High-Dynamic Range Collision Detection using Piezoelectric Polymer Films for Planar and Non-planar Applications. Wooten, J. M. July 2013. Accepted: 2013-07-10T16:17:26Z![High-Dynamic Range Collision Detection using Piezoelectric Polymer Films for Planar and Non-planar Applications [link]](https://bibbase.org/img/filetypes/link.svg "link")
Paper abstract bibtex This thesis develops a large area collision detection system utilizing the piezoelectric ef- fect of polyvinylidene fluoride film. Complex high speed autonomous articulations associated with modern large-scale high degree-of-freedom (DOF) robotic arms have a high possibility of collision when integrated into human cooperative environments for human-aid, task au- tomation, and biomedical interfacing. The proposed system provides high dynamic range for sensation and robust adaptability to achieve collision detection on complex surfaces in order to augment robotic systems with collision perception. The design allows for increased cohabi- tation of human and high DOF robotic arms in cooperative environments requiring advanced and robust collision detection systems capable of retrofitting onto deployed and operating robotic arms in the commercial world. Sensor testing is accomplished using multiple collision stimuli to mimic real world performance as well as impact force modeling utilizing high speed cameras. The experimentation results show a wide dynamic sensing range for collision force, from 5N to 300N and consistent sensor response for planar and non-planar applications. The thesis will show and support the sensor capability of wide range of collision detection while maintaining adaptability of sensor design to multiple scenarios. The approach differs from current work which primarily focuses on small-range low levels of tactician perception, small area sensor requiring complex construction, and associated electronics and processing complexity for common approaches. The pseudo-membrane design eliminates the construc- tion complexity and limited application scope while achieving high and low levels of collision detection utilizing simple electronics and processing method. The captured experimentation results highlight the consistency of response for multiple applications, standard deviation of results less than 1GPa, and the large range of collision detection capability from 5N to 300N.
@unpublished{wooten_high-dynamic_2013,
type = {thesis},
title = {High-{Dynamic} {Range} {Collision} {Detection} using {Piezoelectric} {Polymer} {Films} for {Planar} and {Non}-planar {Applications}},
copyright = {EMBARGO\_GLOBAL},
url = {https://etd.auburn.edu//handle/10415/3698},
abstract = {This thesis develops a large area collision detection system utilizing the piezoelectric ef-
fect of polyvinylidene fluoride film. Complex high speed autonomous articulations associated
with modern large-scale high degree-of-freedom (DOF) robotic arms have a high possibility
of collision when integrated into human cooperative environments for human-aid, task au-
tomation, and biomedical interfacing. The proposed system provides high dynamic range for
sensation and robust adaptability to achieve collision detection on complex surfaces in order
to augment robotic systems with collision perception. The design allows for increased cohabi-
tation of human and high DOF robotic arms in cooperative environments requiring advanced
and robust collision detection systems capable of retrofitting onto deployed and operating
robotic arms in the commercial world. Sensor testing is accomplished using multiple collision
stimuli to mimic real world performance as well as impact force modeling utilizing high speed
cameras. The experimentation results show a wide dynamic sensing range for collision force,
from 5N to 300N and consistent sensor response for planar and non-planar applications.
The thesis will show and support the sensor capability of wide range of collision detection
while maintaining adaptability of sensor design to multiple scenarios. The approach differs
from current work which primarily focuses on small-range low levels of tactician perception,
small area sensor requiring complex construction, and associated electronics and processing
complexity for common approaches. The pseudo-membrane design eliminates the construc-
tion complexity and limited application scope while achieving high and low levels of collision
detection utilizing simple electronics and processing method. The captured experimentation
results highlight the consistency of response for multiple applications, standard deviation
of results less than 1GPa, and the large range of collision detection capability from 5N to
300N.},
language = {en},
urldate = {2024-06-25},
author = {Wooten, James Michael},
month = jul,
year = {2013},
note = {Accepted: 2013-07-10T16:17:26Z},
}
Downloads: 0
{"_id":"8wx8FjHoHPjTkHK3G","bibbaseid":"wooten-highdynamicrangecollisiondetectionusingpiezoelectricpolymerfilmsforplanarandnonplanarapplications-2013","author_short":["Wooten, J. M."],"bibdata":{"bibtype":"unpublished","type":"thesis","title":"High-Dynamic Range Collision Detection using Piezoelectric Polymer Films for Planar and Non-planar Applications","copyright":"EMBARGO_GLOBAL","url":"https://etd.auburn.edu//handle/10415/3698","abstract":"This thesis develops a large area collision detection system utilizing the piezoelectric ef- fect of polyvinylidene fluoride film. Complex high speed autonomous articulations associated with modern large-scale high degree-of-freedom (DOF) robotic arms have a high possibility of collision when integrated into human cooperative environments for human-aid, task au- tomation, and biomedical interfacing. The proposed system provides high dynamic range for sensation and robust adaptability to achieve collision detection on complex surfaces in order to augment robotic systems with collision perception. The design allows for increased cohabi- tation of human and high DOF robotic arms in cooperative environments requiring advanced and robust collision detection systems capable of retrofitting onto deployed and operating robotic arms in the commercial world. Sensor testing is accomplished using multiple collision stimuli to mimic real world performance as well as impact force modeling utilizing high speed cameras. The experimentation results show a wide dynamic sensing range for collision force, from 5N to 300N and consistent sensor response for planar and non-planar applications. The thesis will show and support the sensor capability of wide range of collision detection while maintaining adaptability of sensor design to multiple scenarios. The approach differs from current work which primarily focuses on small-range low levels of tactician perception, small area sensor requiring complex construction, and associated electronics and processing complexity for common approaches. The pseudo-membrane design eliminates the construc- tion complexity and limited application scope while achieving high and low levels of collision detection utilizing simple electronics and processing method. The captured experimentation results highlight the consistency of response for multiple applications, standard deviation of results less than 1GPa, and the large range of collision detection capability from 5N to 300N.","language":"en","urldate":"2024-06-25","author":[{"propositions":[],"lastnames":["Wooten"],"firstnames":["James","Michael"],"suffixes":[]}],"month":"July","year":"2013","note":"Accepted: 2013-07-10T16:17:26Z","bibtex":"@unpublished{wooten_high-dynamic_2013,\n\ttype = {thesis},\n\ttitle = {High-{Dynamic} {Range} {Collision} {Detection} using {Piezoelectric} {Polymer} {Films} for {Planar} and {Non}-planar {Applications}},\n\tcopyright = {EMBARGO\\_GLOBAL},\n\turl = {https://etd.auburn.edu//handle/10415/3698},\n\tabstract = {This thesis develops a large area collision detection system utilizing the piezoelectric ef-\nfect of polyvinylidene fluoride film. Complex high speed autonomous articulations associated\nwith modern large-scale high degree-of-freedom (DOF) robotic arms have a high possibility\nof collision when integrated into human cooperative environments for human-aid, task au-\ntomation, and biomedical interfacing. The proposed system provides high dynamic range for\nsensation and robust adaptability to achieve collision detection on complex surfaces in order\nto augment robotic systems with collision perception. The design allows for increased cohabi-\ntation of human and high DOF robotic arms in cooperative environments requiring advanced\nand robust collision detection systems capable of retrofitting onto deployed and operating\nrobotic arms in the commercial world. Sensor testing is accomplished using multiple collision\nstimuli to mimic real world performance as well as impact force modeling utilizing high speed\ncameras. The experimentation results show a wide dynamic sensing range for collision force,\nfrom 5N to 300N and consistent sensor response for planar and non-planar applications.\nThe thesis will show and support the sensor capability of wide range of collision detection\nwhile maintaining adaptability of sensor design to multiple scenarios. The approach differs\nfrom current work which primarily focuses on small-range low levels of tactician perception,\nsmall area sensor requiring complex construction, and associated electronics and processing\ncomplexity for common approaches. The pseudo-membrane design eliminates the construc-\ntion complexity and limited application scope while achieving high and low levels of collision\ndetection utilizing simple electronics and processing method. The captured experimentation\nresults highlight the consistency of response for multiple applications, standard deviation\nof results less than 1GPa, and the large range of collision detection capability from 5N to\n300N.},\n\tlanguage = {en},\n\turldate = {2024-06-25},\n\tauthor = {Wooten, James Michael},\n\tmonth = jul,\n\tyear = {2013},\n\tnote = {Accepted: 2013-07-10T16:17:26Z},\n}\n\n\n\n","author_short":["Wooten, J. M."],"key":"wooten_high-dynamic_2013","id":"wooten_high-dynamic_2013","bibbaseid":"wooten-highdynamicrangecollisiondetectionusingpiezoelectricpolymerfilmsforplanarandnonplanarapplications-2013","role":"author","urls":{"Paper":"https://etd.auburn.edu//handle/10415/3698"},"metadata":{"authorlinks":{}}},"bibtype":"unpublished","biburl":"https://bibbase.org/zotero-group/keb0115/5574615","dataSources":["kDK6fZ4EDThxNKDCP"],"keywords":[],"search_terms":["high","dynamic","range","collision","detection","using","piezoelectric","polymer","films","planar","non","planar","applications","wooten"],"title":"High-Dynamic Range Collision Detection using Piezoelectric Polymer Films for Planar and Non-planar Applications","year":2013}