Static Tactile Sensing for a Robotic Electronic Skin via an Electromechanical Impedance-Based Approach.

Tactile sensing is paramount for robots operating in human-centered environments to help in understanding interaction with objects. To enable robots to have sophisticated tactile sensing capability, researchers have developed different kinds of electronic skins for robotic hands and arms in order to realize the 'sense of touch'. Recently, Stanford Structures and Composites Laboratory developed a robotic electronic skin based on a network of multi-modal micro-sensors. This skin was able to identify temperature profiles and detect arm strikes through embedded sensors. However, sensing for the static pressure load is yet to be investigated. In this work, an electromechanical impedance-based method is proposed to investigate the response of piezoelectric sensors under static normal pressure loads. The smart skin sample was firstly fabricated by embedding a piezoelectric sensor into the soft silicone. Then, a series of static pressure tests to the skin were conducted. Test results showed that the first peak of the real part impedance signal was sensitive to static pressure load, and by using the proposed diagnostic method, this test setup could detect a resolution of 0.5 N force. Numerical simulation methods were then performed to validate the experimental results. The results of the numerical simulation prove the validity of the experiments, as well as the robustness of the proposed method in detecting static pressure loads using the smart skin.

Vibration-Based In-Situ Detection and Quantification of Delamination in Composite Plates.

This paper presents a new methodology for detecting and quantifying delamination in composite plates based on the high-frequency local vibration under the excitation of piezoelectric wafer active sensors. Finite-element-method-based numerical simulations and experimental measurements were performed to quantify the size, shape, and depth of the delaminations. Two composite plates with purpose-built delaminations of different sizes and depths were analyzed. In the experiments, ultrasonic C-scan was applied to visualize the simulated delaminations. In this methodology, piezoelectric wafer active sensors were used for the high-frequency excitation with a linear sine wave chirp from 1 to 500 kHz and a scanning laser Doppler vibrometer was used to measure the local vibration response of the composite plates. The local defect resonance frequencies of delaminations were determined from scanning laser Doppler vibrometer measurements and the corresponding operational vibration shapes were measured and utilized to quantify the delaminations. Harmonic analysis of local finite element model at the local defect resonance frequencies demonstrated that the strong vibrations only occurred in the delamination region. It is shown that the effect of delamination depth on the detectability of the delamination was more significant than the size of the delamination. The experimental and finite element modeling results demonstrate a good capability for the assessment of delamination with different sizes and depths in composite structures.

Propagating, Evanescent, and Complex Wavenumber Guided Waves in High-Performance Composites.

The study of propagating, evanescent and complex wavenumbers of guided waves (GWs) in high-performance composites using a stable and robust semi-analytical finite element (SAFE) method is presented. To facilitate understanding of the wavenumber trajectories, an incremental material change study is performed moving gradually from isotropic aluminum alloy to carbon fiber reinforced polymer (CFRP) composites. The SAFE results for an isotropic aluminum alloy plate are compared with the exact analytical solutions, which shows that N = 20 SAFE elements across the thickness provides <0.5% error in the highest evanescent wavenumber for the given frequency-wavenumber range. The material change study reveals that reducing the transverse and shear moduli moves the wavenumber solution towards one similar to composite material. The comparison of the propagating, evanescent and complex wavenumber trajectories between composites and aluminum alloy show that antisymmetric imaginary Lamb wave modes always exist in composites although they may not exist in isotropic aluminum alloy at some frequencies. The wavenumber trajectories for a unidirectional CFRP plate show that the range of real wavenumber is much smaller than in the isotropic aluminum alloy. For laminated CFRP composite plates (e.g., unidirectional, off-axis, transverse, cross-ply and quasi-isotropic laminates), the quasi Lamb wave and shear horizontal (SH) wave trajectories are also identified and discussed. The imaginary SH wave trajectories in laminated composites are distorted due to the presence of ±45 plies. The convergence study of the SAFE method in various CFRP laminates indicates that sufficient accuracy can always be achieved by increasing the number of SAFE elements. Future work will address the stress-continuity between composite layers.

Recent Advances in Piezoelectric Wafer Active Sensors for Structural Health Monitoring Applications.

In this paper, some recent piezoelectric wafer active sensors (PWAS) progress achieved in our laboratory for active materials and smart structures (LAMSS) at the University of South Carolina: http: //www.me.sc.edu/research/lamss/ group is presented. First, the characterization of the PWAS materials shows that no significant change in the microstructure after exposure to high temperature and nuclear radiation, and the PWAS transducer can be used in harsh environments for structural health monitoring (SHM) applications. Next, PWAS active sensing of various damage types in aluminum and composite structures are explored. PWAS transducers can successfully detect the simulated crack and corrosion damage in aluminum plates through the wavefield analysis, and the simulated delamination damage in composite plates through the damage imaging method. Finally, the novel use of PWAS transducers as acoustic emission (AE) sensors for in situ AE detection during fatigue crack growth is presented. The time of arrival of AE signals at multiple PWAS transducers confirms that the AE signals are originating from the crack, and that the amplitude decay due to geometric spreading is observed.