scholarly journals Comparison of Different Technologies for Soft Robotics Grippers

Sensors ◽  
2021 ◽  
Vol 21 (9) ◽  
pp. 3253
Author(s):  
Silvia Terrile ◽  
Miguel Argüelles ◽  
Antonio Barrientos
Keyword(s):  
Comparative Study ◽  
Environmental Conditions ◽  
The Other ◽  
Soft Robotics ◽  
Geometrical Properties ◽  
Pneumatic Actuation ◽  
Specific Item ◽  
Wide Range ◽  
Soft Objects ◽  
Electromechanical Actuation

Soft grippers have experienced a growing interest due to their considerable flexibility that allows them to grasp a variety of objects, in contrast to hard grippers, which are designed for a specific item. One of their most remarkable characteristics is the ability to manipulate soft objects without damaging them. This, together with their wide range of applications and the use of novels materials and technologies, renders them a very robust device. In this paper, we present a comparison of different technologies for soft robotics grippers. We fabricated and tested four grippers. Two use pneumatic actuation (the gripper with chambered fingers and the jamming gripper), while the other two employ electromechanical actuation (the tendon driver gripper and the gripper with passive structure). For the experiments, a group of twelve objects with different mechanical and geometrical properties have been selected. Furthermore, we analyzed the effect of the environmental conditions on the grippers, by testing each object in three different environments: normal, humid, and dusty. The aim of this comparative study is to show the different performances of different grippers tested under the same conditions. Our findings indicate that we can highlight that the mechanical gripper with a passive structure shows greater robustness.

A model for predicting the age at sexual maturity for growing pullets of layer strains given a single change in photoperiod

2002 ◽  
Vol 138 (4) ◽  
pp. 441-458 ◽  
Author(s):  
P. D. LEWIS ◽  
T. R. MORRIS ◽  
G. C. PERRY
Keyword(s):  
Environmental Conditions ◽  
Sexual Maturity ◽  
Age Effects ◽  
The Other ◽  
Maximum Sensitivity ◽  
Similar Extent ◽  
Early Maturity ◽  
Long Day ◽  
Wide Range ◽  
Stimulation Of

A model is presented which will predict mean age at first egg (AFE) for pullets of laying strains reared under non-limiting environmental conditions but exposed to a single change in photoperiod during the rearing stage. An initial analysis of 12 previously reported trials involving a wide range of genotypes showed that the response to an increase in photoperiod is not simply the inverse of the response to an equal decrease in photoperiod applied at the same age. Maximum sensitivity to a reduction in photoperiod was found shortly before onset of lay, whereas maximum sensitivity to an increment in photoperiod was observed at around 10 weeks of age. Two experiments were conducted to provide further data. The first compared the effect of 3-h increases in photoperiod from 8 h to 11 h or from 11 h to 14 h with the double increment from 8 h to 14 h and also tested a reduction from 11 h to 8 h, all imposed at 17 weeks of age. AFE was advanced to a similar extent by the changes from 8 to 11 h and from 11 to 14 h (9.8 and 10.9 days respectively). Response to the double increment was not additive: AFE on this treatment was 13.3 days earlier than for constant 8 h controls. Reduction in photoperiod from 11 to 8 h at 17 weeks delayed AFE by 18.7 days compared with constant 11-h controls. In the second experiment, pullets of two strains were transferred from 8 to 16-h photoperiods and from 16 to 8 h at 5, 7, 9, 15, 17 and 19 weeks of age. Controls were kept on constant 8 and constant 16-h days. Transfer from 8 to 16-h photoperiods at 5 weeks of age had no effect on AFE. At 7 weeks there was a bimodal response with some pullets subsequently showing advanced maturity and others not. Maximum stimulation of early maturity (31 days on average for the two genotypes) was obtained at 9 weeks of age and response to stimulation declined linearly with age thereafter. The delay in AFE resulting from a reduction in photoperiod (16 to 8 h) increased linearly between 0 and 15 weeks. At 17 and 19 weeks, the response was bimodal, with some pullets maturing at the same age as long-day controls and others showing delayed maturity. Using all this evidence and some other unpublished data, a model is developed to predict AFE as a function of mean photoperiod and change in photoperiod during the rearing phase. Elements are incorporated to allow for the insensitivity of pullets younger than 50 days to an increase in photoperiod and the effect observed late in rearing when a change in photoperiod comes too late to alter AFE for the most precocious individuals in a flock. Two coefficients are required to adjust for genotype. One describes mean AFE for the genotype when reared on constant daylength and the other defines the rate at which age effects the response to a single change in photoperiod.

scholarly journals A Benchmarking Exercise on Estimating Extreme Environmental Conditions: Methodology and Baseline Results

2019 ◽  
Author(s):  
Andreas F. Haselsteiner ◽  
Ryan G. Coe ◽  
Lance Manuel ◽  
Phong T. T. Nguyen ◽  
Nevin Martin ◽  
...  
Keyword(s):  
Environmental Conditions ◽  
Statistical Models ◽  
Structural Reliability ◽  
Wind Waves ◽  
Research Community ◽  
The Other ◽  
Marine Structures ◽  
Construction Methods ◽  
Wide Range ◽  
Technical Specifications

Abstract A wide range of methods have been proposed for the derivation of environmental contours for marine structures that must meet reliability targets. An environmental contour is a set of joint extremes of environmental conditions associated with a target return period. In general, environmental contour methods help with the prediction of some future critical combinations of environmental conditions (e.g., wind, waves, current) at a location of interest based on a limited dataset, thus allowing designers to ensure a prescribed structural reliability. In fact, some of these contour methods are specifically recommended by technical specifications and standards as part of a design process. This paper outlines the rules and procedures for a collaborative benchmarking exercise — focused on open comparison — in which researchers are invited to develop and present their own contour derivation approaches based on common datasets that will be available to all. Hindcast and observational datasets are considered and two exercises are planned: One focuses on applying environmental contour methods to a wide range of datasets and the other focuses on uncertainty characterization. Besides describing the benchmark’s methodology, this paper presents baseline results of computed contours following current recommendations. The overall goals of this endeavor are: (i) to work towards the development of more robust statistical models and contour construction methods, (ii) to encourage increased discussion in the international research community and among practitioners, and (iii) to support ongoing efforts to improve technical specifications and standards.

scholarly journals Papers from the workshop on Bantu relative clauses

2010 ◽  
Vol 53 ◽  
pp. 261
Author(s):  
Laura Downing ◽  
Annie Rialland ◽  
Jean-Marc Beltzung ◽  
Sophie Manus ◽  
Cédric Patin ◽  
...  
Keyword(s):  
Comparative Study ◽  
Relative Clause ◽  
Relative Clauses ◽  
The Other ◽  
Bantu Languages ◽  
Bantu Language ◽  
Wide Range ◽  
Western Uganda ◽  
Restrictive Relatives

All of the papers in the volume except one (Kaji) take up some aspect of relative clause construction in some Bantu language. Kaji’s paper aims to account for how Tooro (J12; western Uganda) lost phonological tone through a comparative study of the tone systems of other western Uganda Bantu languages. The other papers examine a range of ways of forming relative clauses, often including non-restrictive relatives and clefts, in a wide range of languages representing a variety of prosodic systems.  

Comparative Study of Proactivators of the Fibrinolysin System in Three Mammalian Species

1969 ◽  
Vol 21 (03) ◽  
pp. 594-603 ◽  
Author(s):  
Y Takada ◽  
A Takada ◽  
J. L Ambrus
Keyword(s):  
Guinea Pig ◽  
Comparative Study ◽  
Human Plasma ◽  
Mammalian Species ◽  
Gel Filtration ◽  
Plasminogen Activators ◽  
The Other ◽  
Rabbit Plasma ◽  
Plate Test ◽  
Fibrin Plate

SummarySephadex gel filtration of human plasma gave results suggesting the presence of two proactivators of plasminogen, termed proactivators A and B.Activity resembling that of proactivator A was found in rabbit plasma, but not in guinea pig plasma.Plasminogen activators produced by the interaction of proactivator A of human plasma with streptokinase had no caseinolytic or TAMe esterolytic effect.Proactivator A can be separated in a form apparently free from plasminogen, as shown by the heated fibrin plate test and by immunological analysis. On the other hand, proactivator B concentrates prepared so far are contamined with plasminogen.Human proactivators appear to be far more susceptible to streptokinase than are rabbit proactivators.Inhibitors of the fibrinolysin system were observed in the plasmas of all 3 species. These inhibitors are not present in the euglobulin fraction of plasma. Sephadex fractionation of euglobulin fractions results in proactivator preparations that do not contain inhibitors.

2D Color-Intensity Representation of Ultrasonic Thickness Gauge Measurements

2020 ◽  
pp. 1192-1198
Author(s):  
M.S. Mohammad ◽  
Tibebe Tesfaye ◽  
Kim Ki-Seong
Keyword(s):  
Cost Effective ◽  
The Other ◽  
Thickness Gauge ◽  
Color Intensity ◽  
Digital Readout ◽  
Flat Surfaces ◽  
Video Cameras ◽  
Wide Range ◽  
Cost Effective Alternative ◽  
Ultrasonic Thickness

Ultrasonic thickness gauges are easy to operate and reliable, and can be used to measure a wide range of thicknesses and inspect all engineering materials. Supplementing the simple ultrasonic thickness gauges that present results in either a digital readout or as an A-scan with systems that enable correlating the measured values to their positions on the inspected surface to produce a two-dimensional (2D) thickness representation can extend their benefits and provide a cost-effective alternative to expensive advanced C-scan machines. In previous work, the authors introduced a system for the positioning and mapping of the values measured by the ultrasonic thickness gauges and flaw detectors (Tesfaye et al. 2019). The system is an alternative to the systems that use mechanical scanners, encoders, and sophisticated UT machines. It used a camera to record the probe’s movement and a projected laser grid obtained by a laser pattern generator to locate the probe on the inspected surface. In this paper, a novel system is proposed to be applied to flat surfaces, in addition to overcoming the other limitations posed due to the use of the laser projection. The proposed system uses two video cameras, one to monitor the probe’s movement on the inspected surface and the other to capture the corresponding digital readout of the thickness gauge. The acquired images of the probe’s position and thickness gauge readout are processed to plot the measured data in a 2D color-coded map. The system is meant to be simpler and more effective than the previous development.

Empire Loyalism and Nationalism in Ukraine and Ireland

2020 ◽  
Vol 53 (3) ◽  
pp. 88-106
Author(s):  
Taras Kuzio
Keyword(s):  
Soviet Union ◽  
Northern Ireland ◽  
Comparative Study ◽  
The Other ◽  
History And Memory ◽  
Memory Politics ◽  
Irish History ◽  
British Rule ◽  
Five Factors ◽  
Post Colonialism

This is the first comparative article to investigate commonalities in Ukrainian and Irish history, identity, and politics. The article analyzes the broader Ukrainian and Irish experience with Russia/Soviet Union in the first and Britain in the second instance, as well as the regional similarities in conflicts in the Donbas region of Eastern Ukraine and the six of the nine counties of Ulster that are Northern Ireland. The similarity in the Ukrainian and Irish experiences of treatment under Russian/Soviet and British rule is starker when we take into account the large differences in the sizes of their territories, populations, and economies. The five factors that are used for this comparative study include post-colonialism and the “Other,” religion, history and memory politics, language and identities, and attitudes toward Europe.

Liturgical Poetry in the Late Antique Near East

2010 ◽  
Vol 1 (3) ◽  
pp. 336-361 ◽  
Author(s):  
Ophir Münz-Manor
Keyword(s):  
Comparative Study ◽  
Late Antiquity ◽  
Near East ◽  
The Other ◽  
Late Antique ◽  
Biblical Poetry ◽  
Contemporary View ◽  
Cultural Dialogue ◽  
The One

The article presents a contemporary view of the study of piyyut, demonstrating that Jewish poetry of late antiquity (in Hebrew and Aramaic) was closely related to Christian liturgical poetry (both Syriac and Greek) and Samaritan liturgy. These relations were expressed primarily by common poetic and prosodic characteristics, derived on the one hand from ancient Semitic poetry (mainly biblical poetry), and on the other from innovations of the period. The significant connections of content between the different genres of poetry reveal the importance of comparative study. Thus the poetry composed in late antiquity provides additional evidence for the lively cultural dialogue that took place at that time.

p-Sulfonic acid calix[n]arene catalyzed synthesis of bioactive heterocycles: A review

2020 ◽  
Vol 24 ◽  
Author(s):  
Bubun Banerjee ◽  
Gurpreet Kaur ◽  
Navdeep Kaur
Keyword(s):  
Supramolecular Chemistry ◽  
Sulfonic Acid ◽  
Catalytic Efficiency ◽  
The Other ◽  
Reaction Conditions ◽  
Metal Free ◽  
Bioactive Scaffolds ◽  
Wide Range ◽  
Efficient Alternative ◽  
Bioactive Heterocycles

: Metal-free organocatalysts are becoming an important tool for the sustainable developments of various bioactive heterocycles. On the other hand, during last two decades, calix[n]arenes have been gaining considerable attention due to their wide range of applicability in the field of supramolecular chemistry. Recently, sulfonic acid functionalized calix[n] arenes are being employed as an efficient alternative catalyst for the synthesis of various bioactive scaffolds. In this review we have summarized the catalytic efficiency of p-sulfonic acid calix[n]arenes for the synthesis of diverse biologically promising scaffolds under various reaction conditions. There is no such review available in the literature showing the catalytic applicability of p-sulfonic acid calix[n]arenes. Therefore, we strongly believe that this review will surely attract those researchers who are interested about this fascinating organocatalyst.

Assessing the Ergonomic Benefits of a New Adjustable Forklift Backrest

2020 ◽  
Vol 64 (1) ◽  
pp. 976-980
Author(s):  
Pranav Madhav Kuber ◽  
Ehsan Rashedi
Keyword(s):  
Comparative Study ◽  
Motion Capture ◽  
Center Of Pressure ◽  
Body Movement ◽  
Pressure Change ◽  
Motion Capture System ◽  
Design Features ◽  
Wide Range ◽  
Body Sizes ◽  
The Mean

A new forklift backrest has been developed by incorporating adjustability concepts into the design to facilitate comfort to a wide range of users. We have conducted a comparative study between the new and original backrests to assess the effectiveness of design features. Using the phenomenon of restlessness, discomfort of the user was associated with the amount of body movement, where we have used a motion- capture system and a force platform to quantify the individuals’ movement for a wide range of body sizes. Meanwhile, subjective comfort and design feedback were collected using a questionnaire. Our results showed a reduction in the mean torso movement and the maximum center of pressure change of location by 300 and 6 mm, respectively, for the new design. Taking advantage of adjustability feature, the new backrest design exhibited enhanced comfort for longer durations and reduced magnitude of discomfort for a wide range of participants’ body sizes.

scholarly journals Density Guarantee on Finding Multiple Subgraphs and Subtensors

2021 ◽  
Vol 15 (5) ◽  
pp. 1-32
Author(s):  
Quang-huy Duong ◽  
Heri Ramampiaro ◽  
Kjetil Nørvåg ◽  
Thu-lan Dam
Keyword(s):  
Lower Bound ◽  
State Of The Art ◽  
The State ◽  
The Other ◽  
Exact Methods ◽  
Practical Solution ◽  
Novel Approach ◽  
Wide Range ◽  
Real World Datasets ◽  
Tensor Data

Dense subregion (subgraph & subtensor) detection is a well-studied area, with a wide range of applications, and numerous efficient approaches and algorithms have been proposed. Approximation approaches are commonly used for detecting dense subregions due to the complexity of the exact methods. Existing algorithms are generally efficient for dense subtensor and subgraph detection, and can perform well in many applications. However, most of the existing works utilize the state-or-the-art greedy 2-approximation algorithm to capably provide solutions with a loose theoretical density guarantee. The main drawback of most of these algorithms is that they can estimate only one subtensor, or subgraph, at a time, with a low guarantee on its density. While some methods can, on the other hand, estimate multiple subtensors, they can give a guarantee on the density with respect to the input tensor for the first estimated subsensor only. We address these drawbacks by providing both theoretical and practical solution for estimating multiple dense subtensors in tensor data and giving a higher lower bound of the density. In particular, we guarantee and prove a higher bound of the lower-bound density of the estimated subgraph and subtensors. We also propose a novel approach to show that there are multiple dense subtensors with a guarantee on its density that is greater than the lower bound used in the state-of-the-art algorithms. We evaluate our approach with extensive experiments on several real-world datasets, which demonstrates its efficiency and feasibility.

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