CN109470394B - Multipoint touch force sensor and method for extracting characteristic information on surface of regular groove - Google Patents

Multipoint touch force sensor and method for extracting characteristic information on surface of regular groove Download PDF

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CN109470394B
CN109470394B CN201811454879.1A CN201811454879A CN109470394B CN 109470394 B CN109470394 B CN 109470394B CN 201811454879 A CN201811454879 A CN 201811454879A CN 109470394 B CN109470394 B CN 109470394B
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straight line
regular groove
force sensor
electrode
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CN109470394A (en
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汪延成
陈稼宁
梅德庆
武欣
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Zhejiang University ZJU
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

Abstract

The invention discloses a multipoint touch force sensor and a method for extracting characteristic information on the surface of a regular groove. The sensor is formed by stacking a hemispherical convex layer, a sensitive material layer and an electrode layer; the electrode on the upper surface of the electrode layer is of a five-electrode structure and consists of four uniformly distributed shuttle-shaped electrodes on the same circumference and a common electrode positioned in the center. According to the characteristics of signals generated when the tactile force sensor slides on the surface of the regular groove, the corresponding arrangement mode of the multipoint sensing units is designed: five sensing units form a cross-shaped array type, and the center distances of two adjacent sensing units on the same straight line are not equal. By the method for extracting the characteristic information of the surface of the regular groove, the problem of acquiring information such as the movement speed of a sensor, the placement angle of the surface of the regular groove, the geometric period of the surface of the regular groove and the like under the condition of lacking visual feedback is solved; the method has the advantages of simple steps, less limitation on the relative position relation between the sensor and the measured surface and easy realization.

Description

Multipoint touch force sensor and method for extracting characteristic information on surface of regular groove
Technical Field
The invention relates to a touch force sensor and a characteristic information extraction method, in particular to a multi-point touch force sensor and a method for extracting characteristic information on the surface of a regular groove.
Background
Along with the continuous development of robot in the service field, more and more robots need work under unstructured environment, also emerge along with the stable problem of snatching of unknown object: due to the lack of necessary information for grabbing objects, it is impossible for the robot to perform grabbing actions in an open-loop control manner. Taking normal force as an example, a small normal force will cause slippage of the weight during the gripping process, while an excessive normal force will cause damage to a flexible or fragile object. One common solution is to add a slip sensor to the robot to detect the presence of an initial slip phenomenon to determine if the normal force should be increased. But the method leads the object to be always in an unbalanced and stable state; once external force is applied, the object is easy to fall off from the manipulator. The other solution method is to extract the characteristic information of the object surface, compare the characteristic information with the existing database and then select a set of suitable scheme to realize the object grabbing. Compared with the traditional visual recognition, the recognition method based on the tactile signals has certain advantages in robustness and economy. For the moment, the dynamic performance of most tactile force sensors can meet the identification requirement of the surface characteristic information of the regular groove. But the processing method of the sampling data by the subsequent detection system basically only depends on the spectrum analysis method. Therefore, certain requirements are required on the sliding speed of the manipulator and the spatial position of the groove surface in the detection process, and the feasibility of identification work is reduced. Therefore, the method is an important factor for enhancing the practicability of the extraction method for the regular groove surface characteristic information for the detection of the movement speed and the groove surface placing angle.
Disclosure of Invention
In order to solve the problems in the background art, the present invention provides a multi-point tactile force sensor and a method for extracting feature information from a regular groove surface, which can identify the sliding speed of the sensor, the placement angle of the groove surface and the geometric period of the groove surface in the detection process.
The technical scheme adopted by the invention is as follows:
multi-point touch force sensor
The multipoint touch force sensor is formed by sequentially stacking a hemispherical convex layer, a sensitive material layer and an electrode layer (8) from top to bottom;
hemispherical bump layer: the hemispherical convex layer is formed by pouring PDMS and is arranged according to a 3 multiplied by 3 array;
sensitive material layer: the sensitive material is conductive rubber, and the arrangement of the sensitive material corresponds to the hemispherical convex layer; fixing the sensitive material by RTV silica gel;
the electrode on the upper surface of the electrode layer is of a circular five-electrode structure, the arrangement of the five-electrode structure corresponds to the hemispherical convex layer, and the five-electrode structure consists of four uniformly distributed fusiform electrodes and a common electrode positioned in the center on the same circumference;
tactile senseAt least five units in the force sensor are arranged as follows: five sensing units form a cross-shaped array, the first unit, the fifth unit and the second unit are positioned on the same straight line a, and the central distance between the first unit and the fifth unit is l1The distance between the centers of the second unit and the fifth unit is l2Center distance l1Unequal center distance l2The third unit, the fifth unit and the fourth unit are positioned on the same straight line b, the straight line b and the straight line a are perpendicular to each other, and the distance between the centers of the third unit and the fifth unit is l3The center distance of the fourth unit and the fifth unit is l4Center distance l3Unequal center distance l4。
Secondly, a method for extracting characteristic information on the surface of a regular groove by using a multipoint touch force sensor comprises the following steps:
1) making the multipoint touch force sensor and the surface of the groove mutually contact and slide along the direction parallel to the straight line a or b;
2) judging whether sliding occurs or not according to the change modes of the four mechanical output signals corresponding to any sensing unit;
3) recording output signals of five units in a time period T after the sliding is determined to occur in the step 2);
4) constructing a discrete cross-correlation function based on output signals of the first unit, the fifth unit and the second unit or the third unit, the fifth unit and the fourth unit, and calculating the sliding speed of the sensor in the time period T;
5) according to the calculated sliding speed and output signals of the first unit, the fifth unit and the second unit or the third unit, the fifth unit and the fourth unit, a discrete cross-correlation function, an algebraic expression of a geometric relation between the arrangement mode of the sensing unit groups on the straight line b or the straight line a and the motion trail of the sensing unit groups on the straight line b or the straight line a are constructed, and an included angle theta between the trend of the groove and the straight line b or the straight line a is calculated;
6) and (5) constructing an algebraic expression of the geometric relation between the motion trail of any sensing unit and the regular groove according to the calculation results of the step (4) and the step (5) and the frequency domain information of the output signal of any sensing unit, and calculating to obtain the geometric period GP of the surface of the regular groove.
The change mode of the four mechanical output signals corresponding to the arbitrary sensing unit in step 2) is to determine whether slippage occurs according to whether an electric signal set output by the arbitrary sensing unit on the four corresponding shuttle electrodes simultaneously contains an electric signal element representing normal force rising and normal force falling.
The process of constructing the discrete cross-correlation function in the step 4) is as follows:
I) discrete cross-correlation function R of electric signal sequences output by any two sensing units in time period Tij(r) is:
Figure BDA0001887515640000021
in the formula: n is the length of the output electrical signal sequence of any electrode in the T period, ssqiRepresenting the sequence of electrical signals output by the unit (i), n being the number of the corresponding sequence, r being the difference in number, and requiring ssq to be generatediAnd ssqjAre in the same position in the respective five-electrode structures;
II) sliding velocity v of the multipoint tactile force sensor on the surface of the regular groove is
Figure BDA0001887515640000031
(when the direction of motion is parallel to line a, j equals 1; otherwise j equals 3)
Figure BDA0001887515640000032
In the formula: r ismaxiIs the discrete cross-correlation function R generated by the sensing unit (i) and the fifth sensing uniti5Maximum point of (r), tiIs the phase difference.
In the step 5), the arrangement mode of the sensing unit groups on the straight line b or the straight line a and the algebraic expression of the geometric relationship between the movement tracks thereof are as follows:
Figure BDA0001887515640000033
(when the direction of motion is parallel to line a, k is 3; otherwise k is 1)
In the formula: theta represents the angle between the regular groove trend and the straight line b or a.
The algebraic expression of the geometric relationship between the motion track of any sensing unit and the regular groove in the step 6) is as follows:
Figure BDA0001887515640000034
Figure BDA0001887515640000035
in the formula: GP represents the geometric period of the regular groove-like surface, smaxiIs the sensing unit (i) outputs a sequence of electrical signals ssqiMaximum point of modular length after discrete Fourier transform, fiIs smaxiThe corresponding characteristic frequency.
The invention has the beneficial effects that:
according to the characteristics of an electric signal generated when the touch force sensor slides on the surface of the regular groove, the arrangement mode of the corresponding multipoint sensing units is designed, and the problem of obtaining information such as the movement speed of the sensor, the placement angle of the surface of the regular groove, the geometric period of the surface of the regular groove and the like under the condition of lacking of visual feedback is solved through the method for extracting the characteristic information of the surface of the regular groove; the method has the advantages of simple steps, less limitation on the relative position relation between the sensor and the measured surface and easy realization.
Drawings
Fig. 1 is a structure-disassembled perspective view of a multipoint tactile force sensor on which the present invention is based.
Fig. 2 is a diagram of a sensing unit distribution of a multipoint tactile force sensor on which the present invention is based.
Fig. 3 is a flow chart of the operation of the present invention.
FIG. 4 is a schematic diagram of the electrical signal generated by the sensing unit sliding on the regular groove surface under normal conditions.
Fig. 5 is a graph of a discrete cross-correlation function based on the electrical signals of the 3 rd and 5 th elements shown in fig. 4 in the present invention.
Fig. 6 is a graph of a discrete cross-correlation function based on the electrical signals of the 4 th and 5 th elements shown in fig. 4 in the present invention.
FIG. 7 is a schematic diagram of the geometrical relationship between the 3 rd, 4 th and 5 th units and the surface of the regular groove at different times depending on the calculation of the included angle between the regular groove direction and the normal direction of the moving direction.
In the figure: 1-5, a sensing unit forming a cross array type, 6, a hemispherical convex layer, 7, a sensitive material layer, 8 and an electrode layer.
Detailed Description
The invention is further illustrated by the following figures and examples.
As shown in fig. 1, a multipoint tactile force sensor according to the present invention is characterized in that: the sensor is formed by stacking a hemispherical convex layer 6, a sensitive material layer 7 and an electrode layer 8 from top to bottom in sequence.
Hemispherical convex layer 6: the hemispherical convex layer 6 is formed by pouring PDMS and is arranged according to a 3 multiplied by 3 array; sensitive material layer 7: the sensitive material layer 7 is made of sensitive material represented by a wafer, INASTOMER conductive rubber produced by INABA company of Japan is selected and fixed by RTV silica gel, and the sensitive material layer 7 is arranged corresponding to the hemispherical convex layer 6; the base material of the electrode layer 8 is selected from polyethylene terephthalate, the electrode on the upper surface is a circular five-electrode structure which is arranged corresponding to the hemispherical convex layer 6, and the five-electrode structure consists of four uniformly distributed shuttle-shaped electrodes and a common electrode positioned in the center on the same circumference; the output voltage of the sensitive material at the electrode is in positive correlation with the normal force to which the sensitive material is subjected in the corresponding region. In actual operation, the output voltage at each electrode is varied within the range of 0-3.3V.
At least five units of the tactile force sensor are arranged as follows: the five sensing units form a cross-shaped array type or a T-shaped or T-shaped arrangement. In fig. 2, the first unit 1, the fifth unit 5 and the second unit 2 are in the same straight lineOn line a, the distance between the centers of the first unit 1 and the fifth unit 5 is l1The distance between the centers of the second unit 2 and the fifth unit 5 is l2Center distance l1Unequal center distance l2The third unit 3, the fifth unit 5 and the fourth unit 4 are positioned on the same straight line b, the straight line b and the straight line a are perpendicular to each other, and the distance between the centers of the third unit 3 and the fifth unit 5 is l3The distance between the centers of the fourth cell 4 and the fifth cell 5 is l4Center distance l3Unequal center distance l4。
The 9 sensing units in the tactile force sensor are arranged in a 3 × 3 array as shown in fig. 2: the distance between the centers of the column of the cell 1 and the column of the cell 5 is 3.5mm, and the distance between the centers of the column of the cell 2 and the column of the cell 5 is 3.8 mm. The distance between the center of the row where the cell 3 is located and the center of the row where the cell 5 is located is 3.5mm, and the distance between the center of the row where the cell 4 is located and the center of the row where the cell 5 is located is 3.8 mm.
The method for extracting the characteristic information of the surface of the regular groove based on the multipoint touch force sensor solves the problem of acquiring information such as the motion speed of the sensor, the placement angle of the surface of the regular groove, the geometric period of the surface of the regular groove and the like under the condition of lacking visual feedback by performing spectrum analysis on electric signals output by different sensing units, and the specific process is shown in figure 3:
(1) the multi-point tactile force sensor and the regular groove surface are made to contact each other, and the sensor is made to slide in a direction parallel to the straight line a. It is generally required that the output electric signal of any electrode is stable and obvious in the whole sliding process.
(2) The motion state of the sensor is judged according to the change rule of the output electric signals of the sensing unit 5 on the left and right shuttle-shaped electrodes, and the specific rule is as follows:
a) if the voltage values of the output electric signals of the left electrode and the right electrode rise simultaneously, the sensor is in a loading state;
b) if the voltage values of the output electric signals of the left electrode and the right electrode drop simultaneously, the sensor is in an unloading state;
c) if the voltage value of the output electric signal of the left electrode rises and the voltage value of the output electric signal of the right electrode falls, indicating that the sensor starts to slide rightwards;
d) if the voltage value of the output electric signal of the left electrode is decreased and the voltage value of the output electric signal of the right electrode is increased, the sensor starts to slide leftwards;
(3) after confirming the sensor starts to slide in step 2), the interval 2s is set to wait for the sensor to enter the full-sliding state. And then sampling the electric signals output by the units 1-5 at the corresponding right shuttle-shaped electrodes for 1s according to the sampling frequency of 100 Hz. In general, the electrical signals generated by the units 3-5 sliding on the regular groove-like surface have a similar profile to the curve shown in fig. 4, and the electrical signals generated by other units also have a similar profile.
(4) Based on the output signals of the units 1, 2 and 5, a discrete cross-correlation function is constructed, and the sliding speed v of the sensor in the sampling time is calculated.
For the original electric signal sequence ossq from the sensing units 1, 2, 5 obtained by collectioniPerforming DC component removal preprocessing to generate an electrical signal sequence ssq to be processediComprises the following steps:
Figure BDA0001887515640000051
Figure BDA0001887515640000052
the subscript i in the formulas (1) and (2) represents that the electrical signal sequence comes from the unit i, and n represents the serial number in the corresponding sequence.
Solving for the sequences of electrical signals to be processed ssq from units 1, 2, respectivelyiAnd a sequence ssq of electrical signals to be processed from unit 55Of a discrete cross-correlation function Ri5(r) is:
Figure BDA0001887515640000053
typically, the signal sequence ssq is processed byiResulting discrete cross-correlation function R15(R) and R25(R) will possess R similar to that shown in FIGS. 5 and 635(R) or R45The profile of the curve of (r).
Solving the sliding speed v of the sensor in the sampling time as follows:
Figure BDA0001887515640000054
Figure BDA0001887515640000055
in the formula (5), rmaxiIs a discrete cross-correlation function R generated by the sensing unit i and the sensing unit 5i5(r) and belongs to the integer set. Or as shown in FIGS. 5 and 6, rmaxiCan also be understood as a discrete cross-correlation function Ri5(r) horizontal distance between peak and origin.
(5) And according to the calculated sliding speed and the output signals of the units 3, 4 and 5, constructing a discrete cross-correlation function, an algebraic expression of a geometric relation between the arrangement mode of the sensing unit groups on the straight line b and the motion tracks of the sensing unit groups, and calculating to obtain an included angle theta between the trend of the regular groove and the straight line b.
The acquired original electric signal sequence ossq from the sensing units 3 and 4iPreprocessing the signals according to the formulas (1) and (2) to obtain a sequence ssq of electric signals to be processediAnd respectively solving the signal sequence ssq to be processed corresponding to the unit 5 according to the formula (3)5Of a discrete cross-correlation function Ri5(r) of (A). Typically, the signal sequence ssq is processed byiResulting discrete cross-correlation function R35(R) and R45(r) will possess a profile similar to that shown in fig. 5 and 6. Then, the corresponding phase time difference t is obtained by solving according to the formula (5)i。
FIG. 7 shows different times T1、T2、T3The spatial position of the sensing elements 3, 4, 5 on the surface of the regular groove. In a time period T1～T3Meanwhile, the electric signals output from the respective cells are as shown in fig. 4. As can be seen, cell 3 is at T3Output signal of time, sheetElement 5 at T2Output signal at time, and unit 4 at T1The amplitudes of the output signals at the time are consistent, the corresponding units are shown in a solid line form in fig. 7, A, B, C, F, H in the figure are the geometric centers of the corresponding units, obviously, the AB side length of the right angle △ ABC is the T of the sensor2～T3A displacement distance within a time period which is numerically equal to vt3(ii) a Similarly, the length of the line segment FG is equal to vt4The AC side length of right angle △ ABC is equal to the center distance l between cell 3 and cell 53(ii) a Segment CH is equal to l4Constructing an congruent △ EDC for right angle △ ABC such that point E falls on line segment AH, then connecting point D with point F, and making a perpendicular segment DG for line segment FH across point D such that G falls on line segment FH. it is readily evident that the included angle θ between ∠ FDG and the regular trench run and line b is equal4-l3) (in this case equal to 0.3mm) with FG side length significantly equal to v (t)4-t3). Then the formula for solving the included angle θ is:
Figure BDA0001887515640000061
6) and (5) constructing an algebraic expression of the geometric relation between the motion trail of any sensing unit and the regular groove according to the calculation results of the steps 4) and 5) and the frequency domain information of the output signal of any sensing unit, and calculating to obtain the geometric period GP of the surface of the regular groove.
For the sequence ssq of the electrical signals to be processed from the unit 55After discrete Fourier transform, the module length is taken to obtain the amplitude-frequency characteristic sequence ftsq of the discrete Fourier transform5Comprises the following steps:
Figure BDA0001887515640000062
in formula (7), k is the sequence ssq5The serial number of (2).
Solving the characteristic frequency f of the electric signal generated when the sensing unit 5 slides on the surface of the regular groove5Comprises the following steps:
Figure BDA0001887515640000063
s in formula (8)max5Is an amplitude-frequency characteristic sequence ftsq5The maximum point of (d).
Solving the geometric period GP of the surface of the groove of the measured rule as follows:
Figure BDA0001887515640000071
the embodiments of the multipoint tactile force sensor and the method for extracting feature information on the surface of the regular groove according to the present invention have been described above, but the present invention is not limited to the above description. Any equivalent modifications and alterations to this technical solution would be considered within the scope of this invention by those skilled in the art. Accordingly, equivalent changes and modifications made without departing from the spirit and scope of the present invention should be covered by the present invention.

Claims (6)

1. A multipoint haptic force sensor, comprising: the sensor is formed by stacking a hemispherical convex layer (6), a sensitive material layer (7) and an electrode layer (8) from top to bottom in sequence;
hemispherical convex layer (6): the hemispherical convex layer (6) is formed by pouring PDMS and is arranged according to a 3 multiplied by 3 array;
sensitive material layer (7): the sensitive material is conductive rubber which is arranged corresponding to the hemispherical convex layer (6); fixing the sensitive material by RTV silica gel;
the electrode on the upper surface of the electrode layer (8) is of a circular five-electrode structure, the arrangement of the five-electrode structure corresponds to the hemispherical convex layer (6), and the five-electrode structure consists of four uniformly distributed shuttle-shaped electrodes and a common electrode positioned in the center on the same circumference;
at least five units of the tactile force sensor are arranged as follows: five sensing units form a cross-shaped array type, a first unit (1), a fifth unit (5) and a second unit (2) are positioned on the same straight line a, and the central distance between the first unit (1) and the fifth unit (5) is l1A second unit (2)) And the center of the fifth unit (5) is at a distance of l2Center distance l1Unequal center distance l2The third unit (3), the fifth unit (5) and the fourth unit (4) are positioned on the same straight line b, the straight line b and the straight line a are perpendicular to each other, and the central distance between the third unit (3) and the fifth unit (5) is l3The distance between the centers of the fourth unit (4) and the fifth unit (5) is l4Center distance l3Unequal center distance l4。
2. The method for extracting the characteristic information on the surface of the regular groove by using the multipoint touch force sensor as claimed in claim 1, which is characterized by comprising the following steps:
1) making the multipoint touch force sensor and the surface of the groove mutually contact and slide along the direction parallel to the straight line a or b;
2) judging whether sliding occurs or not according to the change modes of the four mechanical output signals corresponding to any sensing unit;
3) recording output signals of the five sensing units in a time period T after the occurrence of the sliding is determined in the step 2);
4) constructing a discrete cross-correlation function based on output signals of the first unit (1), the fifth unit (5) and the second unit (2) or the third unit (3), the fifth unit (5) and the fourth unit (4), and calculating the sliding speed of the sensor in a time period T;
5) according to the calculated sliding speed and output signals of the first unit (1), the fifth unit (5), the second unit (2) or the third unit (3), the fifth unit (5) and the fourth unit (4), a discrete cross-correlation function, a sensing unit group arrangement mode on the straight line b or the straight line a and an algebraic expression of a geometric relation between motion tracks of the sensing unit group arrangement mode are constructed, and an included angle theta between the trend of the groove and the straight line b or the straight line a is calculated;
6) and (5) constructing an algebraic expression of the geometric relation between the motion trail of any sensing unit and the regular groove according to the calculation results of the step (4) and the step (5) and the frequency domain information of the output signal of any sensing unit, and calculating to obtain the geometric period GP of the surface of the regular groove.
3. The method as claimed in claim 2, wherein the variation pattern of the four mechanical output signals corresponding to any sensing unit in step 2) is determined according to whether the set of electrical signals output by the four corresponding shuttle electrodes of any sensing unit simultaneously includes electrical signal elements representing normal force rising and normal force falling to determine whether slippage occurs.
4. The method for extracting feature information on the surface of a regular groove by using a multipoint touch force sensor according to claim 2, wherein the process of constructing the discrete cross-correlation function in the step 4) is as follows:
I) discrete cross-correlation function R of electric signal sequences output by any two sensing units in time period Tij(r) is:
Figure FDA0002356855490000021
in the formula: n is the length of the output electrical signal sequence of any electrode in the T period, ssqiRepresenting the sequence of electrical signals output by unit i, n being the number of the corresponding sequence, r being the difference in number, and requiring ssq to be generatediAnd ssqjThe electrodes of (2) are positioned at the same position in the structure of the respective five electrodes, the subscript i is the serial number of the sensing unit and takes a value of 1-5, the subscript j is the serial number of the sensing unit and takes a value of 1-5;
II) sliding velocity v of the multipoint tactile force sensor on the surface of the regular groove is
Figure FDA0002356855490000022
When the moving direction is parallel to the straight line a, j is 1; otherwise j is 3
Figure FDA0002356855490000023
In the formula: r ismaxiIs a sensing unit i anddiscrete cross-correlation function R generated by five sensing units (5)i5Maximum point of (r), tiIs the phase difference.
5. The method for extracting feature information on the surface of a regular groove by using the multipoint touch force sensor according to claim 4, wherein the algebraic expression of the geometric relationship between the arrangement of the sensing unit groups on the straight line b or the straight line a and the motion tracks of the sensing unit groups in the step 5) is as follows:
Figure FDA0002356855490000024
when the moving direction is parallel to the straight line a, k is 3; otherwise k is 1
In the formula: theta represents the angle between the groove run and the line b or a.
6. The method for extracting feature information on the surface of the regular groove by the multipoint touch force sensor according to claim 4, wherein the algebraic expression of the geometric relationship between the motion trail of any sensing unit and the regular groove in step 6) is as follows:
Figure FDA0002356855490000025
Figure FDA0002356855490000026
in the formula: GP represents the geometric period of the regular groove surface, smaxiIs the sensing unit i outputs a sequence of electrical signals ssqiMaximum point of modular length after discrete Fourier transform, fiIs smaxiThe corresponding characteristic frequency.
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