TY - CHAP A1 - Zappa, O. A1 - Monkman, Gareth J. A1 - Egersdörfer, Stefan A1 - Datzer, G. A1 - Kahled, W. A1 - Böse, Holger A1 - Tunayar, A. T1 - High Voltage Switching using Bulk GaAs T2 - Actuator 2004 : 9th International Conference on New Actuators & 3rd International Exhibition on Smart Actuators and Drive Systems, 14-16 June 2004, Bremen, Germany Y1 - 2004 PB - HVG Hanseatische Veranstaltungs-GmbH CY - Bremen ER - TY - CHAP A1 - Monkman, Gareth J. T1 - Sensors and Actuators in Automation T2 - Ostbayerisches Fachforum für Mechatronik, Roding, 16. März 2001 Y1 - 2001 ER - TY - JOUR A1 - Monkman, Gareth J. T1 - Electroadhesive Microgrippers JF - Assembly Automation Y1 - 2003 VL - 24 IS - 1 SP - 326 EP - 330 PB - MCB University Press ER - TY - JOUR A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Optimisation of Prehension Force through Tactile Sensing JF - Industrial Robot N2 - Purpose The purpose of this paper is to analyze surface deformations caused by shear and moment forces on tactile materials and present a method to detect and reduce the risk of slippage by controlling the normal force as measured by tactile sensor arrays. Design/methodology/approach A predictive model has been proposed which uses a basic method adapted to real applications in grasp optimization. Prevention of premature release with minimum prehension force is addressed without the need to measure the coefficient of friction between object and robot gripper. Predictive models have been used to develop a set of rules which predict the pre‐slip based on fluctuations in tactile signal data. Findings The tactile sensors can be used in a “nonlinear” manner during manipulation tasks. When the gripper finger first makes contact with an object, the stress distribution under the finger skin varies rapidly. Predictive models have been used to develop a set of rules which predict the pre‐slip based on fluctuations in tactile signal data. Pre‐slip at the contact area just prior to object movement produces rapid but detectable stress transients. Originality/value Tactile sensors do not measure stress generated by a contact with an object directly, but instead measure strain in an interposed compliant, polymeric medium intended for sensor protection and prehension assistance. Reliable detection of pre‐slip has hitherto eluded researchers using such tactile techniques. KW - Sensors KW - Tactile sensors Y1 - 2008 U6 - https://doi.org/10.1108/01439910810876454 VL - 35 IS - 4 SP - 361 EP - 368 PB - MCB Univ. Press CY - Bradford ER - TY - CHAP A1 - Petchartee, Somrak A1 - Monkman, Gareth J. A1 - Suebsromran, Anan ED - Mukhopadhyay, S.C. ED - Gupta, G.S. T1 - 3D-Shape Recognition based Tactile Sensor T2 - Smart Sensors and Sensing Technology N2 - A surface recognition algorithm capable of determining contact surfaces types by means of tactile sensor fusion is proposed. The authors present a recognition processes for 3-dimensional deformations in a 2-dimensional parametric domain. Tactile information is extracted by physical contact with a grasped object through a sensing medium. Information is obtained directly at the interface between the object and the sensing device and relates to three-dimensional position and orientation of the object in the presence of noise. The technique called “eigenvalue trajectory analysis”, is introduced and adopted for specifying the margin of classification and classification thresholds. The authors demonstrate mathematically that this approach, which complements existing work, offers significant computational advantages when applied to challenging contact scenarios such as dynamic recognition of contact deformations. Y1 - 2008 SN - 978-3-540-79589-6 SN - 978-3-540-79590-2 U6 - https://doi.org/10.1007/978-3-540-79590-2_21 SP - 317 EP - 332 PB - Springer CY - Berlin ; Heidelberg ER - TY - CHAP A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - 3D-Shape Recognition based Tactile Sensor T2 - ICST 2007, Proceedings of 2nd International Conference on Sensing Technology : Massey University, Palmerston North, New Zealand, November 26 - 28, 2007 Y1 - 2007 SP - 56 EP - 61 PB - Inst. of Information Sciences and Techn., Massey Univ. CY - Palmerston ER - TY - JOUR A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Pre-slip Sensing through Tactile Sensing JF - Sensors & Transducers Y1 - 2008 UR - https://www.sensorsportal.com/HTML/DIGEST/P_SI_48.htm SN - 1726-5479 VL - 90 IS - 4, Special Issue SP - 310 EP - 324 PB - International Frequency Sensor Association (IFSA) ER - TY - CHAP A1 - Schumm, M. A1 - Schwarz, E. A1 - Wahler, D. A1 - Jayaprakash, S. N. A1 - Monkman, Gareth J. T1 - The Trilopede T2 - Informatics Microsystems Information Systems Preceedings Y1 - 2012 VL - 1 IS - 1 PB - Moscow State Technical University ER - TY - CHAP A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Contact Identification using Tactile Arrays T2 - Proceedings of the 7th IEEE International Symposium on Signal Processing and Information Technology (ISSPIT 2007), 15.-18.12.2007, Giza, Egypt N2 - The proposed method allows a robot to quantify tactile recognition of grasped objects. The responses by the robot are matched by randomly introducing objects following the completion of tactile sensor based training phases on 4 specific objects. The reproduction of the robotic contact identification is accomplished by matching threshold values of the smallest eigenvalue of the Quadric surface - called the eigenvalue trajectory. Once the grasped objects are introduced to the 2-fingered robot hand, the eigenvalue trajectory of contact surfaces are calculated by the system. Calculations are based on the degree of similarity of the characteristics between the newly received and previously trained tactile data. Experimental results indicate that the proposed algorithm allows a successful quantification of robotic contact recognition and the accomplishment of high levels of accuracy in contact identification. These results confirm that the proposed method is useful for identifying contact surfaces based on tactile sensor data. KW - Touch recognition KW - contact classification KW - tactile sensor Y1 - 2007 U6 - https://doi.org/10.1109/ISSPIT.2007.4458144 SP - 1121 EP - 1126 PB - IEEE ER - TY - CHAP A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Contact Classification using Tactile Arrays T2 - 2007 3rd International Conference on Intelligent Sensors, Sensor Networks and Information (ISSNIP), 3, 03.-06.12.2007, Melbourne, VIC, Australia N2 - This paper proposed a contact recognition algorithm capable of determining contact surfaces types by tactile sensor fusion. This algorithm can recognize grasped objects using a 2- fingered robot hand, on which tactile sensors are mounted. Experiments have demonstrated reliable surface classification and accurate transformation independent of object shape and orientation. The contribution of this paper regards the relations between a surface and the points cloud defining it. Particularly, we investigate on the possibility that there is some intrinsic feature of a points cloud under quadric surface, allowing us to discriminate or classify a dataset defining a surface from the acquisition noise. KW - manipulators KW - objec recognition KW - sensor arrays KW - signal classification KW - tactile sensors Y1 - 2007 U6 - https://doi.org/10.1109/ISSNIP.2007.4496848 SP - 227 EP - 232 ER - TY - JOUR A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Contact Recognition using Tactile Sensor JF - Annals Universitaria Craiova-Series: Automation, Computers, Electronics and Mechatronics N2 - The surface recognition algorithm that determines the types of contact surfacesby fusing information collected by the tactile sensor system is proposed. The tactilesystem will be determined from the shape of the object image which can then becharacterized using the mathematical properties of Quadric surface. This algorithm canrecognize 3-D objects using a 2-fingered robot gripper, on which tactile sensors aremounted. Experiments have demonstrated the reliability of the surface classificationmethod and the accuracy of transformations independent of an object’s shape, translationand rotation. Y1 - 2007 UR - https://www.academia.edu/1204885/CONTACT_RECOGNITION_USING_TACTILE_SENSOR VL - 4 (31) IS - 2 SP - 103 EP - 108 ER - TY - JOUR A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Optimisation of Prehension Force through Tactile Sensing JF - Journal of Advanced Manufacturing Technology Y1 - 2007 SN - 2289-8107 PB - Universiti Teknikal Malaysia Melaka ER - TY - JOUR A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Contact Recognition through Tactile Sensing JF - ACTA Universitatis Apulensis; Seria Mathematics-Informatics Y1 - 2007 SN - 1582-5329 PB - Department of Mathematics and Informatics CY - Alba Iulia ER - TY - CHAP A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Contact Recognition using Tactile Sensor T2 - Proc. International Symposium on System Theory, Automation, Robotics, Computers, Informatics, Electronics and Instrumentation (SINTES13), Romania Y1 - 2007 SP - 285 EP - 290 ER - TY - CHAP A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Pre-slip detection based Tactile Sensing T2 - Proc. 3rd International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP 2007), Melbourne Y1 - 2007 SP - 233 EP - 238 ER - TY - CHAP A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Contact classification using tactile arrays T2 - Proc. International Conference on Engineering & ICT 2007 (ICEI 2007), 27th to 29th November 2007, Malacca, Malaysia Y1 - 2007 ER - TY - CHAP A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Optimisation of Prehension Force through Tactile Sensing T2 - Proc. International Conference on Engineering & ICT 2007 (ICEI 2007), Malaysia Y1 - 2007 ER - TY - JOUR A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Slip Prediction through Tactile Sensing JF - Sensors & Transducers N2 - This paper introduces a new way to predict contact slip using a resistive tactile sensor. The prototype sensor can be used to provide intrinsic information relating to geometrical features situated on the surface of grasped objects. Information along the gripper finger surface is obtained with a measurement resolution dependant on the number of discrete tactile elements. The tactile sensor predicts the partial slip of a tactile surface by sensing micro vibrations in tangential forces which are caused by an expansion of the slip regions within the contact area. The location of the local slip is not specified but its occurrence can be predicted immediately following micro vibration detection. Predictive models have been used to develop a set of rules which predict the slip based on fluctuations in tactile signal data.   Y1 - 2007 UR - https://www.sensorsportal.com/HTML/DIGEST/march_08/Special_Issue_Vol_90/P_SI_48.pdf SN - 1726-5479 VL - 90 IS - Special Issue April 2008 SP - 310 EP - 324 PB - International Frequency Sensor Association, IFSA ER - TY - CHAP A1 - Egersdörfer, Stefan A1 - Schumm, M. A1 - Kessler, C. A1 - Monkman, Gareth J. A1 - Böse, Holger T1 - Smart Fluids für die Schnittstelle Mensch-Maschine der Zukunft T2 - International Mechatronik Forum, Linz Y1 - 2006 SP - 421 EP - 428 ER - TY - CHAP A1 - Heckner, T. A1 - Straka, M. A1 - Schubert, A. A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Entwicklung eines Navigationssystems für autonome mobile Robotersysteme T2 - International Mechatronik Forum, Linz Y1 - 2006 SP - 520 EP - 527 ER - TY - GEN A1 - Hesse, Stefan A1 - Monkman, Gareth J. A1 - Steinmann, Ralf A1 - Schunk, Henrik T1 - Robotergreifer BT - Funktion, Gestaltung und Anwendung industrieller Greiftechnik Y1 - 2004 SN - 978-3-446-22920-4 SN - 3-446-22920-5 PB - Hanser CY - München ; Wien ER - TY - CHAP A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Pre-slip sensing using tactile sensor T2 - Proceedings / SINTES 13, International Symposium on Systems Theory, Automation, Robotics, Computers, Informatics, Electronics and Instrumentation, October 18 - 20, 2007, Craiova - Romania Y1 - 2007 SP - 279 EP - 284 ER - TY - JOUR A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Pre-slip sensing using tactile sensor JF - Annals Universitaria Criaiova-Series: Automation, Computers, Electronics and Mechatronics Y1 - 2007 VL - 4 (31) IS - 2 SP - 109 EP - 114 ER - TY - CHAP A1 - Petchartee, Somrak A1 - Monkman, Gareth J. T1 - Pre-slip Sensing through Tactile Sensing T2 - Proc. 2nd International Conference on Sensing Technology (ICST 2007), New Zealand Y1 - 2007 SP - 62 EP - 67 ER - TY - JOUR A1 - Prem, Nina A1 - Chavez Vega, Jhohan Harvey A1 - Böhm, Valter A1 - Sindersberger, Dirk A1 - Monkman, Gareth J. A1 - Zimmermann, Klaus T1 - Properties of Polydimethylsiloxane and Magnetoactive Polymers with Electroconductive Particles JF - Macromolecular Chemistry and Physics N2 - Magnetoactive polymers are intelligent materials whose mechanical and electrical characteristics are reversibly influenced by external magnetic stimuli. They consist of a highly elastic polymer matrix in which magnetically soft and/or hard particles are distributed by means of special fabrication processes. In addition to ferromagnetic particles such as carbonyl iron powder, electrically conductive particles may also be embedded into the polymer matrix. After characterizing a range of compounds, this work focuses on a comparison of the electrical properties and the suitability of various materials for applications, with particular emphasis on integration into 3D and 6D printing processes. 6D printing is based on the selective positioning of particles in a 3D polymer matrix with a further three degrees of freedom for a graduated dispersion of the particles at certain points and in desired directions. The aim is therefore to ensure that the polymers containing electroconductive tracks have the best possible electrical properties, that is, low resistivity but are still capable of being printed. A comparison between the traditionally used compounds containing graphite and carbon black is made for the first time. This latter is found to be greatly superior both in terms of electrical conductivity and applicability to 3D printing and 6D printing. KW - 3D printing KW - 6D printing KW - carbon black KW - composites KW - electroconductive particles KW - graphite KW - magnetoactive polymers KW - polydimethylsiloxane KW - STRAIN, *MRU Y1 - 2018 U6 - https://doi.org/10.1002/macp.201800222 VL - 219 IS - 18 PB - Wiley ER - TY - JOUR A1 - Bartsch, Alexander A1 - Beham, Daniela A1 - Gebhardt, Jakob A1 - Ehrlich, Ingo A1 - Schratzenstaller, Thomas A1 - Monkman, Gareth J. T1 - Mechanical Properties of NdPrFeB Based Magnetoactive Bisphenol-Free Boron-Silicate Polymers JF - Journal of Nanomedicine and Nanotechnology N2 - Following a ban on many materials containing bisphenol-A, new bisphenol-free Boron silicates have been found as substitutes. The purpose of this study is to describe the mechanical properties of these bisphenol-free magnetoactive borosilicate polymers containing hard magnetic particles. Samples of 0%, 33% and 66% by wt. were loaded for compression using a universal testing machine. The maximum forces occurring for different travel speeds were compared before and after post-magnetization treatments. The post-magnetization included 2 stages. In addition, the change in mechanical properties within 24 hours after the post-magnetization process was investigated. Furthermore, the influence of speed and particle content were investigated. In general, there is a correlation between the required compressive force and, the level of post-magnetization stress, the increase in travel speed and particle content in the boron silicate. Comparison of the non-post-magnetized and post-magnetized samples using two-tailed t-tests shows that the p-values for all weight fraction changes in NdPrFeB particles and travel speeds are less than 0.001. Also, a comparison between tests in which the traverse speed was varied also showed significant changes in the resulting compression forces. The same is valid for changes in the weight ratio of the NdPrFeB particles in the samples. For post-magnetized samples, no significant difference can be observed in the first 24 hours following magnetization. In summary, the material presents viscoelastic, plastic force-displacement behavior, which can be well recognized by its bi-linear curve shape. The investigation shows that borosilicate polymers based on NdPrFeB can have their mechanical behavior modified and controlled by post-magnetization processes. This opens new possibilities for many future applications. Y1 - 2023 U6 - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:898-opus4-67425 UR - https://www.walshmedicalmedia.com/open-access/mechanical-properties-of-ndprfeb-based-magnetoactive-bisphenolfree-boronsilicate-polymers-124385.html SN - 2157-7439 N1 - Corresponding author: Alexander Bartsch VL - 14 IS - 6 PB - Walsh Medical Media ER -