Flexible multi-channel multi-mode sensor data acquisition system

Abstract

The invention relates to a flexible multi-channel multi-mode sensor data acquisition system. The system comprises a signal collector for collecting multi-channel signals, a pin header interface for providing multi-channel signal access, a plurality of analog switches for realizing switching and collection of the multi-channel signals and improving the flexibility and expandability of signal collection, a sensor part meeting multi-dimensional data collection requirements, and an analog-to-digital conversion chip, the control unit adopts an FPGA (Field Programmable Gate Array) to control switching of an analog switch and time sequence management, and the wireless transmission module is provided with a Wi-Fi chip; one end of the pin header interface is connected with the signal collector and the other end is connected with the analog switch; the sensor part is connected to the analog-to-digital conversion chip; the analog switch, the analog-to-digital conversion chip and the wireless transmission module are all connected to the controller. The system is a modularized multi-sensor data acquisition system with high precision and high bandwidth, and can realize dynamic sampling, efficient processing and wireless transmission of multi-sensor signals in a limited size.

Description

Technical Field

[0001] The present invention relates to a data acquisition system, in particular to a high-precision, high-bandwidth, modular multi-sensor data acquisition system, which can realize dynamic sampling, efficient processing and wireless transmission of multi-sensor signals within a limited size. Background Art

[0002] With the rapid development of robotics, dexterous hands have been widely used in industry, medicine, services and other fields. However, when performing complex interactions with humans, dexterous hands still have the following technical limitations, which hinder their further development:

[0003] 1. Lack of skin perception function:

[0004] The current tactile systems of robot dexterous hands mostly rely on a single type of sensor (such as force sensors or acceleration sensors), lacking the comprehensive perception capabilities of multimodal sensors and unable to obtain external information such as pressure distribution, ambient temperature and humidity, and light intensity in real time. This lack of perception makes it difficult for robots to perceive small changes in external forces when operating delicate objects, and thus cannot achieve natural, flexible and refined human-computer interaction.

[0005] 2. Technical bottlenecks of multi-channel high-frequency sampling and data integration

[0006] (1) Sampling conflicts and timing instability: In multi-channel high-frequency signal sampling, especially under the high-frequency requirements (such as kHz level) of pressure matrix and acceleration sensor, the existing technology usually relies on a single ADC module or a single bus architecture, which can easily cause sampling conflicts, data loss or timing disorder between channels.

[0007] (2) Complex data integration: The data formats and frequencies of multimodal sensors vary greatly, which increases the difficulty of data integration and transmission. For example, the synchronous processing of high-frequency signals and low-frequency signals (such as acceleration and temperature and humidity) requires additional hardware or software overhead, and existing solutions generally have difficulty balancing accuracy, efficiency, and real-time performance.

[0008] 3. Miniaturization and modularization challenges:

[0009] Although some studies have attempted to implement sensor data acquisition and processing functions in a single hardware system, there are still challenges in achieving efficient acquisition and transmission of multimodal sensors in miniaturized embedded devices:

[0010] (1) Limited space: Traditional circuit design makes it difficult to accommodate high-precision ADC, control logic and wireless transmission modules in a miniature size such as 8cm×4cm.

[0011] (2) Power consumption bottleneck: The existing high-frequency sampling system is not sufficiently optimized for power consumption in battery-powered scenarios, resulting in limited device battery life and affecting practical applications. Summary of the invention

[0012] In view of the above problems, the main purpose of the present invention is to provide a high-precision, high-bandwidth, modular multi-sensor data acquisition system that can realize dynamic sampling, efficient processing and wireless transmission of multi-sensor signals within a limited size.

[0013] The present invention solves the above technical problems through the following scheme: a flexible multi-channel multi-modal sensor data acquisition system, the flexible multi-channel multi-modal sensor data acquisition system comprising:

[0014] Signal collector: The signal collector collects multi-channel signals.

[0015] Pin header interface: used to input the external signal collected by the signal collector into the analog switch. The pin header interface provides multi-channel signal access.

[0016] Analog switch: The analog switches include multiple analog switches, all of which are controlled by FPGA. The analog switches are used to realize the switching and acquisition of multi-channel signals, thereby improving the flexibility and scalability of signal acquisition.

[0017] Sensor part: The sensor part integrates a temperature and humidity sensor and an acceleration sensor to collect ambient temperature, humidity and acceleration information in real time to meet multi-dimensional data collection needs.

[0018] Analog-to-digital conversion chip: contains multiple independent ADC modules, which accurately convert the collected analog signals into digital signals.

[0019] Controller: The controller is a control unit that uses FPGA to control analog switch switching and timing management.

[0020] Wireless transmission module: equipped with a Wi-Fi chip, used to transmit the collected digital signals remotely via wireless, supporting real-time data sharing and remote monitoring.

[0021] One end of the pin header interface is connected to the signal collector, and the other end is connected to the analog switch; the sensor part includes a temperature and humidity sensor and an acceleration sensor, and the sensor part is connected to the analog-to-digital conversion chip; the analog switch, the analog-to-digital conversion chip, and the wireless transmission module are all connected to the controller.

[0022] In a specific implementation example of the present invention, the controller uses FPGA as the core control unit, which is responsible for the switching of high-performance analog switches, the coordination of acquisition timing, and the caching and preprocessing of data. The FPGA contains four modules: ADC acquisition module, time scheduling module, analog switching module, and serial communication module.

[0023] In a specific implementation example of the present invention, the ADC acquisition module is responsible for collecting data from analog input signals, supports high sampling rates, can acquire rapidly changing analog signals in real time, and converts the analog signals into digital signals and performs preprocessing;

[0024] The time scheduling module is responsible for controlling the timing logic within the system; managing the timing of each module, coordinating the execution order of different operations, and ensuring that the system executes tasks within the predetermined time frame;

[0025] The analog switching module is responsible for the switching of high-performance analog switches. It is closely integrated with the time scheduling module to achieve the switching and selection of multiple input signals.

[0026] The serial port communication module is responsible for data communication with external devices. The FPGA is embedded with efficient data packaging and transmission algorithms to provide optimized data flow for wireless transmission.

[0027] In a specific implementation example of the present invention, the signal collector is a multi-channel signal acquisition circuit based on a 14-bit ADC module, which is a high-precision quasi-parallel acquisition circuit with the ability to simultaneously acquire 36 channel signals. It is a signal collector that can meet the needs of multi-channel, high-precision, multi-modal data acquisition.

[0028] In a specific implementation example of the present invention, the signal collector integrates three 14-bit high-precision ADC modules with fast sampling rate and high linearity to ensure the accuracy and consistency of the collected data; each ADC module works independently and supports parallel acquisition mode, which can realize real-time synchronous acquisition of multiple channels.

[0029] In a specific implementation example of the present invention, the output signal of the signal collector is divided into three groups, namely 2KHZ, 1KHZ, and 100HZ sampling rates; it is equipped with five high-performance analog switches, supports FPGA dynamic control, and realizes fast switching of different signal channels; and through channel switching logic and synchronization mechanism, it ensures that the data collected in 10mS meets the 2KHZ, 1KHZ, and 100HZ sampling frequencies.

[0030] In a specific implementation example of the present invention, the wireless transmission module supports a wireless transmission module of the TCP / IP protocol.

[0031] In a specific implementation example of the present invention, the flexible multi-channel multi-modal sensor data acquisition system is equipped with an acquisition front-end sensor board.

[0032] The positive progress of the present invention is that compared with common similar technologies, the flexible multi-channel multi-modal sensor data acquisition system provided by the present invention is realized through modular design and miniaturization. The present invention not only supports the multi-sensor integration of robot dexterous hands, but also meets the needs of multi-channel high-frequency sampling and real-time data transmission, thereby providing robots with skin-like perception capabilities and significantly improving their performance in refined interaction scenarios. The present invention is a high-precision, high-bandwidth, modular multi-sensor data acquisition system that can realize dynamic sampling, efficient processing and wireless transmission of multi-sensor signals within a limited size. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is the overall structural block diagram of the present invention. DETAILED DESCRIPTION

[0034] Preferred embodiments of the present invention are given below in conjunction with the accompanying drawings to illustrate the technical solutions of the present invention in detail.

[0035] Figure 1 It is the overall structural diagram of the present invention, such as Figure 1 As shown: The flexible multi-channel multi-modal sensor data acquisition system proposed in the present invention includes: a signal collector 1, a pin header interface 2, an analog switch 3, a sensor part 4, an analog-to-digital conversion chip 5, a controller 6, and a wireless transmission module 7. One end of the pin header interface 2 is connected to the signal collector 1, and the other end is connected to the analog switch 3; the sensor part 4 includes a temperature and humidity sensor and an acceleration sensor, and the sensor part 4 is connected to the analog-to-digital conversion chip 5; the analog switch 3, the analog-to-digital conversion chip 5, and the wireless transmission module 7 are all connected to the controller 6.

[0036] The signal collector 1 in the present invention collects multi-channel signals; it is used to input the external signal collected by the signal collector 1 into the analog switch, and the pin header interface provides multi-channel signal access.

[0037] The analog switches 3 in the present invention include multiple analog switches, all of which are controlled by FPGA. The analog switches are used to implement switching and acquisition of multi-channel signals, thereby improving the flexibility and scalability of signal acquisition.

[0038] The sensor part 4 in the present invention integrates a temperature and humidity sensor and an acceleration sensor, which is used to collect environmental temperature, humidity and acceleration information in real time to meet the needs of multi-dimensional data collection.

[0039] The analog-to-digital conversion chip 5 in the present invention includes a plurality of independent ADC modules, which accurately convert the collected analog signals into digital signals.

[0040] The controller 6 in the present invention is a control unit that uses FPGA to control analog switch switching and timing management.

[0041] The wireless transmission module 7 in the present invention is equipped with a Wi-Fi chip, which is used to remotely transmit the collected digital signals by wireless means, supporting real-time data sharing and remote monitoring.

[0042] In the present invention, the controller 6 uses FPGA as the core control unit, which is responsible for the switching of high-performance analog switches, the coordination of acquisition timing, and the caching and preprocessing of data. The FPGA contains four modules: ADC acquisition module, time scheduling module, analog switching module, and serial communication module.

[0043] The ADC acquisition module is responsible for collecting data from analog input signals, supports high sampling rates, can acquire rapidly changing analog signals in real time, and convert analog signals into digital signals and perform preprocessing.

[0044] The time scheduling module is responsible for controlling the timing logic within the system; managing the timing of each module, coordinating the execution order of different operations, and ensuring that the system performs tasks within the predetermined time frame.

[0045] The analog switching module is responsible for the switching of high-performance analog switches. It is closely integrated with the time scheduling module to achieve the switching and selection of multiple input signals.

[0046] The serial port communication module is responsible for data communication with external devices. The FPGA is embedded with efficient data packaging and transmission algorithms to provide optimized data flow for wireless transmission.

[0047] The four modules, ADC acquisition module, time scheduling module, analog switching module and serial communication module, work closely together to ensure that the control unit can perform analog signal acquisition, switching, timing management and data transmission tasks in real time and efficiently.

[0048] With the high concurrency and parallel processing capabilities of FPGA, the entire system can achieve efficient and precise control and data processing.

[0049] The signal collector 1 in the present invention is a multi-channel signal acquisition circuit based on a 14-bit ADC module. It is a high-precision parallel acquisition circuit with the ability to simultaneously acquire 36 channel signals. It is a signal collector that can meet the needs of multi-channel high-precision multi-modal data acquisition.

[0050] The signal collector 1 in the present invention integrates three 14-bit high-precision ADC modules, has a fast sampling rate and high linearity, and ensures the accuracy and consistency of the collected data; each ADC module works independently and supports parallel acquisition mode, which can realize real-time synchronous acquisition of multiple channels. The present invention adopts a differential input design to further improve the anti-interference performance of the collected signal.

[0051] The output signals of the signal collector 1 in the present invention are divided into three groups, namely 2KHZ, 1KHZ, and 100HZ sampling rates; it is equipped with five high-performance analog switches, supports FPGA dynamic control, and realizes fast switching of different signal channels; and through channel switching logic and synchronization mechanism, it ensures that the data collected in 10mS meets the 2KHZ, 1KHZ, and 100HZ sampling frequencies.

[0052] The wireless transmission module 7 in the present invention supports the wireless transmission module of the TCP / IP protocol. The wireless transmission module is used to transmit the collected 36-channel high-precision data to a remote server or client device in real time by wireless means. The TCP / IP protocol is used to ensure the reliability and security of data transmission.

[0053] The flexible multi-channel multi-modal sensor data acquisition system proposed in the present invention is equipped with an acquisition front-end sensor board. The main functions of the acquisition front-end sensor board include data acquisition, signal conversion and amplification, data storage, triggering and control, etc.

[0054] The acquisition module of the present invention is a centralized processing unit, which is physically separated from the sensor module, but realizes data transmission and control through a standardized interface. The acquisition module of the present invention realizes simultaneous acquisition of multiple sensor modules through analog switches, and supports up to 36 signal accesses. The present invention uses FPGA or microcontroller to centrally manage multi-channel data, including sampling timing control, data calibration and caching. The acquisition module of the present invention is equipped with a voltage stabilizing circuit to ensure that a stable power supply is provided to the sensor module, while avoiding the influence of power supply fluctuations on acquisition accuracy.

[0055] The present invention realizes non-uniform frequency acquisition of data of different channels through acquisition algorithms within the same time slice by reasonably arranging the time sequence.

[0056] Variable frequency acquisition algorithm based on time slice:

[0057] The channel is sampled 10 times within 10mS, and the sampling period of each subdivision is 1mS. For the sampling of 1KHZ requirements, the corresponding channel is sampled every 1mS. For the sampling of 2kHZ, the sampling is divided into 2 parts within 1mS, sampling at the beginning of the first 0.5MS, and then sampling again at the beginning of the second 0.5mS, so as to achieve the effect of doubling the sampling frequency. The moments of the two samplings before and after must be evenly distributed within 1mS, otherwise the sampling frequency and the actual effect will be inconsistent. For example, if the 2kHZ channel is repeatedly sampled within the first 0.5mS, the actual effect is equivalent to 1kHZ. For the sampling channel of 100HZ, only one sampling is required within 10mS.

[0058] The accelerometer has three axes, namely X, Y, and Z. The output is analog. Since dynamic data needs to be collected, the response requirements are relatively high, so the collection frequency is 1kHZ. The temperature and humidity sensor also outputs analog, two channels, and the collection frequency is also 1kHZ.

[0059] The present invention can also be provided with a sound sensor, and the data acquisition frequency of the sound acquisition channel is 2KHZ. Specific embodiment:

[0061] Core component functions:

[0062] 1. 14-bit ADC module (such as AD7940): Three independent ADC modules collect 12 signals respectively. Each ADC is triggered synchronously by FPGA to achieve parallel sampling and support 2kHz high-frequency and 100Hz low-frequency mixed mode.

[0063] 2. FPGA control unit (such as Intel MAX10M02): coordinates ADC and sensor I2C communication to complete data integration and transmission.

[0064] 3. WiFi module: Use TCP / IP protocol to achieve >=1.5Mbps wireless transmission.

[0065] Power supply design:

[0066] 1. Use 3.7V lithium battery and provide 1.8V and 3.3V output through DC-DC module to meet the voltage requirements of each component.

[0067] 2. The system is designed with low power consumption mode. When there is no data transmission, the WiFi module enters sleep mode to extend the battery life.

[0068] Sampling and transmission process:

[0069] 1. The system collects 36 analog signals in total, of which the pressure matrix and light signals are transmitted to the acquisition board through the FPC interface of the sensor circuit board, and the three-axis acceleration sensor and temperature and humidity sensor communicate directly with the FPGA through the I2C interface.

[0070] 2. The sampling period is 1ms, and the sampling frequency is as follows:

[0071] 3. High frequency channels (such as CH1, CH2): 2kHz, sampled twice within 1ms.

[0072] 4. Low-frequency channel (such as CH25-CH36): 100Hz, sampled once within 10ms.

[0073] Data integration and packaging:

[0074] 1. FPGA integrates the sampled data;

[0075] 2. Data packet sequence number mark;

[0076] 3. Channel ID: Identifies the data source channel.

[0077] 4. Sensor type: Indicates the sensor category of the data source.

[0078] 5. Sampling value: sampling data value with 14-bit resolution.

[0079] The data frame example is described by the following timestamp:

[0080] 1. Definition of timestamp

[0081] In this system, the timestamp is identified by the frame number, and the sampling order of each frame of data is indicated by a fixed frame header identifier (such as 0x5500, 0x5501), thereby realizing the time serialization management of data acquisition.

[0082] 2. Timestamp generation logic

[0083] -Frame header definition: Each frame of data begins with a fixed identifier (such as 0x5500), which increases incrementally to indicate the sampling order.

[0084] - Row number increment: The identifier starts from 0x5500, and the value corresponding to each row increases in sequence until 0x5509 completes a 10ms sampling cycle, and then the next group starts again in the cycle.

[0085] -Frame header format: The frame header consists of a 16-bit HEX value, such as 0x5500 for the first line, 0x5501 for the second line, and so on.

[0086] 3. Combination of frame header and channel data

[0087] Each frame of data begins with a frame header (timestamp identifier), followed by the data of the corresponding sampling channel. For example:

[0088] Frame header: 0x5500

[0089] Data: CH1, CH2, CH3, ..., CH36, temperature, humidity

[0090] 4. Purpose of timestamp

[0091] -Data synchronization: Through the frame sequence identifier, the data of different sampling channels within a 10ms period can be quickly aligned to ensure the synchronization of multimodal signals on the time axis.

[0092] -Frame integrity check: The receiving end verifies the integrity and sequence of the data through the frame header identifier to prevent the loss or misalignment of sampled data.

[0093] -Support multi-modal integration: Each frame of data corresponds to a specific sampling time point through a frame header identifier, thereby achieving time integration of multi-modal sensor data such as pressure, temperature and humidity, and acceleration.

[0094] 5. Example Data Frame

[0095] The following is a typical data frame format:

[0096] Frame header: 0x5500

[0097] Data: CH1 = 0x1234, CH2 = 0x5678, ..., CH36 = 0x9ABC, temperature = 0x0023, humidity = 0x0045

[0098] Frame header: 0x5509

[0099] Data: CH1 = 0x2345, CH2 = 0x6789, ..., CH36 = 0xABCD, temperature = 0x0034, humidity = 0x0056

[0100] The innovative features of the frame number timestamp in the present invention are:

[0101] 1. Lightweight design: Time series marking is achieved through a 16-bit frame header identifier, without the need for additional hardware or complex absolute time calculation.

[0102] 2. Real-time data management: The identifier increment logic is simple and reliable, and can adapt to high-frequency sampling scenarios (such as 2kHz high-frequency channels).

[0103] 3. Multimodal integration: The unified timestamp structure adapts to multiple sensor data and provides a synchronization basis for the skin perception of the robot's dexterous hand.

[0104] The implementation of the modular design of the present invention is as follows:

[0105] Sensor layout circuit board: The pressure sensor matrix adopts a two-dimensional array layout and is connected to the acquisition board through FPC. The signal pins include GND, 1.8V, 3.3V, signal line and control line. The light sensor is located in an independent area of ​​the sensor circuit board and supports single-channel detection of ambient light intensity.

[0106] Data acquisition circuit board: The three-axis acceleration sensor and temperature and humidity sensor are directly soldered on the acquisition board and communicate via I2C. The FPC interface is designed as a 40-pin connector to support quick plug-in and expansion of the sensor circuit board.

[0107] The present invention adopts the advantage of modularization: the sensor is separated from the acquisition function, the sensor type can be replaced or expanded according to actual needs, and the system adaptability is improved.

[0108] The timing and sampling logic in the present invention: Sampling timing: FPGA coordinates the timing of the ADC module, and each 1ms cycle is divided into two parts: the first 500μs: completes the first sampling of the high-frequency channel. The second 500μs: completes the second sampling of the high-frequency channel and the single sampling of the low-frequency channel.

[0109] Data parsing and transmission in the present invention: Each frame of data corresponds to a 1ms sampling result, and the data volume is 36 channels × 14-bit = 504 bits ≈ 63 bytes. The WiFi module transmits at a bandwidth of 1.5Mbps to ensure no delay or packet loss.

[0110] Examples of application scenarios of the present invention:

[0111] Medical equipment: The pressure matrix is ​​used to record the contact pressure distribution. Combined with temperature, humidity and acceleration sensors, it can realize patient vital sign monitoring and posture analysis. Industrial monitoring: The system collects multi-point sensor signals in real time for equipment failure monitoring and environmental parameter analysis. Scientific research experiments: Supports high-precision data recording and wireless transmission, suitable for complex experimental scenarios.

[0112] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected, and the scope of the present invention to be protected is defined by the attached claims and their equivalents.

Claims

1. A flexible multi-channel multi-modal sensor data acquisition system, characterized in that: The flexible multi-channel multi-modal sensor data acquisition system comprises: Signal collector: The signal collector collects multi-channel signals; Pin header interface: used to input the external signal collected by the signal collector into the analog switch. The pin header interface provides multi-channel signal access; Analog switch: There are multiple analog switches, all of which are controlled by FPGA. The analog switches are used to switch and collect multi-channel signals, improving the flexibility and scalability of signal collection. Sensor part: The sensor part integrates a temperature and humidity sensor and an acceleration sensor to collect ambient temperature, humidity and acceleration information in real time to meet the needs of multi-dimensional data collection; Analog-to-digital conversion chip: contains multiple independent ADC modules, which accurately convert the collected analog signals into digital signals; Controller: The controller is a control unit that uses FPGA to control analog switch switching and timing management; Wireless transmission module: equipped with Wi-Fi chip, used to transmit the collected digital signals remotely by wireless means, supporting real-time data sharing and remote monitoring; One end of the pin header interface is connected to the signal collector, and the other end is connected to the analog switch; the sensor part includes a temperature and humidity sensor and an acceleration sensor, and the sensor part is connected to the analog-to-digital conversion chip; the analog switch, the analog-to-digital conversion chip, and the wireless transmission module are all connected to the controller.

2. The flexible multi-channel multi-modal sensor data acquisition system according to claim 1, characterized in that: The controller uses FPGA as the core control unit, which is responsible for the switching of high-performance analog switches, the coordination of acquisition timing, and the caching and preprocessing of data. The FPGA contains four modules: ADC acquisition module, time scheduling module, analog switching module, and serial communication module.

3. The flexible multi-channel multi-modal sensor data acquisition system according to claim 2, characterized in that: The ADC acquisition module is responsible for collecting data from analog input signals, supports high sampling rates, can obtain rapidly changing analog signals in real time, and converts analog signals into digital signals and performs preprocessing; The time scheduling module is responsible for controlling the timing logic within the system; managing the timing of each module, coordinating the execution order of different operations, and ensuring that the system executes tasks within the predetermined time frame; The analog switching module is responsible for the switching of high-performance analog switches. It is closely integrated with the time scheduling module to achieve the switching and selection of multiple input signals. The serial port communication module is responsible for data communication with external devices. The FPGA is embedded with efficient data packaging and transmission algorithms to provide optimized data flow for wireless transmission.

4. The flexible multi-channel multi-modal sensor data acquisition system according to claim 1, characterized in that: The signal collector is a multi-channel signal acquisition circuit based on a 14-bit ADC module. It is a high-precision quasi-parallel acquisition circuit with the ability to simultaneously acquire 36 channel signals. It is a signal collector that can meet the needs of multi-channel, high-precision, multi-modal data acquisition.

5. The flexible multi-channel multi-modal sensor data acquisition system according to claim 2, characterized in that: The signal collector integrates three 14-bit high-precision ADC modules with fast sampling rate and high linearity to ensure the accuracy and consistency of the collected data; each ADC module works independently and supports parallel acquisition mode, which can realize real-time synchronous acquisition of multiple channels.

6. The flexible multi-channel multi-modal sensor data acquisition system according to claim 3, characterized in that: The output signals of the signal collector are divided into three groups, namely 2KHZ, 1KHZ, and 100HZ sampling rates; it is equipped with five high-performance analog switches and supports FPGA dynamic control to achieve fast switching of different signal channels; and through channel switching logic and synchronization mechanism, it ensures that the data collected in 10mS meets the 2KHZ, 1KHZ, and 100HZ sampling frequencies.

7. The flexible multi-channel multi-modal sensor data acquisition system according to claim 1, characterized in that: Wireless transmission module supports TCP / IP protocol.

8. The flexible multi-channel multi-modal sensor data acquisition system according to claim 1, characterized in that: The flexible multi-channel multi-modal sensor data acquisition system is equipped with an acquisition front-end sensor board.

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