Annual Report 2002 - Ãrebro universitet

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Annual Report 2002 35 2.1.1 Focus The research effort at BISL is organized around four major research directions: 1. Design and development of accurate, compact sensors which are able to perform humanlike smell and taste sensing in a variety of real world environments that have not been specifically modified to accommodate sensors; 2. Investigation of biologically inspired feature extraction, sensory information fusion and active perception methods that make reference to anatomical localization and biological functions; 3. Building a heterogeneous sensory platform that is to be employed as an assessment and quality-testing device in the food industry. It's to be equipped with sensors dedicated to mimic five primary sensory actions and would perform human-like perception and classification tasks; and 4. Design and development of a five fingers anthropomorphic hand actuated by artificial muscles and equipped with force and position sensors in order to investigate and implement dexterous manipulation. 2.1.2 Research Projects Project: Design and development of electronic tongues and associated data processing systems. Project leader: Prof. Peter Wide Project staff: Malin Lindquist (PhD student), Selim Eskiizmirliler (PhD) Funding: KK foundation Cooperation: Amphitec AB Synopsis: Human like sensors become more and more important for real time, nondestructive inspection, quality test and assessment in industrial applications. In this project we work on designing two integrated, robust, reliable, low mass/power, electronic tongues each having different physical and electronic characteristics w.r.t. two different industrial applications. The first tongue is designed to be used in a underwater vehicle in order to provide real time water quality monitoring in a drinking-water reservoir. Therefore, the initial design, which consisted of four different metalic working electrodes and a glass tube (as reference electrode) has been altered. The current version is made of a stainless steel tube acting as a reference electrode, including two gold and platinum electrodes (as working electrodes) in its inner part in order to let the water flow run through the tube. The second tongue is an improved version of the initial design with the aim of adapting it to the structural and functional constraints of the new artificial sensory head. Study and
36 AASS – Center for Applied Autonomous Sensor Systems implementation of human-like cognitive abilities in terms of linguistic descriptions of the taste is also envisaged. Results in 2002: - Finishing the design and development of the new tongues to be used in an underwater vehicle and with the new 2G artificial sensory head. Future developments: - Licentiate thesis in November 2003 by Malin Lindquist on Electronic tongue as a quality and taste assessment device. - Two conference papers Project: Design and development of an electronic nose and associated data processing systems. Project leader: Prof. Peter Wide Project staff: Amy Loutfi (PhD student), Silvia Coradeschi (PhD), Andreas Säterås (Exjobber) Funding: KK foundation Cooperation: Mobile Robotics Lab. Synopsis: The objective is to ground the names of odours to the sensor data from an electronic nose. This means that instead of representing odour classification numerically, we want to use linguistic descriptions. This is a worthwhile problem to consider for several reasons. Firstly, using language to describe categories of measured sensor data is a desirable result in artificial sensing systems. The motivations for this range from an introspection into our own way of developing language, the formation of linguistic communication between robot and human, to the need for industrial applications to accommodate users who often do not possess an expert knowledge of the system. Secondly, using an electronic nose adds a new dimension to the problem of grounding symbols to sensor data. This is due to the fact that humans odours are often described using linguistic qualifiers and consequently, there are few widely accepted standards for which we can systematically obtain a categorization. The work considers the correspondence between symbols or linguistic labels and categories of sensor data. Specifically, in what way can the integration of the linguistic labels with the sensor data occur without compromising the perceptual differences of the electronic nose. This means that we do not want to match the perceptions of an electronic nose exactly to that of a human user but rather, enable the electronic nose to use the lexicon provided by a human user to describes its own perceptions of odours by relying on its sensory information. The results from this project are intended to be used both on the electronic head as well in other platforms which deal with anchoring systems. This project is a joint effort between the Biologically Inspired Systems Lab and the Mobile Robotics Lab. Results in 2002: - Finishing the design and development of infrared e-nose - Four conference papers - 2 Ex-jobs: Maria Larsson, Johanna Rehn Future developments: - One Conference paper
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