Active sensing system with in situ adjustable sensor morphology.
Active sensing system with in situ adjustable sensor morphology.
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DOI：
10.1371/journal.pone.0084090
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发表时间：
2013
期刊：
影响因子：
3.7
通讯作者：
Iida F
中科院分区：
文献类型：
--
作者：
Nurzaman SG;Culha U;Brodbeck L;Wang L;Iida F
尽管传感器在机器人和自动化系统等工程系统中广泛使用，但常见的范例是具有定制的固定传感器形态以满足特定应用。另一方面，机器人系统预计将在越来越不确定的环境中运行。为了科普这一挑战，值得注意的是，生物系统显示出合适的传感器形态和主动传感能力的重要性，以处理具有特定要求的不同类型的传感任务。本文提出了一种机器人主动传感系统，它能够调整其传感器的形态在原位，以感测不同的物理量与理想的传感特性。所采取的方法是使用热塑性粘合剂材料，即热熔粘合剂（HMA）。它将被证明，热塑性和热粘合性质的HMA使系统能够重复制造，附加和拆卸机械结构的各种形状和尺寸的机器人末端执行器的传感目的。通过主动感测能力，机器人系统利用该结构以适当的运动物理地探测未知的目标对象，并将产生的物理刺激转换成可由作为其唯一内置传感器的相机使用的信息。 基于两个结果验证了所提出的系统的有效性。首先，它被证实，合适的传感器形态和主动感测能力，使系统能够感测不同的物理量，即柔软度和温度，具有理想的感测特性。其次，给定的任务，区分两个视觉上无法区分的对象相对于柔软度和温度，它被证实，所提出的机器人系统是能够自主地完成它们。结果的方式激励新的研究方向，重点是在原位调整传感器形态也将进行讨论。
Despite the widespread use of sensors in engineering systems like robots and automation systems, the common paradigm is to have fixed sensor morphology tailored to fulfill a specific application. On the other hand, robotic systems are expected to operate in ever more uncertain environments. In order to cope with the challenge, it is worthy of note that biological systems show the importance of suitable sensor morphology and active sensing capability to handle different kinds of sensing tasks with particular requirements. This paper presents a robotics active sensing system which is able to adjust its sensor morphology in situ in order to sense different physical quantities with desirable sensing characteristics. The approach taken is to use thermoplastic adhesive material, i.e. Hot Melt Adhesive (HMA). It will be shown that the thermoplastic and thermoadhesive nature of HMA enables the system to repeatedly fabricate, attach and detach mechanical structures with a variety of shape and size to the robot end effector for sensing purposes. Via active sensing capability, the robotic system utilizes the structure to physically probe an unknown target object with suitable motion and transduce the arising physical stimuli into information usable by a camera as its only built-in sensor. The efficacy of the proposed system is verified based on two results. Firstly, it is confirmed that suitable sensor morphology and active sensing capability enables the system to sense different physical quantities, i.e. softness and temperature, with desirable sensing characteristics. Secondly, given tasks of discriminating two visually indistinguishable objects with respect to softness and temperature, it is confirmed that the proposed robotic system is able to autonomously accomplish them. The way the results motivate new research directions which focus on in situ adjustment of sensor morphology will also be discussed.
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