A Multi-Curvature, Variable Stiffness Soft Gripper for Enhanced Grasping Operations

For soft grippers to be applied in atypical industrial environments, they must conform to an object’s exterior shape and momentarily change their stiffness. However, many of the existing grippers have limitations with respect to these functions: they grasp an object with only a single curvature and a fixed stiffness. Consequently, those constraints limit the stability of grasping and the applications. This paper introduces a new multicurvature, variable-stiffness soft gripper. Inspired by the human phalanx and combining the phalanx structure and particle jamming, this work guarantees the required grasping functions. Unlike the existing soft pneumatic grippers with one curvature and one stiffness, this work tries to divide the pressurized actuating region into three parts to generate multiple curvatures for a gripper finger, enabling the gripper to increase its degrees of freedom. Furthermore, to prevent stiffness loss at an unpressurized segment, this work combines divided actuation and the variable-stiffness capability, which guarantee successful grasping actions. In summary, this gripper generates multiple grasping curvatures with the proper stiffness, enhancing its dexterity. This work introduces the new soft gripper’s design, analytical modeling, and fabrication method and verifies the analytic model by comparing it with FEM simulations and experimental results.

A Systematic Design Optimization Approach for Multiphysics MEMS Devices Based on Combined Computer Experiments and Gaussian Process Modelling

This paper presents a systematic and efficient design approach for the two degree-of-freedom (2-DoF) capacitive microelectromechanical systems (MEMS) accelerometer by using combined design and analysis of computer experiments (DACE) and Gaussian process (GP) modelling. Multiple output responses of the MEMS accelerometer including natural frequency, proof mass displacement, pull-in voltage, capacitance change, and Brownian noise equivalent acceleration (BNEA) are optimized simultaneously with respect to the geometric design parameters, environmental conditions, and microfabrication process constraints. The sampling design space is created using DACE based Latin hypercube sampling (LHS) technique and corresponding output responses are obtained using multiphysics coupled field electro–thermal–structural interaction based finite element method (FEM) simulations. The metamodels for the individual output responses are obtained using statistical GP analysis. The developed metamodels not only allowed to analyze the effect of individual design parameters on an output response, but to also study the interaction of the design parameters. An objective function, considering the performance requirements of the MEMS accelerometer, is defined and simultaneous multi-objective optimization of the output responses, with respect to the design parameters, is carried out by using a combined gradient descent algorithm and desirability function approach. The accuracy of the optimization prediction is validated using FEM simulations. The behavioral model of the final optimized MEMS accelerometer design is integrated with the readout electronics in the simulation environment and voltage sensitivity is obtained. The results show that the combined DACE and GP based design methodology can be an efficient technique for the design space exploration and optimization of multiphysics MEMS devices at the design phase of their development cycle.

Loading equine oocytes with cryoprotective agents captured with a finite element method model

Cryopreservation can be used to store equine oocytes for extended periods so that they can be used in artificial reproduction technologies at a desired time point. It requires use of cryoprotective agents (CPAs) to protect the oocytes against freezing injury. The intracellular introduction of CPAs, however, may cause irreversible osmotic damage. The response of cells exposed to CPA solutions is governed by the permeability of the cellular membrane towards water and the CPAs. In this study, a mathematical mass transport model describing the permeation of water and CPAs across an oocyte membrane was used to simulate oocyte volume responses and concomitant intracellular CPA concentrations during the exposure of oocytes to CPA solutions. The results of the analytical simulations were subsequently used to develop a phenomenological finite element method (FEM) continuum model to capture the response of oocytes exposed to CPA solutions with spatial information. FEM simulations were used to depict spatial differences in CPA concentration during CPA permeation, namely at locations near the membrane surface and towards the middle of the cell, and to capture corresponding changes in deformation and hydrostatic pressure. FEM simulations of the multiple processes occurring during CPA loading of oocytes are a valuable tool to increase our understanding of the mechanisms underlying cryopreservation outcome.

Verification of Fatigue Damage and Prognosis Related to Degradation of Polymer-Ceramic

Statistically, road accidents involving pedestrians occur in the autumn and winter months, when outdoor temperatures reach −30 °C. The research presented in this paper investigates the impact of a pedestrian’s head on laminated windscreen, taking into account the effects of external temperature, heating of the windscreen from the inside, and fatigue of the glass. The automotive laminated windscreen under study is made from two layers of glass and a Polyvinyl Butyral (PVB) resin bonding them together. PVB significantly changes its properties with temperature. The Finite Element Method (FEM) simulations of a pedestrian’s head hitting the windscreen of an Opel Astra II at <−30 °C, +20 °C> were performed. The obtained Head Injury Criterion (HIC) results revealed an almost twofold decrease in safety between +20 °C and −20 °C. The same test was then performed taking into account the heating of the windscreen from the inside and the fatigue of the glass layers. Surprisingly, the highest HIC value of all the cases studied was obtained at −30 °C and heating the windscreen. The nature of safety changes with temperature variation is different for the cases of heating, non-heating, and fatigue of glass layers. Glass fatigue increases pedestrian safety throughout the temperature range analysed.

Finite Element Analysis of Experimentally Tested Concrete Slabs Subjected to Airblast

Since the last century, concrete has been used to protect structures against intentional or accidental detonation of explosives. Recently, as concerns about terrorist activities and accidents in plants using explosives increase worldwide, the study of the behaviour of this type of material and any civil or military structure under the influence of explosions has increased. Among the lethal effects of explosive devices, which cause greater loads in structural elements is the airblast effect. For this reason, this paper presents a series of airblast finite element (FEM) simulations developed in Abaqus/Explicit®. To validate the computational method, such simulations are geometrically and structurally kept similar to full-scale tests conducted in a blast test area of the Science and Technology Aerospace Department (Brazilian Air Force). Both simulations and tests consisted of seven reinforced concrete slabs with compressive strengths of about 40 to 60 MPa, variable steel reinforcement areas, slab dimensions measuring 1×1 m, and subjected to 2.7 kg of non-confined plastic bonded explosive. The results demonstrated that FEM simulations can predict the rupture of the tested slabs and how the effect occurs, showing a valid method to investigating the response of RC slabs when compared to expensive field tests. Differences in displacements were observed between the results of FEM simulations and blast field tests, mainly caused by the sensitivity of the case studied, limits of computational capacity, and intrinsic variations in the materials and sensors used in the field tests. However, these differences showed an order of magnitude compatible with the safety coefficients used with RC, demonstrating that the method can be used for the design of RC slabs under the effect of airblast.