Modeling of Soft Robotic Grippers Integrated with Fluidic Prestressed Composite Actuators

2021 ◽  
pp. 1-16
Author(s):  
Yitong Zhou ◽  
Leon M Headings ◽  
Marcelo J. Dapino
Keyword(s):  
Ritz Method ◽  
Net Energy ◽  
Static Responses ◽  
Grasping Force ◽  
Complex Integration ◽  
Equilibrium Shapes ◽  
Design Requirements ◽  
And Performance ◽  
And Control ◽  
Work Done

Abstract Soft robotic grippers can gently grasp and maneuver objects. However, they are difficult to model and control due to their highly deformable fingers and complex integration with robotic systems. This paper investigates the design requirements as well as the grasping capabilities and performance of a soft gripper system based on fluidic prestressed composite (FPC) fingers. An analytical model is constructed as follows: each finger is modeled using the chained composite model (CCM); strain energy and work done by pressure and loads are computed using polynomials with unknown coefficients; net energy is minimized using the Rayleigh-Ritz method to calculate the deflected equilibrium shapes of the finger as a function of pressure and loads; and coordinate transformation and gripper geometries are combined to analyze the grasping performance. The effects of prestrain, integration angle, and finger overlap on the grasping performance are examined through a parametric study. We also analyze gripping performance for cuboid and spherical objects and show how the grasping force can be controlled by varying fluidic pressure. The quasi-static responses of fabricated actuators are measured under pressures and loads. It is shown that the actuators' modeled responses agree with the experimental results.This work provides a framework for the theoretical analysis of soft robotic grippers and the methods presented can be ex-tended to model grippers with different types of actuation.

Motivation of Open Source Developers

2011 ◽  
pp. 233-249
Author(s):  
Mark R. Allyn ◽  
Ram B. Misra
Keyword(s):  
Open Source ◽  
Open Source Software ◽  
Organizational Design ◽  
Source Code ◽  
Software Developers ◽  
Open Source Code ◽  
And Performance ◽  
The Many ◽  
And Control ◽  
Work Done

The motivational drivers of open source software developers have been researched by various investigators since about 2000. This work shows that developers are motivated by different extrinsic and intrinsic drivers, among them community aspirations, reciprocity and fairness, creative impulses, and monetary and career ambitions. There has been some work done in studying whether the profile of developer motivations is constant across open source projects or is sensitive to project organizational design. Among the many factors that could influence the mix of motives of OS developers is the license under which the work is performed. Licenses range in openness between those such as the GNU GPL that severely restrict the freedom of developers to mingle their OS code with proprietary code to those such as BSD licenses which allow programmers much greater latitude in integrating open source code with proprietary code. In addition to formal rules, meritocracies emerge to reward effort and performance, and also to direct, coordinate, and control other participants. The authors discuss these variables and how they may be related to motivations.

Motivation of Open Source Developers

2009 ◽  
Vol 1 (4) ◽  
pp. 65-81 ◽  
Author(s):  
Mark R. Allyn ◽  
Ram B. Misra
Keyword(s):  
Open Source ◽  
Open Source Software ◽  
Organizational Design ◽  
Source Code ◽  
Software Developers ◽  
Open Source Code ◽  
And Performance ◽  
The Many ◽  
And Control ◽  
Work Done

The motivational drivers of open source software developers have been researched by various investigators since about 2000. This work shows that developers are motivated by different extrinsic and intrinsic drivers, among them community aspirations, reciprocity and fairness, creative impulses, and monetary and career ambitions. There has been some work done in studying whether the profile of developer motivations is constant across open source projects or is sensitive to project organizational design. Among the many factors that could influence the mix of motives of OS developers is the license under which the work is performed. Licenses range in openness between those such as the GNU GPL that severely restrict the freedom of developers to mingle their OS code with proprietary code to those such as BSD licenses which allow programmers much greater latitude in integrating open source code with proprietary code. In addition to formal rules, meritocracies emerge to reward effort and performance, and also to direct, coordinate, and control other participants. The authors discuss these variables and how they may be related to motivations.

The role of copper ions in hydrogen peroxide bleaching: Their origin, removal, and effect on pulp quality

TAPPI Journal ◽  
2012 ◽  
Vol 11 (7) ◽  
pp. 37-46 ◽  
Author(s):  
PEDRO E.G. LOUREIRO ◽  
SANDRINE DUARTE ◽  
DMITRY V. EVTUGUIN ◽  
M. GRAÇA V.S. CARVALHO
Keyword(s):  
Hydrogen Peroxide ◽  
Copper Ions ◽  
Peroxide Bleaching ◽  
Metals Removal ◽  
Peroxide Decomposition ◽  
Equipment Corrosion ◽  
And Performance ◽  
And Control ◽  
Main Effects

This study puts particular emphasis on the role of copper ions in the performance of hydrogen peroxide bleaching (P-stage). Owing to their variable levels across the bleaching line due to washing filtrates, bleaching reagents, and equipment corrosion, these ions can play a major role in hydrogen peroxide decomposition and be detrimental to polysaccharide integrity. In this study, a Cu-contaminated D0(EOP)D1 prebleached pulp was subjected to an acidic washing (A-stage) or chelation (Q-stage) before the alkaline P-stage. The objective was to understand the isolated and combined role of copper ions in peroxide bleaching performance. By applying an experimental design, it was possible to identify the main effects of the pretreatment variables on the extent of metals removal and performance of the P-stage. The acid treatment was unsuccessful in terms of complete copper removal, magnesium preservation, and control of hydrogen peroxide consumption in the following P-stage. Increasing reaction temperature and time of the acidic A-stage improved the brightness stability of the D0(EOP)D1AP bleached pulp. The optimum conditions for chelation pretreatment to maximize the brightness gains obtained in the subsequent P-stage with the lowest peroxide consumption were 0.4% diethylenetriaminepentaacetic acid (DTPA), 80ºC, and 4.5 pH.

scholarly journals Overfeeding Extends the Period of Annual Cyclicity but Increases the Risk of Early Embryonic Death in Shetland Pony Mares

Animals ◽  
2021 ◽  
Vol 11 (2) ◽  
pp. 361
Author(s):  
Nicky M. M. D’Fonseca ◽  
Charlotte M. E. Gibson ◽  
Iris Hummel ◽  
David A. van Doorn ◽  
Ellen Roelfsema ◽  
...  
Keyword(s):  
Embryo Transfer ◽  
Reproductive Activity ◽  
High Energy ◽  
Morphometric Parameters ◽  
Net Energy ◽  
Conceptus Development ◽  
And Control ◽  
Annual Duration ◽  
Embryonic Death

Obesity has been associated with altered reproductive activity in mares, and may negatively affect fertility. To examine the influence of long-term high-energy (HE) feeding on fertility, Shetland pony mares were fed a diet containing 200% of net energy (NE) requirements during a three-year study. The incidence of hemorrhagic anovulatory follicles (HAF) and annual duration of cyclicity were compared to those in control mares receiving a maintenance diet. Day-7 embryos were flushed and transferred between donor and recipient mares from both groups; the resulting conceptuses were collected 21 days after transfer to assess conceptus development. HE mares became obese, and embryos recovered from HE mares were more likely to succumb to early embryonic death. The period of annual cyclicity was extended in HE compared to control mares in all years. The incidence of HAFs did not consistently differ between HE and control mares. No differences in embryo morphometric parameters were apparent. In conclusion, consuming a HE diet extended the duration of cyclicity, and appeared to increase the likelihood of embryos undergoing early embryonic death following embryo transfer.

DESIGN, PREPRODUCTION, AND PERFORMANCE OF THE CDF RUN IIB SILICON DETECTOR

2005 ◽  
Vol 20 (16) ◽  
pp. 3811-3814
Author(s):  
◽  
PAUL LUJAN
Keyword(s):  
Building Block ◽  
Silicon Detector ◽  
Radiation Hardness ◽  
Control Signals ◽  
Lightweight Structure ◽  
And Performance ◽  
Performance Results ◽  
And Control ◽  
Radiation Hard ◽  
Detector Design

A new silicon detector was designed by the CDF collaboration for Run IIb of the Tevatron at Fermilab. The main building block of the new detector is a "supermodule" or "stave", an innovative, compact and lightweight structure of several readout hybrids and sensors with a bus cable running directly underneath the sensors to carry power, data, and control signals to and from the hybrids. The hybrids use a new, radiation-hard readout chip, the SVX4 chip. A number of SVX4 chips, readout hybrids, sensors, and supermodules were produced and tested in preproduction. The performance (including radiation-hardness) and yield of these components met or exceeded all design goals. The detector design goals, solutions, and performance results are presented.

scholarly journals LANGUAGE REORGANIZATION IN APHASICS

Neurosurgery ◽  
2008 ◽  
Vol 63 (3) ◽  
pp. 487-497 ◽  
Author(s):  
Timothy H. Lucas ◽  
Daniel L. Drane ◽  
Carl B. Dodrill ◽  
George A. Ojemann
Keyword(s):  
Brain Injury ◽  
Temporal Lobe ◽  
Intractable Epilepsy ◽  
Cortical Lesions ◽  
Language Mapping ◽  
Neurosurgical Planning ◽  
Anatomic Distribution ◽  
And Performance ◽  
And Control ◽  
Language Profiles

ABSTRACT OBJECTIVE The purpose of this investigation was to determine whether clinical speech deficits after brain injury are associated with functional speech reorganization. METHODS Across an 18-year interval, 11 patients with mild-to-moderate speech deficits underwent language mapping as part of their treatment for intractable epilepsy. These “aphasics” were compared with 14 matched “control” patients with normal speech who also were undergoing epilepsy surgery. Neuroanatomic data were compared with quantitative language profiles and clinical variables. RESULTS Cortical lesions were evident near speech areas in all aphasia cases. As expected, aphasic and control patients were distinguished by quantitative language profiles. The groups were further distinguished by the anatomic distribution of their speech sites. A significantly greater proportion of frontal speech sites was found in patients with previous brain injury, consistent with frontal site recruitment. The degree of frontal recruitment varied as a function of patient age at the time of initial brain injury; earlier injuries were associated with greater recruitment. The overall number of speech sites remained the same after injury. Significant associations were found between the number of the speech sites, naming fluency, and the lesion proximity in the temporal lobe. CONCLUSION Language maps in aphasics demonstrated evidence for age-dependent functional recruitment in the frontal, but not temporal, lobe. The proximity of cortical lesions to temporal speech sites predicted the overall extent of temporal lobe speech representation and performance on naming fluency. These findings have implications for neurosurgical planning in patients with preoperative speech deficits.

Research on MES Domain Analysis Driven by Ontology

2010 ◽  
Vol 20-23 ◽  
pp. 1084-1090 ◽  
Author(s):  
Wen Long
Keyword(s):  
Control System ◽  
Software Development ◽  
Method Development ◽  
Domain Analysis ◽  
Manufacturing Execution System ◽  
Development Method ◽  
And Performance ◽  
And Control ◽  
Plan Management ◽  
Manufacturing Execution

Manufacturing Execution System (MES) links plan management and workshop control in an enterprise, which is an integrative management and control system of workshop production oriented to manufacturing process. To overcome the difficulties of traditional software development method, development of MES based on component is adopted to prompt development efficiency and performance of MES, which can be more reconstructing, reuse, expansion and integration, and MES domain analysis driven by ontology is investigated in detail. MES domain analysis driven by ontology is feasible and efficient through developing a pharmaceutics MES which applied in a pharmaceutics manufacturing factory.

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