Viscoelastic blood coagulation testing system enabled by a non-contact triboelectric angle sensor.

Thromboelastography (TEG) remains a convenient and effective viscoelastic blood coagulation testing device for guiding blood component transfusion and assessing the risk of thrombosis. Here, a TEG enabled by a non-contact triboelectric angle sensor (NTAS) with a small size (∼7 cm3) is developed for assessing the blood coagulation system. With the assistance of a superelastic torsion wire structure, the NTAS-TEG realizes the detection of blood viscoelasticity. Benefiting from a grating and convex design, the NTAS holds a collection of compelling features, including accurate detection of rotation angles from -2.5° to 2.5°, high linearity (R 2 = 0.999), and a resolution of 0.01°. Besides, the NTAS exhibits merits of low cost and simplified fabrication. Based on the NTAS-TEG, a viscoelastic blood coagulation detection and analysis system is successfully constructed, which can provide a graph and parameters associated with clot initiation, formation, and stability for clinicians by using 0.36 mL of whole blood. The system not only validates the feasibility of the triboelectric coagulation testing sensor, but also further expands the application of triboelectric sensors in healthcare.

Design and Non-Linearity Optimization of a Vertical Brushless Electric Power Steering Angle Sensor.

This paper presents the design and the non-linearity optimization of a new vertical non-contact angle sensor based on the electromagnetic induction principle. The proposed sensor consists of a stator part (with one solenoidal excitation coil and three sinusoidal receiver coils) and a rotor part (with six rectangular metal sheets). The receiver coil was designed based on the differential principle, which eliminates the effect of the excitation coil on the induced voltage of the receiver coil, and essentially decouples the excitation field from the eddy current field. Moreover, the induced voltages in the three receiver coils are three-phase sinusoidal signals with a phase difference of 10°, which are linearized by CLARK transformation. To minimize the sensor non-linearity, the Plackett-Burman technique was used, which identified the stator radius and the rotor blade thickness as the key factors affecting the sensor linearity. Then, the particle swarm algorithm with decreasing inertia weights was utilized to optimize the sensor linearity. A sensor prototype was made and tested in the laboratory, where the experimental results showed that the sensor non-linearity was only 0.648% and 0.645% in the clockwise and counterclockwise directions, respectively. Notably, the non-linearity of the sensor was less than -0.696% at different speeds.

Projection-Angle-Sensor-Assisted X-ray Computed Tomography for Cylindrical Lithium-Ion Batteries.

X-ray computed tomography (XCT) has become a powerful technique for studying lithium-ion batteries, allowing non-destructive 3D imaging across multiple spatial scales. Image quality is particularly important for observing the internal structure of lithium-ion batteries. During multiple rotations, the existence of cumulative errors and random errors in the rotary table leads to errors in the projection angle, affecting the imaging quality of XCT. The accuracy of the projection angle is an important factor that directly affects imaging. However, the impact of the projection angle on XCT reconstruction imaging is difficult to quantify. Therefore, the required precision of the projection angle sensor cannot be determined explicitly. In this research, we selected a common 18650 cylindrical lithium-ion battery for experiments. By setting up an XCT scanning platform and installing an angle sensor to calibrate the projection angle, we proceeded with image reconstruction after introducing various angle errors. When comparing the results, we found that projection angle errors lead to the appearance of noise and many stripe artifacts in the image. This is particularly noticeable in the form of many irregular artifacts in the image background. The overall variation and residual projection error in detection indicators can effectively reflect the trend in image quality. This research analyzed the impact of projection angle errors on imaging and improved the quality of XCT imaging by installing angle sensors on a rotary table.

Stiffness Assessment and Lump Detection in Minimally Invasive Surgery Using In-House Developed Smart Laparoscopic Forceps.

Minimally invasive surgery (MIS) incorporates surgical instruments through small incisions to perform procedures. Despite the potential advantages of MIS, the lack of tactile sensation and haptic feedback due to the indirect contact between the surgeon's hands and the tissues restricts sensing the strength of applied forces or obtaining information about the biomechanical properties of tissues under operation. Accordingly, there is a crucial need for intelligent systems to provide an artificial tactile sensation to MIS surgeons and trainees. This study evaluates the potential of our proposed real-time grasping forces and deformation angles feedback to assist surgeons in detecting tissues' stiffness. A prototype was developed using a standard laparoscopic grasper integrated with a force-sensitive resistor on one grasping jaw and a tunneling magneto-resistor on the handle's joint to measure the grasping force and the jaws' opening angle, respectively. The sensors' data are analyzed using a microcontroller, and the output is displayed on a small screen and saved to a log file. This integrated system was evaluated by running multiple grasp-release tests using both elastomeric and biological tissue samples, in which the average force-to-angle-change ratio precisely resembled the stiffness of grasped samples. Another feature is the detection of hidden lumps by palpation, looking for sudden variations in the measured stiffness. In experiments, the real-time grasping feedback helped enhance the surgeons' sorting accuracy of testing models based on their stiffness. The developed tool demonstrated a great potential for low-cost tactile sensing in MIS procedures, with room for future improvements. Significance: The proposed method can contribute to MIS by assessing stiffness, detecting hidden lumps, preventing excessive forces during operation, and reducing the learning curve for trainees.

Hybrid Magnetic-Inductive Angular Sensor with 360° Range and Stray-Field Immunity.

Magnetic and inductive sensors are the dominant technologies in angular position sensing for automotive applications. This paper introduces a new angular sensor: a hybrid concept combining the magnetic Hall and inductive principles. A magnetic Hall transducer provides an accurate angle from 0° to 180°, whereas an inductive transducer provides a coarse angle from 0° to 360°. For this novel concept, a hybrid target with a magnetic and inductive signature is also needed. Using the two principles at the same time enables superior performances, in terms of range, compactness and robustness, that are not possible when used separately. We realized and characterized a prototype. The prototype achieves a 360° range, has a high accuracy and is robust against mechanical misalignments, stray fields and stray metals. The measurement results demonstrate that the two sensing principles are completely independent, thereby opening the doors for hybrid optimum magnetic-inductive designs beyond the usual trade-offs (range vs. resolution, size vs. robustness to misalignment).

Optoelectronic Angular Displacement Measurement Technology for 2-Dimensional Mirror Galvanometer.

The mirror galvanometer is a crucial component of laser cutters/engravers. Novel two-dimensional mirror galvanometers demonstrate less trajectory distortion than traditional one-dimensional ones. This article proposes an optoelectronic sensor that measures a mirror's inclinations in two dimensions simultaneously. The measuring range, resolution, and sampling rate are ±10°, 0.0265°, and 2 kHz, respectively. With the proposed sensor, a closed-loop control can be further implemented to achieve precision laser machining. Its compact size and low cost meet the requirements of miniature laser engravers, which have become popular in recent years.

A New Payload Swing Angle Sensing Device and Its Accuracy.

Measuring the swing angle of a crane load is a relatively well-known but unsatisfactorily solved problem in technical practice. This measurement is necessary for the automatic stabilization of load swing without human intervention. This article describes a technically simple and new approach to solving this problem. The focus of this work is to determine the accuracy of the measuring device. The focus of this work remains on the design, the principle of operation of the equipment, and the determination of accuracy. The basic idea is to apply the strain gauge on an elastic, easily deformable component that is part of the device. One part of the elastic component is fixedly connected to the frame; the other part is connected to the crane rope by means of pulleys close to the rope. In this way, the bending of the elastic component in proportion to the swing angle of the payload is ensured.

Real-Time Monitoring System of Automobile Driver Status and Intelligent Fatigue Warning Based on Triboelectric Nanogenerator.

To improve automobile safety, identifying driver fatigue is considerably crucial because it is one of the main causes of traffic accidents. In this research, smart systems based on a triboelectric nanogenerator are designed, which can provide driver status monitoring and fatigue warning in real time. The smart system consists of a self-powered steering-wheel angle sensor (SSAS) and a signal processing unit. The SSAS, which comprises a stator, a rotor, and a sleeve, is mounted on the steering rod, and the electrodes are designed with a phase difference to improve the resolution of the sensor. The turning angle of the steering wheel operated by the driver is recorded by the SSAS; meanwhile, the number of rotations, the average angle, and other parameters in the driver's recorded data are analyzed by the signal processing unit from which a warning threshold for each parameter is determined. The system assesses the status of the driver in real-time by comparing these parameters and threshold values, and experimental results demonstrate that driver status is accurately judged. This work has important potential applications in the fields of traffic safety and intelligent driving.

2D Scanning Micromirror with Large Scan Angle and Monolithically Integrated Angle Sensors Based on Piezoelectric Thin Film Aluminum Nitride.

A 2D scanning micromirror with piezoelectric thin film aluminum nitride (AlN), separately used as actuator and sensor material, is presented. For endoscopic applications, such as fluorescence microscopy, the devices have a mirror plate diameter of 0.7 mm with a 4 mm2 chip footprint. After an initial design optimization procedure, two micromirror designs were realized. Different spring parameters for x- and y-tilt were chosen to generate spiral (Design 1) or Lissajous (Design 2) scan patterns. An additional layout, with integrated tilt angle sensors, was introduced (Design 1-S) to enable a closed-loop control. The micromirror devices were monolithically fabricated in 150 mm silicon-on-insulator (SOI) technology. Si (111) was used as the device silicon layer to support a high C-axis oriented growth of AlN. The fabricated micromirror devices were characterized in terms of their scanning and sensor characteristics in air. A scan angle of 91.2° was reached for Design 1 at 13 834 Hz and 50 V. For Design 2 a scan angle of 92.4° at 12 060 Hz, and 123.9° at 13 145 Hz, was reached at 50 V for the x- and y-axis, respectively. The desired 2D scan patterns were successfully generated. A sensor angle sensitivity of 1.9 pC/° was achieved.

Probe position sensor to track image location in 2D ultrasound.

BACKGROUND: Two-dimensional ultrasounds (2D US) have low reproducibility of given images in later sessions and often depend on the operator's experience. PURPOSE: Due to difficulties in reproducing images in 2D US separated in time, a device to track the position of the ultrasound probe was created. This device aims to measure the probe position angle in two axes for 2D US to provide accurate repositioning of the 2D US probe for repeatability of the desired imaging plane. MATERIALS AND METHODS: The device uses an inclinometer with an Arduino microprocessor to determine the angle of the ultrasound probe to subsequently establish the specific position coordinates of the probe. To test the effectiveness of this device, a 2D US probe was placed on a frontal burr hole of a neonatal swine to image the brain. RESULTS: When fixing the point of contact, using the probe with the angle sensing device helped the operator reproduce images that were both visually and positionally similar. This attachment allows the probe to return to the same image with at least 95% similarity in between different sessions, based on evaluations using an image analysis Matlab program. The sensor can return images of the same location with landmarks within the tolerance of 1.400°. CONCLUSION: This device could potentially improve 2D US image reproducibility such that accuracy of images between sessions is increased, thereby increasing the reproducibility of 2D US in diagnostic and interventional procedures.

An Integrated Method for Coding Trees, Measuring Tree Diameter, and Estimating Tree Positions.

Accurately measuring tree diameter at breast height (DBH) and estimating tree positions in a sample plot are important in tree mensuration. The main aims of this paper include (1) developing a new, integrated device that can identify trees using the quick response (QR) code technique to record tree identifications, measure DBH, and estimate tree positions concurrently; (2) designing an innovative algorithm to measure DBH using only two angle sensors, which is simple and can reduce the impact of eccentric stems on DBH measures; and (3) designing an algorithm to estimate the position of the tree by combining ultra-wide band (UWB) technology and altitude sensors, which is based on the received signal strength indication (RSSI) algorithm and quadrilateral localization algorithm. This novel device was applied to measure ten 10 × 10 m square plots of diversified environments and various tree species to test its accuracy. Before measuring a plot, a coded sticker was fixed at a height of 1.3 m on each individual tree stem, and four UWB module anchors were set up at the four corners of the plot. All individual trees' DBHs and positions within the plot were then measured. Tree DBH, measured using a tree caliper, and the values of tree positions, measured using tape, angle ruler, and inclinometer, were used as the respective reference values for comparison. Across the plots, the decode rate of QR codes was 100%, with an average response time less than two seconds. The DBH values had a bias of 1.89 mm (1.88% in relative terms) and a root mean square error (RMSE) of 5.38 mm (4.53% in relative terms). The tree positions were accurately estimated; the biases on the x-axis and the y-axis of the tree position were -8.55-14.88 cm and -12.07-24.49 cm, respectively, and the corresponding RMSEs were 12.94-33.96 cm and 17.78-28.43 cm. The average error between the estimated and reference distances was 30.06 cm, with a standard deviation of 13.53 cm. The device is cheap and friendly to use in addition to its high accuracy. Although further studies are needed, our method provides a great alternative to conventional tools for improving the efficiency and accuracy of tree mensuration.

New Algorithms for Autonomous Inertial Navigation Systems Correction with Precession Angle Sensors in Aircrafts.

This paper presents new algorithmic methods for accuracy improvement of autonomous inertial navigation systems of aircrafts. Firstly, an inertial navigation system platform and its nonlinear error model are considered, and the correction schemes are presented for autonomous inertial navigation systems using internal information. Next, a correction algorithm is proposed based on signals from precession angle sensors. A vector of reduced measurements for the estimation algorithm is formulated using the information about the angles of precession. Finally, the accuracy of the developed correction algorithms for autonomous inertial navigation systems of aircrafts is studied. Numerical solutions for the correction algorithm are presented by the adaptive Kalman filter for the measurement data from the sensors. Real data of navigation system Ts-060K are obtained in laboratory experiments, which validates the proposed algorithms.

Modeling and Optimal Design for a High Stability 2D Optoelectronic Angle Sensor.

The structural deformations caused by environmental changes in temperature, vibration, and other factors are harmful to the stability of high precision measurement equipment. The stability and optimal design method of a 2D optoelectronic angle sensor have been investigated in this study. The drift caused by structural deformations of the angle sensor has been studied and a drift error model has been achieved. Key components sensitive to thermal and vibrational effects were identified by error sensitivity analysis and simulation. The mounts of key components were analyzed using finite element analysis software and optimized based on the concept of symmetric structures. Stability experiments for the original and optimized angle sensors have been carried out for contrast. As a result, the stability of the optimized angle sensor has been improved by more than 63%. It is verified that the modeling and optimal design method is effective and low-cost, which can also be applied to improve the stability of other sensors with much more complex principles and structures.

Angle Sensor Module for Vehicle Steering Device Based on Multi-Track Impulse Ring.

In step with the development of Industry 4.0, research on automatic operation technology and components related to automobiles is continuously being conducted. In particular, the torque angle sensor (TAS) module of the steering wheel system is considered to be a core technology owing to its precise angle, torque sensing, and high-speed signal processing. In the case of conventional TAS modules, in addition to the complicated gear structure, there is an error in angle detection due to the backlash between the main and sub-gear. In this paper, we propose a multi-track encoder-based vehicle steering system, which is incorporated with a TAS module structure that minimizes the number of components and the angle detection error of the module compared with existing TAS modules. We also fabricated and tested an angle detection signal processing board and evaluated it on a test stand. As a result, we could confirm its excellent performance of an average deviation of 0.4° and applicability to actual vehicles by evaluating its electromagnetic interference (EMI) environmental reliability. The ultimate goal of the TAS module is to detect the target steering angle with minimal computation by the steering or main electronic control unit (ECU) to meet the needs of the rapidly growing vehicle technology. The verified angle detection module can be applied to an actual steering system in accordance with the mentioned technical requirements.

FR4-Based Electromagnetic Scanning Micromirror Integrated with Angle Sensor.

This paper presents a flame retardant 4 (FR4)-based electromagnetic scanning micromirror, which aims to overcome the limitations of conventional microelectromechanical systems (MEMS) micromirrors for the large-aperture and low-frequency scanning applications. This micromirror is fabricated through a commercial printed circuit board (PCB) technology at a low cost and with a short process cycle, before an aluminum-coated silicon mirror plate with a large aperture is bonded on the FR4 platform to provide a high surface quality. In particular, an electromagnetic angle sensor is integrated to monitor the motion of the micromirror in real time. A prototype has been assembled and tested. The results show that the micromirror can reach the optical scan angle of 11.2 ∘ with a low driving voltage of only 425 mV at resonance (361.8 Hz). At the same time, the signal of the integrated angle sensor also shows good signal-to-noise ratio, linearity and sensitivity. Finally, the reliability of the FR4 based micro-mirror has been tested. The prototype successfully passes both shock and vibration tests. Furthermore, the results of the long-term mechanical cycling test (50 million cycles) suggest that the maximum variations of resonant frequency and scan angle are less than 0.3% and 6%, respectively. Therefore, this simple and robust micromirror has great potential in being useful in a number of optical microsystems, especially when large-aperture or low-frequency is required.

A Non-Destructive and Direction-Insensitive Method Using a Strain Sensor and Two Single Axis Angle Sensors for Evaluating Corn Stalk Lodging Resistance.

Corn stalk lodging is caused by different factors, including severe wind storms, stalk cannibalization, and stalk rots, and it leads to yield loss. Determining how to rapidly evaluate corn lodging resistance will assist scientists in the field of crop breeding to understand the contributing factors in managing the moisture, chemical fertilizer, and weather conditions for corn growing. This study proposes a non-destructive and direction-insensitive method, using a strain sensor and two single axis angle sensors to measure the corn stalk lodging resistance in the field. An equivalent force whose direction is perpendicular to the stalk is utilized to evaluate the corn lodging properties when a pull force is applied on the corn stalk. A novel measurement device is designed to obtain the equivalent force with the coefficient of variation (CV) of 4.85%. Five corn varieties with two different planting densities are arranged to conduct the experiment using the novel measurement device. The experimental results show that the maximum equivalent force could reach up to 44 N. A strong relationship with the square of the correlation coefficient of 0.88 was obtained between the maximum equivalent forces and the corn field’s stalk lodging rates. Moreover, the stalk lodging angles corresponding to the different pull forces over a measurement time of 20 s shift monotonically along the equivalent forces. Thus, the non-destructive and direction-insensitive method is an excellent tool for rapid analysis of stalk lodging resistance in corn, providing critical information on in-situ lodging dynamics.

Active Return-to-Center Control Based on Torque and Angle Sensors for Electric Power Steering Systems.

This paper presents a complete control strategy of the active return-to-center (RTC) control for electric power steering (EPS) systems. We first establish the mathematical model of the EPS system and analyze the source and influence of the self-aligning torque (SAT). Second, based on the feedback signals of steering column torque and steering wheel angle, we give the trigger conditions of a state switch between the steering assist state and the RTC state. In order to avoid the sudden change of the output torque for the driving motor when the state switches frequently between the steering assist state and the RTC state, we design an undisturbed state switching logic algorithm. This state switching logic algorithm ensures that the output value of the RTC controller is set to an initial value and increases in given steps up to a maximum value after entering the RTC state, and the output value of the RTC controller will reduce in given steps down to zero when exiting the RTC state. This therefore ensures smooth switch control between the two states and improves the driver's steering feeling. Third, we design the RTC controller, which depends upon the feedback signals of the steering wheel angle and the angular velocity. In addition, the controller increases the auxiliary control function of the RTC torque based on vehicle speed. The experimental results show that the active RTC control method does not affect the basic assist characteristics, which effectively reduces the residual angle of the steering wheel at low vehicle speed and improves the RTC performance of the vehicle.

A Liquid-Surface-Based Three-Axis Inclination Sensor for Measurement of Stage Tilt Motions.

In this paper a new concept of a liquid-surface-based three-axis inclination sensor for evaluation of angular error motion of a precision linear slide, which is often used in the field of precision engineering such as ultra-precision machine tools, coordinate measuring machines (CMMs) and so on, is proposed. In the liquid-surface-based three-axis inclination sensor, a reference float mounting a line scale grating having periodic line grating structures is made to float over a liquid surface, while its three-axis angular motion is measured by using an optical sensor head based on the three-axis laser autocollimation capable of measuring three-axis angular motion of the scale grating. As the first step of research, in this paper, theoretical analysis on the angular motion of the reference float about each axis has been carried out based on simplified kinematic models to evaluate the possibility of realizing the proposed concept of a three-axis inclination sensor. In addition, based on the theoretical analyses results, a prototype three-axis inclination sensor has been designed and developed. Through some basic experiments with the prototype, the possibility of simultaneous three-axis inclination measurement by the proposed concept has been verified.

Simultaneous Detection of Displacement, Rotation Angle, and Contact Pressure Using Sandpaper Molded Elastomer Based Triple Electrode Sensor.

In this article, we report on a flexible sensor based on a sandpaper molded elastomer that simultaneously detects planar displacement, rotation angle, and vertical contact pressure. When displacement, rotation, and contact pressure are applied, the contact area between the translating top elastomer electrode and the stationary three bottom electrodes change characteristically depending on the movement, making it possible to distinguish between them. The sandpaper molded undulating surface of the elastomer reduces friction at the contact allowing the sensor not to affect the movement during measurement. The sensor showed a 0.25 mm −1 displacement sensitivity with a ±33 μm accuracy, a 0.027 degree −1 of rotation sensitivity with ~0.95 degree accuracy, and a 4.96 kP −1 of pressure sensitivity. For possible application to joint movement detection, we demonstrated that our sensor effectively detected the up-and-down motion of a human forefinger and the bending and straightening motion of a human arm.

Feedback Robust Cubature Kalman Filter for Target Tracking Using an Angle Sensor.

The direction of arrival (DOA) tracking problem based on an angle sensor is an important topic in many fields. In this paper, a nonlinear filter named the feedback M-estimation based robust cubature Kalman filter (FMR-CKF) is proposed to deal with measurement outliers from the angle sensor. The filter designs a new equivalent weight function with the Mahalanobis distance to combine the cubature Kalman filter (CKF) with the M-estimation method. Moreover, by embedding a feedback strategy which consists of a splitting and merging procedure, the proper sub-filter (the standard CKF or the robust CKF) can be chosen in each time index. Hence, the probability of the outliers' misjudgment can be reduced. Numerical experiments show that the FMR-CKF performs better than the CKF and conventional robust filters in terms of accuracy and robustness with good computational efficiency. Additionally, the filter can be extended to the nonlinear applications using other types of sensors.