Large-Scale Spinning Approach to Engineering Knittable Hydrogel Fiber for Soft Robots

ACS Nano ◽  
2020 ◽  
Vol 14 (11) ◽  
pp. 14929-14938
Author(s):  
Xiangyu Duan ◽  
Jingyi Yu ◽  
Yaxun Zhu ◽  
Zhiqiang Zheng ◽  
Qihua Liao ◽  
...  
Keyword(s):  
Large Scale ◽  
Soft Robots

Adaptive Control of Large-Scale Soft Robot Manipulators With Unknown Payloads

2019 ◽  
Author(s):  
Jonathan S. Terry ◽  
Justin Whitaker ◽  
Randal W. Beard ◽  
Marc D. Killpack
Keyword(s):  
Adaptive Control ◽  
Large Scale ◽  
Robot Manipulator ◽  
Coupling Model ◽  
Effective Control ◽  
Soft Robot ◽  
Soft Robots ◽  
Pneumatic Actuators ◽  
Integral Controller ◽  
Model Reference Adaptive

Abstract The compliance and other nonlinear dynamics of large-scale soft robots makes effective control difficult. This is especially true when working with unknown payloads or when the system dynamics change over time which is likely to happen for soft robots. In this paper, we present a novel method of coupling model reference adaptive control (MRAC) with model predictive control (MPC) for platforms with antagonistic pneumatic actuators. We demonstrate its utility on a fully inflatable, six degree-of-freedom pneumatically actuated soft robot manipulator that is over two meters long. Specifically, we compare control performance with no integral controller, with an integral controller, and with MRAC when running a nominal model predictive controller with significant weight attached to the end effector.

A Constitutive Model for Torsional Loads on Fluid-Driven Soft Robots

2017 ◽  
Author(s):  
Audrey Sedal ◽  
Daniel Bruder ◽  
Joshua Bishop-Moser ◽  
Ram Vasudevan ◽  
Sridhar Kota
Keyword(s):  
Constitutive Model ◽  
Large Scale ◽  
Experimental Parameter ◽  
Parameter Determination ◽  
Computationally Efficient ◽  
Computing Systems ◽  
Soft Robots ◽  
Soft Actuator ◽  
Kinematic Behaviour ◽  
Torsional Loads

For soft robots to be utilized in medical devices, locomotion, industrial automation, and a number of other fields, they require accurate and computationally efficient models that capture both the kinetic behavior and inherent non-linearity. Fiber reinforcement enables soft robots to create useful motions, such as rotation, but poses additional complexity in modeling. The purpose of this paper is to present a constitutive model that relates the kinematic behaviour of a pneumatic fiber-reinforced soft actuator with its torsional loading. This model has the advantage of requiring minimal experimental parameter determination, being inclusive of torsional loads, without requiring large-scale computing systems. Experimental data in multiple kinematic configurations shows agreement between the models moment prediction and the moments that the actuators generate.

Configuration Estimation for Accurate Position Control of Large-Scale Soft Robots

2019 ◽  
Vol 24 (1) ◽  
pp. 88-99 ◽  
Author(s):  
Phillip Hyatt ◽  
Dustan Kraus ◽  
Vallan Sherrod ◽  
Levi Rupert ◽  
Nathan Day ◽  
...  
Keyword(s):  
Large Scale ◽  
Position Control ◽  
Soft Robots ◽  
Accurate Position

scholarly journals Model Reference Predictive Adaptive Control for Large-Scale Soft Robots

2020 ◽  
Vol 7 ◽  
Author(s):  
Phillip Hyatt ◽  
Curtis C. Johnson ◽  
Marc D. Killpack
Keyword(s):  
Adaptive Control ◽  
Large Scale ◽  
Soft Robots ◽  
Model Reference

scholarly journals Reality-Assisted Evolution of Soft Robots through Large-Scale Physical Experimentation: A Review

2021 ◽  
Vol 26 (4) ◽  
pp. 484-506
Author(s):  
Toby Howison ◽  
Simon Hauser ◽  
Josie Hughes ◽  
Fumiya Iida
Keyword(s):  
Real World ◽  
Large Scale ◽  
Ground Truth ◽  
Data Driven ◽  
Target System ◽  
Automated Assembly ◽  
Soft Robots ◽  
Ground Truth Data ◽  
Modular Systems ◽  
Model Free

We introduce the framework of reality-assisted evolution to summarize a growing trend towards combining model-based and model-free approaches to improve the design of physically embodied soft robots. In silico, data-driven models build, adapt, and improve representations of the target system using real-world experimental data. By simulating huge numbers of virtual robots using these data-driven models, optimization algorithms can illuminate multiple design candidates for transference to the real world. In reality, large-scale physical experimentation facilitates the fabrication, testing, and analysis of multiple candidate designs. Automated assembly and reconfigurable modular systems enable significantly higher numbers of real-world design evaluations than previously possible. Large volumes of ground-truth data gathered via physical experimentation can be returned to the virtual environment to improve data-driven models and guide optimization. Grounding the design process in physical experimentation ensures that the complexity of virtual robot designs does not outpace the model limitations or available fabrication technologies. We outline key developments in the design of physically embodied soft robots in the framework of reality-assisted evolution.

Some comments about observations and image processing of comet 29P/Schwassmann-Wachmann 1

1999 ◽  
Vol 173 ◽  
pp. 243-248
Author(s):  
D. Kubáček ◽  
A. Galád ◽  
A. Pravda
Keyword(s):  
Image Processing ◽  
Large Scale ◽  
Harvard College ◽  
Oak Ridge ◽  
Large Scale Structures ◽  
Short Period Comet ◽  
Short Period ◽  
Scale Structures ◽  
Harvard College Observatory ◽  
Period Comet

AbstractUnusual short-period comet 29P/Schwassmann-Wachmann 1 inspired many observers to explain its unpredictable outbursts. In this paper large scale structures and features from the inner part of the coma in time periods around outbursts are studied. CCD images were taken at Whipple Observatory, Mt. Hopkins, in 1989 and at Astronomical Observatory, Modra, from 1995 to 1998. Photographic plates of the comet were taken at Harvard College Observatory, Oak Ridge, from 1974 to 1982. The latter were digitized at first to apply the same techniques of image processing for optimizing the visibility of features in the coma during outbursts. Outbursts and coma structures show various shapes.

Evolution of Large-Scale Coronal Structures

1994 ◽  
Vol 144 ◽  
pp. 29-33
Author(s):  
P. Ambrož
Keyword(s):  
Magnetic Field ◽  
Field Line ◽  
Large Scale ◽  
Coronal Magnetic Field ◽  
Source Surface ◽  
Solar Cycles ◽  
Characteristic Relationship ◽  
The Magnetic Field ◽  
Coronal Structures

AbstractThe large-scale coronal structures observed during the sporadically visible solar eclipses were compared with the numerically extrapolated field-line structures of coronal magnetic field. A characteristic relationship between the observed structures of coronal plasma and the magnetic field line configurations was determined. The long-term evolution of large scale coronal structures inferred from photospheric magnetic observations in the course of 11- and 22-year solar cycles is described.Some known parameters, such as the source surface radius, or coronal rotation rate are discussed and actually interpreted. A relation between the large-scale photospheric magnetic field evolution and the coronal structure rearrangement is demonstrated.

Large-scale Motion of Solar Filaments

2000 ◽  
Vol 179 ◽  
pp. 205-208
Author(s):  
Pavel Ambrož ◽  
Alfred Schroll
Keyword(s):  
Magnetic Flux ◽  
Proper Motion ◽  
Time Scale ◽  
Large Scale ◽  
Accuracy Of Measurements ◽  
Solar Filaments ◽  
General Movement ◽  
Scale Motion ◽  
Velocity Scatter

AbstractPrecise measurements of heliographic position of solar filaments were used for determination of the proper motion of solar filaments on the time-scale of days. The filaments have a tendency to make a shaking or waving of the external structure and to make a general movement of whole filament body, coinciding with the transport of the magnetic flux in the photosphere. The velocity scatter of individual measured points is about one order higher than the accuracy of measurements.

Some applications of electron beam microanalysis techniques in VLSI process evaluation

1983 ◽  
Vol 41 ◽  
pp. 160-161
Author(s):  
Simon Thomas
Keyword(s):  
Integrated Circuits ◽  
Process Evaluation ◽  
Large Scale ◽  
Technology Development ◽  
Analytical Techniques ◽  
Successful Implementation ◽  
Analysis Of Failures ◽  
Characterization Of Materials ◽  
Circuits Vlsi

Trends in the technology development of very large scale integrated circuits (VLSI) have been in the direction of higher density of components with smaller dimensions. The scaling down of device dimensions has been not only laterally but also in depth. Such efforts in miniaturization bring with them new developments in materials and processing. Successful implementation of these efforts is, to a large extent, dependent on the proper understanding of the material properties, process technologies and reliability issues, through adequate analytical studies. The analytical instrumentation technology has, fortunately, kept pace with the basic requirements of devices with lateral dimensions in the micron/ submicron range and depths of the order of nonometers. Often, newer analytical techniques have emerged or the more conventional techniques have been adapted to meet the more stringent requirements. As such, a variety of analytical techniques are available today to aid an analyst in the efforts of VLSI process evaluation. Generally such analytical efforts are divided into the characterization of materials, evaluation of processing steps and the analysis of failures.

Electron microscopy study of reactively sputter-deposited Ti/N films on silicon

1992 ◽  
Vol 50 (2) ◽  
pp. 1362-1363
Author(s):  
V. C. Kannan ◽  
A. K. Singh ◽  
R. B. Irwin ◽  
S. Chittipeddi ◽  
F. D. Nkansah ◽  
...  
Keyword(s):  
Integrated Circuits ◽  
Large Scale ◽  
Hexagonal Phase ◽  
Microscopy Study ◽  
Electron Microscopy Study ◽  
Process Conditions ◽  
Tin Films ◽  
Wide Range ◽  
Fcc Phase ◽  
Circuits Vlsi

Titanium nitride (TiN) films have historically been used as diffusion barrier between silicon and aluminum, as an adhesion layer for tungsten deposition and as an interconnect material etc. Recently, the role of TiN films as contact barriers in very large scale silicon integrated circuits (VLSI) has been extensively studied. TiN films have resistivities on the order of 20μ Ω-cm which is much lower than that of titanium (nearly 66μ Ω-cm). Deposited TiN films show resistivities which vary from 20 to 100μ Ω-cm depending upon the type of deposition and process conditions. TiNx is known to have a NaCl type crystal structure for a wide range of compositions. Change in color from metallic luster to gold reflects the stabilization of the TiNx (FCC) phase over the close packed Ti(N) hexagonal phase. It was found that TiN (1:1) ideal composition with the FCC (NaCl-type) structure gives the best electrical property.

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