Modeling and analysis of soft robotic fingers using the fin ray effect

2020 ◽  
Vol 39 (14) ◽  
pp. 1686-1705
Author(s):  
Xiaowei Shan ◽  
Lionel Birglen
Keyword(s):  
Contact Forces ◽  
Accurate Estimation ◽  
Modeling And Analysis ◽  
Physical Experiments ◽  
Fin Ray ◽  
And Performance ◽  
Difficult Challenge ◽  
Kinetostatic Model ◽  
Individual Contact ◽  
The Impact

Soft grasping of random objects in unstructured environments has been a research topic of predilection both in academia and in industry because of its complexity but great practical relevance. However, accurate modeling of soft hands and fingers has proven a difficult challenge to tackle. Focusing on this issue, this article presents a detailed mathematical modeling and performance analysis of parallel grippers equipped with soft fingers taking advantage of the fin ray effect (FRE). The FRE, based on biomimetic principles, is most commonly found in the design of grasping soft fingers, but despite their popularity, finding a convenient model to assess the grasp capabilities of these fingers is challenging. This article aims at solving this issue by providing an analytic tool to better understand and ultimately design this type of soft fingers. First, a kinetostatic model of a general multi-crossbeam finger is established. This model will allow for a fast yet accurate estimation of the contact forces generated when the fingers grasp an arbitrarily shaped object. The obtained mathematical model will be subsequently validated by numerically to ensure the estimations of the overall grasp strength and individual contact forces are indeed accurate. Physical experiments conducted with 3D-printed fingers of the most common architecture of FRE fingers will also be presented and shown to support the proposed model. Finally, the impact of the relative stiffness between different areas of the fingers will be evaluated to provide insight into further refinement and optimization of these fingers.

Modeling and Analysis of a Ball and Beam System Including Impacts and Dry Friction

2014 ◽  
Author(s):  
Diego Colón ◽  
Átila Madureira Bueno ◽  
Ivando S. Diniz ◽  
Jose M. Balthazar
Keyword(s):  
Differential Inclusion ◽  
Dry Friction ◽  
Viscous Friction ◽  
Mathematical Object ◽  
Contact Forces ◽  
Modeling And Analysis ◽  
Typical Situation ◽  
Beam System ◽  
The Impact ◽  
Ball And Beam System

The Ball and Beam system is a common didactical plant that presents a complex nonlinear dynamics. This comes from the fact that the ball rolls over the beam, which rotates around its barycenter. In order to deduce the system’s equations, composition of movement must be applied, using a non-inertial reference frame attached to the beam. In the Literature, a common hypothesis is to suppose that the ball rolls without slipping. If a viscous friction is supposed to be present, a simpler situation is obtained, where Lagrangean mechanics can be applied, and no contact force is known. Even then, the dynamics is very nonlinear. However, this model does not include all the relevant phenomena, such as ball’s slipping at higher beam’s inclination angles, dry friction between the ball and the beam, and impacts between: 1) the ball and the ends of the beam, and 2) the beam and the base (ground). These additions to the model impose the necessity to calculate, in a simulation setting, the contact forces, and the Newton’s approach to determine the system’s equations becomes more convenient. Also, discontinuities in the model are introduced, and the simpler mathematical object for model such systems are the differential inclusion systems. In this work, we deduce the Ball and Beam differential inclusion system, including dry friction and the impact between the ball and beam. We also present simulation results for the corresponding differential inclusion system in a typical situation.

The Impact of Property Characteristics on Economic Performance of Russian Industrial Enterprises

2005 ◽  
pp. 53-68 ◽  
Author(s):  
R. Kapeliushnikov ◽  
N. Demina
Keyword(s):  
Detailed Analysis ◽  
Economic Performance ◽  
Ownership Concentration ◽  
Corporate Sector ◽  
Concentrated Ownership ◽  
Industrial Enterprises ◽  
Russian Industry ◽  
Control Premium ◽  
And Performance ◽  
The Impact

The paper provides new survey evidence on effects of concentrated ownership upon investment and performance in Russian industrial enterprises. Authors trace major changes in their ownership profile, assess pace of post-privatization redistribution of shareholdings and provide evidence on ownership concentration in the Russian industry. The major econometric findings are that the first largest shareholding is negatively associated with the firm’s investment and performance but surprisingly the second largest shareholding is positively associated with them. Moreover, these relationships do not depend on identity of majority shareholders. These results are consistent with the assumption that the entrenched controlling owners are engaged in extracting "control premium" but sizable shareholdings accumulated by other blockholders may put brakes on their expropriating behavior and thus be conductive for efficiency enhancing. The most interesting topic for further more detailed analysis is formation, stability and roles of coalitions of large blockholders in the corporate sector of post-socialist countries.

The Impact of Women’s Employment on Marital Stability in Qatar Society

2019 ◽  
Vol 10 (2) ◽  
pp. 144-151
Author(s):  
Noora Ahmed Lari ◽  
Keyword(s):  
Work Motivation ◽  
Marital Stability ◽  
Female Employment ◽  
Social Constraints ◽  
Primary Data ◽  
Family Policies ◽  
Insufficient Time ◽  
And Performance ◽  
The Impact ◽  
The Relationship

The State of Qatar has implemented several family policies in order to improve the wellbeing of Qatari families and ensure fair distribution of development benefits for both men and women. However, there is a linkage between female employment outside the home and instability in the marriages of Qatari families. This paper investigates the impact of female employment on marital stability, based on the results of primary data collected in Qatar, a questionnaire that consisted of several sections such as challenges in the workplace, supervisor, family and spouse relations, work motivation and performance. Of the 824 questionnaires that were returned, 807 were completed and valid for analysis. Regression analysis and an ANOVA test have been used to test the relationship between the variables. The results of the research have produced mixed findings about how wives’ employment increases marital instability and have yielded few significant differences on mean scores of discuss on work demands, insufficient time together, housework, financial matters, communication, relatives and rearing children. The results indicates that in general Qatar working women face several challenges in relation to their marital life as part of cultural and social constraints.

Modeling of Tread Block Contact Mechanics Using Linear Viscoelastic Theory3

2008 ◽  
Vol 36 (3) ◽  
pp. 211-226 ◽  
Author(s):  
F. Liu ◽  
M. P. F. Sutcliffe ◽  
W. R. Graham
Keyword(s):  
High Speed ◽  
Slip Rate ◽  
Material Model ◽  
Contact Forces ◽  
Block Modeling ◽  
Rate Dependent ◽  
Linear Viscoelastic Material ◽  
Linear Viscoelastic ◽  
The Impact ◽  
Good Agreement

Abstract In an effort to understand the dynamic hub forces on road vehicles, an advanced free-rolling tire-model is being developed in which the tread blocks and tire belt are modeled separately. This paper presents the interim results for the tread block modeling. The finite element code ABAQUS/Explicit is used to predict the contact forces on the tread blocks based on a linear viscoelastic material model. Special attention is paid to investigating the forces on the tread blocks during the impact and release motions. A pressure and slip-rate-dependent frictional law is applied in the analysis. A simplified numerical model is also proposed where the tread blocks are discretized into linear viscoelastic spring elements. The results from both models are validated via experiments in a high-speed rolling test rig and found to be in good agreement.

The Role of Research and Innovation in the Transformation of Agri-Food Systems

2018 ◽  
Vol 12 (2) ◽  
pp. 60-63
Author(s):  
Mariana Sandu ◽  
Stefan Mantea
Keyword(s):  
Technological Progress ◽  
Food Systems ◽  
Food System ◽  
Agricultural Research ◽  
Research And Innovation ◽  
And Performance ◽  
The Impact ◽  
Determinant Factor ◽  
Rapid Transformation

Abstract Agri-food systems include branching ramifications, which connect in the upstream the input suppliers with farmers, and downstream farmers, processors, retailers and consumers. In the last decades, at the level of the regions, food systems have undergone rapid transformation as a result of technological progress. The paper analyzes the changes made to the structure, behavior and performance of the agri-food system and the impact on farmers and consumers. Also, the role of agricultural research as a determinant factor of transformation of agri-food system is analyzed. The research objective is to develop technologies that cover the entire food chain (from farm to fork) and meet the specific requirements of consumers (from fork to farm) through scientific solutions in line with the principles of sustainable agriculture and ensuring the safety and food safety of the population.

Analyzing the impact of financial momentum on the development of the economy

2020 ◽  
Vol 26 (2) ◽  
pp. 299-315
Author(s):  
V.V. Smirnov
Keyword(s):  
Financial Regulation ◽  
Systems Approach ◽  
Financial System ◽  
Modern Economic ◽  
And Performance ◽  
The Interest Rate ◽  
National Economies ◽  
Economic Ties ◽  
The Impact ◽  
Global Financial System

Subject. The article discusses the momentum in finance. Objectives. The study reveals the impact of financial momentum as the unity of antipodes in the development of the national economy. Methods. The study is based on a systems approach and methods of descriptive statistics. Results. I discover the ultimate goal of globalization, i.e. the substantive simplification of national economies and strengthening of global economic ties. The goals determine the logic tendency of national economies for reducing the interest rate so as to gain the financial momentum and, consequently, fanning the crisis risk in the global financial system. The global financial system became the substance of global economic processes, which determined development opportunities of national economies. I reveal what countries have the high and low financial momentum. Conclusions and Relevance. Being the unity of antipodes in the modern economic development, financial momentum causes countries to lose their economic identity, making them just functions of the global financial system. The cyclical development model of national economies is replaced with the metron model that rests on fluctuating advanced economies with the low financial momentum at its bottom and emerging economies at its top. The findings crystallize the concept and new competencies for a person who decide on the determination and performance of financial regulation activities.

From strategic human resources to organization performance

2014 ◽  
Author(s):  
Ana Rita Damas Oliveira ◽  
Paulo Alexandre Guedes Lopes Henriques ◽  
Teresa Cristina Clímaco Monteiro de Oliveira
Keyword(s):  
Human Resources ◽  
Business Strategy ◽  
Organization Performance ◽  
Case Study Methodology ◽  
Strategic Human Resources ◽  
The People ◽  
Sustainable Advantage ◽  
Strategy Alignment ◽  
And Performance ◽  
The Impact

Much has been written about the link between HR and performance, however consensus has yet not been found concerning the understanding on how that relationship comes together. Empirically, no direct impact has been found and research has only suggested an indirect impact. Consequently, the Strategic HRM field is particularly interested on the understanding of the mediating variables that impact the organization performance. Besides the integrated and business strategy alignment of the HR function, it should be considered that it is the people (HR) of the organization and not their practices that determine the company´s competitive advantage. (Messersmith & Guthrie, 2010) argue that it is the impact of those practices that represent “the true resource and enable a sustainable advantage over industry rivals”. The objetive of this research proposal is to study the impact of strategic human resources practices on the organization performance through a case study methodology, supported by longitudinal data. Namely, the project aims to achieve a deeper understanding of the variables that affect the process stream during strategy implementation. How the HR practices impact on people? And why human resources are the most valuable asset? These core premises are in line with the most recent economic concerns about people productivity, employment policies and labor flexibility.

Return on Invesment (ROI) of Software Product: A Systematic Literature Review

2015 ◽  
Vol 6 (1) ◽  
pp. 50-57
Author(s):  
Rizqa Raaiqa Bintana ◽  
Putri Aisyiyah Rakhma Devi ◽  
Umi Laili Yuhana
Keyword(s):  
Return On Investment ◽  
Assessment Criteria ◽  
Software Product ◽  
And Performance ◽  
Rational Consideration ◽  
Actual Return ◽  
The Cost ◽  
Investment Models ◽  
The Impact

The quality of the software can be measured by its return on investment. Factors which may affect the return on investment (ROI) is the tangible factors (such as the cost) dan intangible factors (such as the impact of software to the users or stakeholder). The factor of the software itself are assessed through reviewing, testing, process audit, and performance of software. This paper discusses the consideration of return on investment (ROI) assessment criteria derived from the software and its users. These criteria indicate that the approach may support a rational consideration of all relevant criteria when evaluating software, and shows examples of actual return on investment models. Conducted an analysis of the assessment criteria that affect the return on investment if these criteria have a disproportionate effort that resulted in a return on investment of a software decreased. Index Terms - Assessment criteria, Quality assurance, Return on Investment, Software product

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