Dimension investigation to pneumatic network bending soft actuators for soft robotic applications

Soft actuators have been investigated for robots that interact with people, such as industrial robots, entertainment robots, and medical robots. Although soft actuators have been utilised in several applications, design tools that can assist in the effective and systematic design of actuators are needed. This paper focused on the most common soft actuators for bending motion, the Pneumatic Networks bending actuators. Paper presented a survey on the effects of changing the dimensions on the soft actuator and its cross-section shape on the soft actuator flexibility and the forces generated at different applied pressures. This survey can be used to optimize the dimension ratio for the soft actuator and the cross-section shape. Furthermore, this paper analyzed the possible reasons for the dimension change effect. The performance of the bending soft actuator was evaluated using ABAQUS/CAE software simulation models to provide quantitative insights into the actuators' behaviours. Thus, this paper provided a lot of insights that can be used to guide and accelerate the soft actuator design process to create strong and flexible Pneumatic Networks bending actuators. Using the paper insights outputs, a soft gripper was designed that can grasp many complex objects without needing any modification in the gripper shape. To show the proposed actuators' capacity to do complicated movements and expand their applications, a completely soft hand was created that can mimic the mobility of the human hand as nearly as possible, and this ability was verified using hand sign language settings.

Effect of submerged body shape upon its movement pattern near free surface

Object and purpose of research. This paper discusses the tests with submerged models of different shape moving near the free surface in the test tank. The purpose of the study was to determine how relative vertical displacement and crosssection shape lift of submerged body depend on the speed of its movement at different immersion depths. Materials and methods. Model test procedure, techniques and results of model. Numerical simulation was performed in ANSYS software package. Main results. Experimental and theoretical study on cross-section shape effect of submerged body upon its wave generation, vertical lift and movement pattern near free surface. Conclusion. The results of this research will be useful for further work towards greater horizontal movement stability of submerged body at various speeds depending on its hull shape and immersion depth.

The Progress of Aerodynamic Mechanisms Based on Avian Leading-Edge Alula and Future Study Recommendations

Birds in nature have many unique devices to help them acquire excellent flight abilities under various complex flight conditions. One of the unique devices is the leading-edge alula, located at the junction of the arm wing and the hand wing of most birds. It often spreads out during takeoff and landing, probably playing a similar role to high-lift devices in fixed-wing aircraft. This paper analyzed and reviewed the results of current research on leading-edge alula, finding some important factors, such as the complex flapping motions, flexibility, and the plane and section shape of the wing, that have been ignored in current research to a certain extent. These would greatly affect the conclusions obtained. Hence, for a deeper understanding of the aerodynamic mechanisms and functions of the alula, some new study predictions for future research are presented. In addition, the feasible models and methods for further research based on these predictions are discussed and proposed. For example, the higher-accuracy LES or hybrid LES/RANS method and the combinations of these methods with wind-tunnel experiments using PIV technology are recommended.

The $^{135}$Cs(n,$\gamma$) cross section at 30 and 500 keV

The neutron capture cross section of the unstable isotope $^{135}$Cs was measured relative to that of gold by means of the activation method. The sample was produced by ion implantation in a high resolution mass separator and irradiated with quasi-monoenergetic neutrons at 30 keV and 500 keV, using the $^{7}$Li(p,n)$^{7}$Be reaction. After the irradiations at the above energies, one more irradiation with thermal neutrons was used for defining the sample mass and for measuring the half-life of $^{136}$Cs. The neutron capture cross section was determined as 164 $\pm$ 10 mbarn and 34.8 $\pm$ 3.0 mbarn at 30 keV and 500 keV, respectively, and were used to normalize the theoretically derived cross section shape.

Comparative Study on Thermos-Hydraulic Performance of Different Cross Section Shapes of Microchannels with Supercritical CO2 Fluid

The influence of the cross section shape of microchannels on the thermos-hydraulic performance of the supercritical CO2 fluid is an important issue in the design of industrial compact heat exchangers, but few studies have been conducted about this issue. In this paper, comparative studies of the flow and heat transfer performance of SCO2 fluid in horizontal microchannels with circular, semicircular, rectangle, and trapezoidal cross sections were conducted numerically. The comparison is based on the same hydraulic diameter and length for all channel types and is carried out under the same mass flux, outlet pressure, and wall heat flux. The fluid bulk temperature in this analysis ranges from 285 K to 375 K, which covers the pseudocritical point of SCO2. The results show that the circular channel has the highest average heat convection coefficient, while the trapezoidal channel has the worst convective heat transfer performance under the same hydraulic diameter and boundary conditions. The results also indicate that the effect of cross section shape on the heat convection coefficient is significantly greater than that on the channel pressure drop, and the existence of the corner region in the cross section, especially the acute angle, will weaken the heat transfer performance.

Detailed numerical simulation and experimental investigation on micromixers with serpentine Koch fractal microchannels

Micromixer is a kind of microfluidic chip for fast mixing and analysis. Mixing in a micromixer is usually a micron scale. At low Reynolds number, the fluid in the channel is laminar flow, which mainly depends on molecular diffusion as the main mixing mode. Fluid mixing in microchannels is very difficult, especially when the viscosity of the fluid is high. In this paper, we design a novel passive micromixer. The effects of fractal number, Koch fractal channel spacing, microchannel depth and cross-section shape on mixing efficiency were studied. Through a large number of numerical simulations, we continue to optimize the structure of the micromixer and improve the mixing efficiency. Finally, through the continuous optimization of the structure of the micromixer, the mixing efficiency of the micromixer can reach more than 95%.

Influence of automobile sealing rib structure on sound insulation performance and optimization of section parameters

The door sealing strip plays an important role in the sound insulation of the car, and its sound insulation performance has a great influence on the sound quality and comfort of the vehicle. The sound insulation performance of the seal can be analyzed by Finite Element-Statistic Energy Analysismodel. There are great differences in the cross-section of the door sealing strip system at different positions, which leads to the difference of sound insulation. Therefore, it is very important to study the sound insulation performance of the sealing strip by studying the parameters of different sections. This paper explores the influence of the structure of automobile sealing rib on the sound insulation performance. Taking the sound power of the receiving end of the sealing strip as the index, the orthogonal optimization test is carried out for the simplified section shape of the door seal strip: the wall thickness of the sealing strip, the height of the sealing strip and the rib length. The optimal combination of a set of sealing strip sections is established, and the sound insulation performance of the sealing strip is improved.

Designing for People’s Safety on Flooded Streets: Uncertainties and the Influence of the Cross-Section Shape, Roughness and Slopes on Hazard Criteria

Designing for exceedance events consists in designing a continuous route for overland flow to deal with flows exceeding the sewer system’s capacity and to mitigate flooding risk. A review is carried out here on flood safety/hazard criteria, which generally establish thresholds for the water depth and flood velocity, or a relationship between them. The effects of the cross-section shape, roughness and slope of streets in meeting the criteria are evaluated based on equations, graphical results and one case study. An expedited method for the verification of safety criteria based solely on flow is presented, saving efforts in detailing models and increasing confidence in the results from simplified models. The method is valid for 0.1 m2/s 0.5 m2/s. The results showed that a street with a 1.8% slope, 75 m1/3s−1 and a rectangular cross-section complies with the threshold 0.3 m2/s for twice the flow of a street with the same width but with a conventional cross-section shape. The flow will be four times greater for a 15% street slope. The results also highlighted that the flood flows can vary significantly along the streets depending on the sewers’ roughness and the flow transfers between the major and minor systems, such that the effort detailing a street’s cross-section must be balanced with all of the other sources of uncertainty.