Robotics, sensors, & devices publications

Development of small, field-portable mass spectrometers has enabled a rapid growth of in-field measurements on mobile platforms. In such in-field measurements, unexpected signal variability has been observed by the authors in portable ion traps with internal electron ionization. The orientation of magnetic fields (such as the Earth’s) relative to the ionization electron beam trajectory can significantly alter the electron flux into a quadrupole ion trap, resulting in significant changes in the instrumental sensitivity. Instrument simulations and experiments were performed relative to the earth’s magnetic field to assess the importance of (1) nonpoint-source electron sources, (2) vertical versus horizontal electron beam orientation, and (3) secondary magnetic fields created by the instrument itself. Electron lens focus effects were explored by additional simulations, and were paralleled by experiments performed with a mass spectrometer mounted on a rotating platform. Additionally, magnetically permeable metals were used to shield (1) the entire instrument from the Earth’s magnetic field, and (2) the electron beam from both the Earth’s and instrument’s magnetic fields. Both simulation and experimental results suggest the predominant influence on directionally dependent signal variability is the result of the summation of two magnetic vectors. As such, the most effective method for reducing this effect is the shielding of the electron beam from both magnetic vectors, thus improving electron beam alignment and removing any directional dependency. The improved ionizing electron beam alignment also allows for significant improvements in overall instrument sensitivity.

In this study a suite of experiments was performed to investigate the influence of time-delay on teleoperation accuracy and efficiency during a path-following task.

This paper describes a novel technique to analytically generate feasible hopping trajectories that can be applied to passively compliant bipedal humanoid robots.

The novel planar ion funnel (PIF) design presented in this article emphasizes simple fabrication, assembly, and operation, making it amenable to extreme miniaturization.

This paper theoretically and experimentally investigates frequency-tuned and impedance-tuned wireless nonradiative power transfer (WNPT) systems.

In this paper, we present a hand designed for minimalistic dexterous manipulation, in which every stage of the design process also considered its manufacturing cost. Finally, we present the results of experiments in which the robotic hand was affixed to a manipulator arm and teleoperated to grasp and manipulate a variety of objects.