Prof. Pinhas Ben-Tzvi Profile

Prof. Pinhas Ben-Tzvi

at Virginia Polytechnic Institute and State Univ

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Proceedings Article | 24 April 2020 Open Access

Novel field robots and robotic exoskeletons: design, integration, and applications (Conference Presentation)

Pinhas Ben-Tzvi

Proceedings Volume 11375, 1137503 (2020) https://doi.org/10.1117/12.2539157

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As natural and man-made disasters occur, from earthquakes, tornados, and hurricanes to chemical spills and nuclear meltdowns, there is a need for field robotic systems that are able to respond in these hazardous and dangerous environments. This talk will start with presenting a novel hybrid mechanism robot whereby the locomotion and manipulation platforms are designed as one entity to support both locomotion and manipulation symbiotically. Experimental results demonstrate the robot’s unique capabilities, such as traversing challenging obstacles and manipulating various payloads. This talk will then present the extension of this research to new designs of self-reconfigurable and modular field mobile robots that can autonomously and actively bond multiple robotic agents to provide scalable mobility and manipulation configurations. Recent progress on the design and integration of semi-autonomous victim extraction robots will also be presented. The talk will also describe recent results on the design and control of bio-inspired robotic tails capable of stabilizing and maneuvering legged robots. Finally, the talk will describe research on robotic exoskeletons for applications including gesture-based mobile robot tele-operation and upper-extremity hand rehabilitation with autonomous grasping.

Proceedings Article | 8 May 2012 Paper

A self-calibrating temperature independent model of a bi-axial piezoelectric MEMS tilt sensor

Paul Moubarak, Danielle Barsky, Pinhas Ben-Tzvi, Mona Zaghloul

Proceedings Volume 8373, 83732L (2012) https://doi.org/10.1117/12.918419

KEYWORDS: Sensors, Data modeling, Calibration, Ferroelectric materials, Genetics, Microelectromechanical systems, Mathematical modeling, Piezoelectric effects, Instrument modeling, Crystals

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The dual-axis piezoelectric tilt measurement device presented in this paper is modeled using a proposed methodology that generates a self-calibrating representation of the sensor's output around two axes. Typically, when a piezo-based sensor is developed, its output is modeled as a direct function of its geometric, electro-mechanical and piezoelectric properties. This means that an accurate representation of the sensor's output requires an accurate knowledge of its characteristics. In piezoelectric MEMS applications however, such information is either not available, or is provided in the form of approximate values which are susceptible to external stimuli. The method proposed in this paper models the direct piezoelectric effect as a function of genetic data provided a priori about the operation of a piezo-system. The resulting model is shown to be independent of any system-specific characteristics or any external stimuli. The impact that these parameters exhibit on the output of the sensor is carried implicitly by the genetic data which is generated through calibration. The validity of the proposed model is demonstrated through simulations performed on a new piezoelectric device for dual-axis tilt measurement. These results show a considerable accuracy under variations in the operating conditions, such as temperature.

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