A HAPTIC THERMAL INTERFACE: TOWARDS EFFECTIVE MULTIMODAL USER INTERFACE SYSTEMS
|
|
- Kelley Arnold
- 5 years ago
- Views:
Transcription
1 A HAPTIC THERMAL INTERFACE: TOWARDS EFFECTIVE MULTIMODAL USER INTERFACE SYSTEMS Chang S. Nam Department of Industrial Engineering University of Arkansas, Fayetteville, AR 72701, U.S.A Jia Di, Liam W. Borsodi, and William Mackay Department of Computer Science & Computer Engineering University of Arkansas, Fayetteville, AR 72701, U.S.A {jdi, lborsod, ABSTRACT Despite powerful sensory inputs (e.g., tactile and force feedback), haptic interface systems are still in an early stage of development for accomplishment of a high degree of realism. One of the key elements missing is the ability to present thermal information, such as the thermal conductivity and temperature of an object being manipulated. This real time information is one of the obstacles to the wider application of haptic interface systems. However, thermal feedback should be incorporated into haptic interface systems to deliver more convincing and intuitive presence in virtual environments or teleoperation systems. This paper describes an advanced thermal interface system developed to provide the human operator with thermal information of an object being manipulated accurately and with no overt time delay. KEY WORDS Thermal user interface, human thermal perception, virtual environments, haptic force-feedback, thermal unit testing 1. Introduction As an increasingly powerful and dynamic interaction technology, haptic interfaces have found many application areas such as surgical simulation, medical training, scientific visualization, and assistive technology for the blind and visually impaired. The use of haptic devices as an interaction tool has provided users with a new and interesting sensorial experience, the sense of touch, through tactile and force feedback. That is, haptic interfaces allow users to synergistically integrate information from all their senses to make for richer sensorial experiences when interacting with computerbased applications. Many studies have also shown that tactile and force feedbacks can reduce the visual and auditory information overload that one can suffer from. Despite such powerful sensory inputs, haptic interface systems are still in a rather early stage of development to accomplish a high degree of realism [1]. One key element missing is the ability to present thermal information, such as the thermal conductivity and temperature of an object being manipulated. This lack of sensory feedback is one of the obstacles to the wider application of haptic interface systems. Thermal interfaces have a number of very desirable characteristics. For example, the temperature of an object plays an important role in tactile exploration and in the perception of the touched object [2]. The thermal conductivity information of an object can also be used to convey information about the material constitution of objects [3, 4]. Additionally, thermal feedback can act as a sensory substitute or adjunct for visual or tactile feedback, allowing the user to explore an object with its thermal information [5]. Taken all together, thermal feedback should be incorporated into haptic interface systems to deliver a more convincing and intuitive presence in virtual environments or teleoperation systems. Thermal devices to date, which have been developed to provide thermal feedback, can be categorized into three main types of systems. The first type of thermal devices used thermistors as a thermal sensor [e.g., 6, 7]. The use of the thermistor has two disadvantages for thermal feedback devices: slow response time (> 0.5 seconds) and larger than required size [8]. An array of thin film RTDs (resistance temperature detectors) have also been used to develop thermal devices [e.g., 5, 9]. However, more recent systems employed a thermocouple and a module with the Peltier effect to measure and present the temperature of an object to the human operator [e.g., 1, 10, 11]. Along side the development of thermal feedback systems, there has also been work on incorporating thermal feedback into haptic devices [3, 10, 11]. However, research in thermal interface is still in its infancy to be realized in real-world production settings systems. Motivated by this observation, we have developed an advanced thermal interface system that can provide thermal information of an object being manipulated to the human operator accurately and with no overt time delay. While the ultimate goal involves combining multiple sensory feedback modalities such as visual, auditory, haptic force, and thermal-feedback into an integrated interface system, in this paper we will focus on the development and evaluation of the thermal interface system as a first step. We will first give an overview of a human thermal perception system to understand how a
2 human being processes thermal information as well as to identify user requirements of thermal feedback systems. This is followed by a description of the major components and features of the thermal feedback device developed. Finally, we summarize the main contribution of the work. 2. Human Thermal Perception System In this section, properties of the human thermal perception system will be overviewed as an effort to identify user requirements for the development of thermal interface systems. 2.1 Thermoreceptors and Temperature Sense In human sensory physiology, the temperature sensation is closely associated with two types of thermoreceptors: the end-bulb of Krause that detects cold and Ruffini's end organ that detects heat. It is estimated that there are less warm spots than cold spots on the body [10]. Basic characteristics of this dual sensor system include: 1) Specific cold/warm spot: Thermal sensations are associated with stimulation of localized sensory spots in the skin. That is, there are specific cold and warm points in the skin, at which only sensations of cold or warmth can be elicited. 2) Different reaction time: Cold receptors, located at 0.15mm below the skin surface, react faster than the warmth ones, located at a depth of 0.3mm. That is, the reaction time for cold sensations for a temperature drop of greater than 0.1 C /sec is sec. On the other hand, the reaction time for hot sensations for a temperature rise of greater than 0.1 C /sec is sec. 3) Selective sensation: It is possible to prevent either the cold sensation alone or the warm sensation alone by selectively blocking free nerve endings [12]. According to the previous study [13], cold receptors are activated in a range from about 1 C to 20 C below normal skin temperature (approximately 34 C). Warm receptors are activated in the range of about 32 C to 45 C, peaking at about 37 C. Above about 45 C, cold receptors and pain receptors (nociceptors) fire at the same time in one field. Thermoreceptors are sensitive to changes in temperature, not to absolute temperature. Therefore, it is the rate of change in temperature that the human being senses. Many studies [e.g., 5, 10] have also confirmed that human subjects can sense rates of change in temperature as small as 0.01 C/sec (0.6 C/min). 2.2 Thermal Response Mechanism Temperatures that can be presented without any harm to the human being are between 15 C and 48 C [10]. However, it is also worth noting that the skin adapts to the temperature between 31 C and 36 C. Thus, the just noticeable difference (JND) measured in this range depends on the speed of the temperature change. Typically, the JND is found to be 2 C for a lower temperature variation of C/s, and 0.5 C JND for a temperature variation of +0.1 C/s [14]. Outside these intervals, it is estimated that the temperature sensation is either continuously cold or continuously warm. The ability of human subjects to discriminate changes in temperature is associated with many different factors. In their study on the psychophysics of temperature perception and thermal-interface design, for example, Jones & Berris [5] proposed the following four factors: the site of skin stimulated, the amplitude of the temperature change, the rate of the temperature change, and the baseline temperature of the skin (p. 138). 2.3 Requirements Specification for Thermal Interface System Based on the properties of the human thermal perception system and the results of the previous studies [e.g., 5, 8, 10], several user requirements for the development of thermal interface systems have been specified. Examples of the requirements include: To prevent injury, an upper temperature limit of 45 C and a lower limit of -5 C should be set. Temperature information should be presented no faster than 0.3 C/sec. Temporal transient resolution of cooling should be at least 20 C/sec with heating 10 C/sec. Absolute temperature as well as relative temperature changes should be presented for humans to feel. An effective thermal interface system should also implement various features conducive to human thermal perception, haptic interaction, and the use of thermal feedback devices. To identify such features and corresponding components, this study reviewed several previous thermal feedback devices [e.g., 1, 10, 11]. Examples include better performance, smaller size, simpler circuit, better accuracy, and higher reliability. 3. Thermal Interface System To develop more advanced thermal user interface system, this study used a variety of information obtained by analyzing the properties of the human thermal perception system, previous thermal feedback devices, and user/system requirement specifications. As mentioned in the previous section, several system architectures for developing thermal feedback devices have been proposed 14
3 (e.g., thermistor-, RTD-, or Peltier heat pump-based systems). Our system inherited the properties of Lawther s [8] general system architecture the use of Peltier heat pump and thermocouple. The system block diagram of the thermal feedback device developed in the study is shown in Figure 1. thermocouple as well as the temperature offset. The temperature regeneration subsystem is on the user end. The desired temperature is generated by a TEC. A TEC can be used to either heat up or cool down a subject. A heat sink is used to dissipate the extra heat generated by the TEC. The behavior of the TEC is controlled by an H- Bridge Driver, which is controlled by the microcontroller s (MCU) Pulse-Width-Modulation (PWM) module. Another thermocouple with converter is mounted on the TEC to detect the actual temperature generated. The detected temperature is then used as a feedback to the microcontroller for the control adjustment. The microcontroller gathers object temperature either from the temperature sensing subsystem or from the virtual environment on the PC and controls the TEC to regenerate the same temperature. 3.1 Temperature sensing subsystem Figure 1. System Overview of Thermal Feedback System However, there are two major differences between the two systems. First, to overcome disadvantages of using thermocouples, several approaches were made in Lawther s system. For example, a thermocouple cold junction compensator (LT1025) was used to compensate the nonlinear performance. A power transistor was also used as heater at the manipulator end to give one thermocouple junction a steady temperature. A feedback loop with an amplifier was needed to control the power transistor. Then, the output of LT1025 was directed into an amplifier to achieve a larger voltage swing that met the requirement of the A/D converter. However, all this circuitry caused a more complicated system with greater delay, less accuracy, higher power dissipation, larger size, and less reliability. Our system used a single IC, MAX6675, to accomplish the function of all circuitry mentioned in the example above. This integrated solution brings advantages such as better performance, smaller size, simpler circuit, better accuracy, and higher reliability. Another difference between the two systems is that unlike Lawther s system which used two different sensors to measure the temperature of thermoelectric cooler (TEC) and a user s finger (a thermocouple and a regular sensor, LM35DZ), our system used only one thermocouple to measure the temperature on the TEC. With a MAX6675, the same circuitry advantages could be achieved. The system can be divided into two subsystems (sensing and regeneration) and a microcontroller. The temperature sensing subsystem is on the manipulator end. To ensure fast response time and accuracy, a thermocouple was used as the temperature sensor. A thermocouple-to-digital converter, MAX6675, converts the analog signal from the thermocouple into digital values while compensating for the nonlinear behavior of a As suggested in Lawther s study [8], the touch temperature sensor must meet the following requirements: A fast response time in order to pick up sensations with no delay, Small and flat in order to be mounted on the finger of the manipulator and have full area contact with the object, and Linearity and absolute accuracy of the order of ±½ C and a range of 0 to 55 C. These requirements automatically reject sensors of several common types like Platinum films, semiconductor IC sensors, and thermistors. Thermocouples are based on the principle that when two dissimilar metals are joined a predictable voltage will be generated. This relates to the difference in temperature between the measuring junction and the reference junction (connected to the measuring device). Thermocouples have several disadvantages, including [8]: Α Thermocouple gives a voltage proportional to the difference in temperature between two junctions rather than an absolute temperature. Therefore, one of the junctions (the reference junction) has to be at a known temperature, to get the absolute temperature of the other junction. A Thermocouple s output is in the microvolt range: for a type-k thermocouple it approximates an average of 40.46mV/ C in the range 0 C to 50 C. This generates a requirement for a large gain capability in any circuitry it drives. This output value is not linear, as it also varies with temperature; at -100 C it is 35.54mV/ C and at +200 C 40.69mV/ C. Thus temperature compensation is needed [p. 40]. 15
4 However, these disadvantages can be solved by using a type-k Thermocouple-to-digital converter, MAX6675, from MAXIM. This IC includes an on-chip temperaturesensing diode to sense the ambient temperature, which is used as temperature on one junction of Thermocouple since that junction is directly connected to the converter. This resolves the first problem. MAX6675 also includes signal conditioning hardware to convert the Thermocouple s signal into a voltage that is compatible with the input channels of the on-chip 12-Bit A/D converter, solving the second problem. For the third disadvantage of Thermocouple, MAX6675 provides coldjunction compensation and a 0 C virtual reference to compensate the nonlinear performance. It also has a standard SPI interface to communicate with external devices such as a microcontroller. For our system, a type- K fast response self-adhesive thermocouple was used. This met most of the criteria, having a response time that is better 0.3s, a temperature range of -60 to +175 C, a thickness of 0.3mm, and is extremely robust. from the driver [8]. MI1023T has a size of inches, maximum cooler power of 9.2 watts, and 8V/1.8A maximum voltage/current requirements. 3.2 Temperature regeneration subsystem Since the manipulator and user are potentially in separate environments and it is impossible to tell which environment s ambient temperature will be higher, the regeneration subsystem must have the ability to generate a temperature that could be either higher or lower than the current ambient temperature. The rate of temperature change along with out-of-range protection must also be considered. Thermoelectric cooler (TEC), a semiconductor-based electronic component that functions as a small heat pump, can be used to regenerate thermal feedback. TEC, also known as the Peltier heat pump, is the only selfcontained, solid-state electronic method of thermal generation (cooling as well as heating). By applying a low voltage DC power source to a TEC, heat will be absorbed and transferred from one side and dissipated on the opposite side. Therefore, one face is cooled while the opposite face is simultaneously heated. Consequently, a thermoelectric cooler may be used for both heating and cooling by reversing the polarity (changing the direction of the applied current). The TEC s functionality comes from the Peltier effect. A typical single stage cooler consists of two ceramic plates with p- and n-type semiconductor material between the plates (Figure 2). These semiconductor materials are connected electrically in series and thermally in parallel. Heat is absorbed at the cold junction by electrons as they pass from the p-type (low energy level) to the n-type thermoelement (higher energy level). At the hot junction energy is expelled to a thermal sink as electrons move from the n-type to the p- type thermoelement. For our system, MI1023T was chosen as the most suitable cooler by considering the requirements such as size, cooler wattage, speed, and voltage/current needed Figure 2. Thermoelectric Cooler Due to the voltage/current requirements, a TEC cannot be directly driven by a microcontroller. Although linear amplifiers with a bridge configuration can be used to drive a TEC, a much more efficient way of driving the TEC is to use Pulse Width Modulation (PWM). This is a train of pulses of fixed frequency, with width proportional to the power required. An H-Bridge motor driver with ±2A/32V output capability was chosen to drive the TEC, as suggested in the previous work [8]. The magnitude of output current is controlled by the PWM signal from the microcontroller. The direction of current, which decides whether the TEC is heating up or cooling down, can be controlled by the microcontroller through one of its general purpose I/O ports. To apply appropriate control over the TEC a feedback loop is needed. The feedback loop consists of another thermal sensing system mounted to the user s contact point on the TEC. The sensor s input is converted into a digital signal and communicated back to the microcontroller. The measured temperature is then compared against both desired regeneration temperature and safety boundaries. The TEC control algorithm will dictate based on the comparison whether it should heat, cool, or deactivate. The feedback loop allows for both quick and simple control without the complexity of arcane algorithms along with a degree of safety for the user. 3.3 Microcontroller and communication with PC The system s regeneration speed is determined mainly by the thermocouple s conversion time. This relatively slow conversion time, when compared against most MCU s processing speed, allows for little restriction 16
5 on the choice of MCU. Since there is no special requirements other than standard MCU features a PIC18F452 from Microchip was chosen for our system. The PIC18F452 is an 8-Bit MCU capable of operating between MHz and contains an SPI, USART, 10-Bit A/D converter, and PWM. Once functionality is programmed it can convert and compare both thermocouples, and administrate the controlling PWM signal to regenerate the desired temperature. Additional functionality such as the USART will allow for communication with a PC, opening up other potential options such as tele-presence or virtual temperature generation. 4. Evaluation of thermal interface prototype To evaluate the effectiveness of the thermal interface prototype developed, a series of experiments was conducted. First, reaction times between input and feedback sensor settling were measured. Table 1 shows reaction times between the two sensors. It took less than 1.5 seconds in ranges of the temperature change tested. Table 1. Reaction time between input and feedback sensor settling Temperature Change ( C) Reaction Time (seconds) 23 to to to More detailed testing was also conducted to measure response and recovery times of both the temperature sensing and regeneration subsystems, including the times to 10%, 63%, 90%, and 100% change in temperature. As computer-controlled stimuli and timing were needed to properly test the thermal interface system, we first developed test software for the PC to manipulate the system prototype through a serial communication line. The test was conducted on the prototype by using the test software, written in Visual Basic and Visual C++. The software connected to the prototype through a serial port. The test software controlled the change of temperature through the serial communication port and logged the time of the temperature changes sent back through the serial communication port. The software kept track of time for a 10 percent, 63 percent, 90 percent, and 100 percent change in target temperature. The following tests were step changes of 10 degrees C in both the negative and the positive directions. The data shown is an average of 6 tests done by the test software. The test process started in a relaxed state, which is room temperature. Then a step change of 10 degrees C was applied to the prototype and the reaction times were recorded. After reaching the step change desired temperature the thermal interface prototype reset back to rest and recorded its recovery time. A test was done to show the time taken by the thermal interface prototype to drop 10 degrees C and to see the time taken by the prototype to rise back to room temperature. Table 2 shows test data collected during a negative 10 degrees C step change. Time measurements were taken at 10%, 63%, 90% and 100% of total temperature change. Table 2. Reaction and recovery times during -10 C step change Reaction time (sec) Recovery time (sec) 10% % % % Table 3 shows test data collected during a positive 10 degrees C step change. This test was done to measure the time taken by the thermal interface prototype to rise 10 degrees C and to see the time taken by the prototype to drop back to room temperature. Time measurements were taken at 10%, 63%, 90% and 100% of total temperature change. Table 3. Reaction and recovery times during +10 C step change Reaction time (sec) Recovery time (sec) 10% % % % Discussion and Conclusion The main goal of the study was to develop and evaluate an advanced thermal interface that can be incorporated into an integrated user interface system, which can provide multiple sensory feedback modalities. As shown in the previous section, preliminary tests on the system performance showed promising results. First, reaction times between the two sensors were very good, taking less than 1.5 seconds in ranges of the temperature change tested. Second, the longest time was the 10 degrees C drop in temperature because it took more time for the TEC to cool down or to heat up. With a 100 percent temperature change for all tests, however, the system was working fairly well. One of the biggest time consumptions in the thermal interface prototype was the settling time for the MAX 6675 chip, taking between.17 and.22 seconds to achieve an accurate thermocouple reading. To improve the time of the system it is recommended to use a stronger TEC or obtain better control of the power supply to the current TEC. There is still a temperature swing on the regeneration module that can be corrected using a PWM to control the power delivered to the TEC through the motor controller. The preliminary tests of the system also revealed several issues that should be addressed in the future 17
6 development. Examples include: Recovery times of the system could be high because of poor heat transfer between the sensor and the air. However, this issue could be avoided with continuous stimuli. Reaction times of the system could be bottlenecked by the initial sensor reading. The introduction of a PC controlled stimulus system will be able to resolve this issue. Future work will concern the development and user evaluation of a multimodal user interface system by integrating the thermal interface system developed in the study. References [1] P. Kammermeier, A. Kron, J. Hoogen, & G. Schmidt, Display of holistic haptic sensations by combined tactile and kinesthetic feedback, Presence, 13(1), 2004, th IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, 1996, [11] M.P. Ottensmeyer, & J.K. Salisbury, Hot and cold running VR: Adding thermal stimuli to haptic experience, Proceedings of the PHANToM Users Group, [12] L. Monteith, & R. Mount, Heat loss from animals and man (London Butterworths, 1974). [13] J.H. Martin, & T.M. Jessell, Modality coding in the somatic sensory system, In Principles of Neural Science (3rd ed.) (Kandel, E., Schwartz. J. H., & Jessell, T. M. eds, 1991) (pp ). New York: Elsevier. [14] C.E. Shenick, & R.W. Cholewiak, Cutaneous sensitivity, In Handbook of Perception and Human Performance (New York, 1986, ). [2] M. Benali-Khoudja, M. Hafez, J-M. Alexandre, & A. Kheddar, Thermal feedback interface requirements for virtual reality, Eurohaptics, Dublin, Ireland, 2003, [3] M. Bergamasco, A.A. Alessi, & M. Calcara, Thermal feedback in virtual environments, Presence, 6(6), 1997, [4] G.J. Monkman, & P.M. Taylor, Thermal tactile sensing, IEEE Transactions on Robotics and Automation, 9(3), 1993, [5] L.A. Jones, & M. Berris, The psychophysics of temperature perception and thermal-interface design, Proceedings of 10 th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Los Alamitos, CA, 2002, [6] R.A. Russell, Thermal sensor for object shape and material constitution, Robotica, 6, 1988, [7] D. Siegel, I. Garabieta, & J.M. Hollerbach, An integrated tactile and thermal sensor, Proceedings of IEEE International Conference on Robotics and Automation, San Francisco, 1986, [8] S. Lawther, Thermal and textural feedback for telepresence, MSc. Thesis Salford University, [9] M. Zerkus, B. Becker, J. Ward, & L. Halvorsen, Temperature sensing in virtual reality and telerobotics, Virtual Reality Systems, 1(2), 1993, [10] D.G. Caldwel1, S. Lawther, & A. Wardle, Tactile perception and its application to the design of multimodal cutaneous feedback systems, Proceedings of the 18
Feb. 1, 2013 TEC controller design experts offer tips to lower the cost and simplify the design of the devices, and to increase their ease of use.
Thermoelectric Cooler Controller Design Made Simpler Gang Liu, Can Li and Fang Liu, Analog Technologies, Inc. Feb. 1, 2013 TEC controller design experts offer tips to lower the cost and simplify the design
More informationShape Memory Alloy Actuator Controller Design for Tactile Displays
34th IEEE Conference on Decision and Control New Orleans, Dec. 3-5, 995 Shape Memory Alloy Actuator Controller Design for Tactile Displays Robert D. Howe, Dimitrios A. Kontarinis, and William J. Peine
More informationDevelopment of Thermal Displays for Haptic Interfaces
Development of Thermal Displays for Haptic Interfaces by Anshul Singhal B.Tech. in Production and Industrial Engineering Indian Institute of Technology Delhi, 2012 Submitted to the Department of Mechanical
More informationHaptic Perception & Human Response to Vibrations
Sensing HAPTICS Manipulation Haptic Perception & Human Response to Vibrations Tactile Kinesthetic (position / force) Outline: 1. Neural Coding of Touch Primitives 2. Functions of Peripheral Receptors B
More informationLF442 Dual Low Power JFET Input Operational Amplifier
LF442 Dual Low Power JFET Input Operational Amplifier General Description The LF442 dual low power operational amplifiers provide many of the same AC characteristics as the industry standard LM1458 while
More informationMAX6675. Cold-Junction-Compensated K-Thermocoupleto-Digital Converter (0 C to C) Features
AVAILABLE MAX6675 General Description The MAX6675 performs cold-junction compensation and digitizes the signal from a type-k thermocouple. The data is output in a 12-bit resolution, SPI -compatible, read-only
More informationTC LV-Series Temperature Controllers V1.01
TC LV-Series Temperature Controllers V1.01 Electron Dynamics Ltd, Kingsbury House, Kingsbury Road, Bevois Valley, Southampton, SO14 OJT Tel: +44 (0) 2380 480 800 Fax: +44 (0) 2380 480 801 e-mail support@electrondynamics.co.uk
More informationSalient features make a search easy
Chapter General discussion This thesis examined various aspects of haptic search. It consisted of three parts. In the first part, the saliency of movability and compliance were investigated. In the second
More informationAPPLICATION NOTE 695 New ICs Revolutionize The Sensor Interface
Maxim > Design Support > Technical Documents > Application Notes > Sensors > APP 695 Keywords: high performance, low cost, signal conditioner, signal conditioning, precision sensor, signal conditioner,
More informationCold-Junction-Compensated K-Thermocoupleto-Digital Converter (0 C to +128 C)
19-2241; Rev 1; 8/02 Cold-Junction-Compensated K-Thermocoupleto-Digital General Description The cold-junction-compensation thermocouple-to-digital converter performs cold-junction compensation and digitizes
More informationCompact Tactile Display for Fingertips with Multiple Vibrotactile Actuator and Thermoelectric Module
7 IEEE International Conference on Robotics and Automation Roma, Italy, 1-14 April 7 Compact Tactile Display for Fingertips with Multiple Vibrotactile Actuator and Thermoelectric Module Gi-Hun Yang, Tae-Heon
More informationFast IC Power Transistor with Thermal Protection
Fast IC Power Transistor with Thermal Protection Introduction Overload protection is perhaps most necessary in power circuitry. This is shown by recent trends in power transistor technology. Safe-area,
More informationDesign and Implementation of AT Mega 328 microcontroller based firing control for a tri-phase thyristor control rectifier
Design and Implementation of AT Mega 328 microcontroller based firing control for a tri-phase thyristor control rectifier 1 Mr. Gangul M.R PG Student WIT, Solapur 2 Mr. G.P Jain Assistant Professor WIT,
More informationTactile Interfaces: Technologies, Applications and Challenges
Tactile Interfaces: Technologies, Applications and Challenges M. Hafez and M. Benali Khoudja CEA LIST 18 route du panorama, 92265 Fontenay aux Roses, France Phone: +33-1 46 54 97 31, Fax: +33-1 46 54 75
More informationNovel laser power sensor improves process control
Novel laser power sensor improves process control A dramatic technological advancement from Coherent has yielded a completely new type of fast response power detector. The high response speed is particularly
More informationStep vs. Servo Selecting the Best
Step vs. Servo Selecting the Best Dan Jones Over the many years, there have been many technical papers and articles about which motor is the best. The short and sweet answer is let s talk about the application.
More informationSpeed Control Of Transformer Cooler Control By Using PWM
Speed Control Of Transformer Cooler Control By Using PWM Bhushan Rakhonde 1, Santosh V. Shinde 2, Swapnil R. Unhone 3 1 (assistant professor,department Electrical Egg.(E&P), Des s Coet / S.G.B.A.University,
More informationAD596/AD597 SPECIFICATIONS +60 C and V S = 10 V, Type J (AD596), Type K (AD597) Thermocouple,
AD597 SPECIFICATIONS (@ +60 C and V S = 10 V, Type J (AD596), Type K (AD597) Thermocouple, unless otherwise noted) Model AD596AH AD597AH AD597AR Min Typ Max Min Typ Max Min Typ Max Units ABSOLUTE MAXIMUM
More informationSignal Conditioning Fundamentals for PC-Based Data Acquisition Systems
Application Note 048 Signal Conditioning Fundamentals for PC-Based Data Acquisition Systems Introduction PC-based data acquisition (DAQ) systems and plugin boards are used in a very wide range of applications
More informationAsymmetric Cooling and Heating Perception
Asymmetric Cooling and Heating Perception Mehdi Hojatmadani and Kyle Reed Mechanical Engineering Department, University of South Florida, Tampa, USA, mhojatmadani@mail.usf.edu, kylereed@usf.edu Abstract.
More informationPrecision in Practice Achieving the best results with precision Digital Multimeter measurements
Precision in Practice Achieving the best results with precision Digital Multimeter measurements Paul Roberts Fluke Precision Measurement Ltd. Abstract Digital multimeters are one of the most common measurement
More informationAutomatic Control of a Dual-SMA Actuator System
ANALELE UNIVERSITĂŢII EFTIMIE MURGU REŞIŢA ANUL XXIII, NR. 1, 2016, ISSN 1453-7397 Automatic Control of a Dual-SMA Actuator System Ion-Cornel Mituletu, Dorian Anghel The present paper describes research
More informationAs delivered power levels approach 200W, sometimes before then, heatsinking issues become a royal pain. PWM is a way to ease this pain.
1 As delivered power levels approach 200W, sometimes before then, heatsinking issues become a royal pain. PWM is a way to ease this pain. 2 As power levels increase the task of designing variable drives
More informationOp Amp Booster Designs
Op Amp Booster Designs Although modern integrated circuit operational amplifiers ease linear circuit design, IC processing limits amplifier output power. Many applications, however, require substantially
More informationHaptic Feedback Technology
Haptic Feedback Technology ECE480: Design Team 4 Application Note Michael Greene Abstract: With the daily interactions between humans and their surrounding technology growing exponentially, the development
More informationThermocouple Conditioner and Setpoint Controller AD596*/AD597*
a FEATURES Low Cost Operates with Type J (AD596) or Type K (AD597) Thermocouples Built-In Ice Point Compensation Temperature Proportional Operation 10 mv/ C Temperature Setpoint Operation ON/OFF Programmable
More informationthese systems has increased, regardless of the environmental conditions of the systems.
Some Student November 30, 2010 CS 5317 USING A TACTILE GLOVE FOR MAINTENANCE TASKS IN HAZARDOUS OR REMOTE SITUATIONS 1. INTRODUCTION As our dependence on automated systems has increased, demand for maintenance
More informationni.com Sensor Measurement Fundamentals Series
Sensor Measurement Fundamentals Series How to Design an Accurate Temperature Measurement System Jackie Byrne Product Marketing Engineer National Instruments Sensor Measurements 101 Sensor Signal Conditioning
More informationGSM BASED PATIENT MONITORING SYSTEM
GSM BASED PATIENT MONITORING SYSTEM ABSTRACT This project deals with the monitoring of the patient parameters such as humidity, temperature and heartbeat. Here we have designed a microcontroller based
More informationtechnicalnote Implementing Advanced Cold-Junction Compensation Techniques to Improve Temperature Measurement Accuracy Headline Type K Thermocouple
Implementing Advanced Cold-Junction Compensation Techniques to Improve Temperature Measurement Accuracy INTRODUCTION Monitoring the temperature of a device such as a combustion engine provides insight
More informationTouch. Touch & the somatic senses. Josh McDermott May 13,
The different sensory modalities register different kinds of energy from the environment. Touch Josh McDermott May 13, 2004 9.35 The sense of touch registers mechanical energy. Basic idea: we bump into
More informationLPLDD-5A-24V-PID. Operating Manual. Okulickiego 7/9 hala G39 Pułaskiego 125/ Piaseczno Białystok
LPLDD-5A-24V-PID Operating Manual Contact and Shipping: Company Information: Tomorrow's System Sp. Z o.o. Tomorrow's System Sp. Z o.o. Okulickiego 7/9 hala G39 Pułaskiego 125/35 05-500 Piaseczno 15-337
More informationOVEN INDUSTRIES, INC. Model 5C7-362
OVEN INDUSTRIES, INC. OPERATING MANUAL Model 5C7-362 THERMOELECTRIC MODULE TEMPERATURE CONTROLLER TABLE OF CONTENTS Features... 1 Description... 2 Block Diagram... 3 RS232 Communications Connections...
More informationHaptic presentation of 3D objects in virtual reality for the visually disabled
Haptic presentation of 3D objects in virtual reality for the visually disabled M Moranski, A Materka Institute of Electronics, Technical University of Lodz, Wolczanska 211/215, Lodz, POLAND marcin.moranski@p.lodz.pl,
More informationElements of Haptic Interfaces
Elements of Haptic Interfaces Katherine J. Kuchenbecker Department of Mechanical Engineering and Applied Mechanics University of Pennsylvania kuchenbe@seas.upenn.edu Course Notes for MEAM 625, University
More informationDistributed by: www.jameco.com 1-800-831-4242 The content and copyrights of the attached material are the property of its owner. LM148/LM248/LM348 Quad 741 Op Amps General Description The LM148 series
More informationIntroduction. ELCT903, Sensor Technology Electronics and Electrical Engineering Department 1. Dr.-Eng. Hisham El-Sherif
Introduction In automation industry every mechatronic system has some sensors to measure the status of the process variables. The analogy between the human controlled system and a computer controlled system
More informationLM118/LM218/LM318 Operational Amplifiers
LM118/LM218/LM318 Operational Amplifiers General Description The LM118 series are precision high speed operational amplifiers designed for applications requiring wide bandwidth and high slew rate. They
More informationInternational Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering. (An ISO 3297: 2007 Certified Organization)
International Journal of Advanced Research in Electrical, Electronics Device Control Using Intelligent Switch Sreenivas Rao MV *, Basavanna M Associate Professor, Department of Instrumentation Technology,
More informationRadiofrequency Power Measurement
adiofrequency Power Measurement Why not measure voltage? Units and definitions Instantaneous power p(t)=v(t)i(t) DC: i(t)=i; v(t)=v P=VI=V²/=I² 1 t AC: P v( t) i( t) dt VI cos t 3 Average power 4 Envelope
More informationMaterial Discrimination and Thermal Perception
Material Discrimination and Thermal Perception Lynette A. Jones and Michal Berris Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge MA Ljones@MIT.edu Abstract This
More informationComparison of Haptic and Non-Speech Audio Feedback
Comparison of Haptic and Non-Speech Audio Feedback Cagatay Goncu 1 and Kim Marriott 1 Monash University, Mebourne, Australia, cagatay.goncu@monash.edu, kim.marriott@monash.edu Abstract. We report a usability
More informationIsolated, Thermocouple Input 7B37 FEATURES APPLICATIONS PRODUCT OVERVIEW FUNCTIONAL BLOCK DIAGRAM
Isolated, Thermocouple Input 7B37 FEATURES Interfaces, amplifies, and filters input voltages from a J, K, T, E, R, S, or B-type thermocouple. Module provides a precision output of either +1 V to +5 V or
More informationIsolated, Linearized Thermocouple Input 7B47 FEATURES APPLICATIONS PRODUCT OVERVIEW FUNCTIONAL BLOCK DIAGRAM
Isolated, Linearized Thermocouple Input 7B47 FEATURES Interfaces, amplifies and filters input voltages from a J, K, T, E, R, S, B or N-type thermocouple. Module provides a precision output of either +1
More informationA Pilot Study: Introduction of Time-domain Segment to Intensity-based Perception Model of High-frequency Vibration
A Pilot Study: Introduction of Time-domain Segment to Intensity-based Perception Model of High-frequency Vibration Nan Cao, Hikaru Nagano, Masashi Konyo, Shogo Okamoto 2 and Satoshi Tadokoro Graduate School
More informationLM118 LM218 LM318 Operational Amplifiers
LM118 LM218 LM318 Operational Amplifiers General Description The LM118 series are precision high speed operational amplifiers designed for applications requiring wide bandwidth and high slew rate They
More informationDesign of a Heating Chamber for Sensor Characterization
Design of a Heating Chamber for Sensor Characterization Gengchen Liu a, Xiaoju Guo a and Tolga Kaya a a Central Michigan University, Mount Pleasant, MI 48859 Email: { liu3g, guo3x, kaya2t}@cmich.edu Abstract
More information9/28/2010. Chapter , The McGraw-Hill Companies, Inc.
Chapter 4 Sensors are are used to detect, and often to measure, the magnitude of something. They basically operate by converting mechanical, magnetic, thermal, optical, and chemical variations into electric
More informationVibrotactile Apparent Movement by DC Motors and Voice-coil Tactors
Vibrotactile Apparent Movement by DC Motors and Voice-coil Tactors Masataka Niwa 1,2, Yasuyuki Yanagida 1, Haruo Noma 1, Kenichi Hosaka 1, and Yuichiro Kume 3,1 1 ATR Media Information Science Laboratories
More informationA SMART METHOD FOR AUTOMATIC TEMPERATURE CONTROL
ABSTRACT A SMART METHOD FOR AUTOMATIC TEMPERATURE CONTROL Pratima Datta 1, Pritha Saha 2, Bapita Roy 3 1,2 Department of Applied Electronics and Instrumentation, Guru Nanak Institute of Technology, (India)
More informationSilicon-Gate Switching Functions Optimize Data Acquisition Front Ends
Silicon-Gate Switching Functions Optimize Data Acquisition Front Ends AN03 The trend in data acquisition is moving toward ever-increasing accuracy. Twelve-bit resolution is now the norm, and sixteen bits
More informationDigitally Controlled Crystal Oven. S. Jayasimha and T. Praveen Kumar Signion
Digitally Controlled Crystal Oven S. Jayasimha and T. Praveen Kumar Attributes of widely-used frequency references Description Stability/ accuracy Price Power Warm-up time to rated operation Applications
More informationEnergy Harvesting System using PELTIER Sensor with IOT
Energy Harvesting System using PELTIER Sensor with IOT A.Abinaya 1, J.Arockia Kirijan 2, K.Manikandan 3, M.Ramya 4 123 Electrical and Electronics Engineering, S.A Engineering College, 4 Assistant Professor,
More informationLecture 7: Human haptics
ME 327: Design and Control of Haptic Systems Winter 2018 Lecture 7: Human haptics Allison M. Okamura Stanford University types of haptic sensing kinesthesia/ proprioception/ force cutaneous/ tactile Related
More informationEvaluation of Five-finger Haptic Communication with Network Delay
Tactile Communication Haptic Communication Network Delay Evaluation of Five-finger Haptic Communication with Network Delay To realize tactile communication, we clarify some issues regarding how delay affects
More informationLF442 Dual Low Power JFET Input Operational Amplifier
LF442 Dual Low Power JFET Input Operational Amplifier General Description The LF442 dual low power operational amplifiers provide many of the same AC characteristics as the industry standard LM1458 while
More informationDUAL STEPPER MOTOR DRIVER
DUAL STEPPER MOTOR DRIVER GENERAL DESCRIPTION The is a switch-mode (chopper), constant-current driver with two channels: one for each winding of a two-phase stepper motor. is equipped with a Disable input
More informationLecture 14 Interface Electronics (Part 2) ECE 5900/6900 Fundamentals of Sensor Design
EE 4900: Fundamentals of Sensor Design 1 Lecture 14 Interface Electronics (Part 2) Interface Electronics (Part 2) 2 Linearizing Bridge Circuits (Sensor Tech Hand book) Precision Op amps, Auto Zero Op amps,
More informationLM2900 LM3900 LM3301 Quad Amplifiers
LM2900 LM3900 LM3301 Quad Amplifiers General Description The LM2900 series consists of four independent dual input internally compensated amplifiers which were designed specifically to operate off of a
More informationChapter 2 Introduction to Haptics 2.1 Definition of Haptics
Chapter 2 Introduction to Haptics 2.1 Definition of Haptics The word haptic originates from the Greek verb hapto to touch and therefore refers to the ability to touch and manipulate objects. The haptic
More informationA Temperature Control System for Near Infrared Spectroscopic Analysis using Proportional Controller
International Journal of Integrated Engineering, Vol. 9 No. 3 (2017) p. 24-28 A Temperature Control System for Near Infrared Spectroscopic Analysis using Proportional Controller Ammar Ariff Aminondin 1,
More informationLF444 Quad Low Power JFET Input Operational Amplifier
LF444 Quad Low Power JFET Input Operational Amplifier General Description The LF444 quad low power operational amplifier provides many of the same AC characteristics as the industry standard LM148 while
More informationConfiguration Example of Temperature Control
Controllers Technical Information Configuration Example of Control controllers The following is an example of the configuration of temperature control. Controller Relay Voltage Current SSR Cycle controller
More informationLM759 LM77000 Power Operational Amplifiers
LM759 LM77000 Power Operational Amplifiers General Description The LM759 and LM77000 are high performance operational amplifiers that feature high output current capability The LM759 is capable of providing
More informationLM148/LM248/LM348 Quad 741 Op Amps
Quad 741 Op Amps General Description The LM148 series is a true quad 741. It consists of four independent, high gain, internally compensated, low power operational amplifiers which have been designed to
More informationLF353 Wide Bandwidth Dual JFET Input Operational Amplifier
LF353 Wide Bandwidth Dual JFET Input Operational Amplifier General Description These devices are low cost, high speed, dual JFET input operational amplifiers with an internally trimmed input offset voltage
More informationLM79XX Series 3-Terminal Negative Regulators
3-Terminal Negative Regulators General Description The LM79XX series of 3-terminal regulators is available with fixed output voltages of 5V, 12V, and 15V. These devices need only one external component
More informationPRACTICAL DESIGN TECHNIQUES FOR SENSOR SIGNAL CONDITIONING
7 PRACTICAL DESIGN TECHNIQUES FOR SENSOR SIGNAL CONDITIONING 1 Introduction 2 Bridge Circuits 3 Amplifiers for Signal Conditioning 4 Strain, Force, Pressure, and Flow Measurements 5 High Impedance Sensors
More informationIC Preamplifier Challenges Choppers on Drift
IC Preamplifier Challenges Choppers on Drift Since the introduction of monolithic IC amplifiers there has been a continual improvement in DC accuracy. Bias currents have been decreased by 5 orders of magnitude
More informationIncreasing Performance Requirements and Tightening Cost Constraints
Maxim > Design Support > Technical Documents > Application Notes > Power-Supply Circuits > APP 3767 Keywords: Intel, AMD, CPU, current balancing, voltage positioning APPLICATION NOTE 3767 Meeting the Challenges
More informationMCP9600: The World s First
MCP9600: The World s First Thermocouple EMF to C Converter Industry s 1st Thermocouple Converter IC to Integrate Precision Instrumentation Precision Temperature Sensor Precision, High-esolution ADC Math
More informationNon-linear Control. Part III. Chapter 8
Chapter 8 237 Part III Chapter 8 Non-linear Control The control methods investigated so far have all been based on linear feedback control. Recently, non-linear control techniques related to One Cycle
More informationMicromouse Meeting #3 Lecture #2. Power Motors Encoders
Micromouse Meeting #3 Lecture #2 Power Motors Encoders Previous Stuff Microcontroller pick one yet? Meet your team Some teams were changed High Level Diagram Power Everything needs power Batteries Supply
More information702. Investigation of attraction force and vibration of a slipper in a tactile device with electromagnet
702. Investigation of attraction force and vibration of a slipper in a tactile device with electromagnet Arūnas Žvironas a, Marius Gudauskis b Kaunas University of Technology, Mechatronics Centre for Research,
More informationIntroduction To Temperature Controllers
Introduction To Temperature Controllers The Miniature CN77000 is a full featured microprocessor-based controller in a 1/16 DIN package. How Can I Control My Process Temperature Accurately and Reliably?
More informationDistributed by: www.jameco.com 1-800-831-4242 The content and copyrights of the attached material are the property of its owner. LM2900 LM3900 LM3301 Quad Amplifiers General Description The LM2900 series
More informationLM110 LM210 LM310 Voltage Follower
LM110 LM210 LM310 Voltage Follower General Description The LM110 series are monolithic operational amplifiers internally connected as unity-gain non-inverting amplifiers They use super-gain transistors
More information150mA, Low-Dropout Linear Regulator with Power-OK Output
9-576; Rev ; /99 5mA, Low-Dropout Linear Regulator General Description The low-dropout (LDO) linear regulator operates from a +2.5V to +6.5V input voltage range and delivers up to 5mA. It uses a P-channel
More informationLM13700 Dual Operational Transconductance Amplifiers with Linearizing Diodes and Buffers
LM13700 Dual Operational Transconductance Amplifiers with Linearizing Diodes and Buffers General Description The LM13700 series consists of two current controlled transconductance amplifiers, each with
More informationDigital Pulse-Frequency/Pulse-Amplitude Modulator for Improving Efficiency of SMPS Operating Under Light Loads
006 IEEE COMPEL Workshop, Rensselaer Polytechnic Institute, Troy, NY, USA, July 6-9, 006 Digital Pulse-Frequency/Pulse-Amplitude Modulator for Improving Efficiency of SMPS Operating Under Light Loads Nabeel
More informationFigure 70 - False-colored image of Shoffner's team basic design for a Peltier (thermalelectric cooler - TEC) driven PCR-chip thermocycler.
External fast thermocycler - 151 Basic setup A final decision on temperature control concerned the basic setup of the system; that is, which components (sensors, circuitry, etc.) to use and in what hierarchical
More informationCHAPTER 5 CONTROL SYSTEM DESIGN FOR UPFC
90 CHAPTER 5 CONTROL SYSTEM DESIGN FOR UPFC 5.1 INTRODUCTION This chapter deals with the performance comparison between a closed loop and open loop UPFC system on the aspects of power quality. The UPFC
More informationDriving LEDs with a PIC Microcontroller Application Note
Driving LEDs with a PIC Microcontroller Application Note Introduction Nowadays, applications increasingly make use of LEDs as a replacement for traditional light bulbs. For example, LEDs are frequently
More informationUsing Magnetic Sensors for Absolute Position Detection and Feedback. Kevin Claycomb University of Evansville
Using Magnetic Sensors for Absolute Position Detection and Feedback. Kevin Claycomb University of Evansville Using Magnetic Sensors for Absolute Position Detection and Feedback. Abstract Several types
More informationWebSeminar: Sept. 24, 2003
The New Digitally Controlled Programmable Gain Amplifier (PGA) 2003 Microchip Technology Incorporated. All Rights Reserved. MCP6S21/2/6/8 The New Digitally Controlled Amplifier (PGA) 1 The New Digitally
More informationLM2907/LM2917 Frequency to Voltage Converter
LM2907/LM2917 Frequency to Voltage Converter General Description The LM2907, LM2917 series are monolithic frequency to voltage converters with a high gain op amp/comparator designed to operate a relay,
More informationLF444 Quad Low Power JFET Input Operational Amplifier
LF444 Quad Low Power JFET Input Operational Amplifier General Description The LF444 quad low power operational amplifier provides many of the same AC characteristics as the industry standard LM148 while
More informationLMD A, 55V H-Bridge
3A, 55V H-Bridge General Description The LMD18201 is a 3A H-Bridge designed for motion control applications. The device is built using a multi-technology process which combines bipolar and CMOS control
More informationEQUIPMENT AND METHODS FOR WAVEGUIDE POWER MEASUREMENT IN MICROWAVE HEATING APPLICATIONS
EQUIPMENT AND METHODS OR WAVEGUIDE POWER MEASUREMENT IN MICROWAVE HEATING APPLICATIONS John Gerling Gerling Applied Engineering, Inc. PO Box 580816 Modesto, CA 95358 USA ABSTRACT Various methods for waveguide
More informationSummary 185. Chapter 4
Summary This thesis describes the theory, design and realization of precision interface electronics for bridge transducers and thermocouples that require high accuracy, low noise, low drift and simultaneously,
More informationCSE 3215 Embedded Systems Laboratory Lab 5 Digital Control System
Introduction CSE 3215 Embedded Systems Laboratory Lab 5 Digital Control System The purpose of this lab is to introduce you to digital control systems. The most basic function of a control system is to
More informationLogarithmic Circuits
by Kenneth A. Kuhn March 24, 2013 A log converter is a circuit that converts an input voltage to an output voltage that is a logarithmic function of the input voltage. Computing the logarithm of a signal
More informationLM110 LM210 LM310 Voltage Follower
LM110 LM210 LM310 Voltage Follower General Description The LM110 series are monolithic operational amplifiers internally connected as unity-gain non-inverting amplifiers They use super-gain transistors
More informationDUAL ULTRA MICROPOWER RAIL-TO-RAIL CMOS OPERATIONAL AMPLIFIER
ADVANCED LINEAR DEVICES, INC. ALD276A/ALD276B ALD276 DUAL ULTRA MICROPOWER RAILTORAIL CMOS OPERATIONAL AMPLIFIER GENERAL DESCRIPTION The ALD276 is a dual monolithic CMOS micropower high slewrate operational
More informationDual Axis Solar Panel Control System
Dual Axis Solar Panel Control System Kane Heaning 1, Saad Sohail 1, William Kerbel 1, Russell Trafford 1 Petia Georgieva 1,2, Nidhal Bouaynaya 1 and Robi Polikar 1 1 Department of Electrical and Computer
More informationνµθωερτψυιοπασδφγηϕκλζξχϖβνµθωερτ ψυιοπασδφγηϕκλζξχϖβνµθωερτψυιοπα σδφγηϕκλζξχϖβνµθωερτψυιοπασδφγηϕκ χϖβνµθωερτψυιοπασδφγηϕκλζξχϖβνµθ
θωερτψυιοπασδφγηϕκλζξχϖβνµθωερτψ υιοπασδφγηϕκλζξχϖβνµθωερτψυιοπασδ φγηϕκλζξχϖβνµθωερτψυιοπασδφγηϕκλζ ξχϖβνµθωερτψυιοπασδφγηϕκλζξχϖβνµ EE 331 Design Project Final Report θωερτψυιοπασδφγηϕκλζξχϖβνµθωερτψ
More informationLM231A/LM231/LM331A/LM331 Precision Voltage-to-Frequency Converters
LM231A/LM231/LM331A/LM331 Precision Voltage-to-Frequency Converters General Description The LM231/LM331 family of voltage-to-frequency converters are ideally suited for use in simple low-cost circuits
More informationPID500 FULL FEATURED PID TEMPERATURE CONTROLLERS
PID500 FULL FEATURED PID TEMPERATURE CONTROLLERS DESCRIPTION FEATURES * Compact Size: 1/16 DIN * Dual LED displays for simultaneous indication of process temperature and set point (Lower display selectable
More informationIsolated, Linearized RTD Input 7B34 FEATURES APPLICATIONS PRODUCT OVERVIEW FUNCTIONAL BLOCK DIAGRAM
Isolated, Linearized RTD Input 7B34 FEATURES Amplifies, Protects, Filters, and interfaces input voltages from a wide variety of two and three-wire platinum, copper and nickel Resistor Temperature Detectors
More informationDifferential Amplifier : input. resistance. Differential amplifiers are widely used in engineering instrumentation
Differential Amplifier : input resistance Differential amplifiers are widely used in engineering instrumentation Differential Amplifier : input resistance v 2 v 1 ir 1 ir 1 2iR 1 R in v 2 i v 1 2R 1 Differential
More information