Inverse opal structure of SnO2 and SnO2 : Zn for gas sensing

In the present work, we propose a low cost synthetic sol-gel route that allows to produce high quality oxide nanostructures with inverse opal architecture which, transferred on alumina substrates provided with Pt interdigitated contacts and heater, are tested as gas sensing devices. An opal template of sintered monodisperse polystyrene spheres was filled with alcoholic solutions of metal oxide precursors and transferred on the alumina substrate. The polystyrene template was removed by thermal treatment, leading to the simultaneous sintering of the oxide nanoparticles. Beside SnO₂, a binary oxide well known for gas sensing application, a Zn containing ternary solid solution (SnO₂:Zn, with Zn 10% molar content) was taken into account for sensor preparation. The obtained high quality macro and meso-porous structures, characterized by different techniques, were tested for pollutant (CO, NO₂) and interfering (methanol) gases, showing that very good detection can be reached through the increase of surface area offered by the inverse opal structure and the tailoring of the chemical composition. The electrical characterization performed on the tin dioxide based sensors shows an enhancement of the relative response towards NO₂ at low temperatures in comparison with conventional SnO₂ sensors obtained with sputtering technique. The addition of Zn increases the separation between the operating temperatures for reducing and oxidizing gases and results in a further enhancement of the selectivity to NO₂ detection.

Microprocessor-based insulin delivery device with amperometric glucose sensing

This paper details the design of a closed-loop insulin delivery device, consisting of a glucose sensing circuit, and a basic microprocessor-based syringe pump. The glucose sensing circuit contains the required components to interface with CGMS's glucose sensor assembly, while the syringe pump design uses microprocessor to allow flexible control over the pump driver. Instrumentation developed in this paper provides a ready reference to other researchers on the construction of a closed-loop insulin delivery apparatus with amperometric glucose sensor.

Retrospective application of remote sensing to the Tasmanian lakeland

This thesis describes the research undertaken for a degree of Master of Science in a retrospective study of airborne remotely sensed data registered in 1990 and 1993, and field captured data of aquatic humus concentrations for ~ 45 lakes in Tasmania. The aim was to investigate and describe the relationship between the remotely sensed data and the field data and to test the hypothesis that the remotely sensed data would establish further evidence of a limnological corridor of change running north-west to south- east. The airborne remotely sensed data consisted of data captured by the CSIRO Ocean Colour Scanner (OCS) and a newly developed Canadian scanner, a compact airborne spectrographic imager (CASI). The thesis investigates the relationship between the two kinds of data sources. The remotely sensed data was collected with the OCS scanner in 1990 (during one day) and with both the OCS and the CASI in 1993 (during three days). The OCS scanner registers data in 9 wavelength bands between 380 nm and 960 nm with a 10-20 nm bandwidth, and the CASI in 288 wavelength bands between 379.57 nm and 893.5 nm (ie. spectral mode) with a spectral resolution of 2.5 nm. The remotely sensed data were extracted from the original tapes with the help of the CSIRO and supplied software and digital sample areas (band value means) for each lake were subsequently extracted for data manipulation and statistical analysis. Field data was captured concurrently with the remotely sensed data in 1993 by lake hopping using a light aircraft with floats. The field data used for analysis with the remotely sensed data were the laboratory determined g440 values from the 1993 water samples collated with g440 values determined from earlier years. No spectro-radiometric data of the lakes, data of incoming irradiance or ancillary climatic data were captured during the remote sensing missions. The sections of the background chapter in the thesis provide a background to the research both in regards to remote sensing of water quality and the relationship between remotely sensed spectral data and water quality parameters, as well as a description of the Tasmanian lakes flown. The lakes were divided into four groups based on results from previous studies and optical parameters, especially aquatic humus concentrations as measured from field captured data. The four groups consist of the ‘green” clear water lakes mostly situated on the Central Plateau, the ‘brown” highly dystrophic lakes in western Tasmania, the ‘corridor” lakes situated along a corridor of change lying approximately between the two lines denoting the Jurassic edge and 1200 mm isohyet, and the ‘eastern, turbid” lakes make up the fourth group. The analytical part of the research work was mostly concerned with manipulating and analysing the CASI data because of its higher spectral resolution. The research explores methods to apply corrections to this data to reduce the disturbing effects of varying illumination and atmospheric conditions. Three different methods were attempted. In the first method two different standardisation formulas are applied to the data as well as ‘day correction” factors calculated from data from one of the lakes, Lake Rolleston, which had data captured for all three days of the remote sensing operations. The standardisation formulas were also applied to the OCS data. In second method an attempt to reduce the effects of the atmosphere was performed using spectro-radiometric captured in 1988 for one of the lakes flown, Great Lake. All the lake sample data were time normalised using general irradiance data obtained from the University of Tasmania and the sky portion as calculated from Great Lake upwelling irradiance data was then subtracted. The last method involved using two different band ratios to eliminate atmospheric effects. Statistical analysis was applied to the data resulting from the three methods to try to describe the relationship between the remotely sensed data and the field captured data. Discriminant analysis, cluster analysis and factor analysis using principal component analysis (pea) were applied to the remotely sensed data and the field data. The factor scores resulting from the pca were regressed against the field collated data of g440 as were the values resulting from last method. The results from the statistical analysis of the data from the first method show that the lakes group well (100%) against the predetermined groups using discriminant analysis applied to the remotely sensed CASI data. Most variance in the data are contained in the first factor resulting from pca regardless of data manipulation method. Regression of the factor scores against g440 field data show a strong non- linear relationship and a one-sided linear regression test is therefore considered an inappropriate analysis method to describe the dataset relationships. The research has shown that with the available data, correction and analysis methods, and within the scope of the Masters study, it was not possible to establish the relationships between the remotely sensed data and the field measured parameters as hoped. The main reason for this was the failure to retrieve remotely sensed lake signatures adequately corrected for atmospheric noise for comparison with the field data. This in turn is a result of the lack of detailed ancillary information needed to apply available established methods for noise reduction - to apply these methods we require field spectroradiometric measurements and environmental information of the varying conditions both within the study area and within the time frame of capture of the remotely sensed data.

Haptic control methodologies for rover teleoperation in non-deterministic remote environments

Haptic teleoperation allows human operators to interact with a remote mobile robot using their haptic sensory modality. This research introduces new haptic control methodologies allowing the teleoperator to overcome the limitations of existing techniques, ultimately facilitating improved mobile robotic control for the exploration of hazardous and remote environments.

Towards haptic microrobotic intracellular injection

This paper proposes a system providing the operator with an intuitive method for controlling a micromanipulator during intracellular injection. A low-cost haptic device is utilised and 3D position-to-position kinematic mapping allows the operator to control the micropipette using a similar method to handheld needle insertion. The workspaces of the haptic device and micromanipulator are analysed and the importance of appropriate scaling to positioning resolution and tracking performance is investigated. The control issues integral to achieving adequate control of the micromanipulator using the Phantom Omni haptic device are addressed. Aside from offering an intuitive method for controlling the micropipette, this work lays the foundation for real-time haptic assistance in the cell injection task.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Method and apparatus for haptic control

The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.

Haptic mobility control for teleoperated rovers

Future missions involving human and robotic systems co-resident on the lunar surface may call for rovers to be teleoperated from the safety of pressurized habitats or vehicles. An approach is presented that emphasizes human-level judgment and intuition in the total control of a rover’s mobility actions. This is facilitated through human-robotic haptics interaction. The concept of a haptics cone control surface is presented, which provides a teleoperator with a means to intuitively determine the velocities he/she is commanding to control rover motion. The teleoperator is also provided with real-time, tasks-relevant haptic augmentation indicating suggestive control actions concerning the desired mobility objective. Utility of the approach for teleoperated control of steep terrain traversal is demonstrated in simulation.

Data-based dynamic haptic interaction model with deformable 3D objects

The data-based modeling of the haptic interaction simulation is a growing trend in research. These techniques offer a quick alternative to parametric modeling of the simulation. So far, most of the use of the data-based techniques was applied to static simulations. This paper introduces how to use data-based model in dynamic simulations. This ensures realistic behavior and produce results that are very close to parametric modeling. The results show that a quick and accurate response can be achieved using the proposed methods.

Haptic guidance for microrobotic intracellular injection

The ability for a bio-operator to utilise a haptic device to manipulate a microrobot for intracellular injection offers immense benefits. One significant benefit is for the bio-operator to receive haptic guidance while performing the injection process. In order to address this, this paper investigates the use of haptic virtual fixtures for cell injection and proposes a novel force field virtual fixture. The guidance force felt by the bio-operator is determined by force field analysis within the virtual fixture. The proposed force field virtual fixture assists the bio-operator when performing intracellular injection by limiting the micropipette tip's motion to a conical volume as well as recommending the desired path for optimal injection. A virtual fixture plane is also introduced to prevent the bio-operator from moving the micropipette tip beyond the deposition target inside the cell. Simulation results demonstrate the operation of the guidance system.