A five-way directional soft valve with a case study: a starfish like soft robot

2020 ◽  
Author(s):  
JiaKang Zou ◽  
MengKe Yang ◽  
GuoQing Jin
Keyword(s):  
Soft Robot

Parametrically Modeled DH Table for Soft Robot Kinematics: Case Study for A Soft Gripper

2019 ◽  
pp. 617-625
Author(s):  
Po Ting Lin ◽  
Ebrahim Shahabi ◽  
Kai-An Yang ◽  
Yu-Ta Yao ◽  
Chin-Hsing Kuo
Keyword(s):  
Robot Kinematics ◽  
Soft Robot

Using Multi-Stable Origami Mechanism for Peristaltic Gait Generation: A Case Study

2018 ◽  
Author(s):  
Priyanka Bhovad ◽  
Suyi Li
Keyword(s):  
Stability Analysis ◽  
Soft Robot ◽  
Stable States ◽  
Pattern Design ◽  
Soft Robots ◽  
Gait Generation ◽  
Actuation Mechanism ◽  
Novel Approach ◽  
State Of Art

This study proposes and examines a novel approach to generate peristaltic locomotion gait in a segmented origami robot. Specifically, we demonstrate how to harness elastic multi-stability embedded in a soft origami skeleton to create an earthworm-like locomotion. Origami is attractive for building soft robots because it can exhibit the essential compliance and reduce the part count. Most importantly, it can work as an actuation mechanism. Moreover, embedding multi-stability into an origami skeleton allows it to remain in any of the stable states and switch between different states via a series of jumps. In this paper, we use two serially connected bistable Kresling segments, each featuring a generalized crease pattern design and a foldable anchoring mechanism, to develop a driving module for crawling soft robot. Multi-stability analysis of this dual-segment module reveals a four-phase actuation cycle, which is then used to generate the peristaltic gait. Instead of controlling the segment deformations individually like in earthworm and other crawling robots; we only control the total length of our driving module. This approach can significantly reduce the total number of actuators needed for locomotion and simplify the control requirements. The purpose of this paper is to combine the best features of multi-stable mechanisms and origami to advance the state of art of earthworm inspired crawling soft robot. Our results demonstrate the potential of using multi-stable origami mechanisms to generate locomotion gaits without the need of complex controllers.

scholarly journals Performance Metrics for Fluidic Soft Robot Rotational Actuators

2021 ◽  
Vol 8 ◽  
Author(s):  
Levi Rupert ◽  
Benjamin O. Saunders ◽  
Marc D. Killpack
Keyword(s):  
Performance Metrics ◽  
Soft Robotics ◽  
Soft Robot ◽  
Uncertain Environments ◽  
Comprehensive List ◽  
Design Integration ◽  
And Performance ◽  
And Control

The field of soft robotics is continuing to grow as more researchers see the potential for robots that can safely interact in unmodeled, unstructured, and uncertain environments. However, in order for the design, integration, and control of soft robotic actuators to develop into a full engineering methodology, a set of metrics and standards need to be established. This paper attempts to lay the groundwork for that process by proposing six soft robot actuator metrics that can be used to evaluate and compare characteristics and performance of soft robot actuators. Data from eight different soft robot rotational actuators (five distinct designs) were used to evaluate these soft robot actuator metrics and show their utility. Additionally we provide a simple case study as an example of how these metrics can be used to evaluate soft robot actuators for a designated task. While this paper does not claim to present a comprehensive list of all possible soft robot actuator metrics, the metrics presented can 1) be used to initiate the development and comparison of soft robot actuators in an engineering framework and 2) start a broader discussion of which metrics should be standardized in future soft robot actuator research.

The Genesis and Internal Dynamics of El Salvador's People's Revolutionary Army, 1970–1976

2014 ◽  
Vol 38 (01) ◽  
pp. 102-129
Author(s):  
ALBERTO MARTÍN ÁLVAREZ ◽  
EUDALD CORTINA ORERO
Keyword(s):  
Latin America ◽  
El Salvador ◽  
Early Years ◽  
Left Wing ◽  
Internal Dynamics ◽  
Internal Coherence ◽  
The 1960S

AbstractUsing interviews with former militants and previously unpublished documents, this article traces the genesis and internal dynamics of the Ejército Revolucionario del Pueblo (People's Revolutionary Army, ERP) in El Salvador during the early years of its existence (1970–6). This period was marked by the inability of the ERP to maintain internal coherence or any consensus on revolutionary strategy, which led to a series of splits and internal fights over control of the organisation. The evidence marshalled in this case study sheds new light on the origins of the armed Salvadorean Left and thus contributes to a wider understanding of the processes of formation and internal dynamics of armed left-wing groups that emerged from the 1960s onwards in Latin America.

Culture and the plasticity of perception

2020 ◽  
Vol 43 ◽  
Author(s):  
Michael Lifshitz ◽  
T. M. Luhrmann
Keyword(s):  
Cultural Context ◽  
Sensory Experience ◽  
Cultural Learning ◽  
The World

Abstract Culture shapes our basic sensory experience of the world. This is particularly striking in the study of religion and psychosis, where we and others have shown that cultural context determines both the structure and content of hallucination-like events. The cultural shaping of hallucinations may provide a rich case-study for linking cultural learning with emerging prediction-based models of perception.

Dual systems for all: Higher-order, role-based relational reasoning as a uniquely derived feature of human cognition

2019 ◽  
Vol 42 ◽  
Author(s):  
Daniel J. Povinelli ◽  
Gabrielle C. Glorioso ◽  
Shannon L. Kuznar ◽  
Mateja Pavlic
Keyword(s):  
Temporal Reasoning ◽  
Higher Order ◽  
Important Case ◽  
Human Cognition ◽  
Relational Reasoning ◽  
Dual Systems ◽  
First Order ◽  
Reasoning System ◽  
Role Based

Abstract Hoerl and McCormack demonstrate that although animals possess a sophisticated temporal updating system, there is no evidence that they also possess a temporal reasoning system. This important case study is directly related to the broader claim that although animals are manifestly capable of first-order (perceptually-based) relational reasoning, they lack the capacity for higher-order, role-based relational reasoning. We argue this distinction applies to all domains of cognition.

Sociocultural memory development research drives new directions in gadgetry science

2019 ◽  
Vol 42 ◽  
Author(s):  
Penny Van Bergen ◽  
John Sutton
Keyword(s):  
Episodic Memory ◽  
Autobiographical Memory ◽  
Developmental Psychology ◽  
Cross Cultural ◽  
Memory Development ◽  
Development Research ◽  
Cultural Research ◽  
New Directions ◽  
Cross Cultural Research

Abstract Sociocultural developmental psychology can drive new directions in gadgetry science. We use autobiographical memory, a compound capacity incorporating episodic memory, as a case study. Autobiographical memory emerges late in development, supported by interactions with parents. Intervention research highlights the causal influence of these interactions, whereas cross-cultural research demonstrates culturally determined diversity. Different patterns of inheritance are discussed.

Construction of plastic contact deformation maps on ceramics: a case study on aluminum nitride

1996 ◽  
Vol 54 ◽  
pp. 636-637
Author(s):  
D. L. Callahan
Keyword(s):  
Plastic Deformation ◽  
Aluminum Nitride ◽  
Mechanical Response ◽  
Three Dimensional ◽  
Bright Field Image ◽  
Perfectly Plastic ◽  
Contrast Analysis ◽  
Deformation Patterns

Modern polishing, precision machining and microindentation techniques allow the processing and mechanical characterization of ceramics at nanometric scales and within entirely plastic deformation regimes. The mechanical response of most ceramics to such highly constrained contact is not predictable from macroscopic properties and the microstructural deformation patterns have proven difficult to characterize by the application of any individual technique. In this study, TEM techniques of contrast analysis and CBED are combined with stereographic analysis to construct a three-dimensional microstructure deformation map of the surface of a perfectly plastic microindentation on macroscopically brittle aluminum nitride.The bright field image in Figure 1 shows a lg Vickers microindentation contained within a single AlN grain far from any boundaries. High densities of dislocations are evident, particularly near facet edges but are not individually resolvable. The prominent bend contours also indicate the severity of plastic deformation. Figure 2 is a selected area diffraction pattern covering the entire indentation area.

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