scholarly journals Electro-pneumatic pumps for soft robotics

2021 ◽  
Vol 6 (51) ◽  
pp. eabc3721
Author(s):  
R. S. Diteesawat ◽  
T. Helps ◽  
M. Taghavi ◽  
J. Rossiter
Keyword(s):  
Control Volume ◽  
Pressure Vessels ◽  
Assistive Devices ◽  
Soft Robotics ◽  
Dielectric Fluid ◽  
Power Sources ◽  
Flow Rates ◽  
Pumping System ◽  
Pneumatic Power ◽  
Pneumatic Pump

Soft robotics has applications in myriad fields from assistive wearables to autonomous exploration. Now, the portability and the performance of many devices are limited by their associated pneumatic energy source, requiring either large, heavy pressure vessels or noisy, inefficient air pumps. Here, we present a lightweight, flexible, electro-pneumatic pump (EPP), which can silently control volume and pressure, enabling portable, local energy provision for soft robots, overcoming the limitations of existing pneumatic power sources. The EPP is actuated using dielectric fluid–amplified electrostatic zipping, and the device presented here can exert pressures up to 2.34 kilopascals and deliver volumetric flow rates up to 161 milliliters per second and under 0.5 watts of power, despite only having a thickness of 1.1 millimeters and weight of 5.3 grams. An EPP was able to drive a typical soft robotic actuator to achieve a maximum contraction change of 32.40% and actuation velocity of 54.43% per second. We highlight the versatility of this technology by presenting three EPP-driven embodiments: an antagonistic mechanism, an arm-flexing wearable robotic device, and a continuous-pumping system. This work shows the wide applicability of the EPP to enable advanced wearable assistive devices and lightweight, mobile, multifunctional robots.

Evolutionary Soft Robotics

Impact ◽  
2019 ◽  
Vol 2019 (10) ◽  
pp. 9-11
Author(s):  
Jun Ogawa
Keyword(s):  
Artificial Intelligence ◽  
Drug Delivery ◽  
Soft Matter ◽  
Associate Professor ◽  
Assistive Devices ◽  
Artificial Organs ◽  
Soft Robotics ◽  
Elastic Materials ◽  
Non Invasive ◽  
Living Organisms

Soft robotics is a subfield of robots that deals with constructing robots from soft, elastic materials similar to those found in living organisms. These robots offer a particular set of advantages compared with conventional rigid robots. For example, in medicine they can be used in drug delivery and non-invasive surgical procedures, and be employed as assistive devices, prostheses or artificial organs. The field takes great inspiration from the way living organisms move and adapt to their surroundings, and the flexibility and adaptability of soft robots make them invaluable tools. Dr Jun Ogawa is an Associate Professor in the Institute of Organic Materials at Yamagata University, Japan. His key research interests are soft matter robotics and embodied artificial intelligence (AI).

scholarly journals An Investigation of the Basic Physics of Irrigation in Urology and the Role of Automated Pump Irrigation in Cystoscopy

2012 ◽  
Vol 2012 ◽  
pp. 1-6 ◽  
Author(s):  
Dwayne Chang ◽  
Rustom P. Manecksha ◽  
Konstantinos Syrrakos ◽  
Nathan Lawrentschuk
Keyword(s):  
Flow Rate ◽  
External Pressure ◽  
Flow Rates ◽  
Pumping System ◽  
External Pressures ◽  
Basic Physics ◽  
Traditional Irrigation ◽  
Irrigation Solution ◽  
Bladder Fullness

Objective. To investigate the effects of height, external pressure, and bladder fullness on the flow rate in continuous, non-continuous cystoscopy and the automated irrigation fluid pumping system (AIFPS).Materials. Each experiment had two 2-litre 0.9% saline bags connected to a continuous, non-continuous cystoscope or AIFPS via irrigation tubing. Other equipment included height-adjustable drip poles, uroflowmetry devices, and model bladders.Methods. In Experiment 1, saline bags were elevated to measure the increment in flow rate. In Experiment 2, saline bags were placed under external pressures to evaluate the effect on flow rate. In Experiment 3, flow rate changes in response to variable bladder fullness were measured.Results. Elevating saline bags caused an increase in flow rates, however the increment slowed down beyond a height of 80 cm. Increase in external pressure on saline bags elevated flow rates, but inconsistently. A fuller bladder led to a decrease in flow rates. In all experiments, the AIFPS posted consistent flow rates.Conclusions. Traditional irrigation systems were susceptible to changes in height of irrigation solution, external pressure application, and bladder fullness thus creating inconsistent flow rates. The AIFPS produced consistent flow rates and was not affected by any of the factors investigated in the study.

Analysis of Static Characteristics of Pressure Seal in Actual High Pressure Pump

2011 ◽  
Author(s):  
Isao Hagiya ◽  
Katsutoshi Kobayashi ◽  
Yoshimasa Chiba ◽  
Tetsuya Yoshida ◽  
Akira Arai
Keyword(s):  
High Pressure ◽  
Flow Rate ◽  
High Speed ◽  
Control Volume ◽  
Leakage Flow ◽  
High Pressure Pump ◽  
Flow Rates ◽  
Leakage Flow Rate ◽  
Rotor Dynamic ◽  
Pressure Seal

We predicted the leakage flow rates of a pressure seal in an actual high-pressure multistage pump. Since the pressure of the actual pump is higher than that of a model pump, accurate prediction of leakage flow rate and rotor dynamic forces for an actual pump is more difficult than that for a model pump. A non-contacting seal is used as a pressure seal to suppress leakage flow for high-pressure multistage pumps. When such pumps are operated at high speed, the fluid force acting on an eccentric rotor may cause vibration instability. For vibration stability analysis, we need to estimate static and dynamic characteristics of the pressure seals, i.e., leakage flow rate and rotor dynamic coefficients. We calculated the characteristics of the pressure seal based on Iwatsubo group’s method. The pressure seal we developed has labyrinth geometry consisting of grooves with different sizes. This method numerically calculates the characteristics of the grooved seal by using a three-control-volume model and a perturbation method. We compared the calculated and measured leakage flow rates. We found that the calculated results quantitatively agreed with the measured one in the actual pump and the characteristics of pressure and velocity for the seal with non-uniform-sized grooves were clarified.

Three Dimensional Numerical Simulation of Flow Field Inside a Reversible Pumping Station With Symmetric Aerofoil Blade

2008 ◽  
Author(s):  
Li Cheng ◽  
Chao Liu ◽  
Jiren Zhou ◽  
Fangping Tang ◽  
Yan Jin
Keyword(s):  
Flow Field ◽  
Control Volume ◽  
Three Dimensional ◽  
Flow Coefficient ◽  
Viscous Effects ◽  
Total Uncertainty ◽  
Pumping Station ◽  
Pumping System ◽  
Test Loop ◽  
Useful Power

The pumping station with symmetric aerofoil can achieve reversible pumping function. It can keep high reversible efficiency and its flow coefficient is approaching to normal one. At same time, it has the simple structure and is easy to operate and maintain. The flow inside reversible pumping station is very complex and dominated by three dimensional viscous effects. With the rapid progress of computational fluid dynamics, CFD has become an important tool to help to make full understanding of flow. In order to recognize the characteristic of pumping station, the control volume method is used to simulation the flow filed. The RNG k-ε turbulent model and SIMPLEC algorithm are applied to do analysis. Flow field inside symmetric aerofoil blade and passage of pumping station are analyzed in detail. Some computational data, such as computational contour of sections, streamline of pumping system, flow vectors of blade and pressure contour of blade for two different rotate directional, are given in the paper. On the based of the simulation results, efficiency prediction of the pumping station is applied. By calculating the useful power and the hydraulic efficiency at the 11 different discharge points, capabilities of pumping station are predicted. A set of model pumping station with a 300mm blade are made for test. Using the laboratory test loop of which the total uncertainty of measured efficiency is ±0.39%, the hydraulic performance is evaluated and demonstrated. The numerical performances agree well with experiment data.

scholarly journals Analysis of a novel high performance induction air heater

2018 ◽  
Vol 22 (Suppl. 3) ◽  
pp. 843-853 ◽  
Author(s):  
Umit Unver ◽  
Ahmet Yuksel ◽  
Alper Kelesoglu ◽  
Fikret Yuksel ◽  
Halil Unver
Keyword(s):  
Flow Field ◽  
Cross Section ◽  
Flow Rate ◽  
Thermal Efficiency ◽  
High Performance ◽  
Control Volume ◽  
Thermal Power ◽  
Heat Losses ◽  
Flow Rates ◽  
Air Mass

This study represents an experimental and numerical investigation of the enhanced prototypes of the induction air heaters. For this purpose, flow field is enhanced in order to avoid turbulence. The air mass flow rate, outlet construction and the application of insulation of the outer surface of the heater were selected as the performance enhancing parameters. Depending on the exit construction, the new designed prototypes are named as K-2 and K-3. Experiments were performed under two groups for three various flow rates. In the first group, non-insulation situation is examined. In the second group tests, insulation is applied to the outside of windings and inlet-outlet flaps which constitute the boundary of the control volume for the prevention of heat losses. The increasing flow rate boosted the thermal efficiency by 9%. Each of insulation and enlarging exit cross section increased the thermal efficiency by 13%. It was observed that the thermal power transferred to air with the new prototypes increased about 246 W more than the previous designs. The thermal efficiencies of the K-2 and K-3 type heaters were calculated as 77.14% and 87.1%, respectively.

scholarly journals Elasto-Magnetic Pumps Integrated within Microfluidic Devices

2021 ◽  
Vol 4 (1) ◽  
pp. 48
Author(s):  
Jacob L. Binsley ◽  
Elizabeth L. Martin ◽  
Thomas O. Myers ◽  
Stefano Pagliara ◽  
Feodor Y. Ogrin
Keyword(s):  
Magnetic System ◽  
Point Of Care ◽  
Microfluidic Channel ◽  
Lab On A Chip ◽  
Microfluidic Devices ◽  
Point Of Care Testing ◽  
Ongoing Research ◽  
Flow Rates ◽  
Pumping System ◽  
Oscillating Magnetic Field

Many lab-on-a-chip devices require a connection to an external pumping system in order to perform their function. While this is not problematic in typical laboratory environments, it is not always practical when applied to point-of-care testing, which is best utilized outside of the laboratory. Therefore, there has been a large amount of ongoing research into producing integrated microfluidic components capable of generating effective fluid flow from on-board the device. This research aims to introduce a system that can produce practical flow rates, and be easily fabricated and actuated using readily available techniques and materials. We show how an asymmetric elasto-magnetic system, inspired by Purcell’s three-link swimmer, can provide this solution through the generation of non-reciprocal motion in an enclosed environment. The device is fabricated monolithically within a microfluidic channel at the time of manufacture, and is actuated using a weak, oscillating magnetic field. The flow rate can be altered dynamically, and the direction of the resultant flow can be controlled by adjusting the frequency of the driving field. The device has been proven, experimentally and numerically, to operate effectively when applied to fluids with a range of viscosities. Such a device may be able to replace external pumping systems in portable applications.

Extending the Pegasus Portable Technology Platform to Apply to More Geophysical Monitoring Use

2020 ◽  
Author(s):  
Bruce Townsend ◽  
Andrew Moores ◽  
Sylvain Pigeon
Keyword(s):  
Pressure Vessels ◽  
Ease Of Use ◽  
Use Cases ◽  
Master Plan ◽  
Ocean Bottom ◽  
Geophysical Monitoring ◽  
Power Sources ◽  
Technology Platform ◽  
Regional Seismicity ◽  
Large N

<p>The new Nanometrics Pegasus now available to the scientific community provides a compelling comprehensive solution for easily and quickly deploying portable seismic stations. Use cases include RAMP, local and regional hazard monitoring, passive seismic imaging and local or regional seismicity assessments. Because the technology platform on which Pegasus Portable is based is extensible and versatile, it has the potential to address additional use cases. The benefits of the Pegasus technology would apply to new use cases: optimal SWaP (Size, Weight and Power), Modularity (the versatility permits wide choice of sensors and power to serve various situations), Ease-of-Use (workflows designed for planning-to-publishing efficiency), Complete Ready-to-Use Datasets (including automatically generated station response), and Quick (such as ultra-fast boot, rapid data download). We explore the potential extensions to Pegasus that can enable additional use cases for autonomous geophysical monitoring.</p><p>An example is large-N mixed-mode nodal deployments in which hundreds of stations are quickly deployed that can include a mix of sensor types such as broadband seismometers, geophones, microbarometers, and weather stations. A key focus for large-N campaigns is to scale efficiently. One proposed element for consideration is a cloud-based campaign planning and post-deployment auditing service in which a master plan can be readily distributed to many field operators to facilitate automatic station configuration and later reconciliation of on-the-ground actions with the master plan. </p><p>Another compelling use case for Pegasus is ocean bottom seismometry, where technology enablers would include OBS-specific actions and workflows (managing the datalogger and its power sources without having to open marine pressure vessels, synchronizing timing to GNSS, applying time corrections to retrieved data and the like). These and other use cases and related technology extensions are discussed.</p>

The Non-Steady Flow of Gases and Vapours from Pressure Vessels

1980 ◽  
Vol 194 (1) ◽  
pp. 225-230 ◽  
Author(s):  
D. W. Sallet ◽  
M. E. Palmer
Keyword(s):  
Steady Flow ◽  
Pressure Vessel ◽  
Finite Size ◽  
Pressure Vessels ◽  
Calculation Methods ◽  
Perfect Gas ◽  
Blow Down ◽  
Flow Rates ◽  
Flow Equations ◽  
Mass Flow Rates

The flow of gases and vapours from pressure vessels to the atmosphere is investigated. Two major points are addressed, first, the non-steady mass flow rates and the non-steady pressure and temperature variations, due to the finite size of the pressure vessel, and second the effect on the blow-down process if the vapour is not assumed to be a perfect gas, as is suggested in current pressure vessel safety codes, but if a more realistic equation of state is selected to describe the thermodynamic behaviour of the vapour. For the non-steady outflow of perfect gases analytically derived correction functions are given with which the complete blow-down phenomena can be calculated from the well known steady flow equations. For the non-steady outflow of real gases and vapours a calculation method is described and the computer algorithm is given. Both calculation methods are discussed and compared in examples using propane vapour as the flowing medium and the dimensions of a rail tank car for the pressure vessel.

scholarly journals Machine-Knitted Seamless Pneumatic Actuators for Soft Robotics: Design, Fabrication, and Characterization

Actuators ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 94
Author(s):  
Hend M. Elmoughni ◽  
Ayse Feyza Yilmaz ◽  
Kadir Ozlem ◽  
Fidan Khalilbayli ◽  
Leonardo Cappello ◽  
...  
Keyword(s):  
Assistive Devices ◽  
Soft Robotics ◽  
Fabrication Technology ◽  
Pneumatic Actuators ◽  
Hand Grip ◽  
Bending Actuator ◽  
Fabrication And Characterization ◽  
Manufacturing Techniques ◽  
Robotics Design ◽  
First Time

Computerized machine knitting offers an attractive fabrication technology for incorporating wearable assistive devices into garments. In this work, we utilized, for the first time, whole-garment knitting techniques to manufacture a seamless fully knitted pneumatic bending actuator, which represents an advancement to existing cut-and-sew manufacturing techniques. Various machine knitting parameters were investigated to create anisotropic actuator structures, which exhibited a range of bending and extension motions when pressurized with air. The functionality of the actuator was demonstrated through integration into an assistive glove for hand grip action. The achieved curvature range when pressurizing the actuators up to 150 kPa was sufficient to grasp objects down to 3 cm in diameter and up to 125 g in weight. This manufacturing technique is rapid and scalable, paving the way for mass-production of customizable soft robotics wearables.

scholarly journals PiFlow: A Biocompatible Low-Cost Programmable Dynamic Flow Pumping System Utilizing a Raspberry Pi Zero and Commercial Piezoelectric Pumps

2017 ◽  
Author(s):  
Timothy Kassis ◽  
Paola M. Perez ◽  
Chloe J. W. Yang ◽  
Luis R. Soenksen ◽  
David L. Trumper ◽  
...  
Keyword(s):  
Low Cost ◽  
Raspberry Pi ◽  
Dynamic Flow ◽  
Flow Rates ◽  
Use Of Time ◽  
Pumping System ◽  
Cellular Environment ◽  
Cell Culture Systems ◽  
Peristaltic Pumps ◽  
3D Printed

AbstractWith the rise of research utilizing microphysiological systems (MPSs), the need for tools that enable the physiological mimicking of the relevant cellular environment is vital. The limited ability to reproduce crucial features of the microenvironment, such as surrounding fluid flow and dynamic changes in biochemical stimuli, severely limits the types of experiments that can be carried out. Current equipment to achieve this, such as syringe and peristaltic pumps, is expensive, large, difficult to program and has limited potential for scalability. Here, we present a new pumping platform that is open-source, low-cost, modular, scalable, fully-programmable and easy to assemble that can be incorporated into cell culture systems to better recapitulate physiological environments. By controlling two commercially available piezoelectric pumps using a Raspberry Pi Zero microcontroller, the system is capable of producing arbitrary dynamic flow profiles with reliable flow rates ranging from 1 to 3,000 µL/min as specified by an easily programmable Python-based script. We validated the accuracy of the flow rates, the use of time-varying profiles, and the practicality of the system by creating repeatable dynamic concentration profiles using a 3D-printed static micromixer.

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