29 resultados para robot sensing systems

em Aston University Research Archive


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Interferometric sensors for slowly varying measurands, such as temperature or pressure, require a long term frequency stability of the source. We describe a system for frequency locking a laser diode to an atomic transition in a hollow cathode lamp using the optogalvanic effect.

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The technique of remote sensing provides a unique view of the earth's surface and considerable areas can be surveyed in a short amount of time. The aim of this project was to evaluate whether remote sensing, particularly using the Airborne Thematic Mapper (ATM) with its wide spectral range, was capable of monitoring landfill sites within an urban environment with the aid of image processing and Geographical Information Systems (GIS) methods. The regions under study were in the West Midlands conurbation and consisted of a large area in what is locally known as the Black Country containing heavy industry intermingled with residential areas, and a large single active landfill in north Birmingham. When waste is collected in large volumes it decays and gives off pollutants. These pollutants, landfill gas and leachate (a liquid effluent), are known to be injurious to vegetation and can cause stress and death. Vegetation under stress can exhibit a physiological change, detectable by the remote sensing systems used. The chemical and biological reactions that create the pollutants are exothermic and the gas and leachate, if they leave the waste, can be warmer than their surroundings. Thermal imagery from the ATM (daylight and dawn) and thermal video were obtained and used to find thermal anomalies on the area under study. The results showed that vegetation stress is not a reliable indicator of landfill gas migration, as sites within an urban environment have a cover too complex for the effects to be identified. Gas emissions from two sites were successfully detected by all the thermal imagery with the thermal ATM being the best. Although the results were somewhat disappointing, recent technical advancements in the remote sensing systems used in this project would allow geo-registration of ATM imagery taken on different occasions and the elimination of the effects of solar insolation.

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Fibre Bragg grating sensors are usually expensive to interrogate, and part of this thesis describes a low cost interrogation system for a group of such devices which can be indefinitely scaled up for larger numbers of sensors without requiring an increasingly broadband light source. It incorporates inherent temperature correction and also uses fewer photodiodes than the number or sensors it interrogates, using neural networks to interpret the photodiode data. A novel sensing arrangement using an FBG grating encapsulated in a silicone polymer is presented. This sensor is capable of distinguishing between different surface profiles with ridges 0.5 to 1mm deep and 2mm pitch and either triangular, semicircular or square in profile. Early experiments using neural networks to distinguish between these profiles are also presented. The potential applications for tactile sensing systems incorporating fibre Bragg gratings and neural networks are explored.

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Two distributive tactile sensing systems are presented, based on fibre Bragg grating sensors. The first is a onedimensional metal strip with an array of 4 sensors, which is capable of detecting the magnitude and position of a contacting load. This system is compared experimentally with a similar system using resistive strain gauges. The second is a two-dimensional steel plate with 9 sensors which is able to distinguish the position and shape of a contacting load. This system is compared with a similar system using 16 infrared displacement sensors. Each system uses neural networks to process the sensor data to give information concerning the type of contact.

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Artificial tactile sensing systems using the distributive tactile sensing technique and fibre Bragg grating sensors are presented. A one-dimensional arrangement, with possible applications in an endoscope, is compared with a similar arrangement using conventional electronic sensors. A two-dimensional sensing surface is described, with potential applications in human balance and gait analysis, capable of detecting simultaneously the position and shape of an object placed upon it. It is believed that this work represents the first use of fibre Bragg grating sensors in a distributive sensing regime.

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Two distributive tactile sensing systems are presented, based on fibre Bragg grating sensors. The first is a one-dimensional metal strip with an array of 4 sensors, which is capable of detecting the magnitude and position of a contacting load. This system is compared experimentally with a similar system using resistive strain gauges. The second is a two-dimensional steel plate with 9 sensors which is able to distinguish the position and shape of a contacting load. This system is compared with a similar system using 16 infrared displacement sensors. Each system uses neural networks to process the sensor data to give information concerning the type of contact.

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The high gains in performance predicted for optical immersion are difficult to achieve in practice due to total internal reflection at the lens/detector interface. By reducing the air gap at this interface optical tunneling becomes possible and the predicted gains can be realized in practical devices. Using this technique we have demonstrated large performance gains by optically immersing mid-infrared heterostructure InA1Sb LEDs and photodiodes using hypershperical germanium lenses. The development of an effective method of optical immersion that gives excellent optical coupling has produced a photodiode with a peak room temperature detectivity (D*) of 5.3 x 109 cmHz½W-1 at λpeak=5.4μm and a 40° field of view. A hyperspherically immersed LED showed a f-fold improvement in the external efficiency, and a 3-fold improvement in the directionality compared with a conventional planar LED for f/2 optical systems. The incorporation of these uncooled devices in a White cell produced a NO2 gas sensing system with 2 part-per-million sensitivity, with an LED drive current of <5mA. These results represent a significant advance in the use of solid state devices for portable gas sensing systems.

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We demonstrate a novel and simple sensor interrogation scheme for fiber Bragg grating (FBG) based sensing systems. In this scheme, a chirped FBG based Sagnac loop is used as a wavelength-dependent receiver, and a stable and linear readout response is realised. It is a signijkant advantage of this scheme that the sensitivity and the measurement wavelength range can be easily adjhsted by controlling the chirp of the FBG or using an optical delay line in the Sagnac loop.

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This thesis begins by providing a review of techniques for interpreting the thermal response at the earth's surface acquired using remote sensing technology. Historic limitations in the precision with which imagery acquired from airborne platforms can be geometrically corrected and co-registered has meant that relatively little work has been carried out examining the diurnal variation of surface temperature over wide regions. Although emerging remote sensing systems provide the potential to register temporal image data within satisfactory levels of accuracy, this technology is still not widely available and does not address the issue of historic data sets which cannot be rectified using conventional parametric approaches. In overcoming these problems, the second part of this thesis describes the development of an alternative approach for rectifying airborne line-scanned imagery. The underlying assumption that scan lines within the imagery are straight greatly reduces the number of ground control points required to describe the image geometry. Furthermore, the use of pattern matching procedures to identify geometric disparities between raw line-scanned imagery and corresponding aerial photography enables the correction procedure to be almost fully automated. By reconstructing the raw image data on a truly line-by-line basis, it is possible to register the airborne line-scanned imagery to the aerial photography with an average accuracy of better than one pixel. Providing corresponding aerial photography is available, this approach can be applied in the absence of platform altitude information allowing multi-temporal data sets to be corrected and registered.

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There is a growing interest for esophageal measurements which can provide important and reliable data when diagnosing the motor function of the sphincters and the esophageal body. Biocompatibility, sensing resolution and the comfort of the patient are key parameters for manometric sensing systems. A new sensing approach which could fulfill all these needs is presented in this paper consisting of an embedded polymer fiber sensor, based on multiplexed fiber Bragg gratings. A response to a radial pressure almost 6 times that of a comparable silica fiber based sensor is obtained.

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We demonstrate a novel and simple sensor interrogation scheme for fiber Bragg grating (FBG) based sensing systems. In this scheme, a chirped FBG based Sagnac loop is used as a wavelength-dependent receiver, and a stable and linear readout response is realised. It is a signijkant advantage of this scheme that the sensitivity and the measurement wavelength range can be easily adjhsted by controlling the chirp of the FBG or using an optical delay line in the Sagnac loop.

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There is a growing interest for esophageal measurements which can provide important and reliable data when diagnosing the motor function of the sphincters and the esophageal body. Biocompatibility, sensing resolution and the comfort of the patient are key parameters for manometric sensing systems. A new sensing approach which could fulfill all these needs is presented in this paper consisting of an embedded polymer fiber sensor, based on multiplexed fiber Bragg gratings. A response to a radial pressure almost 6 times that of a comparable silica fiber based sensor is obtained.

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This thesis presents a detailed numerical analysis, fabrication method and experimental investigation on 45º tilted fiber gratings (45º-TFGs) and excessively tilted fiber gratings (Ex-TFGs), and their applications in fiber laser and sensing systems. The one of the most significant contributions of the work reported in this thesis is that the 45º-TFGs with high polarization extinction ratio (PER) have been fabricated in single mode telecom and polarization maintaining (PM) fibers with spectral response covering three prominent optic communication and central wavelength ranges at 1060nm, 1310nm and 1550nm. The most achieved PERs for the 45º-TFGs are up to and greater than 35-50dB, which have reached and even exceeded many commercial in-fiber polarizers. It has been proposed that the 45º-TFGs of high PER can be used as ideal in-fiber polarizers for a wide range of fiber systems and applications. In addition, in-depth detailed theoretical models and analysis have been developed and systematic experimental evaluation has been conducted producing results in excellent agreement with theoretical modeling. Another important outcome of the research work is the proposal and demonstration of all fiber Lyot filters (AFLFs) implemented by utilizing two (for a single stage type) and more (for multi-stage) 45º-TFGs in PM fiber cavity structure. The detailed theoretical analysis and modelling of such AFLFs have also been carried out giving design guidance for the practical implementation. The unique function advantages of 45º-TFG based AFLFs have been revealed, showing high finesse multi-wavelength transmission of single polarization and wide range of tuneability. The temperature tuning results of AFLFs have shown that the AFLFs have 60 times higher thermal sensitivity than the normal FBGs, thus permitting thermal tuning rate of ~8nm/10ºC. By using an intra-cavity AFLF, an all fiber soliton mode locking laser with almost total suppression of siliton sidebands, single polarization output and single/multi-wavelength switchable operation has been demonstrated. The final significant contribution is the theoretical analysis and experimental verification on the design, fabrication and sensing application of Ex-TFGs. The Ex-TFG sensitivity model to the surrounding medium refractive index (SRI) has been developed for the first time, and the factors that affect the thermal and SRI sensitivity in relation to the wavelength range, tilt angle, and the size of cladding have been investigated. As a practical SRI sensor, an 81º-TFG UV-inscribed in the fiber with small (40μm) cladding radius has shown an SRI sensitivity up to 1180nm/RIU in the index of 1.345 range. Finally, to ensure single polarization detection in such an SRI sensor, a hybrid configuration by UV-inscribing a 45º-TFG and an 81º-TFG closely on the same piece of fiber has been demonstrated as a more advanced SRI sensing system.

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We review some recent results on the application of distributed Raman amplification schemes, including ultralong lasers, to the extension of the operating range and contrast in Brillouin optical time domain analysis (BOTDA) distributed sensing systems. © 2010 IEEE.

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This thesis presents detailed investigation of UV inscribed fibre grating based devices and novel developments in the applications of such devices in optical sensing and fibre laser systems. The major contribution of this PhD programme includes the systematic study on fabrication, spectral characteristics and applications of different types of UV written in-fibre gratings such as Type I and IA Fibre Bragg Gratings (FBGs), Chirped Fibre Bragg Gratings (CFBGs) and Tilted Fibre Gratings (TFGs) with small, large and 45º tilted structures inscribed in normal silica fibre. Three fabrication techniques including holographic, phase-mask and blank beam exposure scanning, which were employed to fabricate a range of gratings in standard single mode fibre, are fully discussed. The thesis reports the creation of smart structures with self-sensing capability by embedding FBG-array sensors in Al matrix composite. In another part of this study, we have demonstrated the particular significant improvements made in sensitising standard FBGs to the chemical surrounding medium by inducing microstructure to the grating by femtosecond (fs) patterning assisted chemical etching technique. Also, a major work is presented for the investigation on the structures, inscription methods and spectral Polarisation Dependent Loss (PDL) and thermal characteristics of different angle TFGs. Finally, a very novel application in realising stable single polarisation and multiwavelength switchable Erbium Doped Fibre Lasers (EDFLs) using intracavity polarisation selective filters based on TFG devices with tilted structures at small, large and exact 45° angles forms another important contribution of this thesis.