scholarly journals Modeling and Fabrication of Soft Actuators Based on Fiber-Reinforced Elastomeric Enclosures

Actuators ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 127
Author(s):  
Zhi Chen ◽  
Aicheng Zou ◽  
Zhantian Qin ◽  
Xingguo Han ◽  
Tianming Li ◽  
...  
Keyword(s):  
Virtual Work ◽  
Fiber Reinforced ◽  
Complex Environments ◽  
Manufacturing Method ◽  
Soft Actuator ◽  
Rod Theory ◽  
Cosserat Rod ◽  
Proposed Model ◽  
Soft Actuators ◽  
The Relationship

Unlike rigid actuators, soft actuators can easily adapt to complex environments. Understanding the relationship between the deformation of soft actuators and external factors such as pressure would enable rapid designs based on specific requirements, such as flexible, compliant endoscopes. An effective model is demonstrated that predicts the deformation of a soft actuator based on the virtual work principle and the geometrically exact Cosserat rod theory. The deformation process is analyzed for extension, bending, and twisting modules. A new manufacturing method is then introduced. Through any combination of modules, the soft actuator can have a greater workspace and more dexterity. The proposed model was verified for various fiber-reinforced elastomeric enclosures. There is good agreement between the model analysis and the experimental data, which indicates the effectiveness of the model.

Effect of Fiber Angle Variation on Bending Behavior of Semi-Cylindrical Fiber-Reinforced Soft Actuator

2018 ◽  
Author(s):  
Anis Darmohammadi ◽  
Hamid Reza Naeimi ◽  
Mahdi Agheli
Keyword(s):  
Fiber Reinforced ◽  
Effective Parameters ◽  
Angle Variation ◽  
Soft Robots ◽  
Soft Actuator ◽  
Finite Element Software ◽  
Fiber Angle ◽  
Cylindrical Fiber ◽  
Bending Behavior ◽  
Soft Actuators

Soft robots are a specific type of robots that are made of elastomeric materials. A specific type of soft actuators (soft robots) are called fiber-reinforced soft actuators. Effective parameters in the motion of fiber-reinforced soft actuators are cross-section area, thickness of the actuator, number of threads wrapped around the actuator, angle of threads, and if the fiber is wrapped one-way or two-way. Some of these parameters are already studied by researchers in the field. In this research, the aim is to investigate the effect of the angle of the fiber on the motion of a semi-cylindrical fiber-reinforced soft actuator with an inextensible layer attached to its flat surface. This paper studies the behavior analysis of the actuator, which is modeled in a finite element software. The behavior of the actuator in terms of bending is then studied by changing the angle of the fiber wrapped around the outer surface of the actuator. Results show that the bending behavior of the actuator highly depends on the fiber angle. Simulation results are then validated with experiment. The results presented in this paper provides an instruction on how one can improve or optimize the bending workspace of the actuator as needed.

Dynamics of Beams Using a Geometrically Exact Elastic Rod Approach

2006 ◽  
Author(s):  
Fredy Coral Alamo ◽  
Hans Ingo Weber
Keyword(s):  
Virtual Work ◽  
Fundamental Problem ◽  
Equations Of Motion ◽  
Approximate Solutions ◽  
Dynamic Responses ◽  
Elastic Rod ◽  
Rod Theory ◽  
Cosserat Rod ◽  
Slender Beams ◽  
Nonlinear Equations Of Motion

The dynamics of a long slender beam, intrinsically straight, is addressed systematically for 3-D problems using the Cosserat rod theory. The model developed allows for bending, extension/compression and torsion, thus enabling the study of the dynamics of various types of elastic deformations. In this work a linear constitutive relation is used, also, the Bernoulli hypothesis is considered and the shear deformations are neglected. The fundamental problem when using any finite element (FE) formulation is the choice of the displacement functions. When using Cosserat rod theory this problem is handled using approximate solutions of the nonlinear equations of motion (in quasi-static sense). These nonlinear displacement functions are functions of generic nodal displacements and rotations. Based on the Lagrangian approach formed by the kinetic and strain energy expressions, the principle of virtual work is used to derive the nonlinear ordinary differential equations of motion that are solved numerically. As an application, a curved rod, formed by many straight elements is investigated numerically. When using the Cosserat rod approach, that take into account all the geometric nonlinearities in the rod, the higher accuracy of the dynamic responses is achieved by dividing the system into a few elements which is much less than the traditional FE methods, this is the main advantage when using this approach. Overall, the Cosserat model provides an accurate way of modelling long slender beams and simulation times are greatly reduced through this approach.

Force and Hydraulic Displacement Amplification of Fiber Reinforced Soft Actuators

2013 ◽  
Author(s):  
Joshua Bishop-Moser ◽  
Girish Krishnan ◽  
Sridhar Kota
Keyword(s):  
Design Space ◽  
Virtual Work ◽  
Small Subset ◽  
Graphical Representations ◽  
High Power Density ◽  
Fiber Reinforced ◽  
Fluid Displacement ◽  
Fiber Reinforcements ◽  
Mckibben Actuators ◽  
Soft Actuators

Soft robots allow for complex continuum motions and shapes that conform to their environment. Using a fiber-reinforced elastomeric enclosure (FREE) driven by fluid provides a high power density, soft continuum actuator. While the force generation for a small subset of this structure known as McKibben actuators has been studied extensively, the force and moments generated by a wider set of fiber reinforcements have not been previously investigated. Using virtual work and kinematics derived from fiber inextensibility and fluid incompressibility, the force and moments for the entire design space of FREEs has been determined analytically. Graphical representations have been created, providing easy tools for synthesis and analysis of force and moments in all possible FREEs. The hydraulic displacement amplification, or volumetric transduction, of output motion to fluid displacement has also been determined using kinematics; this transduction gives an indication of stiffness of the structure. Graphical representations have also been created, providing a designer with an intuitive understanding of the behavior all FREE topologies.

The Influence of Cognitive and Affective Reactions to Feedback on Subsequent Goals

2010 ◽  
Vol 15 (2) ◽  
pp. 121-131 ◽  
Author(s):  
Remus Ilies ◽  
Timothy A. Judge ◽  
David T. Wagner
Keyword(s):  
Performance Feedback ◽  
Business School ◽  
Structural Equation ◽  
Emotional Reactions ◽  
Equation Model ◽  
Proposed Model ◽  
And Performance ◽  
Dispositional Measure ◽  
The Relationship ◽  
Reactions To Feedback

This paper focuses on explaining how individuals set goals on multiple performance episodes, in the context of performance feedback comparing their performance on each episode with their respective goal. The proposed model was tested through a longitudinal study of 493 university students’ actual goals and performance on business school exams. Results of a structural equation model supported the proposed conceptual model in which self-efficacy and emotional reactions to feedback mediate the relationship between feedback and subsequent goals. In addition, as expected, participants’ standing on a dispositional measure of behavioral inhibition influenced the strength of their emotional reactions to negative feedback.

scholarly journals Context-Aware Neural Machine Translation for Korean Honorific Expressions

Electronics ◽  
2021 ◽  
Vol 10 (13) ◽  
pp. 1589
Author(s):  
Yongkeun Hwang ◽  
Yanghoon Kim ◽  
Kyomin Jung
Keyword(s):  
Machine Translation ◽  
Deep Neural Networks ◽  
Contextual Information ◽  
Context Aware ◽  
Neural Machine Translation ◽  
Translation Quality ◽  
Sentence Level ◽  
Proposed Model ◽  
The Given ◽  
The Relationship

Neural machine translation (NMT) is one of the text generation tasks which has achieved significant improvement with the rise of deep neural networks. However, language-specific problems such as handling the translation of honorifics received little attention. In this paper, we propose a context-aware NMT to promote translation improvements of Korean honorifics. By exploiting the information such as the relationship between speakers from the surrounding sentences, our proposed model effectively manages the use of honorific expressions. Specifically, we utilize a novel encoder architecture that can represent the contextual information of the given input sentences. Furthermore, a context-aware post-editing (CAPE) technique is adopted to refine a set of inconsistent sentence-level honorific translations. To demonstrate the efficacy of the proposed method, honorific-labeled test data is required. Thus, we also design a heuristic that labels Korean sentences to distinguish between honorific and non-honorific styles. Experimental results show that our proposed method outperforms sentence-level NMT baselines both in overall translation quality and honorific translations.

scholarly journals An Attention-Based Model Using Character Composition of Entities in Chinese Relation Extraction

Information ◽  
2020 ◽  
Vol 11 (2) ◽  
pp. 79 ◽  
Author(s):  
Xiaoyu Han ◽  
Yue Zhang ◽  
Wenkai Zhang ◽  
Tinglei Huang
Keyword(s):  
Language Processing ◽  
Large Scale ◽  
Named Entity Recognition ◽  
Relation Extraction ◽  
Entity Recognition ◽  
Additional Information ◽  
Named Entity ◽  
Proposed Model ◽  
The Relationship ◽  
Crucial Part

Relation extraction is a vital task in natural language processing. It aims to identify the relationship between two specified entities in a sentence. Besides information contained in the sentence, additional information about the entities is verified to be helpful in relation extraction. Additional information such as entity type getting by NER (Named Entity Recognition) and description provided by knowledge base both have their limitations. Nevertheless, there exists another way to provide additional information which can overcome these limitations in Chinese relation extraction. As Chinese characters usually have explicit meanings and can carry more information than English letters. We suggest that characters that constitute the entities can provide additional information which is helpful for the relation extraction task, especially in large scale datasets. This assumption has never been verified before. The main obstacle is the lack of large-scale Chinese relation datasets. In this paper, first, we generate a large scale Chinese relation extraction dataset based on a Chinese encyclopedia. Second, we propose an attention-based model using the characters that compose the entities. The result on the generated dataset shows that these characters can provide useful information for the Chinese relation extraction task. By using this information, the attention mechanism we used can recognize the crucial part of the sentence that can express the relation. The proposed model outperforms other baseline models on our Chinese relation extraction dataset.

scholarly journals A discrete mechanics approach to the Cosserat rod theory-Part 1: static equilibria

2010 ◽  
Vol 85 (1) ◽  
pp. 31-60 ◽  
Author(s):  
Pascal Jung ◽  
Sigrid Leyendecker ◽  
Joachim Linn ◽  
Michael Ortiz
Keyword(s):  
Discrete Mechanics ◽  
Rod Theory ◽  
Cosserat Rod

Loyalty program in Africa: risk-seeking and risk-averse adventurers

2014 ◽  
Vol 69 (2) ◽  
pp. 137-157 ◽  
Author(s):  
Shogo Mlozi
Keyword(s):  
Consumer Behavior ◽  
Consumer Products ◽  
Loyalty Programs ◽  
Risk Averse ◽  
Loyalty Program ◽  
Content Type ◽  
Risk Seeking ◽  
Proposed Model ◽  
First Time ◽  
The Relationship

Purpose – This article aims to test the relationship between expected attractiveness-satisfaction-loyalty for international adventure tourists visiting Tanzania. The proposed model is based on travel consumer behavior theoretical constructs extracted from the literature. Design/methodology/approach – This article aims to test the relationship between expected attractiveness-satisfaction-loyalty for international adventure tourists visiting Tanzania. The proposed model is based on travel consumer behavior theoretical constructs extracted from the literature. Findings – The findings for overall model differed from the moderating factors of high risk, low risk, first-time visit and repeat visit. Also, the results are interesting when satisfaction is tested as a mediator. Practical implications – Practitioners could consider the fact that repeat visits may change tourists’ perceptions toward destination and may even increase their inclination to take on risks. This may impact innovation of consumer products in tourism. Also, policy makers could benefit on how loyalty programs can be developed to increase performance. Originality/value – The study offers specific strategic recommendations toward different groups of tourists (i.e. first-time, repeat visitors, risk averse, risk seeking) and proposes logic for setting up a loyalty program as a long-term strategy for success.

scholarly journals The Integrated Networks Model: Explaining Resource Allocations in Network Markets

2003 ◽  
Vol 67 (1) ◽  
pp. 29-45 ◽  
Author(s):  
Judy K. Frels ◽  
Tasadduq Shervani ◽  
Rajendra K. Srivastava
Keyword(s):  
Resource Allocation ◽  
Value Added ◽  
Information Technology Professionals ◽  
Integrated Networks ◽  
Windows Nt ◽  
Proposed Model ◽  
Network Markets ◽  
Business Customers ◽  
The Relationship ◽  
Allocation Decisions

The last decade has witnessed a shift from a focus on the value created by a single firm and product to an examination of the value created by networks of firms (or product ecosystems) in which assets are comingled with external entities. The authors examine these market-based assets in the context of network markets and propose an Integrated Networks model in which three types of networks—user, complements, and producer—add value or enhance the attractiveness of the associated focal product. The authors empirically test the proposed model by surveying information technology professionals on their resource allocation decisions regarding the Unix and Windows NT operating systems. The findings suggest that the value added by these three networks is significantly and positively associated with resources allocated by business customers to competing products. The results also show that the three networks mediate the relationship between stand-alone product performance and resource allocation.

Sign in / Sign up

Export Citation Format

Share Document