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2019 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)最新文献

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A Novel Underactuated Soft Humanoid Hand For Hand Sign Language 一种用于手势语的新型欠驱动柔性人形手
Mohamed E. M. Salem, Ruoshi Wen, Maggie Xu, Liu Yan, Ma Xiang, Qiang Wang
The human hand is a very complex mechanism which dealing with the external environment with a high range of degree of freedoms to allowing it to do a big variety of movements. Humanoid robotic hands are robotic hands that resemble human hands, especially with respect to their shape and their kinematic abilities. Recently, soft actuators are drawing attention in robotics field due to their high flexibility, lightness, ease of fabrication and its low cost. In this paper, we present a novel soft humanoid pneumatic hand which consists of nine soft bending actuators assembled together in one hand which can be matching the mobility of the human hand as closely as possible and verify this ability by using the hand sign language configurations. Direct 3D printing technique has been presented in the fabrication process of the soft pneumatic hand as a new technique by using a TPU 3D printer filament. Soft actuators characterization such as the bending performance is presented by using the advantage of ABAQUS/CAE software and experimental tests. All control actions were achieved by using Arduino Mega board supported with MATLAB SIMULINK model working with graphical user interface computer application (GUI).
人的手是一个非常复杂的机械装置,它处理外部环境具有高度的自由度,使它能够做各种各样的运动。类人机械手是指在形状和运动能力方面与人手相似的机械手。近年来,软致动器以其高柔韧性、轻量化、易于制造和低成本等优点成为机器人领域的研究热点。本文提出了一种新型的柔性人形气动手,它由9个柔性弯曲致动器组合在一起,可以尽可能地匹配人手的移动能力,并通过手势语言配置验证了这种能力。直接3D打印技术作为一种新技术,利用TPU 3D打印长丝在柔性气动手的制造过程中被提出。利用ABAQUS/CAE软件的优势,结合实验测试,对软执行器的弯曲性能等进行了表征。所有的控制动作都是通过Arduino Mega板支持MATLAB SIMULINK模型和图形用户界面计算机应用程序(GUI)来实现的。
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引用次数: 6
Data Acquisition System Development for a Hydraulic Plant using Hybrid Communication Network based on LoRa 基于LoRa的混合通信网水工数据采集系统开发
Emmanuel Leite de Medeiros, C. A. D. S. Filho, F. Carvalho, R. Cruz, C. Moreira
This paper presents the development of a data acquisition system that uses a hybrid communication network based on Long Range (LoRa) modules. The goal of the system is to provide the gathered information over long distances. The proposed hybrid structure minimizes the costs involved with the usage of LoRa transmitters, deploying a wired network to interconnect the sensors and actuators in the vicinity of the transmission point. This structure is compatible with the main existing industrial communication protocols, facilitating the connection with the already installed networks. The system was conceived for a hydraulic plant, aiming its instrumentation as a form of optimization of water distribution systems monitoring. In this paper the performance of LoRa module is analysed in terms of the maximum distance achieved to forward the data gathered with acceptable quality. The acquired results demonstrated the viability of the proposed solution for remote and local monitoring of water distribution systems.
本文介绍了一种基于远程(LoRa)模块的混合通信网络的数据采集系统的开发。该系统的目标是远距离提供收集到的信息。提出的混合结构最大限度地降低了使用LoRa发射机所涉及的成本,部署了有线网络来连接传输点附近的传感器和执行器。这种结构与现有的主要工业通信协议兼容,便于与已安装的网络连接。该系统是为水电厂设计的,其目的是将其仪表作为一种优化配水系统监测的形式。本文对LoRa模块的性能进行了分析,分析了LoRa模块所能达到的将采集到的数据以可接受的质量转发的最大距离。所获得的结果证明了所提出的解决方案对供水系统的远程和本地监测的可行性。
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引用次数: 3
Magnetic Flux Leakage Measurement System for Nondestructive Testing of Water-Cooled Wall 水冷壁无损检测漏磁测量系统
Hoyong Lee, Choe Eunho, Jinyi Lee, Gyejo Jung
A system that can calculate the abrasive corrosion and wall thinning of water-cooled wall tubes of boiler by measuring magnetic flux change was developed. A magnetizer, which is curved according to the cross-sectional shape of the tube, membrane and weld line, magnetizes a part of the water-cooled wall in the axial direction. At this time, the magnitude of the magnetic flux changes in a region where the thickness becomes thinner. This change in magnetic flux is measured by a magnetic sensor array deflected to one side from the center of the magnetizer.
研制了一种通过测量锅炉水冷壁管的磁通变化来计算磨料腐蚀和壁厚变薄的系统。磁化器根据管、膜和焊缝的截面形状弯曲,在轴向上磁化部分水冷壁。此时,磁通量的大小在厚度变薄的区域发生变化。这种磁通量的变化是通过从磁化器中心偏转到一侧的磁传感器阵列来测量的。
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引用次数: 2
A programmable bias current compensation approach in current noise measurement applications 一种可编程偏置电流补偿方法在电流噪声测量中的应用
G. Scandurra, G. Giusi, C. Ciofi
DC coupled transimpedance amplifiers based on operational amplifiers are common in the field of noise measurements on electron devices. The current required to bias the device under test typically flows through a resistor whose noise adds to the background noise of the amplifier with a contribution inversely proportional to the resistance value. The supply voltage of the circuit (typically a few volts) sets a limit to the maximum resistance for a given bias current and, hence, a minimum to the background noise that can be reached. To address this issue we propose to employ integrated solar cells to make available in the circuit voltages in the tens of volts range from which bias currents can be sourced with larger resistances leading to lower background noise. We propose the design and preliminary testing of such a system that is intended for applications in which bias currents are in the tens of nA range.
基于运算放大器的直流耦合跨阻放大器是电子器件噪声测量领域的常用器件。使被测器件偏置所需的电流通常流经一个电阻器,该电阻器的噪声增加了放大器的背景噪声,其贡献与电阻值成反比。电路的供电电压(通常是几伏)限制了给定偏置电流的最大电阻,因此也限制了可以达到的最小背景噪声。为了解决这个问题,我们建议采用集成太阳能电池,在电路中提供几十伏范围内的电压,使偏置电流具有更大的电阻,从而降低背景噪声。我们提出了这样一个系统的设计和初步测试,该系统旨在应用于偏置电流在几十nA范围内。
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引用次数: 3
Classification of Spirometry Using Stacked Autoencoder based Neural Network 基于堆叠自编码器的神经网络的肺活量测量分类
S. Trivedy, M. Goyal, Madhusudhan Mishra, N. Verma, A. Mukherjee
Spirometry is the most common and effective way to diagnose various severe respiratory diseases such as Chronic Obstructive Pulmonary Disease (COPD), asthma, occupational lung diseases and pulmonary hypertension. A variety of measurements can be taken and expounded from spirometry; Forced Vital Capacity (FVC), the maximal amount of air one can forcefully exhale in one second (FEV1) and the ratio FEV1/FVC are significant measurements to diagnose the problems with lung functionality (Fig. 1). The objective of this study was to accurately classify the abnormal spirometry using stacked autoencoder (SAE) based neural network by extracting the features from the flow-volume curve. Abnormal spirometry is decided based on the values of FEV1, FVC and the ratio of FEV1/FVC are less than the Lower Limit of Normal (LLN) [1], predicted from the standard reference equations [2].The proposed method shows accuracy of 96.57% for FEV1, 96.01% for FVC and 98.98% for the ratio FEV1/FVC.
肺量测定法是诊断慢性阻塞性肺疾病(COPD)、哮喘、职业性肺病、肺动脉高压等各种严重呼吸系统疾病最常见、最有效的方法。从肺活量测定法可以采取和阐述多种测量方法;用力肺活量(FVC),一个人在一秒钟内可以用力呼出的最大空气量(FEV1)和FEV1/FVC的比率是诊断肺功能问题的重要指标(图1)。本研究的目的是通过从流量-体积曲线中提取特征,使用基于堆叠自编码器(SAE)的神经网络准确分类异常肺活量。根据标准参考方程[2]预测的FEV1、FVC值及FEV1/FVC比值小于正常下限(LLN)[1]判定肺功能异常。该方法对FEV1、FVC和FEV1/FVC的准确率分别为96.57%、96.01%和98.98%。
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引用次数: 1
Data Fusion for Timber Bundle Volume Measurement 木材束体积测量的数据融合
M. Carratù, C. Liguori, A. Pietrosanto, M. O’nils, J. Lundgren
In many industrial fields, the direct measurement of a specific parameter of interest can be too costly to be feasible. Using data from other parameters about the process, a data driven approach can instead be used for a cost-efficient estimation of the parameter of interest. For the Swedish forest industry, the measurement of the timber bundles volume sets the price for the customers. Volume is in this case an expensive parameter to measure, where manual measurements have been used as reference to a remote imaging estimation system involving operators. In this paper a data driven approach is presented for the estimation of timber bundles volume, using correlated features such as weight, date of cut, storage time etc., to demonstrate a costefficient software estimation system. The proposed approach, based on neural networks, shows comparable results to the existing remote estimation method when using a few features and even better performance when adding feature information from the timber harvesters.
在许多工业领域,直接测量感兴趣的特定参数可能成本过高而不可行。使用来自流程的其他参数的数据,数据驱动的方法可以用于对感兴趣的参数进行成本有效的估计。对于瑞典的森林工业来说,木材捆体积的测量为客户设定了价格。在这种情况下,体积是一个昂贵的测量参数,人工测量已被用作涉及操作员的远程成像估计系统的参考。本文提出了一种数据驱动的方法来估计木材束的体积,利用相关特征,如重量、切割日期、储存时间等,展示了一个成本效益的软件估计系统。本文提出的基于神经网络的方法在使用少量特征时与现有的远程估计方法效果相当,在添加木材采集者的特征信息时性能更好。
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引用次数: 8
Robot Localisation based on Phase Measures of backscattered UHF-RFID Signals
V. Magnago, L. Palopoli, D. Fontanelli, D. Macii, A. Motroni, P. Nepa, A. Buffi, B. Tellini
Indoor localisation is currently regarded as one of the most useful services offered to human beings and robotics agents, as it can support a variety of applications. Among all the possible sensing solutions developed to address this problem (which is usually made challenging by the complex, heterogeneous and crowded nature of indoor environments), RFID systems based on passive tags are very promising due to their relatively low cost and the ease of deployment. In this paper, a theoretical analysis of the localisation problem using Ultra High Frequency (UHF) RFID tags for mobile robots is considered. The feasibility of the proposed approach is demonstrated by analysing the local nonlinear observability of the system at hand, despite the inherent ambiguity of the phase of backscattered RF signals, which can be measured by a system installed on the moving agent. The validity of the analysis and the practicality of this localisation approach is further confirmed by using a position tracking estimator based on an Unscented Kalman Filter (UKF).
室内定位目前被认为是提供给人类和机器人代理的最有用的服务之一,因为它可以支持各种应用。在为解决这一问题而开发的所有可能的传感解决方案中(通常由于室内环境的复杂性,异质性和拥挤性而具有挑战性),基于无源标签的RFID系统由于其相对较低的成本和易于部署而非常有前途。本文从理论上分析了移动机器人使用超高频(UHF) RFID标签的定位问题。通过分析系统的局部非线性可观测性,证明了该方法的可行性,尽管反向散射射频信号的相位存在固有的模糊性,但可以通过安装在移动代理上的系统进行测量。通过使用基于Unscented卡尔曼滤波器(UKF)的位置跟踪估计器,进一步验证了分析的有效性和该定位方法的实用性。
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引用次数: 10
Effect of Pressure on the Wave Behavior in Horizontal Wet-gas Annular Flow 压力对水平湿气环空流动波动特性的影响
Yan Zhu, Qiaoqiao Zeng, L. Niu, Xiaoting Li, Ning Zhao, Lide Fang
Interfacial disturbance waves play a very important role in the mass, momentum and energy transport phenomena and modeling of gas-to-liquid momentum transfer and liquid film behavior in annular flow. The disturbance waves are not only the major source of entrained droplets, but also act as a roughness to the central gas flow and contribute to the frictional pressure drop in annular flow. In spite of their importance, majority of the experimental data available in literature on wave properties (wave velocity, wave frequency and wave spacing) are limited to near atmospheric conditions. In view of this, based on NIR technology, horizontal wet-gas annular flow is investigated by theoretical analysis and experimental verification in 50mm inner pipe diameter at five pressures $(0.1 sim 0.5$ MPa). Total 35 points under 7 groups flow conditions are selected for qualitative and quantitative research. By data analysis of wave velocity and wave frequency and the light signals analyses of probability density function and wavelet energy, the effect of pressure on the wave behavior is preliminary investigated and discussed.
界面扰动波在环空流动中质量、动量和能量输运现象以及气液动量传递和液膜行为的建模中起着非常重要的作用。扰动波不仅是夹带液滴的主要来源,而且对中心气流起到粗糙度作用,导致环空流动摩擦压降。尽管它们很重要,但文献中关于波特性(波速、波频率和波间距)的大多数实验数据仅限于近大气条件。为此,基于近红外技术,对管内直径50mm、压力$ 0.1 sim 0.5$ MPa条件下的水平湿气环空流动进行了理论分析和实验验证。选取7组流量条件下共35个点进行定性和定量研究。通过波速和波频数据分析以及光信号的概率密度函数和小波能量分析,初步探讨了压力对波浪行为的影响。
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引用次数: 0
Explicit analysis of subADCs mismatch errors in band-interleaved ADC systems 带交错ADC系统中子ADC失配误差的显式分析
Yu Zhao, P. Ye, Jinpeng Song, Jie Meng, Kuojun Yang, Jian Gao
A deterministic description of bandwidth-interleaved (BI) system with offset, gain and time mismatches among subADCs is firstly developed in this paper. Based on the analysis, spurious spectra caused by gain and time mismatches are correlated with the input signal, while spurious spectra caused by offset mismatch are independent with the input signal but related to the frequency of the local oscillator in each subband. The analysed results can be used as a reference for calibration of mismatch errors among the subbands in BI systems.
本文首先对子adc间存在偏置、增益和时间失配的带宽交错(BI)系统进行了确定性描述。分析表明,增益和时间失配引起的杂散频谱与输入信号相关,而偏置失配引起的杂散频谱与输入信号无关,但与各子带本振的频率有关。分析结果可作为BI系统中子带间失配误差校正的参考。
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引用次数: 0
Time-to-Digital Converter with Pseudo-Segmented Delay Line 带伪分段延迟线的时间-数字转换器
P. Kwiatkowski, R. Szplet
This paper presents a time-to-digital converter (TDC) with pseudo-segmented delay line implemented in 28 nm field-programmable gate array (FPGA) device (Kintex-7 XC7K160T, Xilinx). The TDC employs a carry chain based delay line wherein each tap is connected to multiple flip-flops. Proposed solution gives the same measurement resolution and comparable precision improvement as using multiple time coding lines (TCL) but allows to save logical resources available in FPGA chip. The TDC was tested in timestamps based time interval counter operating at 700 MHz clock and provides 1.1 ps resolution and 5 ps precision.
提出了一种基于伪分段延迟线的时间-数字转换器(TDC),实现于28nm现场可编程门阵列(Kintex-7 XC7K160T, Xilinx)器件上。TDC采用基于进位链的延迟线,其中每个分接连接到多个触发器。该方案提供了与使用多时间编码线(TCL)相同的测量分辨率和相当的精度提高,但允许节省FPGA芯片上可用的逻辑资源。TDC在基于时间戳的时间间隔计数器中进行了测试,工作频率为700 MHz,分辨率为1.1 ps,精度为5 ps。
{"title":"Time-to-Digital Converter with Pseudo-Segmented Delay Line","authors":"P. Kwiatkowski, R. Szplet","doi":"10.1109/I2MTC.2019.8826927","DOIUrl":"https://doi.org/10.1109/I2MTC.2019.8826927","url":null,"abstract":"This paper presents a time-to-digital converter (TDC) with pseudo-segmented delay line implemented in 28 nm field-programmable gate array (FPGA) device (Kintex-7 XC7K160T, Xilinx). The TDC employs a carry chain based delay line wherein each tap is connected to multiple flip-flops. Proposed solution gives the same measurement resolution and comparable precision improvement as using multiple time coding lines (TCL) but allows to save logical resources available in FPGA chip. The TDC was tested in timestamps based time interval counter operating at 700 MHz clock and provides 1.1 ps resolution and 5 ps precision.","PeriodicalId":132588,"journal":{"name":"2019 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131612593","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
期刊
2019 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)
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