Robots are starting to transition from the confines of the manufacturing floor to homes, schools, hospitals, and highly dynamic environments. As, a result, it is impossible to foresee all the probable operational situations of robots, and preprogram the robot behavior in those situations. Among human-robot interaction technologies, tactile sensing is an intuitive physical interaction method that can help define operational behaviors for robots cooperating with humans. Multimodal robotic skin with distributed sensors can help robots to increase their perception capabilities according to the surrounding environments.Electro-Hydro-Dynamic (EHD) printing is a flexible multi-modal sensor fabrication method because of its direct printing capability of a wide range of materials onto substrates with non-uniform topographies. In past work we designed interdigitated comb electrodes as a sensing element and printed piezoresistive strain sensors using customized EHD printable PEDOT:PSS based inks. We formulated a PEDOT:PSS derivative ink, by mixing PEDOT:PSS and DMSO. Bending induced characterization tests of prototyped sensors showed high sensitivity and sufficient stability.In this paper, we describe SkinCells, robot skin sensor arrays integrated with electronic modules. 4x4 EHD-printed arrays of strain sensors was packaged onto Kapton sheets and silicone encapsulant and interconnected to a custom electronic module that consists of a microcontroller, Wheatstone bridge with adjustable digital potentiometer, multiplexer, and serial communication unit. Thus, SkinCell's electronics can be used for signal acquisition, conditioning, and networking between sensor modules. Several SkinCells were loaded with controlled pressure, temperature and humidity testing apparatuses, and testing results are reported in this paper.
Lightning is one of the primary sources that cause failure on over head transmission system. It can lead to the transmission line insulator to be over voltage. Commonly, transmissions lines are equipped with ground wire and consist of one or two ground wire which it is depending on tower construction. Over voltage on the transmission line can occur in two ways viz., direct lightning strike on phase line and ground wire produce propagating wave to both sides the phase line and result in damage on insulator. Direct lightning stroke on ground wire or the tower structure of transmission can cause phenomenon back flashover (BFO) on insulator. The lightning current characteristic is distinguished in lightning maximum current and steepness of lightning current. This paper discusses influence of in different lightning characteristics on BFO in extra high voltage transmission line in simulation using ATP draw. The lightning surge currents of IEC and VDE standards were injected to the ground wire and phase lines. As the implementation, this paper used the data of extra high voltage transmission line of 275 kV, Galang - Binjai, North Sumatra Province, Indonesia.
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