Teleoperation of ABB industrial robots

Purpose - The purpose of this paper is to analyse teleoperation of an ABB industrial robot with an ABB IRC5 controller. A method to improve motion smoothness and decrease latency using the existing ABB IRC5 robot controller without access to any low-level interface is proposed. Design/methodology/ approach - The proposed control algorithm includes a high-level proportional-integral-derivative controller (PID) controller used to dynamically generate reference velocities for different travel ranges of the tool centre point (TCP) of the robot. Communication with the ABB IRC5 controller was performed utilising the ABB PC software development kit. The multitasking feature of the IRC5 controller was used to enhance the communication frequency between the controller and the remote application. Trajectory tracking experiments of a pre-defined three-dimensional trajectory were carried out and the benefits of the proposed algorithm were demonstrated. The robot was intentionally installed on a wobbly table and its vibrations were recorded using a six-degrees-of-freedom force/torque sensor fitted to the tool mounting interface of the robot. The robot vibrations were used as a measure of the smoothness of the tracking movements. Findings - A communication rate of up to 250 Hz between the computer and the controller was established using C#.Net. Experimental results demonstrating the robot TCP, tracking errors and robot vibrations for different control approaches were provided and analysed. It was demonstrated that the proposed approach results in the smoothest motion with tracking errors of < 0.2 mm. Research limitations/implications - The proposed approach may be employed to produce smooth motion for a remotely operated ABB industrial robot with the existing ABB IRC5 controller. However, to achieve high-bandwidth path following, the inherent latency of the controller must be overcome, for example by utilising a low-level interface. It is particularly useful for applications including a large number of short manipulation segments, which is typical in teleoperation applications. Social implications - Using the proposed technique, off-the-shelf industrial robots can be used for research and industrial applications where remote control is required. Originality/value - Although low-level control interface for industrial robots seems to be the ideal long-term solution for teleoperation applications, the proposed remote control technique allows out-of-the-box ABB industrial robots with IRC5 controllers to achieve high efficiency and manipulation smoothness without requirements of any low-level programming interface. © Copyright - 2014 Emerald Group Publishing Limited. All rights reserved.

Improvements in teleoperation of industrial robots without low-level access

 This paper proposes a method to improve motion smoothness and decrease latency using existing ABB IRC5 robot controllers without access to any low level interface. The proposed control algorithm includes a high-level PID controller used to dynamically generate reference velocities for different travel ranges of the tool centre point (TCP) of the robot. Communication with the ABB IRC5 controller was performed utilising the ABB PC software development kit (SDK). The multitasking feature of the IRC5 controller was used in order to enhance the communication frequency between the controller and the remote application. Trajectory tracking experiments of a predefined 3D trajectory were carried out and the benefits of the proposed algorithm was demonstrated. The robot was intentionally installed on a wobbly table and its vibrations were recorded using a six degrees of freedom (DOF) force/torque sensor fitted to the tool mounting interface of the robot. The robot vibrations were used as a measure of the smoothness of the tracking movements. Experimental results demonstrating the robot tool centre point (TCP), tracking errors, and robot vibrations for different control approaches were provided and analysed. It was demonstrated that the proposed approach results in the smoothest motion with less than 0.2 mm tracking errors.

A first step towards a simple in-line shape compensation routine for the roll forming of high strength steel

The roll forming process is increasingly used in the automotive industry for the manufacture of structural and crash components from Ultra High Strength Steel (UHSS). Due to the high strength of UHSS (<1GPa) even small and commonly observed material property variations from coil to coil can result in significant changes in material yield and through that affect the final shape of the roll formed component. This requires the re-adjustment of tooling to compensate for shape defects and maintain part geometry resulting in costly downtimes of equipment. This paper presents a first step towards an in-line shape compensation method that based on the monitoring of roll load and torque allows for the estimation of shape defects and the subsequent re-adjustment of tooling for compensation. For this the effect of material property variation on common shape defects observed in the roll forming process as well as measurable process parameters such as roll load and torque needs to be understood. The effect of yield strength and material hardening on roll load and torque as well as longitudinal bow is investigated via experimental trials and numerical analysis. A regression analysis combined with Analysis of Variance (ANOVA) techniques is employed to establish the relationships between the process and material parameters and to determine their percentage influence on longitudinal bow, roll load and torque. The study will show that the level of longitudinal bow, one of the major shape defects observed in roll forming, can be estimated by variations in roll load and torque.

The effective radius and resistance to slippage

This work reveals that parallel gripper flat-jaw configuration affects grasping effectiveness. An important finding is the fact that object grasp reliability is influenced significantly by gripper's ability to develop high resistance to object rotation in the gripper. The concept of effective torque radius, which increases resistance to object rotation in the gripper, is presented here and can be extrapolated to other grasping devices and grasping strategies to improve their reliability and make them more effective. Grippers with full-jaw contact surface and those with discrete contact areas have been investigated using simple experimental setups. Essential mathematical models needed for analytical investigation, based on simple mechanics for full-jaw contact surfaces and discrete-jaw contact surfaces, are presented. These may be useful for gripper jaw design purposes.

A comprehensive analytical subdomain model and its field solutions for surface-mounted permanent magnet machines

This paper presents a comprehensive analytical subdomain model together with its field solutions for predicting the magnetic field distributions in surface-mounted permanent magnet (PM) machines. The tooth tips and slotting effects during open-circuit, armature reaction, and on-load conditions are considered when deriving the model and developing its solutions. The model derivations and field solutions are extended from a previous model, and can be applied to PM machines with any combinations of slot and pole numbers and any magnetization patterns in the magnets. This model is initially formulated according to Laplace's and Poisson's equations in 2-D polar coordinates by the separation of variables technique in four subdomains, such as magnet, airgap, winding slots, and slot-openings. The field solution of each subdomain is obtained applying the appropriate boundary conditions and interface conditions between every two subdomains, respectively, which can precisely account for the mutual influence between slots. Finite element analysis (FEA) is later deployed to validate the analytical results in a surface-mounted PM machine that has nonoverlapping winding arrangement. For validation purposes, PM machines having 3-slot/2-pole with parallel magnetization and 12-slot/10-pole with either parallel or radial magnetizations are used for comparisons. Computation of global quantities for the motor which include the phase back-EMF and cogging torque is also included. The results indicate that the proposed analytical model can accurately predict the magnetic field distributions in each subdomain and the motor's global quantities, which are in good agreement with those obtained from the FEA.

The need to revise the current methods to measure and assess static recrystallization behavior

Heterogeneous deformation developed during "static recrystallization (SRX) tests" poses serious questions about the validity of the conventional methods to measure softening fraction. The challenges to measure SRX and verify a proposed kinetic model of SRX are discussed and a least square technique is utilized to quantify the error in a proposed SRX kinetic model. This technique relies on an existing computational-experimental multi-layer formulation to account for the heterogeneity during the post interruption hot torsion deformation. The kinetics of static recrystallization for a type 304 austenitic stainless steel deformed at 900 °C and strain rate of 0.01s^-1 is characterized implementing the formulation. Minimizing the error between the measured and calculated torque-twist data, the parameters of the kinetic model and the flow behavior during the second hit are evaluated and compared with those obtained based on a conventional technique. Typical static recrystallization distributions in the test sample will be presented. It has been found that the major differences between the conventional and the presented technique results are due to the heterogeneous recrystallization in the cylindrical core of the specimen where the material is still partially recrystallized at the onset of the second hit deformation. For the investigated experimental conditions, the core is confined in the first two-thirds of the gauge radius, when the holding time is shorter than 50 s and the maximum pre-strain is about 0.5.

Influence of vibration resistance training on knee extensor and plantar flexor size, strength, and contractile speed characteristics after 60 days of bed rest

Spaceflight and bed rest (BR) result in loss of muscle mass and strength. This study evaluated the effectiveness of resistance training and vibration-augmented resistance training to preserve thigh (quadriceps femoris) and calf (triceps surae) muscle cross-sectional area (CSA), isometric maximal voluntary contraction (MVC), isometric contractile speed, and neural activation (electromyogram) during 60 days of BR. Male subjects participating in the second Berlin Bed Rest Study underwent BR only [control (CTR), n = 9], BR with resistance training (RE; n = 7), or BR with vibration-augmented resistance training (RVE; n = 7). Training was performed three times per week. Thigh CSA and MVC torque decreased by 13.5 and 21.3%, respectively, for CTR (both P < 0.001), but were preserved for RE and RVE. Calf CSA declined for all groups, but more so (P < 0.001) for CTR (23.8%) than for RE (10.7%) and RVE (11.0%). Loss in calf MVC torque was greater (P < 0.05) for CTR (24.9%) than for RVE (12.3%), but not different from RE (14.8%). Neural activation at MVC remained unchanged in all groups. For indexes related to rate of torque development, countermeasure subjects were pooled into one resistance training group (RT, n = 14). Thigh maximal rate of torque development (MRTD) and contractile impulse remained unaltered for CTR, but MRTD decreased 16% for RT. Calf MRTD remained unaltered for both groups, whereas contractile impulse increased across groups (28.8%), despite suppression in peak electromyogram (12.1%). In conclusion, vibration exposure did not enhance the efficacy of resistance training to preserve thigh and calf neuromuscular function during BR, although sample size issues may have played a role. The exercise regimen maintained thigh size and MVC strength, but promoted a loss in contractile speed. Whereas contractile speed improved for the calf, the exercise regimen only partially preserved calf size and MVC strength. Modification of the exercise regimen seems warranted.

Persisting side-to-side differences in bone mineral content, but not in muscle strength and tendon stiffness after anterior cruciate ligament reconstruction

Tendon stiffness may be involved in limiting peak musculoskeletal forces and thus may constitute an upper limit for bone strength. The patellar tendon bone (PTB) graft, which is harvested from the patellar tendon during surgical reconstruction of the anterior cruciate ligament (ACL), is an ideal scenario to test this hypothesis. Eleven participants were recruited who had undergone surgical reconstruction of the ACL with a PTB graft 1-10 years prior to study inclusion. As previously reported, there was no side-to-side difference in thigh muscle cross-sectional area, in maximum voluntary knee extension torque, or in patellar tendon stiffness, suggesting full recovery of musculature and tendon. However, in the present study bone mineral content (BMC), assessed by peripheral quantitative computed tomography, was lower on the operated side than on the control side in four regions studied (P = 0·0019). Differences were less pronounced in the two sites directly affected by the operation (patella and tibia epiphysis) when compared to the more remote sites. Moreover, significant side-to-side differences were found in BMC in the trabecular compartment in the femoral and tibial epiphysis (P = 0·004 and P = 0·047, respectively) with reductions on the operated side, but increased in the patella (P = 0·00016). Cortical BMC, by contrast, was lower on the operated side at all sites except the tibia epiphysis (P = 0·09). These findings suggest that impaired recovery of BMC following ACL reconstruction is not because of lack of recovery of knee extensor strength or patellar tendon stiffness. The responsible mechanisms still remain to be determined.

Limited effect of fly-wheel and spinal mobilization exercise countermeasures on lumbar spine deconditioning during 90 d bed-rest in the Toulouse LTBR study

We examined the effect of high-load fly-wheel (targeting the lower-limb musculature and concurrent loading of the spine via shoulder restraints) and spinal movement countermeasures against lumbar spine muscle atrophy, disc and spinal morphology changes and trunk isokinetic torque loss during prolonged bed-rest. Twenty-four male subjects underwent 90 d head-down tilt bed-rest and performed either fly-wheel (FW) exercises every three days, spinal movement exercises in lying five times daily (SpMob), or no exercise (Ctrl). There was no significant impact of countermeasures on losses of isokinetic trunk flexion/extension (p≥0.65). Muscle volume change by day-89 of bed-rest in the psoas, iliacus, lumbar erector spinae, lumbar multifidus and quadratus lumborum, as measured via magnetic resonance imaging (MRI), was statistically similar in all three groups (p≥0.33). No significant effect on MRI-measures of lumbar intervertebral disc volume, spinal length and lordosis (p≥0.09) were seen either, but there was some impact (p≤0.048) on axial plane disc dimensions (greater reduction than in Ctrl) and disc height (greater increases than in Ctrl). MRI-data from subjects measured 13 and 90-days after bed-rest showed partial recovery of the spinal extensor musculature by day-13 after bed-rest with this process complete by day-90. Some changes in lumbar spine and disc morphology parameters were still persistent 90-days after bed-rest. The present results indicate that the countermeasures tested were not optimal to maintain integrity of the spine and trunk musculature during bed rest. © 2011 Elsevier Ltd.

Fuzzy logic controller optimized by particle swarm optimization for DC motor speed control

In this paper, we presented an optimized fuzzy logic controller using particle swarm optimization for DC motor speed control. The controller model is simulated using MATLAB software and also experimentally tested on a laboratory DC motor. A comparison of the performance of different controllers such as PID controller, fuzzy logic controller and optimized fuzzy logic controller is presented as well. With reference to the results of digital simulations and experiment, the designed FLC-PSO speed controller obtains much better dynamic behavior compared to PID and the normal FLC designed. Moreover, it can acquire superior performance of the DC motor, and also perfect speed tracking with no overshoot. The optimized membership functions (MFs) are obviously proved to be able to provide a better performance and higher robustness in comparison with a regular fuzzy model, when the MFs were heuristically defined. Besides, experimental results verify the ability of proposed FLC under sudden change of the load torque which leads to speed variances.

O efeito do treinamento e destreinamento na força muscular de meninos pré-púberes

A treinabilidade de força em crianças tem sido bastante explorada, mas ainda existem alguns questionamentos: O quanto a força decresce quando a criança interrompe o treinamento? O objetivo deste estudo foi avaliar o comportamento da força muscular dinâmica isotônica (1-RM), pico de torque isocinético e pico de torque isométrico, na extensão de joelho (EJ) e na flexão de cotovelo (FC) de meninos durante 24 semanas, sendo 12 semanas de treinamento e 12 de destreinamento de força. Um grupo experimental (EX) de 7 meninos (9,4±1,6 anos) pré-púberes treinou de forma dinâmica, três vezes por semana, durante 12 semanas, com intensidade entre 60 e 85% do teste de 1-RM, obtendo um aumento de 78% e 67% na força de 1-RM da EJ e da FC respectivamente. No grupo controle (CO) participaram 7 meninos pré-púberes, pareados ao EX pela idade (9,7±1,7 anos). Eles não alteraram significativamente a força nas primeiras 12 semanas, mas, ao final das 24 semanas, aumentaram a força de 1-RM em 41% e 53% na EJ e FC, respectivamente. Após 12 semanas de destreinamento, a força absoluta de 1-RM da EJ e da FC do grupo EX apresentou uma queda estatisticamente não significativa de 33% e 21%, respectivamente. Quando corrigida pelo peso corporal e massa corporal magra (MCM), a força do grupo EX de 1-RM da EJ diminuiu 41% e 36% (p<0,05) respectivamente. Na FC, a força não apresentou redução significativa Os grupos EX e CO, não apresentaram alterações estatisticamente significativas (p>0,05) durantes as 24 semanas de estudo nos picos de torque isocinético e isométrico, os resultados foram os seguintes: no grupo EX a força isocinética de EJ em 60° e 90° foram 66,0±25,7 Nm para 79,8±26,1 Nm e 62,0±29,2 para 76,8±30,6 Nm respectivamente; e na FC em 60° e 90°, 16,0±8,9 para 13,3±8,2 Nm e 16,1±10,5 para 15,7±6,2 Nm respectivamente. Na força isométrica do grupo EX na EJ em 60° e 45° os resultados foram os seguintes: 96,9±35,6 para 108,3±61,9 Nm e 87,0±41,7 para 96,3±60,3 Nm respectivamente. Na FC em 60° e 90° de 20,3±7,1 para 22,5±8,2 Nm e de 21,7±6,7 para 21,5±9,1 Nm respectivamente. O grupo CO apresentou os seguintes resultados na força isocinética de EJ nos ângulos de 60° e 90°, de 55,1±14,4 para 76,6±15,4 Nm e 56,4±10,2 para 73,1±13,3 respectivamente. Na FC, de 13,1±3,9 para 13,9±3,6 Nm e 11,4±4,4 para 10,9±4,1 Nm em 60° e 90° respectivamente. Na força isométrica de EJ em 60° e 45° os resultados foram: 89,4±13,2 para 101,9±17,4 Nm e 73,7±10,5 para 84,1±10,8 respectivamente; e na FC em 60° e 90° foram de 16,1±4,8 para 17,7±4,7 e de 17,1±3,1 para 20,7±4,5 Nm respectivamente. Os resultados deste estudo mostram que, após 12 semanas de destreinamento, a queda de força de 1-RM, foi significativa quando expressada em valores corrigidos pelo peso corporal e MCM, apenas nos membrosinferiores. O processo de crescimento e maturação pode contribuir para tornar menos evidente a redução da força durante o destreinamento.

A influência da força e da flexibilidade no batimento de pernas e sua relação com a performance total de nadadores de 100 metros nado crawl

O objetivo do presente estudo foi verificar a influência da força e da flexibilidade no batimento de pernas e sua relação com a performance de nadadores de 100 metros nado crawl. Os 23 melhores nadadores, na prova de 100 metros nado crawl, do Campeonato Estadual Júnior e Sênior de Inverno, do Estado do Rio Grande do Sul, foram selecionados para este estudo. Os nadadores foram submetidos a: (1) avaliação da flexibilidade (flexão plantar), (2) avaliação da capacidade de produção de força (torque) isométrica e isocinética dos músculos extensores e flexores do joelho, (3) avaliação do batimento de pernas na distância de 100 metros e (4) avaliação da performance do nado crawl na distância de 100 metros. Inicialmente, a influência da força e da flexibilidade no batimento de pernas, foi analisada. Em seguida, a influência do batimento de pernas na performance total dos nadadores foi analisada. Após este procedimento, a amostra foi dividida em três grupos, conforme o tempo obtido no teste de batimento de pernas (grupo I: do 1º ao 8º tempo; grupo II: do 9º ao 16º tempo; e grupo III:do 17º ao 23º tempo), com o objetivo de verificar diferenças entre os grupos nas variáveis testadas Os valores obtidos (n=23) para correlação entre flexão plantar e batimento de pernas não foram significativos. Já nos subgrupos da amostra, somente o grupo I obteve correlação significativa (r=0,70 - p<0,05) entre flexão plantar e batimento de pernas. Os valores obtidos da força (torque) isométrica, resultante da flexão e extensão do joelho em um ângulo de 60º e os valores da força (torque) isocinética obtidos na velocidade de 370º/s não se correlacionaram com os resultados obtidos no teste de batimento de pernas, tanto na análise do grupo todo, quanto nos grupos estratificados. Os tempos de batimento de pernas (n=23) mostraram correlação significativa (r=0,70 – p<0,05) com a performance total. A análise nos subgrupos mostrou valores significativos somente para o grupo III (r=0,85 – p<0,05), mas não mostrou valores significativos para os grupos I e II. Os resultados sugerem que a força (torque) resultante da flexão e extensão do joelho em 60º (isométrico) e na velocidade de 370º/s (isocinético) não tem influência no batimento de pernas, enquanto a flexibilidade esta influenciando no batimento de pernas somente no grupo I. O batimento de pernas tem importância significativa para a performance total de nadadores de 100 metros nado crawl.

Determinação de propriedades físicas de diferentes materiais para discos e pastilhas de freio e relação destas propriedades com ruído

Este trabalho visou a determinação experimental de propriedades físicas básicas de materiais para pastilhas e discos de freio de diferentes composições químicas. Posteriormente, estas propriedades foram correlacionadas com resultados de avaliação de ruído de freio dos respectivos materiais. As propriedades físicas determinadas para os materiais de pastilhas de freio foram: dureza, densidade, porosidade, compressibilidade a frio, compressibilidade a quente, transmissão térmica, resistência à compressão, resistência à tração, resistência interna ao cisalhamento, módulo de elasticidade, freqüências de ressonância, índice de amortecimento, coeficiente de atrito em diferentes condições de frenagem, e taxas de desgaste. Medições incluem verificações do efeito do aumento da temperatura na variação de algumas das propriedades citadas. A avaliação de ruído de freio gerado com uso das diferentes composições de materiais foi realizada através do uso de um sistema de freio padrão, e o ensaio executado em um dinamômetro tipo inercial dotado de recursos como câmara para isolamento acústico de ruído externo e sistema de aquisição de sinais para monitoramento dos parâmetros de frenagem: tempo, torque, pressão, temperatura e espectro de ruído gerado em escala de tempo e freqüência. Os materiais de pastilhas de freios incluídos nesta verificação experimental foram selecionados de seis aplicações bastante distintas, como por exemplo: materiais para pastilhas de freio traseiro de veículos de passeio, pastilhas para freio dianteiro de veículos de passeio, pastilhas para caminhonetes, pastilhas para caminhões leves e microônibus Além da composição química bastante distinta, estudos da influência da alteração de parâmetros de processo de fabricação nas propriedades físicas do material de atrito foram considerados. Para a avaliação do efeito da variação de composição de materiais de discos de freio na geração de ruído, cinco diferentes tipos de discos foram selecionados. Dentre estas versões estão incluídas: a liga de ferro fundido cinzento do material tipo original do sistema de freio a disco padrão, uma versão de ferro fundido cinzento de baixo custo comprada no mercado de autopeças de reposição, um ferro fundido cinzento com alto de teor de carbono, um ferro fundido cinzento com adição de titânio como elemento de liga, e, finalmente, um ferro fundido vermicular. Propriedades físicas dos materiais de discos de freio não foram tão amplamente avaliadas como no caso dos materiais de pastilhas, mesmo assim dados de dureza, densidade, resistência à tração, índice de amortecimento e freqüências fundamentais de ressonância foram determinados para os diferentes materiais.Ao final do trabalho, foram definidas correlações entre ruído de freio e propriedades físicas dos materiais de pastilhas de freio que indicam que o material de atrito da pastilha é mais propenso a apresentar ruído quando: menos poroso, com maior resistência mecânica, maior módulo de elasticidade, maior dureza (valores mais baixos de dureza Gogan), e maior coeficiente de atrito. Também foram detectadas alterações significativas no comportamento de ruído com uso de diferentes materiais de discos de freio, mas não foram estabelecidas correlações conclusivas entre as propriedades dos discos de freio e sua propensão a ruído devido ao baixo número de versões avaliadas.

Modelo matemático de um agitador eletromagnético

O objetivo deste trabalho é estudar os efeitos eletromagnéticos e fluido-dinâmicos induzidos no aço, decorrentes do uso de um agitador eletromagnético. Para tal, foi proposta a construção de um modelo numérico que resolva, de forma acoplada, os problemas de eletromagnetismo e fluido-dinâmica. O modelo numérico do problema eletromagnético, em elementos finitos, foi construído utilizando-se o software Opera-3d/Elektra da Vector Fields. O mesmo foi validado com medidas experimentais de densidade de fluxo magnético feitas na usina. O escoamento decorrente da agitação eletromagnética foi resolvido fazendo-se o acoplamento das forças de Lorentz com as equações de Navier-Stokes. Essas últimas foram resolvidas pelo método de volumes finitos, usando-se o software CFX-4 da AEA Technology. O modelo eletromagnético mostrou que existe um torque máximo dependente da freqüência do campo magnético. Também foi observado que a força magnética aumenta em quatro vezes seu valor, quando a corrente é duplicada. O perfil de escoamento produzido no molde, sob agitação eletromagnética, indica, que as situações de lingotamento testadas, não propiciam o arraste da escória. A velocidade crítica de arraste, determinada via modelo físico, não foi atingida para nenhum caso testado. O modelo fluido-dinâmico e térmico apresentou um aumento do fluxo de calor cedido pelo fluido para a casca solidificada com o uso do agitador eletromagnético. Como conseqüência, observou-se uma queda na temperatura do banho. Também foi observado, que o uso do agitador propicia a remoção de inclusões das camadas mais externas do tarugo. Ao mesmo tempo, notou-se que o uso do agitador aumenta o índice de remoção de inclusões para as duas seções de molde analisadas.

Mixed-signal analog-digital circuits design on the pre-diffused digital array using trapezoidal association of transistors

The mixed-signal and analog design on a pre-diffused array is a challenging task, given that the digital array is a linear matrix arrangement of minimum-length transistors. To surmount this drawback a specific discipline for designing analog circuits over such array is required. An important novel technique proposed is the use of TAT (Trapezoidal Associations of Transistors) composite transistors on the semi-custom Sea-Of-Transistors (SOT) array. The analysis and advantages of TAT arrangement are extensively analyzed and demonstrated, with simulation and measurement comparisons to equivalent single transistors. Basic analog cells were also designed as well in full-custom and TAT versions in 1.0mm and 0.5mm digital CMOS technologies. Most of the circuits were prototyped in full-custom and TAT-based on pre-diffused SOT arrays. An innovative demonstration of the TAT technique is shown with the design and implementation of a mixed-signal analog system, i. e., a fully differential 2nd order Sigma-Delta Analog-to-Digital (A/D) modulator, fabricated in both full-custom and SOT array methodologies in 0.5mm CMOS technology from MOSIS foundry. Three test-chips were designed and fabricated in 0.5mm. Two of them are IC chips containing the full-custom and SOT array versions of a 2nd-Order Sigma-Delta A/D modulator. The third IC contains a transistors-structure (TAT and single) and analog cells placed side-by-side, block components (Comparator and Folded-cascode OTA) of the Sigma-Delta modulator.