Physical connection and disconnection control based on hot melt adhesives

Physical connection and disconnection control has practical meanings for robot applications. Compared to conventional connection mechanisms, bonding involving a thermal process could provide high connection strength, high repeatability, and power-free connection maintenance, etc. In terms of disconnection, an established bond can be easily weakened with a temperature rise of the material used to form the bond. Hot melt adhesives (HMAs) are such material that can form adhesive bonds with any solid surfaces through a thermally induced solidification process. This paper proposes a novel control method for automatic connection and disconnection based on HMAs. More specifically, mathematical models are first established to describe the flowing behavior of HMAs at higher temperatures, as well as the temperature-dependent strength of an established HMA bond. These models are then validated with a specific type of HMA in a minimalistic robot setup equipped with two mechatronic devices for automated material handling. The validated models are eventually used for determining open parameters in a feedback controller for the robot to perform a pick-and-place task. Through a series of trials with different wooden and aluminum parts, we evaluate the performance of the automatic connection and disconnection methods in terms of speed, energy consumption, and robustness. © 1996-2012 IEEE.

Towards soft self-reconfigurable robots

Modular self-reconfigurable robots have previously demonstrated that automatic control of their own body shapes enriches their behavioural functions. However, having predefined rigid modules technically limits real-world systems from being hyper-redundant and compliant. Encouraged by recent progress using elastically deformable material for robots, we propose the concept of soft self-reconfigurable robots which may become hyper-flexible during interaction with the environment. As the first attempt towards this goal, the paper proposes a novel approach using viscoelastic material Hot-Melt Adhesives (HMAs): for physical connection and disconnection control between bodies that are not necessarily predefined rigid modules. We present a model that characterizes the temperature dependency of the strength of HMA bonds, which is then validated and used in a feedback controller for automatic connection and disconnection. Using a minimalistic robot platform that is equipped with two devices handling HMAs, the performance of this method is evaluated in a pick-and-place experiment with aluminium and wooden parts. © 2012 IEEE.

Low-cost PCB-integrated 10-Gb/s optical transceiver built with a novel integration method

A novel integration method for the production of cost-effective optoelectronic printed circuit boards (OE PCBs) is presented. The proposed integration method allows fabrication of OE PCBs with manufacturing processes common to the electronics industry while enabling direct attachment of electronic components onto the board with solder reflow processes as well as board assembly with automated pick-and-place tools. The OE PCB design is based on the use of polymer multimode waveguides, end-fired optical coupling schemes, and simple electro-optic connectors, eliminating the need for additional optical components in the optical layer, such as micro-mirrors and micro-lenses. A proof-of-concept low-cost optical transceiver produced with the proposed integration method is presented. This transceiver is fabricated on a low-cost FR4 substrate, comprises a polymer Y-splitter together with the electronic circuitry of the transmitter and receiver modules and achieves error-free 10-Gb/s bidirectional data transmission. Theoretical studies on the optical coupling efficiencies and alignment tolerances achieved with the employed end-fired coupling schemes are presented while experimental results on the optical transmission characteristics, frequency response, and data transmission performance of the integrated optical links are reported. The demonstrated optoelectronic unit can be used as a front-end optical network unit in short-reach datacommunication links. © 2011-2012 IEEE.

PCB-integrated optical waveguide sensors: An ammonia gas sensor

This paper presents a novel platform for the formation of cost-effective PCB-integrated optical waveguide sensors. The sensor design relies on the use of multimode polymer waveguides that can be formed directly on standard PCBs and commercially-available chemical dyes, enabling the integration of all essential sensor components (electronic, photonic, chemical) on low-cost substrates. Moreover, it enables the detection of multiple analytes from a single device by employing waveguide arrays functionalised with different chemical dyes. The devices can be manufactured with conventional methods of the PCB industry, such as solder-reflow processes and pick-and-place assembly techniques. As a proof of principle, a PCB-integrated ammonia gas sensor is fabricated on a FR4 substrate. The sensor operation relies on the change of the optical transmission characteristics of chemically functionalised optical waveguides in the presence of ammonia molecules. The fabrication and assembly of the sensor unit, as well as fundamental simulation and characterisation studies, are presented. The device achieves a sensitivity of approximately 30 ppm and a linear response up to 600 ppm at room temperature. Finally, the potential to detect multiple analytes from a single device is demonstrated using principal-component analysis. © 1983-2012 IEEE.

Human-humanoid interaction: Is a humanoid robot perceived as a human?

As humanoid robots become more commonplace in our society, it is important to understand the relation between humans and humanoid robots. In human face-to-face interaction, the observation of another individual performing an action facilitates the execution of a similar action, and interferes with the execution of different action. This phenomenon has been explained by the existence of shared internal representations for the execution and perception of actions, which would be automatically activated by the perception of another individual's action. In one interference experiment, null interference was reported when subjects observed a robotic arm perform the incongruent task, suggesting that this effect may be specific to interacting with other humans. This experimental paradigm, designed to investigate motor interference in human interactions, was adapted to investigate how similar the implicit perception of a humanoid robot is to a human agent. Subjects performed rhythmic arm movements while observing either a human agent or humanoid robot performing either congruent or incongruent movements. The variance of the executed movements was used as a measure of the amount of interference in the movements. Both the human and humanoid agents produced significant interference effect. These results suggest that observing the action of humanoid robot and human agent may rely on similar perceptual processes. Furthermore, the ratio of the variance in incongruent to congruent conditions varied between the human agent and humanoid robot. We speculate this ratio describes how the implicit perception of a robot is similar to that of a human, so that this paradigm could provide an objective measure of the reaction to different types of robots and be used to guide the design of humanoid robots interacting with humans. © 2004 IEEE.