scholarly journals Dynamic Characteristics and Anti-slip Grasping of Two-Finger Translational Manipulator

2021 ◽  
Vol 15 ◽  
Author(s):  
Wei Liu ◽  
Jin Cheng ◽  
Ping Wan ◽  
Cheng Jing ◽  
Yongheng Ma ◽  
...  
Keyword(s):  
Dynamic Characteristics ◽  
Small Deformation ◽  
Force Sensor ◽  
Experimental Results ◽  
System Structure ◽  
Automation System ◽  
Rubber Gasket ◽  
Grasping Force ◽  
Geometric Relationship ◽  
The Relationship

Aiming at the problem of deformation and slip of disc-shaped rubber gasket in the process of grasping, a two-finger translational manipulator based on ABB1410 robot is designed. The kinematics model of the two-finger translational manipulator is established, and the geometric relationship between the motor angle and grasp position is obtained. Based on the two-dimensional force sensor, the dynamic characteristics of the two-finger translational manipulator were studied, and the relationship between the grasping force and the deformation and slip of the disc-shaped rubber gasket was obtained. A prototype of two-finger translational manipulator is developed. The experimental results show that when the grasping force is 5 N, small deformation and stable grasping can be achieved. The grasping and handling process of disk-shaped rubber gasket is designed based on Robot Studio software, and the verification experiments were carried out. The experimental results show that the system can achieve the small deformation and stable grasping of flexible objects, which is consistent with the simulation results. The research can provide theoretical and experimental basis for the design of automation system structure and process control.

Pneumatic Bellows Actuator with Force Sensing Ability and Its Application to a Pneumatic Robot

1995 ◽  
Vol 7 (6) ◽  
pp. 474-482 ◽  
Author(s):  
Yasuhiro Hayakawa ◽  
◽  
Sadao Kawamura ◽  
Keyword(s):  
Dynamic Characteristics ◽  
Pressure Sensors ◽  
Force Sensor ◽  
Experimental Results ◽  
Pneumatic Actuator ◽  
Force Sensing ◽  
Friction Forces ◽  
Static And Dynamic Characteristics ◽  
Metal Bellows ◽  
External Forces

In this paper, we design a new pneumatic actuator using metal bellows. Because this actuator has no sliding parts, there is no influence of friction forces. Therefore, it is expected that the actuator has good performance in positioning and generating exact desired forces. Furthermore, because external forces can be precisely measured through pressure sensors, the bellows actuator works as a force sensor. In order to use the bellows actuator as a force sensor (bellows sensor), we investigate the static and dynamic characteristics of the bellows actuator. Based on these experimental results, the capability of the bellows sensor becomes clear. We use the bellows actuator as a sensing actuator which works as a sensor and an actuator simultaneously. In addition, the effectiveness of the actuator is demonstrated through several experimental results. We design one joint of a robot which is antagonistically activated by the two bellows actuators. Based on some experimental results, we disclose the static and dynamic characteristics of the proposed robot and confirm that it can move flexibly following external forces by utilizing the force sensing ability.

Research on Grasping Force of New Type Pneumatic Flexible Finger

2013 ◽  
Vol 401-403 ◽  
pp. 245-249
Author(s):  
Yun Wei Zhao ◽  
De Xu Geng ◽  
Xiao Min Liu ◽  
Jin Tao Zhang
Keyword(s):  
Mathematical Model ◽  
Modular Design ◽  
Normal Pressure ◽  
Experimental Results ◽  
Flexible Joints ◽  
Grasping Force ◽  
New Type ◽  
The Mathematical Model ◽  
The Relationship ◽  
Theoretical Results

This paper develops a new type of flexible finger employing the pneumatic flexible joints base on the modular design concept. In this work, the mathematical model of the grasping force of the flexible finger is derived and analyzed on the relationship between the air pressure and the grasping force. Further the grasping force experiments of finger using dynamometer and acquire the normal pressure of the finger with different combinations ventilation of joints are conducted, Also, the experimental results are compared with the theoretical results, which confirm the validity of the presented model.

Parasites and promiscuity: Acute disease salience leads to more restricted sexual attitudes

2021 ◽  
pp. 026540752110309
Author(s):  
James B. Moran ◽  
Nicholas Kerry ◽  
Jin X. Goh ◽  
Damian R. Murray
Keyword(s):  
Social Behavior ◽  
Sexual Attitudes ◽  
Experimental Manipulation ◽  
Sexual Relationships ◽  
Experimental Results ◽  
Acute Disease ◽  
Short Term ◽  
Attitudes And Behaviors ◽  
The Relationship ◽  
Sexual Promiscuity

How does disease threat influence sexual attitudes and behaviors? Although research on the influence of disease threat on social behavior has grown considerably, the relationship between perceived disease threat and sexual attitudes remains unclear. The current preregistered study (analyzed N = 510), investigated how experimental reminders of disease threat influence attitudes and anticipated future behaviors pertaining to short-term sexual relationships, using an ecologically valid disease prime. The central preregistered prediction was that experimental manipulation of disease threat would lead to less favorable attitudes and inclinations toward sexual promiscuity. Results were consistent with this preregistered prediction, relative to both a neutral control condition and a non-disease threat condition. These experimental results were buttressed by the finding that dispositional variation in worry about disease threat predicted less favorable attitudes and inclinations toward short-term sexual relationships. This study represents the first preregistered investigation of the implications of acute disease threat for sexual attitudes.

scholarly journals Development of a Wearable Mouth Guard Device for Monitoring Teeth Clenching during Exercise

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1503
Author(s):  
Rio Kinjo ◽  
Takahiro Wada ◽  
Hiroshi Churei ◽  
Takehiro Ohmi ◽  
Kairi Hayashi ◽  
...  
Keyword(s):  
Force Sensor ◽  
Tolerance Test ◽  
Sensor Output ◽  
Sports Performance ◽  
Teeth Grinding ◽  
Exercise Tolerance Test ◽  
Sensor Position ◽  
Video Motion Analysis ◽  
Teeth Clenching ◽  
The Relationship

Teeth clenching during exercise is important for sports performance and health. Recently, several mouth guard (MG)-type wearable devices for exercise were studied because they do not disrupt the exercise. In this study, we developed a wearable MG device with force sensors on both sides of the maxillary first molars to monitor teeth clenching. The force sensor output increased linearly up to 70 N. In four simple occlusion tests, the trends exhibited by the outputs of the MG sensor were consistent with those of an electromyogram (EMG), and the MG device featured sufficient temporal resolution to measure the timing of teeth clenching. When the jaw moved, the MG sensor outputs depended on the sensor position. The MG sensor output from the teeth-grinding test agreed with the video-motion analysis results. It was comparatively difficult to use the EMG because it contained a significant noise level. Finally, the usefulness of the MG sensor was confirmed through an exercise tolerance test. This study indicated that the developed wearable MG device is useful for monitoring clenching timing and duration, and the degree of clenching during exercise, which can contribute to explaining the relationship between teeth clenching and sports performance.

Research on a Novel Miniature Air Compressor Generating both Compressed Air and Vacuum

2014 ◽  
Vol 1027 ◽  
pp. 253-256
Author(s):  
Jian Hai Han ◽  
Jie Zhang ◽  
Dong Liao Fu ◽  
Zhi Gang Hu
Keyword(s):  
Vacuum Pump ◽  
Operating Principle ◽  
Experimental Results ◽  
System Structure ◽  
Compressed Air ◽  
The Novel ◽  
Pump Mode ◽  
Air Compressor

A new kind of miniature air compressor is proposed in this paper. This compressor can produce both compressed air and vacuum. The system structure, operating principle and experimental characteristics of the novel miniature air compressor are described in detail. The experimental results prove that the shift between air compressor mode and vacuum pump mode is possible and the design of system structure is appropriate.

Research on Paper Whiteness Based on Visual Comfort

2013 ◽  
Vol 295-298 ◽  
pp. 543-546
Author(s):  
Zhi Jian Li ◽  
Nuo Li
Keyword(s):  
Negative Impact ◽  
Experimental Results ◽  
Reading Process ◽  
Visual Comfort ◽  
Visual Fatigue ◽  
The Relationship

High whiteness paper is likely to cause visual fatigue. The relationship between whiteness and visual comfort is studyed by adopting the form of a combination of presentation reading and questionnaires. The experimental results show that, during the reading process, the higher of paper whiteness, the greater the chance of looked up, eye rubbing, and other little tricks, at the same time, the easier inattentive, have a negative impact on reading effect.

scholarly journals Characterization of percolation behavior in conductor–dielectric 0-3 composites

2014 ◽  
Vol 04 (04) ◽  
pp. 1450035 ◽  
Author(s):  
Lin Zhang ◽  
Patrick Bass ◽  
Zhi-Min Dang ◽  
Z.-Y. Cheng
Keyword(s):  
Dielectric Constant ◽  
Percolation Threshold ◽  
Frequency Dependence ◽  
Experimental Results ◽  
Effective Dielectric Constant ◽  
Filler Concentration ◽  
Percolation Behavior ◽  
The Matrix ◽  
The Relationship

The equation ε eff ∝ (ϕc - ϕ)-s which shows the relationship between effective dielectric constant (εeff) and the filler concentration (φ), is widely used to determine the percolation behavior and obtain parameters, such as percolation threshold φc and the power constant s in conductor–dielectric composites (CDCs). Six different systems of CDCs were used to check the expression by fitting experimental results. It is found that the equation can fit the experimental results at any frequency. However, it is found that the fitting constants do not reflect the real percolation behavior of the composites. It is found that the dielectric constant is strongly dependent on the frequency, which is mainly due to the fact that the frequency dependence of the dielectric constant for the composites close to φc is almost independent of the matrix.

Face Recognition Algorithm Based on Kernel Collaborative Representation

2013 ◽  
Vol 756-759 ◽  
pp. 3590-3595
Author(s):  
Liang Zhang ◽  
Ji Wen Dong
Keyword(s):  
Face Recognition ◽  
Principal Components Analysis ◽  
Principal Components ◽  
Recognition Algorithm ◽  
Experimental Results ◽  
Collaborative Representation ◽  
Nonlinear Structures ◽  
Components Analysis ◽  
Kernel Principal Components Analysis ◽  
The Relationship

Aiming at solving the problems of occlusion and illumination in face recognition, a new method of face recognition based on Kernel Principal Components Analysis (KPCA) and Collaborative Representation Classifier (CRC) is developed. The KPCA can obtain effective discriminative information and reduce the feature dimensions by extracting faces nonlinear structures features, the decisive factor. Considering the collaboration among the samples, the CRC which synthetically consider the relationship among samples is used. Experimental results demonstrate that the algorithm obtains good recognition rates and also improves the efficiency. The KCRC algorithm can effectively solve the problem of illumination and occlusion in face recognition.

scholarly journals Monitoring Mechanisms, Gender, and Information System Structure in Nigerian Non-Financial Listed Companies

2016 ◽  
Vol 11 (5) ◽  
pp. 129 ◽  
Author(s):  
Oluyemisi Rachael Arowolo ◽  
Ayoib Che-Ahmad
Keyword(s):  
Information System ◽  
Listed Companies ◽  
System Structure ◽  
Annual Reports ◽  
Internal Auditing ◽  
Minority Shareholders ◽  
Organizational Attributes ◽  
The Board Of Directors ◽  
Sub Saharan ◽  
The Relationship

Monitoring mechanisms are tools for companies to protect the interests of the shareholders, most especially, the minority shareholders from the deviant behaviour of the management and board members. This study examines the relationship between monitoring mechanisms (directorship, internal and external auditing), gender and information system structure in Nigerian non-financial listed companies. The empirical tests for the study are by quantitative analysis approach with data from annual reports and questionnaires (for information system structure and internal auditing not obtainable from annual reports). The findings reveal that both gender and information system structure significantly relates to monitoring mechanisms (directorship, internal auditing and external auditing). This empirical study adds to the literature on the antecedents of organizational attributes in respect of gender and information system structure as related to monitoring mechanisms, particularly in Sub-Saharan African. Likewise, the findings suggest policy implication for the board of directors regarding appropriate board composition and structuring of the information system of a company to mitigate agency problems.

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