scholarly journals Lateral Undulation Aids Biological and Robotic Earthworm Anchoring and Locomotion

2021 ◽  
Author(s):  
Yasemin Ozkan-Aydin ◽  
Bangyuan Liu ◽  
Alexandra Carruthers Ferrero ◽  
Max Seidel ◽  
Frank L. Hammond ◽  
...  
Keyword(s):  
Low Cost ◽  
Poor Performance ◽  
Lumbricus Terrestris ◽  
Heterogeneous Environment ◽  
Locomotor Function ◽  
Hydrostatic Skeleton ◽  
Lateral Undulation ◽  
Terrestrial Environments ◽  
Undulatory Locomotion ◽  
Robotic Devices

AbstractEarthworms (Lumbricus terrestris) are characterized by soft, highly flexible and extensible bodies, and are capable of locomoting in most terrestrial environments. Previous studies of earthworm movement have focused on the use of retrograde peristaltic gaits in which controlled contraction of longitudinal and circular muscles results in waves of shortening/thickening and thinning/lengthening of the hydrostatic skeleton. These waves can propel the animal across ground as well as into soil. However, worms can also benefit from axial body bends during locomotion. Such lateral undulation dynamics can aid locomotor function via hooking/anchoring (to provide propulsion), modify travel orientation (to avoid obstacles and generate turns) and even generate snake-like undulatory locomotion in environments where peristaltic locomotion results in poor performance. To the best of our knowledge, the important aspects of locomotion associated with the lateral undulation of an earthworm body are yet to be systematically investigated. In this study, we observed that within confined environments, the worm uses lateral undulation to anchor its body to the walls of their burrows and tip (nose) bending to search the environment. This relatively simple locomotion strategy drastically improved the performance of our soft bodied robophysical model of the earthworm both in a confined (in an acrylic tube) and above-ground heterogeneous environment (rigid pegs), where the peristaltic gait often fails. In summary, lateral undulation facilitates the mobility of earthworm locomotion in diverse environments and can play an important role in the creation of low cost soft robotic devices capable of traversing a variety of environments.

scholarly journals Towards One-Dollar Robots: An Integrated Design and Fabrication Strategy for Electromechanical Systems

Robotica ◽  
2020 ◽  
pp. 1-17
Author(s):  
Wenzhong Yan ◽  
Ankur Mehta
Keyword(s):  
Low Cost ◽  
Integrated Design ◽  
Single Layer ◽  
Constant Current ◽  
Electromechanical Systems ◽  
Robot Controller ◽  
Electrical Oscillation ◽  
Robotic Devices ◽  
Sewing Threads ◽  
Polyester Film

SUMMARY To improve the accessibility of robotics, we propose a design and fabrication strategy to build low-cost electromechanical systems for robotic devices. Our method, based on origami-inspired cut-and-fold and E-textiles techniques, aims at minimizing the resources for robot creation. Specifically, we explore techniques to create robots with the resources restricted to single-layer sheets (e.g., polyester film) and conductive sewing threads. To demonstrate our strategy’s feasibility, these techniques are successfully integrated into an electromechanical oscillator (about 0.40 USD), which can generate electrical oscillation under constant-current power and potentially be used as a simple robot controller in lieu of additional external electronics.

Delay Tolerant Networks

2019 ◽  
pp. 448-480 ◽  
Author(s):  
Vandana Kushwaha ◽  
Ratneshwer Gupta
Keyword(s):  
Vehicular Networks ◽  
Low Cost ◽  
Delay Tolerant Networks ◽  
Opportunistic Networks ◽  
Delay Tolerant Network ◽  
Data Packets ◽  
Security Issues ◽  
Terrestrial Environments ◽  
Routing Congestion ◽  
Delay Tolerant

Opportunistic networks are one of the emerging evolutions of the network system. In opportunistic networks, nodes are able to communicate with each other even if the route between source to destination does not already exist. Opportunistic networks have to be delay tolerant in nature (i.e., able to tolerate larger delays). Delay tolerant network (DTNs) uses the concept of “store-carry-forward” of data packets. DTNs are able to transfer data or establish communication in remote area or crisis environment where there is no network established. DTNs have many applications like to provide low-cost internet provision in remote areas, in vehicular networks, noise monitoring, extreme terrestrial environments, etc. It is therefore very promising to identify aspects for integration and inculcation of opportunistic network methodologies and technologies into delay tolerant networking. In this chapter, the authors emphasize delay tolerant networks by considering its architectural, routing, congestion, and security issues.

scholarly journals PERAN ORIENTASI PASAR, ORIENTASI KEWIRAUSAHAAN DAN STRATEGI BERSAING TERHADAP PENINGKATAN KINERJA UKM

2017 ◽  
Vol 19 (2) ◽  
pp. 241
Author(s):  
Audita Nuvriasari ◽  
Gumirlang Wicakson ◽  
Sumiyarsih Sumiyarsih
Keyword(s):  
Market Orientation ◽  
Entrepreneurial Orientation ◽  
Competitive Strategy ◽  
Low Cost ◽  
Natural Fibers ◽  
Poor Performance ◽  
Research Problem ◽  
Creative Industries ◽  
Differentiation Strategy ◽  
Business Market

The main problem on this research is the poor performance of SMEs. It can be caused by cultural factors of business (market orientation and entrepreneurial orientation) as well as factors of competitive strategy on SMEs. The research problem is how the influence of market orientation, entrepreneurial orientation and competitive strategy on the performance of SMEs. The purpose of this research is to analyze the effect of market orientation, entrepreneurial orientation and competitive strategy against the performance of SMEs. The samples were 100 SMEs Creative Industries in DIY with business fields handycrapts (various silver, natural fibers, pottery, leather, and wood) and fashion (various Batik). Testing the hypothesis in this study uses path analysis. The results showed that there are significant positive and significant correlation between market orientation and entrepreneurial orientation towards competitive strategy (differentiation strategy, low cost, and focus). Market orientation and entrepreneurial orientation positifdan impact significantly on the performance of SMEs. There is a positive and significant influence between competitive strategy against the performance of SMEs. Entrepreneurial orientation have direct influence higher than market orientation.

scholarly journals Development of a Low-Cost EEG-Controlled Hand Exoskeleton 3D Printed on Textiles

2021 ◽  
Vol 15 ◽  
Author(s):  
Rommel S. Araujo ◽  
Camille R. Silva ◽  
Severino P. N. Netto ◽  
Edgard Morya ◽  
Fabricio L. Brasil
Keyword(s):  
Low Cost ◽  
Three Dimensional ◽  
Training Session ◽  
Life Quality ◽  
Motor Deficits ◽  
Stroke Survivors ◽  
Motor Rehabilitation ◽  
3D Printed ◽  
Hand Exoskeleton ◽  
Robotic Devices

Stroke survivors can be affected by motor deficits in the hand. Robotic equipment associated with brain–machine interfaces (BMI) may aid the motor rehabilitation of these patients. BMIs involving orthotic control by motor imagery practices have been successful in restoring stroke patients' movements. However, there is still little acceptance of the robotic devices available, either by patients and clinicians, mainly because of the high costs involved. Motivated by this context, this work aims to design and construct the Hand Exoskeleton for Rehabilitation Objectives (HERO) to recover extension and flexion movements of the fingers. A three-dimensional (3D) printing technique in association with textiles was used to produce a lightweight and wearable device. 3D-printed actuators have also been designed to reduce equipment costs. The actuator transforms the torque of DC motors into linear force transmitted by Bowden cables to move the fingers passively. The exoskeleton was controlled by neuroelectric signal—electroencephalography (EEG). Concept tests were performed to evaluate control performance. A healthy volunteer was submitted to a training session with the exoskeleton, according to the Graz-BCI protocol. Ergonomy was evaluated with a two-dimensional (2D) tracking software and correlation analysis. HERO can be compared to ordinary clothing. The weight over the hand was around 102 g. The participant was able to control the exoskeleton with a classification accuracy of 91.5%. HERO project resulted in a lightweight, simple, portable, ergonomic, and low-cost device. Its use is not restricted to a clinical setting. Thus, users will be able to execute motor training with the HERO at hospitals, rehabilitation clinics, and at home, increasing the rehabilitation intervention time. This may support motor rehabilitation and improve stroke survivors life quality.

scholarly journals Kiwisaver, who is really reaping the benefits?

2014 ◽  
Vol 3 (2) ◽  
pp. 12
Author(s):  
Bart Frijns ◽  
Alireza Tourani-Rad
Keyword(s):  
New Zealand ◽  
Low Cost ◽  
Poor Performance ◽  
International Standards ◽  
International Competition ◽  
Individual Investors ◽  
Fund Industry ◽  
Portfolio Investments ◽  
New Zealanders

New Zealand KiwiSaver fund industry enjoys a near monopoly situation, with no exposureto international competition. Annual fees that KiwiSaver funds charge New Zealanders(which are now close to $350 million p.a.) are far above international standards and notjustifiable given their relatively poor performance since inception. We believe that allowingself-managed retirement portfolio investments by employees, expanding the menu ofinvestment choices including low cost international ETFs, and opening the industry tointernational competition will be beneficial for individual investors and the country as whole.

scholarly journals Study of non-conventional fuels for explosives mixes

2014 ◽  
Vol 67 (3) ◽  
pp. 297-302 ◽  
Author(s):  
Salatiel Assis Resende ◽  
Valdir Costa e Silva ◽  
Hernani Mota de Lima
Keyword(s):  
Ammonium Nitrate ◽  
Rice Straw ◽  
Detonation Velocity ◽  
Sugar Cane ◽  
Alternative Fuels ◽  
Low Cost ◽  
Poor Performance ◽  
Sugar Cane Bagasse ◽  
Fuel Oil ◽  
Corn Cob

The use of ammonium nitrate and fuel oil (ANFO) results in low cost blasting. Such costs may be further reduced by replacing fuel oil with alternative fuels such as biomass (biodiesel, rice straw, corn cob, sugar cane bagasse) and tires residue. This paper investigates the use of other fuels instead of fuel oil by measuring the detonation velocity (VOD) and verifying the importance of these fuels in an explosive mixture. Except for biodiesel, all the tests conducted for the mixture of ammonium nitrate and alternative fuels showed poor performance when compared with ANFO. The achieved percentage of detonation velocity (VOD) of the mixtures in relation to the ANFO were 55.4% for ammonium nitrate + rice straw, 64.9% for ammonium nitrate + corn cob, 70.1% for ammonium nitrate + sugar cane bagasse, 74.4% for ammonium nitrate + tires residue and 93.7% for ammonium nitrate + biodiesel. This study indicates that the methodology proposed can be applied as a reference for determination and preparation of explosive mixtures of fuel and oxidizing agents since in all the tests conducted the detonation of the charges occurred.

Design and Development of the Single Motor Propelled Drive-Train (SiMPl-D)

2013 ◽  
Author(s):  
Mahender Mandala ◽  
Jonathan Pearlman ◽  
Olof Berner ◽  
Padmaja Kankipati ◽  
Rory Cooper
Keyword(s):  
Low Cost ◽  
Center Of Mass ◽  
Drive Train ◽  
Rough Terrain ◽  
Design And Development ◽  
Personal Mobility ◽  
Single Motor ◽  
Wide Range ◽  
Turning Radius ◽  
Robotic Devices

Mobile robotic devices and other mobility related drive systems are often relegated to one of the two classes of devices available today: wheeled devices or tracked devices. Wheeled systems are more energy efficient and reliable than tracked systems, but existing designs have drawbacks related to rough-terrain driving and maneuvering in tight spaces. In this paper we describe the design and development of a drive system named the Single Motor Propelled Drive-train (SiMPl-D), which can potentially improve maneuvering over rough terrain and in tight spaces compared to traditional wheeled robots. SiMPl-D has two prominent features: a single drive motor, which provides both propulsion and turning, and is suspended under the center of mass of the device on a swingarm, which is linked through a suspension system to caster wheels; and it has reconfigurable drive wheel, which changes the turning radius of the device. Due to these features, SiMPl-D can traverse a wide range of terrain while remaining energy and cost efficient. SiMPl-D has been successfully used in an indoor/outdoor low-cost personal mobility device and is currently being implemented in other robotic mobility applications.

scholarly journals MRI-VisAct: a Bowden-cable-driven MRI-compatible series viscoelastic actuator

2017 ◽  
Vol 40 (8) ◽  
pp. 2440-2453 ◽  
Author(s):  
Yusuf Mert Senturk ◽  
Volkan Patoglu
Keyword(s):  
Magnetic Field ◽  
Degrees Of Freedom ◽  
Low Cost ◽  
Torque Control ◽  
Robotic Rehabilitation ◽  
Safety Hazards ◽  
Fibre Optics ◽  
Mri Environment ◽  
Robotic Devices ◽  
Magnetic Resonance Imaging Mri

The presence of strong magnetic fields in the magnetic resonance imaging (MRI) environment limits the integration of robotic rehabilitation systems in the MRI process. The tendency to improve imaging quality by the amplification of magnetic field strength further tightens the bidirectional compatibility constraints on MRI-compatible rehabilitation devices. We present the design, control and characterization of MRI-VisAct– a low-cost, Bowden-cable-actuated rotary series viscoelastic actuator that satisfies the bidirectional compatibility requirements to the maximum extent. Components of MRI-VisAct that are placed in the magnet room are built using nonconductive, diamagnetic MRI-compatible materials, while ferromagnetic or paramagnetic components are placed in the control room, located outside the MRI room. Power and data transmission are achieved through Bowden cables and fibre optics, respectively. This arrangement ensures that neuroimaging artefacts are minimized, while eliminating safety hazards, and device performance is not affected by the magnetic field. MRI-VisAct works under closed-loop torque control enabled through series viscoelastic actuation. MRI-VisAct is fully customizable; it can serve as a building block of higher-degrees-of-freedom MRI-compatible robotic devices.

scholarly journals Pneumatikus izomelemek alkalmazása gyógyterápiás eszközökhöz

2010 ◽  
Vol 5 (1-2) ◽  
pp. 278-282
Author(s):  
József Sárosi ◽  
János Gyeviki
Keyword(s):  
Physical Therapy ◽  
Activities Of Daily Living ◽  
Daily Living ◽  
Low Cost ◽  
Low Noise ◽  
Artificial Muscles ◽  
Pneumatic Artificial Muscles ◽  
Low Stiffness ◽  
Successful Rehabilitation ◽  
Robotic Devices

Many important activities of daily living (e. g. dressing and eating) depend on two-handed function. For people affected by stroke, frequent physical therapy has been suggested to be a successful rehabilitation. The use of robotic devices to assist the therapies is becoming more commonly, but traditional robots are usually stiff. The devices have to be able to provide the treatment way of repetitive practice. More and more devices consist of pneumatic artificial muscles (PAMs) as a good solution for actuators. There is a need for affordable, economical, low cost, lightweight, practical, low stiffness, multi-dimensional and low noise operation devices to assist therapy. In this paper we present some possibilities of use of PAM in rehabilitation devices.

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