Sensor Data Fusion in Robotic Systems

Aggarwal, J. K.; Wang, Y.F.

doi:10.1016/b978-0-12-012739-9.50015-x

Cited by 9 publications

(2 citation statements)

References 63 publications

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“…Applications of e-skins are mainly pursued in robotics and prosthetics to provide temperature feedback for controls and responsiveness to environmental changes [1][2][3][4] and to enhance human-robot interactions. 5 Recently, e-skins have also been incorporated into wearable devices, for example, to map temperature for early diagnosis of diseases and chronic conditions. 4,6 Creating e-skins with flexible, stretchable, and robust sensory networks is a scientific and an engineering challenge.…”

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confidence: 99%

Effect of glycerol on the mechanical and temperature-sensing properties of pectin films

Costanza

Bonanomi

Moscato

et al. 2019

Applied Physics Letters

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Temperature-sensitive films embedded in electronic skins (e-skins) can provide temperature feedback to robots, high-tech prostheses, and wearable devices for health care monitoring. Pectin-based films have shown a temperature response at least two orders of magnitude higher than previously reported temperature-sensing materials. However, they are not easily stretchable and tearable, which limit their applications as e-skins that require repetitive bending and mechanical stresses. Here, we show how the addition of glycerol as a plasticizer in the fabrication of pectin-based films improves their mechanical properties. We report how the enhancement of the mechanical performance is accompanied by a decrease in the temperature responsivity. Through thermogravimetric analysis, we show that this reduction in responsivity can be associated with water retention due to the addition of the plasticizer. The link between the water content and the temperature response demonstrates that a dehydrated status of pectin is crucial to record its high temperature responsivity. Combining electrical and thermal characterization with the tensile strength test, we estimate the optimal concentration of glycerol for improving the mechanical properties without compromising the temperature response of the pectin films.

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mentioning

confidence: 99%

Effect of glycerol on the mechanical and temperature-sensing properties of pectin films

Costanza

Bonanomi

Moscato

et al. 2019

Applied Physics Letters

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“…Interested readers are referred to [3], [4] for a more detailed survey of recent research work on sensor data fusion.…”

Section: Introductionmentioning

confidence: 99%

On 3D Model Construction by Fusing Heterogeneous Sensor Data

Wang¹

1994

Computer Vision and Image Understanding

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In this paper, we propose a scheme for 3D model construction by fusing heterogeneous sensor data. The proposed scheme is intended for use in an environment where multiple, heterogeneous sensors operate asynchronously. Surface depth, orientation, and curvature measurements obtained from multiple sensors and vantage points are incorporated to construct a computer description of the imaged object. The proposed scheme uses Kalman filter as the sensor data integration tool and hierarchical spline surface as the recording data structure. Kalman filter is used to obtain statistically optimal estimates of the imaged surface structure based on possibly noisy sensor measurements. Hierarchical spline surface is used as the representation scheme because it maintains high-order surface derivative continuity, may be adaptively refined, and is storage efficient. We show in this paper how these mathematical tools can be used in designing a modeling scheme to fuse heterogeneous sensor data.

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