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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 721 records · Page 40
All sourcesNASA NTRSDOE OSTI
DOE OSTI2016

VOLTTRON™: Tech-to-Market Best-Practices Guide for Small- and Medium-Sized Commercial Buildings

VOLTTRON™ is an open-source distributed control and sensing platform developed by Pacific Northwest National Laboratory for the U.S. Department of Energy. It was developed to be used by the Office of Energy Efficiency and Renewable Energy to support transactive controls research and deployment activities. VOLTTRON is designed to be an overarching integration platform that could be used to bring together vendors, users, and developers and enable rapid application development and testing. The platform is designed to support modern control strategies, including the use of agent- and transaction-based controls. It also is designed to support the management of a wide range of applications, including heating, ventilation, and air-conditioning systems; electric vehicles; and distributed-energy and whole-building loads. This report was completed as part of the Building Technologies Office’s Technology-to-Market Initiative for VOLTTRON’s Market Validation and Business Case Development efforts. The report provides technology-to-market guidance and best practices related to VOLTTRON platform deployments and commercialization activities for use by entities serving small- and medium-sized commercial buildings. The report characterizes the platform ecosystem within the small- and medium-sized commercial building market and articulates the value proposition of VOLTTRON for three core participants in this ecosystem: 1) platform owners/adopters, 2) app developers, and 3) end-users. The report also identifies key market drivers and opportunities for open platform deployments in the small- and medium-sized commercial building market. Possible pathways to the market are described—laboratory testing to market adoption to commercialization. We also identify and address various technical and market barriers that could hinder deployment of VOLTTRON. Finally, we provide “best practice” tech-to-market guidance for building energy-related deployment efforts serving small- and medium-sized commercial buildings.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2021

Graphical Optimization of Spectral Shift Reconstructions for Optical Backscatter Reflectometry

Optical backscatter reflectometry (OBR) is an interferometric technique that can be used to measure local changes in temperature and mechanical strain based on spectral analyses of backscattered light from a singlemode optical fiber. The technique uses Fourier analyses to resolve spectra resulting from reflections occurring over a discrete region along the fiber. These spectra are cross-correlated with reference spectra to calculate the relative spectral shifts between measurements. The maximum of the cross-correlated spectra—termed quality—is a metric that quantifies the degree of correlation between the two measurements. Recently, this quality metric was incorporated into an adaptive algorithm to (1) selectively vary the reference measurement until the quality exceeds a predefined threshold and (2) calculate incremental spectral shifts that can be summed to determine the spectral shift relative to the initial reference. Using a graphical (network) framework, this effort demonstrated the optimal reconstruction of distributed OBR measurements for all sensing locations using a maximum spanning tree (MST). By allowing the reference to vary as a function of both time and sensing location, the MST and other adaptive algorithms could resolve spectral shifts at some locations, even if others can no longer be resolved.

47 OTHER INSTRUMENTATION↗
NASA NTRSDate not supplied

STEReO: Combining NASA Technologies and Partnerships to Transform Current-Day Emergency Response Operations

STEReO brings together several technologies in Unmanned Aircraft Systems (UAS) Traffic Management (UTM), Autonomy, Communications, Human Factors, and Domain Expertise & Tools, aimed at providing scalability and flexibility, as well as operational resiliency to dynamic changes during a disaster event. Some of the concepts STEReO explores are: collaborative tools to ingest remote sensing information and distribute a common mission operating picture, apply ad-hoc communication networks to facilitate timely information sharing and communication of changes, vehicle-to-vehicle and onboard autonomy technologies ensure the safety and resiliency of operations, and apply NASA’s UAS traffic management system (UTM) as a public safety UAS Service Supplier (USS) to access and coordinate use of the airspace by both manned and unmanned operations. The potential benefits of STEReO include: standardized, cross-platform communication means increased interoperability and ease of cooperation/collaboration, increased situation awareness and common operating picture allow for earlier detection and decision making, and scalable to size and complexity of environment, operations, and mission objectives. This presentation gives an informational overview of the STEReO project and details progress made in the past year, to attendees of the Tactical Fire Remote Sensing Advisory Committee (TFRSAC) fall workshop.

emergency response operations↗
NASA NTRSDate not supplied

STEReO Combining NASA Technologies and Partnerships to Transform Current-day Emergency Response Operations

STEReO brings together several technologies in Unmanned Aircraft Systems (UAS) Traffic Management (UTM), Autonomy, Communications, Human Factors, and Domain Expertise & Tools, aimed at providing scalability and flexibility, as well as operational resiliency to dynamic changes during a disaster event. Some of the concepts STEReO explores are: collaborative tools to ingest remote sensing information and distribute a common mission operating picture, apply ad-hoc communication networks to facilitate timely information sharing and communication of changes, vehicle-to-vehicle and onboard autonomy technologies ensure the safety and resiliency of operations, and apply NASA’s UAS traffic management system (UTM) as a public safety UAS Service Supplier (USS) to access and coordinate use of the airspace by both manned and unmanned operations. The potential benefits of STEReO include: standardized, cross-platform communication means increased interoperability and ease of cooperation/collaboration, increased situation awareness and common operating picture allow for earlier detection and decision making, and scalable to size and complexity of environment, operations, and mission objectives. This presentation serves as a status update to the activities within the STEReO project, detailing progress made in the past year, to attendees of the Tactical Fire Remote Sensing Advisory Committee (TFRSAC) spring workshop. Presentation includes two videos which are included as downloadable files, video play time for NASTA_adsb_+_UAS_v2.mp4 1 min 55 secs, for NASTA_eng315_v2.mp4 1 min 34 secs.

emergency response operations↗
DOE OSTI2022

Uncoordinated Spectrum Sharing in Millimeter Wave Networks Using Carrier Sensing

Here, we propose using Carrier Sensing (CS) for distributed interference management in millimeter-wave (mmWave) cellular networks where spectrum is shared by multiple operators that do not coordinate among themselves. In addition, even the base station sites can be shared by the operators. We describe important challenges in using traditional CS in this setting and propose enhanced CS protocols to address these challenges. Using stochastic geometry, we develop a general framework for downlink coverage probability analysis of our shared mmWave network in the presence of CS and derive the downlink coverage probability expressions for several CS protocols. Our work is the first to investigate and analyze (using stochastic geometry) CS for mmWave networks with spectrum and BS sites shared among non-coordinating operators. We evaluate the downlink coverage probability of our shared mmWave network using simulations as well as numerical examples based on our analysis. Our evaluations show that our proposed approach leads to an improvement in coverage probability, compared to the coverage probability with no CS, for higher values of signal-to-interference and noise ratio (SINR). Interestingly, our evaluations also reveal that for lower values of SINR, not using any CS is the best strategy in terms of the downlink coverage probability.

42 ENGINEERING↗
DOE OSTI2019

Estimation of full-field dynamic strains from digital video measurements of output-only beam structures by video motion processing and modal superposition

Strain is an necessary quantity to characterize local structural behaviors and directly correlates with structural damage initiation and development that is within local regions. Strain measurement at high spatial resolution (density) locations is thus required to characterize local structural behaviors and detect potential local damage. Traditional contact-type strain gauges are mostly discrete point-wise sensors that can only be placed in a limited number of positions. Distributed optical fiber sensing techniques can measure strains at spatially dense measurement points, but their instrumentation is a time- and labor-intensive process associated with the issue of the fragility of fibers. Noncontact optical measurement techniques, such as a family of interferometry techniques using laser beams (e.g., laser Doppler vibrometers), can provide vibration measurement at high density spatial points without the need to install sensors on the structure. Yet, these measurement devices are active sensing methods that are relatively expensive and vulnerable to ambient motion. Photogrammetry is an alternative noncontact optical measurement method using (passive) white-light imaging of digital video cameras that are relatively low-cost, agile, and provides simultaneous measurements at high spatial density locations where every pixel becomes a measurement point. Among others, digital image correlation can achieve full-field deformation measurements and subsequently estimate the full-field strains. However, it is computationally extensive. This research develops a new efficient approach to estimate the full-field (as many measurement points as the pixel number of the video frame on the structure) dynamic strains at high-spatial (pixel)-resolution/density location points from the digital video measurement of output-only vibrating structures. The developed approach is based on phase-based video motion estimation and modal superposition of structural dynamic response. Moreover, the method is augmented by a high-fidelity finite element model, which is updated with the full-field experimental modal parameters “blindly” identified from the video measurement of the output-only structure. Laboratory experiments are conducted to validate the method on a bench-scale cantilever beam structure. Results demonstrate that the full-field dynamic strain estimated by the developed approach from the video measurement of the output-only vibrating beam match very well those directly measured by the strain gauges (at discrete measurement points). Some factors associated with the effectiveness of the method are experimentally studied and discussed.

47 OTHER INSTRUMENTATION↗
DOE OSTI2020

Convergent momentum-space OPE and bootstrap equations in conformal field theory

General principles of quantum field theory imply that there exists an operator product expansion (OPE) for Wightman functions in Minkowski momentum space that converges for arbitrary kinematics. This convergence is guaranteed to hold in the sense of a distribution, meaning that it holds for correlation functions smeared by smooth test functions. The conformal blocks for this OPE are conceptually extremely simple: they are products of 3-point functions. We construct the conformal blocks in 2-dimensional conformal field theory and show that the OPE in fact converges pointwise to an ordinary function in a specific kinematic region. Using microcausality, we also formulate a bootstrap equation directly in terms of momentum space Wightman functions.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2020

Variable-density effects in incompressible non-buoyant shear-driven turbulent mixing layers

The asymmetries that arise when a mixing layer involves two miscible fluids of differing densities are investigated using incompressible (low-speed) direct numerical simulations. The simulations are performed in the temporal configuration with very large domain sizes, to allow the mixing layers to reach prolonged states of fully turbulent self-similar growth. Imposing a mean density variation breaks the mean symmetry relative to the classical single-fluid temporal mixing layer problem. Unlike prior variable-density mixing layer simulations in which the streams are composed of the same fluids with dissimilar thermodynamic properties, the density variations are presently due to compositional differences between the fluid streams, leading to different mixing dynamics. Variable-density (non-Boussinesq) effects introduce strong asymmetries in the flow statistics that can be explained by the strongest turbulence increasingly migrating to the lighter fluid side as free-stream density difference increases. Interface thickness growth rates also reduce, with some thickness definitions particularly sensitive to the corresponding changes in alignment between density and streamwise velocity profiles. Additional asymmetries in the sense of statistical distributions of densities at a given position within the mixing layer reveal that fine scales of turbulence are preferentially sustained in lighter fluid, which also is where fastest mixing occurs. These effects influence statistics involving density fluctuations, which have important implications for mixing and more complicated phenomena that are sensitive to the mixing dynamics, such as combustion.

42 ENGINEERING↗
DOE OSTI2024

Down-selection of biomolecules to assemble “reverse micelle” with perovskites

Abstract Biological molecule-semiconductor interfacing has triggered numerous opportunities in applied physics such as bio-assisted data storage and computation, brain-computer interface, and advanced distributed bio-sensing. The introduction of electronics into biological embodiment is being quickly developed as it has great potential in providing adaptivity and improving functionality. Reciprocally, introducing biomaterials into semiconductors to manifest bio-mimetic functionality is impactful in triggering new enhanced mechanisms. In this study, we utilize the vulnerable perovskite semiconductors as a platform to understand if certain types of biomolecules can regulate the lattice and endow a unique mechanism for stabilizing the metastable perovskite lattice. Three tiers of biomolecules have been systematically tested and the results reveal a fundamental mechanism for the formation of a “reverse-micelle” structure. Systematic exploration of a large set of biomolecules led to the discovery of guiding principle for down-selection of biomolecules which extends the classic emulsion theory to this hybrid systems. Results demonstrate that by introducing biomaterials into semiconductors, natural phenomena typically observed in biological systems can also be incorporated into semiconducting crystals, providing a new perspective to engineer existing synthetic materials.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2011

A Recursive Multiscale Correlation-Averaging Algorithm for an Automated Distributed Road Condition Monitoring System

A signal processing approach is proposed to jointly filter and fuse spatially indexed measurements captured from many vehicles. It is assumed that these measurements are influenced by both sensor noise and measurement indexing uncertainties. Measurements from low-cost vehicle-mounted sensors (e.g., accelerometers and Global Positioning System (GPS) receivers) are properly combined to produce higher quality road roughness data for cost-effective road surface condition monitoring. The proposed algorithms are recursively implemented and thus require only moderate computational power and memory space. These algorithms are important for future road management systems, which will use on-road vehicles as a distributed network of sensing probes gathering spatially indexed measurements for condition monitoring, in addition to other applications, such as environmental sensing and/or traffic monitoring. Our method and the related signal processing algorithms have been successfully tested using field data.

47 OTHER INSTRUMENTATION↗
DOE OSTI2021

Potential of hotspot solar‐induced chlorophyll fluorescence for better tracking terrestrial photosynthesis

Abstract Remote sensing of solar‐induced fluorescence (SIF) opens a new window for quantifying a key ecological variable, the terrestrial ecosystem gross primary production (GPP), because of the revealed strong SIF–GPP correlation. However, similar to many other remotely sensed metrics, SIF observations suffer from the sun‐sensor geometry effects, which may have important impacts on the SIF–GPP relationship but remain poorly understood. Here we used remotely sensed SIF, globally distributed tower GPP data, and a mechanistic model to provide a systematic analysis. Our results reveal that leaf physiology, canopy structure, and sun‐sensor geometries all affect the SIF–GPP relationship. In particular, we found that SIF observations in the sun‐tracking hotspot direction can be a better proxy of GPP due to the similar responses of light use efficiency and SIF escaping probability in the hotspot direction to the increasing incoming solar radiation. Such conclusions are supported by a variety of modeling simulations and satellite observations over various plant function types, at different time scales and with satellite observational modes. This study demonstrates the potential and advantage of normalizing SIF observations to the hotspot direction for better global GPP estimations. This study also demonstrates the great potentials of current and future spaceborne sun‐tracking satellite missions for a significant improvement in measuring and monitoring, at a wide range of spatial and temporal scales, the changes in terrestrial ecosystem GPP in response to anticipated changes in the Earth's environmental conditions.

Hao, Dalei↗
DOE OSTI2016

VOLTTRON 2016

VOLTTRON is a flexible, reliable, and scalable platform for distributed control and sensing. VOLTTRON serves in four primary roles: •A reference platform for researchers to quickly develop control applications for transactive energy. •A reference platform with flexible data store support for energy analytics applications either in academia or in commercial enterprise. •A platform from which commercial enterprise can develop products without license issues and easily integrate into their product line. •An accelerator to drive industry adoption of transactive energy and advanced building energy analytics. Pacific Northwest National Laboratory, with funding from the U.S. Department of Energy’s Building Technologies Office, developed and maintains VOLTTRON as an open-source community project. VOLTTRON source code includes agent execution software; agents that perform critical services that enable and enhance VOLTTRON functionality; and numerous agents that utilize the platform to perform a specific function (fault detection, demand response, etc.). The platform supports energy, operational, and financial transactions between networked entities (equipment, organizations, buildings, grid, etc.) and enhance the control infrastructure of existing buildings through the use of open-source device communication, control protocols, and integrated analytics.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2018

Voltron Compatible Whole Building Root-Fault Detection and Diagnosis

Buildings consume more than 40% of primary energy in the U.S. Malfunctioning sensors, components, and control systems, as well as degrading components in Heating, Ventilating and Air-conditioning (HVAC) and lighting systems are main reasons for energy waste and unsatisfactory indoor environment. Field studies have shown that an energy saving of 5-30% of total building energy consumption and improved indoor air quality can be achieved by simply applying automated fault detection and diagnosis (AFDD), followed by corrections even if these are not done in real time. Extensive research has been made on the development of component level AFDD tools in the past two decades. However, in recent years, the development of method for a whole building level AFDD has received much attention. Here, a whole building fault refers to a fault happening in one subsystem but impact on more than one subsystems, or has a significant impact on building performances, such as building’s energy consumption. Existing component level AFDD tools could fail to detect or give false alarm for faults that trigger abnormalities in multiple subsystems. Isolating such whole building faults, which have impacts on multiple subsystems, is also challenging by simply using component based AFDD solutions. On the other hand, it might be more cost-effective for medium- or small-sized commercial buildings that have subsystems (e.g. primary cooling subsystem, air loop subsystem, heating subsystem, lighting subsystem, etc.) to install one whole building level AFDD tool, rather than many component level AFDD tools, to focus on significant faults. The focus of this project is firstly to provide training opportunities in building AFDD research area for undergraduate students and to develop a workforce pipeline in building sciences. The objective of the proposed research activities is to develop cost-effective and scalable AFDD solutions for whole building level faults. The developed AFDD solution is VOLTTRONTM compatible to further increase its plug-n-play capacity and the market penetration. VOLTTRONTM is an open-source innovative distributed control and sensing software platform developed by the Pacific Northwest National Laboratory. A VOLTTRONTM compatible AFDD tool brings the benefits such as low-cost deployment, and better building to grid integration, etc. The performance of the developed whole building AFDD tools is evaluated using data collected from a mixed-use medium-sized university campus building. Another significant goal of this project is to engage undergraduate students in research activities and expose them to building control and AFDD fields. A demonstration building – Nesbitt Hall at Drexel University is identified for this study. This demonstration building has a typical HVAC system configuration, which includes a water-cooled chiller system, three variable air volume (VAV) air handling unit (AHU) systems, and a hydronic heating system. Faults, that are expected to have a whole building level impact, are artificially implemented in this demonstration building for three different seasons. Building data have been collected in this project, which include fault free building automation system (BAS) data and BAS data that contain system behaviors caused by artificially implemented and naturally occurred faults. These collected data are used to evaluate the developed whole building AFDD tools. A data-driven method, which includes a weather and schedule-based pattern matching (WPM) method and Feature based Principal Component Analysis (FPCA) method, is developed for whole building level fault detection. Parameter sensitivity tests, including snapshot window size, data sample searching pool size, etc., are implemented to evaluate the impacts of various WPM-FPCA parameters. A data-driven and expert knowledge/rule-based method using Bayesian Network (BN) and WPM is developed for whole building level fault diagnosis. The developed WPM-BN method, which includes a two-layer BN structure model and BN parameters, are either learned from baseline data or developed from expert knowledge. The developed whole building AFDD tools are evaluated using BAS data collected from the demonstration building. Using the evaluation data set, the WPM-FPCA fault detection method is evaluated under two different Principle Component (PC) retention rates, i.e., 0.65 retention rate and 0.95 retention rate. It is observed that when using 0.65 PC retention rate, the WPM-FPCA fault detection method achieves a 79% fault detection rate (this rate reaches to 85% when including the six make-up fault test cases discussed in the next bullet), while when using 0.95 PC retention rate, the WPM-FPCA fault detection method achieves 100% fault detection rate (this rate remains to be 100% when including the six make-up fault test cases). Under both PC retention rates, the WPM-FPCA fault detection method demonstrates 0% false alarm rates. Using the evaluation data set, the developed WPM-BN fault diagnosis method has successfully diagnosed thirteen (13) faults out of the fourteen (14) fault test cases. The one mis-diagnosed case exhibits fewer fault symptoms in different subsystems, when compared with other fault test cases. Overall speaking, the developed whole building AFDD solutions demonstrate satisfactory fault detection/diagnosis accuracy with very low false alarm rate. Lastly, a survey and market study has been performed to understand the existing AFDD market, including its gaps and needs.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2022

Single Photon Detection with On-Chip Number Resolving Capability

Single photon detection (SPD) plays an important role in many forefront areas of fundamental science and advanced engineering applications. In recent years, rapid developments in superconducting quantum computation, quantum key distribution, and quantum sensing call for SPD in the microwave frequency range. We have explored in this LDRD project a new approach to SPD in an effort to provide deterministic photon-number-resolving capability by using topological Josephson junction structures. In this SAND report, we will present results from our experimental studies of microwave response and theoretical simulations of microwave photon number resolving detector in topological Dirac semimetal Cd 3 As 2 . These results are promising for SPD at the microwave frequencies using topological quantum materials.

47 OTHER INSTRUMENTATION↗
DOE OSTI2020

Using Strain in the Vadose Zone During Sinusoidal-Rate Well Tests to Characterize an Aquifer

Well tests with sinusoidal variation in pumping rate are appealing because of the ability to filter competing signals and they also can be set up with no net removal of water, which is an advantage at contaminated sites. Current methods of interpreting sinusoidal-rate well tests analyze the phase lag and amplitude of pressure signals in the aquifer. This approach is restricted by the availability of monitoring wells. An alternative approach could be to measure the stain in the vadose zone instead of pressure in the aquifer. The goal of this research is to evaluate the feasibility of using signals from in-situ sensors in the vadose zone to characterize sinusoidal-rate well tests. Well tests with a variety of periods and amplitudes were performed using a well completed in an unconfined saprolite aquifer with a water table at 9m depth at our test site near Clemson, South Carolina. Vertical strain was measured every meter between 1 to 7 m using a distributed optical fiber sensing technique called coherence length gated microwave photonics interferometry (CMPI). A novel packaging system was designed to couple the optical fiber to the saprolite. The results show that strain measured in the vadose zone during sinusoidal-rate pumping varies periodically with amplitudes from 0.1 to 3 microstrain, depending on the amplitude of the sinusoidal pumping rate. Hydraulic heads at similar radial distances were also periodic with changing amplitudes ranging up to ±0.2 meters. The strain in the vadose zone responds to pressure in the underlying aquifer—the strain is tensile when the pressure is falling, and compressive when the pressure is rising. The phase lag between the pumping rate and the strain was 3 min with a pumping period of 15 minutes, and this gives a hydraulic diffusivity of 0.06 m2/s. This is the same diffusivity obtained by analyzing a constant rate pumping test, and it is slightly larger than the diffusivity (0.044 m2/s) obtained by analyzing the phase lag of the pressure in a nearby monitoring well. Strain measurements in the vadose zone could be made with much less cost and effort than installing a deep monitoring well. These results suggest that strain measurements in the vadose zone could be used to supplement monitoring wells, thereby increasing the resolution, and reducing costs of analyzing well tests.

well test, sinusoidal, periodic pumping, strain↗
DOE OSTI2025

DTS data from SGP TBS

Distributed temperature-sensing data collected using a Silixa-XT DTS and 50/125 MM fiber. Data are calibrated using two water baths at the surface and an iMet aloft at the end of the fiber and tether. The data are then assigned an altitude for the TBS flight. Data collected prior to Febuary 11, 2020 were collected at the SGP Central Facility (CF). Data from 2/11/20 were collected with a Sensornet Oryx DTS at the E9 site, not at the CF. Data from May 2021 were collected with a Sensornet Oryx at the CF, and with a Silixa XT at the CF. Data from July 2021 were collected at the SGP CF, EF9, and EF36 with a Silixa XT. Data from October 2021 were collected at the SGP EF36 with a Silixa XT. Data from February 2022 were collected at the CF with a Silixa XT.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1975

NIMBUS-5 sounder data processing system. Part 2: Results

The Nimbus-5 spacecraft carries infrared and microwave radiometers for sensing the temperature distribution of the atmosphere. Methods developed for obtaining temperature profiles from the combined set of infrared and microwave radiation measurements are described. Algorithms used to determine (a) vertical temperature and water vapor profiles, (b) cloud height, fractional coverage, and liquid water content, (c) surface temperature, and (d) total outgoing longwave radiation flux are described. Various meteorological results obtained from the application of the Nimbus-5 sounding data processing system during 1973 and 1974 are presented.

Smith, W. L.↗
NASA NTRS1988

Planar and finger-shaped optical tactile sensors for robotic applications

Progress is described regarding the development of optical tactile sensors specifically designed for application to dexterous robotics. These sensors operate on optical principles involving the frustration of total internal reflection at a waveguide/elastomer interface and produce a grey-scale tactile image that represents the normal (vertical) forces of contact. The first tactile sensor discussed is a compact, 32 x 32 planar sensor array intended for mounting on a parallel-jaw gripper. Optical fibers were employed to convey the tactile image to a CCD camera and microprocessor-based image analysis system. The second sensor had the shape and size of a human fingertip and was designed for a dexterous robotic hand. It contained 256 sensing sites (taxels) distributed in a dual-density pattern that included a tactile fovea near the tip measuring 13 x 13 mm and containing 169 taxels. The design and construction details of these tactile sensors are presented, in addition to photographs of tactile imprints.

Begej, Stefan↗