Design and Modeling of Soft Continuum Manipulators Using Parallel Asymmetric Combination of Fiber-Reinforced Elastomers

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
Naveen Kumar Uppalapati ◽  
Girish Krishnan
Keyword(s):  
Coupling Effect ◽  
Performance Study ◽  
Pneumatic Actuators ◽  
Bending Performance ◽  
Kirchhoff Rod ◽  
Spatial Deformation ◽  
Complex Design ◽  
Place Task ◽  
The Individual ◽  
State Of Art

Abstract Soft continuum arms (SCAs) have a large workspace, dexterity, and adaptability, but at the cost of complex design construction highlighted by concatenating several serial segments. In this paper, we propose a new design architecture for SCAs composed of a parallel combination of pneumatic actuators. The BR2 SCA featured in this work is asymmetric as it combines one soft bending (B) actuator and two soft rotating (R2) actuators as opposed to state of art symmetric architectures that adopt bending segments. Spatial deformation is obtained by combining the bending and rotating feature of the individual actuators. This paper also formulates an approximate forward analysis method based on Kirchhoff rod equations to predict the spatial deformation under external loads with an accuracy less than 9% of the SCAs length. In addition, the model also takes into account the “coupling effect” inherent to the asymmetric parallel combination, where actuating rotating actuator attenuates the bending performance and vice versa. Consequently, this work also refines the design of the SCA that minimizes the coupling effect. A detailed performance study of the refined BR2 manipulator on a swiveling base demonstrates larger workspace and higher dexterity when compared with state of art single section SCAs. The performance of the design is validated through different tasks like obstacle avoidance, pick and place task, and whole arm grasping. These performance attributes surpass any other single segment soft module and is a potential building block for constructing customized SCAs.

scholarly journals Design of Soft Continuum Manipulators Using Parallel Asymmetric Combination of Fiber Reinforced Elastomers

2018 ◽  
Author(s):  
Naveen Kumar Uppalapati ◽  
Girish Krishnan
Keyword(s):  
Coupling Effect ◽  
Performance Study ◽  
Pneumatic Actuators ◽  
Spatial Deformation ◽  
Complex Design ◽  
Continuum Manipulators ◽  
Place Task ◽  
Curvature And Torsion ◽  
The Individual ◽  
The Cost

Soft continuum manipulators have large workspace, dexterity and adaptability, but at the cost of complex design construction highlighted by concatenating several individually controlled serial segments. In this paper, we propose a new designarchitecture for a soft continuum manipulator composed of a parallel combination of pneumatic actuators. The BR2 manipulator, featured in this paper is asymmetric as it combines one soft bending (B) actuator and two soft rotating (R2) actuators, as opposed to state of the art symmetric architectures that adopt bending segments. Spatial deformation modes are achieved by combining curvature and torsion of the individual actuators. This paper formulates a forward analysis method based on Cosserat rod mechanics to predict the spatial deformation of the manipulator under the effect of external loads with an accuracy less than 9 % of the manipulator length. The model takes into account ‘the coupling effect’ inherent to the asymmetric combination, where pressurizing the rotating actuator attenuates the bendingcurvature and vice versa. Consequently, the paper studies the optimal design of the manipulator constituents that minimize the coupling, and thus maximize the workspace and dexterity. A detailed performance study of the BR2 manipulator on aswiveling base demonstrates a spatial workspace quantified by an axisymmetric area, and sufficient dexterity such that at least 87% of the workspace can be approached with two or more orientations. These are validated through obstacle avoidance, and a pick and place task. The manipulator is also capable ofwhole arm manipulation by spiraling along cylindrical objects of varying diameters. These performance attributes surpass any other single segment module and is a potential building block for constructing customized continuum manipulators.

Dynamic Characteristic Analysis of New Pneumatic Bending Joint

2012 ◽  
Vol 271-272 ◽  
pp. 1742-1749
Author(s):  
Peng Cheng Huang ◽  
Qing Hua Yang ◽  
Guan Jun Bao ◽  
Li Bin Zhang
Keyword(s):  
Response Time ◽  
Dynamic Characteristic ◽  
Simulation Analysis ◽  
Characteristic Analysis ◽  
Pneumatic Actuators ◽  
Bending Performance ◽  
First Law Of Thermodynamics ◽  
Existing Problems ◽  
Joint Damping ◽  
New Type

Aimed at existing problems on the bending performance of pneumatic bending joint, a new type of pneumatic bending joint is proposed in this paper. Double flexible pneumatic actuators are used as actuating drivers. Based on the first law of thermodynamics and the joint dynamic equation, the angle dynamic model is established and analyzed. Moreover simplified model is proposed. Meanwhile, its dynamic characteristic is analyzed through simulation analysis. The simulation suggests the following results: in the gas-filled phase, the joint’s pressure response time is about 10ms; while it is about 60ms in the gas-escape phase; and the angle response time of joint is 10 to 20ms. When the joint damping coefficient is increasing, this value will also increase.

scholarly journals Performance Analysis of Effective Symbolic Methods for Solving Band Matrix SLAEs

2019 ◽  
Vol 214 ◽  
pp. 05004
Author(s):  
Milena Veneva ◽  
Alexander Ayriyan
Keyword(s):  
Performance Analysis ◽  
High Performance ◽  
Coefficient Matrix ◽  
Algebraic Equations ◽  
Performance Study ◽  
Band Matrix ◽  
Linear Algebraic Equations ◽  
The Individual ◽  
Performance Computing ◽  
Symbolic Algorithms

This paper presents an experimental performance study of implementations of three symbolic algorithms for solving band matrix systems of linear algebraic equations with heptadiagonal, pentadiagonal, and tridiagonal coefficient matrices. The only assumption on the coefficient matrix in order for the algorithms to be stable is nonsingularity. These algorithms are implemented using the GiNaC library of C++ and the SymPy library of Python, considering five different data storing classes. Performance analysis of the implementations is done using the high-performance computing (HPC) platforms “HybriLIT” and “Avitohol”. The experimental setup and the results from the conducted computations on the individual computer systems are presented and discussed. An analysis of the three algorithms is performed.

Influences of Personal Experience in Decision-Making

2017 ◽  
pp. 76-97 ◽  
Author(s):  
Thais Spiegel
Keyword(s):  
Decision Making ◽  
Cognitive Processing ◽  
Decision Process ◽  
Human Cognition ◽  
Individual Experience ◽  
Systematic Revision ◽  
Cognitive Sciences ◽  
The Individual ◽  
State Of Art

Among the aspects that conform the human cognition and therefore, the behavior observed in the choices, there is the individual experience. Researches point the experience performing either positive as negative roles in the process of decision-making. Motivated by the question, What is the role of the experience in the decision-making? this text sought to check in which way the state of art and the technique of Cognitive Sciences could contribute with the better understanding of the cognitive processing in the context of decision-making. It was adopted as a start the roles' structured exposition of the cognition elements during the decision process, as Spiegel's (2014) proposal. It was investigated through a systematic revision of the literature, the impacts of the decision-maker's experience in the manifestation of attention, categorization, memory and emotion. As a result, 17 inferences that present which is the role of the experience in the decision-making, and deeply, which are the implications of the experience in the cognitive process of the decision-maker, are presented.

scholarly journals Survey and Analysis of Web Service Composition Strategies: A State of Art Performance Study

2016 ◽  
Vol 9 (11) ◽  
Author(s):  
J. Amudhavel ◽  
U. Prabhu ◽  
P. Inbavalli ◽  
N. Moganarangan ◽  
V. Ravishankar ◽  
...  
Keyword(s):  
Web Service ◽  
Service Composition ◽  
Web Service Composition ◽  
Performance Study ◽  
Art Performance ◽  
State Of Art

scholarly journals SISTEMA DE MEDIÇÃO INDIVIDUALIZADA DE ÁGUA: ESTUDO DE CASO DE EDIFÍCIO COMERCIAL EM SÃO PAULO

2016 ◽  
Vol 11 (3) ◽  
Author(s):  
Bárbara Cattapreta Lima ◽  
Juliana Keiko Yamaguchi ◽  
Lika Livia Kussaba ◽  
Armando Traini Ferreira
Keyword(s):  
System Performance ◽  
Sao Paulo ◽  
São Paulo ◽  
Commercial Building ◽  
Performance Study ◽  
Rational Use ◽  
Advantages And Disadvantages ◽  
The Common ◽  
The Individual

RESUMO: Este artigo utiliza para seu desenvolvimento dados reais coletados da observação de um Sistema de Medição Individualizada (SMI) de água de um edifício comercial situado em São Paulo – SP e, apresenta como objetivos um estudo da redução de consumo resultante da instalação do SMI e um levantamento a respeito das vantagens e desvantagens da sua utilização em edifícios. O SMI consiste na instalação de um medidor em cada unidade habitacional a fim de contabilizar individualmente o consumo de água, energia, gás e outros insumos ou serviços, salvo a porção utilizada nas áreas comuns do edifício, que continua sendo rateada entre os condôminos. Dessa maneira, permite uma cobrança mais justa e o surgimento de um pensamento voltado para um uso mais racional e, consequentemente mais sustentável, induzido pelo maior controle dos gastos, por parte dos consumidores, referente ao item medido. Os resultados obtidos no estudo de caso apontaram para um uso mais racional, proveniente da melhor gestão de consumo de água, possibilitada pela instalação do SMI. Como principal contribuição, este artigo apresenta um panorama geral e simples do SMI de água, atentando para as principais vantagens de sua instalação em ambientes comerciais. ABSTRACT: This article uses for its development actual data collected from the observation of a Water Individualized Measurement System (W-IMS) of a commercial building located in São Paulo - SP, and aims at achieving a system performance study and also a survey of the main advantages and disadvantages of using an W-IMS in buildings. The SMI consists of installing a meter on each housing unit to enable the individual metering of water, energy, gas and other supplies or services consumption, except the portion used in the common areas of the building, which remains divided among all building residents. The W-IMS allows a fairer charging for water consumption, and encourages the emergence of a more sustainable thinking, focused to a water rational use, induced by the consumer’s spending control. The results of the case study point to a more rational use of water from its better consumption management, made possible by the IMS facilities. Finally, the main contribution of this paper is to present an simplified overview about W-IMS, paying attention on its design details and the advantages of its installation in commercial built-up environments.

scholarly journals Performance study and economic analysis of photo-voltaic thermal system under real-life thermal loads in tropical climate

2019 ◽  
Vol 29 (1) ◽  
Author(s):  
Sivanand Somasundaram ◽  
Andrew A. O. Tay
Keyword(s):  
Economic Analysis ◽  
Net Present Value ◽  
Real Life ◽  
Hot Water ◽  
Data Logging ◽  
Performance Study ◽  
Time Data ◽  
Photo Voltaic ◽  
One Year ◽  
The Individual

AbstractThe paper describes the implementation of a photo-voltaic thermal (PVT) system for a student hostel located in Singapore to cater for hot water requirements of the hostel and a part of electricity requirement. Real-time data monitoring was carried out by extensive instrumentation and data logging. Two different types of PVT collectors (glazed and unglazed) were used. Experimental results of performance of the individual collector arrays (thermal and photo-voltaic efficiency) along with the system overall efficiency are reported for a one-year period. Finally, an economic analysis of a typical PVT system for tropical climates is carried out and results are presented in the form of internal rate of return, net present value and payback period. PVT appears as a favourable technology in space starved areas like urban cities.

Recent Investigations on Grain Boundary Relaxation

2012 ◽  
Vol 184 ◽  
pp. 33-41 ◽  
Author(s):  
Q.P. Kong ◽  
W.B. Jiang ◽  
P. Cui ◽  
Qian Feng Fang
Keyword(s):  
Internal Friction ◽  
Grain Boundary ◽  
High Purity ◽  
Compensation Effect ◽  
Coupling Effect ◽  
Internal Friction Peak ◽  
Individual Behaviors ◽  
Different Types ◽  
Boundary Relaxation ◽  
The Individual

In recent years, we have investigated the grain boundary (GB) internal friction in high-purity Al bicrystals with a wide variety of misorientations of tilt and twist GBs. The main results are reviewed and divided into the following sections: (1) the origin of the GB internal friction peak; (2) the individual behaviors of different types of GBs; and (3) the coupling effect and compensation effect involved in GB relaxation.

The dignity of older individuals with Alzheimer’s disease and related dementias: A scoping review

Dementia ◽  
2021 ◽  
pp. 147130122110217
Author(s):  
Maral R Torossian
Keyword(s):  
Alzheimer’S Disease ◽  
Alzheimer's Disease ◽  
Scoping Review ◽  
Web Of Science ◽  
Sense Of Self ◽  
Older Individuals ◽  
Delivery Of Care ◽  
The Individual ◽  
Narrative Description ◽  
State Of Art

Background Supporting human dignity is the essence of delivery of care. Dignity is one’s sense of self-value that is influenced by the perceived value attributed to the individual from others. Individuals with Alzheimer’s disease and related dementias (ADRD) are at risk of violations of their dignity, due to their diminished autonomy, the alteration in their sense of self, the loss of meaningful social roles, and their limited interactions with peers and confirmation of identity. Objectives A scoping review was conducted to explore the state of art regarding the dignity of individuals with ADRD. Methods: A search was conducted using CINAHL, PubMed, Web of Science, and PsycINFO. Relevant articles were analyzed and organized based on the themes they addressed, and a narrative description of findings was presented. Results Twenty-six articles were included in the review. Findings highlighted characteristics of care that affected the dignity of these individuals. Researchers found that care was task-centered, depersonalized, and lacked a genuine connection. Individuals with ADRD experienced embarrassment, lack of freedom, and powerlessness, which contributed to feelings of being devalued, and threatened their dignity. Studies testing interventions to enhance dignity were either inconclusive, lacked rigor, or had no lasting effect. Conclusion: The dignity of individuals with ADRD may be violated during healthcare interactions. More research is needed to objectively measure the dignity of these individuals and examine the effectiveness of interventions aimed at promoting dignity.

The Anti-Bending Performance Study of Loaded Continuous Beam that Strengthened with Prestressed Laterally Bonded Carbon Fiber Sheets

2014 ◽  
Vol 541-542 ◽  
pp. 283-287
Author(s):  
Xiang Rong Zeng ◽  
Cai Ping Li ◽  
Jin Chen ◽  
Xiao Xie ◽  
Lei Zhang
Keyword(s):  
Carbon Fiber ◽  
Continuous Beam ◽  
Reinforcement Effect ◽  
Performance Study ◽  
Bending Performance ◽  
Continuous Beams ◽  
Initial Load ◽  
Stress And Deformation ◽  
Better Than

We studied the strengthening performance of prestressed laterally bonded carbon fiber sheets (CFS) to two-span continuous beams in this paper, which included one unstrengthened beam, two non-prestressed laterally bonded CFS strengthening beams, and four prestressed laterally bonded CFS strengthening beams, and all of them were sticked with CFS on different styles on tension part of lateral beam. We discussed the stress and deformation of laterally bonded CFS strengthened continuous beams under different initial load cases and different prestressed impact, and studied the influence of initial load and prestressing to reinforcement effect. The results showed that the size of initial load and prestressing would affect the reinforcement effect of laterally bonded CFS to continuous beams; The smaller initial load, the better reinforcement effect; The reinforcement effect to continuous beams of prestressed laterally bonded CFS was better than the non-prestressed laterally bonded CFS. Corresponding to latter, the former also owned better deformation performance, less cracks number and width.

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