Relevant bibliographies by topics / Soft sensors and actuators

Academic literature on the topic 'Soft sensors and actuators'

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Published: 10 December 2022
Last updated: 29 January 2023

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Journal articles on the topic "Soft sensors and actuators"

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Mersch, Johannes, Najmeh Keshtkar, Henriette Grellmann, Carlos Alberto Gomez Cuaran, Mathis Bruns, Andreas Nocke, Chokri Cherif, Klaus Röbenack, and Gerald Gerlach. "Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control." Materials 15, no. 2 (January 10, 2022): 520. http://dx.doi.org/10.3390/ma15020520.

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Soft actuators are a promising option for the advancing fields of human-machine interaction and dexterous robots in complex environments. Shape memory alloy wire actuators can be integrated into fiber rubber composites for highly deformable structures. For autonomous, closed-loop control of such systems, additional integrated sensors are necessary. In this work, a soft actuator is presented that incorporates fiber-based actuators and sensors to monitor both deformation and temperature. The soft actuator showed considerable deformation around two solid body joints, which was then compared to the sensor signals, and their correlation was analyzed. Both, the actuator as well as the sensor materials were processed by braiding and tailored fiber placement before molding with silicone rubber. Finally, the novel fiber-rubber composite material was used to implement closed-loop control of the actuator with a maximum error of 0.5°.
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Shu, Jing, Junming Wang, Sanders Cheuk Yin Lau, Yujie Su, Kelvin Ho Lam Heung, Xiangqian Shi, Zheng Li, and Raymond Kai-yu Tong. "Soft Robots’ Dynamic Posture Perception Using Kirigami-Inspired Flexible Sensors with Porous Structures and Long Short-Term Memory (LSTM) Neural Networks." Sensors 22, no. 20 (October 11, 2022): 7705. http://dx.doi.org/10.3390/s22207705.

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Soft robots can create complicated structures and functions for rehabilitation. The posture perception of soft actuators is critical for performing closed-loop control for a precise location. It is essential to have a sensor with both soft and flexible characteristics that does not affect the movement of a soft actuator. This paper presents a novel end-to-end posture perception method that employs flexible sensors with kirigami-inspired structures and long short-term memory (LSTM) neural networks. The sensors were developed with conductive sponge materials. With one-step calibration from the sensor output, the posture of the soft actuator could be calculated by the LSTM network. The method was validated by attaching the developed sensors to a soft fiber-reinforced bending actuator. The results showed the accuracy of posture prediction of sponge sensors with three kirigami-inspired structures ranged from 0.91 to 0.97 in terms of R2. The sponge sensors only generated a resistive torque value of 0.96 mNm at the maximum bending position when attached to a soft actuator, which would minimize the effect on actuator movement. The kirigami-inspired flexible sponge sensor could in future enhance soft robotic development.
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He, Yanlin, Lianqing Zhu, Guangkai Sun, Mingxin Yu, and Mingli Dong. "Design, Measurement and Shape Reconstruction of Soft Surgical Actuator Based on Fiber Bragg Gratings." Applied Sciences 8, no. 10 (September 30, 2018): 1773. http://dx.doi.org/10.3390/app8101773.

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Soft actuators are the components responsible for organs and tissues adsorptive fixation in some surgical operations, but the lack of shape sensing and monitoring of a soft actuator greatly limits their application potential. Consequently, this paper proposes a real-time 3D shape reconstruction method of soft surgical actuator which has an embedded optical fiber with two Fiber Bragg Grating (FBG) sensors. First, the design principle and the sensing of the soft actuator based on FBG sensors are analyzed, and the fabrication process of soft actuator which has an embedded optical fiber with two FBG sensors is described. Next, the calibration of the FBG sensors is conducted. Based on curvatures and curve fitting functions, the strategy of 3D shapes reconstruction of the soft actuator is presented. Finally, some bending experiments of the soft actuator are carried out, and the 3D shapes of the soft actuator at different bending states are reconstructed. This well reconstructed 3D shape of a soft actuator demonstrates the effectiveness of the shape reconstruction method that is proposed in this paper, as well as the potential and increased applications of these structures for real soft surgical actuators.
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Konishi, Satoshi, Fuminari Mori, Ayano Shimizu, and Akiya Hirata. "Structural Reinforcement Effect of a Flexible Strain Sensor Integrated with Pneumatic Balloon Actuators for Soft Microrobot Fingers." Micromachines 12, no. 4 (April 2, 2021): 395. http://dx.doi.org/10.3390/mi12040395.

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Motion capture of a robot and tactile sensing for a robot require sensors. Strain sensors are used to detect bending deformation of the robot finger and to sense the force from an object. It is important to introduce sensors in effective combination with actuators without affecting the original performance of the robot. We are interested in the improvement of flexible strain sensors integrated into soft microrobot fingers using a pneumatic balloon actuator (PBA). A strain sensor using a microchannel filled with liquid metal was developed for soft PBAs by considering the compatibility of sensors and actuators. Inflatable deformation generated by PBAs, however, was found to affect sensor characteristics. This paper presents structural reinforcement of a liquid metal-based sensor to solve this problem. Parylene C film was deposited into a microchannel to reinforce its structure against the inflatable deformation caused by a PBA. Parylene C deposition into a microchannel suppressed the interference of inflatable deformation. The proposed method enables the effective combination of soft PBAs and a flexible liquid metal strain sensor for use in microrobot fingers.
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Yilmaz, Ayse Feyza, Fidan Khalilbayli, Kadir Ozlem, Hend M. Elmoughni, Fatma Kalaoglu, Asli Tuncay Atalay, Gökhan Ince, and Ozgur Atalay. "Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable Robots." Biomimetics 7, no. 4 (December 19, 2022): 249. http://dx.doi.org/10.3390/biomimetics7040249.

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The use of textiles in soft robotics is gaining popularity because of the advantages textiles offer over other materials in terms of weight, conformability, and ease of manufacture. The purpose of this research is to examine the stitching process used to construct fabric-based pneumatic bending actuators as well as the effect of segment types on the actuators’ properties when used in soft robotic glove applications. To impart bending motion to actuators, two techniques have been used: asymmetry between weave and weft knit fabric layers and mechanical anisotropy between these two textiles. The impacts of various segment types on the actuators’ grip force and bending angle were investigated further. According to experiments, segmenting the actuator with a sewing technique increases the bending angle. It was discovered that actuators with high anisotropy differences in their fabric combinations have high gripping forces. Textile-based capacitive strain sensors are also added to selected segmented actuator types, which possess desirable properties such as increased grip force, increased bending angle, and reduced radial expansion. The sensors were used to demonstrate the controllability of a soft robotic glove using a closed-loop system. Finally, we demonstrated that actuators integrated into a soft wearable glove are capable of grasping a variety of items and performing various grasp types.
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Preechayasomboon, Pornthep, and Eric Rombokas. "Sensuator: A Hybrid Sensor–Actuator Approach to Soft Robotic Proprioception Using Recurrent Neural Networks." Actuators 10, no. 2 (February 7, 2021): 30. http://dx.doi.org/10.3390/act10020030.

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Soft robotic actuators are now being used in practical applications; however, they are often limited to open-loop control that relies on the inherent compliance of the actuator. Achieving human-like manipulation and grasping with soft robotic actuators requires at least some form of sensing, which often comes at the cost of complex fabrication and purposefully built sensor structures. In this paper, we utilize the actuating fluid itself as a sensing medium to achieve high-fidelity proprioception in a soft actuator. As our sensors are somewhat unstructured, their readings are difficult to interpret using linear models. We therefore present a proof of concept of a method for deriving the pose of the soft actuator using recurrent neural networks. We present the experimental setup and our learned state estimator to show that our method is viable for achieving proprioception and is also robust to common sensor failures.
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Kim, Woo Soo, and Jamie Paik. "Soft Bionic Sensors and Actuators." Advanced Intelligent Systems 3, no. 3 (March 2021): 2100003. http://dx.doi.org/10.1002/aisy.202100003.

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Sun, Guangkai, Yang Hu, Mingli Dong, Yanlin He, Mingxin Yu, and Lianqing Zhu. "Posture measurement of soft pneumatic bending actuator using optical fibre-based sensing membrane." Industrial Robot: the international journal of robotics research and application 46, no. 1 (January 21, 2019): 118–27. http://dx.doi.org/10.1108/ir-08-2018-0159.

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Purpose Soft robotics is a burgeoning field owing to its high adaptability and safety in human–machine interaction and unstructured environments. However, the feedback control of soft actuators with flexible sensors is still a challenge. Design/methodology/approach To address this issue, this study proposes an optical fibre-based sensing membrane for the posture measurement of soft pneumatic bending actuators. The major contribution is the development of a flexible sensing membrane with a high sensitivity and repeatability for the feedback control of soft actuators. The characteristics of sensing membrane were analysed. The relationship between wavelength shift and bending curvature was derived. The curvatures of soft actuator were measured at four bending status, and the postures were reconstructed. Findings The results indicate that the measurement error is less than 2.1% of the actual bending curvature. The sensitivity is up to 212.8 pm/m−1, and the signal fluctuation in repeated measurements is negligible. This approach has broad application prospects in soft robotics, because it makes the optical fibre achieve more strength and compatible with soft actuators, thus improving the sensing accuracy, sensitivity and reliability of fibre sensors. Originality/value Different from previous approaches, an optical fibre with FBGs is embedded into a multilayered polyimide film to form a flexible sensing membrane, and the membrane is embedded into a soft pneumatic bending actuator as the smart strain limited layer which is able to measure the posture in real time. This approach makes the optical fibre stronger and compatible with the soft pneumatic bending actuator, and the sensing accuracy, sensitivity and reliability are improved. The proposed sensing configuration is effective for the feedback control of the soft pneumatic bending actuators.
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Georgopoulou, Antonia, Lukas Egloff, Bram Vanderborght, and Frank Clemens. "A Soft Pneumatic Actuator with Integrated Deformation Sensing Elements Produced Exclusively with Extrusion Based Additive Manufacturing." Engineering Proceedings 6, no. 1 (May 17, 2021): 11. http://dx.doi.org/10.3390/i3s2021dresden-10097.

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In recent years, soft pneumatic actuators have come into the spotlight because of their simple control and the wide range of complex motions. To monitor the deformation of soft robotic systems, elastomer-based sensors are being used. However, the embedding of sensors into soft actuator modules by polymer casting is time consuming and difficult to upscale. In this study, it is shown how a pneumatic bending actuator with an integrated sensing element can be produced using an extrusion-based additive manufacturing method, e.g., fused deposition modeling (FDM). The advantage of FDM against direct printing or robocasting is the significantly higher resolution and the ability to print large objectives in a short amount of time. New, commercial launched, pellet-based FDM printers are able to 3D print thermoplastic elastomers of low shore hardness that are required for soft robotic applications, to avoid high pressure for activation. A soft pneumatic actuator with the in situ integrated piezoresistive sensor element was successfully printed using a commercial styrene-based thermoplastic elastomer (TPS) and a developed TPS/carbon black (CB) sensor composite. It has been demonstrated that the integrated sensing elements could monitor the deformation of the pneumatic soft robotic actuator. The findings of this study contribute to extending the applicability of additive manufacturing for integrated soft sensors in large soft robotic systems.
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MARTIN, JAN, SEBASTIAN BECK, ARNE LEHMANN, RALF MIKUT, CHRISTIAN PYLATIUK, STEFAN SCHULZ, and GEORG BRETTHAUER. "SENSORS, IDENTIFICATION, AND LOW LEVEL CONTROL OF A FLEXIBLE ANTHROPOMORPHIC ROBOT HAND." International Journal of Humanoid Robotics 01, no. 03 (September 2004): 517–32. http://dx.doi.org/10.1142/s0219843604000253.

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The successful control of a robot hand with multiple degrees of freedom not only requires sensors to determine the state of the hand but also a thorough understanding of the actuator system and its properties. This article presents a set of sensors and analyzes the actuator properties of an anthropomorphic robot hand driven by flexible fluidic actuators. These flexible and compact actuators are integrated directly into the finger joints, they can be driven either pneumatically or hydraulically. The sensors for the measurement of joint angles, contact forces, and fluid pressure are described; the designs utilize mostly commodity components. Hall sensors and customized half-ring rare-earth magnets are used to integrate the joint angle sensors directly into the actuated joints. A force sensor setup allowing soft finger surfaces is evaluated. Fluid pressure sensors are needed for the model-based computation of joint torques and to limit the actuator pressure. Static and dynamic actuator characteristics are determined in a theoretical process analysis, and suitable parameters are identified in several experiments. The resulting actuator model incorporates the viscoelastic material behavior and describes the relations of joint angle, actuator pressure, and actuator torque. It is used in simulations and for the design of a joint position controller.
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Dissertations / Theses on the topic "Soft sensors and actuators"

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Mitwalli, Ahmed Hamdi. "Polymer gel actuators and sensors." Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/9969.

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Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.
Includes bibliographical references (p. [351]-361).
by Ahmed Hamdi Mitwalli.
Sc.D.
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Yang, Hee Doo. "Design, Manufacturing, and Control of Soft and Soft/Rigid Hybrid Pneumatic Robotic Systems." Diss., Virginia Tech, 2019. http://hdl.handle.net/10919/100635.

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Soft robotic systems have recently been considered as a new approach that is in principle better suited for tasks where safety and adaptability are important. That is because soft materials are inherently compliant and resilient in the event of collisions. They are also lightweight and can be low-cost; in general, soft robots have the potential to achieve many tasks that were not previously possible with traditional robotic systems. In this paper, we propose a new manufacturing process for creating multi-chambered pneumatic actuators and robots. We focus on using fabric as the primary structural material, but plastic films can be used instead of textiles as well. We introduce two different methods to create layered bellows actuators, which can be made with a heat press machine or in an oven. We also describe origami-like actuators with possible corner structures. Moreover, the fabrication process permits the creation of soft and soft/rigid hybrid robotic systems, and enables the easy integration of sensors into these robots. We analyze various textiles that are possibly used with this method, and model bellows actuators including operating force, restoring force, and estimated geometry with multiple bellows. We then demonstrate the process by showing a bellows actuator with an embedded sensor and other fabricated structures and robots. We next present a new design of a multi-DOF soft/rigid hybrid robotic manipulator. It contains a revolute actuator and several roll-pitch actuators which are arranged in series. To control the manipulator, we use a new variant of the piece-wise constant curvature (PCC) model. The robot can be controlled using forward and inverse kinematics with embedded inertial measurement units (IMUs). A bellows actuator, which is a subcomponent of the manipulator, is modeled with a variable-stiffness spring, and we use the model to predict the behavior of the actuator. With the model, the roll-pitch actuator stiffnesses are measured in all directions through applying forces and torques. The stiffness is used to predict the behavior of the end effector. The robotic system introduced achieved errors of less than 5% when compared to the models, and positioning accuracies of better than 1cm.
Doctor of Philosophy
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Paoletta, Giovanni. "Electroactive soft actuators: Modelling and control." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020. http://amslaurea.unibo.it/20189/.

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The work done in this master thesis is part of the European project MAGNIFY (1) at the University of Groningen, the Netherlands."MAGNIFY aims to develop a new generation of artificial muscles for robotic systems. The artificial muscle will be realized by using artificial molecular machines, organized in polymer nanofibers and individually controlled by external stimuli''(2) This thesis focuses on a similar polymer that will be used in the project MAGNIFY. The work presents the analysis and utilization of an electroactive soft actuator, made of polyurethane-based nanofibers. A mat of aligned nanofibers of polyurethane and salt has been fabricated through an electrospinning process and, subsequently, has been rolled up to form a bundle of aligned nanofibers. Several electromechanical tests have been performed on the bundle, applying a certain voltage and evaluating the force and the displacement generated by the soft actuator. The sampled data of voltage, force, and displacement are then used to identify the nonlinear model of Voltage-Force and Voltage-Displacement link. The second part of this thesis aims to use the model estimated Voltage-Displacement to build a PID controller for position control. It has been shown a possible future application for the soft actuator as a robotic arm. To conclude, an energy analysis has been performed, to compare the energy consumption of the soft-actuator and of an electric linear motor, considering similar maximum output force. (1)This project has received funding from the European Union’s Horizon 2020 Research and Innovation Programme under Grant Agreement no. 801378. (2)https://www.magnifyproject.eu/project-overview
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Yang, Dian. "Soft Pneumatic Actuators Using Negative Pressure." Thesis, Harvard University, 2016. http://nrs.harvard.edu/urn-3:HUL.InstRepos:33493304.

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Soft robotics is a growing field where scientists and engineers collaborate to design machines that collaborate safely with humans (namely “collaborative robot”), and manipulate soft or delicate objects safely. Soft pneumatic actuators are excellent tools in building soft robots, since both the elastomer used in building the actuators and the air used to power them are naturally compliant. This compliance distributes the contact force over the area of contact, and limits the contact pressure. Soft pneumatic actuators changes shape with pressure, and use strain-limiting components imbedded in an elastomeric enclosure to generate various motions. This dissertation explores design and fabrication of soft pneumatic actuators by combining vacuum with reversible buckling of elastomeric beams. Buckling is a classical mechanical instability often seen as a failure mode in hard materials. The reversible buckling of elastomeric beams, however, allows buckling to be harnessed as a method to generate a range of motion, and allows the fabrication of actuators that mimic the performance of actuators (i.e. muscles) found in nature. Chapter 1 provides a short overview of the history of soft pneumatic actuators, and of the use of vacuum instead of pressure as a source of power. Chapter 2 and Appendix I describe rotary soft pneumatic actuators—the buckling actuator—based on vacuum and buckling of elastomeric beams. Chapter 3 and Appendix II describe the design of linear soft pneumatic actuators—vacuum-actuated muscle-inspired pneumatic structures (VAMPs)—based on the same technology, which mimics the mechanical performance and many useful features of human muscle. Chapter 4 and Appendix III describe a design of vacuum-actuated soft linear actuators (VASAs) that overcome the usual limit of one atmosphere in the output pressure by generating a mechanical advantage. Appendix IV demonstrates that the buckling of arrays of elastomeric beams can also be used in building soft metamaterials with useful functions, such as shape memory metamaterials. Beyond soft pneumatics actuators, novel methods of non-damaging manipulations, such as magnetic levitation, can prove useful in orientation and examination of objects (Appendix V, VI).
Engineering and Applied Sciences - Engineering Sciences
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Scheidl, Rudolf. "Actuators and Sensors for Smart Systems." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2016. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-200616.

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Smartness of technical systems relies also on appropriate actuators and sensors. Different to the prevalent definition of smartness to be embedded machine intelligence, in this paper elegance and simplicity of solutions is postulated be a more uniform and useful characterization. This is discussed in view of the current trends towards cyber physical systems and the role of components and subsystems, as well as of models for their effective realization. Current research on actuators and sensing in the fluid power area has some emphasis on simplicity and elegance of solution concepts and sophisticated modeling. This is demonstrated by examples from sensorless positioning, valve actuation, and compact hydraulic power supply.
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Johnson, David Gary. "Integrating sensors and actuators for robotic assembly." Thesis, University of Hull, 1986. http://hydra.hull.ac.uk/resources/hull:11276.

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This thesis addresses the problem of integrating sensors and actuators for closed-loop control of a robotic assembly cell. In addition to the problems of interfacing the physical components of the work-cell, the difficulties of representing sensory feedback at a high level within the robot control program are investigated. A new level of robot programming, called sensor-level programming, is introduced. In this, the movements of the actuators are not given explicitly, but rather are inferred by the programming system to achieve new sensor conditions given by the programmer. Control of each sensor and actuator is distributed through a master-slave hierarchy, with each sensor and actuator having its own slave controller. A protocol for information interchange between each controller and the master is defined. If possible, the control of the kinematics of a robot arm is achieved through the manufacturer's existing control system. Under these circumstances, the actuator slave would be acting as an interface between the generic command codes issued from the central controller, and the syntax of the corresponding control instructions required by the commercial system. Sensor information is preprocessed in the sensor slaves and a set of high-level descriptors, called attributes, are sent to the central controller. Closed-loop control is achieved on the basis of these attributes. The processing of sensor information which is corrupted by noise is investigated. Sources of sensor noise are identified and new algorithms are developed to quantify the noise based on information obtained from the closed-loop servoing. Once the relative magnitudes of the system and measurement noise have been estimated, a Kalman filter is used to weight the sensor information and hence reduce the credibility given to noisy sensors; in the limit ignoring the information completely. The improvements in system performance by processing the sensor information in this way are demonstrated. The sensor-level representation and automatic error processing are embedded in a software control system, which can be used to interface commercial systems as well as purpose-built devices. An'industrial research project associated with the lay-up of carbon-fibre provides an example of its operation. A list of publications resulting from the work in this thesis is given in Appendix E.
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Dogramadzi, Sanja. "Sensors and actuators in computer controlled colonoscopy." Thesis, University of Newcastle Upon Tyne, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.369813.

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Montazami, Reza. "Smart Polymer Electromechanical Actuators for Soft Microrobotic Applications." Diss., Virginia Tech, 2011. http://hdl.handle.net/10919/28084.

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Ionic electroactive polymer (IEAP) actuators are a class of electroactive polymer devices that exhibit electromechanical coupling through ion transport in the device. They consist of an ionomeric membrane coated with conductive network composites (CNCs) and conductive electrodes on both sides. A series of experiments on IEAP actuators with various types of CNCs has demonstrated the existence of a direct correlation between the performance of actuators and physical and structural properties of the CNCs. Nanostructure of CNC is especially important in hosting electrolyte and boosting ion mobility. This dissertation presents a series of systematic experiments and studies on IEAP actuators with two primary focuses: 1) CNC nanostructure, and 2) ionic interactions. A novel approach for fabrication of CNC thin-films enabled us to control physical and structural properties of the CNC thin-films. We, for the first time, facilitated use of layer-by-layer ionic self-assembly technique in fabrication of porous and conductive CNCs based on polymer and metal nanoparticles. Results were porous-conductive CNCs. We have studied the performance dependence of IEAP actuators on nano-composition and structure of CNCs by systematically varying the thickness, nanoparticle size and nanoparticle concentration of CNCs. We have also studied influence of the waveform frequency, free-ions and counterions of the ionomeric membrane on the performance and behavior of IEAP actuators. Using the LbL technique, we systematically changed the thickness of CNC layers consisting of gold nanoparticles (AuNPs) and poly(allylamine hydrochloride). It was observed that actuators consisting of thicker CNCs exhibit larger actuation curvature, which is evidently due to uptake of larger volume of electrolyte. Actuation response-time exhibited a direct correlation to the sheet-resistance of CNC, which was controlled by varying the AuNP concentration. It was observed that size and type of free-ions and counterion of ionomeric membrane are also influential on the actuation behavior or IEAP actuators and that the counterion of ionomeric membrane participates in the actuation process.
Ph. D.
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Ehresman, Jonathan David. "Integration of actuators and sensors into composite structures." Thesis, Montana State University, 2009. http://etd.lib.montana.edu/etd/2009/ehresman/EhresmanJ0809.pdf.

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The need for more efficient wind turbine blades is growing in our society. One step in accomplishing this task would be to make wind turbines blades into smart structures. A smart structure is one that incorporates sensors, complete control systems, and active control devices, in order to shed, or redistribute the load placed on the structure. For wind turbine blades this means changing the shape of the blade profile as it encounters different wind conditions. In order to have active control surfaces functioning on wind turbine blades, the existing blades would have to be retrofitted, and the new blades being manufactured would have to be redesigned. There are different control surfaces to consider: gurney flaps and false wall flaps are two that can perturb the boundary layer across the low pressure side of the wing. A flat plate and blade section test bed will be manufactured in order to gather empirical data from wind tunnel testing. For actuation of the control surface there are many choices: electrical, hydraulic, pneumatic, and electro-hydrostatic. These actuator types will be investigated under a set of criterion to determine the best one for turbine blade application. Sensors will be investigated with respect to their use in sensing strain, temperature, acceleration, humidity, and delamination. Sensors are also used for health monitoring. This helps engineers design under a damage tolerant philosophy as opposed to a safe life structure philosophy. These sensors will be placed into laminates and different surface treatments will be reviewed to find the best configuration for each sensor. The sensor will be cleaned with isopropyl alcohol, dipped in a 20% by mass solution of nitric acid, and submerged in a 20% by mass solution of nitric acid for 10 seconds. Detailed surface images will be taken of sensors with different surface treatments in order to better understand the bonding between the sensor and laminate. These images indicate that submerging the sensors into 20% by mass solution of nitric acid is the best surface treatment.
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Song, Changsik. "Design and synthesis of molecular actuators and sensors." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/41554.

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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Chemistry, 2007.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Includes bibliographical references.
To date, the most successful conducting polymer actuators are based on polypyrrole, which operates through incorporating and expelling counterions and solvent molecules to balance the charges generated by electrochemical stimuli (swelling mechanism). Although significant progress has been made, there still exists a need for developing new materials that would overcome the intrinsic limitations in the swelling mechanism, such as slow diffusion rate, limited expansion volume, etc. Our group has contributed this area with a different approach -- lecular mechanisms, which utilize a dimensional change of a single polymer chain. We propose two types of molecular mechanisms: contracting and expanding. We proposed earlier a calix[4]arenebased molecular actuator for the contracting mechanism, in which p-dimer formation was proposed as a driving force. In this dissertation, we first confirm by model studies that p-dimer formation can indeed be a driving force for the calix[4]arene-based system. We propose another molecular hinge, binaphthol moiety, for the contracting model. The syntheses of polymers with binaphthols and their characterization, including signatures of oligothiophene interactions, are described. Due to its chirality, we examined the possibilities of the binaphthol polymer as a chiral amine sensor. To create actuators that make use of the expanding model, we propose new conjugated seven-membered ring systems with heteroatoms (thiepin with sulfur and azepine with nitrogen) and their syntheses and characterization will be described. Inspired by the fact that sulfoxide has very low extrusion barrier in the related system, we applied the thiepin molecules to create a peroxide sensor.
(cont.) In addition, during the investigation of phenol functional groups in conducting polymers, we found interesting properties that strategic positioning of phenol groups can render a conjugation-broken meta-linked system just as conductive as a fully conjugated para-linked isomeric system.
by Changsik Song.
Ph.D.
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Books on the topic "Soft sensors and actuators"

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Busch-Vishniac, Ilene J. Electromechanical sensors and actuators. New York: Springer, 1999.

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Osada, Yoshihito. Polymer Sensors and Actuators. Berlin, Heidelberg: Springer Berlin Heidelberg, 2000.

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Busch-Vishniac, Ilene J. Electromechanical Sensors and Actuators. New York, NY: Springer New York, 1999.

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Vigna, Benedetto, Paolo Ferrari, Flavio Francesco Villa, Ernesto Lasalandra, and Sarah Zerbini, eds. Silicon Sensors and Actuators. Cham: Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-030-80135-9.

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Busch-Vishniac, Ilene J. Electromechanical Sensors and Actuators. New York, NY: Springer New York, 1999. http://dx.doi.org/10.1007/978-1-4612-1434-2.

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Brauer, John R. Magnetic Actuators and Sensors. Hoboken, NJ, USA: John Wiley & Sons, Inc., 2006. http://dx.doi.org/10.1002/0471777714.

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Brauer, John R. Magnetic Actuators and Sensors. Hoboken, NJ, USA: John Wiley & Sons, Inc., 2013. http://dx.doi.org/10.1002/9781118779262.

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Rupitsch, Stefan Johann. Piezoelectric Sensors and Actuators. Berlin, Heidelberg: Springer Berlin Heidelberg, 2019. http://dx.doi.org/10.1007/978-3-662-57534-5.

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Osada, Yoshihito, and Danilo E. De Rossi, eds. Polymer Sensors and Actuators. Berlin, Heidelberg: Springer Berlin Heidelberg, 2000. http://dx.doi.org/10.1007/978-3-662-04068-3.

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Gerlach, Gerald, and Karl-Friedrich Arndt, eds. Hydrogel Sensors and Actuators. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-540-75645-3.

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Book chapters on the topic "Soft sensors and actuators"

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Otaka, Hideo. "Dielectric Elastomer Sensors: Development of a Stretchable Strain Sensor System." In Soft Actuators, 661–75. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-6850-9_37.

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Toi, Yutaka, and Seongwon Yoo. "Computational Modeling of Mechanical Sensors Using Ionic Electroactive Polymers." In Soft Actuators, 389–401. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-6850-9_23.

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Addinall, Raphael, Thomas Ackermann, and Ivica Kolaric. "Nanostructured Materials for Soft Robotics – Sensors and Actuators." In Soft Robotics, 147–56. Berlin, Heidelberg: Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-44506-8_13.

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Bhattacharya, Srijan, Bikash Bepari, and Subhasis Bhaumik. "Design and Fabrication of Deformable Soft Gripper Using IPMC as Actuator." In Ionic Polymer Metal Composites for Sensors and Actuators, 195–207. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-13728-1_10.

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Lo, Chiao-Yueh, Yusen Zhao, Yanfei Ma, Shuwang Wu, Yousif Alsaid, Matthew M. Peet, Rebecca E. Fisher, et al. "Bioinspired Sensors and Actuators Based on Stimuli-Responsive Hydrogels for Underwater Soft Robotics." In Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems, 99–115. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-50476-2_5.

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Kumar, Baibhav, Vijay Kumar Dalla, and Aditya Haldar. "Additive Manufacturing Techniques in Fabrication of Soft Robotic Sensors and Actuators: A Review." In Lecture Notes in Mechanical Engineering, 719–30. Singapore: Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-19-4606-6_66.

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Delicato, Flávia C., Lidia Fuentes, Nadia Gámez, and Paulo F. Pires. "Variabilities of Wireless and Actuators Sensor Network Middleware for Ambient Assisted Living." In Distributed Computing, Artificial Intelligence, Bioinformatics, Soft Computing, and Ambient Assisted Living, 851–58. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-02481-8_129.

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Usher, M. J., and D. A. Keating. "Actuators." In Sensors and Transducers, 131–46. London: Macmillan Education UK, 1996. http://dx.doi.org/10.1007/978-1-349-13345-1_9.

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Asaka, Kinji. "Soft Actuators." In Stretchable Electronics, 305–24. Weinheim, Germany: Wiley-VCH Verlag GmbH & Co. KGaA, 2012. http://dx.doi.org/10.1002/9783527646982.ch13.

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Zhu, Yimei, Hiromi Inada, Achim Hartschuh, Li Shi, Ada Della Pia, Giovanni Costantini, Amadeo L. Vázquez de Parga, et al. "Soft Actuators." In Encyclopedia of Nanotechnology, 2458. Dordrecht: Springer Netherlands, 2012. http://dx.doi.org/10.1007/978-90-481-9751-4_100776.

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Conference papers on the topic "Soft sensors and actuators"

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Seibel, Arthur, and Lars Schiller. "Integrated Curvature Sensing of Soft Bending Actuators Using Inertial Measurement Units." In ASME 2018 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/imece2018-87104.

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We introduce a sensor concept for an integrated measurement of the curvature angle of soft bending actuators using inertial measurement units (IMUs). In particular, IMUs are placed at both ends of the soft bending actuator, and the integrated magnetic sensors are used for small and the integrated acceleration sensors for medium and large inclination angles of the soft actuator’s bending plane. The experimental results show absolute measurement errors of up to 20° for small and less than 5° for medium and large inclination angles. Furthermore, we investigate experimentally whether the assumption of a constant curvature in our sensor concept is still fulfilled when the soft bending actuator is loaded by an external force at its free end. The results indicate that this is the case for loading masses of up to 30 g at large inclination angles.
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Koivikko, Anastasia, Ehsan Sadeghian Raei, Veikko Sariola, Mahmoud Mosallaei, and Matti Mantysalo. "Soft actuators with screen-printed curvature sensors." In 2017 IEEE SENSORS. IEEE, 2017. http://dx.doi.org/10.1109/icsens.2017.8234045.

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Miron, Geneviève, and Jean-Sébastien Plante. "Design of a Durable Air-Muscle With Integrated Sensor for Soft Robotics." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-47872.

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Soft robotics integrates compliant actuators and sensors that expand design possibilities beyond classic robotics based on rigid modular components. In particular, deformable elastomer-based actuators used in soft robots, such as air-muscles, offer the possibility of having large numbers of embedded degrees of freedom. However, air-muscles fatigue life and strain capability call for a tradeoff, limiting their practical use in demanding applications such as physical rehabilitation, medical robotics, and mobile robots. This paper presents the design of a durable high-strain air-muscle composed of a silicone tube and an axially elastic sleeve (radially rigid), which integrates a flexible Dielectric Elastomer (DE) position sensor. The uniformity of the sleeve, by opposition to usual braids, makes for a reinforcement without local stresses that cause membrane failure. Designed based on fatigue failure principles, this air-muscle withstands 145 000 cycles at 50 % elongation, which demonstrates its potential as a durable high-strain actuator. Performance maps of the air-muscle confirm good linearity between force, pressure and strain and demonstrate bi-directional force capability. Furthermore, the integration of a DE sensor allows for accurate position control of the air-muscle (0.17 mm), making the air-muscle/sensor unit a relevant building block for complex soft robotics systems. The all-polymer high-strain actuator/sensor unit proves to be accurate and durable as well as cost-effective, thus making it ideal for soft robotics applications requiring large numbers of actuators and integrated sensing.
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Low, J. H., P. M. Khin, and C. H. Yeow. "A pressure-redistributing insole using soft sensors and actuators." In 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2015. http://dx.doi.org/10.1109/icra.2015.7139599.

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Lim, Chwee Teck. "Soft Microfluidic Wearable Sensors for Biomedical Applications." In 2021 21st International Conference on Solid-State Sensors, Actuators and Microsystems (Transducers). IEEE, 2021. http://dx.doi.org/10.1109/transducers50396.2021.9495757.

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Yang, C., T. L. Ren, L. T. Liu, J. Zhan, X. Wang, A. Wang, Z. Wu, and X. Li. "On-chip soft-ferrite-integrated inductors for RF IC." In TRANSDUCERS 2009 - 2009 International Solid-State Sensors, Actuators and Microsystems Conference. IEEE, 2009. http://dx.doi.org/10.1109/sensor.2009.5285666.

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Ta, Tung D., Takuya Umedachi, and Yoshihiro Kawahara. "Inkjet Printable Actuators and Sensors for Soft-bodied Crawling Robots." In 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019. http://dx.doi.org/10.1109/icra.2019.8793827.

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Wang, Yuyan, and Joseph J. Talghader. "Soft-Landing and Bounce-Back Actuation for Active Stiction Control." In TRANSDUCERS 2007 - 2007 International Solid-State Sensors, Actuators and Microsystems Conference. IEEE, 2007. http://dx.doi.org/10.1109/sensor.2007.4300204.

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Zhao, Jianguo, and Ali Abbas. "A Low-Cost Soft Coiled Sensor for Soft Robots." In ASME 2016 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/dscc2016-9916.

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Soft robots made from soft materials can closely emulate biological system using simple soft mechanical structures. Compared with traditional rigid-link robots, they are safe to work with humans and can adapt to confined environments. As a result, they are widely used for various robotic locomotions and manipulations. Nevertheless, for soft robots, being able to sense its state to enable closed-loop control using soft sensors remains a challenge. Existing sensors include external sensors such as camera systems, electromagnetic tracking systems, and internal sensors such as optical fibers, conductive liquid, and carbon black filled strips. In this paper, we investigate a new soft sensor made from low-cost conductive nylon sewing threads. By continuously inserting twists into a thread under some weight, coils can be formed to enable a coiled soft sensor. The resistance of the sensor varies with the change of length. The fabrication and experiments for this new coiled sensor is described in this paper. Embedding this sensor to a 3D printed soft manipulator demonstrates the sensing capability. Compared to existing soft sensors, the coiled sensor is low-cost, easy to fabricate, and can also be used as an actuator. It can be embedded to any soft robot to measure the deformation for closed-loop feedback control.
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Jeong, S. H., S. Chen, J. Huo, L. Gravier, K. Gamstedt, J. Liu, S. L. Zhang, Z. B. Zhang, Z. G. Wu, and K. Hjort. "Thermal elastomer composites for soft transducers." In TRANSDUCERS 2015 - 2015 18th International Solid-State Sensors, Actuators and Microsystems Conference. IEEE, 2015. http://dx.doi.org/10.1109/transducers.2015.7181315.

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Reports on the topic "Soft sensors and actuators"

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Almeida, Oscar J., Brian G. Dixon, Jill H. Hardin, John P. Sanford, and Myles Walsh. High Temperature Smart Sensors and Actuators. Fort Belvoir, VA: Defense Technical Information Center, August 1992. http://dx.doi.org/10.21236/ada256985.

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Krulewich, D. A. Handbook of actuators and edge alignment sensors. Office of Scientific and Technical Information (OSTI), November 1992. http://dx.doi.org/10.2172/6788910.

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MATERIALS SYSTEMS INC CONCORD MA. Cost-Effective Method for Synthesizing Innovative Transducer Materials for Sensors and Actuators. Fort Belvoir, VA: Defense Technical Information Center, June 1994. http://dx.doi.org/10.21236/ada282339.

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Ted Quinn and Jerry Mauck. Digial Technology Qualification Task 2 - Suitability of Digital Alternatives to Analog Sensors and Actuators. Office of Scientific and Technical Information (OSTI), September 2012. http://dx.doi.org/10.2172/1057681.

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Cline, Joseph I. Surface Absorption Polarization Sensors (SAPS), Final Technical Report, Laser Probing of Immobilized SAPS Actuators Component. Office of Scientific and Technical Information (OSTI), April 2010. http://dx.doi.org/10.2172/977056.

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Galili, Naftali, Roger P. Rohrbach, Itzhak Shmulevich, Yoram Fuchs, and Giora Zauberman. Non-Destructive Quality Sensing of High-Value Agricultural Commodities Through Response Analysis. United States Department of Agriculture, October 1994. http://dx.doi.org/10.32747/1994.7570549.bard.

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The objectives of this project were to develop nondestructive methods for detection of internal properties and firmness of fruits and vegetables. One method was based on a soft piezoelectric film transducer developed in the Technion, for analysis of fruit response to low-energy excitation. The second method was a dot-matrix piezoelectric transducer of North Carolina State University, developed for contact-pressure analysis of fruit during impact. Two research teams, one in Israel and the other in North Carolina, coordinated their research effort according to the specific objectives of the project, to develop and apply the two complementary methods for quality control of agricultural commodities. In Israel: An improved firmness testing system was developed and tested with tropical fruits. The new system included an instrumented fruit-bed of three flexible piezoelectric sensors and miniature electromagnetic hammers, which served as fruit support and low-energy excitation device, respectively. Resonant frequencies were detected for determination of firmness index. Two new acoustic parameters were developed for evaluation of fruit firmness and maturity: a dumping-ratio and a centeroid of the frequency response. Experiments were performed with avocado and mango fruits. The internal damping ratio, which may indicate fruit ripeness, increased monotonically with time, while resonant frequencies and firmness indices decreased with time. Fruit samples were tested daily by destructive penetration test. A fairy high correlation was found in tropical fruits between the penetration force and the new acoustic parameters; a lower correlation was found between this parameter and the conventional firmness index. Improved table-top firmness testing units, Firmalon, with data-logging system and on-line data analysis capacity have been built. The new device was used for the full-scale experiments in the next two years, ahead of the original program and BARD timetable. Close cooperation was initiated with local industry for development of both off-line and on-line sorting and quality control of more agricultural commodities. Firmalon units were produced and operated in major packaging houses in Israel, Belgium and Washington State, on mango and avocado, apples, pears, tomatoes, melons and some other fruits, to gain field experience with the new method. The accumulated experimental data from all these activities is still analyzed, to improve firmness sorting criteria and shelf-life predicting curves for the different fruits. The test program in commercial CA storage facilities in Washington State included seven apple varieties: Fuji, Braeburn, Gala, Granny Smith, Jonagold, Red Delicious, Golden Delicious, and D'Anjou pear variety. FI master-curves could be developed for the Braeburn, Gala, Granny Smith and Jonagold apples. These fruits showed a steady ripening process during the test period. Yet, more work should be conducted to reduce scattering of the data and to determine the confidence limits of the method. Nearly constant FI in Red Delicious and the fluctuations of FI in the Fuji apples should be re-examined. Three sets of experiment were performed with Flandria tomatoes. Despite the complex structure of the tomatoes, the acoustic method could be used for firmness evaluation and to follow the ripening evolution with time. Close agreement was achieved between the auction expert evaluation and that of the nondestructive acoustic test, where firmness index of 4.0 and more indicated grade-A tomatoes. More work is performed to refine the sorting algorithm and to develop a general ripening scale for automatic grading of tomatoes for the fresh fruit market. Galia melons were tested in Israel, in simulated export conditions. It was concluded that the Firmalon is capable of detecting the ripening of melons nondestructively, and sorted out the defective fruits from the export shipment. The cooperation with local industry resulted in development of automatic on-line prototype of the acoustic sensor, that may be incorporated with the export quality control system for melons. More interesting is the development of the remote firmness sensing method for sealed CA cool-rooms, where most of the full-year fruit yield in stored for off-season consumption. Hundreds of ripening monitor systems have been installed in major fruit storage facilities, and being evaluated now by the consumers. If successful, the new method may cause a major change in long-term fruit storage technology. More uses of the acoustic test method have been considered, for monitoring fruit maturity and harvest time, testing fruit samples or each individual fruit when entering the storage facilities, packaging house and auction, and in the supermarket. This approach may result in a full line of equipment for nondestructive quality control of fruits and vegetables, from the orchard or the greenhouse, through the entire sorting, grading and storage process, up to the consumer table. The developed technology offers a tool to determine the maturity of the fruits nondestructively by monitoring their acoustic response to mechanical impulse on the tree. A special device was built and preliminary tested in mango fruit. More development is needed to develop a portable, hand operated sensing method for this purpose. In North Carolina: Analysis method based on an Auto-Regressive (AR) model was developed for detecting the first resonance of fruit from their response to mechanical impulse. The algorithm included a routine that detects the first resonant frequency from as many sensors as possible. Experiments on Red Delicious apples were performed and their firmness was determined. The AR method allowed the detection of the first resonance. The method could be fast enough to be utilized in a real time sorting machine. Yet, further study is needed to look for improvement of the search algorithm of the methods. An impact contact-pressure measurement system and Neural Network (NN) identification method were developed to investigate the relationships between surface pressure distributions on selected fruits and their respective internal textural qualities. A piezoelectric dot-matrix pressure transducer was developed for the purpose of acquiring time-sampled pressure profiles during impact. The acquired data was transferred into a personal computer and accurate visualization of animated data were presented. Preliminary test with 10 apples has been performed. Measurement were made by the contact-pressure transducer in two different positions. Complementary measurements were made on the same apples by using the Firmalon and Magness Taylor (MT) testers. Three-layer neural network was designed. 2/3 of the contact-pressure data were used as training input data and corresponding MT data as training target data. The remaining data were used as NN checking data. Six samples randomly chosen from the ten measured samples and their corresponding Firmalon values were used as the NN training and target data, respectively. The remaining four samples' data were input to the NN. The NN results consistent with the Firmness Tester values. So, if more training data would be obtained, the output should be more accurate. In addition, the Firmness Tester values do not consistent with MT firmness tester values. The NN method developed in this study appears to be a useful tool to emulate the MT Firmness test results without destroying the apple samples. To get more accurate estimation of MT firmness a much larger training data set is required. When the larger sensitive area of the pressure sensor being developed in this project becomes available, the entire contact 'shape' will provide additional information and the neural network results would be more accurate. It has been shown that the impact information can be utilized in the determination of internal quality factors of fruit. Until now,
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