S.N.A.K.E.: A Dynamically Reconfigurable Artificial Sensate Skin ...

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[13] Ken Gilleo. Handbook of Flexible Cicuits. Van Nostrand Reinhold, 1992. 32, 44 [14] Franz Graf. Features of the msp430 bootstrap loader, January 2003. 81 [15] Vishay Measurements Group. Shunt calibration of strain gage instrumentation. 110 [16] Vishay Measurements Group. Strain gage thermal output and gage factor variation with temperature. 114 [17] Mitsuhiro HAKOZAKI, Atsushi HATORI, and Hiroyuki SHINODA. A sensitive skin using wireless tactile sensing elements. In TECHNICAL DIGEST OF THE 18TH SENSOR SYMPOSIUM, 2001. 28 [18] M.B. Haris. New design of robotic tactile sensor using dynamic wafer technology based on vlsi technique. In Biomedical Research in 2001, 2001. 44 [19] Charles A. Harper. High Performance Printed Circuit Boards. McGraw-Hill, 1999. 44 [20] Falke M. Hendriks. Mechanical behaviour of human epidermal and dermal layers in vivo. Technische Universiteit Eindhoven,, 2005. 17 [21] Robert D. Howe. Tactile sensing and control of robotic manipulation. Journal of Robotic Manipulation, 8:245–61, 1994. [22] Dimitris Hristu. The performance of a deformable-membrane tactile-sensor: basic results on geometrically-defined tasks. IEEE Internationall Conference on Robotics and Automation, 1:508–513, 2000. 28, 60 [23] Vishay Inc. Strain gage selection. 45 [24] Vishay Inc. Strain gage selection criteria procedures recommendations. 63 [25] National Instruments. Lm20 temperature sensor datasheet, October 2005. 125 [26] Texas Instruments. MSP430F1611 Datasheet. 56 [27] Texas Instruments. MSP430Fx1xx User’s Guide, 2006. 56 [28] Future Technology Devices International. D2xx programmer’s guide, 2006. 93, 104 [29] IPC. Adhesive coated dielectric films for use as cover sheets for flexible printed circuitry and flexible adhesive bonding films. Technical report, IPC, 2002. 46 [30] IPC. Flexible metal-clad dielectrics for use in fabrication of flexible printed circuitry. Technical report, IPC, 2002. 46 [31] IPC. Sectional design standard for rigid organic printed boards. Technical report, IPC, 2002. 51 [32] T.J.C. Jacob, C.S. Fraser, L. Wang, V.E. Walker, and S. O’Connor. Psychophysical evaluation of responses to pleasant and mal-odour stimulation in human subjects; adaptation, dose response and gender differences. International Journal of Psychophysiology, 48:67–80, 2003. 42 208
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Author S.N.A.K.E.: A Dynamically Re
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S.N.A.K.E.: A Dynamically Reconfigu
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Table of Contents Abstract 3 Acknow
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List of Figures 2-1 Created by MIT
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E-1 OpenGL Control Header File . .
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Chapter 1 Introduction “Imaginati
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The current project, named S.N.A.K.
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Hardware Each Skin Patch is compose
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living tissue. Particularly in the
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Figure 2-2: Leonardo’s Hand great
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Artificial Sensate Skins elsewhere
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2.1.2 Ultra-dense Sensor Arrays Thi
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2.2 Flexible Circuits Although, not
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2.2.2 Other Technologies Figure 2-6
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human skin. The following design pr
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(a) Skin Patches as data extraction
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Figure 3-3: I 2 C Routing pattern T
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3.2.2 Peer to Peer As we already me
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5. Audio: by adding a MEMS micropho
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Table 3.1: Material thicknesses and
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(a) Node Front (b) Node Back Figure
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Figure 3-9: Skin Patch mechanical t
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used, which only further complicate
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8. Teardrops and filleting were add
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(a) 7.4V, 2.2mAh Li-ion Battery (b)
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in more detail in the Results Chapt
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has a 30mA forward current with a f
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Figure 3-14: Strain gage layer prot
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an unbalanced Wheatstone bridge, fr
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Figure 3-16: QTC response curve for
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(a) Prototype boards used to calibr
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whisker is epoxied to the package o
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Sound The only sensing modality add
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Figure 3-20: Brain regular PCB fabr
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3.4.3 Communications unit The Commu
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Chapter 4 Software “A Scientist d
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Networks. Why is this relevant? Mai
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Figure 4-1: Bootloader memory map C
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Bit Flag Name Description 0x01 FILE
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Figure 4-3: Sampling timing example
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We also mentioned before that there
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Code Instruction Description 0xA0 R
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Component Description 1 Indicates t
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last chapter. Figure 4-5: Automatic
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An important point to stress is tha
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(a) Rotation control (b) Zooming co
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4.3 Communications Software The las
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4.3.2 Peer to Peer Peer to peer com
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Chapter 5 Analysis of Results and E
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Figure 5-1: Stress concentration po
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of the assembled skin patch don’t
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Node SG1 SG2 R(X) R(Y) Δ(X) Δ(Y)
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Or, ∆R = R3 R3 R3 + RC (5.2) Howe
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R3 Microstrain 162Ω −99.7337969
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Figure 5-3: Strain Gage electronic
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(a) Data from both strain gages (b)
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(a) Pressure data being extracted f
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many of these did not work as expec
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Data plots were also extracted for
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(a) Temperature sensor data plots (
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Figure 5-12: Raw microphone data wi
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(a) Activity sensor data (b) Whiske
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5.3 Performance Metrics We have pre
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(a) I 2 C data when a 1500Ωs resi
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Component # per node Current consum
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Finally, since power is readily ava
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Chapter 6 Conclusions and Future Wo
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surface can be used to sense pressu
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Implement P2P Communications: curre
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Appendix A Abbreviations and Symbol
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Appendix B Bill of Materials 149
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Appendix C Schematics and PCB Layou
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1 1 2 2 3 3 4 4 D D C C B B A A Tit
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Amp1 P0Amp101 P0Amp102 P0Amp103 P0A
Page 157 and 158: P0Cin02 P0East06 P0North06 P0South0
Page 159 and 160: Cain P0C ain01 P0Cain02 L1 P0L101 P
Page 161 and 162: Figure C-10: Node Bottom Overlay 16
Page 163 and 164: 4 3 2 1 A A Brain Communications Ac
Page 165 and 166: C3v P0C3v01 P0C3v02 Cavcc P0Cavcc01
Page 167 and 168: Appendix D Firmware 167
Page 169 and 170: C:\Documents and Settings\Gerardo\M
Page 183 and 184: Appendix E PC Code 183
Page 185 and 186: 1 c:\Documents and Settings\Gerardo
Page 201 and 202: 12 c:\Documents and Settings\Gerard
Page 207: Bibliography [1] John C. Ansel. Ski
Page 211: [68] Vilis Tutis. The physiology of
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