Self-Balancing Signal Conditioning Circuit for a Floating-Wiper Resistive Displacement Sensor

Mohan, Aparna; Sivaprakasam, Mohanasankar; George, Boby; Kumar, V. Jagadeesh

doi:10.1109/jsen.2018.2858824

Cited by 8 publications

(6 citation statements)

References 19 publications

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“…It was designed to understand the characteristics of the robot's dynamic behavior [75][76][77]. The first step was to determine the coordinates, the force, the energy, and the Lagrangian functions of the system, and the next step was to determine the motion equation using the Lagrange equation [78][79][80].…”

Section: -Self-balancing Robot Modelingmentioning

confidence: 99%

Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic

et al. 2022

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COVID-19 is a very dangerous respiratory disease that can spread quickly through the air. Doctors, nurses, and medical personnel need protective clothing and are very careful in treating COVID-19 patients to avoid getting infected with the COVID-19 virus. Hence, a medical telepresence robot, which resembles a humanoid robot, is necessary to treat COVID-19 patients. The proposed self-balancing COVID-19 medical telepresence robot is a medical robot that handles COVID-19 patients, which resembles a stand-alone humanoid soccer robot with two wheels that can maneuver freely in hospital hallways. The proposed robot design has some control problems; it requires steady body positioning and is subjected to disturbance. A control method that functions to find the stability value such that the system response can reach the set-point is required to control the robot's stability and repel disturbances; this is known as disturbance rejection control. This study aimed to control the robot using a combination of Proportional-Integral-Derivative (PID) control and a Kalman filter. Mathematical equations were required to obtain a model of the robot's characteristics. The state-space model was derived from the self-balancing robot's mathematical equation. Since a PID control technique was used to keep the robot balanced, this state-space model was converted into a transfer function model. The second Ziegler-Nichols's rule oscillation method was used to tune the PID parameters. The values of the amplifier constants obtained were Kp=31.002, Ki=5.167, and Kd=125.992128. The robot was designed to be able to maintain its balance for more than one hour by using constant tuning, even when an external disturbance is applied to it. Doi: 10.28991/esj-2021-SP1-016 Full Text: PDF

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Section: -Self-balancing Robot Modelingmentioning

confidence: 99%

Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic

et al. 2022

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“…Various schemes were presented earlier to obtain an output which is independent of the value of C c [15][16][17][18][19][20][21][22][23]. The schemes presented in [16] and [17] are complex as they use a modified Martin oscillator and a microcontroller.…”

Section: The State Of Artmentioning

confidence: 99%

“…The method presented in [19] requires an 'autozero' phase before every conversion and offers very low conversion speed. Schemes in [20][21][22][23] give an analog output, while several engineering applications find digital output more efficient. Moreover, the schemes in [21,22] employs a relaxation oscillator and is quite complex employing six switches and a couple of DC reference voltages.…”

Section: The State Of Artmentioning

confidence: 99%

“…The developed topology is such that the measured voltages are high in comparison to the circuit noise. Therefore, the final output is not affected by random errors, but only systematic errors, unlike in [21][22][23]. To test the repeatability of the prototype built, 200 consecutive measurements were recorded for a displacement of 50 mm, or 0.5 X FS .…”

Section: Other Performance Testsmentioning

confidence: 99%

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Assay of direct digital output floating-wiper resistive displacement sensor

Mohan¹,

Mohanasankar²,

Kumar³

2020

Meas. Sci. Technol.

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The principle of operation of a successive approximation type direct displacement to digital converter for a floating-wiper resistive potentiometric sensor, presented earlier, is analyzed in detail to ascertain possible sources of error that can affect the performance of the transducer. Based on the analysis the method is suitably modified to improve its performance. To establish the efficacy of the altered scheme, a prototype signal conditioning circuit has been built and tested using both an emulated sensor and a prototype sensor. While the worst-case error in the former was found to be 0.5%, it was less than 0.8% in the latter. The test results indicate that the digital output is directly proportional to the per-unit displacement and is independent of the value of the coupling capacitance between the floating-wiper and the resistive element.

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“…The field effect transistor using a carbon nanotube (CNT) channel is widely utilized as a transducer in the biosensor with highly sensitive and label-free detection of biomolecules due to its excellent electrical properties. [1][2][3][4][5] In particular, the CNT thin film structure [6][7][8][9] has attracted considerable attention in the development of functionalized biochips by a combination of the arrayed CNT thin film transistor (CNT-TFT) and microfluidic device [10][11][12] because the thin film structure can be patterned using top down techniques such as an etching process.…”

Section: Introductionmentioning

confidence: 99%

Effect of a protective layer on a carbon nanotube thin film channel in a biosensor device

Niimi

Negishi

Arifuku

et al. 2019

Jpn. J. Appl. Phys.

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We investigated the effect of HfO 2 film on the sensor response of a carbon nanotube thin film transistor (CNT-TFT) biosensor. Some parts of the CNT in the channel are suspended due to the formation of a network structure. The electrical noise of the CNT-TFT as a transducer is mainly caused by the structural fluctuation of the suspended CNTs in solution. We found that the electrical noise is dramatically reduced by introducing hafnium oxide (HfO 2 ) film onto the CNT-TFT channel surface. This means that the HfO 2 film has a suppression effect of fluctuation on the suspended CNTs and physical adsorption of the impurities such as non-specific molecules. We demonstrate that introducing HfO 2 film is effective for the detection of thrombin molecules using the aptamer-modified CNT-TFT.

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Self-Balancing Signal Conditioning Circuit for a Floating-Wiper Resistive Displacement Sensor

Cited by 8 publications

References 19 publications

Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic

Using a Combination of PID Control and Kalman Filter to Design of IoT-based Telepresence Self-balancing Robots during COVID-19 Pandemic

Assay of direct digital output floating-wiper resistive displacement sensor

Effect of a protective layer on a carbon nanotube thin film channel in a biosensor device

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