A Model that Predicts the Material Recognition Performance of Thermal Tactile Sensing

Tactile sensing can enable a robot to infer properties of its surroundings, such as the material of an object. Heat transfer based sensing can be used for material recognition due to differences in the thermal properties of materials. While data-driven methods have shown promise for this recognition problem, many factors can influence performance, including sensor noise, the initial temperatures of the sensor and the object, the thermal effusivities of the materials, and the duration of contact. We present a physics-based mathematical model that predicts material recognition performance given these factors. Our model uses semi-infinite solids and a statistical method to calculate an F1 score for the binary material recognition. We evaluated our method using simulated contact with 69 materials and data collected by a real robot with 12 materials. Our model predicted the material recognition performance of support vector machine (SVM) with 96% accuracy for the simulated data, with 92% accuracy for real-world data with constant initial sensor temperatures, and with 91% accuracy for real-world data with varied initial sensor temperatures. Using our model, we also provide insight into the roles of various factors on recognition performance, such as the temperature difference between the sensor and the object. Overall, our results suggest that our model could be used to help design better thermal sensors for robots and enable robots to use them more effectively.Comment: This article is currently under review for possible publicatio

Contact of a Finger on Rigid Surfaces and Textiles: Friction Coefficient and Induced Vibrations

The tactile information about object surfaces is obtained through perceived contact stresses and frictioninduced vibrations generated by the relative motion between the fingertip and the touched object. The friction forces affect the skin stress-state distribution during surface scanning, while the sliding contact generates vibrations that propagate in the finger skin activating the receptors (mechanoreceptors) and allowing the brain to identify objects and perceive information about their properties. In this article, the friction coefficient between a real human finger and both rigid surfaces and fabrics is retrieved as a function of the contact parameters (load and scanning speed). Then, the analysis of the vibration spectra is carried out to investigate the features of the induced vibrations, measured on the fingernail, as a function of surface textures and contact parameters. While the friction coefficient measurements on rigid surfaces agree with empirical laws found in literature, the behaviour of the friction coefficient when touching a fabric is more complex, and is mainly the function of the textile constructional properties. Results show that frequency spectrum distribution, when touching a rigid surface, is mainly determined by the relative geometry of the two contact surfaces and by the contact parameters. On the contrary, when scanning a fabric, the structure and the deformation of the textile itself largely affect the spectrum of the induced vibration. Finally, some major features of the measured vibrations (frequency distribution and amplitude) are found to be representative of tactile perception compared to psychophysical and neurophysiologic works in literature

Simulation of 3D Model, Shape, and Appearance Aging by Physical, Chemical, Biological, Environmental, and Weathering Effects

Physical, chemical, biological, environmental, and weathering effects produce a range of 3D model, shape, and appearance changes. Time introduces an assortment of aging, weathering, and decay processes such as dust, mold, patina, and fractures. These time-varying imperfections provide the viewer with important visual cues for realism and age. Existing approaches that create realistic aging effects still require an excessive amount of time and effort by extremely skilled artists to tediously hand fashion blemishes or simulate simple procedural rules. Most techniques do not scale well to large virtual environments. These limitations have prevented widespread utilization of many aging and weathering algorithms. We introduce a novel method for geometrically and visually simulating these processes in order to create visually realistic scenes. This work proposes the ``mu-ton system, a framework for scattering numerous mu-ton particles throughout an environment to mutate and age the world. We take a point based representation to discretize both the decay effects and the underlying geometry. The mu-ton particles simulate interactions between multiple phenomena. This mutation process changes both the physical properties of the external surface layer and the internal volume substrate. The mutation may add or subtract imperfections into the environment as objects age. First we review related work in aging and weathering, and illustrate the limitations of the current data-driven and physically based approaches. We provide a taxonomy of aging processes. We then describe the structure for our ``mu-ton framework, and we provide the user a short tutorial how to setup different effects. The first application of the ``mu-ton system focuses on inorganic aging and decay. We demonstrate changing material properties on a variety of objects, and simulate their transformation. We show the application of our system aging a simple city alley on different materials. The second application of the ``mu-ton system focuses organic aging. We provide details on simulating a variety of growth processes. We then evaluate and analyze the ``mu-ton framework and compare our results with ``gamma-ton tracing. Finally, we outline the contributions this thesis provides to computer-based aging and weathering simulation

Aerospace medicine and biology: A continuing bibliography with indexes, supplement 183

This bibliography lists 273 reports, articles, and other documents introduced into the NASA scientific and technical information system in July 1978

Optical Rectification and Field Enhancement in a Plasmonic Nanogap

Metal nanostructures act as powerful optical antennas[1, 2] because collective modes of the electron fluid in the metal are excited when light strikes the surface of the nanostructure. These excitations, known as plasmons, can have evanescent electromagnetic fields that are orders of magnitude larger than the incident electromagnetic field. The largest field enhancements often occur in nanogaps between plasmonically active nanostructures[3, 4], but it is extremely challenging to measure the fields in such gaps directly. These enhanced fields have applications in surface-enhanced spectroscopies[5-7], nonlinear optics[1, 8-10], and nanophotonics[11-15]. Here we show that nonlinear tunnelling conduction between gold electrodes separated by a subnanometre gap leads to optical rectification, producing a DC photocurrent when the gap is illuminated. Comparing this photocurrent with low frequency conduction measurements, we determine the optical frequency voltage across the tunnelling region of the nanogap, and also the enhancement of the electric field in the tunnelling region, as a function of gap size. The measured field enhancements exceed 1000, consistent with estimates from surface-enhanced Raman measurements[16-18]. Our results highlight the need for more realistic theoretical approaches that are able to model the electromagnetic response of metal nanostructures on scales ranging from the free space wavelength, $\lambda$, down to $\sim \lambda/1000$, and for experiments with new materials, different wavelengths, and different incident polarizations.Comment: 15 pages, 5 figures + 12 pages, 5 figures of supplemental informatio

INDUCTION ASSISTED THERMOGRAPHY FOR INSPECTION OF MICRO DEFECTS ON SHEET METALS

The work focuses on Induction assisted Thermography as a non-contact and non-destructive method of Inspecting micro defects on sheet metals used for making automotive body panels. Induction heating as a source of excitation to elevate the temperatures of sheet metals for uniform heating and detect ability of the defect is the main objective of the study. Experiments are done on sheet metal samples with defects using excitation techniques like Pulse and Electromagnetic Induction. The thermal images obtained from the infrared camera are used to quantitatively analyze the detect ability of defects on sheet metals. The limitations of using Pulse technique and advantages of using Electromagnetic Induction technique for these kinds of defects are discussed. Spatial distribution of temperature for various experimental conditions is also discussed to optimize induction heating requirements

Improved human soft tissue thigh surrogates for superior assessment of sports personal protective equipment

Human surrogates are representations of living humans, commonly adopted to better understand human response to impacts. Though surrogates have been widely used in automotive, defence and medical industries with varying levels of biofidelity, their primary application in the sporting goods industry has been through primitive rigid anvils used in assessing personal protective equipment (PPE) effectiveness. In sports, absence from competition is an important severity measure and soft tissue injuries such as contusions and lacerations are serious concerns. Consequently, impact surrogates for the sporting goods industry need a more subtle description of the relevant soft tissues to assess impact severity and mitigation accurately to indicate the likelihood of injury. The fundamental aim for this research study was to establish a method to enable the development of superior, complementary, increasingly complex synthetic and computational impact surrogates for improved assessment of sports personal protective equipment. With a particular focus on the thigh segment, research was conducted to evaluate incremental increases in surrogate complexity. Throughout this study, empirical assessment of synthetic surrogates and computational evaluation using finite element (FE) models were employed to further knowledge on design features influencing soft tissue surrogates in a cost and time efficient manner. To develop a more representative human impact surrogate, the tissue structures considered, geometries and materials were identified as key components influencing the mechanical response of surrogates. As a design tool, FE models were used to evaluate the changes in impact response elicited with different soft tissue layer configurations. The study showed the importance of skin, adipose, muscle and bone tissue structures and indicated up to 15.4% difference in maximum soft tissue displacement caused by failure to represent the skin layer. FE models were further used in this capacity in a shape evaluation study from which it was determined that a full-scale anatomically contoured thigh was necessary to show the full diversity of impact response phenomena exhibited. This was particularly pertinent in PPE evaluations where simple surrogate shapes significantly underestimated the magnitudes of displacements exhibited (up to 155% difference) when rigid shell PPE was simulated under impact conditions. Synthetic PDMS silicone simulants were then fabricated for each of the organic soft tissues to match their dynamic responses. The developed simulants exhibited a superior representation of the tissues when compared to previous single material soft tissue simulant, Silastic 3483, which showed 324%, 11,140% and -15.8% greater differences than the PDMS when compared to previously reported target organic tissue datasets for relaxed muscle, skin and adipose tissues respectively. The impact response of these PDMS surrogates were compared in FE models with previously used single material simulants in representative knee and cricket ball sports impact events. The models were each validated through experimental tests and the PDMS simulants were shown to exhibit significantly closer responses to organic tissue predictions across all impact conditions and evaluation metrics considered. An anatomically contoured synthetic thigh surrogate was fabricated using the PDMS soft tissue simulants through a novel multi-stage moulding process. The surrogate was experimentally tested under representative sports impact conditions and showed a good comparison with FE model predictions with a maximum difference in impactor displacements and peak accelerations of +6.86% and +12.5% respectively at velocities between 2 - 4 m.s-1. The value of increased biofidelity in the anatomical synthetic and virtual surrogate thighs has been proven through the incremental adoption of important surrogate elements (tissue structures, material and geometries). The predictive capabilities of each surrogate have been demonstrated through their parallel developments and staged comparisons with idealised organic tissue responses. This increase in biofidelity is introduced at modestly higher cost compared to Silastic 3483, but, given the benefits of a more representative human impact response for PPE evaluations, this is shown to be worthwhile