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As a type of angular displacement sensor, the Hall-effect magnetic encoder incorporates many advantages. While compared with the photoelectric encoder, the magnetic encoder nevertheless has lower precision and lower resolution. So, the purpose of this essay is to find a way to increase the precision and resolution of the magnetic encoder.

By combining a single-pole magnetic encoder and a multi-pole AlNiCo magnet, the precision and resolution of this combined magnetic encoder are increased without increasing its volume or complicating its structure. A special algorithm system is developed to ensure faithful encoding and decoding.

Tests show that the combined magnetic encoder, with a diameter of 67.12 mm (including shaft) and thickness of 6.9 mm, has a precision of ±6′, compared with a 15-bit photoelectric encoder and a static resolution of ±0.6′.

This new kind of magnetic encoder could be used in specialized fields which need high-precision servo-control systems that are small, have ultra-low-speed and high-speed ratios and are non-oil-polluting or shock-resistant.

Microsyn signal generators have been used in high-precision inertial sensors for their good structural stiffness and high sensitivity. However, as the stator and the rotor of the microsyn are both constructed of silicon-steel laminations with high permeability, an extremely small non-concentricity between the stator and rotor of microsyn will cause two random reaction torques acting on the output axis. As a result, difficulty arises in compensating for these random reaction torques. This study aims to investigate the electromagnetic fields of a novel angular transducer characterized by high sensitivity.

Based on the operation principles of the new transducer, the output voltage is decided by the time rate of change of the net magnetic flux of each output pole. The transient analysis of the electromagnetic field of the transducer is carried out by ANSYS Maxwell-3D.

The distributions of the magnetic flux of the transducer’s interior and eddy current on the rotor are consistent with the results of theory analysis. Moreover, the leakage flux mainly distributes nearby the excitation poles. The novel small-angle transducer also possesses a remarkably low reaction torque and power loss.

Study on the electromagnetic fields of the new transducer not only provides a powerful basis to further improve the precision of the new transducer but also expands the scope of applications of the new transducer.

This new transducer is not only characterized by a high sensitivity, high linearity and fast response but also extremely low reaction torque and power losses. Thus, the new transducer is suitable for high-precision inertial sensors.

This work measures the performance characteristics of a hemispherical resonator gyroscope (HRG) and compares it with a numerical model.

This work we explore the optical and piezoelectric measurement methods to determine the resonant frequency of HRG. These experimental results are compared with their numerically obtained values. To explore the performance characteristics, the effect of varying actuation voltages on the sense mode displacement and the piezoelectric sensor output was studied in the absence of input angular rate. The structure was then subjected to range of angular rate signals, at a constant actuation voltage and the corresponding sensor response was analysed.

Experimental values of the resonant frequencies in drive and sense modes are found to be within 8% of the numerical results. The sensor output depicts a quadratic dependency on the applied angular rate, which is synchronous with the governing equations of the HRG. The experimental output is within 12% of that obtained numerically. The sensor is found to resolve upto 0.24 rad/s.

This work presents an in-house developed inexpensive measurement setup for static and dynamic characterization of mesoscale MEMS gyroscopes. The measurement setup can also be modified accordingly for measurement of other MEMS-based devices.

The purpose of this paper is to test the measurement performances of a planar‐type meander sensor installed in robot foot in order to examine its potential application as ground reaction force sensor.

A planar‐type meander sensor is composed of two pairs of meander coils. Variation of input inductance between coils serves as a measure of small displacements in a plane. Pairs of meander coils are installed in an actuated robot foot to measure displacements proportional to normal or tangential components of ground reaction force which acts upon the foot. The sensor was modeled by the concept of partial inductance and a new simulation tool was developed based on this concept.

Pairs of meander coils were tested against angular displacements, and results showed that the sensor gives correct information about displacement regardless how the foot touches the ground with its whole area. Deviations between position of computed and real acting point of ground reaction force are relatively small. Owing to good results obtained, a miniaturized sensor was developed having the same performances as previously developed prototype.

This paper presents initial work in implementing a planar‐type meander sensor in robot foot as to measure ground reaction force. Developed simulation tool gives accurate analysis of inductance variation of meander structures. In addition, the measurement error and sensor's nonlinearity are analyzed. Calculated results show a good agreement with experimental results. Hence, miniaturized sensor, easier for implementation, is proposed.

The purpose of this paper is to achieve the trajectory tracking measurement of a moving target based on double position sensitive detectors (PSDs).

In this paper, first, a double PSD-based measurement system including hardware system and software system is built up. Then, the working principle is studied to calculate parameters, and calibration experience is conducted. Finally, this double PSD-based measurement system is used to test angular displacement and axial displacement on the tool magazine and automatic tool changer.

In the experiment, the maximum position error of a space point based on double PSD measurement system is 0.8566 mm, and the average error is 0.4716 mm. These results show that the built double PSD-based measurement system of trajectory tracking of a moving target is reasonable.

Combining the characteristics of the PSD and principles of binocular visual measurement, a non-contact three-dimensional measuring system based on double PSDs is developed. The designed double-based measurement system is quite suitable for measurement of a fast-changing illuminant or in the case that the tracking accuracy is not tight.

This paper explores the challenges of using cable-driven parallel robots on high-altitude, large-span facades, where redundancy in multicable systems and the elastic deformation of the cables are significant issues. This study aims to improve the accuracy and stability of the work platform through enhanced control strategies. These strategies address the redundancy in multicable systems and reduce the risks associated with cable deformation and mechanical failures during large-span movements.

The paper proposes a dynamic model for a four-rope parallel robot designed explicitly for large-span applications. The study introduces a position–force control strategy incorporating kinematic inverse solutions and a rope dynamics model to account for rope elasticity and its effects. This approach increases the number of system equations to match the unknowns, effectively solving the redundancy problem inherent in multicable systems. In addition, the tension changes of ropes and the stability of the working platform are examined under different motion distances (X = 50 m and X = 100 m) and varying Young’s modulus values (K = 5000 MPa and K = 8000 MPa).

This study’s large-span rope force–position control strategy successfully resolves the typical nonlinear characteristics and external disturbances in multicable parallel systems. By continuously monitoring and adjusting cable tension and end positions, this strategy ensures precise control over each cable’s tension, optimizes the distribution of cable tensions and maintains the system’s stability and response speed. The analysis in this paper indicates that this control strategy significantly improves the motion accuracy of robots operating on large-span high-altitude facades.

Industry adoption: The design and control strategies developed for the four-cable-driven parallel robot can be adopted by companies specializing in facade maintenance, construction or inspection. This could lead to safer, more efficient and cost-effective operations, especially in challenging environments like high-rise buildings. Innovation in robotic solutions: The research can inspire innovation within the field of robotics, particularly in developing robots for specific applications such as large surface maintenance. It showcases how adaptive control and stability can be achieved in complex operational scenarios. Safety improvements: By demonstrating a more stable and precise control mechanism for navigating large facades, the study could contribute to significant safety improvements, reducing the risk of accidents associated with manual facade maintenance and inspection tasks.

This paper combines the force/position hybrid control method with actual robotic applications, offering a novel solution to the complex issue of controlling cable-driven parallel robots in challenging environments. Thus, it contributes to the field. The proposed method significantly enhances the precision and stability of such systems and provides robust technical support for high-precision tasks in complex mechanical settings.

In the context of fixed-wing aircraft wing assembly, there is a need for a rapid and precise measurement technique to determine the center distance between two double-hole components. This paper aims to propose an optical-based spatial point distance measurement technique using the spatial triangulation method. The purpose of this paper is to design a specialized measurement system, specifically a spherically mounted retroreflector nest (SMR nest), equipped with two laser displacement sensors and a rotary encoder as the core to achieve accurate distance measurements between the double holes.

To develop an efficient and accurate measurement system, the paper uses a combination of laser displacement sensors and a rotary encoder within the SMR nest. The system is designed, implemented and tested to meet the requirements of precise distance measurement. Software and hardware components have been developed and integrated for validation.

The optical-based distance measurement system achieves high precision at 0.04 mm and repeatability at 0.02 mm within a range of 412.084 mm to 1,590.591 mm. These results validate its suitability for efficient assembly processes, eliminating repetitive errors in aircraft wing assembly.

This paper proposes an optical-based spatial point distance measurement technique, as well as a unique design of a SMR nest and the introduction of two novel calibration techniques, all of which are validated by the developed software and hardware platform.

Most of the linear encoders are based on optics. The accuracy and reliability of these encoders are greatly reduced in polluted and noisy environments. Moreover, these encoders have a complex structure and large sensor volume and are thus not suited to small application scenarios and do not have universality. This paper aims to present a new absolute magnetic linear encoder, which has a simple structure, small size and wide application range.

The effect of swing error is analyzed for the sensor structural arrangement. A double-threshold interval algorithm is then proposed to synthesize multiple interval electrical angles into absolute angles and convert them into actual displacement distances.

The final linear encoder measurement range is 15.57 mm, and the resolution reaches ± 2 µm. The effectiveness of the algorithm is demonstrated experimentally.

The linear encoder has good robustness, and high measurement accuracy, which is suitable for industrial production. The linear encoder has been mass-produced and used in an electric power-assisted braking system.

This paper aims to present new technological approaches of manufacturing of micromechanical gyroscope ring-sensitive element based on the nanoporous anodic alumina instead of traditional silicon technology. Simulation and the operation analyses of such elements have been performed.

The design of gyroscope represents a sensitive element on a glass substrate; in the center of a ring, there is a permanent magnet in a steel box. The sensitive element is made of profiled nanoporous anodic alumina consisting of an octagonal frame which is connected to a ring in the center with eight N-shaped spokes. The technology of the sensitive element fabrication involves the electrochemical formation of nanoporous anodic alumina substrate given the thickness and porosity and its chemical etching on the element topology. The basic parameters and the operation principle of the nanoporous alumina-sensitive element have been defined by finite element simulation.

It is shown that the resonance frequencies of the sensitive element change as functions of the alumina porosity. The main parameters of the nanoporous alumina-sensitive element have been compared with parameters of a silicon-sensitive element. Calculations have shown that the mechanical deformations of the von Mises are approximately lower by two times in the nanoporous alumina-sensitive element.

High-precision angular rate measurement will be achieved by reducing mechanical and electrical noises practically to zero through careful designing of a ring magnetoelectric gyroscope

The ring resonator made of nanoporous anodic alumina will allow to increase the threshold of sensitivity and stability of micromechanical gyroscope characteristics owing to the high precision of geometric dimensions, the stability of the elastic properties and the quality factor.

The aim of this paper is to create a sensor that can measure the contact status with high‐resolution than ever.

This paper proposes a new type of optical tactile sensor that can detect surface deformation with high precision by using the principle of optical lever. A tactile sensor is constructed that utilizes the resolution of a camera to the maximum by using transparent silicone rubber as a deformable mirror surface and taking advantage of the reflection image.

It has been found that the sensor can sense the deformation by the object with 1 percent error rate in simulation. In implementation of this time, the error rate results 10 percent.

This sensor can be used with broad applications by combining with other devices. As one of future work, the zero method will be used by using active patterns and get more accurate information.

Using the transparent silicone rubbers the sensor enables very simple and low cost and high‐resolution detection method. In addition, the simplicity of our sensor results various applications. For example, the transparency makes the sensor a light pathway, so the sensor can be a contactless sensor or an interactive device.

The concept of a tactile sensing method is introduced which can utilize the resolution of a camera to the maximum possible extent and can detect surface deformation by using the principle of optical lever.