6DFC: Efficiently Planning Soft Non-Planar Area Contact Grasps using 6D Friction Cones

Author(s):  
Jingyi Xu ◽  
Michael Danielczuk ◽  
Eckehard Steinbach ◽  
Ken Goldberg
Keyword(s):  
Author(s):  
Jenny E House ◽  
Luc M Bidaut ◽  
Alec P Christie ◽  
Oscar Pizarro ◽  
Maria Dornelas

Coral reefs are a valuable and vulnerable marine ecosystem. The structure of coral reefs influences their health and ability to fulfill ecosystem functions and services. However, monitoring reef corals largely relies on 1D or 2D estimates of coral cover and abundance that overlook change in ecologically significant aspects of the reefs because they do not incorporate vertical or volumetric information. This study explores the relationship between 2D and 3D metrics of coral size. We show that surface area and volume scale consistently with planar area, albeit with morphotype specific conversion parameters. We use a photogrammetric approach using open-source software to estimate the ability of photogrammetry to provide measurement estimates of corals in 3D. Technological developments have made photogrammetry a valid and practical technique for studying coral reefs. We anticipate that these techniques for moving coral research from 2D into 3D will facilitate answering ecological questions by incorporating the 3rd dimension into monitoring.


Author(s):  
Yipin Su ◽  
Weiqiu Chen ◽  
Luis Dorfmann ◽  
Michel Destrade

We investigate the theoretical nonlinear response, Hessian stability, and possible wrinkling behaviour of a voltage-activated dielectric plate immersed in a tank filled with silicone oil. Fixed rigid electrodes are placed on the top and bottom of the tank, and an electric field is generated by a potential difference between the electrodes. We solve the associated incremental boundary value problem of superimposed, inhomogeneous small-amplitude wrinkles, signalling the onset of instability. We decouple the resulting bifurcation equation into symmetric and antisymmetric modes. For a neo-Hookean dielectric plate, we show that a potential difference between the electrodes can induce a thinning of the plate and thus an increase of its planar area, similar to the scenarios encountered when there is no silicone oil. However, we also find that, depending on the material and geometric parameters, an increasing applied voltage can also lead to a thickening of the plate, and thus a shrinking of its area. In that scenario, Hessian instability and wrinkling bifurcation may then occur spontaneously once some critical voltages are reached.


Author(s):  
Hui Miao ◽  
Yong Huang ◽  
Fa Xie ◽  
Haigang Chen ◽  
Fang Wang

Liquid laminar flow and heat transfer characteristics for parallel plate micro-channels consisting of many triangle shape hollows to fit with the etching surfaces are investigated numerically in the present paper. The height of the channel is 50μm, with three different relative depths, three relative spacing, and three oblique angles of the triangle surface, respectively. The 2D N-S and energy equations are solved using a commercial CFD code FLUENT6.3. Water is used as the working fluid, and the Reynolds number ranges from 100 to 1500. The global Poiseuille number and average Nusselt number are obtained. It is shown that the dented shapes cause a modest influence in Poiseuille number, but a greater impact on the Nusselt numbers. In addition, both of Po and Nu increase modestly with Re. The local Nusselt numbers are always lower in dented area and larger in planar area of dented roughness microchannels, than that of conventional smooth value. Finally, geometry parameters have modest impact on heat transfer for dented roughness.


2017 ◽  
Vol 284 (1851) ◽  
pp. 20170053 ◽  
Author(s):  
Maria Dornelas ◽  
Joshua S. Madin ◽  
Andrew H. Baird ◽  
Sean R. Connolly

Predicting demographic rates is a critical part of forecasting the future of ecosystems under global change. Here, we test if growth rates can be predicted from morphological traits for a highly diverse group of colonial symbiotic organisms: scleractinian corals. We ask whether growth is isometric or allometric among corals, and whether most variation in coral growth rates occurs at the level of the species or morphological group. We estimate growth as change in planar area for 11 species, across five morphological groups and over 5 years. We show that coral growth rates are best predicted from colony size and morphology rather than species. Coral size follows a power scaling law with a constant exponent of 0.91. Despite being colonial organisms, corals have consistent allometric scaling in growth. This consistency simplifies the task of projecting community responses to disturbance and climate change.


2008 ◽  
Vol 07 (06) ◽  
pp. 1147-1158 ◽  
Author(s):  
JUN LI ◽  
LIAN-CAI XU ◽  
SI-YAN LIAO ◽  
KANG-CHENG ZHENG ◽  
LIANG-NIAN JI

The theoretical studies on the electronic structure, DNA-binding, and absorption-spectral properties of "light switch" complex [ Ru ( phen )2( taptp )]2+ (phen = 1,10-phenanthroline; taptp = 4,5,9,18-tetraazaphenanthreno-[9,10-b]triphenylene) in aqueous solution have been carried out using density functional theory (DFT) and time-dependent DFT (TDDFT) methods. The results show the following: (i) The solvent effect makes all the frontier molecular orbital energies of complex to increase to a certain extent; however, the energies (ε LUMO + x) of some frontier unoccupied molecular orbitals (MOs) in aqueous solution are still negative and rather lower than those of the energies (ε HOMO - x) of some frontier-occupied MOs of DNA-base pairs, and thus the complex in aqueous solution is still an excellent electron-acceptor in its DNA-binding. (ii) The solvent effect further shows that simply increasing the conjugative planar area of intercalative ligand may be ineffective on the improvement of DNA-binding of the resulting complex because of going along with the increase in the LUMO (and LUMO + x) energy. It is the reason why the DNA-binding affinity of "light switch" complex [ Ru ( phen )2( taptp )]2+ is not better than that of the well-known complex [ Ru ( phen )2( dppz )]2+ yet. (iii) The three main experimental bands (~450 nm, ~360 nm, and ~290 nm) of the studied complex in aqueous solution were further well calculated, simulated, and explained by the TDDFT computations.


1953 ◽  
Vol 31 (4) ◽  
pp. 319-327 ◽  
Author(s):  
A. Baerg ◽  
C. A. Winkler

The extent of the exchange between silver foils and silver ions in nitrate solution was compared with surface area measurements made by the Bowden-Rideal method. No quantitative correspondence between the two measurements was observed. During one hour the exchange with mechanically abraded surfaces affected about 30 apparent atomic layers of the metal, but this was reduced to about one-half this value when the surfaces were equilibrated for several days in inactive silver nitrate. Etched foils exchanged during one hour to a.depth of only about 2 apparent atomic layers and this was not affected by equilibration. Bowden-Rideal area measurements gave values of roughly 7 and 15 times the planar area for etched and abraded specimens respectively. These values were not altered by equilibration of the surfaces. Only about 50% of the acquired radioactivity was subsequently removable in inactive silver nitrate solution. Part of the measured radioactivity was present on the surface in adsorbed ionic form and was not removable by a simple water wash. The magnitude of this adsorbed activity was found to be measurable electrometrically.


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