In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive...In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive sensing method,a flexural-hinged Stewart platform is designed as the flexible structure,and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads.The accuracy of this method is preliminarily discussed by finite element methods(FEMs).The sensor prototype is fabricated with the development of the electronic system.Calibration and dynamic loading tests for this sensor prototype are carried out.The working ranges of this sensor prototype are 30 N and 300 N·mm,and resolutions are 0.08 N in radial directions,0.25 N in axial direction,and 2.4 N·mm in rotational directions.It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult.The sensor is compatible with surgical instruments for force feedback in RMIS.展开更多
A distributed feedback fiber laser （DFB FL） sensor system with ultra-high resolution is described. The sensor is made by writing distributed feedback structures into a high gain active fiber, and the system employs ...A distributed feedback fiber laser （DFB FL） sensor system with ultra-high resolution is described. The sensor is made by writing distributed feedback structures into a high gain active fiber, and the system employs an unbalanced Michelson interferometer to translate laser wavelength shifts induced by weak measurands into phase shifts. A digital phase generated carrier demodulation scheme is introduced to achieve ultra-high resolution interrogation. A detailed noise analysis of the system is presented, and it is shown that the system resolution is limited by the frequency noise of the DFB FL.展开更多
The optical feedback characteristics in a Zeeman-birefringence dual-frequency laser are studied during the laser cavity tuning in three different kinds of optical feedback conditions： （i） only //-light is fed back;...The optical feedback characteristics in a Zeeman-birefringence dual-frequency laser are studied during the laser cavity tuning in three different kinds of optical feedback conditions： （i） only //-light is fed back; （ii） only ⊥-light is fed back; （iii） both lights are fed back. A compact displacement sensor is designed using the experimental result that there is a nearly 90 degrees phase delay between the two lights＇ cosine optical feedback signals when both lights are fed back into the laser cavity. The priority order that the two lights＇ intensity curves appear can be used for direction discrimination. The resolution of the displacement sensor is at least 79 rim, and the sensor can discriminate the target＇s moving direction easily.展开更多
The design and performances of a high dynamic range DC-AC current sensor utilizing Giant Magneto-Impedance (GMI) are presented. The sensor is based on a GMI element with negative feedback. The sensing element is a 30 ...The design and performances of a high dynamic range DC-AC current sensor utilizing Giant Magneto-Impedance (GMI) are presented. The sensor is based on a GMI element with negative feedback. The sensing element is a 30 μm diameter GMI Co-based amorphous wire. It is curled to a toroidal core of 2 cm diameter. A bias magnetic field of about 650 A/m is applied to the GMI element to obtain an asymmetric GMI effect. A strong negative feedback is introduced to ensure linearity in a wide dynamic range. Analog conditioning electronics was fully developed. This includes a square wave oscillator based on an inverter trigger;a peak detector and a high gain amplifier with zero adjust. The GMI element is driven at a 3 MHz frequency and 5 mA peak-to-peak current. The closed-loop operations are investigated and the performances of the sensor are presented. DC current measurements are performed. The sensor exhibits good sensitivity and very good linearity, free from hysteresis, in a wide dynamic range of ±40 A. The sensitivity is about 0.24 V/A and the linearity error is about 0.02% of the full scale (FS). The hysteresis error is smaller than the measurement accuracy. AC current measurements using the developed sensor have also been successfully achieved. The sensor bandwidth in closed-loop was about 1.7 kHz.展开更多
基金Project(SS2012AA041601)supported by National High Technology Research and Development Program of ChinaProject(81201150)supported by the National Natural Science Foundation of China
文摘In order to restore force sensation to robot-assisted minimally invasive surgery(RMIS),design and performance evaluation of a miniature 6-axis force/torque sensor for force feedback is presented.Based on the resistive sensing method,a flexural-hinged Stewart platform is designed as the flexible structure,and a straightforward optimization method considering the force and sensitivity isotropy of the sensor is proposed to determine geometric parameters which are best suited for the given external loads.The accuracy of this method is preliminarily discussed by finite element methods(FEMs).The sensor prototype is fabricated with the development of the electronic system.Calibration and dynamic loading tests for this sensor prototype are carried out.The working ranges of this sensor prototype are 30 N and 300 N·mm,and resolutions are 0.08 N in radial directions,0.25 N in axial direction,and 2.4 N·mm in rotational directions.It also exhibits a good capability for a typical dynamic force sensing at a frequency close to the normal heart rate of an adult.The sensor is compatible with surgical instruments for force feedback in RMIS.
基金supported by the National 863 Projects under Grant No. 2007AA03Z415.
文摘A distributed feedback fiber laser （DFB FL） sensor system with ultra-high resolution is described. The sensor is made by writing distributed feedback structures into a high gain active fiber, and the system employs an unbalanced Michelson interferometer to translate laser wavelength shifts induced by weak measurands into phase shifts. A digital phase generated carrier demodulation scheme is introduced to achieve ultra-high resolution interrogation. A detailed noise analysis of the system is presented, and it is shown that the system resolution is limited by the frequency noise of the DFB FL.
基金Project supported by the National Natural Science Foundation of China （Grant No 60437030）.
文摘The optical feedback characteristics in a Zeeman-birefringence dual-frequency laser are studied during the laser cavity tuning in three different kinds of optical feedback conditions： （i） only //-light is fed back; （ii） only ⊥-light is fed back; （iii） both lights are fed back. A compact displacement sensor is designed using the experimental result that there is a nearly 90 degrees phase delay between the two lights＇ cosine optical feedback signals when both lights are fed back into the laser cavity. The priority order that the two lights＇ intensity curves appear can be used for direction discrimination. The resolution of the displacement sensor is at least 79 rim, and the sensor can discriminate the target＇s moving direction easily.
文摘The design and performances of a high dynamic range DC-AC current sensor utilizing Giant Magneto-Impedance (GMI) are presented. The sensor is based on a GMI element with negative feedback. The sensing element is a 30 μm diameter GMI Co-based amorphous wire. It is curled to a toroidal core of 2 cm diameter. A bias magnetic field of about 650 A/m is applied to the GMI element to obtain an asymmetric GMI effect. A strong negative feedback is introduced to ensure linearity in a wide dynamic range. Analog conditioning electronics was fully developed. This includes a square wave oscillator based on an inverter trigger;a peak detector and a high gain amplifier with zero adjust. The GMI element is driven at a 3 MHz frequency and 5 mA peak-to-peak current. The closed-loop operations are investigated and the performances of the sensor are presented. DC current measurements are performed. The sensor exhibits good sensitivity and very good linearity, free from hysteresis, in a wide dynamic range of ±40 A. The sensitivity is about 0.24 V/A and the linearity error is about 0.02% of the full scale (FS). The hysteresis error is smaller than the measurement accuracy. AC current measurements using the developed sensor have also been successfully achieved. The sensor bandwidth in closed-loop was about 1.7 kHz.
文摘水声网络(underwater acoustic network,UAN)具有长传播时延、高误码率、半双工通信等特性,这些特性严重影响了UAN中数据的可靠传输。而在线喷泉码具有在线控制、编解码复杂度低、码率自适应等诸多优势,在线喷泉码适合于保障UAN中数据的可靠传输。针对递归与限制反馈的在线喷泉码(recursive OFC with limited feedback,ROFC-LF)存在不理想覆盖和4元环问题导致略高的开销和频繁的反馈,提出适用于UAN的基于优先级与可Zigzag解码的ROFC-LF(priority-based and zigzag-decodable ROFC-LF,P-ZROFC-LF)。P-ZROFC-LF在建立阶段选取具有最高优先级的原始包进行编码直至所有原始包均参与编码。同时,引入可Zigzag解码编码,将无用编码包进行移位异或转换为有用编码包来提高解码性能。通过随机图理论,分析P-ZROFC-LF所需编码包数与原始包数之间的关系。理论分析与仿真结果表明,与大部分在线喷泉码相比,P-ZROFC-LF显著提高了反馈和开销性能。其中P-ZROFC-LF相比于ROFC-LF的反馈和开销分别减少了18%和0.0176,更适用于UAN。
