Robot-Based Calibration Procedure for Graphene Electronic Skin.

The paper describes the semi-automatised calibration procedure of an electronic skin comprising screen-printed graphene-based sensors intended to be used for robotic applications. The variability of sensitivity and load characteristics among sensors makes the practical use of the e-skin extremely difficult. As the number of active elements forming the e-skin increases, this problem becomes more significant. The article describes the calibration procedure of multiple e-skin array sensors whose parameters are not homogeneous. We describe how an industrial robot equipped with a reference force sensor can be used to automatise the e-skin calibration procedure. The proposed methodology facilitates, speeds up, and increases the repeatability of the e-skin calibration. Finally, for the chosen example of a nonhomogeneous sensor matrix, we provide details of the data preprocessing, the sensor modelling process, and a discussion of the obtained results.

Modelling the Characteristics of Ring-Shaped Magnetoelastic Force Sensor in Mohri's Configuration.

Magnetoelastic force sensors exhibit high sensitivity and robustness. One commonly used configuration of force sensor with a ring-shaped core was presented by Mohri at al. In this configuration force is applied in the direction of a diameter of the core. However, due to inhomogeneous distribution of stresses, model of such sensor has not been presented yet. This paper is filling the gap presenting a new method of modelling the magnetoelastic effect, which is especially suitable for the finite element method. The presented implementation of proposed model is in good agreement with experimental data and creates new possibilities of modelling other devices utilizing magnetoelastic effect.

Model of a 3D Magnetic Permeability Tensor Considering Rotation and Saturation States in Materials with Axial Anisotropy.

The paper proposes a 3D extension of the linear tensor model of magnetic permeability for axially anisotropic materials. In the proposed model, all phases of a magnetization process are considered: linear magnetization, magnetization rotation, and magnetic saturation. The model of the magnetization rotation process is based on the analyses of both anisotropic energy and magnetostatic energy, which directly connect the proposed description with physical phenomena occurring during a magnetization process. The proposed model was validated on the base of previously presented experimental characteristics. The presented extension of the tensor description of magnetic permeability enables the modelling of inductive devices with cores made of anisotropic magnetic materials and the modelling of magnetic cores subjected to mechanical stresses. It is especially suitable for finite element modelling of the devices working in a magnetic saturation state, such as fluxgate sensors.

Inverse Transformation in Eddy Current Tomography with Continuous Optimization of Reference Defect Parameters.

This paper presents a methodology of inverse tomography transformation in eddy current tomography with the use of continuous optimization of reference defect parameters. Ferromagnetic steel samples with rectangular air inclusion defects of known dimensions were prepared and measured using an eddy current tomography setup. FEM-based (Finite Element Method based) forward tomography transformation was developed and utilized in inverse tomography transformation. The presented method of inverse tomography transformation is based on the continuous optimization of parameters that can describe the sample, such as the diameter and dimensions of the reference defect. The obtained results of inverse tomography transformation were in high accordance with the real parameters of the samples. Additionally, the presented method had acceptable repeatability. The obtained values of the sample parameters fit within the range of expanded uncertainty when compared to the real parameters of the sample.

A FEM-Based Optimization Method for Driving Frequency of Contactless Magnetoelastic Torque Sensors in Steel Shafts.

This paper presents a novel finite element method (FEM) of optimization for driving frequency in magneto-mechanical systems using contactless magnetoelastic torque sensors. The optimization technique is based on the generalization of the axial and shear stress dependence of the magnetic permeability tensor. This generalization creates a new possibility for the determination of the torque dependence of a permeability tensor based on measurements of the axial stress on the magnetization curve. Such a possibility of quantitative description of torque dependence of a magnetic permeability tensor has never before been presented. Results from the FEM-based modeling method were validated against a real magnetoelastic torque sensor. The sensitivity characteristics of the model and the real sensor show a maximum using a driving current of similar frequency. Consequently, the proposed method demonstrates the novel possibility of optimizing magnetoelastic sensors for automotive and industrial applications.

Modeling the Influence of a Magnetomechanical Effect on the Permeability Tensor of a Tensductor Core.

This paper presents a new method of modeling the influence of mechanical stresses on a magnetic permeability tensor of soft magnetic materials. The proposed method utilizes the principal stresses concept to compensate the influence of shear stresses. As a result, the stress dependence of a magnetic permeability tensor may be assessed with only the knowledge about the influence of axial stresses on magnetic properties of isotropic material. The proposed method was used for a finite element method based model of a tensductor designed for measurements of tensile forces. Due to the fact that 2D stresses distribution occurs in a tensductor, simplification of both principal stresses and a magnetic permeability tensor rotation procedure was proposed. As a result, good agreement was reached between the results of modeling and the results of experimental tests. This result validates the possibility of utilization of the proposed modeling method for the design of magnetomechanical devices.