Regulating surface traction of a soft robot through electrostatic adhesion control

ABSTRACTQuantitative measurement of the adhesion strength of thin film metallizations has been achieved by a novel technique employing electrostatic forces to generate delaminating stresses. This technique has been used in testing the adhesion of Al-Cu, Cu, and Al multilayer films deposited on Si. Micro-blister-type failure is revealed by scanning electron microscopy. The delamination process and the geometry of the blister are discussed. The measured adhesion data fit a Weibull distribution function.

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Finite difference code for velocity and surface traction of a Fluid between Two Eccentric Spheres

JOURNAL OF ADVANCES IN PHYSICS ◽

10.24297/jap.v11i1.6950 ◽

2015 ◽

Vol 11 (1) ◽

pp. 2960-2971

Author(s):

M.Abdel Wahab

Keyword(s):

Velocity Field ◽

Angular Velocity ◽

Finite Difference ◽

Numerical Study ◽

Outer Sphere ◽

Equation Of Motion ◽

Annular Region ◽

Surface Traction ◽

Angular Velocities ◽

Axis Passing

The Numerical study of the flow of a fluid in the annular region between two eccentric sphere susing PHP Code isinvestigated. This flow is created by considering the inner sphere to rotate with angular velocity 1 ï— and the outer sphererotate with angular velocity 2 ï— about the axis passing through their centers, the z-axis, using the three dimensionalBispherical coordinates (ï¡,ï¢ ,ïª) .The velocity field of fluid is determined by solving equation of motion using PHP Codeat different cases of angular velocities of inner and outer sphere. Also Finite difference code is used to calculate surfacetractions at outer sphere.

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Depressed filtration ripening enhances removal of Cryptosporidium parvum

Water Science & Technology Water Supply ◽

10.2166/ws.2002.0098 ◽

2002 ◽

Vol 2 (3) ◽

pp. 159-168 ◽

Cited By ~ 2

Author(s):

V. Gitis ◽

R.C. Haught ◽

R.M. Clark ◽

E. Radha Krishnan

Keyword(s):

Surface Water ◽

Cryptosporidium Parvum ◽

Pilot Scale ◽

Kaolin Clay ◽

Clay Particles ◽

Physico Chemical ◽

Cryptosporidium Parvum Oocysts ◽

Granular Filtration ◽

Electrostatic Adhesion ◽

Innovative Concept

Pilot-scale experiments were conducted to investigate removal of Cryptosporidium parvum by contact granular filtration. The research demonstrated enhanced removal of Cryptosporidium parvum in the presence of kaolin particles. This is believed to be due electrostatic adhesion of Cryptosporidium parvum oocysts to the kaolin clay particles. The elementary physico-chemical interactions between filter granules and suspension particles will be discussed. This innovative concept was successfully implemented to reduce the ripening sequence of subsequent filtration experimental test runs by the addition of large surface area particles to slurry of kaolin and Cryptosporidium parvum in surface water.

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Advanced soft robot modeling in ChainQueen

Robotica ◽

10.1017/s0263574721000722 ◽

2021 ◽

pp. 1-31

Author(s):

Andrew Spielberg ◽

Tao Du ◽

Yuanming Hu ◽

Daniela Rus ◽

Wojciech Matusik

Keyword(s):

Application Programming Interface ◽

Material Point ◽

Soft Robotics ◽

Soft Robot ◽

Inference Control ◽

Simulation And Optimization ◽

Efficient Simulation ◽

Application Programming ◽

Robot Modeling ◽

Programming Interface

Abstract We present extensions to ChainQueen, an open source, fully differentiable material point method simulator for soft robotics. Previous work established ChainQueen as a powerful tool for inference, control, and co-design for soft robotics. We detail enhancements to ChainQueen, allowing for more efficient simulation and optimization and expressive co-optimization over material properties and geometric parameters. We package our simulator extensions in an easy-to-use, modular application programming interface (API) with predefined observation models, controllers, actuators, optimizers, and geometric processing tools, making it simple to prototype complex experiments in 50 lines or fewer. We demonstrate the power of our simulator extensions in over nine simulated experiments.

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