Multi-dimensional force sensor for haptic interaction:a review

Haptic interaction plays an important role in the virtual reality technology,which let a person not only view the 3D virtual environment but also realistically touch the virtual environment.As a key part of haptic interaction,force feedback has become an essential function for the haptic interaction.Therefore,multi-dimensional force sensors are widely used in the fields of virtual reality and augmented reality.In this paper,some conventional multi-dimensional force sensors based on different measurement principles,such as resistive,capacitive,piezoelectric,are briefly introduced.Then the mechanical structures of the elastic body of multi-dimensional force sensors are reviewed.It is obvious that the performance of the multi-dimensional force sensor is mainly dependent upon the mechanical structure of elastic body.Furthermore,the calibration process of the force sensor is analyzed,and problems in calibration are discussed.Interdimensional coupling error is one of the main factors affecting the measurement precision of the multi-dimensional force sensors.Therefore,reducing or even eliminating dimensional coupling error becomes a fundamental requirement in the design of multi-dimensional force sensors,and the decoupling state-of-art of the multi-dimensional force sensors are introduced in this paper.At last,the trends and current challenges of multi-dimensional force sensing technology are proposed.

Cultivated Land Changes and Their Driving Forces——A Satellite Remote Sensing Analysis in the Yellow River Delta,China

Taking Kenli County in the Yellow River Delta, China, as the study area and using digital satellite remote sensing techniques, cultivated land use changes and their corresponding driving forces were explored in this study. An interactive interpretation and a manual modification procedure were carried out to acquire cultivated land information. An overlay method based on classification results and a visual change detection method which was supported by land use maps were employed to detect the cultivated land changes. Based on the changes that were revealed and a spatial analysis between cultivated land use and related natural and socio-economic factors, the driving forces for cultivated land use changes in the study area were determined.The results showed a decrease in cultivated land in Kenli County of 5321.8 ha from 1987 to 1998, i.e.,an average annual decrement of 483.8 ha, which occurred mainly in the central paddy field region and the northeast dry land region. Adverse human activities, soil salinization and water deficiencies were the driving forces that caused these cultivated land use changes.

Analysis of Urban Expansion and Driving Forces in Xuzhou City Based on Remote Sensing

Based on satellite remote sensing TM/ETM+ images of Xuzhou city,land use forms of the city in 1987,1994 and 2000 were extracted by using a neural network classification method. The expansion contribution rate and annual expansion intensity index of each administrative district have been calculated and the contribution rate matrices and spatial distribution maps of land use changes were obtained. Based on the above analysis,the characteristics of urban expansion from 1987 to 2000 have been explored. From 1987 to 1994,the expansion contribution rate of Quanshan dis-trict reached 46.80%,the highest in all administrative districts of Xuzhou city; Tongshan town was in a high-speed ex-pansion period; both Quanshan and Yunlong districts were experiencing fast-speed expansion periods while the entire city was expanding at a medium-speed with an annual expansion intensity index of 0.98; the city spread eastwards and southwards. From 1994 to 2000,the expansion contribution rate of Quanshan district reached 43.67%,the highest in Xuzhou; the entire city was in a medium-speed expansion period with an annual expansion intensity index of 1.04; the city has rapidly been extended towards the southeast. According to the contribution rate matrices of land use changes,urban expansion mainly usurps cropland and woodland. A quantitative analysis found that population growth,indus-trialization and economic development are the primary driving forces behind urban expansion.

Analysis of Land Use Change and Driving Force of Bole City Based on Remote Sensing Image

[Objectives] The land use change and its influence has been the frontier and hotspot in the research of the surface process of change. The aim of this study was to provide a reasonable scientific basis for the more reasonable use of regional land resources of Bole City by study of land use change and driving force of Bole City.[Methods] Through geometric correction, image mosaic and image registration processing and classification of the remote sensing images of Bole City in 2006, 2011 and 2016, the three images of land use change in land use types （land use change range, dynamic degree and variation degree） were studied, and the natural and social economy in terms of the driving forces of land use change were analyzed.[Results] In the 2006 to 2016 period, cultivated land of Bole City had the land use dynamic growth state, and the average growth rate was 0.26%; and forest land, construction land, water, grassland and unused land showed a decreasing trend, decreased by 0.23%, 0.22%, 0.75%, 3.85% and 1.52%, respectively. In the entire study period, the change of grassland was the biggest, the changes of unused land and water were the second, and the changes of cultivated land, construction land and forest land were lesser.[Conclusions] The main driving factors that effected on land use change of the study area were climate, industrialization, urbanization, social and economic activities, adjustment of agricultural structure and population expansion.

Inflection point identifying of weld seam based on force sensing in tele-teaching

Weld seam inflection points are inevitable in tele-teaching process on many welding occasions. The inflection points identified accurately is one of the prerequisites of ensuring tele-teaching precision. On the basis of the inflection point characters, the concept of inflection point direction coefficient is proposed, the human-simulation intelligent control model of inflection point is established. The algorithms above, the inflection point identifying of box workpiece can be well performed. The experimental results show that the identifying average error of inflection point can be reduced to less than O. 5 mm by using optimal treatment of robot off-line programming system. The identifying control can automatically identify weld seam inflection points which can meet tele-teaching requirements.

Design of a Foot-End Three-Axis Force Sensing Module for Gecko-Like Robot

The problems of attachment failure and detachment impact within gecko-like robots’ locomotion control are considered in this paper. A real-time foot-end force intelligent sensing module with integrated sensing and structure is developed to help the robot get the foot-end force information in time and realize stable locomotion in an uncertain environment. Firstly,a structure/sensing integrated elastomer based on a Maltese cross/cantilever beam structure is completed by designing and finite element analysis. Secondly,a real-time data acquisition and transmission system is designed to obtain the foot-end reaction force which is miniaturized and distributed. Thirdly,based on this system,a force sensor calibration platform is built to complete the calibration,decoupling,and performance testing of the sensing module. Finally,the experiment of single-leg attachment performance is carried out. The results indicate that the three-axis sensing module can detect robot’s weight,measure the reaction force with high precision and provide real-time force from robot’s foot end.

Force Sensing Resistor and Its Applicationto Robotic Control

Abstract: The force sensing resistor (FSR) and its con’struction and characteristic are described. By using the optimal electronic interface, the end result which is a direct proportionality between force and voltage is obtained. The circuits of application for force and position measurements in the robotic control are given. The experiment that FSRs are placed on the fingers of BH - 1 dexterous hand as tactile sensors to measure the contacting forces shows FSR’s force sensitivity is optimized for use in the control of robot contacting with environment.

Video Compressed Sensing Reconstruction Based on Multi-Dimensional Reference Frame Multi Hypothesis Rediction

In this paper,a video compressed sensing reconstruction algorithm based on multidimensional reference frames is proposed using the sparse characteristics of video signals in different sparse representation domains.First,the overall structure of the proposed video compressed sensing algorithm is introduced in this paper.The paper adopts a multi-reference frame bidirectional prediction hypothesis optimization algorithm.Then,the paper proposes a reconstruction method for CS frames at the re-decoding end.In addition to using key frames of each GOP reconstructed in the time domain as reference frames for reconstructing CS frames,half-pixel reference frames and scaled reference frames in the pixel domain are also used as CS frames.Reference frames of CS frames are used to obtain higher quality assumptions.Themethod of obtaining reference frames in the pixel domain is also discussed in detail in this paper.Finally,the reconstruction algorithm proposed in this paper is compared with video compression algorithms in the literature that have better reconstruction results.Experiments show that the algorithm has better performance than the best multi-reference frame video compression sensing algorithm and can effectively improve the quality of slowmotion video reconstruction.

A novel fully-integrated miniature six-axis force/torque sensor

This paper presents a new designed miniature six DOF （degree of freedom） force/torque sensor. This sensor is fully integrated with a micro DSP （digital signal processor）, so all the signal conditioning, A/D, decoupling, digital-signals serial output are performed in the sensor. Some experimental results are presented to demonstrate the capability of the proposed design. Finally, a neural network was used for decoupling the interacting signals, compared with the conventional method using the inverse matrix, this new method is more accurate.

Enhancing force sensing in a squeezed optomechanical system with quantum nondemolition measurement

A theoretical scheme is proposed to enhance the sensitivity of force sensors with quantum nondemolition measurement(QND)in an optomechanical setup assisted by four-tone optical driving and an optical parametric amplifier(OPA).With the help of special drive,the system can be simplified as the typical type of QND for force sensing,so that the backaction noise can be evaded to surpass the standard quantum limit.Besides,the added noise can be suppressed owing to the modified optical susceptibility resulting from the OPA.By introducing two oscillators coupling with two charged bodies respectively,the signal can be enhanced with the nonlinearity caused by Coulomb interaction,while the noise presents an exponential decrease.Moreover,considering the homodyne detection effect,the range of system parameters and frequency bands will be broadened.The present investigation may provide a route toward simultaneously evading backaction noise,reducing the mechanical thermal noise,and enhancing the external signal,which can be an alternative design for sensitive devices.

Quantum weak force sensing with squeezed magnomechanics

Cavity magnomechanics,exhibiting remarkable experimental tunability,rich magnonic nonlinearities,and compatibility with various quantum systems,has witnessed considerable advances in recent years.However,the potential benefits of using cavity magnomechanical(CMM)systems in further improving the performance of quantum-enhanced sensing for weak forces remain largely unexplored.Here we show that,by squeezing the magnons,the performance of a quantum CMM sensor can be significantly enhanced beyond the standard quantum limit(SQL).We find that,for comparable parameters,two orders of magnitude enhancement in the force sensitivity can be achieved in comparison with the case without magnon squeezing.Moreover,we obtain the optimal parameter regimes of homodyne angle for minimizing the added quantum noise.Our findings provide a promising approach for highly tunable and compatible quantum force sensing using hybrid CMM devices,with potential applications ranging from quantum precision measurements to quantum information processing.

Research and test of the measurement sensing device for the downforce of no-till planter row unit gauge wheels

To effectively obtain the downforce of the gauge wheels in real time,mechanical models of the interaction among the ground,gauge wheels,gauge wheel arms,and depth adjustment lever were constructed.A measuring method was proposed for monitoring the downforce through a two-dimensional radial sensing device,and a corresponding prototype was designed.Through simulation analysis of the sensing device with ANSYS,a 45°angle was determined to exist between the strain gauge axis and the sensing device axis,and the Wheatstone bridging circuit of R1+R3−R5−R7(R stands for resistance strain gauge,different figures represent the strain gauge number)and R2+R4−R6−R8 was adopted.According to performance and calibration tests for the sensing device,the maximum interaction effect between the X and Y axes was 2.52%,and the output signal was stable and consistent.The standard error of the slope of the fitting equation of the downforce calculation model is 0.008.According to the field test,the average downforce of the gauge wheels was 1148,1017,843,and 713 N,at different sowing speeds of 6,8,10,and 12 km/h,respectively.The coefficients of variation were 0.40,0.41,0.62,and 0.71,respectively.The results indicate that the downforce fluctuation of the gauge wheels became more severe with increasing planting speed.Both the strain simulation analysis and field test verified that the measurement method is accurate and reliable,the performance of the sensing device is stable,the measurement method and sensing device meet the application requirements and lay a foundation for the research of accurate and stable control of downforce of no-till planter.

Spatial-Temporal Pattern and Driving Forces of Land Use Changes in Xiamen

Using Landsat TM data of 1988, 1998 and 2001, the dynamic process of the spatial-temporal characteristics of land use changes during 13 years from 1988 to 2001 in the special economic zone of Xiamen, China was analyzed to improve understanding and to find the driving forces of land use change so that sustainable land utilization could be practiced. During the 13 years cropland decreased remarkably by nearly 11304.95 ha. The areas of rural-urban construction and water body increased by 10 152.24 ha and 848.94 ha, respectively. From 1988 to 2001, 52.5% of the lost cropland was converted into rural-urban industrial land. Rapid urbanization contributed to a great change in the rate of cropland land use during these years. Land-reclamation also contributed to a decrease in water body area as well as marine ecological and environmental destruction. In the study area 1) urbanization and industrialization, 2) infrastructure and agricultural intensification, 3) increased affluence of the farming community, and 4) policy factors have driven the land use changes. Possible sustainable land use measures included construction of a land management system, land planning, development of potential land resources, new technology applications, and marine ecological and environmental protection.

AN ASSESSMENT OF LAND USE CHANGES IN FUQING COUNTYOF CHINA USING REMOTE SENSING TECHNOLOGY

Fuqing County of southeast China has witnessed significant land use changes during the last decade. Re mote sensing technology using multitemporal Landsat TM images was used to characterize land use types and to monitor land use changes in the county. Two TM scenes from 1991 and 1996 were used to cover the county and a five-year time period. Digital image processing was carried out for the remotely sensed data to produce classified images. The images were further processed using GIS software to generate GIS databases so that the data could be further spatially analyzed taking the advantages of the software. Land use change areas were determined by using the change detection technique. The comparison of the two classified TM images using the above technologies reveals that during the five study years, a large area of arable lands in the county has been lost and deforestation has taken place largely because of the dramatic in crease in built-up land and orchard. The conclusive statistical information is useful to understand the processes, causes and impacts of the land use changes in the county. The major driving force to the land use changes in the county ap peared to be the rapid economic development. The decision makers of the county have to pay more attention to the land use changes for the county’s sustainable development.

DYNAMICS OF SANDY DESERTIFICATION AND ITS DRIVING FORCES IN WESTERN JILIN PROVINCE

By establishing the interpreting elements, and applying supervised classification, the sandy desertific- ation was interpreted and the desertified land areas of the counties in the western Jilin Province in 1986 and in 2000 were obtained. Taking Tongyu and Qian’an as examples, the natural driving forces and man-made driving forces were analyzed. The paper comes the conclusions that the material sources and the warming and dry climate are the internal causes of potential land desertification; the irrational human activities, such as destroying forest and reclaiming the grassland, are the external causes of potential land desertification; while more rational human activities, such as planting trees and restoring grassland can reverse the land desertification. Furthermore, the countermeasures and suggestions for the development of agriculture and animal husbandry in the western Jilin Province are put forward.

Study on Land Use Change in Urumqi Based on Remote Sensing Image

[ Objective] The research aimed to study land use change in Urumqi based on remote sensing image. [ Method] By using TM remote sensing images of Urumqi in 1989 and 2007, the images at two periods were corrected, contrasted, analyzed and calculated, and geographical fac- tor was extracted. Finally, we got land use change image during 1989 -2007. [ Result] Due to anthropogenic and natural factors, farmland and ur- ban land in Urumqi occupied a lot of grass and woodland, the areas of canals and lakes were relatively unchanged, and snow coverage area re- duced. [ Conclusion] When improving the economic efficiency of land use, the reduction of forest and grassland, the increases of saline and desert could not be ignored.

Sensing Traction Strain Induces Cell-Cell Distant Communications

Mechanobiology has been a highly recognized field in studying the importance of physical forces in physiologies at the molecular,cellular,tissue,organ and body-levels.Beside the intensive work focusing on the fine local biomechanical forces,the long-range force which can propagate through a relatively distant scale(in hundreds of micrometers and beyond)has been an intriguing topic with increasing attentions in recent years.The collective functions at cell population level often rely on cell-cell communications with or without direct contacts.Recent progresses including our own work indicate that the long-range biomechanical force propagating across scales far beyond single cell size may reserve the capability to trigger coordinative biological responses within cell population.Whether and how cells communicate mechanically in a distant manner remains largely to be explored.In respiratory system,the mechanical property of airway smooth muscle(ASM)is associated with asthma attack with prolonged contraction during airway hyper-responsiveness.In this work,we found that ASM cells rapidly self-assembled into a well-constructed network on 3D matrigel containing type I collagen(COL I),which required the collective functions and coordination of thousands of cells completed within 12-16 hours.Cells were assembled with aligned actin stress fibers and elongated nuclei.The assembling process relied on the long-range mechanical forces across the matrix to direct cell-cell distant interactions.We further found that single ASM cells could rapidly initiate multiple buds precisely pointing to neighboring cells in distance,which relied on cell traction force and force strain on the matrix.Beads tracking assay demonstrated the long-range transmission of cellular traction force to distant locations,and modeling of maximum strain distribution on matrix by finite element method predicted the consistency with cell directional protrusions and movements in experiments.Cells could sense each other in distance to move directionally on both non-fibrous matrigel and in much more efficient way when containing COL I.Cells recruited COL I from the hydrogel to build nearly identical COL I fibrous network to mechanically stabilize the cell network.Our results revealed that ASM cells can sense the traction strain transmitted through matrix to initiate distant communications and rapidly coordinate the network assembly at the population level through active cell-matrix interactions.As an interesting phenomenon,cells sound able to’make phone call’via the role of long-range mechanical force.In summary,this work demonstrated that long-range biomechanical force facilitates the collective functions of ASM cell population for network assembly.The cells reacted to traction strain on the matrix for distant communications,which resulted in directional budding and movement.Fibrous COL I had important roles in facilitating the efficiency of force transmission to induce the assembly and stabilizing the cell network.This work has helped advance the understanding of the feature andfunction of long-range biomechanical force at the cell population level.The observed high mechano-sensitivity of ASM cells might suggest a re-enforced feedback of enhanced contraction by excessive ASM under asthmatic condition.

MULTI-DIMENSIONAL MARKOV CHAIN–BASED ANALYSIS OF CONFLICT PROBABILITY FOR SPECTRUM RESOURCE SHARING

In this paper, we consider the optimal problem of channels sharing with het-erogeneous traffic （real-time service and non-real-time service） to reduce the data conflict probability of users. Moreover, a multi-dimensional Markov chain model is developed to analyze the performance of the proposed scheme. Meanwhile, performance metrics are derived. Numerical results show that the proposed scheme can effectively reduce the forced termination probability, blocking probability and spectrum utilization.

A Comparison of Pinch Force between Finger and Palm Grasp techniques in Laparoscopic Grasping

Laparoscopic surgery is a new abdominal surgical procedure which helps the patients in many ways like less hospital stay, faster recovery and reduced pain. The main disadvantage in this surgical procedure is the reduced haptic perception by the surgeons due to the usage of laparoscopic instrument to handle tissues which in turn cause damage of it as compared to an open surgery. The primary aim of this investigation was to compare the pinch force applied during two different methods of laparoscopic grasping: Finger and Palm grasp. A low cost force sensing resistor tailor made for the grasper tip was designed and fabricated for quantifying the grasper tip force in the study. The results indicate more pinch force was applied during palm grasp as compared to finger grasp so as to prevent the slippage of the tissues from the jaws of the laparoscopic graspers.

An automated AFM for nanoindentation and force related measurements

A fully automated atomic force microscope(AFM)is presented.The mechanical motion of the AFM stage was controlled by three steppers.The fine motion of the AFM was controlled by an MCL one-axis piezo plate.A32.768kHz crystal tuning fork(TF)was used as the transducer with a probe attached.An acoustic sensor was used to measure the interactions between the probe and the sample.An SR850lock-in amplifier was used to monitor the TF signals.An additional lock-in amplifier was used to monitor the acoustic signal.A field programmable gate array(FPGA)board was used to collect the data in automatic mode.The main controller was coded with LabVIEW,which was in charge of Z-axis scan,signal processing and data visualization.A manual mode and an automatic mode were implemented in the controller.Users can switch the two modes at any time during the operation.This AFM system showed several advantages during the test operations.It is simple,flexible and easy to use.