scholarly journals Design Methodology for a Novel Bending Pneumatic Soft Actuator for Kinematically Mirroring the Shape of Objects

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 113
Author(s):  
Michele Gabrio Antonelli ◽  
Pierluigi Beomonte Zobel ◽  
Walter D’Ambrogio ◽  
Francesco Durante
Keyword(s):  
Numerical Model ◽  
Design Methodology ◽  
Low Cost ◽  
Soft Actuator ◽  
Hyper Elastic ◽  
End Effectors ◽  
Soft Actuators ◽  
Definition Of ◽  
Advanced Robotics ◽  
Collaborative Robot

In the landscape of Industry 4.0, advanced robotics awaits a growing use of bioinspired adaptive and flexible robots. Collaborative robotics meets this demand. Due to human–robot coexistence and interaction, the safety, the first requirement to be satisfied, also depends on the end effectors. End effectors made of soft actuators satisfy this requirement. A novel pneumatic bending soft actuator with high compliance, low cost, high versatility and easy production is here proposed. Conceived to be used as a finger of a collaborative robot, it is made of a hyper-elastic inner tube wrapped in a gauze. The bending is controlled by cuts in the gauze: the length and the angular extension of them, the pressure value and the dimensions of the inner tube determine the bending amplitude and avoid axial elongation. A design methodology, oriented to kinematically mirror the shape of the object to be grasped, was defined. Firstly, it consists of the development of a non-linear parametric numerical model of a bioinspired finger; then, the construction of a prototype for the experimental validation of the numerical model was performed. Hence, a campaign of simulations led to the definition of a qualitatively predictive formula, the basis for the design methodology. The effectiveness of the latter was evaluated for a real case: an actuator for the grasping of a light bulb was designed and experimentally tested.

scholarly journals Diaphragm-Type Pneumatic-Driven Soft Grippers for Precision Harvesting

Agronomy ◽  
2021 ◽  
Vol 11 (9) ◽  
pp. 1727
Author(s):  
Eduardo Navas ◽  
Roemi Fernández ◽  
Manuel Armada ◽  
Pablo Gonzalez-de-Santos
Keyword(s):  
Agricultural Sector ◽  
Lower Cost ◽  
Experimental Tests ◽  
Robotic Manipulation ◽  
3D Printed ◽  
End Effectors ◽  
Soft Actuators ◽  
Definition Of ◽  
Different Diameters ◽  
Game Changer

Soft actuator technology and its role in robotic manipulation have been rapidly gaining ground. However, less attention has been given to the potential advantages of its application to the agricultural sector, where soft robotics may be a game changer due to its greater adaptability, lower cost and simplicity of manufacture. This article presents a new design approach for soft grippers based on modules that incorporate the concept of bellows and combine it with the versatility and replicability of a 3D printed structure. In this way, the modules can be freely configured to obtain grippers adaptable to crops of different diameters. Furthermore, the definition of a method to determine the soft grippers features is also presented, with the aim of serving as the basis for a future benchmarking study on soft actuators. The experimental tests carried out demonstrated the feasibility and capability of the end-effectors to manipulate various fruits, ensuring a sufficient contact area for the safe handling of the targets and avoiding damaging the products.

What’s in, what’s out? Towards a rigorous definition of the boundaries of benefit-cost analysis

2021 ◽  
pp. 1-17
Author(s):  
Daniel Acland
Keyword(s):  
Cost Analysis ◽  
Willingness To Pay ◽  
Low Cost ◽  
Consumer Sovereignty ◽  
Benefit Cost Analysis ◽  
Rigorous Definition ◽  
Pareto Criterion ◽  
Definition Of ◽  
Benefit Cost

Abstract Benefit-cost analysis (BCA) is typically defined as an implementation of the potential Pareto criterion, which requires inclusion of any impact for which individuals have willingness to pay (WTP). This definition is incompatible with the exclusion of impacts such as rights and distributional concerns, for which individuals do have WTP. I propose a new definition: BCA should include only impacts for which consumer sovereignty should govern. This is because WTP implicitly preserves consumer sovereignty, and is thus only appropriate for ‘sovereignty-warranting’ impacts. I compare the high cost of including non-sovereignty-warranting impacts to the relatively low cost of excluding sovereignty-warranting impacts.

scholarly journals An Agent-Based Crop Model Framework for Heterogeneous Soils

Agronomy ◽  
2021 ◽  
Vol 11 (1) ◽  
pp. 85
Author(s):  
Jorge Lopez-Jimenez ◽  
Nicanor Quijano ◽  
Alain Vande Wouwer
Keyword(s):  
Growth Models ◽  
Control Strategies ◽  
Low Cost ◽  
Soil Heterogeneity ◽  
Crop Growth ◽  
Negative Effects ◽  
Model Framework ◽  
Agent Based ◽  
Crop Growth Models ◽  
Definition Of

Climate change and the efficient use of freshwater for irrigation pose a challenge for sustainable agriculture. Traditionally, the prediction of agricultural production is carried out through crop-growth models and historical records of the climatic variables. However, one of the main flaws of these models is that they do not consider the variability of the soil throughout the cultivation area. In addition, with the availability of new information sources (i.e., aerial or satellite images) and low-cost meteorological stations, it is convenient that the models incorporate prediction capabilities to enhance the representation of production scenarios. In this work, an agent-based model (ABM) that considers the soil heterogeneity and water exchanges is proposed. Soil heterogeneity is associated to the combination of individual behaviours of uniform portions of land (agents), while water fluxes are related to the topography. Each agent is characterized by an individual dynamic model, which describes the local crop growth. Moreover, this model considers positive and negative effects of water level, i.e., drought and waterlogging, on the biomass production. The development of the global ABM is oriented to the future use of control strategies and optimal irrigation policies. The model is built bottom-up starting with the definition of agents, and the Python environment Mesa is chosen for the implementation. The validation is carried out using three topographic scenarios in Colombia. Results of potential production cases are discussed, and some practical recommendations on the implementation are presented.

The operational efficiency of passenger aircraft

2006 ◽  
Vol 78 (1) ◽  
pp. 32-38 ◽  
Author(s):  
Donald McLean
Keyword(s):  
Design Methodology ◽  
Operational Efficiency ◽  
Civil Aviation ◽  
Content Type ◽  
Transport Economics ◽  
Load Factors ◽  
Consistent Assessment ◽  
Definition Of ◽  
Passenger Aircraft ◽  
Practical Implications

PurposeTo provide for the use of airlines and other civil aviation organizations a practical definition of operational efficiency and to show how it can be determined.Design/methodology/approachA brief account of air transport economics is used to demonstrate how bom load factors and aircraft utilization need to be considered in assessing operational efficiency. Then other efficiencies are treated briefly before an example is given of how the better of two fictitious aircraft can be chosen for a particular route. A second example involving the calculation of the operational efficiency achieved by an imaginary airline is also given to show that the typical value is lower than might be expected, particularly in view of the relatively high load factors involved.FindingsProvides performance values and economic figures which are typical of current airline operations.Practical implicationsUse of the proposed definition will allow the consistent assessment of the economic performance of airlines.Originality/valueAt present there is no definition of operational efficiency in general use although it is greatly needed by airlines. The definition proposed in this paper is practical and easy to use.

A model for the elaboration of fair divisional projects in inheritance disputes

2018 ◽  
Vol 36 (2) ◽  
pp. 186-202
Author(s):  
Francesco Tajani ◽  
Pierluigi Morano
Keyword(s):  
Design Methodology ◽  
Market Value ◽  
Content Type ◽  
Mathematical Formulas ◽  
Mathematical Algorithms ◽  
Complex Inheritance ◽  
Fundamental Value ◽  
Definition Of ◽  
Calculation Software ◽  
Legal Right

Purpose The purpose of this paper is to develop a method to support the definition of efficient and fair divisional projects in particularly complex cases concerning inheritance disputes. Design/methodology/approach First, the approach involves an appraisal of the market value of the assets, along with an analysis of the respective conditions of concrete divisibility; then, two mathematical models have been developed for the assignment of the assets to the subjects involved in the divisional projects. The logic underlying of both models has been translated into mathematical algorithms that allow for the minimization of the monetary compensations resulting from the differences between the legal right shares and the actual portions to be attributed to them. Findings Both models have been developed through mathematical formulas that can be easily implemented by using an appropriate calculation software. They can be used in particularly complex inheritance divisions, in which the deceased’s assets are numerous and there are several heirs with similar or different legal right shares. Originality/value The methodology is useful in the disputes that could arise in hereditary successions. The fundamental value is that the models could support the definition of the best solution in particularly complex situations, characterized by a large number of assets to be assigned and/or the existence of “preferential” constraints for the assignment of the assets.

Flexural Joints in Mechanisms

2000 ◽  
Author(s):  
M. P. Koster
Keyword(s):  
Consumer Goods ◽  
Design Methodology ◽  
Low Cost ◽  
Point Of View ◽  
Industrial Technology ◽  
Scientific Instruments ◽  
Manufacturing Equipment ◽  
Flexural Fatigue ◽  
Elastic Deflection ◽  
Flexural Joints

Abstract The application of flexural joints in mechanisms has a number of advantages. Extreme repeatability of position is obtained because of the absence of backlash and friction. From a tribological point of view, no lubrication is needed and no wear exists. In many cases their application gives rise to a low cost assembly. Flexural elements have their particular drawbacks as well. Deflections are limited; only oscillating motions can be performed and work has to be done as a consequence of the elastic deflection. Flexural fatigue sets another limit to their application. The paper gives an overview of a design methodology that has been developed at the Philips Center for Industrial Technology by the author and his colleagues over the last several decades. Some aspects of this methodology are well known; other aspects are unique. The methodology is described in detail in a book by the author about design principles (Koster 1998). The methodology has been used to design hundreds of practical mechanisms incorporated in scientific instruments, manufacturing equipment and consumer goods. Many examples are given in (Koster 1998). Several interesting examples are given in this paper.

Separation or Synthesis: A Holistic Approach to Therapeutics

1996 ◽  
Vol 17 (8) ◽  
pp. 279-283
Author(s):  
Kathi J. Kemper
Keyword(s):  
Health Care ◽  
Nurse Practitioners ◽  
Low Cost ◽  
Self Regulation ◽  
Holistic Approach ◽  
Medical Settings ◽  
The Public ◽  
Specialized Health Care ◽  
Definition Of ◽  
Spiritual Healers

Over the past 50 years, health care has grown more complex and specialized. Health-care institutions now are staffed with an array of specialist physicians, social workers, psychologists, therapists, and nutritionists as well as general practitioners and nurses. The types of providers outside of the hospital are even more numerous and diverse: physicians; nurses; nurse practitioners; chiropractors; counselors; acupuncturists; herbalists; spiritual healers; and purveyors of nutritional supplements, aromatherapy, crystals, and more. Intent on distinguishing their "products," providers focus on differences, polarizing into distinct camps such as "mainstream or traditional" versus "alternative or unconventional." Although these dichotomies are simple, they also can mislead. The definition of "alternative" is very dependent on the definition "mainstream"; acupuncture may be an alternative in one setting, but it clearly is traditional within Asian communities. Therapies that once were considered unconventional, such as hypnosis and meditation, have moved into many mainstream medical settings. (See Sugarman article "Hypnosis: Teaching Children Self-regulation" in the January 1996 issue of Pediatrics in Review.) The public wants health care that is low-cost, safe, effective, and personalized. Practitioners of "natural" therapies often are viewed as more humanistic and less technological than busy physicians. According to one study, in 1990, alternative medical therapies were used by nearly one third of Americans.1

scholarly journals Gendering expert work and ideal candidacy in Finnish and Estonian job advertisements

2018 ◽  
Vol 33 (7) ◽  
pp. 544-560 ◽  
Author(s):  
Jatta Jännäri ◽  
Seppo Poutanen ◽  
Anne Kovalainen
Keyword(s):  
Design Methodology ◽  
Doing Gender ◽  
Content Type ◽  
Market Structures ◽  
Job Advertisements ◽  
Management Literature ◽  
Global Construction ◽  
Managerial Positions ◽  
Definition Of ◽  
The Ideal

Purpose This paper aims to analyse the ways the textual materials of job advertisements do the gendering for prospective expert positions and create a space for ambiquity/non-ambiquity in the gender labelling of this expertise. Expert positions are almost always openly announced and are important to organizations because they often lead to higher managerial positions. By gendering the prospective positions, the job advertisements bring forth repertoires strengthening the gendering of work and gendered expert employee positions. Design/methodology/approach This study draws on qualitative textual and visual data of open job advertisements for expert positions. The materials of the study are gathered from open job advertisements in two countries, i.e. Finland and Estonia with rather similar labour market structures in relation to gender positions but differing as regards their gender equality. Findings The analyses show that the gendering of expert work takes place in the job advertisements by rendering subtly gendered articulations, yet allowing for interpretative repertoires appear. The analysis reveals some differences in the formulations of the advertisements for expert jobs in the two countries. It also shows that in general the requirements for an ideal expert candidate are coated with superlatives that are gendered in rather stereotypical ways, and that the ideal candidates for highly expert jobs are extremely flexible and follows the ideal of an adaptable and plastic employee, willing to work their utmost. This paper contributes to the “doing gender” literature by adding an analysis of the textual gendering of ideal candidates for positions of expertise. Research limitations/implications The research materials do not expose all the issues pertinent to questions of the ideal gendered candidate. For instance, questions of ethnicity in relation to the definition of the ideal candidate cannot be studied with the data used for this study. Being an exploratory study, the results do not aim for generalizable results concerning job advertisements for expert positions. Originality/value This paper contributes to the “doing gender” and “gendering” literature by addressing the question of how and in what ways gender is defined and done for an expert positions prior the candidates are chosen to those jobs. It also offers new insights into the global construction of gendered expert jobs advertisements by addressing the topic with data from two countries. It further contributes to understanding the gendered shaping of expertise in the management literature.

Multiple Inputs-Single Accumulated Output Mechanism for Soft Linear Actuators

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Kyeong Ho Cho ◽  
Ho Moon Kim ◽  
Youngeun Kim ◽  
Sang Yul Yang ◽  
Hyouk Ryeol Choi
Keyword(s):  
Artificial Muscle ◽  
Operating Mode ◽  
Robotic Arm ◽  
Soft Actuator ◽  
Wearable Robots ◽  
Working Principle ◽  
Linear Actuators ◽  
Soft Actuators ◽  
Muscle Actuators ◽  
Further Development

Soft linear actuators (SLAs) such as shape memory alloy (SMA) wires, pneumatic soft actuators, dielectric elastomer actuator, and twisted and coiled soft actuator (TCA) called artificial muscle actuators in general, have many advantages over the conventional actuators. SLAs can realize innovative robotic technologies like soft robots, wearable robots, and bionic arms in the future, but further development is still needed in real applications because most SLAs do not provide large displacement or force as needed. This paper presents a novel mechanism supplementing SLAs by accumulating the displacement of multiple SLAs. It adopts the principle of differential gears in reverse. Since the input units of the mechanism are extensible, more displacement can be accumulated by increasing the number of the input units as many as needed. The mechanism is basically used to accumulate displacements, but can be used to accumulate forces by changing its operating mode. This paper introduces the design and working principle of the mechanism and validates its operation experimentally. In addition, the mechanism is implemented on a robotic arm and its effectiveness is confirmed.

A critical examination of the regulation of Ponzi scheme in Mauritius

2018 ◽  
Vol 60 (6) ◽  
pp. 1393-1400
Author(s):  
Valerie Uppiah
Keyword(s):  
Research Method ◽  
Design Methodology ◽  
Legal Framework ◽  
Critical Examination ◽  
Financial Crime ◽  
Modus Operandi ◽  
Content Type ◽  
Ponzi Scheme ◽  
Definition Of ◽  
Legal Mechanism

Purpose The purpose of this paper is to analyse the regulation of the financial crime of Ponzi scheme in Mauritius. Contrary to money laundering which has a legal framework to combat it, for Ponzi scheme, there is no specific legal mechanism to combat this particular financial crime. Therefore, the aim of the paper is to provide for an analysis of Ponzi scheme which includes, inter alia, the definition of a Ponzi scheme, its modus operandi and how it should be tackled. Focus will be placed on devising a specific legal framework for it in Mauritius. Design/methodology/approach The research method used to conduct this research and write this paper is a black letter legal research method. An analysis of several laws and cases is carried out so as to provide for the legal background of the research. Findings The investigation conducted in this paper will lead to the conclusion that Mauritius has to devise a law which will specifically combat Ponzi schemes. This law shall provide for the ways to counter this financial crime as well as the duties of the various financial supervisory bodies. Originality/value The paper provides for an analysis of the operation of Ponzi scheme in the Mauritian context. The paper also examines the existing legal framework that combats this financial crime in Mauritius and highlights its strengths and weaknesses.

Sign in / Sign up

Export Citation Format

Share Document