Virtual whiskers &amp;#x2014; Highly responsive robot collision avoidance

Schlegl, Thomas; Kröger, Torsten; Gaschler, Andre; Khatib, Oussama; Zangl, Hubert

doi:10.1109/iros.2013.6697134

Cited by 79 publications

(52 citation statements)

References 14 publications

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“…The event-based silicon cochlea allows audio frequency data to be obtained with low latency and high frequency (Liu et al, 2010). The development of virtual whiskers (Schlegl et al, 2013) with high measurement frequency (1.25 kHz) allows rapid gathering of spatial information in the vicinity of the robot. The use of mechanical sensors such as torque sensors also allows detection of collision events in less than 15 ms (Haddadin et al, 2008).…”

Section: Social Robots Require Sensitivity To Events At Very Short Timentioning

confidence: 99%

Social Moments: A Perspective on Interaction for Social Robotics

2017

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During a social interaction, events that happen at different timescales can indicate social meanings. In order to socially engage with humans, robots will need to be able to comprehend and manipulate the social meanings that are associated with these events. We define social moments as events that occur within a social interaction and which can signify a pragmatic or semantic meaning. A challenge for social robots is recognizing social moments that occur on short timescales, which can be on the order of 10 2 ms. In this perspective, we propose that understanding the range and roles of social moments in a social interaction and implementing social micro-abilities-the abilities required to engage in a timely manner through social moments-is a key challenge for the field of human robot interaction (HRI) to enable effective social interactions and social robots. In particular, it is an open question how social moments can acquire their associated meanings. Practically, the implementation of these social micro-abilities presents engineering challenges for the fields of HRI and social robotics, including performing processing of sensors and using actuators to meet fast timescales. We present a key challenge of social moments as integration of social stimuli across multiple timescales and modalities. We present the neural basis for human comprehension of social moments and review current literature related to social moments and social micro-abilities. We discuss the requirements for social micro-abilities, how these abilities can enable more natural social robots, and how to address the engineering challenges associated with social moments.

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Section: Social Robots Require Sensitivity To Events At Very Short Timentioning

confidence: 99%

Social Moments: A Perspective on Interaction for Social Robotics

2017

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“…This IC calculates a capacitance by evaluating the discharge time of the unknown capacitor in series with a known resistor relative to the discharge time of a known capacitor-resistor combination. The IC handles both ground capacitances (one electrode active, all other electrodes of a multi-electrode system grounded) and mutual capacitances (two electrodes active, all other electrodes grounded) (Acam messelectronic GmbH, 2014;Schlegl et al, 2013). The respective advantages of these two measurement modes in our application have been compared and will be discussed after simulation results for the capacitances have been presented (see end of Sect.…”

Section: Measurement Systemmentioning

confidence: 99%

Capacitive gas-phase detection in liquid nitrogen

Kandlbinder

Fischerauer

Mösch

et al. 2017

J. Sens. Sens. Syst.

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Abstract. The main and upper stages of heavy lift launchers for space applications are often fuelled by cryogenic liquids. In order to enable the re-ignition of a cryogenic upper stage for orbital changes, it is crucial to study the behaviour of these fluids in microgravity. As gaseous bubbles entering the fuel lines of the engine can cause the destruction of the engine, these bubbles are a risk for the functionality of the re-ignition mode. To measure an evolving gaseous phase and its volume, a capacitive measurement system for two-phase mixtures was realised. Its electrodes are arranged in such a way that phase changes inside a vessel can be detected without parasitic heating under cryogenic conditions. Two cases have been investigated: a fill-level measurement involving a large gas bubble above a homogenous liquid on the one hand, and the identification of a bubble stream inside a liquid on the other hand. The system concept was tested in a cryogenic environment allowing the controlled generation of bubble streams inside liquid nitrogen and of a contiguous gaseous volume above the liquid. The characteristics of the measurable capacitances of different pairs of electrodes were experimentally determined and compared with finite-element simulations (Ansys). In addition, the electrical flux density was computed to corroborate the simulated capacitance curves with theoretical statements. The experimental findings closely agree with the simulated results if possible disturbances due to the characteristics of the capacitance measurement hardware are properly taken into account. Thus, by measuring various capacitances, it was possible to determine the level up to which a receptacle inside a liquid-nitrogen tank was filled with liquid (the space above the liquid being taken up by gaseous nitrogen), to identify the existence of a bubble stream in the liquid nitrogen and to demonstrate that the capacitance measurement results enable one to differentiate between the two cases.

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“…In this paper, a Capacitance to Digital Converter (CDC) operating in differential measurement mode [12], where the capacitance between a transmitter and receiver electrode is measured, is used as shown in Fig An excitation signal with f exc = 250 kHz and an amplitude of V exc = 3.3 V is applied on the transmitter electrode. The human hand approaching the electrode distorts the electric field resulting in a change of the capacitance between the transmitter and receiver electrode which is measured.…”

Section: A Measurement Principlementioning

confidence: 99%

A wireless steering wheel gripping sensor for hands on/off detection

Mühlbacher-Karrer

Faller

Hamid

et al. 2016

2016 IEEE Sensors Applications Symposium (SAS)

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We present a wireless hands on/off and position detection sensor for steering wheels, which may be used as an additional input for driver state detection systems for psychological studies. The sensing principle is based on capacitive sensing. For the capacitive sensor front end inkjet-printing technology is utilized to manufacture the sensor mats. The flexibility of the sensor node in terms of power supply, data transmission and energy management enables the sensor to be fully integrated inside a steering wheel or retrofit for in-car use. The experiments are carried out on a driving simulator platform providing a realistic virtual traffic environment.

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Virtual whiskers — Highly responsive robot collision avoidance

Cited by 79 publications

References 14 publications

Social Moments: A Perspective on Interaction for Social Robotics

Social Moments: A Perspective on Interaction for Social Robotics

Capacitive gas-phase detection in liquid nitrogen

A wireless steering wheel gripping sensor for hands on/off detection

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