanding of planetary formation
and evolution as well as stellar evolution. AO systems equipped three
generations of instruments, from the first pioneering experiments in the
nineties, to the first wave of instruments on 8m-class telescopes in the years
2000, and finally to the extreme AO systems that have recently started
operations. Along with high-contrast techniques, AO enables to reveal the
circumstellar environment: massive protoplanetary disks featuring spiral arms,
gaps or other asymmetries hinting at on-going planet formation, young giant
planets shining in thermal emission, or tenuous debris disks and micron-sized
dust leftover from collisions in massive asteroid-belt analogs. After
introducing the science case and technical requirements, we will review the
architecture of standard and extreme AO systems, before presenting a few
selected science highlights obtained with recent AO instruments.Comment: 24 pages, 14 figure
Real-Time Indoor Localization using Visual and Inertial Odometry
This project encompassed the design of a mobile, real-time localization device for use in an indoor environment. A system was designed and constructed using visual and inertial odometry methods to meet the project requirements. Stereoscopic image features were detected through a C++ Sobel filter implementation and matched. An inertial measurement unit (IMU) provided raw acceleration and rotation coordinates which were transformed into a global frame of reference. A Kalman filter produced motion approximations from the input data and transmitted the Kalman position state coordinates via a radio transceiver to a remote base station. This station used a graphical user interface to map the incoming coordinates
Warp Breaks Detection in Jacquard Weaving Using MEMS: Effect of Weave on Break Signals
This paper reports a study to detect warp breaks in terms of weave structure using MEMS accelerometer based detection system. The system is briefly described. The output signals of MEMS sensors, which were mounted on harness cords of a Jacquard machine, at the moment of warp yarn break and after the break for a broad range of basic weaves were acquired during weaving. The weaves investigated are commonly used in Jacquard weaving to form patterns. The strength of the MEMS output acceleration signals was analyzed in time domain. The results show that the system is capable of detecting warp yarn breaks for the broad range of weaves studied
Doctor of Philosophy
dissertationMotion capture has applications in many fields. A need has arisen for motion capture systems that are low-cost, mobile, and intuitive. An attitude heading reference system (AHRS) calculates the global orientation of a rigid body by synthesizing the output from an array of sensors. A complete motion capture system utilizing gyroscopes, accelerometers, and magnetometers attached to the main body segments of a human is proposed. This is accomplished by providind a low-cost calibration procedure for micro electro-mechanical system (MEMS) gyroscopes, accelerometers, and magnetometers in order to create a custom AHRS unit. The accuracy of reproducing global orientations using these AHRS units is analyzed for individual modules as well as redundant groups of AHRS nodes for increased accuracy. In order to make the system intuitive, a localization procedure for finding the locations of all AHRS units attached to the body is proposed. Sensors were successfully calibrated to an accuracy sufficient for AHRS development. The accuracy of the AHRS units was verified and led to a functioning motion capture system. The localization procedure was verified with volunteer subjects and successfully finds the location of all attached AHRS units
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SEIS: Insight's Seismic Experiment for Internal Structure of Mars.
By the end of 2018, 42 years after the landing of the two Viking seismometers on Mars, InSight will deploy onto Mars' surface the SEIS (Seismic Experiment for Internal Structure) instrument; a six-axes seismometer equipped with both a long-period three-axes Very Broad Band (VBB) instrument and a three-axes short-period (SP) instrument. These six sensors will cover a broad range of the seismic bandwidth, from 0.01 Hz to 50 Hz, with possible extension to longer periods. Data will be transmitted in the form of three continuous VBB components at 2 sample per second (sps), an estimation of the short period energy content from the SP at 1 sps and a continuous compound VBB/SP vertical axis at 10 sps. The continuous streams will be augmented by requested event data with sample rates from 20 to 100 sps. SEIS will improve upon the existing resolution of Viking's Mars seismic monitoring by a factor of ∼ 2500 at 1 Hz and ∼ 200 000 at 0.1 Hz. An additional major improvement is that, contrary to Viking, the seismometers will be deployed via a robotic arm directly onto Mars' surface and will be protected against temperature and wind by highly efficient thermal and wind shielding. Based on existing knowledge of Mars, it is reasonable to infer a moment magnitude detection threshold of M w ∼ 3 at 40 ∘ epicentral distance and a potential to detect several tens of quakes and about five impacts per year. In this paper, we first describe the science goals of the experiment and the rationale used to define its requirements. We then provide a detailed description of the hardware, from the sensors to the deployment system and associated performance, including transfer functions of the seismic sensors and temperature sensors. We conclude by describing the experiment ground segment, including data processing services, outreach and education networks and provide a description of the format to be used for future data distribution.Electronic supplementary materialThe online version of this article (10.1007/s11214-018-0574-6) contains supplementary material, which is available to authorized users
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