Reduced cable smart motors communicating over the DC power bus-line for high degree of freedom systems
ABSTRACT A system of networked smart motors is developed to reduce complex cable harnesses. Motor control signals are sent over the DC power bus line and receiver by motors with integrated power amplifiers and controller. Unlike traditional AC power line communication, the noise level and signal attenuation are much lower for the DC power bus communication. This allows for high fidelity, broadband communication among many smart motors without bulky, costly cables. A modem is designed to exploit the features of the DC power bus communication. Experimentation is done to verify that the DC bus line is indeed useful for communication. An experimental setup was developed to identify the noise spectrum and signal transmissibility of the consolidated power-signal line. Optimal carrier frequency and filter parameters are then obtained based on the experiments.
Article: Cable-Free Body Area Network using Conductive Fabric Sheets for Advanced Human-Robot Interaction.[show abstract] [hide abstract]
ABSTRACT: Wearable sensing networks offer a multitude of benefits for the user. One field that can benefit from such technologies is in-home robotics. Much work has been dedicated to the general area of interaction between robots and humans, and more specifically to gesture recognition. We propose a wearable monitoring network composed of conductive fabrics that can more easily facilitate robot interaction. It creates additional interaction by visual indication, and electronically by way of a local PC. This system creates a more natural human-robot interface and makes feasible many new forms of gesture recognition. Finally, we can address safety concerns; the garment gives us a method of locating the human and minimizing the possibility for robots to strike the user. In this paper, we lay out the architecture for such a system, and perform some of the initial characterization.Conference proceedings: ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference 02/2005; 4:3530-3.