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We report a laser-ablation aided, direct-write fabrication technique that could convert non-conductive paper rinsed with metal ions and polymer solution into conductive metal carbide and graphene with a typical sheet resistance of 45.3 Ω/□. As fabricated paper electronics inherit the microfiber network from paper and have nanoscale pores and 2D metal carbide flakes due to the laser ablation process...
This paper explores a novel stiffness sensor which is mounted on the tip of a laparoscopic camera. The proposed device is able to compute stiffness when interacting with soft surfaces. The sensor can be used in Minimally Invasive Surgery, for instance, to localise tumor tissue which commonly has a higher stiffness when compared to healthy tissue. The purely mechanical sensor structure utilizes the...
A full-polarimetric radar system for non-contact, non-destructive high-resolution imaging and inspection of wooden buildings damaged by earthquakes is developed. The stepped frequency continuous wave system is based on a network analyzer and employs a multi-channel antenna array consisting of four linearly polarized Vivaldi antennas operating in an ultra-wideband ranging from 1 GHz to 20 GHz. The...
Position holding, also called hovering, is a key specification of rotor based aircraft. Its control problem for small quadrotor UAVs (unmanned aerial vehicles) is addressed in this paper. Given the flight dynamics of quadrotors, the P+D+DD based position holding control laws are presented. For the resultant two loop overall configuration, the outer loop controls the throttle magnitude required to...
Altitude regulation is a fundamental control problem of quadrotor UAVs (unmanned aerial vehicles) to ensure required performance for hovering and autonomous navigation. In this paper, under the assumption that the attitude inter loop has been well designed, the stability features of linear P+D+DD controller for altitude control are investigated. To handle the difficulty that the altitude velocity...
Aiming to reliably reconstruct an image with fewer measurements, we adapt compressed sensing (CS) in microwave induced thermo-acoustic tomography (MITAT). Most of current existing reconstruction algorithms for MITAT employ circular detection and require a great deal of measurements, which imply long acquisition times. In this paper, CS is implemented to reconstruct an image of electromagnetic absorption...
In this paper, we propose an efficient energy-management framework in wireless sensor networks (WSNs) to address the fundamental research challenge imposed by both the maintenance of the energy supply and the support of the quality-of-information (QoI) requirements. By quantifying the QoI benefit the tasks receive in relation to the level of QoI they request as the QoI satisfaction index), we propose...
This paper presents a solution for detecting degradation in electrodes that interface to fluidic or biological systems that forms the basis of numerous actuation and sensing mechanisms in the bio-fluidics field. In this solution, a mid-frequency oscillation test strategy is proposed and evaluated experimentally on an array of electrodes. This technique is based on the sensitivity of the bio-fluidic...
Several practical issues associated with achieving effective impedance performance in the finger joint space and stable grasping on a five-fingered dexterous hand are investigated in this work. A Multiprocessor structure based on field programming gate array (FPGA) is proposed to realize the high-level hand impedance controller. The key feature of the hardware system is a dual-processor architecture...
A position-based joint impedance controller and a DSP&FPGA-based multilevel control structure were developed to improve the capabilities of robot hand performing task in a variety of environments. Based on finite element analysis technologies, the new torque sensors and giant magnetoresistance (GMR) position sensors were designed and applied, and meet the challenge of joint torque measuring and...
Electrodes are fundamental to the reliable operation of a new generation of portable bio-analytical instruments based around microsystems technology. The importance of eliminating false positives and false negatives for these instruments is driving work around embedded test, condition monitoring and both diagnostics and prognostics. This paper proposes two solutions for detecting degradation in electrodes...
This paper presents a new developed multisensory five-fingered dexterous robot hand: the DLR/HIT Hand II. The hand has an independent palm and five identical modular fingers, each finger has three DOFs and four joints. All the actuators and electronics are integrated in the finger body and the palm. By using powerful super flat brushless DC motors, tiny harmonic drivers and BGA form DSPs and FPGAs,...
We present a novel platform for the development and deployment of nanosensors in integrated systems. The nanosensor technology is based on ''striped'' high aspect ratio cylindrical structures grown using porous membranes as templates. These nanostructures are manipulated using dielectrophoretic forces, allowing their individual assembly and characterization. This assembly also enables the development...
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