Objekt-Manipulation und Steuerung der Greifkraft durch Verwendung von Taktilen Sensoren

This dissertation describes a new type of tactile sensor and an improved version of the dynamic tactile sensing approach that can provide a regularly updated and accurate estimate of minimum applied forces for use in the control of gripper manipulation. The pre-slip sensing algorithm is proposed and implemented into two-finger robot gripper. An algorithm that can discriminate between types of contact surface and recognize objects at the contact stage is also proposed. A technique for recognizing objects using tactile sensor arrays, and a method based on the quadric surface parameter for classifying grasped objects is described. Tactile arrays can recognize surface types on contact, making it possible for a tactile system to recognize translation, rotation, and scaling of an object independently.Diese Dissertation beschreibt eine neue Art von taktilen Sensoren und einen verbesserten Ansatz zur dynamischen Erfassung von taktilen daten, der in regelmäßigen Zeitabständen eine genaue Bewertung der minimalen Greifkraft liefert, die zur Steuerung des Greifers nötig ist. Ein Berechnungsverfahren zur Voraussage des Schlupfs, das in einen Zwei-Finger-Greifarm eines Roboters eingebaut wurde, wird vorgestellt. Auch ein Algorithmus zur Unterscheidung von verschiedenen Oberflächenarten und zur Erkennung von Objektformen bei der Berührung wird vorgestellt. Ein Verfahren zur Objekterkennung mit Hilfe einer Matrix aus taktilen Sensoren und eine Methode zur Klassifikation ergriffener Objekte, basierend auf den Daten einer rechteckigen Oberfläche, werden beschrieben. Mit Hilfe dieser Matrix können unter schiedliche Arten von Oberflächen bei Berührung erkannt werden, was es für das Tastsystem möglich macht, Verschiebung, Drehung und Größe eines Objektes unabhängig voneinander zu erkennen

A Low-Power DSP Architecture for a Fully Implantable Cochlear Implant System-on-a-Chip.

The National Science Foundation Wireless Integrated Microsystems (WIMS) Engineering Research Center at the University of Michigan developed Systems-on-a-Chip to achieve biomedical implant and environmental monitoring functionality in low-milliwatt power consumption and 1-2 cm3 volume. The focus of this work is implantable electronics for cochlear implants (CIs), surgically implanted devices that utilize existing nerve connections between the brain and inner-ear in cases where degradation of the sensory hair cells in the cochlea has occurred. In the absence of functioning hair cells, a CI processes sound information and stimulates the nderlying nerve cells with currents from implanted electrodes, enabling the patient to understand speech. As the brain of the WIMS CI, the WIMS microcontroller unit (MCU) delivers the communication, signal processing, and storage capabilities required to satisfy the aggressive goals set forth. The 16-bit MCU implements a custom instruction set architecture focusing on power-efficient execution by providing separate data and address register windows, multi-word arithmetic, eight addressing modes, and interrupt and subroutine support. Along with 32KB of on-chip SRAM, a low-power 512-byte scratchpad memory is utilized by the WIMS custom compiler to obtain an average of 18% energy savings across benchmarks. A synthesizable dynamic frequency scaling circuit allows the chip to select a precision on-chip LC or ring oscillator, and perform clock scaling to minimize power dissipation; it provides glitch-free, software-controlled frequency shifting in 100ns, and dissipates only 480μW. A highly flexible and expandable 16-channel Continuous Interleaved Sampling Digital Signal Processor (DSP) is included as an MCU peripheral component. Modes are included to process data, stimulate through electrodes, and allow experimental stimulation or processing. The entire WIMS MCU occupies 9.18mm2 and consumes only 1.79mW from 1.2V in DSP mode. This is the lowest reported consumption for a cochlear DSP. Design methodologies were analyzed and a new top-down design flow is presented that encourages hardware and software co-design as well as cross-domain verification early in the design process. An O(n) technique for energy-per-instruction estimations both pre- and post-silicon is presented that achieves less than 4% error across benchmarks. This dissertation advances low-power system design while providing an improvement in hearing recovery devices.Ph.D.Electrical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/91488/1/emarsman_1.pd

Arrhythmogenic cardiomyopathy: electrical instability and intercalated disc abnormalities in transgenic mice

Aims: Mutations in genes encoding desmosomal proteins have been implicated in the pathogenesis of arrhythmogenic right ventricular cardiomyopathy (ARVC). However, the consequences of these mutations in early disease stages are unknown. We investigated whether mutation-induced intercalated disc remodeling impacts on electrophysiological properties before the onset of cell death and replacement fibrosis. Methods and Results: Transgenic mice with cardiac overexpression of mutant Desmoglein2 (Dsg2) Dsg2-N271S (Tg-NS/L) were studied before and after the onset of cell death and replacement fibrosis. Mice with cardiac overexpression of wild-type Dsg2 and wild-type mice served as controls. Assessment by electron microscopy established that intercellular space widening at the desmosomes/adherens junctions occurred in Tg-NS/L mice before the onset of necrosis and fibrosis. At this stage, epicardial mapping in Langendorff-perfused hearts demonstrated prolonged ventricular activation time, reduced longitudinal and transversal conduction velocities, and increased arrhythmia inducibility. A reduced action potential upstroke velocity due to a lower Na+ current density was also observed at this stage of the disease. Furthermore, co-immunoprecipitation demonstrated an in vivo interaction between Dsg2 and the Na+ channel protein NaV1.5. Conclusion: Intercellular space widening at the level of the intercalated disc (desmosomes/fascia adherens junctions) and a concomitant reduction in action potential upstroke velocity, as a consequence of lower Na+ current density, leads to slowed conduction and increased arrhythmia susceptibility at disease stages preceding the onset of necrosis and replacement fibrosis. The demonstration of an in vivo interaction between Dsg2 and NaV1.5 provides a molecular pathway for the observed electrical disturbances during the early ARVC stages

Report of the ICES-IOC Working Group on Harmful Algal Bloom Dynamics (WGHABD) [5- 8 April, 2004, Corsica, France]

Contributors: Einar Dahl, Einar Svendse

Assessment of Power System Equipment Insulation Based on Distorted Excitation Voltage

Electrical insulation plays a critical role in high voltage power system equipment. The presence of electrical, thermal, and mechanical stresses imposed when they are in operation for a long time cause gradual degradation of the insulation. Therefore, regular condition monitoring and diagnostic testing of power system equipment are of paramount importance for the reliable operation of electricity supply networks and systems. The dielectric dissipation factor (DDF) measurement is one of the most common techniques for insulation assessment. From a traditional perspective, a pure sinusoidal voltage is used for excitation in the testing. However, the grid voltage nowadays in reality is often distorted with a waveform having multiple harmonic components. Generally, there are distorted voltages and currents generated due to the presence of non-linear equipment or components in the system. Thus, testing under distorted voltage with harmonics provides a more realistic diagnostic measurement as compared to traditional AC sinusoidal high voltage testing. This dissertation investigates the impact of harmonically distorted excitation on the dielectric dissipation factor of high voltage power equipment. A practical measurement method based on distorted excitation is proposed and tested on a reference capacitor-resistor test object. A theoretical and mathematical model is developed to quantify the impact of distortion on the DDF measured in contrast to the case of non-distorted excitation. It is established that for the same total RMS magnitude of the applied excitation, the DDF decreases with the increasing harmonic proportion in the applied voltage waveform. For validation, laboratory experiments and computer simulations were carried out, and data obtained were compared with the analytical results. The proposed technique is then tested on some real high voltage components (33kV dry-type current transformers). The results confirm the monotonically decreasing trend, but the pattern is more complex. The dielectric dissipation factor mathematical and electrical circuit model is implemented based on the polarisation loss. The theoretical formulation is implemented in a computer simulation using MATLAB Simulink to validate the results. In summary, the thesis provides useful diagnostic insights on the characteristics of the dielectric dissipation factor measurement under distorted excitation

A time-based approach for multi-GHz embedded mixed-signal characterization and measurement /

The increasingly more sophisticated systems that are nowadays implemented on a single chip are placing stringent requirements on the test industry. New test strategies, equipment, and methodologies need to be developed to sustain the constant increase in demand for consumer and communication electronics. Techniques for built-in-self-test (BIST) and design-for-test (DFT) strategies have been proven to offer more feasible and economical testing solutions.Previous works have been conducted to perform on-chip testing, characterization, and measurement of signals and components. The current thesis advances those techniques on many levels. In terms of performance, an increase of more than an order of magnitude in speed is achieved. 70-GHz (effective sampling) on-chip oscilloscope is reported, compared to 4-GHz and 10-GHz ones in previous state-of-the-art implementations. Power dissipation is another area where the proposed work offer a superior solution compared to previous alternatives. All the proposed circuits do not exceed a few milliWatts of power dissipation, while performing multi-GHz high-speed signal capture at a medium resolution. Finally, and possibly most importantly, all the proposed circuits for test rely on a different form of signal processing; the time-based approach. It is believed that this approach paves the path to a lot of new techniques and circuit design skills that can be investigated more deeply. As an integral part of the time-based processing approach for GHz signal capture, this thesis verifies the advantages of using time amplification. The use of such amplification in the time domain is materialized with experimental results from three specific integrated circuits achieving different tasks in GHz high-speed in-situ signal measurement and characterization. Advantages of using such time-based approach techniques, when combined with the use of a front-end time amplifier, include noise immunity, the use of synthesizable digital cells, and circuit building blocks that track the technology scaling in terms of area and speed

Advanced photonic and electronic systems - WILGA 2017

WILGA annual symposium on advanced photonic and electronic systems has been organized by young scientist for young scientists since two decades. It traditionally gathers more than 350 young researchers and their tutors. Ph.D students and graduates present their recent achievements during well attended oral sessions. Wilga is a very good digest of Ph.D. works carried out at technical universities in electronics and photonics, as well as information sciences throughout Poland and some neighboring countries. Publishing patronage over Wilga keep Elektronika technical journal by SEP, IJET by PAN and Proceedings of SPIE. The latter world editorial series publishes annually more than 200 papers from Wilga. Wilga 2017 was the XL edition of this meeting. The following topical tracks were distinguished: photonics, electronics, information technologies and system research. The article is a digest of some chosen works presented during Wilga 2017 symposium. WILGA 2017 works were published in Proc. SPIE vol.10445