NDLI: Towards a minimal architecture for a printable, modular, and robust sensing skin

Content Provider	IEEE Xplore Digital Library
Author	Buchan, A. Bachrach, J. Fearing, R.S.
Copyright Year	2012
Description	Author affiliation: Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, 94720, USA (Buchan, A.; Bachrach, J.; Fearing, R.S.)
Abstract	This work presents a low-complexity modular sensor grid architecture to provide a smart skin to non-convex shapes, such as a robot body and legs. To configure a sensing skin shaped by arbitrary cuts and rapid changes in designs, we use a wavefront planning approach to generate a minimum-depth spanning tree of an arbitrary topology of contiguous, regularly arranged modular sensing units on a flexible substrate wired network. A Finite State Machine protocol for extracting this topology and sensor information is shown that is robust to destructive sensor loss, device failure, and transmission noise. The architecture is designed to require as little state complexity at each node as possible to minimize the area and cost of such a network implemented in printable semiconductor technology. Simulation data show recovery from network failures and extension of the architecture to larger networks with arbitrary geometry, and a sample synthesis of the verified architecture logic is shown to have a very low state and combinational logic complexity. A proof-of-concept implementation of the architecture using microcontrollers and optical proximity sensors on a flexible substrate show integration with a Scaled Composite Manufacturing process used for Biomimetic Millirobots.
Starting Page	33
Ending Page	38
File Size	890362
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6386210
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer architecture Robot sensing systems Microprocessors Skin Topology
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in