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

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 299)

This bibliography lists 96 reports, articles, and other documents introduced into the NASA scientific and technical information system in June, 1987

Substrate dependance, temperature dependance and temperature sensitivity and resolution of doped-silicon microcantilevers

This thesis aims to characterize microcantilevers with integrated heater-thermometers. This research concentrates on characterization for use in data storage, sensing, surface science, and nano-manufacturing. The rst objective seeks to understand the speci c thermal interactions between a heated microcantilever tip and various substrates. The experiments investigate thermal conductance, thermal time constant, and temperature-dependant adhesion force between and cantilever tip and substrates of silicon, quartz, and polyimide. The second objective is to utilize a heated microcantilever as a heater-thermometer. The experiments investigate the thermal calibration sensitivity and resolution under steady and periodic conditions near room-temperature. The results were compared to the Raman spectroscopy, which measures the local temperature at the cantilever tip

USSR Space Life Sciences Digest, issue 1

The first issue of the bimonthly digest of USSR Space Life Sciences is presented. Abstracts are included for 49 Soviet periodical articles in 19 areas of aerospace medicine and space biology, published in Russian during the first quarter of 1985. Translated introductions and table of contents for nine Russian books on topics related to NASA's life science concerns are presented. Areas covered include: botany, cardiovascular and respiratory systems, cybernetics and biomedical data processing, endocrinology, gastrointestinal system, genetics, group dynamics, habitability and environmental effects, health and medicine, hematology, immunology, life support systems, man machine systems, metabolism, musculoskeletal system, neurophysiology, perception, personnel selection, psychology, radiobiology, reproductive system, and space biology. This issue concentrates on aerospace medicine and space biology

Aerospace Medicine and Biology: A continuing bibliography with indexes, supplement 165, March 1977

This bibliography lists 198 reports, articles, and other documents introduced into the NASA scientific and technical information system in February 1977

Improved micro-contact resistance model that considers material deformation, electron transport and thin film characteristics

This paper reports on an improved analytic model forpredicting micro-contact resistance needed for designing microelectro-mechanical systems (MEMS) switches. The originalmodel had two primary considerations: 1) contact materialdeformation (i.e. elastic, plastic, or elastic-plastic) and 2) effectivecontact area radius. The model also assumed that individual aspotswere close together and that their interactions weredependent on each other which led to using the single effective aspotcontact area model. This single effective area model wasused to determine specific electron transport regions (i.e. ballistic,quasi-ballistic, or diffusive) by comparing the effective radius andthe mean free path of an electron. Using this model required thatmicro-switch contact materials be deposited, during devicefabrication, with processes ensuring low surface roughness values(i.e. sputtered films). Sputtered thin film electric contacts,however, do not behave like bulk materials and the effects of thinfilm contacts and spreading resistance must be considered. Theimproved micro-contact resistance model accounts for the twoprimary considerations above, as well as, using thin film,sputtered, electric contact

Experimental and computational analyses reveal that environmental restrictions shape HIV-1 spread in 3D cultures

Here, using an integrative experimental and computational approach, Imle et al. show how cell motility and density affect HIV cell-associated transmission in a three-dimensional tissue-like culture system of CD4+ T cells and collagen, and how different collagen matrices restrict infection by cell-free virions