This article is a part of our <a href="http://www.wevolver.com/student-program" id="isPasted" target="_blank">University Technology Exposure Program</a>. The program aims to recognize and reward innovation from engineering students and researchers across the globe.Community voting is now live. Vote for your favorite submission by visiting:&nbsp;<a href="https://www.wevolver.com/utep-community-vote/" rel="noopener noreferrer" target="_blank">University Technology Exposure Program February Community Vote</a>.<h2 dir="ltr" id="isPasted">Swissloop Tunneling</h2>Swissloop Tunneling is a student-led association based at the Swiss Federal Institute of Technology (ETH) Zurich researching tunneling solutions. Last year, the Swissloop Tunneling team designed and built their first tunnel boring machine, “Groundhog Alpha”, named after one of nature’s most creative tunnel building animals. With its unique steering mechanism and progressive tunnel lining system, Groundhog Alpha is more agile than conventional microtunneling solutions and can 3D-print the tunnel tube while continuously moving forward.&nbsp;<h3 dir="ltr">Hyperloop Concept</h3>Hyperloop is a new form of transportation that seeks to overcome todays’ issues of conventional mobility systems. Hyperloop is a futuristic form of transport, consisting of a sleek pod-like capsule levitating inside vacuum tubes, accelerating across the country at high speeds, being inexpensive for goods and people. The technology is also more sustainable and with targeted speeds of over 1000 km/h (600 mph) faster than high-speed trains and aeroplanes. Swissloop Tunneling contributes with its research to optimise the tunnel system for the Hyperloop concept.<h3 dir="ltr">Current Challenges in the Tunneling Industry</h3>One of the most significant issues in tunneling nowadays is the high cost and the challenging logistic management. The boring machines and the tube sections are heavy and usually need to be transported over hundreds of kilometres to the digging site. Most conventional tunnel boring machines are standing still when tube sections are placed in position. Under these premises, the Hyperloop concept is tough to realise in areas where tunneling is required. Current large tunnel boring machines (which would be required for road construction) are not standardised and too expensive for the hundreds of kilometres of tunnels needed for large-scale Hyperloop networks. Furthermore, pipe jacking, the standard solution used for shorter tunnels with smaller diameters, is not scalable to the Hyperloop diameters of approximately 4 meters. Therefore, Swissloop Tunneling is developing small-scale tunneling machines with innovative processes with the aim of scaling them up in the future.<h2 dir="ltr">Technical description of Groundhog Alpha</h2>For the last year, Swissloop Tunneling designed, constructed, and tested their tunneling machine Groundhog Alpha. The organisation intentionally followed a very innovative and demanding approach. Swissloop Tunneling is confident that this new approach will be the base for new tunneling solutions in the future.<h3 dir="ltr">Subsystems</h3><h3 dir="ltr">Soil Erosion</h3>The soil erosion system cuts out large stones using the custom-designed cutting wheel. Subsequently, it crushes those stones into smaller chips (1-2 cm) using the cone crusher. The tungsten-carbide coating ensures longevity and enables the crusher to get a better grip. In the last step, all the slurry is washed out of the erosion chamber using 10bar water pressure and a Venturi vacuum pump which is placed at the rear of the machine. With a torque of 8.5 kNm, a rotation speed of 27 rpm and a pushing force of 200kN Swissloop Tunneling is prepared for any soft-soil conditions that could come in Groundhog Alpha’s way.&nbsp;<img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1646835546023-1646835546023.png" class="fr-fic fr-dii" alt="soil-erosion"><h3 dir="ltr">Steering</h3>In order to dig curved tunnels, an innovative, custom-made hydraulic hexapod system is used. With six hydraulic high-precision cylinders, it’s possible to move the cutter head in six degrees of freedom. With our custom software, it can be put in jackhammer mode, allowing for strong vibrations of frequencies as high as 20 Hz. <img alt="steering" src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1646835546253-1646835546253.png" class="fr-fic fr-dii"> <h2 dir="ltr">Liner</h2>To create a tunnel wall, a special polymer 3D printer is built into the machine. Using tough glass fibre lamellas and a two-component polymer mix, it is possible to create a 15 mm thick and highly reliable tunnel wall to ensure structural integrity along the whole length of the tunnel.<img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1646835546522-1646835546522.png" class="fr-fic fr-dii" alt="liner"> <h3 dir="ltr">Propulsion</h3>In the propulsion section, 16 coordinated, high-performance hydraulic cylinders press bracing plates against the tunnel wall in a continuous fashion allowing uninterrupted movement and a propulsion force of max. 200 kN.<img alt="propulsion" src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1646835546745-1646835546745.png" class="fr-fic fr-dii"><h3 dir="ltr">Starting Platform</h3>Starting from the surface the team will not have to dig a starting pit, enabling Groundhog Alpha to start digging down straight away, saving valuable time. The starting platform absorbs all the propulsion forces and acts as an initial guidance system for the machine.<img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1646835546781-1646835546781.png" class="fr-fic fr-dii" alt="starling-platform"><h2 dir="ltr">Vision for Swissloop Tunneling</h2>Swissloop Tunneling's vision is to overthrow the status quo of the tunneling industry and make tunneling more sustainable, affordable, and faster. Therefore, Swissloop Tunneling is conducting research on new and innovative boring mechanisms. The goal of Groundhog Alpha is to increase tunneling speed and validate our processes which will significantly reduce tunneling costs in the future.The vision of Swissloop Tunneling goes well beyond the boundaries of the competition. Subsequent iterations of the machine are already being planned and will be demonstrated at our tunneling facilities in Switzerland over the next few years:&nbsp;<iframe width="640" height="360" src="https://www.youtube.com/embed/w-cOdFTG-ls?&amp;feature=youtu.be&amp;ab_channel=SwissloopTunneling&amp;wmode=opaque&amp;rel=0&amp;enablejsapi=1&amp;origin=https://www.wevolver.com" frameborder="0" allowfullscreen="" class="fr-draggable" data-lf-yt-playback-inspected-kn9eq4roawkarlvp="true"></iframe> Swissloop Tunneling aims to build Hyperloop tunnels with a diameter of 4.5 meters by 2035. On the way toward this goal, various innovative solutions will be developed, with the intention to use them for various other tunneling applications.<h2 dir="ltr">Technical Specifications&nbsp;</h2><div align="left" dir="ltr"><table><tbody><tr><td>Length</td><td>7.1 m</td></tr><tr><td>Mass</td><td>2.4 t</td></tr><tr><td>Diameter</td><td>0.56 m</td></tr><tr><td>Propulsion force</td><td>200 kN</td></tr><tr><td>Motor speed</td><td>3600 rpm</td></tr><tr><td>Cutterhead</td><td>27 rpm</td></tr><tr><td>Target Speed</td><td>10 mm/s</td></tr></tbody></table></div><h2 dir="ltr">About the University Technology Exposure Program 2022</h2>Wevolver, in partnership with <a href="https://mouser.com/" target="_blank">Mouser Electronics</a> and <a href="https://www.ansys.com/" target="_blank">Ansys</a>, is excited to announce the launch of the University Technology Exposure Program 2022. The program aims to recognize and reward innovation from engineering students and researchers across the globe. Learn more about the program <a href="http://www.wevolver.com/student-program" target="_blank">here</a>.<img alt="mouser-ansys-wevolver-university-program" src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1646835545648-1646835545648.png" class="fr-fic fr-dii">

This article outlines what Swissloop Tunneling is, how Groundhog Alpha is structured, what potential applications it has, which milestones have been achieved, and what is planned for the future.

Swissloop Tunneling: Revolutionizing the Tunneling Industry

U-turns and left turns are sometimes forbidden even though it increases travel distances. We demonstrate through simulations that in comparison with conventional schemes, the ZTC road network can carry approximately 50% more vehicular traffic without incurring gridlock. 

Zero Traffic Conflict (ZTC) Road Networks with Concentric Traffic Paths

This article is a part of&nbsp;our&nbsp;<a href="http://www.wevolver.com/student-program" id="isPasted" target="_blank">University Technology Exposure Program</a>. The program aims to recognize and reward innovation from engineering students and researchers across the globe.<h2 dir="ltr" id="isPasted">Introduction</h2>The introduction of automobiles into the world inculcated innovation in many aspects of engineering, including design and manufacturing. Engineers worldwide continuously strive to develop cutting-edge technologies to augment the riders’ comfort traffic behavior and enhance safety and fuel economy. In the current scenario, advanced features, including forward collision, traction control, and lane change, augment the safety, whereas the fuel economy drive mode reduces the fuel consumption. &nbsp;Abbreviations:<div align="left" dir="ltr"><table><tbody><tr><td>ACC</td><td>Adaptive Cruise Control</td><td>ESC</td><td>Engine Speed Caliber</td></tr><tr><td>ACCSSP</td><td>Adaptive cruise control set speed profile (MPH)</td><td>IAS</td><td>Initial ACC Speed (MPH)&nbsp;</td></tr><tr><td>CAT</td><td>Cabin air temperature (℉)&nbsp;</td><td>IES</td><td>Instantaneous Engine Speed (rad/s)&nbsp;</td></tr><tr><td>DL</td><td>Deep Learning&nbsp;</td><td>IET</td><td>Instantaneous Engine Torque (Nm)&nbsp;</td></tr><tr><td>EAT</td><td>External air temperature (℉)&nbsp;</td><td>IFCR</td><td>Instantaneous Fuel Consumption Rate ( 1E-8m3s-1)</td></tr><tr><td>ED</td><td>Euclidean Distance—Ideal EOP and Predicted EOP&nbsp;</td><td>LAT</td><td>Lateral acceleration &nbsp;( m.s-2)</td></tr><tr><td>EOC</td><td>Engine Operating Conditions</td><td>LOT</td><td>Longitudinal acceleration ( m.s-2)</td></tr><tr><td>EOP</td><td>Engine Operating Point&nbsp;</td><td>VLV</td><td>Vehicle level vectors</td></tr><tr><td>ETC</td><td>Engine Torque Caliber &nbsp;</td><td>YAR</td><td>Yaw rate (rad/s)</td></tr></tbody></table></div>Among the features integrated into the vehicle, the ACC system developed by [Labuhn and Chundrlik, 1995] played a vital dual role in affecting safety and EOC. The intricate concept of the ACC system is to produce controlled acceleration without disengaging the cruise in the user-defined proximity and strictly follow the user command of set speed. &nbsp;Also, we could conclude from the existing literature that activation of ACC results in lower fuel consumption. Therefore activating the ACC feature for traversing long trips would augment EOC.&nbsp;However, identifying the optimal ACCSSP by considering the dynamic state of the vehicle for a definite coordinate on the terrain is an unsolved, challenging task for engineers. Existing techniques rely on either one or two affecting factors as inputs to predict ACCSSP considered, but none of the researchers included all the factors in conjunction to the best of our knowledge.&nbsp;<h2 dir="ltr">Predicting the optimal ACCSSP by optimizing the EOC</h2>This research presents a novel methodology to predict the optimal adaptive cruise control set speed profile (ACCSSP) by optimizing the engine operating conditions (EOC) considering vehicle level vectors (VLV) (age, body parameters, environment, driver behavior) as the affecting parameters excluding traffic congestion information. This work investigates engine operating conditions (EOC) criteria to develop a predictive model of ACCSSP in real-time. We used real-world field data obtained from Cadillac test vehicles driven (retrieved from Controller area network) by activating the ACC feature for developing the DL model. We developed a deep learning (DL) model using the NARX method to predict engine operating points (EOP - IET, IES, IFCR) mapping the VLV as shown in Figure 1. The conformance between the actual and predicted values validates the performance of the DL model, as shown in Figure 2.&nbsp;<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NzEwODM4MjM1LTE2NDU3MTA4MzgyMzUucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" class="fr-fic fr-dii" alt="eop-predictive-model-input-output">Fig. 2: Predictive model of EOP - Inputs and Outputs<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NzEwODM4NzcyLTE2NDU3MTA4Mzg3NzIucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" class="fr-fic fr-dii" alt="eop-prediction">Fig. 2: Prediction of EOP - ACCSSP = 70 MPH, 2019 Cadillac XT6We used a realistic set of assumptions to estimate the VLV for the future time steps for the range of allowable speed values and applied them at the input of the developed DL model to generate multiple sets of EOP’s. We imposed the defined EOC criteria on these EOPs, and the top three modes of speeds satisfying all the requirements are derived at each second.&nbsp;Thus, three eligible speed values in the user-defined range are estimated for each second, and an additional criterion is defined to generate a unique ACCSSP for future time steps, as shown in Figure 3. A performance comparison between predicted and constant ACCSSP’s indicates that the predictive model outperforms constant ACCSSP.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NzEwODM4MDA5LTE2NDU3MTA4MzgwMDkucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" class="fr-fic fr-dii" alt="accssp-prediction">Fig. 3: Process - Prediction of ACCSSP<h2 dir="ltr">Results</h2>The plot of constant and predicted ACCSSP is shown in Figure 4. The engine performance was defined by the euclidean distance of the operating and ideal EOP (ED) and engine torque and speed caliber [ETC, ESC]. The measure of these parameters for the predicted and constant ACCSSP is shown in Figure 5.&nbsp;<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NzEwODM4MTIyLTE2NDU3MTA4MzgxMjIucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" class="fr-fic fr-dii" alt="predicted-ACCSP">Fig. 4: Predicted ACCSSP - Initial ACC Speed = 70 MPH, Cadillac XT6<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NzEwODM4NDQzLTE2NDU3MTA4Mzg0NDMucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" class="fr-fic fr-dii" alt="eoc-parameters">Fig. 5: EOC Parameters - [ETC, ESC, ED], Cadillac XT6<h2 dir="ltr">Conclusion</h2>This novel algorithm could potentially act as a new feature in the vehicle which enhances the vehicle performance obliging the command of the driver.&nbsp;<h2 dir="ltr">About the University Technology Exposure Program 2022</h2>Wevolver, in partnership with <a href="https://mouser.com/" target="_blank">Mouser Electronics</a> and&nbsp;<a href="https://www.ansys.com/" rel="nofollow" target="_blank">Ansys</a>, is excited to announce the launch of the University Technology Exposure Program 2022. The program aims to recognize and reward innovation from engineering students and researchers across the globe. Learn more about the program <a href="http://www.wevolver.com/student-program" target="_blank">here</a>.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NzEwODM4MjgzLTE2NDU3MTA4MzgyODMucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" class="fr-fic fr-dii" alt="university-technology-exposure-program-mouser-ansys"><h2 dir="ltr">References</h2>Kolachalama S, Malik H. Predictive Model of Adaptive Cruise Control Speed to Enhance Engine Operating Conditions. Vehicles. 2021; 3(4):749-763. https://doi.org/10.3390/vehicles304004

This research predicts the adaptive cruise control set speed profile in the user-defined range for the future time steps, optimizing the engine operating point (EOP) in real-time. The prediction of EOP was made by a deep learning model using all the parameters affecting the engine performance. 

Predictive Model of Adaptive Cruise Control Speed to Enhance Engine Operating Conditions

This article is a part of our <a href="http://www.wevolver.com/student-program" target="_blank">University Technology Exposure Program</a>. The program aims to recognize and reward innovation from engineering students and researchers across the globe.&nbsp;<h2 dir="ltr">Introduction</h2>The article presents a concise description of the mathematical approach for planning the autonomous vehicle (AV) motion in a constrained space.&nbsp;From the point of view of reducing the necessary procedures in motion planning, simultaneous optimization of the trajectory and kinematic parameters would be preferable. However, with such an approach, it is difficult to satisfy all criteria, which often contradict each other, and the final objective function requires detailed study. In contrast, the proposed technique offers a two-stage prediction of the AV motion, demonstrating its mathematical logicality, clarity, workability, and efficiency on a generalized example of curvilinear movement in conditions of external boundaries and a moving obstacle.<h2 dir="ltr">What is the technology about? An overview</h2>The submission represents an overview of the developed technique for planning the AV motion reference parameters. The predictions of trajectory, speed, acceleration, and other AV's kinematic parameters are determined using sequential optimization. The proposed approach combines the basic principles of the finite element method (FEM) and nonlinear optimization with nonlinear constraints.&nbsp;First, the generalization on representing an arbitrary function by finite elements (FE) is briefly described. A one-dimension FE with two nodes and three degrees of freedom (DOF) in a node was chosen as the basic one, corresponding to the 5th-degree polynomial.&nbsp;Next, a method for determining the motion trajectory is developed. The following are considered: formation of a restricted space for the AV's allowable maneuvering, the geometry of motion trajectory and its relation with vehicle steerability parameters, cost functions and their influences on the desirable trajectory's nature, compliance of nonlinear restrictions of the node parameters with the motion area boundaries. At the second stage, a technique for optimizing AV speed and acceleration redistribution is elaborated.&nbsp;The model considers possible combinations of cost functions, conditions of limiting the kinematic parameters with the tire slip critical speed, maximum speed level, maximum longitudinal acceleration, and critical lateral acceleration. In the simulation section, several variants of trajectories were searched and compared. Several versions of distributing the longitudinal speed and acceleration curves are determined, and their comparative analysis is fulfilled.<h2 dir="ltr">What sub-systems is technology composed of?</h2>The mechanism of forming the boundaries of permissible movement in the presence of a movable obstacle is stipulated. Criteria for finding optimal trajectory plans and distribution of kinematic parameters are determined and analyzed, considering geometric, kinematic, and physical restrictions, including the vehicle performance potential. A series of virtual tests have been carried out for the generalized example of searching for motion predictions, demonstrating the consistency of the proposed technique and the quality of the resulting plans.<h2 dir="ltr">What tasks do they fulfill?</h2>The first stage is based on ensuring movement safety in the zone of admissible boundaries and stability of control due to the optimal smoothness of the predicted trajectory, considering the geometric and kinematic characteristics of the AV model. The second stage ensures the distribution of kinematic parameters along the trajectory length, the main of which are the longitudinal speed and acceleration, based on minimizing the complex criteria determined by the internal vehicle potential and the physics of tire-road interaction. The geometric, kinematic, and physical nonlinear constraints used in the optimization steps contribute to the realism and feasibility of the proposed planning technique.<h2 dir="ltr">How are these sub-systems integrated?</h2>To test the approach proposed, several variants of planning trajectories and speeds were performed based on the composed MATLAB code using the basic nonlinear optimization function fmincon. The primary necessary physical, kinematic, and geometric data (Fig. 3) of the vehicle Audi A4 Quattro were used.<h2 dir="ltr">Were any issues/obstacles resolved through clever component reengineering or innovative solutions?</h2>From the point of view of reducing the necessary procedures in motion planning, simultaneous optimization of the trajectory and kinematic parameters would be preferable. However, with such an approach, it is difficult to satisfy all criteria, which often contradict each other, and the final objective function requires detailed study. In contrast, the proposed technique offers a two-stage prediction of the AV motion, demonstrating its mathematical logicality, clarity, workability, and efficiency on a generalized example of curvilinear movement in conditions of external boundaries and a moving obstacle.<h2 dir="ltr">Supporting materials (technical drawings, schematics, illustrations, animations, etc.)</h2><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NTUwMzA0NjUwLWltYWdlNS5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" class="fr-fic fr-dii" style="width: 756px;" alt="planning the AV's maneuver">Figure 1. Scheme of the generalized task of planning the AV's maneuver<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NTUwMzE5NTc0LWltYWdlMS5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" class="fr-fic fr-dii">Figure 2. Forming the boundaries of the allowable area before planning a maneuver<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NTUwMzI3MjM4LWltYWdlNC5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" class="fr-fic fr-dii" alt="Relations between the mass center's trajectory and the vehicle kinematics">Figure 3. Relations between the mass center's trajectory and the vehicle kinematics&nbsp;&nbsp;<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NTUwMzM2MjEzLWltYWdlOC5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" class="fr-fic fr-dii" alt="critical interactions with the motion boundaries">Figure 4. Scheme of the critical interactions with the motion boundaries&nbsp;<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NTUwMzY4OTM0LWltYWdlNy5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" class="fr-fic fr-dii" alt="Variants of vehicle motion geometry depending on the priority criteria">Figure 5. Variants of vehicle motion geometry depending on the priority criteria: a) mass center trajectories, b) yaw angles<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NTUwMzc4NDk1LWltYWdlMy5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" class="fr-fic fr-dii" alt="Results of the optimal plans for redistributing the kinematic parameters">Figure 6. Results of the optimal plans for redistributing the kinematic parameters:a) longitudinal speed along the trajectory,b) longitudinal acceleration along the trajectoryc) longitudinal acceleration along with the longitudinal speedd) lateral acceleration along the trajectorye) relation between longitudinal and lateral accelerationsf) absolute acceleration along the trajectory<iframe width="640" height="360" src="https://www.youtube.com/embed/1haB9LHmxzE?&amp;wmode=opaque&amp;rel=0&amp;enablejsapi=1&amp;origin=https://www.wevolver.com" frameborder="0" allowfullscreen="" class="fr-draggable" data-lf-yt-playback-inspected-kn9eq4roawkarlvp="true"></iframe> <h2 dir="ltr">What are the different applications of the technology?</h2>Planning the AV motion is characterized by using various techniques and many of which originate from the tasks of modeling trajectories for robots. The difference from planning for robots lies primarily in the fact that vehicles are high-speed unsafe transport means and the significant influence of physical characteristics of the vehicle-road interaction. Another planning option is the search for continuous functions defined in the space domain based on the optimization process in the presence of geometric, kinematic, and physical characteristics restrictions limiting the vehicle-road interaction. The root-mean-square curvature of an optimized path within the trajectory boundaries can be much less than one of a trajectory built by midpoints.The optimization settings can be tuned concerning the type of vehicle drivetrain and the presence of intelligent traction control systems. As shown in Fig. 6b, entering the second lane's corridor is possible with acceleration and deceleration. The first technique is more typical for vehicles with front-wheel drive, while the second fits rear-wheel drive. With Torque Vectoring or Sport Differential technology, the nature of the control plans can be more intense towards higher speeds and accelerations.For planning the AV kinematic parameters, it is recommended to focus on the criteria that ensure using a speed close to the desired level in a quadratic sense and a compromise between the intensities of longitudinal speeds and accelerations. The latter provides both smoothness of speed and acceleration (Fig. 6a, 6b). At the same time, it is desirable to choose the weighting coefficients' balance in such a way to preserve the physical capability of reproducing such control laws on an actual vehicle. This might occur when the transient delay problem arises due to the features of the vehicle propulsion system. If the acceleration prediction requires only non-negative values, the minimum acceleration value in the constraints must be set to a negative value close to&nbsp;0. First, this will narrow the range of scattering and search for accelerations. Second, it will exclude the variants with more significant negative acceleration values, which would mean the need for using the braking system. Thus, the weighting coefficients must correspond to the task of maintaining a speed mode.<h2 dir="ltr">How does it affect the industry and/or society?</h2>A distinctive feature of the proposed technique is an explicit restriction of the safe motion area with optimizing the best trajectory choice in contrast to the approaches focused on conjugating the lanes' midpoints by smooth curves. The fundamental advantage of the proposed approach consists of obtaining a significant number of reference curves (Fig. 6) mathematically related to each other, which contributes to improving the quality of AV control in tracking. The forecasting stability is ensured by the smoothness of the higher derivative functions of the desired trajectory and speed distributions. Furthermore, the vehicle has a sensory system (MEMS gyroscopes and accelerometers, wheels' angular speed sensors) capable of evaluating in real-time the longitudinal speed, longitudinal and lateral accelerations, yaw rate, and other parameters directly. Thus, in organizing the tracking of AV references, the control accuracy is higher than only by controlling speed and lateral position.<h2 dir="ltr">About the University Technology Exposure Program 2022</h2>Wevolver, in partnership with <a href="https://mouser.com/" target="_blank">Mouser Electronics</a> and&nbsp;<a href="https://www.ansys.com/academic" rel="noopener noreferrer" target="_blank">Ansys</a>,&nbsp;is excited to announce the launch of the University Technology Exposure Program 2022. The program aims to recognize and reward innovation from engineering students and researchers across the globe. Learn more about the program <a href="http://www.wevolver.com/student-program" target="_blank">here</a>.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NTUxMjQ2MTI4LUJyb3VnaHQgdG8geW91IGJ5ICgxKS5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" style="width: 300px;" class="fr-fic fr-dib" alt="University-Technology-Exposure-Program-Mouser-Ansys-Wevolver"><h2 dir="ltr">References</h2>[1] Diachuk, M.; Easa, S.M. Motion Planning for Autonomous Vehicles Based on Sequential Optimization. Preprints 2022, 2022020165 (doi: 10.20944/preprints202202.0165.v1).

A novel mathematical approach for planning the autonomous vehicle  motion in a constrained space

Motion Planning For Autonomous Vehicles Based On Sequential Optimization

This article is a part of our <a href="http://www.wevolver.com/student-program" target="_blank">University Technology Exposure Program</a>. The program aims to recognize and reward innovation from engineering students and researchers across the globe.&nbsp;<h2 dir="ltr">About the project</h2>Woodpeckers have flexible and extendable tongues that they use to reach their prey through tiny openings in trees and insect burrows (Fig. 1). A robotic manipulator with these capabilities would be advantageous. For example, this kind of manipulator would be able to reach a product on the back of a cluttered shelf (Fig. 2). Such a concept is promising for applications that require picking and handling actions in unstructured environments, but to date only exists in science fiction and fantasy (e.g., Doctor Octopus in Marvel's Spider-Man).<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1MjA2MTg3OTg5LTE2NDUyMDYxODc5ODkucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" class="fr-fic fr-dii" alt="woodpecker-tongue">Fig. 1: Woodpeckers prey worms through tiny openings in trees by using their surprisingly long tongue<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1MjA2MTg4NTkyLTE2NDUyMDYxODg1OTIucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" class="fr-fic fr-dii" alt="traditional-robots-soft-robots">Fig.2: Extendable and bendable robotic arm can access hard-to-reach targets while avoiding obstraclesContinuum robots are those with manipulators that are inspired by the lightweight and flexible structures of animals such as an octopus-arm and elephant trunk. Although some of them can bend and extend their body in any direction (e.g., FESTO-Bionic Handling Assistant), they lack stiffness and restrict their applications, particularly those which require the grabbing and carrying of heavy objects. They also limit the extension distance, only about twice the maximum body length.<iframe src="https://www.youtube.com/embed/D7BvPoO5k0g?&amp;ab_channel=AyatoKanada&amp;wmode=opaque&amp;rel=0&amp;enablejsapi=1&amp;origin=https://www.wevolver.com" allowfullscreen="" class="fr-draggable" data-lf-yt-playback-inspected-kn9eq4roawkarlvp="true" width="640" height="360" frameborder="0"></iframe> To address this problem, we focused on a woodpecker tongue. Woodpeckers have unique anatomical features that manipulate their surprisingly long tongues. Unlike the human and anteater tongues, which are made mainly of muscle, the woodpecker's tongue is rigidly supported by the bones (Fig. 3). To store the long tongue inside a small head, it passes under the base of the jaw and wraps around the back and top of the head.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1MjA2MTg3OTU3LTE2NDUyMDYxODc5NTcucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" class="fr-fic fr-dii" alt="anatomy-woodpecker-tongue">Fig. 3: Anatomy of a woodpecker tongue [1]To reproduce these functions, we designed a robot manipulator that can substantially extend its length and bend its shape in 2D space (Fig. 4). This behavior is enabled by a backbone consisting of a chain of rigid joints and two flexible rack gears. The joints increase the payload by structurally supporting the robot. The proposed structure is 4.7 times stronger in vertical bending and 6.2 times stronger in torsion than without rigid links. Feeding the rack gears at the same and different speeds allows the robot to elongate and bend, respectively. Our robot has a long extension distance that depends on the length of the tongue. In addition, the manipulator body can be stored inside a small space (see the attached video). <img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1MjA2MTg4MTQ1LTE2NDUyMDYxODgxNDUucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" class="fr-fic fr-dii" alt="proposed-mechanism-woodpecker-inspired-robotic-arm">Fig. 4: Schematic diagram of the proposed mechanism. (a) Overview. (b) Backbone. (c) Driving unit. [1]<h2 dir="ltr">Problems solved by the project</h2>To illustrate the importance of this project, one should think of a conventional robot's arms or legs, for instance. Rigid manipulators designed to be stiff to achieve precise and repetitive position control are helpful in well-defined and structured environments, primarily manufacturing factories. However, they struggle to operate in unstructured environments such as homes and open fields. This is a fundamental problem in robotics because of its limited ability to accurately recognize the surrounding environment and contact/deal with objects in the right way, and overcoming it will be a milestone.Our project leads to realizing systems that are safer, cheaper, and more adaptable than the level that traditional robots can achieve. In our mechanism, the extending actuation allows robots to select a safe path that serial manipulators cannot follow, as shown in Fig. 2. The inherent compliance of our manipulator is safe to an unexpected impact and provides environmental adaptability. We believe that this technology could be used for search and rescue, agricultural, space, maintenance, cleaning, and other applications.<h2 dir="ltr">The present state of the art</h2>Soft robots (or continuum robots) have gained a significant amount of traction over a decade to overcome rigid robot problems, but their applications are limited. The main reason for this is that while material softness provides safety and adaptability, it also reduces the stiffness and payload. On the other hand, soft robots without rigid components cannot lift heavy loads regardless of their exertion force. Variable stiffness mechanisms to temporarily stiffen soft materials have attracted much attention in the past few years, but they are not suitable for manipulators because robots cannot operate during hardening.<h2 dir="ltr">Team working on the project</h2>This research has mainly been conducted by Ryota Matsuda, a master-course student, Ujjal Mavinkurve, a master-course student, and Ayato Kanada, an assistant professor at Kyushu University. Our next step is to extend our manipulator into three dimensions to make it look like a real Doctor Octopus's tentacle. <img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1MjA2MTg3Nzg2LTE2NDUyMDYxODc3ODYucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" class="fr-fic fr-dii" alt="woodpecker-inspired-robotic-arm-condept-3D">Fig. 5: Concept of a robotic arm that can bend and extend in 3D space<h2 dir="ltr">Conclusion</h2>The unique design and build of the novel robotic arm combine the benefits of both conventional rigid robotics and soft robots. Robotic hands that can operate in unstructured environments can unlock multiple opportunities for application in biomedical instrumentation, manufacturing, space research, agriculture, and numerous other fields of engineering.<h2 dir="ltr">About the University Technology Exposure Program 2022</h2>Wevolver, in partnership with <a href="https://mouser.com/" target="_blank">Mouser Electronics</a> and&nbsp;<a href="https://www.ansys.com/academic" rel="noopener noreferrer" target="_blank">Ansys</a>&nbsp;is excited to announce the launch of the University Technology Exposure Program 2022. The program aims to recognize and reward innovation from engineering students and researchers across the globe. Learn more about the program <a href="http://www.wevolver.com/student-program" target="_blank">here</a>.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NTUxOTgxNDIwLUJyb3VnaHQgdG8geW91IGJ5ICgxKS5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" class="fr-fic fr-dii" alt="Wevolver-Mouser-University-Technology-Exposure-Program"><h2 dir="ltr">Reference</h2>[1] R. Matsuda, U. Mavinkurve, A. Kanada, K. Honda, Y. Nakashima, M. Yamamoto, "A Woodpecker's Tongue-inspired, Bendable and Extendable Robot Manipulator with Structural Stiffness," IEEE Robotics and Automation Letters (RA-L), Vol. 7, No. 2, pp. 3334-3341.

The robot arm, which is inspired by a woodpecker's tongue, can be extended many times its length, bent into an S-shape, and stored in a small space, like Doctor Octopus from the Spider-Man series.

Design inspiration from woodpeckers could allow robotic arms to be bendable and extendable

This article is a part of &nbsp;our <a href="http://www.wevolver.com/student-program" target="_blank">University Technology Exposure Program</a>. The program aims to recognize and reward innovation from engineering students and researchers across the globe.&nbsp;<h2 dir="ltr" id="isPasted">The technology</h2><h3 dir="ltr">Design and material</h3>We built small wind turbines from locally available resources like timber, scrap metal, junk electronics, and other waste material. We have a variety of small wind turbines to match different needs. We created our own generators by salvaging damaged car starter motors, alternators, and diesel generators. From these, we made &nbsp;permanent magnet generators of up to 10 Kilowatts. We achieved this by creating our own coils and reconstructing the rotor to be a permanent magnet. <img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1MTIzMjI2MzA3LTE2NDUxMjMyMjYzMDcucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" width="545" height="727.9502655625242" class="fr-fic fr-dii" alt="small-wind-turbine-swit-installation">Fig. 1: Installing the blades of the windmillHere is a list of components used:1. &nbsp; &nbsp;ArduinoLEDs4. &nbsp; &nbsp;Relay Module5. &nbsp; &nbsp;12V DC motor6. &nbsp; &nbsp;Wooden Blades7. &nbsp; &nbsp; IR Sensor8. &nbsp; &nbsp;Generator9. &nbsp; &nbsp;Tower10. &nbsp; &nbsp;Cables<h3 dir="ltr">Blade design</h3>We then fabricated aerofoil blades from timber due to its wide availability and affordability. &nbsp;Using free airfoil designs from National Advisory Committee for Aeronautics (NACA) aerofoil database like NACA 4412, &nbsp;we designed the hub, shaft, and tower systems to hold the blades.<h3 dir="ltr">Braking and safety algorithm:</h3>In order to make the wind turbines smart, we used Arduino Uno based on an AVR ATMega32 microcontroller and an Infrared (IR) sensor. The IR sensor measures the speed in Rotations Per Minute (RPM) of the blades and interfaces with Arduino. We have designed an algorithm to guarantee safety. Fig. 2 shows a circuit simulation of the RPMcounter in Proteus.&nbsp;<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1MTIzMzUyMDg3LWltYWdlMS5wbmciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" style="width: 300px;" class="fr-fic fr-dib" alt="small-wind-turbine-proteus-simualation">Fig. 2: Proteus simulation of the proposed systemIf the speed goes above the maximum safe limit, Arduino interacts with a 12V DC motor on the wind turbine tail vane to move the turbine blade out of the wind. It does this by activating a 5V DC single-channel relay module to switch on the DC motor.&nbsp;<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1MTIzMjMxMTcxLTE2NDUxMjMyMzExNzEucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" width="351" height="368" class="fr-fic fr-dii" alt="small-wind-turbine-motor">Fig. 3: 12V DC motor controlling the tail vaneThe wind interacts with the wind turbine blades as a prime mover and rotates the generator which produces electricity. The IR sensors and relay module are connected to Arduino. As mentioned before, the IR sensor measures the speed of the blades and when the speed is within safety limits specified, a green LED indicating safety turns on.A 12V DC motor is placed to control the tail vane. If the speed of the blades goes beyond safety limits, the microcontroller triggers the relay connected to the DC motor and switches it on. As a consequence, the windmill is rotated in a direction perpendicular to the wind flow to break the operation.<h3 dir="ltr">Component reengineeringGenerator reengineering:</h3>We used a 2.5 Horsepower (HP) petrol generator to make our wind turbine, but since it was a 2 pole machine, we needed a speed of 3,000 RPM to generate power at a frequency of 60Hz, which is too high for most places. Hence, we switched to a permanent setup by using magnets from a car starter motor on the rotor. It produced power at the required frequency at a speed of just 900 RPM.<h3 dir="ltr">Gearing</h3>In order to make the small wind turbine still useful even in low-speed areas, we used gears to multiply the speed.&nbsp;Using angle grinder gearing plus 2 pulleys with a 2:1 ratio, we achieved speed multiplication of about 6 times, thus the wind turbine required to rotate slowly to achieve the desired 50Hz frequency.<h3 dir="ltr">Applications of prototype</h3>Education<ul><li dir="ltr">Can power a primary school block</li><li dir="ltr">Can be scaled to power projectors and other equipment required teaching</li></ul>Healthcare<ul><li dir="ltr">Can light rural health centres that are challenged with maternity cases</li><li dir="ltr">Can be scaled to power health equipment required in rural settings</li></ul>Housing<ul><li dir="ltr">Basic lighting of rural houses</li><li dir="ltr">Powering small cooking and heating appliances to replace fuelwood, charcoal and other environmentally unfriendly forms of energies</li><li dir="ltr">Lighting a small trading centre with a barbershop, saloon etc</li></ul>Agriculture<ul><li dir="ltr">Can be used for powering water pumping and irrigation systems</li></ul>Small businesses.<ul><li dir="ltr">Businesses like saloons and barbershops in rural areas can use small wind turbines and therefore improve their livelihoods and low-income levels, again reducing severe consequences of unemployment and poverty</li></ul><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1MTIzMjMyNDkxLTE2NDUxMjMyMzI0OTEucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" width="425" height="466" class="fr-fic fr-dii" alt="small-wind-turbine-inventor-paul-chris-mwale">Fig. 4: Blades of the windmill<h2 dir="ltr">Technicalities specifications</h2><div align="left" dir="ltr"><table><tbody><tr><td>Technical attribute</td><td>Specification</td></tr><tr><td>Rated power output</td><td>Different sizes&nbsp;Range from 2Kw for now to as low as 30 Watts</td></tr><tr><td>Height of turbine</td><td>Maximum of 10 meters for now.</td></tr><tr><td>Level of technology/automation</td><td>&nbsp;Arduino based monitoring.Software for remote monitoring</td></tr><tr><td>Maximum speed</td><td>&nbsp;4,000 RPM for a 2 KW design.</td></tr><tr><td>Faults and maintenance</td><td>&nbsp;Easy to fix, easy to dismantle.</td></tr></tbody></table></div><h2 dir="ltr">Conclusion</h2>Generating power where it is going to be used can cut down the costs of electricity transmission by a great margin. It also makes electricity available to remote locations where supply lines haven’t reached yet. A hybrid model of grid-connected and off-grid renewable systems can work together to balance sustainability and availability.<h2 dir="ltr">About the University Technology Exposure Program 2022</h2>Wevolver, in partnership with <a href="https://mouser.com/" target="_blank">Mouser Electronics</a> and <a href="https://www.ansys.com/" id="isPasted" rel="nofollow" target="_blank">Ansys</a> , is excited to announce the launch of the University Technology Exposure Program 2022. The program aims to recognize and reward innovation from engineering students and researchers across the globe. Learn more about the program <a href="http://www.wevolver.com/student-program" target="_blank">here</a>.<img src="https://s3-us-west-1.amazonaws.com/wevolver-project-images/froala%2F1645552017937-Brought+to+you+by+%281%29.jpg" style="width: 300px;" class="fr-fic fr-dib" alt="Wevolver-Mouser-Ansys-University-Technology-Exposure-Program">

Distributed generation has the potential to take electricity to the most remote locations of the planet. By establishing an off-grid windmill and a battery management system, it becomes possible to collect and utilise electrical power sustainability as and when required.

Small Wind Turbines for sustainable livelihoods

This article is a part of our <a href="http://www.wevolver.com/student-program" id="isPasted" rel="noopener noreferrer" target="_blank">University Technology Exposure Program 2022</a>. The program aims to recognize and reward innovation from engineering students and researchers across the globe.<h2 dir="ltr" id="isPasted">About the project</h2>Microelectronics always tries to solve the task of balancing the performance and size of semiconductor devices. This is one of the main challenges for R&amp;D Engineers in the field of microelectromechanical systems (MEMS) too. The chip size reduction can bring cost reduction and open up the possibilities for finding new applications. For more than 50 years, piezoresistive pressure sensors have used classic Wheatstone bridge circuits. This circuit dominates the pressure sensor market.&nbsp;Technology continuously improves by changing sensor topology or fabrication processes. But there can be a different approach for this problem. By changing the electrical circuit on the chip, improvements can be brought in. This is different from the combination of MEMS structures and Application Specific Integrated Circuit (ASIC) on a single chip, as it uses some advanced technologies. This is a way to increase the number of piezoresistive elements on the deformable part of the sensor while maintaining the power supply. This project presents a pressure sensor chip with a novel electrical circuit utilizing piezo sensitive differential amplifiers on Bipolar Junction Transistors (BJT) with a negative feedback loop (PDA-NFL) (Fig. 1).&nbsp;By increasing the number of sensitive elements in the circuit with the correct balance to change the output signal from mechanical stress (pressure), it is possible to either increase the sensitivity with the same dimensions, reduce the dimensions with the same sensitivity, or find a middle point with other benefits.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ0NTAwNDE5MDg3LTE2NDQ1MDA0MTkwODcucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" style="width: 300px;" class="fr-fic fr-dib" alt="PDA-NFL circuit">Fig. 1. The electrical circuit, top and back view of the PDA-NFL chip<h2 dir="ltr" id="isPasted">Conceptualization and Technical mechanisms&nbsp;</h2>Researchers tried to solve this task by changing chip mechanical structure in the different forms of membrane and piezoresistors &nbsp;arrangement. There are many attempts to combine wet etching (by Potassium hydroxideor Tetramethylammonium hydroxide) or/and Deep Reactive Ion Etching (DRIE) to create a novel diaphragm, but in time, we understand that there are some limits for low and middle-pressure ranges. The creation of a chip by Bipolar CMOS (BiCMOS) and MEMS technology helps us amplify the output signal, change it from analog to digital, and for example, decrease some numbers of errors introduced by temperature, nonlinearity, and others.&nbsp;But we will not be able to achieve a certain threshold sensitivity for different pressure ranges if there are size restrictions, or we will not be able to get uncompensated errors in temperature &amp; mechanical hysteresis, long-term stability, and mechanical overload. These issues can be solved only by MEMS chip.&nbsp;Initially, this project was inspired by the idea of the reaction of various transistor structures to mechanical stress. The transistors are smaller than resistors and have a good response to mechanical stress (piezojunction effect for BJT). But after years of development and several wafer batches (epitaxial structures with the crystallographic plane) with different topologies for the pressure sensor chip, the role of BJT became clear.&nbsp;It’s difficult to arrange BJT and resistors in a small area between the stress concentrators (in this case, it was about 20x500 microns) for the pressure sensor, PDA-NFL circuit. All work on increasing the sensitivity is performed by piezoresistors with different values. Non-deformable BJT with specific operating points of vertical structure with npn conductivity allows all resistors with p-type conductivity to be connected together, balance the response in a much better way than the Wheatstone bridge circuit, and compensate for temperature errors from BJT by piezoresistors . All data on an operation of pressure sensor chip PDA-NFL from pressure and temperature (the main error) and a technological route for semiconductor structures were simulated before production (Fig. 2).&nbsp;<h2 dir="ltr">Performance and Technical Specifications</h2>Achieved development benefits can be shown in various comparative analyses for pressure sensor chips with the Wheatstone bridge circuit. For example, it can be seen in &nbsp;Fig. 3a how the chip area can be reduced by 2.4 times while maintaining the same sensitivity (S = 1.9 mV/V/kPa), circuit supply voltage (5 V), and membrane geometry (its topology, production method, and thickness of the thin part). Additionally, the pressure sensor chip PDA-NFL increases the burst pressure by more than 5 times (up to 1.6 MPa) relative to its analog.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ0NTAwNDY1NjM1LTE2NDQ1MDA0NjU2MzUucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" style="width: 300px;" class="fr-fic fr-dib" alt="iv-characteristics-PDA-NFL">Fig. 2. The results of I-V characteristics for BJT and map of mechanical stress for creation of pressure sensor chip PDA-NFLThe next example is the inverse task. Fig. 3b shows the dependence of sensitivity on the thickness of the membrane thin part for two types of pressure sensor chips while maintaining the overall dimensions (4x4 mm2), circuit supply voltage, and also topology and production method for membrane. The new circuit PDA-NFL made it possible to increase the sensitivity by more than 3.5 times (all other conditions being equal). All types of pressure sensor chips were fabricated in the same production line.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ0NTAwNjI4NjAyLWltYWdlNi5wbmciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" style="width: 300px;" class="fr-fic fr-dib" alt="PDA-NFL-size-comparision"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ0NTAwNjM3MzAzLWltYWdlOS5wbmciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" style="width: 300px;" class="fr-fic fr-dib" alt="performance-PDA-NFL">&nbsp;Fig. 3. Examples of the advantages of the new electrical circuit &nbsp;PDA-NFL for pressure sensing&nbsp;Pressure sensor chip PDA-NFL showed significant advantages compared to piezoresistive analog circuits.&nbsp;More detailed comparative characteristics for chip PDA-NFL and analog circuits in terms of sensitivity, nonlinearity, mechanical hysteresis and repeatability, temperature characteristics, and other parameters for the same pressure ranges are given in Table 1.<div align="center" dir="ltr" id="isPasted"><table><tbody><tr><td colspan="2">Type of pressure sensor chip</td><td>PDA-NFL</td><td>CBMP*</td><td>PDA-NFL</td><td>Peninsula-island**</td></tr><tr><td colspan="2">Pressure range</td><td colspan="2">5 kPa</td><td colspan="2">1 kPa</td></tr><tr><td colspan="2">Dimension of membrane thin part, mm2</td><td>2.26×2.26</td><td>2.90×2.90</td><td>2.26×2.26</td><td>3.50×3.50</td></tr><tr><td colspan="2">Sensitivity S, mV/V/kPa</td><td>11.24</td><td>5.14</td><td>44.9</td><td>66.0</td></tr><tr><td colspan="2">Zero pressure output signal (Offset), mV/V</td><td>8.0</td><td>1.3</td><td>14.0</td><td>-</td></tr><tr><td colspan="2">Noise voltage, μV/V</td><td>3</td><td>-</td><td>12</td><td>-</td></tr><tr><td colspan="2">Nonlinearity 2KNL, %FS</td><td>0.27</td><td>0.28</td><td>0.26 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;</td><td>0.33 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;</td></tr><tr><td colspan="2">Hysteresis H, %FS</td><td>0.03</td><td>0.26</td><td>0.28 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;</td><td>0.36 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;</td></tr><tr><td colspan="2">Repeatability R, %FS</td><td>0.08</td><td>0.53</td><td>0.42 &nbsp; &nbsp; &nbsp; &nbsp;&nbsp;</td><td>0.67 &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;</td></tr><tr><td colspan="2">Zero change after flipping sensor, μV/V/g</td><td>11</td><td>-</td><td>13</td><td>28</td></tr><tr><td colspan="2">Burst pressure Pburst, kPa</td><td>600</td><td>-</td><td>500</td><td>105</td></tr><tr><td rowspan="2">Output changing after pressure overload</td><td>of offset, %FS</td><td>0.023</td><td>-</td><td>0.083</td><td>-</td></tr><tr><td>of sensitivity, %FS</td><td>0.081</td><td>-</td><td>0.061</td><td>-</td></tr><tr><td rowspan="2">Long-term stability</td><td>of offset, %FS</td><td>0.032</td><td>-</td><td>0.122</td><td>0.138</td></tr><tr><td>of sensitivity, %FS</td><td>0.023</td><td>-</td><td>0.166</td><td>-</td></tr><tr><td rowspan="2">Thermal hysteresis of zero, %FS</td><td>(–30…+20°С)</td><td>0.042</td><td>-</td><td>0.341</td><td>-</td></tr><tr><td>(+20…+60°С)</td><td>0.050</td><td>-</td><td>0.262</td><td>-</td></tr><tr><td rowspan="2">Thermal hysteresis of span, %FS</td><td>(–30…+20°С)</td><td>0.189</td><td>-</td><td>0.611</td><td>-</td></tr><tr><td>(+20…+60°С)</td><td>0.061</td><td>-</td><td>0.343</td><td>-</td></tr><tr><td rowspan="2">Thermal coefficient of zero, (%/°C)FS</td><td>(–30…+20°С)</td><td>0.014</td><td>-</td><td>0.092</td><td rowspan="2">0.165</td></tr><tr><td>(+20…+60°С)</td><td>0.012</td><td>0.013</td><td>0.096</td></tr><tr><td rowspan="2">Thermal coefficient of span, (%/°C)FS</td><td>(–30…+20°С)</td><td>0.222</td><td>-</td><td>0.633</td><td>-</td></tr><tr><td>(+20…+60°С)</td><td>0.204</td><td>0.116</td><td>0.634</td><td>-</td></tr></tbody></table></div>Tab. 1. Output characteristics of pressure sensor chip PDA-NFL and advanced analogs with Wheatstone bridge circuit&nbsp;* &nbsp;A.V. Tran, X. Zhang, B. Zhu, “Effects of temperature and residual stresses on the output characteristics of a piezoresistive pressure sensor,” IEEE Access, vol. 7, pp. 27668-27676, 2019.** T. Xu, H. Wang, Y. Xia, Z. Zhao, M. Huang, J. Wang, L. Zhao, Y. Zhao, Z. Jiang.<h2 dir="ltr" id="isPasted">Potential applications of pressure sensor chip PDA-NFL</h2>The consumption market for pressure sensor chips like PDA-NFL is very wide and significantly depends on the conditions and requirements for different applications. Estimated by data from the reputable analytical company Yole Development, as it can be seen from Fig. 4, the pressure sensor market has 5 main directions for application fields: automotive, consumer, industrial, medical, and defense/aerospace.&nbsp;The market (after first-level packaging for MEMS pressure sensors) is currently growing with a CAGR of 5.1% and will reach $2.2B in 2026 (vs. $1.6B in 2020). This sharp rise is clearly related to the market's recovery from COVID-19. The presented pressure sensor chip PDA-NFL, or rather the type of the proposed electrical circuit can find application for all fields. Here is a list of some of them for mass fabrication:<ul><li dir="ltr">Automotive: Powertrain, Manifold Absolute Pressure (MAP), Barometric Air Pressure (BAP), particle filter, fuel tank, exhaust gas recirculation, engine oil, automatic transmission oil, Tire Pressure Monitoring System (TPMS), brake booster, side airbags, pedestrian protection.</li><li dir="ltr">Consumer electronics: smartphones, watches, Internet of Things (IoT), smart home.</li><li dir="ltr">Industrial systems: Heating, Ventilation, and Air Conditioning (HVAC), industrial process controls, transportation.</li><li dir="ltr">Medical: Blood Monitoring (invasive), respiratory care, smart inhalers.</li><li dir="ltr">Defense/Aerospace: Air data, Full Authority Digital Engine Control (FADEC), hydraulics.</li></ul><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ0NTAwNzg5MzM2LWltYWdlOC5wbmciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" style="width: 300px;" class="fr-fic fr-dib" alt="MEMS-pressure-sensor-market">Fig. 4 MEMS pressure sensor market dynamics. Source: Yole DevelopmentAdditionally, the pressure sensor chips PDA-NFL can be used in a variety of studies and research in hydromechanics, robots, biophysics, acoustics, geophysics, and a lot of other projects.<h2>Conclusion</h2>The project presented an opportunity for improvement in piezoresistive pressure sensing technology by on-chip integration of piezosensitive differential amplifier on BJTs. PDA-NFL showed significant advantages in terms of sensitivity and compactness compared to piezoresistive pressure sensors with the Wheatstone bridge circuit.<h2 dir="ltr">About the University Technology Exposure Program 2022</h2>Wevolver, in partnership with <a href="https://mouser.com/" target="_blank">Mouser Electronics</a> and <a href="https://www.ansys.com/academic" rel="noopener noreferrer" target="_blank">Ansys</a>, is excited to announce the launch of the University Technology Exposure Program 2022. The program aims to recognize and reward innovation from engineering students and researchers across the globe. Learn more about the program <a href="http://www.wevolver.com/student-program" target="_blank">here</a>.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1NTUyMDc5NDc1LUJyb3VnaHQgdG8geW91IGJ5ICgxKS5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" style="width: 300px;" class="fr-fic fr-dib" alt="university-technology-exposure-program-mouser-ansys"><h2 dir="ltr">References:</h2>[1] M. Basov, "Pressure Sensor with Novel Electrical Circuit Utilizing Bipolar Junction Transistor," 2021 IEEE Sensors, 2021, pp. 1-4, doi: 10.1109/SENSORS47087.2021.9639504.[2] “Piezoresistive pressure sensor with high sensitivity for medical application using peninsula-island structure,” Front. Mech. Eng., vol. 12, pp. 546–553, 2017.

Highly sensitive microelectromechanical systems (MEMS) pressure sensor chip utilizing a novel piezosensitive differential amplifier with negative feedback loop (PDA-NFL) circuit.

Novel circuit design approach makes pressure sensors smaller and more sensitive

This article is a part of our <a href="http://www.wevolver.com/student-program" target="_blank">University Technology Exposure Program</a>. The program aims to recognize and reward innovation from engineering students and researchers across the globe.&nbsp;When we think of smart fabrics, we usually associate them with wearable and fashion technology, such as clothing that can track your health and physical activity or gloves that can sense tactile information or your finger gestures. Since textiles are ubiquitous in our environments, other realms of textiles, such as flooring and upholstery, will also benefit from functional materials augmentation and technological integration.&nbsp;MIT Media Lab researchers have developed a large-scale seamless interactive carpet and established an interdisciplinary project that unites new materials, sensing technologies, and advanced digital fabrication with contemporary dance and music. Tapis Magique project explores the relationship between auditory and physical interaction through an interactive knitted electronic textile interface. The researchers aim to tease the idea of music or an immersive sonic environment that is driven in real-time by movements from dance and choreography and allow dancers to have their own agency over producing and controlling the music.&nbsp;<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjMyNzU1Nzg3NDA4LVRhcGlzTWFnaXF1ZTEgY29weSAyLkpQRyIsImVkaXRzIjp7InJlc2l6ZSI6eyJ3aWR0aCI6OTUwLCJmaXQiOiJjb3ZlciJ9fX0=" style="width: 766px;" class="fr-fic fr-dib">Credit Images: Irmandy Wicaksono/MIT Media LabThe project is motivated by traditional textile's extreme craftsmanship and artistry. Irmandy took some design inspiration from the cultural textiles of Indonesia, such as Javanese and Balinese Batik and Ikat. In these textiles, unique designs and patterns carry specific meanings and wishes. Complementing their traditional dance and music, they unitingly and harmoniously amplify a sense of community, identity, and expression. He hopes that by bringing functionality and interactivity to modern textiles, they will become even more appreciated, treasured, and personal and enhance our interaction with the environments and the digital world. Tapis Magique demonstrates the interplay between art and technology, highlighting the deep emotional link between contemporary textiles, dance, and music through the physical-digital connection.&nbsp;As textiles are highly soft, deformable, and palpable materials with a broad spectrum of textures, they are a great candidate for physical interfaces. Irmandy previously knitted a piano-patterned, multimodal musical cloth (<a href="https://www.digitaltrends.com/features/mit-knitted-keyboard/" target="_blank" rel="noopener noreferrer"></a><a href="https://www.digitaltrends.com/features/mit-knitted-keyboard/" rel="noopener noreferrer" target="_blank">KnittedKeyboard II</a>) that simultaneously responds to touch, pressure, stretch, and proximity. This 5-octave soft interface allows intimate and organic finger-fabric interaction. He also collaborated with a composer and keyboardist to demonstrate the multi-dimensionality of this e-textile instrument. With Tapis Magique, he is scaling the knitted e-textile technology and expanding its applications, incorporating footwork and body gestures.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjMyNzU2MzcyNTM0LVNjcmVlbiBTaG90IDIwMjEtMDktMjcgYXQgMTEuMjMuMTIgQU0ucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" style="width: 766px;" class="fr-fic fr-dib">Knitting is an established textile manufacturing technique that has been pervasive in the garment and technical fabrics industry. &nbsp;In comparison to weaving, knitting has several advantages, including the ability to create intricate patterns and structures. Digital knitting machines now enable users to personalize and rapidly develop their textile design through a specialized visual programming environment and various functional and common yarns. It employs an array of needles or hooks that goes up and down to catch the yarns based on an instruction file. Each yarn is fed to the machine from a cone, passing through a tensioning mechanism towards a yarn carrier. These yarn carriers move sideways as the needles grab the yarn to form new loops. With advances in electronic materials and digital fabrication technologies, we can tune textile physical and at the resolution of a fiber, a loop structure, or a particle coating. These textiles can be fully customized from the micro to macro-scale and computationally designed and fabricated to form a seamless, heterogeneous, and multi-functional skin. This additive manufacturing process of machine-knitting enables the team to engineer patterns, colors, texture, thickness, elasticity, breathability, conductivity in discrete loops through fiber structures or material choices with as little waste as possible.&nbsp;<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1ODE2NDYwNzM1LTE2NDU4MTY0NjA3MzQucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" id="isPasted" class="fr-fic fr-dii"> Tapis Magique is fabricated by knitting electrically-conducting yarns with other synthetic yarns, such as polyester, mink, thermoplastic, and luminous yarns, and fusing its multi-layer structures through thermoforming. The&nbsp;tapis&nbsp;design is composed of multi-layer knitted textiles. The top and bottom layers are orthogonal conductive line matrices knitted within a single operation using multi-material twisted yarns. The middle layer is a knitted piezoresistive textile, a pressure-sensitive layer that interfaces with the conductive matrices to create a sensing grid. The knitted piezoresistive textile is coated with conductive polymer called polypyrrole (PPy). &nbsp;Since it is piezoresistive, the resistance of this fabric sensor changes in correlation to the applied force. Like how a force-sensing resistor (FSR) works, a higher pressure compresses the conducting molecules coated into the fabric. These molecules then form a network, allowing more current to flow and reducing the resistance around the contact area.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjMyNzU2NDU1MDcwLVRhcGlzTWFnaXF1ZTUgY29weS5qcGciLCJlZGl0cyI6eyJyZXNpemUiOnsid2lkdGgiOjk1MCwiZml0IjoiY292ZXIifX19" style="width: 766px;" class="fr-fic fr-dib">In Tapis Magique, the researchers carefully consider the textile design from the yarn choices, textures, mechanical properties, to the aesthetics. The dense geometrical patterns of the stars scattered around the brushstroke details in the&nbsp;tapis&nbsp;represent 1800 pressure-sensing pixels and are inspired by the galactic space. Parametric design transformed these patterns into a 3-D spatial illusion to illustrate the multi-dimensionality of the sensor data. &nbsp;The furry textures from the synthetic mink yarns provide a soft tactility for physical feedback and give the tapis an intimate and comforting feel. The thermoplastic fibers were then steamed to melt the multi-layer knitted textiles into one rigid surface, giving it structural reinforcements. In addition, the outer-facing textile glows in the dark from the luminous yarns, bringing out the starry effects for night performance modes.&nbsp;The knitted conductive lines are connected to system hardware consisting of multiplexers, shift-registers, operational amplifiers, and a microcontroller that sequentially reads each pressure sensing pixel and sends it to a computer. These 60x30 pixels correspond to the pressure profile of the feet. They collectively generate continuous 3-D spatiotemporal sensor data correlated to the body posture, movements, and footwork. This data is then mapped into Musical Instrument Digital Interface (MIDI) streams to trigger and control discrete notes, continuous effects, and immersive soundscapes through science-inspired musical tools. MIDI is an industry-standard protocol that connects digital musical instruments, computers, tablets, and smartphones together and is used worldwide to create, produce, and perform music.<iframe src="https://player.vimeo.com/video/603497012" frameborder="0" allowfullscreen="" class="fr-draggable" style="width: 766px; height: 436px;" data-lf-yt-playback-inspected-kn9eq4roawkarlvp="true"></iframe> The team then designed several musical patches or pieces to invoke various emotions to inspire conversations between the choreographer and the instrument. Behind the scene, runs a digital modular synthesizer made of several patches, each for a different type of performance. The incoming stream of MIDI data is first fed into quantizer modules that align the notes to major, minor, and pentatonic scales, as well as mystic chords. The sounds are then generated by a collection of subtractive, additive, and granular synthesizers and are composed of discrete, melodic sounds with effects and continuously evolving soundscapes. "Venus Sunrise," one of the performance pieces demonstrated by the team, as shown in the video, presents a metaphorical celestial sound of the universe as the dancer is twirling around the stars, traveling through space and time. The team is now exploring other musical patches with different genres and ambiances.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjMyNzU2NzA2OTIyLVRhcGlzTWFnaXF1ZTggY29weSAzLkpQRyIsImVkaXRzIjp7InJlc2l6ZSI6eyJ3aWR0aCI6OTUwLCJmaXQiOiJjb3ZlciJ9fX0=" style="width: 753px;" class="fr-fic fr-dib">Real-time audio system connected to Tapis Magique<hr> Tapis Magique&nbsp;provides a canvas for dancers and sound artists to program, compose, perform, and even collaborate with their own choreomusical pieces. It could also create an auditory-gestural synesthetic experience that invites and encourages the audiences to move on the carpet, expressing themselves through dance and evokes the bi-directional, intimate relationship between two complex art forms of dance and music.&nbsp;Irmandy Wicaksono, an MIT PhD student from the Responsive Environments Group, MIT Media Lab led the project and was involved in the design, fabrication, and development of Tapis Magique with the advice of MIT Professor of Media Arts and Sciences Joe Paradiso. He collaborated with MIT PhD student and sound artist Don Derek Haddad and dancer Loni Landon to demonstrate this interactive e-textile carpet and produce several musical and performance pieces.&nbsp;<h2 dir="ltr" id="isPasted">About the University Technology Exposure Program 2022</h2>Wevolver, in partnership with <a href="https://mouser.com/" rel="nofollow" target="_blank">Mouser Electronics</a> and&nbsp;<a href="https://www.ansys.com/academic" rel="noopener noreferrer" target="_blank">Ansys</a>,&nbsp;is excited to announce the launch of the University Technology Exposure Program 2022. The program aims to recognize and reward innovation from engineering students and researchers across the globe. Learn more about the program <a href="http://www.wevolver.com/student-program" target="_blank">here</a>.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjQ1ODE2NTA2MjM0LWV5SmlkV05yWlhRaU9pSjNaWFp2YkhabGNpMXdjbTlxWldOMExXbHRZV2RsY3lJc0ltdGxlU0k2SW1aeWIyRnNZUzh4TmpRMU5UVXhNalEyTVRJNExVSnliM1ZuYUhRZ2RHOGdlVzkxSUdKNUlDZ3hLUzVxY0djaUxDSmxaR2wwY3lJNmV5SnlaWE5wZW1VaU9uc2lkMmxrZEdnaU9qazFNQ3dpWm1sMElqb2lZMjkyWlhJaWZYMTkud2VicCIsImVkaXRzIjp7InJlc2l6ZSI6eyJ3aWR0aCI6OTUwLCJmaXQiOiJjb3ZlciJ9fX0=" style="width: 300px;" class="fr-fic fr-dib">

Dancer Loni Landon performing with Tapis Magique

Tapis Magique is a pressure-sensitive, knitted electronic textile carpet that generates 3D sensor data based on body gestures and drives an immersive sonic environment in real time. 


A choreomusical e-textile interactive carpet

This article is a part of our <a href="http://www.wevolver.com/student-program" target="_blank">University Technology Exposure Program</a>. The program aims to recognize and reward innovation from engineering students and researchers across the globe.This is a typical situation where the use of bio-location is used ineffectively. &nbsp;Dolphins are smart. They are clever enough to distinguish between useless tasks and really necessary ones. From the side of humans, it can be seen as unwillingness to perform learning tasks. Consider for example the Blue Game 2002 military training. The dolphins were airlifted to Denmark from San Diego in the US and housed in pairs in two large pools. During one of the training trips to the sea, the dolphin did not return to the support boat. The Navy decided to request help from a rescue helicopter to search for the dolphin from the air. After the helicopter took off from Slipshavn, a message came from the police that the dolphin was in Nyborg. As a result, a dolphin was quickly found frolicking in the inner harbor of the port [1,2]. This is approximately how freedom-loving animals react to the need for long-distance flights to search for dummies of mines.At the same time, when the dolphin himself decides to save a drowning person, then there are no problems. However, it is this skill of dolphins that is least often used. It&#39;s a matter of priorities. The technical possibilities of accommodation on rescue ships have existed for a long time. For instance, Dolphins are carried aboard Navy ships in large movable pools, about 20 feet in diameter &amp; traveled on the amphibious ship Gunston Hall in 2003 for the Iraq war [3].Below I will consider more complex examples of using another predator sensor apparatus for searching in the sea. Pattern recognition techniques can be complex, but they serve to make searching easier.<h2 id="isPasted">Signals processing from different sources to have a complete picture of the situation</h2>One of the important aspects is a separation of partial information useless for the primary user of the data, and useful for rescue services. &nbsp;The algorithms used by nature were tested for millions of years. There is a reason for people to use bionic principles to improve electronic surveillance technologies.<h2>The loss of signal</h2>The sunken ship disappears from radar screens and stops to transmit the signals. Data on the last radio contact give rapidly deteriorated information. In any case, it is used not only one point. The vectors are constructed as follows:&nbsp;<ul style="list-style-type: circle;"><li>Between the point of the last contact and the point, at which the ship would be located, if it moved at the same speed and in the same direction;&nbsp;</li><li>Vector to the point, at which the ship would be located with the power-on engine, if it drifted (towards the current);</li><li>Vector pointed to the opposite side of incoming waves (if necessary, the captain heads the ship to minimize side impacts of waves).&nbsp;</li></ul>All three vectors should be inside the initial spot of the search. They can considerably increase it, depending on the deterioration rate of information.<h3>Usage of data on the movement of marked sea predators</h3>A shark sensory apparatus has a high degree of perfection due to evolutionary processes. They recognize an odour very well, especially blood smell. The possibility of using this methodology means no good. If sharks smelled blood and changed their moving direction towards the accident site, it means that any of the survivors has open wounds. That direction can be well defined. The intersection of sharks&rsquo; moving directions is an area of the probable location of the survivors. For the success of a rescue operation, the survivors must be discovered before the sharks will find them. It should be noted that the moving directions of the sharks near the prey are less informative because predators prefer to unexpectedly attack and move in a composite path prior to the attack.<img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjI1NDkwMzM3ODUzLUZpZyAxLnBuZyIsImVkaXRzIjp7InJlc2l6ZSI6eyJ3aWR0aCI6OTUwLCJmaXQiOiJjb3ZlciJ9fX0=" class="fr-fic fr-dib" alt="Schematic single map with superimposition of data">Figure 1: Schematic single map with superimposition of data<div class="fr-img-space-wrap"><div class="fr-img-space-wrap"><img src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjI1NDkwMzkyODQzLUZpZyAyLnBuZyIsImVkaXRzIjp7InJlc2l6ZSI6eyJ3aWR0aCI6OTUwLCJmaXQiOiJjb3ZlciJ9fX0=" class="fr-fic fr-dib" alt="Schematic representation methodology based on codes that describe a separation by sequentially increasing resolution in selected range">Figure 2: Schematic representation methodology based on codes that describe a separation by sequentially increasing resolution in selected range.</div></div><h3>All methods mentioned above produce a pretty poor result in themselves</h3>Only superimposition of the data, for instance, information from different sources, on a single map can yield a result Figure 1. The formed sum of points on a map is processed by conventional mathematical methods for error estimation in order to define the search area.The methods for processing the images on the retina of different living beings and their applicability to change the operation algorithms of conventional equipment used for the same purpose have fundamentally been reviewed in detail by many scientists: Nobel Prize winners David H. Hubel and Torsten N Wiesel, and some others like Kaganitsky Grigory, Mary Carlson, Kevin R. Duffy, Rafael Gonzalez [7-9]. The selection of electromagnetic wavelength range is determined by the properties of the object to be found. Radio waves are best suited for search of the metal structure remains of the ship and infrared region &ndash; for the search of the survivors.The methodology is based on codes that describe a separation by sequentially increasing resolution in a selected range. Each scanning pass gives a more and more sophisticated picture. The analysis of intermediate results can be carried out in each phase, starting from the first scanning pass. If the boundary condition (object availability) is fulfilled, the codes responsible for the selected area become active, and the rest of the codes are blocked. At every next step with increasing resolution, the image details become more specific. In fact, a part of the analysis is performed outside the control centre, which receives code groups already prepared for identification Figure 2. &nbsp;A processing speed is assured due to information processing in parallel. The initial capturing of the group of objects occurs without contour extraction. Then, the division of identifiable objects and the construction of bundles between them based on the shortest distances take place. If there is a sector less in area than the spot of objects and bundles between them, which surrounds it, this sector is also captured for further analysis. With higher resolution in the selected areas based on previously given parameters, the sequence of the most significant targets is determined. The codes are compared in a sequence of targets, and in the absence of coincidence, the transfer to the next target of the group occurs. The continuously complicated group of codes arranged as linked lists is a result of such analysis constantly carried out.After the necessary and sufficient conditions are met for the identification of the objects, a full scanning is performed with the maximum resolution for the initial area, while prompt decisions are made regarding the identified objects. This means that utilizing these principles does not abolish a usual sequential scanning of the areas with maximum resolution, but gives an opportunity to promptly receive a discrete flow of the data (that becomes more and more detailed after every iteration) for potential quick reaction and problem-solving.The analysis can be simultaneously carried out with the use of several receivers that have different resolutions or types of signal injection (discrete and continuous). For example, the initial capture of the image can be performed with the help of video (low resolution), however, the identification of selected important areas is better performed using photo devices (high resolution). The range of lengths selected for infrared waves for the scan purpose should provide a maximum informational content for temperatures of about 36.6&deg; Celsius. No less important an opportunity to identify the object with the mentioned temperature that is located near a hotter object, i.e. if there is still a hot engine in the non-flooded compartment, and the survivor uses this fragment as a raft.<h2>Conclusion</h2>The critical situations caused by the accidents require a considerable quantity of online data for adequate reaction. Anyway, most part of the necessary information is gathered but used rarely and untimely. In any case, the sea predators also search for the survivors just like rescuers, but for another purpose. The data on the movement of marked sharks are very seldom used to advantage.A more complete understanding of how an eye scrutinizes the image can be applied to optical equipment used by rescuers. This article examined the bionic principles of processing the information for utilizing in future search operations.<h2>References</h2>1. Fladen i Korsor, Nr. 2 Juni 2002 <a data-lf-fd-inspected-kn9eq4roawkarlvp="true" href="http://www.marinehist.dk/FIKors/2002-2-FiKors.pdf" rel="noopener noreferrer" target="_blank">http://www.marinehist.dk/FIKors/2002-2-FiKors.pdf</a>2. S&oslash;v&aelig;rn&rsquo;s orientering, Nr. 2 Juni 2002 https://www.marinehist.dk/SVNORI/SVNORI-2002-02.pdf3. &quot;Navy dolphins, sea lions losing out to robots&quot; 2012 The San Diego Union-Tribune https://www.sandiegouniontribune.com/sdut-navy-dolphins-sea-lions-losing-out-to-robots-2012nov30-story.html<a data-ved="2ahUKEwjRqZmD-PHyAhUDt4sKHfMKAm8QFnoECAMQAQ" href="https://ua.depositphotos.com/vector-images/s%C3%B8v%C3%A6rn.html?offset=100" ping="/url?sa=t&source=web&rct=j&url=https://ua.depositphotos.com/vector-images/s%25C3%25B8v%25C3%25A6rn.html%3Foffset%3D100&ved=2ahUKEwjRqZmD-PHyAhUDt4sKHfMKAm8QFnoECAMQAQ" target="_blank" id="isPasted"></a>4. David H. Hubel &amp; Wiesel, T N. (1979). Brain mechanisms of vision. Scientific American, 241, 150&mdash;162.5. David H. Hubel, David C. Freeman Brain Research V. 122, I. 2, 1977, PР 336&ndash;3436. David H. Hubel,Torsten N. Wiesel, Early Exploration of the Visual Cortex., Neuron V. 20, I. 3, 1998, PP. 401&ndash;4127. Rafael C. Gonzalez Richard E. Woods Digital Image Processing, Addison-Wesley Longman Publishing Co., Inc. Boston, MA, USA , 19928. Kevin R. Duffy, David H. Hubel, Vision Research V. 47, I. 19, 2007, PP. 2569&ndash;25749. Mary Carlson at al., Developmental Brain Research, V. 25, I. 1, 1986, PP. 71&ndash;81<h2 dir="ltr" id="isPasted">About the University Technology Exposure Program 2022</h2>Wevolver, in partnership with <a href="https://mouser.com/" rel="nofollow" target="_blank">Mouser Electronics</a> and <a href="https://www.ansys.com/academic" rel="nofollow" target="_blank">Ansys</a>, is excited to announce the launch of the University Technology Exposure Program 2022. The program aims to recognize and reward innovation from engineering students and researchers across the globe. Learn more about the program <a href="http://www.wevolver.com/student-program" target="_blank">here</a>.<img alt="university-technology-exposure-program-mouser-ansys" src="https://images.wevolver.com/eyJidWNrZXQiOiJ3ZXZvbHZlci1wcm9qZWN0LWltYWdlcyIsImtleSI6ImZyb2FsYS8xNjU3NDU2MDg2ODE2LTE2NTc0NTYwODY4MTYucG5nIiwiZWRpdHMiOnsicmVzaXplIjp7IndpZHRoIjo5NTAsImZpdCI6ImNvdmVyIn19fQ==" class="fr-fic fr-dii">

US Navy's Mine-Hunting Dolphin Returning From Mission

Let's take the well-known sea-rescuer, the dolphin, for example.
Dolphin’s sensorium is more intended for the search of biological objects under water by use echolocation. At the same time, the military prefer to use dolphins to find metal objects (mines) rather than search & rescue drowning people

university program

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