Effects of ionic liquids on the performance of IPMC

NASA Astrophysics Data System (ADS)

Kim, Min Jung; Park, Sang Woo; Won, Joohye; Nah, Changwoon

2017-04-01

One of the issues in operating the IPMC actuators in air condition is the limited lifetime due to the evaporation of aqueous electrolytes like water. Several attempts were already made for solving the problem using an ionic liquid (IL) with higher boiling point. In this study, three different ILs having similar boiling point but different molecular weight were employed in the IPMC actuators. The actuation performance, notably speed and lifetime, were measured and they are compared with that of water-based IPMC actuator. The lower molecular weight IL showed a comparable actuation speed of water due to faster movement of the ion cluster. The lifetime of the water-based IPMC actuator was found to be only 3 hr. However, the IL-based IPMC actuators showed much improved service life.

Electrochemical and morphological studies of ionic polymer metal composites as stress sensors

DOE PAGES

Hong, Wangyujue; Almomani, Abdallah; Montazami, Reza

2016-10-04

Ionic polymer metal composites (IPMCs) are the backbone of a wide range of ionic devices. IPMC mechanoelectric sensors are advanced nanostructured transducers capable of converting mechanical strain into easily detectable electric signal. Such attribute is realized by ion mobilization in and through IPMC nanostructure. In this study we have investigated electrochemical and morphological characteristics of IPMCs by varying the morphology of their metal composite component (conductive network composite (CNC)). We have demonstrated the dependence of electrochemical properties on CNC nanostructure as well as mechanoelectrical performance of IPMC sensors as a function of CNC morphology. Lastly, it is shown that themore » morphology of CNC can be used as a means to improve sensitivity of IPMC sensors by 3–4 folds.« less

Feasibility study of custom manufacturing methods of ionic polymer-metal composite sensors

NASA Astrophysics Data System (ADS)

Nelson, Shelby E.

The ability to create an ion exchange membrane with any shape or thickness through custom manufacturing techniques is highly desirable in ionic polymer-metal composite (IPMC) research. This is caused by the poor selection and limited availability of certain thicknesses of commercial ion exchange membranes. The objective of this study is to determine the feasibility of manufacturing custom ion exchange membranes for IPMC sensors. The manufacturing methods used in this study are extrusion, injection molding, and hot pressing. A commercial membrane from Golden Energy Fuel Cells (GEFC) is used as a comparison. After the membranes are fabricated, certain properties of the membranes are tested throughout each processing stage to determine if they are suitable to be developed into IPMCs. The three processing stages are pre-activation, activation (hydrated and dehydrated), and IPMC. It was observed that the stiffness of the membranes increased from pre-activation to activation and decreased from activation to IPMC. A more flexible membrane in an IPMC allows for larger cation displacement within the membrane. The extruded and injection molded membranes showed the most potential with having the lowest stiffness of all the samples; however, they were not able to be made into IPMCs due to repeated membrane failures in the primary plating process. Gas accumulated between the layers that formed in the membranes due to the extrusion and injection molding cooling process during manufacturing. The hot pressed membrane was the only custom manufactured membrane to be fully processed into an IPMC. The hot pressed and GEFC IPMC sensors were operated at 1 Hz, 5 Hz, and 10 Hz frequencies with the GEFC IPMC producing the strongest output voltage signal. While the extruded and injection molded membranes showed potential to become IPMCs with their high water uptake percentage, high ion exchange capacity, and low stiffness, more development is needed within the manufacturing process to make a uniform sample that does not fail during chemical processing.

Performance improvement of IPMC flow sensors with a biologically-inspired cupula structure

NASA Astrophysics Data System (ADS)

Lei, Hong; Sharif, Montassar Aidi; Paley, Derek A.; McHenry, Matthew J.; Tan, Xiaobo

2016-04-01

Ionic polymer-metal composites (IPMCs) have inherent underwater sensing and actuation properties. They can be used as sensors to collect flow information. Inspired by the hair-cell mediated receptor in the lateral line system of fish, the impact of a flexible, cupula-like structure on the performance of IPMC flow sensors is experimentally explored. The fabrication method to create a silicone-capped IPMC sensor is reported. Experiments are conducted to compare the sensing performance of the IPMC flow sensor before and after the PDMS coating under the periodic flow stimulus generated by a dipole source in still water and the laminar flow stimulus generated in a flow tank. Experimental results show that the performance of IPMC flow sensors is significantly improved under the stimulus of both periodic flow and laminar flow by the proposed silicone-capping.

IPMC paints

NASA Astrophysics Data System (ADS)

Park, Il-Seok; Tiwari, Rashi; Kim, Kwang J.

2008-03-01

In this paper we are reporting a newely developed IPMC fabrication method, "IPMC Paint", which can be directly sprayed onto any complex surface. In order to fabricate the IPMC paint, liquid Nafion TM was used for the ionic conducting polymer instead of the typical film/sheet type Nafion TM. The viscosity of liquid Nafion TM was adjusted by adding Polyvinylpyrrolidone (PVP) to perform spray painting. Modified Nafion was sprayed onto the conducting substrate, Polyfoil TM which acts as base electrode layer. After three times spraying, ionic polymer layer has 45 μm thickness and 10 μm of surface roughness. Sensing tests show that IPMC paint sensor has more sensitivity (+/- 0.06 of producing voltage) than that of the typical IPMC (+/- 0.005 of producing voltage) when dynamic bending with 10 Hz frequency and 1.3 cm of displacement is applied to.

Design and fabrication of an IPMC-embedded tube for minimally invasive surgery applications

NASA Astrophysics Data System (ADS)

Liu, Jiayu; Wang, Yanjie; Zhao, Dongxu; Zhang, Chi; Chen, Hualing; Li, Dichen

2014-03-01

Minimally Invasive Surgery (MIS) is receiving much attention for a number of reasons, including less trauma, faster recovery and enhanced precision. The traditional robotic actuators do not have the capabilities required to fulfill the demand for new applications in MIS. Ionic Polymer-Metal Composite (IPMC), one of the most promising smart materials, has extensive desirable characteristics such as low actuation voltage, large bending deformation and high functionality. Compared with traditional actuators, IPMCs can mimic biological muscle and are highly promising for actuation in robotic surgery. In this paper, a new approach which involves molding and integrating IPMC actuators into a soft silicone tube to create an active actuating tube capable of multi-degree-of-freedom motion is presented. First, according to the structure and performance requirements of the actuating tube, the biaxial bending IPMC actuators fabricated by using solution casting method have been implemented. The silicone was cured at a suitable temperature to form a flexible tube using molds fabricated by 3D Printing technology. Then an assembly based fabrication process was used to mold or integrate biaxial bending IPMC actuators into the soft silicone material to create an active control tube. The IPMC-embedded tube can generate multi-degree-of-freedom motions by controlling each IPMC actuator. Furthermore, the basic performance of the actuators was analyzed, including the displacement and the response speed. Experimental results indicate that IPMC-embedded tubes are promising for applications in MIS.

Flow measurement and thrust estimation of a vibrating ionic polymer metal composite

NASA Astrophysics Data System (ADS)

Chae, Woojin; Cha, Youngsu; Peterson, Sean D.; Porfiri, Maurizio

2015-09-01

Ionic polymer metal composites (IPMCs) are an emerging class of soft active materials that are finding growing application as underwater propulsors for miniature biomimetic swimmers. Understanding the hydrodynamics generated by an IPMC vibrating under water is central to the design of such biomimetic swimmers. In this paper, we propose the use of time-resolved particle image velocimetry to detail the fluid kinematics and kinetics in the vicinity of an IPMC vibrating along its fundamental structural mode. The reconstructed pressure field is ultimately used to estimate the thrust produced by the IPMC. The vibration frequency is systematically varied to elucidate the role of the Reynolds number on the flow physics and the thrust production. Experimental results indicate the formation and shedding of vortical structures from the IPMC tip during its vibration. Vorticity shedding is sustained by the pressure gradients along each side of the IPMC, which are most severe in the vicinity of the tip. The mean thrust is found to robustly increase with the Reynolds number, closely following a power law that has been derived from direct three-dimensional numerical simulations. A reduced order distributed model is proposed to describe IPMC underwater vibration and estimate thrust production, offering insight into the physics of underwater propulsion and aiding in the design of IPMC-based propulsors.

Effects of preparation steps on the physical parameters and electromechanical properties of IPMC actuators

NASA Astrophysics Data System (ADS)

Wang, Yanjie; Zhu, Zicai; Chen, Hualing; Luo, Bin; Chang, Longfei; Wang, Yongquan; Li, Dichen

2014-12-01

The electromechanical properties of ionic polymer-metal composites (IPMC) are affected by many factors, including resistivity of surface electrodes, bending stiffness and dielectric modulus, etc, which are closely related to physical and chemical preparation steps. This paper focuses on the effects of preparation steps on these physical parameters and electromechanical properties of IPMC actuators. The mechanisms of electrode formation in the preparation steps are also clarified and investigated. To obtain samples with different features, one or more of the crucial process steps, including pretreatment, impregnation-reduction and chemical plating, were selected to fabricate IPMC. The experimental observations revealed that the physical parameters of IPMC strongly depend on their electrode morphologies caused by different steps, which were reasonable from the standpoint of physics. IPMC with the characteristics of low surface resistance and low bending stiffness, and a large area of interface electrode exhibits a perfect performance. The improvements were considered to be attributed to the double-layer electrostatic effect, induced by the broad dispersion of penetrated electrode nanoparticles. An electrical component, consisting of an equivalent circuit of a parallel combination of the serial circuit of the resistance and the electric double-layer capacitance, is introduced to qualitatively explain the deformation behaviors of IPMC. This research helps to improve the preparation steps and promote the understanding of IPMC.

Robust tracking control of an IPMC actuator using nonsingular terminal sliding mode

NASA Astrophysics Data System (ADS)

Khawwaf, Jasim; Zheng, Jinchuan; Lu, Renquan; Al-Ghanimi, Ali; Kazem, Bahaa I.; Man, Zhihong

2017-09-01

Ionic polymer metal composite (IPMC) is a highly innovative material that has recently gained attention in many fields such as medical, biomimetic, and micro/nano underwater applications. The main characteristic of IPMC lies in its ability to achieve a large deflection under a fairly low driving voltage. Moreover, its agile, light weight, noiseless and flexible features render it well suited for certain specific applications. Like other smart materials, such as piezoelectric ceramics, IPMC could be used in actuators or sensors. In this paper, we study the application of IPMC as an actuator for underwater use. The goal is to develop a robust feedback controller for the IPMC actuator to track a desired reference whilst dealing with the uncertainties due to the inherent actuator nonlinearity, external disturbance or the variations of working environment. To this end, we first present a nominal model of the IPMC actuator through experimental identification. Next, a nonsingular terminal sliding mode controller is proposed. Lastly, experimental studies are conducted to verify the tracking accuracy and robustness of the designed controller.

Modeling and control of a self-sensing polymer metal composite actuator

NASA Astrophysics Data System (ADS)

Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan

2014-02-01

An ion polymer metal composite (IPMC) is an electro-active polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. One drawback in the use of an IPMC is the sensing problem for such a small size actuator. The aim of this paper is to develop a physical model for a self-sensing IPMC actuator and to verify its applicability for practical position control. Firstly, ion dynamics inside a polymer membrane is investigated with an asymmetric solution in the presence of distributed surface resistance. Based on this analysis, a modified equivalent circuit and a simple configuration to realize the self-sensing IPMC actuator are proposed. Mathematical modelling and experimental evaluation indicate that the bending curvature can be obtained accurately using several feedback voltage signals along with the IPMC length. Finally, the controllability of the developed self-sensing IPMC actuator is investigated using a robust position control. Experimental results prove that the self-sensing characteristics can be applied in engineering control problems to provide a more convenient sensing method for IPMC actuating systems.

Analysis and experiment on a self-sensing ionic polymer-metal composite actuator

NASA Astrophysics Data System (ADS)

Nam, Doan Ngoc Chi; Ahn, Kyoung Kwan

2014-07-01

An ionic polymer-metal composite (IPMC) actuator is an electro-active polymer (EAP) that bends in response to a small applied electrical field as a result of the mobility of cations in the polymer network. This paper aims to develop a self-sensing actuator for practical use, since current sensing methods generally face limitations due to the compact size and mobility of the IPMC actuator. Firstly, the variation of surface resistance during bending operations is investigated. Then, the behavior of IPMC corresponding to the variation of surface resistance is mathematically analyzed. Based on the analysis results, a simple configuration to realize the self-sensing behavior is introduced. In this technique, the bending curvature of an IPMC can be obtained accurately by employing several feedback voltage signals along with the IPMC length. Finally, experimental evaluations proved the ability of the proposed scheme to estimate the bending behavior of IPMC actuators.

Mechanical and thermal behavior of ionic polymer metal composites: effects of electroded metals

NASA Astrophysics Data System (ADS)

Park, Il-Seok; Kim, Sang-Mun; Kim, Kwang J.

2007-08-01

In this study, we investigated the mechanical properties of various types of ionic polymer-metal composites (IPMCs) and Pt, Au, Pd, and Pt electroded ionic liquid (IL-Pt) IPMCs, by testing tensile modulus and dynamic mechanical behavior. The SEM was utilized to investigate the characteristics of the doped electroding layer, and the DSC was probed in order to look into the thermal behavior of various types of IPMCs. Au IPMCs, having a 5-7 µm-doped layer and nanosized Au particles (ca. 10 nm), showed the highest tensile strength (56 MPa) and modulus (602 MPa) in dried conditions. With regards to thermal behavior, Au IPMC had the highest Tg (153 °C) and Tm (263 °C) in both the DMA and DSC results. The fracture behavior of various types of IPMCs followed the behavior of the base material, Nafion™, which is represented as the semicrystalline polymer characteristic.

The mechanical properties of ionic polymer-metal composites

NASA Astrophysics Data System (ADS)

Park, Il-Seok; Kim, Sang-Mun; Kim, Doyeon; Kim, Kwang J.

2007-04-01

In this study, we investigated the mechanical properties of various type ionic polymer-metal composites (IPMCs) and Pt, Au, Pd, and Pt electroded ionic liquid (IL-Pt) IPMCs, by testing tensile modulus and dynamic mechanical behavior. The SEM was utilized to investigate the characteristics of the doped electroding layer, and the DSC was probed in order to look into the thermal behavior of various types of IPMCs. Au IPMCs, having a 5~7 μm doped layer and nano-sized Au particles (ca. 10 nm), showed the highest tensile strength (56 MPa) and modulus (602 MPa) in a dried condition. In a thermal behavior, Au IPMC has the highest T g (153°C) and T m (263°C) in both the DMA and DSC results. The fracture behavior of various types IPMCs followed base material's behavior, Nafion TM, which is represented as the semicrystalline polymer characteristic.

A review on robotic fish enabled by ionic polymer-metal composite artificial muscles.

PubMed

Chen, Zheng

2017-01-01

A novel actuating material, which is lightweight, soft, and capable of generating large flapping motion under electrical stimuli, is highly desirable to build energy-efficient and maneuverable bio-inspired underwater robots. Ionic polymer-metal composites are important category of electroactive polymers, since they can generate large bending motions under low actuation voltages. IPMCs are ideal artificial muscles for small-scale and bio-inspired robots. This paper takes a system perspective to review the recent work on IPMC-enabled underwater robots, from modeling, fabrication, and bio-inspired design perspectives. First, a physics-based and control-oriented model of IPMC actuator will be reviewed. Second, a bio-inspired robotic fish propelled by IPMC caudal fin will be presented and a steady-state speed model of the fish will be demonstrated. Third, a novel fabrication process for 3D actuating membrane will be introduced and a bio-inspired robotic manta ray propelled by two IPMC pectoral fins will be demonstrated. Fourth, a 2D maneuverable robotic fish propelled by multiple IPMC fin will be presented. Last, advantages and challenges of using IPMC artificial muscles in bio-inspired robots will be concluded.

Design and position control of AF lens actuator for mobile phone using IPMC-EMIM

NASA Astrophysics Data System (ADS)

Kim, Sung-Joo; Kim, Chul-Jin; Park, No-Cheol; Yang, Hyun-Seok; Park, Young-Pil; Park, Kang-Ho; Lee, Hyung-Kun; Choi, Nak-Jin

2008-03-01

IPMC-EMIM (Ionic Polyer Metal Composites + 1-ethyl-3- methyl imidazolium trifluromethane sulfonate, EMIM-Tfo) is fabricated by substituting ionic liquid for water in Nafion film, which improves water sensitiveness of IPMC and guarantees uniform performance regardless of the surrounding environment. In this paper, we will briefly introduce the procedure of fabrication of IPMC-EMIM and proceed to introduce the Hook-type actuator using IPMC-EMIM and application to AF Lens actuator. Parameters of Hook-type actuator are estimated from experimental data. In the simulation, The proposed AF Lens Actuator is assumed to be a linear system and based on estimated parameters, PID controller will be designed and controlled motion of AF Lens actuator will be shown through simulation.

Effects of electrode surface structure on the mechanoelectrical transduction of IPMC sensors

NASA Astrophysics Data System (ADS)

Palmre, Viljar; Pugal, David; Kim, Kwang

2014-03-01

This study investigates the effects of electrode surface structure on the mechanoelectrical transduction of IPMC sensors. A physics-based mechanoelectrical transduction model was developed that takes into account the electrode surface profile (shape) by describing the polymer-electrode interface as a Koch fractal structure. Based on the model, the electrode surface effects were experimentally investigated in case of IPMCs with Pd-Pt electrodes. IPMCs with different electrode surface structures were fabricated through electroless plating process by appropriately controlling the synthesis parameters and conditions. The changes in the electrode surface morphology and the corresponding effects on the IPMC mechanoelectrical transduction were examined. Our experimental results indicate that increasing the dispersion of Pd particles near the membrane surface, and thus the polymer-electrode interfacial area, leads to a higher peak mechanoelectrically induced voltage of IPMC. However, the overall effect of the electrode surface structure is relatively low compared to the electromechanical transduction, which is in good agreement with theoretical prediction.

The effect of ionic membrane properties on the performance of ionic polymer-metal composite (IPMC) actuator

NASA Astrophysics Data System (ADS)

Jho, Jae Y.; Han, Man J.; Park, Jong H.; Lee, Jang Y.; Wang, Hyuck S.

2005-05-01

On purpose to overcome the limit of conventional ionic polymer-metal composites (IPMC) using the commercial ionic membranes, novel IPMCs with radiation-grafted ion-exchange membranes were prepared. Poly(vinylidenefluoride-co-hexafluoropropylene) (PVDF-co-HFP) and poly(ethylene-co-tetrafluoroethylene) (ETFE) were radiation-grafted with styrene, and then sulfonated. The properties of the membranes were modulated by controlling the amount of polystyrene sulfonic acid (PSSA) groups in the membranes. The amount of PSSA groups were tuned by controlling the total absorbed dose of γ-ray. The membranes were characterized by measuring the water-uptake, the ion-exchange capacity, and the ion conductivity. The performance of the IPMCs using these membranes were analyzed with laser displacement meter. They exhibited much larger bending displacement in comparison with Nafion-based IPMC. With increasing the amount of PSSA groups, the maximum displacement and the bending speed were remarkably increased. The results made sure that the property of ion-exchange membrane was the key element affecting the actuation performance of IPMC.

Active disturbance rejection control for output force creep characteristics of ionic polymer metal composites

NASA Astrophysics Data System (ADS)

Xiong, Yan; Chen, Yang; Sun, Zhiyong; Hao, Lina; Dong, Jie

2014-07-01

Ionic polymer metal composites (IPMCs) are a type of electroactive polymer (EAP) that can be used as both sensors and actuators. An IPMC has enormous potential application in the field of biomimetic robotics, medical devices, and so on. However, an IPMC actuator has a great number of disadvantages, such as creep and time-variation, making it vulnerable to external disturbances. In addition, the complex actuation mechanism makes it difficult to model and the demand of the control algorithm is laborious to implement. In this paper, we obtain a creep model of the IPMC by means of model identification based on the method of creep operator linear superposition. Although the mathematical model is not approximate to the IPMC accurate model, it is accurate enough to be used in MATLAB to prove the control algorithm. A controller based on the active disturbance rejection control (ADRC) method is designed to solve the drawbacks previously given. Because the ADRC controller is separate from the mathematical model of the controlled plant, the control algorithm has the ability to complete disturbance estimation and compensation. Some factors, such as all external disturbances, uncertainty factors, the inaccuracy of the identification model and different kinds of IPMCs, have little effect on controlling the output block force of the IPMC. Furthermore, we use the particle swarm optimization algorithm to adjust ADRC parameters so that the IPMC actuator can approach the desired block force with unknown external disturbances. Simulations and experimental examples validate the effectiveness of the ADRC controller.

A biomimetic underwater vehicle actuated by waves with ionic polymer-metal composite soft sensors.

PubMed

Shen, Qi; Wang, Tianmiao; Kim, Kwang J

2015-09-28

The ionic polymer-metal composite (IPMC) is a soft material based actuator and sensor and has a promising potential in underwater application. This paper describes a hybrid biomimetic underwater vehicle that uses IPMCs as sensors. Propelled by the energy of waves, this underwater vehicle does not need an additional energy source. A physical model based on the hydrodynamics of the vehicle was developed, and simulations were conducted. Using the Poisson-Nernst-Planck system of equations, a physics model for the IPMC sensor was proposed. For this study, experimental apparatus was developed to conduct hydrodynamic experiments for both the underwater vehicle and the IPMC sensors. By comparing the experimental and theoretical results, the speed of the underwater vehicle and the output of the IPMC sensors were well predicted by the theoretical models. A maximum speed of 1.08 × 10(-1) m s(-1) was recorded experimentally at a wave frequency of 1.6 Hz. The peak output voltage of the IPMC sensor was 2.27 × 10(-4) V, recorded at 0.8 Hz. It was found that the speed of the underwater vehicle increased as the wave frequency increased and the IPMC output decreased as the wave frequency increased. Further, the energy harvesting capabilities of the underwater vehicle hosting the IPMCs were tested. A maximum power of 9.50 × 10(-10) W was recorded at 1.6 Hz.

Manufacturing and actuation characterization of ionic polymer metal composites with silver as electrodes

NASA Astrophysics Data System (ADS)

Pandita, Surya D.; Lim, Hyoung Tae; Yoo, Youngtai; Park, Hoon Cheol

2006-03-01

Manufacturing and characterization of ionic polymer metal composites (IPMCs) with silver as electrodes have been investigated. Tollen's reagent that contains ion Ag(NH 3) II + was used as a raw material for silver deposition on the surfaces of the polymer membrane Nafion"R". Two types of inner solvents, namely common water based electrolyte solution (LiOH 1N) and ionic liquid were used and investigated. Compared to IPMCs with platinum electrodes, silver-plated IPMCs with water electrolyte showed higher conductivity. The actuation response of silver-plated IPMCs with the water based electrolyte was faster than that of platinum IPMCs. However, the silver electrode was too brittle and severely damaged during the solvent exchange process from water to ionic liquid, resulted in high resistance and hence very low actuation behavior.

Electromechanical fatigue in IPMC under dynamic energy harvesting conditions

NASA Astrophysics Data System (ADS)

Krishnaswamy, Arvind; Roy Mahapatra, D.

2011-04-01

Ionic polymer-metal composites (IPMCs) are an interesting subset of smart, multi-functional materials that have shown promises in energy conversion technologies. Being electromechanically coupled, IPMCs can function as dynamic actuators and sensors, transducers for energy conversion and harvesting, as well as artificial muscles for medical and industrial applications. Like all natural materials, even IPMCs undergo fatigue under dynamic load conditions. Here, we investigate the electromechanical fatigue induced in the IPMCs due to the application of cyclic mechanical bending deformation under hydrodynamic energy harvesting condition. Considering the viscoelastic nature of the IPMC, we employ an analytical approach to modeling electromechanical fatigue primarily under the cyclic stresses induced in the membrane. The polymer-metal composite undergoes cyclic softening throughout the fatigue life without attaining a saturated state of charge migration. However, it results in (1) degradation of electromechanical performance; (2) nucleation and growth of microscopic cracks in the metal electrodes; (3) delamination of metal electrodes at the polymer-electrode interface. To understand these processes, we employ a phenomenological approach based on experimentally measured relaxation properties of the IPMC membrane. Electromechanical performance improves significantly with self-healing like properties for a certain range of relaxation time. This is due to reorientation of the backbone polymer chains which eventually leads to a regenerative process with increased charge transport.

Mass and charge transport in IPMC actuators with fractal interfaces

NASA Astrophysics Data System (ADS)

Chang, Longfei; Wu, Yucheng; Zhu, Zicai; Li, Heng

2016-04-01

Ionic Polymer-Metal Composite (IPMC) actuators have been attracting a growing interest in extensive applications, which consequently raises the demands on the accuracy of its theoretical modeling. For the last few years, rough landscape of the interface between the electrode and the ionic membrane of IPMC has been well-documented as one of the key elements to ensure a satisfied performance. However, in most of the available work, the interface morphology of IPMC was simplified with structural idealization, which lead to perplexity in the physical interpretation on its interface mechanism. In this paper, the quasi-random rough interface of IPMC was described with fractal dimension and scaling parameters. And the electro-chemical field was modeled by Poisson equation and a properly simplified Nernst-Planck equation set. Then, by simulation with Finite Element Method, a comprehensive analysis on he inner mass and charge transportation in IPMC actuators with different fractal interfaces was provided, which may be further adopted to instruct the performance-oriented interface design for ionic electro-active actuators. The results also verified that rough interface can impact the electrical and mechanical response of IPMC, not only from the respect of the real surface increase, but also from mass distribution difference caused by the complexity of the micro profile.

Design and control of an IPMC wormlike robot.

PubMed

Arena, Paolo; Bonomo, Claudia; Fortuna, Luigi; Frasca, Mattia; Graziani, Salvatore

2006-10-01

This paper presents an innovative wormlike robot controlled by cellular neural networks (CNNs) and made of an ionic polymer-metal composite (IPMC) self-actuated skeleton. The IPMC actuators, from which it is made of, are new materials that behave similarly to biological muscles. The idea that inspired the work is the possibility of using IPMCs to design autonomous moving structures. CNNs have already demonstrated their powerfulness as new structures for bio-inspired locomotion generation and control. The control scheme for the proposed IPMC moving structure is based on CNNs. The wormlike robot is totally made of IPMCs, and each actuator has to carry its own weight. All the actuators are connected together without using any other additional part, thereby constituting the robot structure itself. Worm locomotion is performed by bending the actuators sequentially from "tail" to "head," imitating the traveling wave observed in real-world undulatory locomotion. The activation signals are generated by a CNN. In the authors' opinion, the proposed strategy represents a promising solution in the field of autonomous and light structures that are capable of reconfiguring and moving in line with spatial-temporal dynamics generated by CNNs.

Bio-applications of ionic polymer metal composite transducers

NASA Astrophysics Data System (ADS)

Aw, K. C.; McDaid, A. J.

2014-07-01

Traditional robotic actuators have advanced performance which in some aspects can surpass that of humans, however they are lacking when it comes to developing devices which are capable of operating together with humans. Bio-inspired transducers, for example ionic polymer metal composites (IPMC), which have similar properties to human tissue and muscle, demonstrate much future promise as candidates for replacing traditional robotic actuators in medical robotics applications. This paper outlines four biomedical robotics applications, an IPMC stepper motor, an assistive glove exoskeleton/prosthetic hand, a surgical robotic tool and a micromanipulation system. These applications have been developed using mechanical design/modelling techniques with IPMC ‘artificial muscle’ as the actuation system. The systems are designed by first simulating the performance using an IPMC model and dynamic models of the mechanical system; the appropriate advanced adaptive control schemes are then implemented to ensure that the IPMCs operate in the correct manner, robustly over time. This paper serves as an overview of the applications and concludes with some discussion on the future challenges of developing real-world IPMC applications.

Comparative Experimental Study on Ionic Polymer Mental Composite based on Nafion and Aquivion Membrane as Actuators

NASA Astrophysics Data System (ADS)

Luo, B.; Chen, Z.

2017-11-01

Most ionic polymer mental composites employ Nafion as the polymer matrix, Aquivion can also manufactured as ionic polymer mental composite while research was little. This paper researched on two kinds of ionic polymer mental composite based on Aquivion and Nafion matrix with palladium electrode called Aquivion-IPMC and Nafion-IPMC. The samples were fabricated by the same preparation process. The current and deformation responses of the samples were measured at voltage to characterize the mechano-electrical properties. The experimental observations revealed that shorter flexible side chains in Aquivion-IPMC provide a larger force than Nafion-IPMC, while the displacement properties were similar in two different samples. The results also showed that Aquivion membrane can also replace Nafion to reproduce IPMC application in soft robots, MEMS, and so on.

Implementation and performance evaluation open-source controller for precision control of gripper

NASA Astrophysics Data System (ADS)

Lee, Seung-Yong; Ham, Un-Hyeong; Park, Young-Woo; Jung, Hak-Sang; Jung, Il-Kyun; Lim, Sun

2017-12-01

This paper proposes integrating gripper embedded operating system, which consist of external interface structure for sophisticated gripper control. This system has multiple functions that control the gripping module and measure the pose of the gripper body with respect to contact environment. A controller based on open source only for the gripper is developed and an external communication interface between robot controller and gripper controller is designed. An experimental environment for the fixed-cycle test consists of integrating magic gripper software system and hardware on commercial business. As a result, a deviation is measured approximately 2% and the system were verified for gripper control.

Soft pneumatic grippers embedded with stretchable electroadhesion

NASA Astrophysics Data System (ADS)

Guo, J.; Elgeneidy, K.; Xiang, C.; Lohse, N.; Justham, L.; Rossiter, J.

2018-05-01

Current soft pneumatic grippers cannot robustly grasp flat materials and flexible objects on curved surfaces without distorting them. Current electroadhesive grippers, on the other hand, are difficult to actively deform to complex shapes to pick up free-form surfaces or objects. An easy-to-implement PneuEA gripper is proposed by the integration of an electroadhesive gripper and a two-fingered soft pneumatic gripper. The electroadhesive gripper was fabricated by segmenting a soft conductive silicon sheet into a two-part electrode design and embedding it in a soft dielectric elastomer. The two-fingered soft pneumatic gripper was manufactured using a standard soft lithography approach. This novel integration has combined the benefits of both the electroadhesive and soft pneumatic grippers. As a result, the proposed PneuEA gripper was not only able to pick-and-place flat and flexible materials such as a porous cloth but also delicate objects such as a light bulb. By combining two soft touch sensors with the electroadhesive, an intelligent and shape-adaptive PneuEA material handling system has been developed. This work is expected to widen the applications of both soft gripper and electroadhesion technologies.

Ionic polymer-metal composite torsional sensor: physics-based modeling and experimental validation

NASA Astrophysics Data System (ADS)

Aidi Sharif, Montassar; Lei, Hong; Khalid Al-Rubaiai, Mohammed; Tan, Xiaobo

2018-07-01

Ionic polymer-metal composites (IPMCs) have intrinsic sensing and actuation properties. Typical IPMC sensors are in the shape of beams and only respond to stimuli acting along beam-bending directions. Rod or tube-shaped IPMCs have been explored as omnidirectional bending actuators or sensors. In this paper, physics-based modeling is studied for a tubular IPMC sensor under pure torsional stimulus. The Poisson–Nernst–Planck model is used to describe the fundamental physics within the IPMC, where it is hypothesized that the anion concentration is coupled to the sum of shear strains induced by the torsional stimulus. Finite element simulation is conducted to solve for the torsional sensing response, where some of the key parameters are identified based on experimental measurements using an artificial neural network. Additional experimental results suggest that the proposed model is able to capture the torsional sensing dynamics for different amplitudes and rates of the torsional stimulus.

An experimental and numerical approach to understand the effect of the IPMC composition on its sensing and energy harvesting behavior

NASA Astrophysics Data System (ADS)

Akle, Barbar; Khairallah, Reef; Challita, Elio

2014-03-01

Ionic Polymer Metal Composite (IPMC) is an Electo-Active Polymer (EAP) that is well-known for its actuation and sensing behavior. It has been shown that in charge sensing mode an IPMC generates one order of magnitude larger current as compared to piezoelectric materials. However the voltage generated is on the order of couple millivolts, making it less attractive as a sensor and energy harvester. Previous numerical work by the author, demonstrated that increasing the ionic concentration of the ionomer will increase the current and voltage generated by an IPMC. Conversely, the previous study showed that the electrode composition and architecture had minimal effects. This paper will present an experimental investigation of the effect of changing the composition of the ionomer, the membrane thickness, and electrode architecture on the sensing and energy harvesting behavior. The response of all IPMC transducers is analyzed and compared to numerical simulations.

Improved cost-effective fabrication of arbitrarily shaped μIPMC transducers

NASA Astrophysics Data System (ADS)

Feng, Guo-Hua; Chen, Ri-Hong

2008-01-01

Conventional ionic polymer-metal composite (IPMC) production cuts individual transducers from bulk IPMC sheets. This paper presents a novel photolithographic technique that grows a large array of identical devices on a thin (~µm range) parylene diaphragm supported on a perforated substrate of material that is immune to the subsequent processing liquids. In particular, the new technique relies on a unique wax fill-up and removal concept that can produce arbitrarily shaped Nafion films with micron feature size. The developed process is cheap and results in devices of high uniformity and reliability, with greater design flexibility. Microtensile testing characterizes the fracture profiles of the non-electroded Nafion film and IPMC. Young's modulus is characterized, as well as maximum displacement and current consumption under various loading, driving voltages, waveforms and frequencies. High product quality and low process costs make this process of interest for mass production of micromachined IPMC transducers.

Fabrication method for miniature plastic gripper

DOEpatents

Benett, William J.; Krulevitch, Peter A.; Lee, Abraham P.; Northrup, Milton A.; Folta, James A.

1998-01-01

A miniature plastic gripper actuated by inflation of a miniature balloon and method of fabricating same. The gripper is constructed of either heat-shrinkable or heat-expandable plastic tubing and is formed around a mandrel, then cut to form gripper prongs or jaws and the mandrel removed. The gripper is connected at one end with a catheter or tube having an actuating balloon at its tip, whereby the gripper is opened or dosed by inflation or deflation of the balloon. The gripper is designed to removably retain a member to which is connected a quantity or medicine, plugs, or micro-components. The miniature plastic gripper is inexpensive to fabricate and can be used for various applications, such as gripping, sorting, or placing of micron-scale particles for analysis.

Miniature plastic gripper and fabrication method

DOEpatents

Benett, William J.; Krulevitch, Peter A.; Lee, Abraham P.; Northrup, Milton A.; Folta, James A.

1997-01-01

A miniature plastic gripper actuated by inflation of a miniature balloon and method of fabricating same. The gripper is constructed of either heat-shrinkable or heat-expandable plastic tubing and is formed around a mandrel, then cut to form gripper prongs or jaws and the mandrel removed. The gripper is connected at one end with a catheter or tube having an actuating balloon at its tip, whereby the gripper is opened or closed by inflation or deflation of the balloon. The gripper is designed to removably retain a member to which is connected a quantity or medicine, plugs, or micro-components. The miniature plastic gripper is inexpensive to fabricate and can be used for various applications, such as gripping, sorting, or placing of micron-scale particles for analysis.

A force compliant surgical robotic tool with IPMC actuator and integrated sensing

NASA Astrophysics Data System (ADS)

Fu, Lixue; McDaid, Andrew J.; Aw, Kean C.

2013-08-01

A robotic surgical device, actuated by Ionic Polymer-metal Composite (IPMC), integrated with a strain gauge to achieve force control is proposed. Test results have proved the capabilities of this device to conduct surgical procedures. The recent growth of patient acceptance and demand for robotic aided surgery has stimulated the progress of research where in many applications the performance has been proven to surpass human surgeons. A new area which uses the inherently force compliant and back-drivable properties of polymers, IPMC in this case, has shown its potential to undertake precise surgical procedures in delicate environments of medical practice. This is because IPMCs have similar actuation characteristics to real biological systems ensuring the safety of the practice. Nevertheless, little has been done in developing IPMCs as a rotary joint actuators used as functional surgical devices. This research demonstrates the design of a single degree of freedom (1DOF) robotic surgical instrument with one joint mechanism actuated by IPMC with an embedded strain gauge as a feedback unit, and controlled by a scheduled gain PI controller. With the simplicity of the system it was proven to be able to cut to the desired controlled force and hence depth.

Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation

PubMed Central

Liu, Jiayu; Zhu, Denglin; Chen, Hualing

2018-01-01

This paper reports a new technique involving the design, fabrication, and characterization of an ionic polymer-metal composite- (IPMC-) embedded active tube, which can achieve multidegree-of-freedom (MODF) bending motions desirable in many applications, such as a manipulator and an active catheter. However, traditional strip-type IPMC actuators are limited in only being able to generate 1-dimensional bending motion. So, in this paper, we try to develop an approach which involves molding or integrating rod-shaped IPMC actuators into a soft silicone rubber structure to create an active tube. We modified the Nafion solution casting method and developed a complete sequence of a fabrication process for rod-shaped IPMCs with square cross sections and four insulated electrodes on the surface. The silicone gel was cured at a suitable temperature to form a flexible tube using molds fabricated by 3D printing technology. By applying differential voltages to the four electrodes of each IPMC rod-shaped actuator, MDOF bending motions of the active tube can be generated. Experimental results show that such IPMC-embedded tube designs can be used for developing robotic-assisted manipulation. PMID:29770160

Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation.

PubMed

Wang, Yanjie; Liu, Jiayu; Zhu, Denglin; Chen, Hualing

2018-01-01

This paper reports a new technique involving the design, fabrication, and characterization of an ionic polymer-metal composite- (IPMC-) embedded active tube, which can achieve multidegree-of-freedom (MODF) bending motions desirable in many applications, such as a manipulator and an active catheter. However, traditional strip-type IPMC actuators are limited in only being able to generate 1-dimensional bending motion. So, in this paper, we try to develop an approach which involves molding or integrating rod-shaped IPMC actuators into a soft silicone rubber structure to create an active tube. We modified the Nafion solution casting method and developed a complete sequence of a fabrication process for rod-shaped IPMCs with square cross sections and four insulated electrodes on the surface. The silicone gel was cured at a suitable temperature to form a flexible tube using molds fabricated by 3D printing technology. By applying differential voltages to the four electrodes of each IPMC rod-shaped actuator, MDOF bending motions of the active tube can be generated. Experimental results show that such IPMC-embedded tube designs can be used for developing robotic-assisted manipulation.

IPMC-driven thrust generation: a new conceptual design (Conference Presentation)

NASA Astrophysics Data System (ADS)

Olsen, Zakai; Kim, Kwang Jin

2017-04-01

Ionic Polymer-Metal Composites (IPMC) are highly functional actuators that find many uses in the field of soft robotics due to their low actuation voltage and ability to operate in aquatic environments. The actuation of an IPMC relies on the swelling of the negatively charged side when a potential is applied, due to the free-moving cations and water molecules migrating to that half. While this bending type actuation can be utilized to perform many tasks, it is ill suited for the primary propulsion mechanism in certain soft robotic applications. Here, a new conceptual design is presented which utilizes the bending of IPMC materials to achieve complex actuation motion in an attempt to generate a non-zero net thrust for propulsion of soft robots. The design capitalizes on advances in the manufacturing processes of electroactive polymer materials, which now allow for more complex shapes and thus new and unique modes of actuation. By utilizing the consistent bending deformation of IPMC actuators, in conjunction with carefully considered geometry, an IPMC driven body may serve as a primary mode of propulsion through a positive net thrust generation. This work consists of the initial feasibility study, concept testing, and optimization for such an actuator through computer modeling and simulation. COMSOL will be used for the finite element analysis to design the most efficient and optimized design for a positive net thrust generation. Such an IPMC design may find a great deal of applications, and the potential of future integration into other soft robotic systems is considered.

Miniature plastic gripper and fabrication method

DOEpatents

Benett, W.J.; Krulevitch, P.A.; Lee, A.P.; Northrup, M.A.; Folta, J.A.

1997-03-11

A miniature plastic gripper actuated by inflation of a miniature balloon and method of fabricating same are disclosed. The gripper is constructed of either heat-shrinkable or heat-expandable plastic tubing and is formed around a mandrel, then cut to form gripper prongs or jaws and the mandrel removed. The gripper is connected at one end with a catheter or tube having an actuating balloon at its tip, whereby the gripper is opened or closed by inflation or deflation of the balloon. The gripper is designed to removably retain a member to which is connected a quantity or medicine, plugs, or micro-components. The miniature plastic gripper is inexpensive to fabricate and can be used for various applications, such as gripping, sorting, or placing of micron-scale particles for analysis. 8 figs.

Fabrication method for miniature plastic gripper

DOEpatents

Benett, W.J.; Krulevitch, P.A.; Lee, A.P.; Northrup, M.A.; Folta, J.A.

1998-07-21

A miniature plastic gripper is described actuated by inflation of a miniature balloon and method of fabricating same. The gripper is constructed of either heat-shrinkable or heat-expandable plastic tubing and is formed around a mandrel, then cut to form gripper prongs or jaws and the mandrel removed. The gripper is connected at one end with a catheter or tube having an actuating balloon at its tip, whereby the gripper is opened or dosed by inflation or deflation of the balloon. The gripper is designed to removably retain a member to which is connected a quantity or medicine, plugs, or micro-components. The miniature plastic gripper is inexpensive to fabricate and can be used for various applications, such as gripping, sorting, or placing of micron-scale particles for analysis. 8 figs.

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation.

PubMed

Low, Jin-Huat; Yeow, Chen-Hua

2016-08-02

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations at the point of contact. It can be achieved by complementing traditional rigid grippers with soft robotic pneumatic gripper devices. This manuscript describes a rod-based approach that combined both 3D-printing and a modified soft lithography technique to fabricate the soft pneumatic gripper. In brief, the pneumatic featureless mold with chamber component is 3D-printed and the rods were used to create the pneumatic channels that connect to the chamber. This protocol eliminates the risk of channels occluding during the sealing process and the need for external air source or related control circuit. The soft gripper consists of a chamber filled with air, and one or more gripper arms with a pneumatic channel in each arm connected to the chamber. The pneumatic channel is positioned close to the outer wall to create different stiffness in the gripper arm. Upon compression of the chamber which generates pressure on the pneumatic channel, the gripper arm will bend inward to form a close grip posture because the outer wall area is more compliant. The soft gripper can be inserted into a 3D-printed handling tool with two different control modes for chamber compression: manual gripper mode with a movable piston, and robotic gripper mode with a linear actuator. The double-arm gripper with two actuatable arms was able to pick up objects of sizes up to 2 mm and yet generate lower compressive forces as compared to elastomer-coated and non-coated rigid grippers. The feasibility of having other designs, such as single-arm or hook gripper, was also demonstrated, which further highlighted the customizability of the soft gripper device, and it's potential to be used in delicate surgical manipulation to reduce the risk of tissue grip damage.

An IPMC-enabled bio-inspired bending/twisting fin for underwater applications

NASA Astrophysics Data System (ADS)

Palmre, Viljar; Hubbard, Joel J.; Fleming, Maxwell; Pugal, David; Kim, Sungjun; Kim, Kwang J.; Leang, Kam K.

2013-01-01

This paper discusses the design, fabrication, and characterization of an ionic polymer-metal composite (IPMC) actuator-based bio-inspired active fin capable of bending and twisting motion. It is pointed out that IPMC strip actuators are used in the simple cantilever configuration to create simple bending (flapping-like) motion for propulsion in underwater autonomous systems. However, the resulting motion is a simple 1D bending and performance is rather limited. To enable more complex deformation, such as the flapping (pitch and heaving) motion of real pectoral and caudal fish fins, a new approach which involves molding or integrating IPMC actuators into a soft boot material to create an active control surface (called a ‘fin’) is presented. The fin can be used to realize complex deformation depending on the orientation and placement of the actuators. In contrast to previously created IPMCs with patterned electrodes for the same purpose, the proposed design avoids (1) the more expensive process of electroless plating platinum all throughout the surface of the actuator and (2) the need for specially patterning the electrodes. Therefore, standard shaped IPMC actuators such as those with rectangular dimensions with varying thicknesses can be used. One unique advantage of the proposed structural design is that custom shaped fins and control surfaces can be easily created without special materials processing. The molding process is cost effective and does not require functionalizing or ‘activating’ the boot material similar to creating IPMCs. For a prototype fin (90 mm wide × 60 mm long × 1.5 mm thick), the measured maximum tip displacement was approximately 44 mm and the twist angle of the fin exceeded 10°. Lift and drag measurements in water where the prototype fin with an airfoil profile was dragged through water at a velocity of 21 cm s-1 showed that the lift and drag forces can be affected by controlling the IPMCs embedded into the fin structure. These results suggest that such IPMC-enabled fin designs can be used for developing active propeller blades or control surfaces on underwater vehicles.

Robot gripper

NASA Technical Reports Server (NTRS)

Webb, Winston S. (Inventor)

1987-01-01

An electronic force-detecting robot gripper for gripping objects and attaching to an external robot arm is disclosed. The gripper comprises motor apparatus, gripper jaws, and electrical circuits for driving the gripper motor and sensing the amount of force applied by the jaws. The force applied by the jaws is proportional to a threshold value of the motor current. When the motor current exceeds the threshold value, the electrical circuits supply a feedback signal to the electrical control circuit which, in turn, stops the gripper motor.

Voltage-controlled IPMC actuators for accommodating intra-ocular lens systems

NASA Astrophysics Data System (ADS)

Horiuchi, Tetsuya; Mihashi, Toshifumi; Fujikado, Takashi; Oshika, Tetsuro; Asaka, Kinji

2017-04-01

An ion polymer-metal composite (IPMC) actuator has unique performance characteristics that were applied in this study for use within the eye. Cataracts are a common eye disease causing clouding of the lens. To treat cataracts, surgeons replace clouded lenses with intraocular lenses (IOLs). However, patients who receive this treatment must still wear reading glasses for tasks requiring close-up vision. We suggest a new voltage-controlled accommodating IOL consisting of an IPMC actuator to change the lens’ focus. We examined the relationship between the displacement performance of an IPMC actuator and the accommodating range of the IOL using in vitro experiments. We show that this system has an accommodating range of approximately 1.15 D under an applied voltage of ±1.2 V. By Lagrange interpolation, we estimate that with an IPMC actuator displacement of 0.14 mm, we can achieve a refractive power of 4 D, which is equivalent to the accommodating range of a 40 year old person.

Charge modeling of ionic polymer-metal composites for dynamic curvature sensing

NASA Astrophysics Data System (ADS)

Bahramzadeh, Yousef; Shahinpoor, Mohsen

2011-04-01

A curvature sensor based on Ionic Polymer-Metal Composite (IPMC) is proposed and characterized for sensing of curvature variation in structures such as inflatable space structures in which using low power and flexible curvature sensor is of high importance for dynamic monitoring of shape at desired points. The linearity of output signal of sensor for calibration, effect of deflection rate at low frequencies and the phase delay between the output signal and the input deformation of IPMC curvature sensor is investigated. An analytical chemo-electro-mechanical model for charge dynamic of IPMC sensor is presented based on Nernst-Planck partial differential equation which can be used to explain the phenomena observed in experiments. The rate dependency of output signal and phase delay between the applied deformation and sensor signal is studied using the proposed model. The model provides a background for predicting the general characteristics of IPMC sensor. It is shown that IPMC sensor exhibits good linearity, sensitivity, and repeatability for dynamic curvature sensing of inflatable structures.

Smart textile device using ion polymer metal compound.

PubMed

Nakamura, Taro; Ihara, Tadashi

2013-01-01

We have developed a smart textile device that detects angular displacement of attached surface using ion polymer metal compound. The device was composed of ion polymer metal compound (IPMC) which was fabricated from Nafion resin by heat-press and chemical gold plating. The generated voltage from IPMC was measured as a function of bending angle. Fabricated IPMC device was weaved into a cotton cloth and multidirectional movements were detected.

Electroactive nanostructured polymer actuators fabricated using sulfonated styrenic pentablock copolymer/montmorillonite/ionic liquid nanocomposite membranes

NASA Astrophysics Data System (ADS)

Lee, Jang-Woo; Hong, Soon Man; Koo, Chong Min

2014-08-01

High-bendable, air-operable ionic polymer-metal composite (IPMC) actuators composed of electroactive nanostructured middle-block sulfonated styrenic pentablock copolymer (SSPB)/sulfonated montmorillonite (s-MMT) nanocomposite electrolyte membranes with bulky imidazolium ionic liquids (ILs) incorporated were fabricated and their bending actuation performances were evaluated. The SSPB-based IPMC actuators showed larger air-operable bending displacements, higher displacement rates, and higher energy efficiency of actuations without conventional IPMC bottlenecks, including back relaxation and actuation instability during actuation in air, than the Nafion counterpart. Incorporation of s-MMT into the SSPB matrix further enhanced the actuation performance of the IPMC actuators in terms of displacement, displacement rate, and energy efficiency. The remarkably high performance of the SSPB/s-MMT/IL IPMCs was considered to be due to the microphase-separated large ionic domains of the SSPB (the average diameter of the ionic domain: ca. 20 nm) and the role of s-MMT as an ionic bridge between the ionic domains, and the ion pumping effect of the bulky imidazolium cations of the ILs as well. The microphase-separated nanostructure of the composite membranes caused a high dimensional stability upon swelling in the presence of ILs, which effectively preserved the original electrode resistance against swelling, leading to a high actuation performance of IPMC.

A multi-segment soft actuator for biomedical applications based on IPMCs

NASA Astrophysics Data System (ADS)

Zhao, Dongxu; Wang, Yanjie; Liu, Jiayu; Luo, Meng; Li, Dichen; Chen, Hualing

2015-04-01

With rapid progress of biomedical devices towards miniaturization, flexibility, multifunction and low cost, the restrictions of traditional mechanical structures become particularly apparent, while soft materials become research focus in broad fields. As one of the most attractive soft materials, Ionic Polymer-Metal Composite (IPMC) is widely used as artificial muscles and actuators, with the advantages of low driving-voltage, high efficiency of electromechanical transduction and functional stabilization. In this paper, a new intuitive control method was presented to achieve the omnidirectional bending movements and was applied on a representative actuation structure of a multi-degree-offreedom soft actuator composed of two segments bar-shaped IPMC with a square cross section. Firstly, the bar-shaped IPMCs were fabricated by the solution casting method, reducing plating, autocatalytic plating method and cut into shapes successively. The connectors of the multi-segment IPMC actuator were fabricated by 3D printing. Then, a new control method was introduced to realize the intuitive mapping relationship between the actuator and the joystick manipulator. The control circuit was designed and tested. Finally, the multi-degree-of-freedom actuator of 2 segments bar-shaped IPMCs was implemented and omnidirectional bending movements were achieved, which could be a promising actuator for biomedical applications, such as endoscope, catheterism, laparoscopy and the surgical resection of tumors.

Modelling compression sensing in ionic polymer metal composites

NASA Astrophysics Data System (ADS)

Volpini, Valentina; Bardella, Lorenzo; Rodella, Andrea; Cha, Youngsu; Porfiri, Maurizio

2017-03-01

Ionic polymer metal composites (IPMCs) consist of an ionomeric membrane, including mobile counterions, sandwiched between two thin noble metal electrodes. IPMCs find application as sensors and actuators, where an imposed mechanical loading generates a voltage across the electrodes, and, vice versa, an imposed electric field causes deformation. Here, we present a predictive modelling approach to elucidate the dynamic sensing response of IPMCs subject to a time-varying through-the-thickness compression (‘compression sensing’). The model relies on the continuum theory recently developed by Porfiri and co-workers, which couples finite deformations to the modified Poisson-Nernst-Planck (PNP) system governing the IPMC electrochemistry. For the ‘compression sensing’ problem we establish a perturbative closed-form solution along with a finite element (FE) solution. The systematic comparison between these two solutions is a central contribution of this study, offering insight on accuracy and mathematical complexity. The method of matched asymptotic expansions is employed to find the analytical solution. To this end, we uncouple the force balance from the modified PNP system and separately linearise the PNP equations in the ionomer bulk and in the boundary layers at the ionomer-electrode interfaces. Comparison with FE results for the fully coupled nonlinear system demonstrates the accuracy of the analytical solution to describe IPMC sensing for moderate deformation levels. We finally demonstrate the potential of the modelling scheme to accurately reproduce experimental results from the literature. The proposed model is expected to aid in the design of IPMC sensors, contribute to an improved understanding of IPMC electrochemomechanical response, and offer insight into the role of nonlinear phenomena across mechanics and electrochemistry.

Soft actuator based on Kraton with GO/Ag/Pani composite electrodes for robotic applications

NASA Astrophysics Data System (ADS)

Khan, Ajahar; Kant Jain, Ravi; Banerjee, Priyabrata; Inamuddin; Asiri, Abdullah M.

2017-11-01

In this work, electrochemically-driven Kraton/graphene oxide/Ag/polyaniline (Kraton/GO/Ag/Pani) polymer composite based ionic polymer metal composite (IPMC) was fabricated as a soft actuator. Silver nanopowder with polyaniline coating used as an electrode material is a novel approach in the fabrication of IPMC, which gives new opportunities for development of the electrode on ionic polymer actuator surfaces directly without electroless plating of Pt or Au metal. The Kraton/GO/Ag/Pani membrane showed much higher water-uptake (WU), ion exchange capacity (IEC), proton conductivity than those of several reported IPMC membranes. The enhanced actuation performance indicates that the Kraton/GO/Ag/Pani is a better alternative to the highly expensive commercialized IPMC actuator.

Development of endovascular vibrating polymer actuator probe for mechanical thrombolysis: a phantom study.

PubMed

Choi, Seung Hong; Yoon, Bye-Ri; Oh, Jin Sun; Han, Moon Hee; Lee, Jang Yeol; Cho, Hye Rim; Kim, Moon June; Rhee, Kyehan; Jho, Jae Young

2011-01-01

In this study, we propose a new method for enhancement of intraarterial thrombolysis using an ionic polymer-metal composite (IPMC) actuator. The purpose of this study was to test the mechanical thrombolysis efficiency of IPMC actuators and evaluate the endovascular vibrating polymer actuator probe for mechanical thrombolysis in a phantom model; 2 × 1 × 15 mm (2 mm in width, 1 mm in thickness, and 15 mm in length) and 0.8 × 0.8 × 10 mm (0.8 mm in width, 0.8 mm in thickness, and 10 mm in length) IPMC actuators were fabricated by stacking five and four Nafion-117 films, respectively. We manufactured the endovascular vibrating polymer actuator probe, for which thrombolysis efficiency was tested in a vascular phantom. The phantom study using 2 × 1 × 15 mm IPMC actuators showed that 5 Hz actuation is the optimal frequency for thrombolysis under both 2 and 3 V, when blood clot was not treated with rtPA, and when exposed to rtPA, IPMC actuators under the optimized condition (3 V, 5 Hz, and 5 min) significantly increased the thrombolysis degree compared with control and other experimental groups (p < 0.05). In addition, 0.8 × 0.8 × 10 mm IPMC actuators also revealed a significantly higher thrombolysis degree under the optimized condition than the control and rtPA only groups (p < 0.05). Finally, the fabricated probe using 0.8 × 0.8 × 10 mm IPMC actuators also incurred higher thrombolysis degree under the optimized condition than the control and rtPA only groups (p < 0.05). A vibrating polymer actuator probe is a feasible device for intravascular thrombolysis, and further study in an animal model is warranted.

Ionic polymer-metal composite actuators based on triple-layered polyelectrolytes composed of individually functionalized layers.

PubMed

Lee, Jang-Woo; Yoo, Young-Tai; Lee, Jae Yeol

2014-01-22

Ionic polymer-metal composite (IPMC) actuators based on two types of triple-layered Nafion composite membranes were prepared via consecutive solution recasting and electroless plating methods. The triple-layered membranes are composed of a Nafion layer containing an amphiphilic organic molecule (10-camphorsulfonic acid; CSA) in the middle section (for fast and large ion conduction) and two Nafion/modified inorganic composite layers in the outer sections (for large accumulation/retention of mobile ions). For construction of the two types of IPMCs, sulfonated montmorillonite (MMT) and polypyrrole (PPy)-coated alumina fillers were incorporated into the outer layers. Both the triple-layered IPMCs exhibited 42% higher tip displacements at the maximum deflections with a negligible back-relaxation, 50-74% higher blocking forces, and more rapid responses under 3 V dc, compared with conventional single-layered Nafion-IPMCs. Improvements in cyclic displacement under a rectangular voltage input of 3 V at 1 Hz were also made in the triple-layered configurations. Compared with single-layered IPMCs consisting of the identical compositions with the respective outer composite layers, the bending rates and energy efficiencies of both the triple-layered IPMCs were significantly higher, although the blocking forces were a bit lower. These remarkable improvements were attributed to higher capacitances and Young's moduli as well as a more efficient transport of mobile ions and water through the middle layer (Nafion/CSA) and a larger accumulation/retention of the mobile species in the outer functionalized inorganic composite layers. Especially, the triple-layered IPMC with the PPy-modified alumina registered the best actuation performance among all the samples, including a viable actuation even at a low voltage of 1.5 V due to involving efficient redox reactions of PPy with the aid of hygroscopic alumina.

Fused filament 3D printing of ionic polymer-metal composites (IPMCs)

NASA Astrophysics Data System (ADS)

Carrico, James D.; Traeden, Nicklaus W.; Aureli, Matteo; Leang, Kam K.

2015-12-01

This paper describes a new three-dimensional (3D) fused filament additive manufacturing (AM) technique in which electroactive polymer filament material is used to build soft active 3D structures, layer by layer. Specifically, the unique actuation and sensing properties of ionic polymer-metal composites (IPMCs) are exploited in 3D printing to create electroactive polymer structures for application in soft robotics and bio-inspired systems. The process begins with extruding a precursor material (non-acid Nafion precursor resin) into a thermoplastic filament for 3D printing. The filament is then used by a custom-designed 3D printer to manufacture the desired soft polymer structures, layer by layer. Since at this stage the 3D-printed samples are not yet electroactive, a chemical functionalization process follows, consisting in hydrolyzing the precursor samples in an aqueous solution of potassium hydroxide and dimethyl sulfoxide. Upon functionalization, metal electrodes are applied on the samples through an electroless plating process, which enables the 3D-printed IPMC structures to be controlled by voltage signals for actuation (or to act as sensors). This innovative AM process is described in detail and the performance of 3D printed IPMC actuators is compared to an IPMC actuator fabricated from commercially available Nafion sheet material. The experimental results show comparable performance between the two types of actuators, demonstrating the potential and feasibility of creating functional 3D-printed IPMCs.

Effects of anisotropic surface texture on the performance of ionic polymer-metal composite (IPMC)

NASA Astrophysics Data System (ADS)

He, Qingsong; Yu, Min; Ding, Haitao; Guo, Dongjie; Dai, Zhendong

2010-04-01

Ionic polymer metal composite (IPMC), an electrically activated polymer (EAP), has attracted great attention for the excellent properties such as large deformation, light weight, low noise, flexibility and low driving voltages, which makes the material a possible application as artificial muscle if the output force can be increased. To improve the property, we manufactured the Nafion membrane by casting from liquid solution, modified the surface by sandblasting or polishing, and obtained the isotropic and anisotropic surface texture respectively. The microstructure of the Nafion surface and metal electrode, effects of surface texture on the output force and displacement of IPMC were studied. Results show that the output force of IPMC with the anisotropic surface texture is 2~4 times higher than that with the isotropic surface texture without enormous sacrifice of the displacement. The output force may reach to 6.63gf (Sinusoidal 3.5V and 0.1Hz, length 20mm, width 5mm and thickness 0.66mm), which suggest an effective way to improve the mechanical properties of IPMC.

A nonlinear model for ionic polymer metal composites as actuators

NASA Astrophysics Data System (ADS)

Bonomo, C.; Fortuna, L.; Giannone, P.; Graziani, S.; Strazzeri, S.

2007-02-01

This paper introduces a comprehensive nonlinear dynamic model of motion actuators based on ionic polymer metal composites (IPMCs) working in air. Significant quantities ruling the acting properties of IPMC-based actuators are taken into account. The model is organized as follows. As a first step, the dependence of the IPMC absorbed current on the voltage applied across its thickness is taken into account; a nonlinear circuit model is proposed to describe this relationship. In a second step the transduction of the absorbed current into the IPMC mechanical reaction is modelled. The model resulting from the cascade of both the electrical and the electromechanical stages represents a novel contribution in the field of IPMCs, capable of describing the electromechanical behaviour of these materials and predicting relevant quantities in a large range of applied signals. The effect of actuator scaling is also investigated, giving interesting support to the activities involved in the design of actuating devices based on these novel materials. Evidence of the excellent agreement between the estimations obtained by using the proposed model and experimental signals is given.

A vortex-shedding flowmeter based on IPMCs

NASA Astrophysics Data System (ADS)

Di Pasquale, Giovanna; Graziani, Salvatore; Pollicino, Antonino; Strazzeri, Salvatore

2016-01-01

Ionic polymer-metal composites (IPMCs) are electroactive polymers that can be used both as sensors and actuators. They have been demonstrated for many potential applications, in wet and underwater environments. Applications in fields such as biomimetics, robotics, and aerospace, just to mention a few, have been proposed. In this paper, the sensing nature of IPMCs is used to develop a flowmeter based on the vortex shedding phenomenon. The system is described, and a model is proposed and verified. A setup has been realized, and data have been acquired for many working conditions. The performance of the sensing system has been investigated by using acquired experimental data. Water flux velocities in the range [0.38, 2.83] m s-1 have been investigated. This working range is comparable with ranges claimed for established technologies. Results show the suitability of the proposed system to work as a flowmeter. The proposed transducer is suitable for envisaged post-silicon applications, where the use of IPMCs gives the opportunity to realize a new generating polymeric flowmeter. This has potential applications in fields where properties of IPMCs such as low cost, usability, and disposability are relevant.

Soft Robotic Grippers.

PubMed

Shintake, Jun; Cacucciolo, Vito; Floreano, Dario; Shea, Herbert

2018-05-07

Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Microfabrication of IPMC cilia for bio-inspired flow sensing

NASA Astrophysics Data System (ADS)

Lei, Hong; Li, Wen; Tan, Xiaobo

2012-04-01

As the primary flow sensing organ for fishes, the lateral line system plays a critical role in fish behavior. Analogous to its biological counterpart, an artificial lateral line system, consisting of arrays of micro flow sensors, is expected to be instrumental in the navigation and control of underwater robots. In this paper we investigate the microfabrication of ionic polymer-metal composite (IPMC) cilia for the purpose of flow sensing. While existing macro- and microfabrication methods for IPMCs have predominantly focused on planar structures, we propose a device where micro IPMC beams stand upright on a substrate to effectively interact with the flow. Challenges in the casting of 3D Nafion structure and selective formation of electrodes are discussed, and potential solutions for addressing these challenges are presented together with preliminary microfabrication results.

Localisation of flow separation and transition over a pitching NACA0012 airfoil at transitional Reynolds number

NASA Astrophysics Data System (ADS)

Rudmin, Daniel

Ionic polymer-metal composites (IPMCs) are some of the most well-known electro-active polymers. This is due to their large deformation provided a relatively low voltage source. IPMCs have been acknowledged as a potential candidate for biomedical applications such as cardiac catheters and surgical probes; however, there is still no existing mass manufacturing of IPMCs. This study intends to provide a theoretical framework which could be used to design practical purpose IPMCs depending on the end users interest. This study begins by investigating methodologies used to develop quantify the physical actuation of an IPMC in 3-dimensional space. This approach is taken in two separate means; however, both approaches utilize the finite element method. The first approach utilizes the finite element method in order to describe the dynamic response of a segmented IPMC actuator. The first approach manually constructs each element with a local coordinate system. Each system undergoes a rigid body motion along the element and deformation of the element is expressed in the local coordinate frame. The physical phenomenon in this system is simplified by utilizing a lumped RC model in order to simplify the electro-mechanical phenomena in the IPMC dynamics. The second study investigates 3D modeling of a rod shaped IPMC actuator by explicitly coupling electrostatics, transport phenomenon, and solid mechanics. This portion of the research will briefly discuss the mathematical background that more accurately quantifies the physical phenomena. Solving for the 3-dimensional actuation is explicitly carried out again by utilizing the finite element method. The numerical result is conducted in a software package known as COMSOL MULTIPHYSICS. This simulation allows for explicit geometric rendering as well as more explicit quantification of the physical quantities such as concentration, electric field, and deflection. The final study will conduct design optimization on the COMSOL simulation in order to provide conceptual motivation for future designs. Utilizing a multi-physics analysis approach on a three dimensional cylinder and tube type IPMC provides physically accurate results for time dependent end effector displacement given a voltage source. Simulations are conducted with the finite element method and are also validated with empirical evidences. Having an in-depth understanding of the physical coupling provides optimal design parameters that cannot be altered from a standard electro-mechanical coupling. These parameters are altered in order to determine optimal designs for end-effector displacement, maximum force, and improved mobility with limited voltage magnitude. Design alterations are conducted on the electrode patterns in order to provide greater mobility, electrode size for efficient bending, and Nafion diameter for improved force. The results of this study will provide optimal design parameters of the IPMC for different applications.

2-tier in-plane motion correction and out-of-plane motion filtering for contrast-enhanced ultrasound.

PubMed

Ta, Casey N; Eghtedari, Mohammad; Mattrey, Robert F; Kono, Yuko; Kummel, Andrew C

2014-11-01

Contrast-enhanced ultrasound (CEUS) cines of focal liver lesions (FLLs) can be quantitatively analyzed to measure tumor perfusion on a pixel-by-pixel basis for diagnostic indication. However, CEUS cines acquired freehand and during free breathing cause nonuniform in-plane and out-of-plane motion from frame to frame. These motions create fluctuations in the time-intensity curves (TICs), reducing the accuracy of quantitative measurements. Out-of-plane motion cannot be corrected by image registration in 2-dimensional CEUS and degrades the quality of in-plane motion correction (IPMC). A 2-tier IPMC strategy and adaptive out-of-plane motion filter (OPMF) are proposed to provide a stable correction of nonuniform motion to reduce the impact of motion on quantitative analyses. A total of 22 cines of FLLs were imaged with dual B-mode and contrast specific imaging to acquire a 3-minute TIC. B-mode images were analyzed for motion, and the motion correction was applied to both B-mode and contrast images. For IPMC, the main reference frame was automatically selected for each cine, and subreference frames were selected in each respiratory cycle and sequentially registered toward the main reference frame. All other frames were sequentially registered toward the local subreference frame. Four OPMFs were developed and tested: subsample normalized correlation (NC), subsample sum of absolute differences, mean frame NC, and histogram. The frames that were most dissimilar to the OPMF reference frame using 1 of the 4 above criteria in each respiratory cycle were adaptively removed by thresholding against the low-pass filter of the similarity curve. Out-of-plane motion filter was quantitatively evaluated by an out-of-plane motion metric (OPMM) that measured normalized variance in the high-pass filtered TIC within the tumor region-of-interest with low OPMM being the goal. Results for IPMC and OPMF were qualitatively evaluated by 2 blinded observers who ranked the motion in the cines before and after various combinations of motion correction steps. Quantitative measurements showed that 2-tier IPMC and OPMF improved imaging stability. With IPMC, the NC B-mode metric increased from 0.504 ± 0.149 to 0.585 ± 0.145 over all cines (P < 0.001). Two-tier IPMC also produced better fits on the contrast-specific TIC than industry standard IPMC techniques did (P < 0.02). In-plane motion correction and OPMF were shown to improve goodness of fit for pixel-by-pixel analysis (P < 0.001). Out-of-plane motion filter reduced variance in the contrast-specific signal as shown by a median decrease of 49.8% in the OPMM. Two-tier IPMC and OPMF were also shown to qualitatively reduce motion. Observers consistently ranked cines with IPMC higher than the same cine before IPMC (P < 0.001) as well as ranked cines with OPMF higher than when they were uncorrected. The 2-tier sequential IPMC and adaptive OPMF significantly reduced motion in 3-minute CEUS cines of FLLs, thereby overcoming the challenges of drift and irregular breathing motion in long cines. The 2-tier IPMC strategy provided stable motion correction tolerant of out-of-plane motion throughout the cine by sequentially registering subreference frames that bypassed the motion cycles, thereby overcoming the lack of a nearly stationary reference point in long cines. Out-of-plane motion filter reduced apparent motion by adaptively removing frames imaged off-plane from the automatically selected OPMF reference frame, thereby tolerating nonuniform breathing motion. Selection of the best OPMF by minimizing OPMM effectively reduced motion under a wide variety of motion patterns applicable to clinical CEUS. These semiautomated processes only required user input for region-of-interest selection and can improve the accuracy of quantitative perfusion measurements.

Cradle and pressure grippers

DOEpatents

Muniak, John E.

2001-01-01

A gripper that is designed to incorporate the functions of gripping, supporting and pressure tongs into one device. The gripper has two opposing finger sections with interlocking fingers that incline and taper to form a wedge. The interlocking fingers are vertically off-set so that the opposing finger sections may close together allowing the inclined, tapered tips of the fingers to extend beyond the plane defined by the opposing finger section's engagement surface. The range of motion defined by the interlocking relationship of the finger sections allows the gripper to grab, lift and support objects of varying size and shape. The gripper has one stationary and one moveable finger section. Power is provided to the moveable finger section by an actuating device enabling the gripper to close around an object to be lifted. A lifting bail is attached to the gripper and is supported by a crane that provides vertical lift.

Gripping characteristics of an electromagnetically activated magnetorheological fluid-based gripper

NASA Astrophysics Data System (ADS)

Choi, Young T.; Hartzell, Christine M.; Leps, Thomas; Wereley, Norman M.

2018-05-01

The design and test of a magnetorheological fluid (MRF)-based universal gripper (MR gripper) are presented in this study. The MR gripper was developed to have a simple design, but with the ability to produce reliable gripping and handling of a wide range of simple objects. The MR gripper design consists of a bladder mounted atop an electromagnet, where the bladder is filled with an MRF, which was formulated to have long-term stable sedimentation stability, that was synthesized using a high viscosity linear polysiloxane (HVLP) carrier fluid with a carbonyl iron particle (CIP) volume fraction of 35%. Two bladders were fabricated: a magnetizable bladder using a magnetorheological elastomer (MRE), and a passive (non-magnetizable) silicone rubber bladder. The holding force and applied (initial compression) force of the MR gripper for a bladder fill volume of 75% were experimentally measured, for both magnetizable and passive bladders, using a servohydraulic material testing machine for a range of objects. The gripping performance of the MR gripper using an MRE bladder was compared to that of the MR gripper using a passive bladder.

Integration of a computerized two-finger gripper for robot workstation safety

NASA Technical Reports Server (NTRS)

Sneckenberger, John E.; Yoshikata, Kazuki

1988-01-01

A microprocessor-based controller has been developed that continuously monitors and adjusts the gripping force applied by a special two-finger gripper. This computerized force sensing gripper system enables the endeffector gripping action to be independently detected and corrected. The gripping force applied to a manipulated object is real-time monitored for problem situations, situations which can occur during both planned and errant robot arm manipulation. When unspecified force conditions occur at the gripper, the gripping force controller initiates specific reactions to cause dynamic corrections to the continuously variable gripping action. The force controller for this intelligent gripper has been interfaced to the controller of an industrial robot. The gripper and robot controllers communicate to accomplish the successful completion of normal gripper operations as well as unexpected hazardous situations. An example of an unexpected gripping condition would be the sudden deformation of the object being manipulated by the robot. The capabilities of the interfaced gripper-robot system to apply workstation safety measures (e.g., stop the robot) when these unexpected gripping effects occur have been assessed.

Radiation-grafted fluoropolymers soaked with imidazolium-based ionic liquids for high-performance ionic polymer-metal composite actuators.

PubMed

Lee, Jang Yeol; Wang, Hyuck Sik; Yoon, Bye Ri; Han, Man Jae; Jho, Jae Young

2010-11-01

On purpose to develop a polymer actuator with high stability in air-operation as well as large bending displacement, a series of ionic polymer-metal composites (IPMC) was constructed with poly(styrene sulfonate)-grafted fluoropolymers as ionomeric matrix and immidazolium-based ionic liquids (IL) as inner solvent. The prepared IPMC actuators exhibited greatly enhanced bending displacement compared to Nafion-based actuators. The actuators were stable in air-operation, maintaining initial displacement for up to 10(4) cycles or 24 h. Investigating the material parameters and morphology of the IPMCs, high ion exchange capacity of the ionomers resulted in high ion conductivity and robust electrode of IPMC, which synergistically contributed to the high bending performance. Copyright © 2010 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Carbon nanotube-graphene composite for ionic polymer actuators

NASA Astrophysics Data System (ADS)

Yang, Woosung; Choi, Hyonkwang; Choi, Suho; Jeon, Minhyon; Lee, Seung-Yop

2012-05-01

In this paper, we develop a new ionic polymer-metal composite (IPMC) by replacing a typical platinum or gold electrode with a multi-walled carbon nanotube (MWNT)-graphene based electrode. A solvent of MWNT and graphene is formed on both sides of the ionic polymer membranes as electrodes by means of spray coating and baking. Then, the ionic liquid process is performed for actuating in air. The four kinds of IPMC samples with different MWNT-graphene ratios are fabricated with the same solid Nafion film. Experimental results show that the IPMC with a pure MWNT based electrode exhibits higher displacement compared to the conventional IPMC with a platinum electrode. Also, the increment of the ratio of graphene to the MWNT-graphene electrode decreases the resultant displacement but increases the fundamental natural frequency of the polymer actuator.

A model for ionic polymer metal composites as sensors

NASA Astrophysics Data System (ADS)

Bonomo, C.; Fortuna, L.; Giannone, P.; Graziani, S.; Strazzeri, S.

2006-06-01

This paper introduces a comprehensive model of sensors based on ionic polymer metal composites (IPMCs) working in air. Significant quantities ruling the sensing properties of IPMC-based sensors are taken into account and the dynamics of the sensors are modelled. A large amount of experimental evidence is given for the excellent agreement between estimations obtained using the proposed model and the observed signals. Furthermore, the effect of sensor scaling is investigated, giving interesting support to the activities involved in the design of sensing devices based on these novel materials. We observed that the need for a wet environment is not a key issue for IPMC-based sensors to work well. This fact allows us to put IPMC-based sensors in a totally different light to the corresponding actuators, showing that sensors do not suffer from the same drawbacks.

A method to estimate the deformation and the absorbed current of an IPMC actuator

NASA Astrophysics Data System (ADS)

Bonomo, Claudia; Fortuna, Luigi; Giannone, Pietro; Graziani, Salvatore; Strazzeri, Salvatore

2006-03-01

Based on a previous paper presented at EAPAD Conference on 2005 and supported by the European Community by the research project ISAMCO (Ionic polymer metal composite as Sensors and Actuators for Motion COntrol, 2004-2006) inside the sixth Framework Program, the proposed paper goes on describing the results about the characterization of IPMC materials as motion actuators, obtained by using an improved infrared-based system designed, realized and characterised to this aim. The system was required to detect both the IPMC absorbed current and its consequent deflection, under the effect of the applied voltage. The deflection is detected by the IR system, that uses a differential configuration in order to reduce non-linearity, peculiar to IR devices. The measurement system is used to identify and then validate a model, proposed to describe the IPMC actuator behaviour in a wide range of operating conditions. The model was obtained by adopting a grey box approach. By acquiring the signals involved: the applied voltage, the absorbed current and the IPMC displacement, for different inputs such as pulses, sinusoidal waves (with varying frequency and amplitude) and noise, and by post-processing these signals, all the parameters relative to the IPMC actuator were identified and several tests were performed in order to compare the behaviour of the actuator as predicted by the model with the experimental one. The obtained results show a very good accordance between the simulated and the real actuator response, hence represent a good validation of the proposed model.

Kinematically stable bipedal locomotion using ionic polymer-metal composite actuators

NASA Astrophysics Data System (ADS)

Hosseinipour, Milad; Elahinia, Mohammad

2013-08-01

Ionic conducting polymer-metal composites (abbreviated as IPMCs) are interesting actuators that can act as artificial muscles in robotic and microelectromechanical systems. Various black or gray box models have modeled the electrochemical-mechanical behavior of these materials. In this study, the governing partial differential equation of the behavior of IPMCs is solved using finite element methods to find the critical actuation parameters, such as strain distribution, maximum strain, and response time. One-dimensional results of the FEM solution are then extended to 2D to find the tip displacement of a flap actuator and experimentally verified. A model of a seven-degree-of-freedom biped robot, actuated by IPMC flaps, is then introduced. The possibility of fast and stable bipedal locomotion using IPMC artificial muscles is the main motivation of this study. Considering the actuator limits, joint path trajectories are generated to achieve a fast and smooth motion. The stability of the proposed gait is then evaluated using the ZMP criterion and motion simulation. The fabrication parameters of each actuator, such as length, platinum plating thickness and installation angle, are then determined using the generated trajectories. A discussion on future studies on force-torque generation of IPMCs for biped locomotion concludes this paper.

A Novel Ionic Polymer Metal ZnO Composite (IPMZC)

PubMed Central

Kim, Sang-Mun; Tiwari, Rashi; Kim, Kwang J.

2011-01-01

The presented research introduces a new Ionic Polymer-Metal-ZnO Composite (IPMZC) demonstrating photoluminescence (PL)-quenching on mechanical bending or application of an electric field. The newly fabricated IPMZC integrates the optical properties of ZnO and the electroactive nature of Ionic Polymer Metal Composites (IPMC) to enable a non-contact read-out of IPMC response. The electro-mechano-optical response of the IPMZC was measured by observing the PL spectra under mechanical bending and electrical regimes. The working range was measured to be 375–475 nm. It was noted that the PL-quenching increased proportionally with the increase in curvature and applied field at 384 and 468 nm. The maximum quenching of 53.4% was achieved with the membrane curvature of 78.74/m and 3.01% when electric field (12.5 × 103 V/m) is applied. Coating IPMC with crystalline ZnO was observed to improve IPMC transduction. PMID:22163869

A resonant force sensor based on ionic polymer metal composites

NASA Astrophysics Data System (ADS)

Bonomo, Claudia; Fortuna, Luigi; Giannone, Pietro; Graziani, Salvatore; Strazzeri, Salvatore

2008-02-01

In this paper a novel force sensor, based on ionic polymer metal composites (IPMCs), is presented. The system has DC sensing capabilities and is able to work in the range of a few millinewtons. IPMCs are emerging materials used to realize motion actuators and sensors. An IPMC strip is activated in a beam fixed/simply-supported configuration. The beam is tightened at the simply-supported end by a force. This influences the natural resonant frequency of the beam; the value of the resonant frequency is used in the proposed system to estimate the force applied in the axial direction. The performance of the system based on the IPMC material has proved to be comparable with that of sensors based on other sensing mechanisms. This suggests the possibility of using this class of polymeric devices to realize PMEMS (plastic micro electrical mechanical systems) sensors.

A model framework for actuation and sensing of ionic polymer-metal composites: prospective on frequency and shear response through simulation tools

NASA Astrophysics Data System (ADS)

Stalbaum, Tyler; Shen, Qi; Kim, Kwang J.

2017-04-01

Ionic polymer-metal composite (IPMC) is a promising material for soft-robotic actuator and sensor applications. This material system offers large deformation response for low input voltage and has an aptitude for operation in hydrated environments. Researchers have been developing IPMC actuators and sensors for applications with examples of self-sensing actuators, artificial fish fins and biomimicry of other aquatic lifeforms, and in medical operations such as in guided catheter devices. IPMCs have been developed in a range of geometric configurations, with tube or cylindrical and flat-plate rectangular as the most common shapes. Several mathematical and physics-based models have been developed for describing the transduction effects of IPMCs. In this work, the underlying theories of electromechanical and mechanoelectrical transduction in IPMCs are discussed, and simulated results of frequency response and shear response are presented. A model backbone is utilized which is primarily based on ion-transport and charge dynamics within the polymer membrane. The electromechanical model, that is with an IPMC as an actuator, is caused when an electric field is applied across the membrane causing ionic migration and swelling in the polymer membrane, which is based on the Poisson-Nernst-Planck equations and solid mechanics models. The mechanoelectric model is similar in underlying physics; however, the primary mechanisms of transduction are of different significance, where anion concentrations are as important as cations. COMSOL Multiphysics is utilized for simulations. Example applications of the modeling framework are presented. The simulated results provide additional support for the underlying physics theories discussed.

Simulation of a Magneto-Rheological Fluid Based, Jamming, Soft Gripper Using the Soft Sphere DEM in LIGGGHTS

NASA Astrophysics Data System (ADS)

Leps, Thomas; Hartzell, Christine; Wereley, Norman; Choi, Young

2017-11-01

Jamming soft grippers are excellent universal grippers due to their low dependence on the shape of objects to be grabbed, and low stiffness, mitigating the need for object shape data and expensive force control of a stiff system. These grippers now rely on jamming transitions of dry grains under atmospheric pressure to hold objects. In order to expand their use to space environments, a gripper using magnetic actuation of a magneto-rheological fluid (MR Gripper) is being developed. The MR fluid is a suspension of μm scale iron grains in a silicone oil. When un-magnetized the fluid behaves as a dense suspension with low Bagnold number. When magnetized, it behaves like a jammed granular material, with magnetic forces between the grains dominating. We are simulating the gripper using LIGGGHTS, an open-source soft sphere DEM code. We have modeled both the deformable gripper membrane and the MR fluid itself using the LIGGGHTS framework. To our knowledge, this is the first time that the induced magnetic dipoles required to accurately simulate the jamming behavior of MR fluids have been modeled in LIGGGHTS. This simulation allows the rapid optimization of the hardware and magnetic field geometries, as well as the fluid behavior, without time consuming, and costly prototype revisions.

Fabrication and characterization of a micromachined swirl-shaped ionic polymer metal composite actuator with electrodes exhibiting asymmetric resistance.

PubMed

Feng, Guo-Hua; Liu, Kim-Min

2014-05-12

This paper presents a swirl-shaped microfeatured ionic polymer-metal composite (IPMC) actuator. A novel micromachining process was developed to fabricate an array of IPMC actuators on a glass substrate and to ensure that no shortcircuits occur between the electrodes of the actuator. We demonstrated a microfluidic scheme in which surface tension was used to construct swirl-shaped planar IPMC devices of microfeature size and investigated the flow velocity of Nafion solutions, which formed the backbone polymer of the actuator, within the microchannel. The unique fabrication process yielded top and bottom electrodes that exhibited asymmetric surface resistance. A tool for measuring surface resistance was developed and used to characterize the resistances of the electrodes for the fabricated IPMC device. The actuator, which featured asymmetric electrode resistance, caused a nonzero-bias current when the device was driven using a zero-bias square wave, and we propose a circuit model to describe this phenomenon. Moreover, we discovered and characterized a bending and rotating motion when the IPMC actuator was driven using a square wave. We observed a strain rate of 14.6% and a displacement of 700 μm in the direction perpendicular to the electrode surfaces during 4.5-V actuation.

Fabrication and Characterization of a Micromachined Swirl-Shaped Ionic Polymer Metal Composite Actuator with Electrodes Exhibiting Asymmetric Resistance

PubMed Central

Feng, Guo-Hua; Liu, Kim-Min

2014-01-01

This paper presents a swirl-shaped microfeatured ionic polymer-metal composite (IPMC) actuator. A novel micromachining process was developed to fabricate an array of IPMC actuators on a glass substrate and to ensure that no shortcircuits occur between the electrodes of the actuator. We demonstrated a microfluidic scheme in which surface tension was used to construct swirl-shaped planar IPMC devices of microfeature size and investigated the flow velocity of Nafion solutions, which formed the backbone polymer of the actuator, within the microchannel. The unique fabrication process yielded top and bottom electrodes that exhibited asymmetric surface resistance. A tool for measuring surface resistance was developed and used to characterize the resistances of the electrodes for the fabricated IPMC device. The actuator, which featured asymmetric electrode resistance, caused a nonzero-bias current when the device was driven using a zero-bias square wave, and we propose a circuit model to describe this phenomenon. Moreover, we discovered and characterized a bending and rotating motion when the IPMC actuator was driven using a square wave. We observed a strain rate of 14.6% and a displacement of 700 μm in the direction perpendicular to the electrode surfaces during 4.5-V actuation. PMID:24824370

Effect of nucleation time on bending response of ionic polymer–metal composite actuators

DOE PAGES

Kim, Suran; Hong, Seungbum; Choi, Yoon-Young; ...

2013-07-02

We attempted an autocatalytic electro-less plating of nickel in order to replace an electroless impregnation-reduction (IR) method in ionic polymer–metal composite (IPMC) actuators to reduce cost and processing time. Because nucleation time of Pd–Sn colloids is the determining factor of overall processing time, we used the nucleation time as our control parameter. In order to optimize nucleation time and investigate its effect on the performance of IPMC actuators, we analyzed the relationship between the nucleation time, interface morphology and electrical properties. The optimized nucleation time was 10 h. Furthermore, the trends of the performance and electrical properties as a functionmore » of nucleation time were attributed to the fact that the Ni penetration depth was determined by the minimum diffusion length of either Pd–Sn colloids or reducing agent ions. The Ni-IPMC actuators can be fabricated less than 14 h processing time without deteriorating performance of the actuators, which is comparable to Pt-IPMC prepared by IR method.« less

Effects of surface roughening of Nafion 117 on the mechanical and physicochemical properties of ionic polymer-metal composite (IPMC) actuators

NASA Astrophysics Data System (ADS)

Wang, Yanjie; Zhu, Zicai; Liu, Jiayu; Chang, Longfei; Chen, Hualing

2016-08-01

In this paper, the surface of a Nafion membrane was roughened by the sandblasting method, mainly considering the change of sandblasting time and powder size. The roughened surfaces were characterized in terms of their topography from the confocal laser scanning microscope (CLSM) and SEM. The key surface parameters, such as Sa (the arithmetical mean deviation of the specified surface profile), SSA (the surface area ratio before and after roughening) and the area measurement on the histogram from the CLSM images, were extracted and evaluated from the roughened membranes. Also, the detailed change in surface and interfacial electrodes were measured and discussed together with the surface resistance, equivalent modulus, capacitance and performances of IPMC actuators based on the roughened membranes. The results show that a suitable sandblasting condition, resulting in the decrease in the bending stiffness and the increase in the interface area closely related to the capacitance, can effectively increase the electromechanical responses of IPMCs. Although the surface roughening by sandblasting caused a considerable lowering of mechanical strength, it was very effective for enlarging the interfacial area between Nafion membrane and the electrode layers, and for forming a penetrated electrode structure, which facilitated improvement of the surface resistance and capacitance characteristics of IPMCs. In this work, a quantitative relationship was built between the topography of Nafion membrane surface and electromechanical performance of IPMCs by means of sandblasting.

Design of an auto change mechanism and intelligent gripper for the space station

NASA Technical Reports Server (NTRS)

Dehoff, Paul H.; Naik, Dipak P.

1989-01-01

Robot gripping of objects in space is inherently demanding and dangerous and nowhere is this more clearly reflected than in the design of the robot gripper. An object which escapes the gripper in a micro g environment is launched not dropped. To prevent this, the gripper must have sensors and signal processing to determine that the object is properly grasped, e.g., grip points and gripping forces and, if not, to provide information to the robot to enable closed loop corrections to be made. The sensors and sensor strategies employed in the NASA/GSFC Split-Rail Parallel Gripper are described. Objectives and requirements are given followed by the design of the sensor suite, sensor fusion techniques and supporting algorithms.

Rock Gripper for Sampling, Mobility, Anchoring, and Manipulation

NASA Technical Reports Server (NTRS)

Parness, Aaron

2013-01-01

A new gripper mechanism can be used as an end effector for a long arm that reaches out from a nearby spacecraft for a touch-and-go type of mission. The gripper would stabilize the arm and allow samples to be collected and in situ science to be done from a fixed platform. In the long term, this style of gripper could even be used as handholds for astronauts trying to move about on/near small asteroids. The prototype developed has demonstrated a 120 N gripping force, and improvements continue to be made.

Stronger at Depth: Jamming Grippers as Deep Sea Sampling Tools.

PubMed

Licht, Stephen; Collins, Everett; Mendes, Manuel Lopes; Baxter, Christopher

2017-12-01

In this work we experimentally demonstrate (a) that the holding strength of universal jamming grippers increases as a function of the jamming pressure to greater than three atmospheres, and (b) that jamming grippers can be operated in the deep sea in ambient pressures exceeding one hundred atmospheres, where such high jamming pressures can be readily achieved. Laboratory experiments in a pressurized, water-filled test cell are used to measure the holding force of a "universal" style jamming gripper as a function of the pressure difference between internal membrane pressure and ambient pressure. Experiments at sea are used to demonstrate that jamming grippers can be installed on, and operated from, remotely operated vehicles at depths in excess of 1200 m. In both experiments, the jamming gripper consists of a latex balloon filled with a mixture of fresh water and ∼200 μm glass beads, which are cheaply available in large quantities as sand blasting media. The use of a liquid, rather than a gas, as the fluid media allows operation of the gripper with a closed-loop fluid system; jamming pressure is controlled with an electrically driven water hydraulic cylinder in the laboratory and with an oil hydraulic-driven large-bore water hydraulic cylinder at sea.

Online Condition Monitoring of Gripper Cylinder in TBM Based on EMD Method

NASA Astrophysics Data System (ADS)

Li, Lin; Tao, Jian-Feng; Yu, Hai-Dong; Huang, Yi-Xiang; Liu, Cheng-Liang

2017-11-01

The gripper cylinder that provides braced force for Tunnel Boring Machine (TBM) might fail due to severe vibration when the TBM excavates in the tunnel. Early fault diagnosis of the gripper cylinder is important for the safety and efficiency of the whole tunneling project. In this paper, an online condition monitoring system based on the Empirical Mode Decomposition (EMD) method is established for fault diagnosis of the gripper cylinder while TBM is working. Firstly, the lumped mass parameter model of the gripper cylinder is established considering the influence of the variable stiffness at the rock interface, the equivalent stiffness of the oil, the seals, and the copper guide sleeve. The dynamic performance of the gripper cylinder is investigated to provide basis for its health condition evaluation. Then, the EMD method is applied to identify the characteristic frequencies of the gripper cylinder for fault diagnosis and a field test is used to verify the accuracy of the EMD method for detection of the characteristic frequencies. Furthermore, the contact stiffness at the interface between the barrel and the rod is calculated with Hertz theory and the relationship between the natural frequency and the stiffness varying with the health condition of the cylinder is simulated based on the dynamic model. The simulation shows that the characteristic frequencies decrease with the increasing clearance between the barrel and the rod, thus the defects could be indicated by monitoring the natural frequency. Finally, a health condition management system of the gripper cylinder based on the vibration signal and the EMD method is established, which could ensure the safety of TBM.

Adaptive critic neural network-based object grasping control using a three-finger gripper.

PubMed

Jagannathan, S; Galan, Gustavo

2004-03-01

Grasping of objects has been a challenging task for robots. The complex grasping task can be defined as object contact control and manipulation subtasks. In this paper, object contact control subtask is defined as the ability to follow a trajectory accurately by the fingers of a gripper. The object manipulation subtask is defined in terms of maintaining a predefined applied force by the fingers on the object. A sophisticated controller is necessary since the process of grasping an object without a priori knowledge of the object's size, texture, softness, gripper, and contact dynamics is rather difficult. Moreover, the object has to be secured accurately and considerably fast without damaging it. Since the gripper, contact dynamics, and the object properties are not typically known beforehand, an adaptive critic neural network (NN)-based hybrid position/force control scheme is introduced. The feedforward action generating NN in the adaptive critic NN controller compensates the nonlinear gripper and contact dynamics. The learning of the action generating NN is performed on-line based on a critic NN output signal. The controller ensures that a three-finger gripper tracks a desired trajectory while applying desired forces on the object for manipulation. Novel NN weight tuning updates are derived for the action generating and critic NNs so that Lyapunov-based stability analysis can be shown. Simulation results demonstrate that the proposed scheme successfully allows fingers of a gripper to secure objects without the knowledge of the underlying gripper and contact dynamics of the object compared to conventional schemes.

Comparative experimental investigation on the actuation mechanisms of ionic polymer–metal composites with different backbones and water contents

DOE Office of Scientific and Technical Information (OSTI.GOV)

Zhu, Zicai; Chang, Longfei; Wang, Yanjie

2014-03-28

Water-based ionic polymer–metal composites (IPMCs) exhibit complex deformation properties, especially when the water content changes. To explore the general actuation mechanisms, both Nafion and Flemion membranes are used as the polymer backbones. IPMC deformation includes three stages: fast anode deformation, relaxation deformation, and slow anode deformation, which is mainly dependent on the water content and the backbone. When the water content decreases from 21 to 14 wt. %, Nafion–IPMC exhibits a large negative relaxation deformation, zero deformation, a positive relaxation deformation, and a positive steady deformation without relaxation in sequence. Despite the slow anode deformation, Flemion–IPMC also shows a slight relaxation deformation,more » which disappears when the water content is less than 13 wt. %. The different water states are investigated at different water contents using nuclear magnetic resonance spectroscopy. The free water, which decreases rapidly at the beginning through evaporation, is proven to be critical for relaxation deformation. For the backbone, indirect evidence from the steady current response is correlated with the slow anode deformation of Flemion-IPMC. The latter is explained by the secondary dissociation of the weak acid group –COOH. Finally, we thoroughly explain not only the three deformations by swelling but also their evolvement with decreasing water content. A fitting model is also presented based on a multi-diffusion equation to reveal the deformation processes more clearly, the results from which are in good agreement with the experimental results.« less

Haptics using a smart material for eyes-free interaction in personal devices

NASA Astrophysics Data System (ADS)

Wang, Huihui; Lane, William Brian; Pappas, Devin; Duque, Bryam; Leong, John

2014-03-01

In this paper we present a prototype using a dry ionic polymer metal composite (IPMC) in interactive personal devices such as bracelet, necklace, pocket key chain or mobile devices for haptic interaction when audio or visual feedback is not possible or practical. This prototype interface is an electro-mechanical system that realizes a shape-changing haptic display for information communication. A dry IPMC will change its dimensions due to the electrostatic effect when an electrical potential is provided to them. The IPMC can operate at a lower voltage (less than 2.5V) which is compatible with requirements for personal electrical devices or mobile devices. The prototype consists of the addressable arrays of the IPMCs with different dimensions which are deformable to different shapes with proper handling or customization. 3D printing technology will be used to form supporting parts. Microcontrollers (about 3cm square) from DigiKey will be imbedded into this personal device. An Android based mobile APP will be developed to talk with microcontrollers to control IPMCs. When personal devices receive information signals, the original shape of the prototype will change to another shape related to the specific sender or types of information sources. This interactive prototype can simultaneously realize multiple methods for conveying haptic information such as dimension, force, and texture due to the flexible array design. We conduct several studies of user experience to explore how users' respond to shape change information.

Effects of surface roughening on the mass transport and mechanical properties of ionic polymer-metal composite

NASA Astrophysics Data System (ADS)

Chang, Longfei; Asaka, Kinji; Zhu, Zicai; Wang, Yanjie; Chen, Hualing; Li, Dichen

2014-06-01

Ionic Polymer-Metal Composite (IPMC) has been well-documented of being a promising functional material in extensive applications. In its most popular and traditional manufacturing technique, roughening is a key process to ensure a satisfying performance. In this paper, based on a lately established multi-physical model, the effect of roughening process on the inner mass transportation and the electro-active output of IPMC were investigated. In the model, the electro-chemical field was monitored by Poisson equation and a properly simplified Nernst-Planck equation set, while the mechanical field was evaluated on the basis of volume strain effect. Furthermore, with Ramo-Shockley theorem, the out-circuit current and accumulated charge on the electrode were bridged with the inner cation distribution. Besides, nominal current and charge density as well as the curvature of the deformation were evaluated to characterize the performance of IPMC. The simulation was implemented by Finite Element Method with Comsol Multi-physics, based on two groups of geometrical models, those with various rough interface and those with different thickness. The results of how the roughening impact influences on the performance of IPMC were discussed progressively in three aspects, steady-state distribution of local potential and mass concentration, current response and charge accumulation, as well as the curvature of deformation. Detailed explanations for the performance improvement resulted from surface roughening were provided from the micro-distribution point of view, which can be further explored for the process optimization of IPMC.

A physics-based model of the electrical impedance of ionic polymer metal composites

NASA Astrophysics Data System (ADS)

Cha, Youngsu; Aureli, Matteo; Porfiri, Maurizio

2012-06-01

In this paper, we analyze the chemoelectrical behavior of ionic polymer metal composites (IPMCs) in the small voltage range with a novel hypothesis on the charge dynamics in proximity of the electrodes. In particular, we homogenize the microscopic properties of the interfacial region through a so-called composite layer which extends between the polymer membrane and the metal electrode. This layer accounts for the dissimilar properties of its constituents by describing the charge distribution via two species of charge carriers, that is, electrons and mobile counterions. We model the charge dynamics in the IPMC by adapting the multiphysics formulation based on the Poisson-Nernst-Planck (PNP) framework, which is enriched through an additional term to capture the electron transport in the composite layer. Under the hypothesis of small voltage input, we use the linearized PNP model to derive an equivalent IPMC circuit model with lumped elements. The equivalent model comprises a resistor connected in series with the parallel of a capacitor and a Warburg impedance element. These elements idealize the phenomena of charge build up in the double layer region and the faradaic impedance related to mass transfer, respectively. We validate the equivalent model through measurements on in-house fabricated samples addressing both IPMC step response and impedance, while assessing the influence of repeated plating cycles on the electrical properties of IPMCs. Experimental results are compared with theoretical findings to identify the equivalent circuit parameters. Findings from this study are compared with alternative impedance models proposed in the literature.

A novel soft biomimetic microrobot with two motion attitudes.

PubMed

Shi, Liwei; Guo, Shuxiang; Li, Maoxun; Mao, Shilian; Xiao, Nan; Gao, Baofeng; Song, Zhibin; Asaka, Kinji

2012-12-06

 A variety of microrobots have commonly been used in the fields of biomedical engineering and underwater operations during the last few years. Thanks to their compact structure, low driving power, and simple control systems, microrobots can complete a variety of underwater tasks, even in limited spaces. To accomplish our objectives, we previously designed several bio-inspired underwater microrobots with compact structure, flexibility, and multi-functionality, using ionic polymer metal composite (IPMC) actuators. To implement high-position precision for IPMC legs, in the present research, we proposed an electromechanical model of an IPMC actuator and analysed the deformation and actuating force of an equivalent IPMC cantilever beam, which could be used to design biomimetic legs, fingers, or fins for an underwater microrobot. We then evaluated the tip displacement of an IPMC actuator experimentally. The experimental deflections fit the theoretical values very well when the driving frequency was larger than 1 Hz. To realise the necessary multi-functionality for adapting to complex underwater environments, we introduced a walking biomimetic microrobot with two kinds of motion attitudes: a lying state and a standing state. The microrobot uses eleven IPMC actuators to move and two shape memory alloy (SMA) actuators to change its motion attitude. In the lying state, the microrobot implements stick-insect-inspired walking/rotating motion, fish-like swimming motion, horizontal grasping motion, and floating motion. In the standing state, it implements inchworm-inspired crawling motion in two horizontal directions and grasping motion in the vertical direction. We constructed a prototype of this biomimetic microrobot and evaluated its walking, rotating, and floating speeds experimentally. The experimental results indicated that the robot could attain a maximum walking speed of 3.6 mm/s, a maximum rotational speed of 9°/s, and a maximum floating speed of 7.14 mm/s. Obstacle-avoidance and swimming experiments were also carried out to demonstrate its multi-functionality.

Microscopic pick-and-place teleoperation

NASA Astrophysics Data System (ADS)

Bhatti, Pamela; Hannaford, Blake; Marbot, Pierre-Henry

1993-03-01

A three degree-of-freedom direct drive mini robot has been developed for biomedical applications. The design approach of the mini robot relies heavily upon electromechanical components from the Winchester disk drive industry. In the current design, the first joint is driven by actuators from a 5.25' drive, and the following joints are driven by actuators typical of 3.5' drives. The system has 5 - 10 micrometers of position repeatability and resolution in all three axes. A mini gripper attachment has been fabricated for the robot to explore manipulation of objects ranging from 50 micrometers to 500 micrometers . Mounted on the robot, the gripper has successfully performed pick and place operations under teleoperated control. The mini robot serves to precisely position the gripper, and a needle-like finger of the gripper deflects so the fingers can grip a target object. The gripper finger capable of motion is fabricated with a piezoelectric bimorph crystal which deflects with an applied DC voltage. The experimental results are promising, and the mini gripper may be modified for future biomedical and micro assembly applications.

Design of a Variable Stiffness Soft Dexterous Gripper

PubMed Central

Nefti-Meziani, Samia; Davis, Steve

2017-01-01

Abstract This article presents the design of a variable stiffness, soft, three-fingered dexterous gripper. The gripper uses two designs of McKibben muscles. Extensor muscles that increase in length when pressurized are used to form the fingers of the gripper. Contractor muscles that decrease in length when pressurized are then used to apply forces to the fingers through tendons, which cause flexion and extension of the fingers. The two types of muscles are arranged to act antagonistically and this means that by raising the pressure in all of the pneumatic muscles, the stiffness of the system can be increased without a resulting change in finger position. The article presents the design of the gripper, some basic kinematics to describe its function, and then experimental results demonstrating the ability to adjust the bending stiffness of the gripper's fingers. It has been demonstrated that the fingers' bending stiffness can be increased by more than 150%. The article concludes by demonstrating that the fingers can be closed loop position controlled and are able to track step and sinusoidal inputs. PMID:29062630

The Inventory of Pre-Marital Conflict: Clinical and Educational Applications.

ERIC Educational Resources Information Center

Fournier, David G.; And Others

The Inventory of Pre-Marital Conflict (IPMC) is a systematic procedure for the diagnosis and assessment of pre-marital conflict and related issues. The self-report component of the IPMC involves a series of 18 hypothetical conflict situations. The individual responds to each of these by evaluating who is primarily responsible for the problem, and…

Biomimetic Beetle-Inspired Flapping Air Vehicle Actuated by Ionic Polymer-Metal Composite Actuator.

PubMed

Zhao, Yang; Xu, Di; Sheng, Jiazheng; Meng, Qinglong; Wu, Dezhi; Wang, Lingyun; Xiao, Jingjing; Lv, Wenlong; Chen, Qinnan; Sun, Daoheng

2018-01-01

During the last decades, the ionic polymer-metal composite (IPMC) received much attention because of its potential capabilities, such as large displacement and flexible bending actuation. In this paper, a biomimetic flapping air vehicle was proposed by combining the superiority of ionic polymer metal composite with the bionic beetle flapping principle. The blocking force was compared between casted IPMC and IPMC. The flapping state of the wing was investigated and the maximum displacement and flapping angle were measured. The flapping displacement under different voltage and frequency was tested. The flapping displacement of the wing and the support reaction force were measured under different frequency by experiments. The experimental results indicate that the high voltage and low frequency would get large flapping displacement.

Sensorless position estimator applied to nonlinear IPMC model

NASA Astrophysics Data System (ADS)

Bernat, Jakub; Kolota, Jakub

2016-11-01

This paper addresses the issue of estimating position for an ionic polymer metal composite (IPMC) known as electro active polymer (EAP). The key step is the construction of a sensorless mode considering only current feedback. This work takes into account nonlinearities caused by electrochemical effects in the material. Owing to the recent observer design technique, the authors obtained both Lyapunov function based estimation law as well as sliding mode observer. To accomplish the observer design, the IPMC model was identified through a series of experiments. The research comprises time domain measurements. The identification process was completed by means of geometric scaling of three test samples. In the proposed design, the estimated position accurately tracks the polymer position, which is illustrated by the experiments.

Apparatus for remotely handling components

DOEpatents

Szkrybalo, Gregory A.; Griffin, Donald L.

1994-01-01

The inventive apparatus for remotely handling bar-like components which define a longitudinal direction includes a gripper mechanism for gripping the component including first and second gripper members longitudinally fixedly spaced from each other and oriented parallel to each other in planes transverse to the longitudinal direction. Each gripper member includes a jaw having at least one V-groove with opposing surfaces intersecting at a base and extending radially relative to the longitudinal direction for receiving the component in an open end between the opposing surfaces. The V-grooves on the jaw plate of the first and second gripper members are aligned in the longitudinal direction to support the component in the first and second gripper members. A jaw is rotatably mounted on and a part of each of the first and second gripper members for selectively assuming a retracted mode in which the open end of the V-groove is unobstructed and active mode in which the jaw spans the open end of the V-groove in the first and second gripper members. The jaw has a locking surface for contacting the component in the active mode to secure the component between the locking surface of the jaw and the opposing surfaces of the V-groove. The locking surface has a plurality of stepped portions, each defining a progressively decreasing radial distance between the base of the V-groove and the stepped portion opposing the base to accommodate varying sizes of components.

Biomimetic Beetle-Inspired Flapping Air Vehicle Actuated by Ionic Polymer-Metal Composite Actuator

PubMed Central

Zhao, Yang; Xu, Di; Sheng, Jiazheng; Meng, Qinglong; Wu, Dezhi; Wang, Lingyun; Xiao, Jingjing; Lv, Wenlong; Sun, Daoheng

2018-01-01

During the last decades, the ionic polymer-metal composite (IPMC) received much attention because of its potential capabilities, such as large displacement and flexible bending actuation. In this paper, a biomimetic flapping air vehicle was proposed by combining the superiority of ionic polymer metal composite with the bionic beetle flapping principle. The blocking force was compared between casted IPMC and IPMC. The flapping state of the wing was investigated and the maximum displacement and flapping angle were measured. The flapping displacement under different voltage and frequency was tested. The flapping displacement of the wing and the support reaction force were measured under different frequency by experiments. The experimental results indicate that the high voltage and low frequency would get large flapping displacement. PMID:29682006

Artificial Muscle (AM) Cilia Array for Underwater Systems

DTIC Science & Technology

2016-12-15

structures, including cilia-like structures. Specifically, a custom 3D printer was created that utilizes custom-made Nafion filament for 30 printing of custom... printing ) of IPMC material to create custom-shaped AM structures, including cilia-like structures. Various custom-shaped AM structures were fabricated via...integrating square cross-section IPMC actuators with a printed circuit board power delivery system. IV. Concise Accomplishments Performance

Characterization of the harvesting capabilities of an ionic polymer metal composite device

NASA Astrophysics Data System (ADS)

Brufau-Penella, J.; Puig-Vidal, M.; Giannone, P.; Graziani, S.; Strazzeri, S.

2008-02-01

Harvesting systems capable of transforming dusty environmental energy into electrical energy have aroused considerable interest in the last two decades. Several research works have focused on the transformation of mechanical environmental vibrations into electrical energy. Most of the research activity refers to classic piezoelectric ceramic materials, but more recently piezoelectric polymer materials have been considered. In this paper, a novel point of view regarding harvesting systems is proposed: using ionic polymer metal composites (IPMCs) as generating materials. The goal of this paper is the development of a model able to predict the energy harvesting capabilities of an IPMC material working in air. The model is developed by using the vibration transmission theory of an Euler-Bernoulli cantilever IPMC beam. The IPMC is considered to work in its linear elastic region with a viscous damping contribution ranging from 0.1 to 100 Hz. An identification process based on experimental measurements performed on a Nafion® 117 membrane is used to estimate the material parameters. The model validation shows a good agreement between simulated and experimental results. The model is used to predict the optimal working region and the optimal geometrical parameters for the maximum power generation capacity of a specific membrane. The model takes into account two restrictions. The first is due to the beam theory, which imposes a maximum ratio of 0.5 between the cantilever width and length. The second restriction is to force the cantilever to oscillate with a specific strain; in this paper a 0.3% strain is considered. By considering these two assumptions as constraints on the model, it is seen that IPMC materials could be used as low-power generators in a low-frequency region. The optimal dimensions for the Nafion® 117 membrane are length = 12 cm and width = 6.2 cm, and the electric power generation is 3 nW at a vibrating frequency of 7.09 rad s-1. IPMC materials can sustain big yield strains, so by increasing the strain allowed on the material the power will increase dramatically, the expected values being up to a few microwatts.

Design and development of a bio-inspired, under-actuated soft gripper.

PubMed

Hassan, Taimoor; Manti, Mariangela; Passetti, Giovanni; d'Elia, Nicolò; Cianchetti, Matteo; Laschi, Cecilia

2015-08-01

The development of robotic devices able to perform manipulation tasks mimicking the human hand has been assessed on large scale. This work stands in the challenging scenario where soft materials are combined with bio-inspired design in order to develop soft grippers with improved grasping and holding capabilities. We are going to show a low-cost, under-actuated and adaptable soft gripper, highlighting the design and the manufacturing process. In particular, a critical analysis is made among three versions of the gripper with same design and actuation mechanism, but based on different materials. A novel actuation principle has been implemented in both cases, in order to reduce the encumbrance of the entire system and improve its aesthetics. Grasping and holding capabilities have been tested for each device, with target objects varying in shape, size and material. Results highlight synergy between the geometry and the intrinsic properties of the soft material, showing the way to novel design principles for soft grippers.

Innovative Electrostatic Adhesion Technologies

NASA Technical Reports Server (NTRS)

Bryan, Tom; Macleod, Todd; Gagliano, Larry; Williams, Scott; McCoy, Brian

2015-01-01

Developing specialized Electro-Static grippers (commercially used in Semiconductor Manufacturing and in package handling) will allow gentle and secure Capture, Soft Docking, and Handling of a wide variety of materials and shapes (such as upper-stages, satellites, arrays, and possibly asteroids) without requiring physical features or cavities for a pincher or probe or using harpoons or nets. Combined with new rigid boom mechanisms or small agile chaser vehicles, flexible, high speed Electro-Static Grippers can enable compliant capture of spinning objects starting from a safe stand-off distance. Electroadhesion (EA) can enable lightweight, ultra-low-power, compliant attachment in space by using an electrostatic force to adhere similar and dissimilar surfaces. A typical EA enabled device is composed of compliant space-rated materials, such as copper-clad polyimide encapsulated by polymers. Attachment is induced by strong electrostatic forces between any substrate material, such as an exterior satellite panel and a compliant EA gripper pad surface. When alternate positive and negative charges are induced in adjacent planar electrodes in an EA surface, the electric fields set up opposite charges on the substrate and cause an electrostatic adhesion between the electrodes and the induced charges on the substrate. Since the electrodes and the polymer are compliant and can conform to uneven or rough surfaces, the electrodes can remain intimately close to the entire surface, enabling high clamping pressures. Clamping pressures of more than 3 N/cm2 in shear can be achieved on a variety of substrates with ultra-low holding power consumption (measured values are less than 20 microW/Newton weight held). A single EA surface geometry can be used to clamp both dielectric and conductive substrates, with slightly different physical mechanisms. Furthermore EA clamping requires no normal force be placed on the substrate, as conventional docking requires. Internally funded research and development has demonstrated that EA can function effectively in space, even in the presence of strong ultraviolet radiation, atomic oxygen, and free electrons. We created a test setup in an existing vacuum chamber to simulate low-Earth-orbit conditions. An EA mechanism was fabricated and installed in the chamber, instrumented, operated in a vacuum, and subjected to ultraviolet photons and free electrons generated by an in-chamber multipactor electron emitter. Extensions to EA that can add value include proximity and contact sensing and transverse motion or rotation, both of which could enhance docking or assembly applications. Possible next steps include development of targeted applications for ground investigation or on-orbit subsystem performance demonstrations using low cost access to space such as CubeSats.

Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

NASA Astrophysics Data System (ADS)

Shariati, Azadeh; Meghdari, Ali; Shariati, Parham

2008-08-01

In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its characteristics so that the critic's stress decreased.

Robotic Ankle for Omnidirectional Rock Anchors

NASA Technical Reports Server (NTRS)

Parness, Aaron; Frost, Matthew; Thatte, Nitish

2013-01-01

Future robotic exploration of near-Earth asteroids and the vertical and inverted rock walls of lava caves and cliff faces on Mars and other planetary bodies would require a method of gripping their rocky surfaces to allow mobility without gravitational assistance. In order to successfully navigate this terrain and drill for samples, the grippers must be able to produce anchoring forces in excess of 100 N. Additionally, the grippers must be able to support the inertial forces of a moving robot, as well gravitational forces for demonstrations on Earth. One possible solution would be to use microspine arrays to anchor to rock surfaces and provide the necessary load-bearing abilities for robotic exploration of asteroids. Microspine arrays comprise dozens of small steel hooks supported on individual suspensions. When these arrays are dragged along a rock surface, the steel hooks engage with asperities and holes on the surface. The suspensions allow for individual hooks to engage with asperities while the remaining hooks continue to drag along the surface. This ensures that the maximum possible number of hooks engage with the surface, thereby increasing the load-bearing abilities of the gripper. Using the microspine array grippers described above as the end-effectors of a robot would allow it to traverse terrain previously unreachable by traditional wheeled robots. Furthermore, microspine-gripping robots that can perch on cliffs or rocky walls could enable a new class of persistent surveillance devices for military applications. In order to interface these microspine grippers with a legged robot, an ankle is needed that can robotically actuate the gripper, as well as allow it to conform to the large-scale irregularities in the rock. The anchor serves three main purposes: deploy and release the anchor, conform to roughness or misalignment with the surface, and cancel out any moments about the anchor that could cause unintentional detachment. The ankle design contains a rotary DC motor that can drag the microspine arrays across the surface to engage them with asperities, as well as a linear actuator to disengage the hooks from the surface. Additionally, the ankle allows the gripper to rotate freely about all three axes so that when the robot takes a step, the gripper may optimally orient itself with respect to the wall or ground. Finally, the ankle contains some minimal elasticity, so that between steps, the gripper returns to a default position that is roughly parallel to the wall.

Design and development an insect-inspired humanoid gripper that is structurally sound, yet very flexible

NASA Astrophysics Data System (ADS)

Hajjaj, S.; Pun, N.

2013-06-01

One of the biggest challenges in mechanical robotics design is the balance between structural integrity and flexibility. An industrial robotic gripper could be technically advanced, however it contains only 1 Degree of Freedom (DOF). If one is to add more DOFs the design would become complex. On the other hand, the human wrist and fingers contain 23 DOFs, and is very lightweight and highly flexible. Robotics are becoming more and more part of our social life, they are more and more being incorporated in social, medical, and personal application. Therefore, for such robots to be effective, they need to mimic human performance, both in performance as well as in mechanical design. In this work, a Humanoid Gripper is designed and built to mimic a simplified version of a human wrist and fingers. This is attempted by mimicking insect and human designs of grippes. The main challenge was to insure that the gripper is structurally sound, but at the same time flexible and lightweight. A combination of light weight material and a unique design of finger actuators were applied. The gripper is controlled by a PARALLAX servo controller 28823 (PSCI), which mounted on the assembly itself. At the end, a 6 DOF humanoid gripper made of lightweight material, similar in size to the human arm, and is able to carry a weight of 1 Kg has been designed and built.

Microgripper construction kit

NASA Astrophysics Data System (ADS)

Gengenbach, Ulrich K.; Hofmann, Andreas; Engelhardt, Friedhelm; Scharnowell, Rudolf; Koehler, Bernd

2001-10-01

A large number of microgrippers has been developed in industry and academia. Although the importance of hybrid integration techniques and hence the demand for assembly tools grows continuously a large part of these developments has not yet been used in industrial production. The first grippers developed for microassembly were basically vacuum grippers and downscaled tweezers. Due to increasingly complex assembly tasks more and more functionality such as sensing or additional functions such as adhesive dispensing has been integrated into gripper systems over the last years. Most of these gripper systems are incompatible since there exists no standard interface to the assembly machine and no standard for the internal modules and interfaces. Thus these tools are not easily interchangeable between assembly machines and not easily adaptable to assembly tasks. In order to alleviate this situation a construction kit for modular microgrippers is being developed. It is composed of modules with well defined interfaces that can be combined to build task specific grippers. An abstract model of a microgripper is proposed as a tool to structure the development of the construction kit. The modular concept is illustrated with prototypes.

Design of a Robotic Ankle Joint for a Microspine-Based Robot

NASA Technical Reports Server (NTRS)

Thatte, Nitish

2011-01-01

Successful robotic exploration of near-Earth asteroids necessitates a method of securely anchoring to the surface of these bodies without gravitational assistance. Microspine grip- per arrays that can grasp rock faces are a potential solution to this problem. A key component of a future microspine-based rover will be the ankle used to attach each microspine gripper to the robot. The ankle's purpose is twofold: 1) to allow the gripper to conform to the rock so a higher percentage of microspines attach to the surface, and 2) to neutralize torques that may dislodge the grippers from the wall. Parts were developed using computer aided design and manufactured using a variety of methods including selective laser sintering, CNC milling, and traditional manual machining techniques. Upon completion of the final prototype, the gripper and ankle system was tested to demonstrate robotic engagement and disengagement of the gripper and to determine load bearing ability. The immediate application of this project is to out t the Lemur IIb robot so it can climb and hang from rock walls.

Micromachined fragment capturer for biomedical applications.

PubMed

Choi, Young-Soo; Lee, Dong-Weon

2011-11-01

Due to changes in modern diet, a form of heart disease called chronic total occlusion has become a serious disease to be treated as an emergency. In this study, we propose a micromachined capturer that is designed and fabricated to collect plaque fragments generated during surgery to remove the thrombus. The fragment capturer consists of a plastic body made by rapid prototyping, SU-8 mesh structures using MEMS techniques, and ionic polymer metal composite (IPMC) actuators. An array of IPMC actuators combined with the SU-8 net structure was optimized to effectively collect plaque fragments. The evaporation of solvent through the actuator's surface was prevented using a coating of SU-8 and polydimethylsiloxane thin film on the actuator. This approach improved the available operating time of the IPMC, which primarily depends on solvent loss. Our preliminary results demonstrate the possibility of using the capturer for biomedical applications. © 2011 American Institute of Physics

A self-strain feedback tuning-fork-shaped ionic polymer metal composite clamping actuator with soft matter elasticity-detecting capability for biomedical applications.

PubMed

Feng, Guo-Hua; Huang, Wei-Lun

2014-12-01

This paper presents a smart tuning-fork-shaped ionic polymer metal composite (IPMC) clamping actuator for biomedical applications. The two fingers of the actuator, which perform the clamping motion, can be electrically controlled through a unique electrode design on the IPMC material. The generated displacement or strain of the fingers can be sensed using an integrated soft strain-gage sensor. The IPMC actuator and associated soft strain gage were fabricated using a micromachining technique. A 13.5×4×2 mm(3) actuator was shaped from Nafion solution and a selectively grown metal electrode formed the active region. The strain gage consisted of patterned copper foil and polyethylene as a substrate. The relationship between the strain gage voltage output and the displacement at the front end of the actuator's fingers was characterized. The equivalent Young's modulus, 13.65 MPa, of the soft-strain-gage-integrated IPMC finger was analyzed. The produced clamping force exhibited a linear increasing rate of 1.07 mN/s, based on a dc driving voltage of 7 V. Using the developed actuator to clamp soft matter and simultaneously acquire its Young's modulus was achieved. This demonstrated the feasibility of the palpation function and the potential use of the actuator in minimally invasive surgery. Copyright © 2014 Elsevier B.V. All rights reserved.

Method of lining a vertical mine shaft with concrete

DOEpatents

Eklund, James D.; Halter, Joseph M.; Rasmussen, Donald E.; Sullivan, Robert G.; Moffat, Robert B.

1981-01-01

The apparatus includes a cylindrical retainer form spaced inwardly of the wall of the shaft by the desired thickness of the liner to be poured and having overlapping edges which seal against concrete flow but permit the form to be contracted to a smaller circumference after the liner has hardened and is self-supporting. A curb ring extends downwardly and outwardly toward the shaft wall from the bottom of the retainer form to define the bottom surface of each poured liner section. An inflatable toroid forms a seal between the curb ring and the shaft wall. A form support gripper ring having gripper shoes laterally extendable under hydraulic power to engage the shaft wall supports the retainer form, curb ring and liner until the newly poured liner section becomes self-supporting. Adjusting hydraulic cylinders permit the curb ring and retainer form to be properly aligned relative to the form support gripper ring. After a liner section is self-supporting, an advancing system advances the retainer form, curb ring and form support gripper ring toward a shaft boring machine above which the liner is being formed. The advancing system also provides correct horizontal alignment of the form support gripper ring.

Design and fabrication of robotic gripper for grasping in minimizing contact force

NASA Astrophysics Data System (ADS)

Heidari, Hamidreza; Pouria, Milad Jafary; Sharifi, Shahriar; Karami, Mahmoudreza

2018-03-01

This paper presents a new method to improve the kinematics of robot gripper for grasping in unstructured environments, such as space operations. The robot gripper is inspired from the human hand and kept the hand design close to the structure of human fingers to provide successful grasping capabilities. The main goal is to improve kinematic structure of gripper to increase the grasping capability of large objects, decrease the contact forces and makes a successful grasp of various objects in unstructured environments. This research will describe the development of a self-adaptive and reconfigurable robotic hand for space operations through mechanical compliance which is versatile, robust and easy to control. Our model contains two fingers, two-link and three-link, with combining a kinematic model of thumb index. Moreover, some experimental tests are performed to examine the effectiveness of the hand-made in real, unstructured tasks. The results represent that the successful grasp range is improved about 30% and the contact forces is reduced approximately 10% for a wide range of target object size. According to the obtained results, the proposed approach provides an accommodative kinematic model which makes the better grasping capability by fingers geometries for a robot gripper.

The M68HC11 gripper controller software. Thesis

NASA Technical Reports Server (NTRS)

Tsai, Jodi Wei-Duk

1991-01-01

This thesis discusses the development of firmware for the 68HC11 gripper controller. A general description of the software and hardware interfaces is given. The C library interface for the gripper is then described and followed by a detailed discussion of the software architecture of the firmware. A procedure to assemble and download 68HC11 programs is presented in the form of a tutorial. The tools used to implement this environment are then described. Finally, the implementation of the configuration management scheme used to manage all CIRSSE software is presented.

CONTROL FOR ROLLING MILL

DOEpatents

Shuck, A.B.; Shaw, W.C.

1961-06-20

A plutonium-rolling apparatus is patented that has two sets of feed rolls, shaping rolls between the feed rolls, and grippers beyond the feed rolls, which ready a workpiece for a new pass through the shaping rolls by angularly shifting the workpiece about its axis or transversely moving it on a line parallel to the axes of the shaping rolls. Actuation of each gripper for gripping or releasing the workpiece is produced by the relative positions assumed by the feed rolls adjacent to the gripper as the workpiece enters or leaves the feed rolls.

Shape memory polymer (SMP) gripper with a release sensing system

DOEpatents

Maitland, Duncan J.; Lee, Abraham P.; Schumann, Daniel L.; Silva, Luiz Da

2000-01-01

A system for releasing a target material, such as an embolic coil from an SMP located at the end of a catheter utilizing an optical arrangement for releasing the material. The system includes a laser, laser driver, display panel, photodetector, fiber optics coupler, fiber optics and connectors, a catheter, and an SMP-based gripper, and includes a release sensing and feedback arrangement. The SMP-based gripper is heated via laser light through an optic fiber causing the gripper to release a target material (e.g., embolic coil for therapeutic treatment of aneurysms). Various embodiments are provided for coupling the laser light into the SMP, which includes specific positioning of the coils, removal of the fiber cladding adjacent the coil, a metal coating on the SMP, doping the SMP with a gradient absorbing dye, tapering the fiber optic end, coating the SMP with low refractive index material, and locating an insert between the fiber optic and the coil.

Comparison of different soft grippers for lunch box packaging.

PubMed

Wang, Zhongkui; Zhu, Mingzhu; Kawamura, Sadao; Hirai, Shinichi

2017-01-01

Automating the lunch box packaging is a challenging task due to the high deformability and large individual differences in shape and physical property of food materials. Soft robotic grippers showed potentials to perform such tasks. In this paper, we presented four pneumatic soft actuators made of different materials and different fabrication methods and compared their performances through a series of tests. We found that the actuators fabricated by 3D printing showed better linearity and less individual differences, but showed low durability compared to actuators fabricated by traditional casting process. Robotic grippers were assembled using the soft actuators, and grasping tests were performed on soft paper containers filled with food materials. Results suggested that grippers with softer actuators required lower air pressure to lift up the same weight and generated less deformation on the soft container. The actuator made of casting process with Dragon Skin 10 material lifted the most weight among different actuators.

A theoretical framework for the study of compression sensing in ionic polymer metal composites

NASA Astrophysics Data System (ADS)

Volpini, Valentina; Bardella, Lorenzo; Rodella, Andrea; Cha, Youngsu; Porfiri, Maurizio

2017-04-01

Ionic Polymer Metal Composites (IPMCs) are electro-responsive materials for sensing and actuation, consisting of an ion-exchange polymeric membrane with ionized units, plated within noble metal electrodes. In this work, we investigate the sensing response of IPMCs that are subject to a through-the-thickness compression, by specializing the continuum model introduced by Cha and Porfiri,1 to this one-dimensional problem. This model modifies the classical Poisson-Nernst-Plank system governing the electrochemistry in the absence of mechanical effects, by accounting for finite deformations underlying the actuation and sensing processes. With the aim of accurately describing the IPMC dynamic compressive behavior, we introduce a spatial asymmetry in the properties of the membrane, which must be accounted for to trigger a sensing response. Then, we determine an analytical solution by applying the singular perturbation theory, and in particular the method of matched asymptotic expansions. This solution shows a good agreement with experimental findings reported in literature.

An artificial muscle actuator for biomimetic underwater propulsors.

PubMed

Yim, Woosoon; Lee, Joonsoo; Kim, Kwang J

2007-06-01

In this paper, we introduce the analytical framework of the modeling dynamic characteristics of a soft artificial muscle actuator for aquatic propulsor applications. The artificial muscle used for this underwater application is an ionic polymer-metal composite (IPMC) which can generate bending motion in aquatic environments. The inputs of the model are the voltages applied to multiple IPMCs, and the output can be either the shape of the actuators or the thrust force generated from the interaction between dynamic actuator motions and surrounding water. In order to determine the relationship between the input voltages and the bending moments, the simplified RC model is used, and the mechanical beam theory is used for the bending motion of IPMC actuators. Also, the hydrodynamic forces exerted on an actuator as it moves relative to the surrounding medium or water are added to the equations of motion to study the effect of actuator bending on the thrust force generation. The proposed method can be used for modeling the general bending type artificial muscle actuator in a single or segmented form operating in the water. The segmented design has more flexibility in controlling the shape of the actuator when compared with the single form, especially in generating undulatory waves. Considering an inherent nature of large deformations in the IPMC actuator, a large deflection beam model has been developed and integrated with the electrical RC model and hydrodynamic forces to develop the state space model of the actuator system. The model was validated against existing experimental data.

Time-resolved mapping of water diffusion coefficients in a working soft actuator device.

PubMed

Naji, Leila; Chudek, John A; Baker, Richard T

2008-08-14

Diffusion-weighted imaging was employed to spatially map the distribution of the diffusion coefficient of water, D, in bare, water-soaked, Li(+)-exchanged, cast Nafion and in an ionic polymer-metal composite (IPMC) soft actuator element, prepared from this bare Nafion by impregnation with Pt electrodes. D was evaluated in two orthogonal directions: along one of the long dimensions of the sample (Dx) and through its thickness (Dz). D-maps of the IPMC element were obtained both in the absence of an applied potential and in situ during the application of a 3 V dc potential across the thickness of the sample. In the bare Nafion, D-maps showed uniform values of both Dx and Dz of about 6 x 10 (-10) m(2) s(-1). In the IPMC two effects were observed: (i) D at the electroded surfaces of the IPMC was higher than at the center of the sample; (ii) this difference was much greater in Dz than in Dx . Both effects were explained by the influence of the impregnated Pt electrodes on polymer structure. The D-maps in the electrochemical measurements showed high values of D (up to 8 x 10(-10) m(2) s(-1)) at the cathode and low values (from 1 x 10(-10) m(2) s(-1)) at the anode. This was explained in terms of the effect on the Nafion nanostructure of the forced electro-migration of Li(H2O)x(+) species toward the cathode.

Enhancing Perception with Tactile Object Recognition in Adaptive Grippers for Human-Robot Interaction.

PubMed

Gandarias, Juan M; Gómez-de-Gabriel, Jesús M; García-Cerezo, Alfonso J

2018-02-26

The use of tactile perception can help first response robotic teams in disaster scenarios, where visibility conditions are often reduced due to the presence of dust, mud, or smoke, distinguishing human limbs from other objects with similar shapes. Here, the integration of the tactile sensor in adaptive grippers is evaluated, measuring the performance of an object recognition task based on deep convolutional neural networks (DCNNs) using a flexible sensor mounted in adaptive grippers. A total of 15 classes with 50 tactile images each were trained, including human body parts and common environment objects, in semi-rigid and flexible adaptive grippers based on the fin ray effect. The classifier was compared against the rigid configuration and a support vector machine classifier (SVM). Finally, a two-level output network has been proposed to provide both object-type recognition and human/non-human classification. Sensors in adaptive grippers have a higher number of non-null tactels (up to 37% more), with a lower mean of pressure values (up to 72% less) than when using a rigid sensor, with a softer grip, which is needed in physical human-robot interaction (pHRI). A semi-rigid implementation with 95.13% object recognition rate was chosen, even though the human/non-human classification had better results (98.78%) with a rigid sensor.

Development and characterization of an IPMC hair-like transducer

NASA Astrophysics Data System (ADS)

Akle, Barbar J.; Challita, Elio; Khairalah, Nady

2015-04-01

Hair-like sensors are very common in natural and biological systems. Such sensors are used to measure acoustic pressures, fluid flows, and chemical concentrations among others. Hair-like actuators are also used to control fluid flows and perform temperature management. This study presents a manufacturing technique for a hair-like IPMC transducer. A thorough study is presented on the building process of the sensor. The method used to control the diameter and the electrodes thickness of the transducer is developed. The sensing behavior of the manufactured transducers is experimentally characterized.

Toward autonomous avian-inspired grasping for micro aerial vehicles.

PubMed

Thomas, Justin; Loianno, Giuseppe; Polin, Joseph; Sreenath, Koushil; Kumar, Vijay

2014-06-01

Micro aerial vehicles, particularly quadrotors, have been used in a wide range of applications. However, the literature on aerial manipulation and grasping is limited and the work is based on quasi-static models. In this paper, we draw inspiration from agile, fast-moving birds such as raptors, that are able to capture moving prey on the ground or in water, and develop similar capabilities for quadrotors. We address dynamic grasping, an approach to prehensile grasping in which the dynamics of the robot and its gripper are significant and must be explicitly modeled and controlled for successful execution. Dynamic grasping is relevant for fast pick-and-place operations, transportation and delivery of objects, and placing or retrieving sensors. We show how this capability can be realized (a) using a motion capture system and (b) without external sensors relying only on onboard sensors. In both cases we describe the dynamic model, and trajectory planning and control algorithms. In particular, we present a methodology for flying and grasping a cylindrical object using feedback from a monocular camera and an inertial measurement unit onboard the aerial robot. This is accomplished by mapping the dynamics of the quadrotor to a level virtual image plane, which in turn enables dynamically-feasible trajectory planning for image features in the image space, and a vision-based controller with guaranteed convergence properties. We also present experimental results obtained with a quadrotor equipped with an articulated gripper to illustrate both approaches.

Experimental robot gripper control for handling of soft objects

NASA Astrophysics Data System (ADS)

Friedrich, Werner E.; Ziegler, T. H.; Lim, P.

1996-10-01

The challenging task of automated handling of variable objects necessitates a combination of innovative engineering and advanced information technology. This paper describes the application of a recently developed control strategy applied to overcome some limitations of robot handling, particularly when dealing with variable objects. The paper focuses on a novel approach to accommodate the need for sensing and actuation in controlling the pickup procedure. An experimental robot-based system for the handling of soft parts, ranging from artificial components to natural objects such as fruit and meat pieces was developed. The configuration comprises a modular gripper subsystem, and an industrial robot as part of a distributed control system. The gripper subsystem features manually configurable fingers with integrated sensing capabilities. The control architecture is based on a concept of decentralized control differentiating between positioning and gripping procedures. In this way, the robot and gripper systems are treated as individual handling operations. THis concept allows very short set-up times for future changes involving one or more sub-systems.

Biopsy using a magnetic capsule endoscope carrying, releasing, and retrieving untethered microgrippers.

PubMed

Yim, Sehyuk; Gultepe, Evin; Gracias, David H; Sitti, Metin

2014-02-01

This paper proposes a new wireless biopsy method where a magnetically actuated untethered soft capsule endoscope carries and releases a large number of thermo-sensitive, untethered microgrippers (μ-grippers) at a desired location inside the stomach and retrieves them after they self-fold and grab tissue samples. We describe the working principles and analytical models for the μ-gripper release and retrieval mechanisms, and evaluate the proposed biopsy method in ex vivo experiments. This hierarchical approach combining the advanced navigation skills of centimeter-scaled untethered magnetic capsule endoscopes with highly parallel, autonomous, submillimeter scale tissue sampling μ-grippers offers a multifunctional strategy for gastrointestinal capsule biopsy.

Characteristics of ionic polymer-metal composite with chemically doped TiO2 particles

NASA Astrophysics Data System (ADS)

Jung, Youngsoo; Kim, Seong Jun; Kim, Kwang J.; Lee, Deuk Yong

2011-12-01

Many studies have investigated techniques to improve the bending performance of ionic polymer-metal composite (IPMC) actuators, including 'doping' of metal particles in the polymer membrane usually by means of physical processes. This study is mainly focused on the characterization of the physical, electrochemical and electromechanical properties of TiO2-doped ionic polymer membranes and IPMCs prepared by the sol-gel method, which results in a uniform distribution of the particles inside the polymer membrane. X-ray and UV-visible spectra indicate the presence of anatase-TiO2 in the modified membranes. TiO2-doped membranes (0.16 wt%) exhibit the highest level of water uptake. The glass transition temperature of these membranes, measured using differential scanning calorimetry (DSC), increases with the increase of the amount of TiO2 in the membrane. Dynamic mechanical analysis (DMA) demonstrated that the storage modulus of dried TiO2-doped ionic polymer membranes increases as the amount of TiO2 in the membrane increases, whereas the storage modulus of hydrated samples is closely related to the level of water uptake. Electrochemical impedance spectroscopy (EIS) shows that the conductivity of TiO2-doped membranes decreases with increasing TiO2 content in spite of an internal resistance drop in the samples. Above all, bending deflection of TiO2-doped IPMC decreased with higher TiO2 content in the membrane while the blocking force of each sample increased with the higher TiO2 content. Additionally, it was determined that the lifetime of IPMC is strongly dependent on the level of water uptake.

The Implementation of a Hospital-wide Practice for the Selective Use of Carbapenems Based on the Monitoring of Susceptibility of Pseudomonas aeruginosa Isolates.

PubMed

Ohshima, Toshio; Asai, Satomi; Miyazawa, Miki; Yamamoto, Yukari; Hisada, Akifumi; Kumazawa, Chie; Hashimoto, Masayoshi; Fukawa, Katsuji; Iwashita, Hideo; Umezawa, Kazuo; Yamada, Sanetoshi; Yamamoto, Yoshiro; Miyachi, Hayato

2017-12-20

To control carbapenem-resistant Pseudomonas aeruginosa, we implemented a hospital-wide policy concerning the selective use of carbapenems based on the monitoring of P. aeruginosa isolates for susceptibility to five carbapenems using a customized dry plate method. In this study, we retrospectively investigated the outcome of our measures to control carbapenem-resistant P. aeruginosa. To select effective carbapenems, 100 clinical isolates were collected, and the minimum inhibitory concentration (MIC) to 5 carbapenems (IPM/CS, MEPM, DRPM, BIPM and PAPM/BP) was monitored using a customized dry plate method from 2006 to 2013. Carbapenems, which were associated with a high rate of drug resistance in P. aeruginosa, were restricted from use during our intervention study. The antimicrobial use density per 100 bed-days (AUD 100 ) of carbapenems and the detection rates of carbapenem (IPM/CS and MEPM)-resistant P. aeruginosa were determined during the period of the intervention. The isolates consistently showed higher rates of drug-resistant P. aeruginosa in IPM/CS and PAPM/BP. Thus, DRPM, MEPM and BIPM were adopted for hospital-wide use. The detection rates of all IPM/Cs and MEPM-resistant P. aeruginosa significantly decreased. Meanwhile, the consumption of carbapenems showed an increasing trend. The outcome of the hospital-wide implementation of the selective use of carbapenems based on periodic monitoring of the susceptibility of P. aeruginosa isolates was retrospectively studied. Implementation of this measure might have contributed in part to the control of carbapenem-resistant P. aeruginosa in our hospital.

Design and Fabrication of a Large-Stroke Deformable Mirror Using a Gear-Shape Ionic-Conductive Polymer Metal Composite

PubMed Central

Wei, Hsiang-Chun; Su, Guo-Dung John

2012-01-01

Conventional camera modules with image sensors manipulate the focus or zoom by moving lenses. Although motors, such as voice-coil motors, can move the lens sets precisely, large volume, high power consumption, and long moving time are critical issues for motor-type camera modules. A deformable mirror (DM) provides a good opportunity to improve these issues. The DM is a reflective type optical component which can alter the optical power to focus the lights on the two dimensional optical image sensors. It can make the camera system operate rapidly. Ionic polymer metal composite (IPMC) is a promising electro-actuated polymer material that can be used in micromachining devices because of its large deformation with low actuation voltage. We developed a convenient simulation model based on Young's modulus and Poisson's ratio. We divided an ion exchange polymer, also known as Nafion®, into two virtual layers in the simulation model: one was expansive and the other was contractive, caused by opposite constant surface forces on each surface of the elements. Therefore, the deformation for different IPMC shapes can be described more easily. A standard experiment of voltage vs. tip displacement was used to verify the proposed modeling. Finally, a gear shaped IPMC actuator was designed and tested. Optical power of the IPMC deformable mirror is experimentally demonstrated to be 17 diopters with two volts. The needed voltage was about two orders lower than conventional silicon deformable mirrors and about one order lower than the liquid lens. PMID:23112648

Kinematics analysis on hinges of robot arm gripper for harmful chemical handling

NASA Astrophysics Data System (ADS)

Razali, Zol Bahri; Kader, Mohamed Mydin M. Abdul; Mustafa, Nurul Fahimah; Daud, Mohd Hisam

2017-09-01

The development of manufacturing industry is booming the application of industrial robot, and proportional to the use of robot arm. Some of the purpose of robot arm gripper is to sort things and place to the proper place. And some of the things are harmful to human, such as harmful chemical. By using robot arm to do picking and placing, it is expected to replace human tasks, as well as to reduce human from the harmful job. The problem of the robot arm gripper, most likely the problem of hinge, thus the analysis on the hinges of robot arm gripper to prevent claw is essential. By using robot arm, instead of human, is labored to do the harmful tasks and unexpected accident happen, costs and expenses in handling injured employee due to the harmful chemicals can be minimized. Thus the objective of this project is to make a kinematics analysis on the hinges of the robot arm gripper. Suitable material such as steel structure has also been selected for the construction of this hinges. This material has properties associated with compressive strength, fire resistance, corrosion and has a shape that is easy to move. Solid Works and ANSYS software is used to create animated movement on the design model and to detect deficiencies in the hinges. Detail methodology is described in this paper.

Ionic polymer-metal composite enabled robotic manta ray

NASA Astrophysics Data System (ADS)

Chen, Zheng; Um, Tae I.; Bart-Smith, Hilary

2011-04-01

The manta ray, Manta birostris, demonstrates excellent swimming capabilities; generating highly efficient thrust via flapping of dorsally flattened pectoral fins. In this paper, we present an underwater robot that mimics the swimming behavior of the manta ray. An assembly-based fabrication method is developed to create the artificial pectoral fins, which are capable of generating oscillatory with a large twisting angle between leading and trailing edges. Ionic polymer-metal composite (IPMC) actuators are used as artificial muscles in the fin. Each fin consists of four IPMC beams bonded with a compliant poly(dimethylsiloxane) (PDMS) membrane. By controlling each individual IPMC strips, we are able to generate complex flapping motions. The fin is characterized in terms of tip deflection, tip blocking force, twist angle, and power consumption. Based on the characteristics of the artificial pectoral fin, a small size and free-swimming robotic manta ray is developed. The robot consists of two artificial pectoral fins, a rigid body, and an on-board control unit with a lithium ion rechargeable battery. Experimental results show that the robot swam at a speed of up to 0.055 body length per second (BL/sec).

Ionic polymer metal composites with nanoporous carbon electrodes

NASA Astrophysics Data System (ADS)

Palmre, Viljar; Brandell, Daniel; Mäeorg, Uno; Torop, Janno; Volobujeva, Olga; Punning, Andres; Johanson, Urmas; Aabloo, Alvo

2010-04-01

Ionic Polymer Metal Composites (IPMCs) are soft electroactive polymer materials that bend in response to the voltage stimulus (1 - 4 V). They can be used as actuators or sensors. In this paper, we introduce two new highly-porous carbon materials for assembling high specific area electrodes for IPMC actuators and compare their electromechanical performance with recently reported IPMCs based on RuO2 electrodes. We synthesize ionic liquid (Emi-Tf) actuators with either Carbide-Derived Carbon (CDC) (derived from TiC) or coconut shell based activated carbon electrodes. The carbon electrodes are applied onto ionic liquid-swollen Nafion membranes using the direct assembly process. Our results show that actuators assembled with CDC electrodes have the greatest peak-to-peak strain output, reaching up to 20.4 mɛ (equivalent to >2%) at a 2 V actuation signal, exceeding that of the RuO2 electrodes by more than 100%. The electrodes synthesized from TiC-derived carbon also revealed significantly higher maximum strain rate. The differences between the materials are discussed in terms of molecular interactions and mechanisms upon actuation in the different electrodes.

Design and control of 2-axis tilting actuator for endoscope using ionic polymer metal composites

NASA Astrophysics Data System (ADS)

Kim, Sung-Joo; Kim, Chul-Jin; Park, No-Cheol; Yang, Hyun-Seok; Park, Young-Pil

2009-03-01

In field of endoscopy, in order to overcome limitation in conventional endoscopy, capsule endoscope has been developed and has been recently applied in medical field in hospital. However, since capsule endoscope moves passively through GI tract by peristalsis, it is not able to control direction of head including camera. It is possible to miss symptoms of disease. Therefore, in this thesis, 2-Axis Tilting Actuator for Endoscope, based on Ionic Polymer Metal Composites (IPMC), is presented. In order to apply to capsule endoscope, the actuator material should satisfy a size, low energy consumption and low working voltage. Since IPMC is emerging material that exhibits a large bending deflection at low voltage, consume low energy and it can be fabricated in any size or any shape, IPMC are selected as an actuator. The system tilts camera module of endoscope to reduce invisible area of the intestines and a goal of tilting angle is selected to be an angle of 5 degrees for each axis. In order to control tiling angle, LQR controller and the full order observer is designed.

Touch Sensor for Robots

NASA Technical Reports Server (NTRS)

Primus, H. C.

1986-01-01

Touch sensor for robot hands provides information about shape of grasped object and force exerted by gripper on object. Pins projecting from sensor create electrical signals when pressed. When grasped object depresses pin, it contacts electrode under it, connecting electrode to common electrode. Sensor indicates where, and how firmly, gripper has touched object.

Design of an AdvancedTCA board management controller (IPMC)

NASA Astrophysics Data System (ADS)

Mendez, J.; Bobillier, V.; Haas, S.; Joos, M.; Mico, S.; Vasey, F.

2017-03-01

The AdvancedTCA (ATCA) standard has been selected as the hardware platform for the upgrade of the back-end electronics of the CMS and ATLAS experiments of the Large Hadron Collider (LHC) . In this context, the electronic systems for experiments group at CERN is running a project to evaluate, specify, design and support xTCA equipment. As part of this project, an Intelligent Platform Management Controller (IPMC) for ATCA blades, based on a commercial solution, has been designed to be used on existing and future ATCA blades. This paper reports on the status of this project presenting the hardware and software developments.

Modeling of robotic fish propelled by an ionic polymer-metal composite caudal fin

NASA Astrophysics Data System (ADS)

Chen, Zheng; Shatara, Stephan; Tan, Xiaobo

2009-03-01

In this paper, a model is proposed for a biomimetic robotic fish propelled by an ionic polymer metal composite (IPMC) actuator with a rigid passive fin at the end. The model incorporates both IPMC actuation dynamics and the hydrodynamics, and predicts the steady-state speed of the robot under a periodic actuation voltage. Experimental results have shown that the proposed model can predict the fish motion for different tail dimensions. Since its parameters are expressed in terms of physical properties and geometric dimensions, the model is expected to be instrumental in optimal design of the robotic fish.

Biopsy using a Magnetic Capsule Endoscope Carrying, Releasing, and Retrieving Untethered Microgrippers

PubMed Central

Yim, Sehyuk; Gultepe, Evin; Gracias, David H.

2014-01-01

This paper proposes a new wireless biopsy method where a magnetically actuated untethered soft capsule endoscope carries and releases a large number of thermo-sensitive, untethered microgrippers (μ-grippers) at a desired location inside the stomach and retrieves them after they self-fold and grab tissue samples. We describe the working principles and analytical models for the μ-gripper release and retrieval mechanisms, and evaluate the proposed biopsy method in ex vivo experiments. This hierarchical approach combining the advanced navigation skills of centimeter-scaled untethered magnetic capsule endoscopes with highly parallel, autonomous, submillimeter scale tissue sampling μ-grippers offers a multifunctional strategy for gastrointestinal capsule biopsy. PMID:24108454

A Soft Gripper with Rigidity Tunable Elastomer Strips as Ligaments.

PubMed

Nasab, Amir Mohammadi; Sabzehzar, Amin; Tatari, Milad; Majidi, Carmel; Shan, Wanliang

2017-12-01

Like their natural counterparts, soft bioinspired robots capable of actively tuning their mechanical rigidity can rapidly transition between a broad range of motor tasks-from lifting heavy loads to dexterous manipulation of delicate objects. Reversible rigidity tuning also enables soft robot actuators to reroute their internal loading and alter their mode of deformation in response to intrinsic activation. In this study, we demonstrate this principle with a three-fingered pneumatic gripper that contains "programmable" ligaments that change stiffness when activated with electrical current. The ligaments are composed of a conductive, thermoplastic elastomer composite that reversibly softens under resistive heating. Depending on which ligaments are activated, the gripper will bend inward to pick up an object, bend laterally to twist it, and bend outward to release it. All of the gripper motions are generated with a single pneumatic source of pressure. An activation-deactivation cycle can be completed within 15 s. The ability to incorporate electrically programmable ligaments in a pneumatic or hydraulic actuator has the potential to enhance versatility and reduce dependency on tubing and valves.

Reverse adhesion of a gecko-inspired synthetic adhesive switched by an ion-exchange polymer-metal composite actuator.

PubMed

Guo, Dong-Jie; Liu, Rui; Cheng, Yu; Zhang, Hao; Zhou, Li-Ming; Fang, Shao-Ming; Elliott, Winston Howard; Tan, Wei

2015-03-11

Inspired by how geckos abduct, rotate, and adduct their setal foot toes to adhere to different surfaces, we have developed an artificial muscle material called ion-exchange polymer-metal composite (IPMC), which, as a synthetic adhesive, is capable of changing its adhesion properties. The synthetic adhesive was cast from a Si template through a sticky colloid precursor of poly(methylvinylsiloxane) (PMVS). The PMVS array of setal micropillars had a high density of pillars (3.8 × 10(3) pillars/mm(2)) with a mean diameter of 3 μm and a pore thickness of 10 μm. A graphene oxide monolayer containing Ag globular nanoparticles (GO/Ag NPs) with diameters of 5-30 nm was fabricated and doped in an ion-exchanging Nafion membrane to improve its carrier transfer, water-saving, and ion-exchange capabilities, which thus enhanced the electromechanical response of IPMC. After being attached to PMVS micropillars, IPMC was actuated by square wave inputs at 1.0, 1.5, or 2.0 V to bend back and forth, driving the micropillars to actively grip or release the surface. To determine the adhesion of the micropillars, the normal adsorption and desorption forces were measured as the IPMC drives the setal micropillars to grip and release, respectively. Adhesion results demonstrated that the normal adsorption forces were 5.54-, 14.20-, and 23.13-fold higher than the normal desorption forces under 1.0, 1.5, or 2.0 V, respectively. In addition, shear adhesion or friction increased by 98, 219, and 245%, respectively. Our new technique provides advanced design strategies for reversible gecko-inspired synthetic adhesives, which might be used for spiderman-like wall-climbing devices with unprecedented performance.

LOADING AND UNLOADING DEVICE

DOEpatents

Treshow, M.

1960-08-16

A device for loading and unloading fuel rods into and from a reactor tank through an access hole includes parallel links carrying a gripper. These links enable the gripper to go through the access hole and then to be moved laterally from the axis of the access hole to the various locations of the fuel rods in the reactor tank.

Adjustment of gripping force by optical systems

NASA Astrophysics Data System (ADS)

Jalba, C. K.; Barz, C.

2018-01-01

With increasing automation, robotics also requires ever more intelligent solutions in the handling of various tasks. In this context, many grippers must also be re-designed. For this, they must always be adapted for different requirements. The equipment of the gripper systems with sensors should help to make the gripping process more intelligent. In order to achieve such objectives, optical systems can also be used. This work analyzes how the gripping force can be adjusted by means of an optical recognition. The result of this work is the creation of a connection between optical recognition, tolerances, gripping force and real-time control. In this way, algorithms can be created, with the aid of which robot grippers as well as other gripping systems become more intelligent.

Investigation on electromechanical properties of a muscle-like linear actuator fabricated by bi-film ionic polymer metal composites

NASA Astrophysics Data System (ADS)

Sun, Zhuangzhi; Zhao, Gang; Qiao, Dongpan; Song, Wenlong

2017-12-01

Artificial muscles have attracted great attention for their potentials in intelligent robots, biomimetic devices, and micro-electromechanical system. However, there are many performance bottlenecks restricting the development of artificial muscles in engineering applications, e.g., the little blocking force and short working life. Focused on the larger requirements of the output force and the lack characteristics of the linear motion, an innovative muscle-like linear actuator based on two segmented IPMC strips was developed to imitate linear motion of artificial muscles. The structures of the segmented IPMC strip of muscle-like linear actuator were developed and the established mathematical model was to determine the appropriate segmented proportion as 1:2:1. The muscle-like linear actuator with two segmented IPMC strips assemble by two supporting link blocks was manufactured for the study of electromechanical properties. Electromechanical properties of muscle-like linear actuator under the different technological factors were obtained to experiment, and the corresponding changing rules of muscle-like linear actuators were presented to research. Results showed that factors of redistributed resistance and surface strain on both end-sides were two main reasons affecting the emergence of different electromechanical properties of muscle-like linear actuators.

Nanoporous carbon-based electrodes for high strain ionomeric bending actuators

NASA Astrophysics Data System (ADS)

Palmre, Viljar; Brandell, Daniel; Mäeorg, Uno; Torop, Janno; Volobujeva, Olga; Punning, Andres; Johanson, Urmas; Kruusmaa, Maarja; Aabloo, Alvo

2009-09-01

Ionic polymer metal composites (IPMCs) are electroactive material devices that bend at low applied voltage (1-4 V). Inversely, a voltage is generated when the materials are deformed, which makes them useful both as sensors and actuators. In this paper, we propose two new highly porous carbon materials as electrodes for IPMC actuators, generating a high specific area, and compare their electromechanical performance with recently reported RuO2 electrodes and conventional IPMCs. Using a direct assembly process (DAP), we synthesize ionic liquid (Emi-Tf) actuators with either carbide-derived carbon (CDC) or coconut-shell-based activated carbon-based electrodes. The carbon electrodes were applied onto ionic liquid-swollen Nafion membranes using a direct assembly process. The study demonstrates that actuators based on carbon electrodes derived from TiC have the greatest peak-to-peak strain output, reaching up to 20.4 mɛ (equivalent to>2%) at a 2 V actuation signal, exceeding that of the RuO2 electrodes by more than 100%. The electrodes synthesized from TiC-derived carbon also exhibit significantly higher maximum strain rate. The differences between the materials are discussed in terms of molecular interactions and mechanisms upon actuation in the different electrodes.

Investigation on the Mechanical and Electrical Behavior of a Tuning Fork-Shaped Ionic Polymer Metal Composite Actuator with a Continuous Water Supply Mechanism

PubMed Central

Feng, Guo-Hua; Huang, Wei-Lun

2016-01-01

This paper presents an innovative tuning fork-shaped ionic polymer metal composite (IPMC) actuator. With an integrated soft strain gauge and water supply mechanism (WSM), the surface strain of the actuator can be sensed in situ, and providing a continuous water supply maintains the water content inside the IPMC for long-term operation in air. The actuator was fabricated using a micromachining technique and plated with a nickel electrode. The device performance was experimentally characterized and compared with an actuator without a WSM. A large displacement of 1.5 mm was achieved for a 6 mm-long prong with 7-V dc actuation applied for 30 s. The measured current was analyzed using an electrochemical model. The results revealed that the faradaic current plays a crucial role during operation, particularly after 10 s. The measured strain confirms both the bending and axial strain generation during the open-and-close motion of the actuator prongs. Most of the water loss during device operation was due to evaporation rather than hydrolysis. The constructed WSM effectively maintained the water content inside the IPMC for long-term continuous operation. PMID:27023549

Investigation on the Mechanical and Electrical Behavior of a Tuning Fork-Shaped Ionic Polymer Metal Composite Actuator with a Continuous Water Supply Mechanism.

PubMed

Feng, Guo-Hua; Huang, Wei-Lun

2016-03-25

This paper presents an innovative tuning fork-shaped ionic polymer metal composite (IPMC) actuator. With an integrated soft strain gauge and water supply mechanism (WSM), the surface strain of the actuator can be sensed in situ, and providing a continuous water supply maintains the water content inside the IPMC for long-term operation in air. The actuator was fabricated using a micromachining technique and plated with a nickel electrode. The device performance was experimentally characterized and compared with an actuator without a WSM. A large displacement of 1.5 mm was achieved for a 6 mm-long prong with 7-V dc actuation applied for 30 s. The measured current was analyzed using an electrochemical model. The results revealed that the faradaic current plays a crucial role during operation, particularly after 10 s. The measured strain confirms both the bending and axial strain generation during the open-and-close motion of the actuator prongs. Most of the water loss during device operation was due to evaporation rather than hydrolysis. The constructed WSM effectively maintained the water content inside the IPMC for long-term continuous operation.

DEVELOPMENT OF TECHNOLOGY TO REMOTELY NAVIGATE VERTICAL PIPE ARRAYS

DOE Office of Scientific and Technical Information (OSTI.GOV)

Krementz, D.; Immel, D.; Vrettos, N.

Situations exist around the Savannah River Site (SRS) and the Department of Energy (DOE) complex where it is advantageous to remotely navigate vertical pipe arrays. Specific examples are waste tanks in the SRS Tank Farms, which contain horizontal cooling coils at the tank bottom, vertical cooling coils throughout and a limited number of access points or ''risers''. These factors limit accessibility to many parts of these tanks by conventional means. Pipe Traveler technology has been developed to address these issues. The Pipe Traveler addresses these issues by using the vertical cooling coils as its medium of travel. The unit operatesmore » by grabbing a pipe using dual grippers located on either side of the equipment. Once securely attached to the pipe a drive wheel is extended to come in contact with the pipe. Rotation of the drive wheel causes the unit to rotate around the pipe. This action is continued until the second set of grippers is aligned with the next pipe. Extension pistons are actuated to extend the second set of grippers in contact with a second pipe. The second set of grippers is then actuated to grasp the pipe. The first set of grippers releases the original pipe and the process is repeated until the unit reaches its desired location. Once at the tool deployment location the desired tool may be used. The current design has proven the concept of pipe-to-pipe navigation. Testing of the Pipe Traveler has proven its ability to transfer itself from one pipe to another.« less

Design and Fabrication of a Universal Soft Gripper

NASA Astrophysics Data System (ADS)

Sabzehzar, Amin

Inspired from nature, soft robots capable of actively tuning their mechanical rigidity can rapidly transition between a broad range of motor tasks, from lifting heavy loads to dexterous manipulation of delicate objects. Reversible rigidity tuning also enables soft robotic actuators to reroute their internal loading and alter their mode of deformation in response to intrinsic activation. In this study, we demonstrate this principle with a three-fingered pneumatic gripper that contains programmable ligaments that change stiness when activated with electrical current. The ligaments are composed of a conductive thermoplastic elastomer composite that reversibly softens under resistive heating. Depending on which ligaments are activated, the gripper will bend inward to pick up an object, bend laterally to twist it, or bend outward to release it. Each finger consists of three PDMS phalanges that are attached with two Ecoflex joints. Three ligaments (strips of a cPBE-PDMS composite layer) are attached along the finger and are stimulated with electricity individually. When the high pressure air is injected in the hollow middle part of the finger, the finger will be bent in the opposite direction of the stimulated cPBE-PDMS element (softer wall). This enables the gripper's fingers to grab and twist objects with dierent sizes and shapes. All of the gripper motions are generated with a single pneumatic source of pressure and are controlled with an electrical board. The ability to incorporate electrically programmable ligaments in pneumatic or hydraulic actuators has the potential to enhance versatility and reduce dependency on tubing and valves. In this study, an activation/deactivation cycle can be completed within 15 s.

Soft grippers using micro-fibrillar adhesives for transfer printing.

PubMed

Song, Sukho; Sitti, Metin

2014-07-23

The adhesive characteristics of fibrillar adhesives on a soft deformable membrane are reported. A soft gripper with an inflatable membrane covered by elastomer mushroom-shaped microfibers have a superior conformation to non-planar 3D part geometries, enabling the transfer printing of various parts serially or in parallel. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

A micromachined piezoelectric microgripper for manipulation of micro/nanomaterials

NASA Astrophysics Data System (ADS)

Shi, Huaduo; Shi, Weiliang; Zhang, Ran; Zhai, Junyi; Chu, Jinkui; Dong, Shuxiang

2017-06-01

Micro/nanomaterials and devices have attracted great interest in recent years because of their extensive application prospects in almost all kinds of fields. However, the manipulations of the material at the micro/nanoscale, such as the separation or transfer of a micro/nano-object in the process of assembling micro/nanodevices, are quite difficult. In this paper, we present a micromachined micro-gripper made of photoresist material (SU-8) and driven by piezoelectric Pb(Mg,Nb)O3-PbTiO3 single crystal pieces. In order to keep two grasping jaws of the micro-gripper operating in the same plane at the micro/nanometer scale, a fine circular flexure hinge was fabricated for elastically connecting them together. After introducing the interface effect, the relationship between the opening stroke of two jaws and the applied voltage was developed and then confirmed by finite element simulation. The micro-gripper was finally installed on a six degree of freedom stage for performing a pick-up, release, and transfer manipulation of a 2 μm ZnO micro-fiber. The presented piezoelectric micro-gripper shows a great potential for the precise manipulation of a single piece of micro/nanomaterial for micro/nanodevices' assembling.

Localization of source with unknown amplitude using IPMC sensor arrays

NASA Astrophysics Data System (ADS)

Abdulsadda, Ahmad T.; Zhang, Feitian; Tan, Xiaobo

2011-04-01

The lateral line system, consisting of arrays of neuromasts functioning as flow sensors, is an important sensory organ for fish that enables them to detect predators, locate preys, perform rheotaxis, and coordinate schooling. Creating artificial lateral line systems is of significant interest since it will provide a new sensing mechanism for control and coordination of underwater robots and vehicles. In this paper we propose recursive algorithms for localizing a vibrating sphere, also known as a dipole source, based on measurements from an array of flow sensors. A dipole source is frequently used in the study of biological lateral lines, as a surrogate for underwater motion sources such as a flapping fish fin. We first formulate a nonlinear estimation problem based on an analytical model for the dipole-generated flow field. Two algorithms are presented to estimate both the source location and the vibration amplitude, one based on the least squares method and the other based on the Newton-Raphson method. Simulation results show that both methods deliver comparable performance in source localization. A prototype of artificial lateral line system comprising four ionic polymer-metal composite (IPMC) sensors is built, and experimental results are further presented to demonstrate the effectiveness of IPMC lateral line systems and the proposed estimation algorithms.

Wireless-powered electroactive soft microgripper

NASA Astrophysics Data System (ADS)

Cheong, Hau Ran; Teo, Choon Yee; Leow, Pei Ling; Lai, Koon Chun; Chee, Pei Song

2018-05-01

This paper presents a wireless powered single active finger ionic polymer metal composite (IPMC) based microgripper that is operated using external radio-frequency (RF) magnetic field for biological cell manipulation application. A unimorph-like active finger is fabricated by integrating the IPMC actuator to the planar resonant LC receiver and DC rectifier circuits (made of flexible double-sided copper clad polyimide). The finger activated when the device is exposed to the external magnetic field generated by transmitter circuit that matches the resonant frequency of LC receiver circuit, ∼13.6 MHz in magnetic resonant coupling power transfer mechanism. The fabricated prototype shows a maximum IPMC deflection of 0.765 mm (activation force of 0.17 mN) at the RF power of 0.65 W with 3.5 VDC supplied from the LC receiver circuit. Three repeated ON-OFF wireless activation cycle was performed with the reported cumulative deflection of 0.57 mm. The cumulative deflection was increased to 1.17 mm, 1.19 mm and 1.24 mm for three different samples respectively at 5 VDC supplied. As a proof of concept, fish egg was used to represent the biological cell manipulation operation. The microgripper successfully gripped the fish egg sample without any damages. The experiments result validates the effectiveness of wireless RF soft microgripper towards the target application.

Comparative study of bending characteristics of ionic polymer actuators containing ionic liquids for modeling actuation

NASA Astrophysics Data System (ADS)

Kikuchi, Kunitomo; Sakamoto, Takumi; Tsuchitani, Shigeki; Asaka, Kinji

2011-04-01

Ionic polymer metal composites (IPMCs) that can operate in air have recently been developed by incorporating an ionic liquid in ionic polymers. To understand transduction in these composites, it is important to determine the role of the ionic liquid in the ionic polymer (Nafion®), to identify the counter cation, and to investigate the interaction of IPMCs with water vapor in the air. We used Fourier-transform infrared spectroscopy to analyze three Nafion® membranes, which were soaked in mixtures of water and an ionic liquid (1-ethyl-3-methyl-imidazolium tetrafluoroborate (EMIBF4), 1-buthyl-3-methyl-imidazolium tetrafluoroborate (BMIBF4), and 1-buthyl-3-methyl-imidazolium hexafluorophosphate (BMIPF6)). The results demonstrate that only cations (EMI+ and BMI+) in the ionic liquids are taken into the Nafion® membranes as counter ions and that the water content of the membranes in air is less than ˜4% that of Nafion® swollen with water. Based on the experimental results, a transduction model is proposed for an IPMC with an ionic liquid. In this model, bending is caused by local swelling due to the volume effect of the bulky counter cations. This model can explain 30-50% of the experimentally observed bending curvature.

Mirrors Containing Biomimetic Shape-Control Actuators

NASA Technical Reports Server (NTRS)

Bar-Cohen, Yoseph; Mouroulis, Pantazis; Bao, Xiaoqi; Sherrit, Stewart

2003-01-01

Curved mirrors of a proposed type would comprise lightweight sheets or films containing integral, biologically inspired actuators for controlling their surface figures. These mirrors could be useful in such applications as collection of solar energy, focusing of radio beams, and (provided sufficient precision could be achieved) imaging. These mirrors were originally intended for use in outer space, but it should also be possible to develop terrestrial versions. Several prior NASA Tech Briefs articles have described a variety of approaches to the design of curved, lightweight mirrors containing integral shape-control actuators. The primary distinction between the present approach and the prior approaches lies in the actuator design concept, which involves shapes and movements reminiscent of those of a variety of small, multi-armed animals. The shape and movement of an actuator of this type can also be characterized as reminiscent of that of an umbrella. This concept can be further characterized as a derivative of that of multifinger grippers, the fingers of which are bimorph bending actuators (see Figure 1). The fingers of such actuators can be strips containing any of a variety of materials that have been investigated for use as actuators, including such electroactive polymers as ionomeric polymer/metal composites (IPMCs), ferroelectric polymers, and grafted elastomers. A mirror according to this proposal would be made from a sheet of one of the actuator composites mentioned above. The design would involve many variables, including the pre-curvature and stiffness of the mirror sheet, the required precision of figure control, the required range of variation in focal length (see Figure 2), the required precision of figure control for imaging or non-imaging use, the bending and twisting moments needed to effect the required deformations, and voltage-tomoment coefficients of the actuators, and the voltages accordingly required for actuation. A typical design would call for segmentation of the electrodes on the actuators so that voltages could be applied locally to effect local bending for fine adjustment of the surface figure.

Evaluating the Dynamics of Agent-Environment Interaction

DTIC Science & Technology

2001-05-01

a color sensor in the gripper, a radio transmitter/receiver for communication and data gathering, and an ultrasound /radio triangulation system for...Cooperative Mobile Robot Control’, Autonomous Robots 4(4), 387{403. Vaughan, R. T., Sty, K., Sukhatme, G. S. & Mataric, M. J. (2000), Whistling in the Dark...sensor in the gripper, a radio transmitter/receiver for communication and data gathering, and an ultrasound /radio triangu- lation system for

Shape optimisation of an underwater Bernoulli gripper

NASA Astrophysics Data System (ADS)

Flint, Tim; Sellier, Mathieu

2015-11-01

In this work, we are interested in maximising the suction produced by an underwater Bernoulli gripper. Bernoulli grippers work by exploiting low pressure regions caused by the acceleration of a working fluid through a narrow channel, between the gripper and a surface, to provide a suction force. This mechanism allows for non-contact adhesion to various surfaces and may be used to hold a robot to the hull of a ship while it inspects welds for example. A Bernoulli type pressure analysis was used to model the system with a Darcy friction factor approximation to include the effects of frictional losses. The analysis involved a constrained optimisation in order to avoid cavitation within the mechanism which would result in decreased performance and damage to surfaces. A sensitivity based method and gradient descent approach was used to find the optimum shape of a discretised surface. The model's accuracy has been quantified against finite volume computational fluid dynamics simulation (ANSYS CFX) using the k- ω SST turbulence model. Preliminary results indicate significant improvement in suction force when compared to a simple geometry by retaining a pressure just above that at which cavitation would occur over as much surface area as possible. Doctoral candidate in the Mechanical Engineering Department of the University of Canterbury, New Zealand.

Efficient visual grasping alignment for cylinders

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1992-01-01

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

An under-actuated origami gripper with adjustable stiffness joints for multiple grasp modes

NASA Astrophysics Data System (ADS)

Firouzeh, Amir; Paik, Jamie

2017-05-01

Under-actuated robots offer multiple degrees of freedom without much added complexity to the actuation and control. Utilizing adjustable stiffness joints in these robots allows us to control their stable configurations and their mode of interaction with the environment. In this paper, we present the design of tendon-driven robotic origami (robogami) joints with adjustable stiffness. The proposed designs allow us to place joints along any direction in the plane of the robot and in the normal direction to the plane. The layer-by-layer manufacturing of robogamis facilitates the design and manufacturing of robots with different arrangement of joints for different applications. We use thermally activated shape memory polymer to control the joint stiffness. The manufacturing of the polymer layer is compatible with the layer-by-layer manufacturing process of the robogamis which results in scalable and customizable robots. To demonstrate, we prototyped an under-actuated gripper with three fingers and only one input actuation. The grasp mode of the gripper is set by adjusting the configuration of the locked joints and modulating the stiffness of the active joints. We present a model to estimate the configuration and the contact forces of the gripper at different settings that will assist us in design and control of future generation of under-actuated robogamis.

Efficient visual grasping alignment for cylinders

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1991-01-01

Monocular information from a gripper-mounted camera is used to servo the robot gripper to grasp a cylinder. The fundamental concept for rapid pose estimation is to reduce the amount of information that needs to be processed during each vision update interval. The grasping procedure is divided into four phases: learn, recognition, alignment, and approach. In the learn phase, a cylinder is placed in the gripper and the pose estimate is stored and later used as the servo target. This is performed once as a calibration step. The recognition phase verifies the presence of a cylinder in the camera field of view. An initial pose estimate is computed and uncluttered scan regions are selected. The radius of the cylinder is estimated by moving the robot a fixed distance toward the cylinder and observing the change in the image. The alignment phase processes only the scan regions obtained previously. Rapid pose estimates are used to align the robot with the cylinder at a fixed distance from it. The relative motion of the cylinder is used to generate an extrapolated pose-based trajectory for the robot controller. The approach phase guides the robot gripper to a grasping position. The cylinder can be grasped with a minimal reaction force and torque when only rough global pose information is initially available.

Development of large-surface Nafion-metal composite actuator and its electrochemical characterization

NASA Astrophysics Data System (ADS)

Noh, Taegeun; Tak, Yong Suk; Nam, Jaedo; Jeon, Jaewook; Kim, Hunmo; Choi, Hyoukryeol; Bae, Sang Sik

2001-07-01

Behaviors of nafion-based actuators are significantly affected by interfacial area between electrode and polymer electrolyte. Replication method was utilized to manufacture a large surface-area composite actuator. Etched aluminum foil was used as a template for replication using liquid nafion solution. Measurement of double layer charging and scanning electron microscopy indicated that interfacial area was greatly increased by replication method. Higher surface area induced a better bending performance of ionic polymer metal composite (IPMC). In parallel, the effect of cations on IPMC was interpreted with constant current experiment, linear sweep voltammetry and electrochemical impedance spectroscopy. For univalent cations, ion size is the most influencing parameter on ionic mobility inside membrane. However, ion-ion interaction affects an ionic mobility for divalent cations.

Fused filament 3D printing of ionic polymer-metal composites for soft robotics

NASA Astrophysics Data System (ADS)

Carrico, James D.; Leang, Kam K.

2017-04-01

Additive manufacturing techniques are used to create three-dimensional structures with complex shapes and features from polymer and/or metal materials. For example, fused filament three-dimensional (3D) printing utilizes non-electroactive polymers, such as acrylonitrile butadiene styrene (ABS) and polylactic acid (PLA), to build structures and components in a layer-by-layer fashion for a wide variety of applications. Presented here is a summary of recent work on a fused filament 3D-printing technique to create 3D ionic polymer-metal composite (IPMC) structures for applications in soft robotics. The 3D printing technique overcomes some of the limitations of existing manufacturing processes for creating IPMCs, such as limited shapes and sizes and time-consuming manufacturing steps. In the process described, first a precursor material (non-acid Nafion precursor resin) is extruded into a thermoplastic filament for 3D printing. Then, a custom-designed 3D printer is described that utilizes the precursor filament to manufacture custom-shaped structures. Finally, the 3D-printed samples are functionalized by hydrolyzing them in an aqueous solution of potassium hydroxide and dimethyl sulfoxide, followed by application of platinum electrodes. Presented are example 3D-printed single and multi-degree-of-freedom IPMC actuators and characterization results, as well as example soft-robotic devices to demonstrate the potential of this process.

A System Analysis Approach to Robot Gripper Control Using Phase Lag Compensator Bode Designs

NASA Astrophysics Data System (ADS)

Aye, Khin Muyar; Lin, Htin; Tun, Hla Myo

2008-10-01

In this paper, we introduce the result comparisons that were developed for the phase lag compensator design using Bode Plots. The implementation of classical experiments as MATLAB m-files is described. Robot gripper control system can be designed to gain insight into a variety of concepts, including stabilization of unstable systems, compensation properties, Bode analysis and design. The analysis has resulted in a number of important conclusions for the design of a new generation of control support systems.

Integration of a sensor based multiple robot environment for space applications: The Johnson Space Center Teleoperator Branch Robotics Laboratory

NASA Technical Reports Server (NTRS)

Hwang, James; Campbell, Perry; Ross, Mike; Price, Charles R.; Barron, Don

1989-01-01

An integrated operating environment was designed to incorporate three general purpose robots, sensors, and end effectors, including Force/Torque Sensors, Tactile Array sensors, Tactile force sensors, and Force-sensing grippers. The design and implementation of: (1) the teleoperation of a general purpose PUMA robot; (2) an integrated sensor hardware/software system; (3) the force-sensing gripper control; (4) the host computer system for dual Robotic Research arms; and (5) the Ethernet integration are described.

Vision-guided gripping of a cylinder

NASA Technical Reports Server (NTRS)

Nicewarner, Keith E.; Kelley, Robert B.

1991-01-01

The motivation for vision-guided servoing is taken from tasks in automated or telerobotic space assembly and construction. Vision-guided servoing requires the ability to perform rapid pose estimates and provide predictive feature tracking. Monocular information from a gripper-mounted camera is used to servo the gripper to grasp a cylinder. The procedure is divided into recognition and servo phases. The recognition stage verifies the presence of a cylinder in the camera field of view. Then an initial pose estimate is computed and uncluttered scan regions are selected. The servo phase processes only the selected scan regions of the image. Given the knowledge, from the recognition phase, that there is a cylinder in the image and knowing the radius of the cylinder, 4 of the 6 pose parameters can be estimated with minimal computation. The relative motion of the cylinder is obtained by using the current pose and prior pose estimates. The motion information is then used to generate a predictive feature-based trajectory for the path of the gripper.

Characterization and modeling of ionic polymeric smart materials as artificial muscles and robotic swimming structures

NASA Astrophysics Data System (ADS)

Mojarrad, Mehran

2001-07-01

In this dissertation document, a thorough review and investigation of works in connection with the ionic polymeric gels as artificial muscles and electrically controllable polymeric network structures were performed. Where possible, comparisons were made with biological muscles and applications in marine propulsion using such polymeric materials were investigated. Furthermore, methods of fabrication of several chemically active ionic polymeric gel muscles such as PolyAcryloNitrile (PAN), Poly(2-Acrylamido-2-Methyl-1-PropaneSulfonic) acid (PAMPS), and PolyAcrylic-acid-bis-AcrylaMide (PAAM) as well as a new class of electrically active composite muscle such as Ion-Exchange-Metal-Composites (IEMC) or Ionic Polymer Metal Composites (IPMC) materials are introduced and investigated that resulted in two US patents regarding their fabrication and application capabilities as actuators and sensors. In this research, various forms of the IPMC fabrication were explored and reported. In addition, characterization of PAN muscles, bundling and encapsulation were investigated. Conversion of chemical to electrical artificial muscles were also investigated using chemical plating techniques as well as physical vapor deposition methods of the pH-activated muscles like PAN fibers. Experimental methods were devised to characterize contraction, expansion, and bending of various actuators using isometric, isoionic, and isotonic characterization methods. Several apparatuses for modeling and testing of the various artificial muscles were built to show the viability of the application of both chemoactive and electroactive muscles. Furthermore PAN fiber muscles in different configurations such as spring-loaded fiber bundles, biceps, triceps, ribbon type muscles, and segmented fiber bundles were fabricated to make a variety of actuators. Additionally, swimming robotic structures and associated hardware were built to incorporate IPMC as biomimetic propulsion fin actuators. In addition, various configuration of IPMC such as linear actuators and multiplayer actuators were fabricated and evaluated for load and sensing capability. Theories associated with ionic polymer gels electrodynamics and chemodynamics were proposed, analyzed and modeled for the manufactured material. Futhermore, theoretical models of swimming structures were developed and compared with biological fish propulsion models and dynamically evaluated for robotic applications.

A Proposal for Automatic Fruit Harvesting by Combining a Low Cost Stereovision Camera and a Robotic Arm

PubMed Central

Font, Davinia; Pallejà, Tomàs; Tresanchez, Marcel; Runcan, David; Moreno, Javier; Martínez, Dani; Teixidó, Mercè; Palacín, Jordi

2014-01-01

This paper proposes the development of an automatic fruit harvesting system by combining a low cost stereovision camera and a robotic arm placed in the gripper tool. The stereovision camera is used to estimate the size, distance and position of the fruits whereas the robotic arm is used to mechanically pickup the fruits. The low cost stereovision system has been tested in laboratory conditions with a reference small object, an apple and a pear at 10 different intermediate distances from the camera. The average distance error was from 4% to 5%, and the average diameter error was up to 30% in the case of a small object and in a range from 2% to 6% in the case of a pear and an apple. The stereovision system has been attached to the gripper tool in order to obtain relative distance, orientation and size of the fruit. The harvesting stage requires the initial fruit location, the computation of the inverse kinematics of the robotic arm in order to place the gripper tool in front of the fruit, and a final pickup approach by iteratively adjusting the vertical and horizontal position of the gripper tool in a closed visual loop. The complete system has been tested in controlled laboratory conditions with uniform illumination applied to the fruits. As a future work, this system will be tested and improved in conventional outdoor farming conditions. PMID:24984059

A proposal for automatic fruit harvesting by combining a low cost stereovision camera and a robotic arm.

PubMed

Font, Davinia; Pallejà, Tomàs; Tresanchez, Marcel; Runcan, David; Moreno, Javier; Martínez, Dani; Teixidó, Mercè; Palacín, Jordi

2014-06-30

This paper proposes the development of an automatic fruit harvesting system by combining a low cost stereovision camera and a robotic arm placed in the gripper tool. The stereovision camera is used to estimate the size, distance and position of the fruits whereas the robotic arm is used to mechanically pickup the fruits. The low cost stereovision system has been tested in laboratory conditions with a reference small object, an apple and a pear at 10 different intermediate distances from the camera. The average distance error was from 4% to 5%, and the average diameter error was up to 30% in the case of a small object and in a range from 2% to 6% in the case of a pear and an apple. The stereovision system has been attached to the gripper tool in order to obtain relative distance, orientation and size of the fruit. The harvesting stage requires the initial fruit location, the computation of the inverse kinematics of the robotic arm in order to place the gripper tool in front of the fruit, and a final pickup approach by iteratively adjusting the vertical and horizontal position of the gripper tool in a closed visual loop. The complete system has been tested in controlled laboratory conditions with uniform illumination applied to the fruits. As a future work, this system will be tested and improved in conventional outdoor farming conditions.

Shape Memory Alloy-Based Soft Gripper with Variable Stiffness for Compliant and Effective Grasping.

PubMed

Wang, Wei; Ahn, Sung-Hoon

2017-12-01

Soft pneumatic actuators and motor-based mechanisms being concomitant with the cumbersome appendages have many challenges to making the independent robotic system with compact and lightweight configuration. Meanwhile, shape memory actuators have shown a promising alternative solution in many engineering applications ranging from artificial muscle to aerospace industry. However, one of the main limitations of such systems is their inherent softness resulting in a small actuation force, which prevents them from more effective applications. This issue can be solved by combining shape memory actuators and the mechanism of stiffness modulation. As a first, this study describes a shape memory alloy-based soft gripper composed of three identical fingers with variable stiffness for adaptive grasping in low stiffness state and effective holding in high stiffness state. Each finger with two hinges is fabricated through integrating soft composite actuator with stiffness changeable material where each hinge can approximately achieve a 55-fold changeable stiffness independently. Besides, each finger with two hinges can actively achieve multiple postures by both selectively changing the stiffness of hinges and actuating the relevant SMA wire. Based on these principles, the gripper is applicable for grasping objects with deformable shapes and varying shapes with a large range of weight where its maximum grasping force is increased to ∼10 times through integrating with the stiffness changeable mechanism. The final demonstration shows that the finger with desired shape-retained configurations enables the gripper to successfully pick up a frustum-shaped object.

A study of water electrolysis using ionic polymer-metal composite for solar energy storage

NASA Astrophysics Data System (ADS)

Keow, Alicia; Chen, Zheng

2017-04-01

Hydrogen gas can be harvested via the electrolysis of water. The gas is then fed into a proton exchange membrane fuel cell (PEMFC) to produce electricity with clean emission. Ionic polymer-metal composite (IPMC), which is made from electroplating a proton-conductive polymer film called Nafion encourages ion migration and dissociation of water under application of external voltage. This property has been proven to be able to act as catalyst for the electrolysis of pure water. This renewable energy system is inspired by photosynthesis. By using solar panels to gather sunlight as the source of energy, the generation of electricity required to activate the IPMC electrolyser is acquired. The hydrogen gas is collected as storable fuel and can be converted back into energy using a commercial fuel cell. The goal of this research is to create a round-trip energy efficient system which can harvest solar energy, store them in the form of hydrogen gas and convert the stored hydrogen back to electricity through the use of fuel cell with minimal overall losses. The effect of increasing the surface area of contact is explored through etching of the polymer electrolyte membrane (PEM) with argon plasma or manually sanding the surface and how it affects the increase of energy conversion efficiency of the electrolyser. In addition, the relationship between temperature and the IPMC is studied. Experimental results demonstrated that increases in temperature of water and changes in surface area contact correlate with gas generation.

Anion Effects on the Ion Exchange Process and the Deformation Property of Ionic Polymer Metal Composite Actuators

PubMed Central

Aoyagi, Wataru; Omiya, Masaki

2016-01-01

An ionic polymer-metal composite (IPMC) actuator composed of a thin perfluorinated ionomer membrane with electrodes plated on both surfaces undergoes a large bending motion when a low electric field is applied across its thickness. Such actuators are soft, lightweight, and able to operate in solutions and thus show promise with regard to a wide range of applications, including MEMS sensors, artificial muscles, biomimetic systems, and medical devices. However, the variations induced by changing the type of anion on the device deformation properties are not well understood; therefore, the present study investigated the effects of different anions on the ion exchange process and the deformation behavior of IPMC actuators with palladium electrodes. Ion exchange was carried out in solutions incorporating various anions and the actuator tip displacement in deionized water was subsequently measured while applying a step voltage. In the step voltage response measurements, larger anions such as nitrate or sulfate led to a more pronounced tip displacement compared to that obtained with smaller anions such as hydroxide or chloride. In AC impedance measurements, larger anions generated greater ion conductivity and a larger double-layer capacitance at the cathode. Based on these mechanical and electrochemical measurements, it is concluded that the presence of larger anions in the ion exchange solution induces a greater degree of double-layer capacitance at the cathode and results in enhanced tip deformation of the IPMC actuators. PMID:28773599

Proceedings of the Meeting of the Coordinating Group on Modern Control Theory (4th) Held at Rochester, Michigan, on 27-28 October 1982. Part II,

DTIC Science & Technology

1983-01-01

DCUMNTATON AGEREAD INSTRUCTIONS ______ REPORT___DOCUMENTATION _____PAGE_ BEFORE COMPLETKNG FORM 1REPORT NUMBER ILGOVT ACCESSION No. 3 . RECIPIENT’S...Herbert E. Cohen) control 0900 - Endgame Performance Study of a Special Class of Interceptors by Dr. Jonathan Korn ALPHATECH, Inc. 3 New England Executive...tactile/force feedback sensor applications. 3 L i7 TYPICAL GRIPPER FACE (NOT IN GRIPPER B3OLTS 00 BASE SLIP Nm mSENSORS "o 0 TORQUE, GRIP 0 fie d e

Spline-Screw Multiple-Rotation Mechanism

NASA Technical Reports Server (NTRS)

Vranish, John M.

1994-01-01

Mechanism functions like combined robotic gripper and nut runner. Spline-screw multiple-rotation mechanism related to spline-screw payload-fastening system described in (GSC-13454). Incorporated as subsystem in alternative version of system. Mechanism functions like combination of robotic gripper and nut runner; provides both secure grip and rotary actuation of other parts of system. Used in system in which no need to make or break electrical connections to payload during robotic installation or removal of payload. More complicated version needed to make and break electrical connections. Mechanism mounted in payload.

A novel in situ device based on a bionic piezoelectric actuator to study tensile and fatigue properties of bulk materials.

PubMed

Wang, Shupeng; Zhang, Zhihui; Ren, Luquan; Zhao, Hongwei; Liang, Yunhong; Zhu, Bing

2014-06-01

In this work, a miniaturized device based on a bionic piezoelectric actuator was developed to investigate the static tensile and dynamic fatigue properties of bulk materials. The device mainly consists of a bionic stepping piezoelectric actuator based on wedge block clamping, a pair of grippers, and a set of precise signal test system. Tensile and fatigue examinations share a set of driving system and a set of signal test system. In situ tensile and fatigue examinations under scanning electron microscope or metallographic microscope could be carried out due to the miniaturized dimensions of the device. The structure and working principle of the device were discussed and the effects of output difference between two piezoelectric stacks on the device were theoretically analyzed. The tensile and fatigue examinations on ordinary copper were carried out using this device and its feasibility was verified through the comparison tests with a commercial tensile examination instrument.

A Demonstrator Intelligent Scheduler For Sensor-Based Robots

NASA Astrophysics Data System (ADS)

Perrotta, Gabriella; Allen, Charles R.; Shepherd, Andrew J.

1987-10-01

The development of an execution module capable of functioning as as on-line supervisor for a robot equipped with a vision sensor and tactile sensing gripper system is described. The on-line module is supported by two off-line software modules which provide a procedural based assembly constraints language to allow the assembly task to be defined. This input is then converted into a normalised and minimised form. The host Robot programming language permits high level motions to be issued at the to level, hence allowing a low programming overhead to the designer, who must describe the assembly sequence. Components are selected for pick and place robot movement, based on information derived from two cameras, one static and the other mounted on the end effector of the robot. The approach taken is multi-path scheduling as described by Fox pi. The system is seen to permit robot assembly in a less constrained parts presentation environment making full use of the sensory detail available on the robot.

A novel in situ device based on a bionic piezoelectric actuator to study tensile and fatigue properties of bulk materials

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wang, Shupeng; Zhang, Zhihui, E-mail: zhzh@jlu.edu.cn; Ren, Luquan

2014-06-15

In this work, a miniaturized device based on a bionic piezoelectric actuator was developed to investigate the static tensile and dynamic fatigue properties of bulk materials. The device mainly consists of a bionic stepping piezoelectric actuator based on wedge block clamping, a pair of grippers, and a set of precise signal test system. Tensile and fatigue examinations share a set of driving system and a set of signal test system. In situ tensile and fatigue examinations under scanning electron microscope or metallographic microscope could be carried out due to the miniaturized dimensions of the device. The structure and working principlemore » of the device were discussed and the effects of output difference between two piezoelectric stacks on the device were theoretically analyzed. The tensile and fatigue examinations on ordinary copper were carried out using this device and its feasibility was verified through the comparison tests with a commercial tensile examination instrument.« less

Parallel robot for micro assembly with integrated innovative optical 3D-sensor

NASA Astrophysics Data System (ADS)

Hesselbach, Juergen; Ispas, Diana; Pokar, Gero; Soetebier, Sven; Tutsch, Rainer

2002-10-01

Recent advances in the fields of MEMS and MOEMS often require precise assembly of very small parts with an accuracy of a few microns. In order to meet this demand, a new approach using a robot based on parallel mechanisms in combination with a novel 3D-vision system has been chosen. The planar parallel robot structure with 2 DOF provides a high resolution in the XY-plane. It carries two additional serial axes for linear and rotational movement in/about z direction. In order to achieve high precision as well as good dynamic capabilities, the drive concept for the parallel (main) axes incorporates air bearings in combination with a linear electric servo motors. High accuracy position feedback is provided by optical encoders with a resolution of 0.1 μm. To allow for visualization and visual control of assembly processes, a camera module fits into the hollow tool head. It consists of a miniature CCD camera and a light source. In addition a modular gripper support is integrated into the tool head. To increase the accuracy a control loop based on an optoelectronic sensor will be implemented. As a result of an in-depth analysis of different approaches a photogrammetric system using one single camera and special beam-splitting optics was chosen. A pattern of elliptical marks is applied to the surfaces of workpiece and gripper. Using a model-based recognition algorithm the image processing software identifies the gripper and the workpiece and determines their relative position. A deviation vector is calculated and fed into the robot control to guide the gripper.

Innovative Electrostatic Adhesion Technologies

NASA Astrophysics Data System (ADS)

Gagliano, L.; Bryan, T.; Williams, S.; McCoy, B.; MacLeod, T.

Developing specialized Electro-Static grippers (commercially used in Semiconductor Manufacturing and in package handling) will allow gentle and secure Capture, Soft Docking, and Handling of a wide variety of materials and shapes (such as upper-stages, satellites, arrays, and possibly asteroids) without requiring physical features or cavities for a pincher or probe or using harpoons or nets. Combined with new rigid boom mechanisms or small agile chaser vehicles, flexible, high speed Electro-Static Grippers can enable compliant capture of spinning objects starting from a safe stand-off distance. Electroadhesion (EA) can enable lightweight, ultra-low-power, compliant attachment in space by using an electrostatic force to adhere similar and dissimilar surfaces. A typical EA enabled device is composed of compliant space-rated materials, such as copper-clad polyimide encapsulated by polymers. Attachment is induced by strong electrostatic forces between any substrate material, such as an exterior satellite panel and a compliant EA surface. When alternate positive and negative charges are induced in adjacent planar electrodes in an EA surface, the electric fields set up opposite charges on the substrate and cause an electrostatic adhesion between the electrodes and the induced charges on the substrate. Since the electrodes and the polymer are compliant and can conform to uneven or rough surfaces, the electrodes can remain intimately close to the entire surface, enabling high clamping pressures. Clamping pressures of more than 3 N/cm2 in shear can be achieved on a variety of substrates with ultra-low holding power consumption (measured values are less than 20 microW/Newton weight held). A single EA surface geometry can be used to clamp both dielectric and conductive substrates, with slightly different physical mechanisms. Furthermore EA clamping requires no normal force be placed on the substrate, as conventional docking requires. Internally funded research and development has demonstrated that EA can function effectively in space, even in the presence of strong ultraviolet radiation, atomic oxygen, and free electrons. We created a test setup in an existing vacuum chamber to simulate low-Earth-orbit conditions. An EA mechanism was fabricated and installed in the chamber, instrumented, operated in a vacuum, and subjected to ultraviolet photons and free electrons generated by an in-chamber multipactor electron emitter. Extensions to EA that can add value include proximity and contact sensing and transverse motion or rotation, both of which could enhance docking or assembly applications. Possible next steps include development of targeted applications for ground investigation or on-orbit subsystem performance demonstrations using low cost access to space such as CubeSats.

Producing intricate IPMC shapes by means of spray-painting and printing (Conference Presentation)

NASA Astrophysics Data System (ADS)

Trabia, Sarah; Olsen, Zakai; Hwang, Taeseon; Kim, Kwang Jin

2017-04-01

Ionic Polymer-Metal Composites (IPMC) are common soft actuators that are Nafion® based and plated with a conductive metal, such as platinum, gold, or palladium. Nafion® is available in three forms: sheets, pellets, and water dispersion. Nafion® sheets can be cut to the desired dimensions and are best for rectangular IPMCs. However, the user is not able to change the thickness of these sheets by stacking and melting because Nafion® does not melt. A solution to this is Nafion® pellets, which can melt. These can be used for extrusion and injection molding. Though Nafion® pellets can be melted, they are difficult to work with, making the process quite challenging to master. The last form is Nafion® Water Dispersion, which can be used for casting. Casting can produce the desired thickness, but it does not solve the problem of achieving complex contours. The current methods of fabrication do not allow for complex shapes and structures. To solve this problem, two methods are presented: painting and printing. The painting method uses Nafion® Water Dispersion, an airbrush, and vinyl stencils. The stencils can be made into any shape with detailed edges. The printing method uses Nafion® pellets that are extruded into filaments and a commercially available 3D printer. The models are drawn in a Computer-Aided Drawing (CAD) program, such as SolidWorks. The produced Nafion® membranes will be compared with a commercial Nafion® membrane through a variety of tests, including Fourier Transform Infrared Spectroscopy, Scanning Electron Microscope, Thermogravimetric Analysis, Dynamic Mechanical Analysis, and Optical Microscope.

Selected papers from the 7th International Conference on Biomimetics, Artificial Muscles and Nano-bio (BAMN2013)

NASA Astrophysics Data System (ADS)

Shahinpoor, Mohsen; Oh, Ilkwon

2014-07-01

The 7th International Congress on Biomimetics, Artificial Muscles and Nano-Bio was held on the magnificent and beautiful Jeju Island in Korea on 26-30 August 2013. In June 2007, the volcanic island and lava tube cave systems were designated as UNESCO World Natural Heritage Sites for their natural beauty and unique geographical values. The aim of the congress was to offer high-level lectures, extensive discussions and communications covering the state-of-the-art on biomimetics, artificial muscles, and nano-bio technologies providing an overview of their potential applications in the industrial, biomedical, scientific and robotic fields. This conference provided a necessary platform for an ongoing dialogue between researchers from different areas (chemistry, physics, biology, medicine, engineering, robotics, etc) within biomimetics, artificial muscle and nano-bio technologies. This special issue of Smart Materials and Structures is devoted to a selected number of research papers that were presented at BAMN2013. Of the 400 or so papers and over 220 posters presented at this international congress, 15 papers were finally received, reviewed and accepted for this special issue, following the regular peer review procedures of the journal. The special issue covers polymeric artificial muscles, electroactive polymers, multifunctional nanocomposites, and their applications. In particular, electromechanical performance and other characteristics of ionic polymer-metal composites (IPMCs) fabricated with various commercially available ion exchange membranes are discussed. Additionally, the control of free-edge interlaminar stresses in composite laminates using piezoelectric actuators is elaborated on. Further, the electrode effects of a cellulose-based electroactive paper energy harvester are described. Next, a flexible tactile-feedback touch screen using transparent ferroelectric polymer film vibrators is discussed. A broad coverage of bio-applications of IPMC transducers is then presented followed by a discussion on a novel electroactive PVA-TOCN actuator extremely sensitive to low electrical inputs. Additionally, an experimental self-sensing technique for an IPMC actuator is described. This area was also covered in previous BAMN congresses in the context of electromechanical models for self-sensing IPMC actuating devices with patterned surface electrodes, where actuator and sensor elements are separated by a grounded shielding electrode. Eventually, an electromechanical model of the device has also been proposed and validated. Following that, broad coverage of the modeling of an IPMC actuator based on an extended Kalman filter trained by a neural network is presented. The realization of variable recruitment fluidic artificial muscles is next covered in the special issue followed by a discussion on soft and flexible PEDOT/PSS films for applications to soft actuators. Furthermore, coverage is presented on biomimetic FAA-certifiable, artificial muscle structures for commercial aircraft wings. Additional papers in this special issue cover technologies enhancing the thermal reliability of fiber-optic sensors for bio-inspired applications at ultra-high temperatures, a study on a saddle-shaped bi-stable morphing panel with SMA spring actuators, energy harvesting from a vortex ring on an annular IPMC and finally the development of a morphing flap using SMA actuators followed by an aerodynamic characterization of a morphing flap. We hope that this collection of articles will help to stimulate future work in this emerging field of research and generate new applications in biomimetics, artificial muscles and nano-bio science and technology. Acknowledgments We would like to thank all the authors for their contributions, and the Smart Materials and Structures Editor-in-Chief, Professor Ephrahim Garcia, for having accepted our proposal to organize this special issue. In particular, we are extremely grateful to the IOP Publishing team for their great support, with special thanks to Natasha Leeper and Bethan Davies for their excellent management in the preparation of this special issue. We are also indebted to all of the reviewers, and the editors and editorial staff who handled the reviews of all the papers.

Switchable adhesion for wafer-handling based on dielectric elastomer stack transducers

NASA Astrophysics Data System (ADS)

Grotepaß, T.; Butz, J.; Förster-Zügel, F.; Schlaak, H. F.

2016-04-01

Vacuum grippers are often used for the handling of wafers and small devices. In order to evacuate the gripper, a gas flow is created that can harm the micro structures on the wafer. A promising alternative to vacuum grippers could be adhesive grippers with switchable adhesion. There have been some publications of gecko-inspired adhesive devices. Most of these former works consist of a structured surface which adheres to the object manipulated and an actuator for switching the adhesion. Until now different actuator principles have been investigated, like smart memory alloys and pneumatics. In this work for the first time dielectric elastomer stack transducers (DEST) are combined with a structured surface. DESTs are a promising new transducer technology with many applications in different industry sectors like medical devices, human-machine-interaction and soft robotics. Stacked dielectric elastomer transducers show thickness contraction originating from the electromechanical pressure of two compliant electrodes compressing an elastomeric dielectric when a voltage is applied. Since DESTs and the adhesive surfaces previously described are made of elastomers, it is self-evident to combine both systems in one device. The DESTs are fabricated by a spin coating process. If the flat surface of the spinning carrier is substituted for example by a perforated one, the structured elastomer surface and the DEST can be fabricated in one process. By electrical actuation the DEST contracts and laterally expands which causes the gecko-like cilia to adhere on the object to manipulate. This work describes the assembly and the experimental results of such a device using switchable adhesion. It is intended to be used for the handling of glass wafers.

Flexible Electrostatic Technologies for Capture and Handling, Phase 1

NASA Technical Reports Server (NTRS)

Bryan, Thomas

2015-01-01

Fundamental to many of NASA's in-space transportation missions is the capture and handling of various objects and vehicles in various orbits for servicing, debris disposal, sample retrieval, and assembly without the benefit of sufficient grapple fixtures and docking ports. To perform similar material handling tasks on Earth, pincher grippers, suction grippers, or magnetic chucks are used, but are unable to reliably grip aluminum and composite spacecraft, insulation, radiators, solar arrays, or extra-terrestrial objects in the vacuum of outer space without dedicated handles in the right places. The electronic Flexible Electrostatic Technologies for space Capture and Handling (FETCH) will enable reliable and compliant gripping (soft dock) of practically any object in various orbits or surfaces without dedicated mechanical features, very low impact capture, and built-in proximity sensing without any conventional actuators. Originally developed to handle semiconductor and glass wafers during vacuum chamber processing without contamination, the normal rigid wafer handling chucks are replaced with thin metal foil segments laminated in flexible insulation driven by commercial off-the-shelf solid state, high-voltage power supplies. Preliminary testing in NASA Marshall Space Flight Center's (MSFC's) Flat Floor Robotics Lab demonstrated compliant alignment and gripping with a full-sized, 150-lb microsat mockup and translation before a clean release with a flip of a switch. The flexible electrostatic gripper pads can be adapted to various space applications with different sizes, shapes, and foil electrode layouts even with openings through the gripper pads for addition of guidance sensors or injection of permanent adhesives. With gripping forces estimated between 0.5 and 2.5 lb/in2 or 70-300 lb/ft2 of surface contact, the FETCH can turn on and off rapidly and repeatedly to enable sample handling, soft docking, in-space assembly, precision relocation, and surface translation for accurate anchoring.

Microspine Gripping Mechanism for Asteroid Capture

NASA Technical Reports Server (NTRS)

Merriam, Ezekiel G.; Berg, Andrew B.; Willig, Andrew; Parness, Aaron; Frey, Tim; Howell, Larry L.

2016-01-01

This paper details the development and early testing of a compliant suspension for a microspine gripper device for asteroid capture or micro-gravity percussive drilling. The microspine gripper architecture is reviewed, and a proposed microspine suspension design is presented and discussed. Prototyping methods are discussed, as well as testing methods and results. A path forward is identified from the results of the testing completed thus far. Key findings include: the microspine concept has been established as a valid architecture and the compliant suspension exhibits the desired stiffness characteristics for good gripping behavior. These developments will aid in developing the capability to grasp irregularly shaped boulders in micro-gravity.

3D display for enhanced tele-operation and other applications

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Pezzaniti, J. Larry; Vaden, Justin; Hyatt, Brian; Morris, James; Chenault, David; Bodenhamer, Andrew; Pettijohn, Bradley; Tchon, Joe; Barnidge, Tracy; Kaufman, Seth; Kingston, David; Newell, Scott

2010-04-01

In this paper, we report on the use of a 3D vision field upgrade kit for TALON robot consisting of a replacement flat panel stereoscopic display, and multiple stereo camera systems. An assessment of the system's use for robotic driving, manipulation, and surveillance operations was conducted. A replacement display, replacement mast camera with zoom, auto-focus, and variable convergence, and a replacement gripper camera with fixed focus and zoom comprise the upgrade kit. The stereo mast camera allows for improved driving and situational awareness as well as scene survey. The stereo gripper camera allows for improved manipulation in typical TALON missions.

Self mobile space manipulator project

NASA Technical Reports Server (NTRS)

Brown, H. Ben; Friedman, Mark; Xu, Yangsheng; Kanade, Takeo

1992-01-01

A relatively simple, modular, low mass, low cost robot is being developed for space EVA that is large enough to be independently mobile on a space station or platform exterior, yet versatile enough to accomplish many vital tasks. The robot comprises two long flexible links connected by a rotary joint, with 2-DOF 'wrist' joints and grippers at each end. It walks by gripping pre-positioned attachment points, such as trusswork nodes, and alternately shifting its base of support from one foot (gripper) to the other. The robot can perform useful tasks such as visual inspection, material transport, and light assembly by manipulating objects with one gripper, while stabilizing itself with the other. At SOAR '90, we reported development of 1/3 scale robot hardware, modular trusswork to serve as a locomotion substrate, and a gravity compensation system to allow laboratory tests of locomotion strategies on the horizontal face of the trusswork. In this paper, we report on project progress including the development of: (1) adaptive control for automatic adjustment to loads; (2) enhanced manipulation capabilities; (3) machine vision, including the use of neural nets, to guide autonomous locomotion; (4) locomotion between orthogonal trusswork faces; and (5) improved facilities for gravity compensation and telerobotic control.

Design and experimental research of a novel inchworm type piezo-driven rotary actuator with the changeable clamping radius.

PubMed

Zhao, Hongwei; Fu, Lu; Ren, Luquan; Huang, Hu; Fan, Zunqiang; Li, Jianping; Qu, Han

2013-01-01

In this paper, a novel piezo-driven rotary actuator with the changeable clamping radius is developed based on the inchworm principle. This actuator mainly utilizes three piezoelectric actuators, a flexible gripper, a clamping block, and a rotor to achieve large stroke rotation with high resolution. The design process of the flexible gripper consisting of the driving unit and the clamping unit is described. Lever-type mechanisms were used to amplify the micro clamping displacements. The amplifying factor and parasitic displacement of the lever-type mechanism in the clamping unit was analyzed theoretically and experimentally. In order to investigate the rotation characteristics of the actuator, a series of experiments was carried out. Experimental results indicate that the actuator can rotate at a speed of 77,488 μrad/s with a driving frequency of 167 Hz. The rotation resolution and maximum load torque of the actuator are 0.25 μrad and 37 N mm, respectively. The gripper is movable along the z direction based on an elevating platform, and the clamping radius can change from 10.6 mm to 25 mm. Experimental results confirm that the actuator can achieve different rotation speeds by changing the clamping radius.

A simple 5-DOF walking robot for space station application

NASA Technical Reports Server (NTRS)

Brown, H. Benjamin, Jr.; Friedman, Mark B.; Kanade, Takeo

1991-01-01

Robots on the NASA space station have a potential range of applications from assisting astronauts during EVA (extravehicular activity), to replacing astronauts in the performance of simple, dangerous, and tedious tasks; and to performing routine tasks such as inspections of structures and utilities. To provide a vehicle for demonstrating the pertinent technologies, a simple robot is being developed for locomotion and basic manipulation on the proposed space station. In addition to the robot, an experimental testbed was developed, including a 1/3 scale (1.67 meter modules) truss and a gravity compensation system to simulate a zero-gravity environment. The robot comprises two flexible links connected by a rotary joint, with a 2 degree of freedom wrist joints and grippers at each end. The grippers screw into threaded holes in the nodes of the space station truss, and enable it to walk by alternately shifting the base of support from one foot (gripper) to the other. Present efforts are focused on mechanical design, application of sensors, and development of control algorithms for lightweight, flexible structures. Long-range research will emphasize development of human interfaces to permit a range of control modes from teleoperated to semiautonomous, and coordination of robot/astronaut and multiple-robot teams.

Simulation study of the ROMPS robot control system

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Liu, HUI-I.

1994-01-01

This is a report presenting the progress of a research grant funded by NASA for work performed from June 1, 1993 to August 1, 1993. The report deals with the Robot Operated Material Processing System (ROMPS). It presents results of a computer simulation study conducted to investigate the performance of the control systems controlling the azimuth, elevation, and radial axes of the ROMPS and its gripper. Four study cases are conducted. The first case investigates the control of free motion of the three areas. In the second case, the compliant motion in the elevation axis with the wrist compliant device is studied in terms of position accuracy and impact forces. The third case focuses on the behavior of the control system in controlling the robot motion along the radial axis when pulling the pallet out of the rack. In the fourth case, the compliant motion of the gripper grasping a solid object under the effect of the gripper passive compliance is studied in terms of position accuracy and contact forces. For each of the above cases, a set of PIR gains will be selected to optimize the controller performance and computer simulation results will be presented and discussed.

An ionic polymer-metal composite actuator based on PSMI-incorporated PVDF with chemical stability and performance durability

NASA Astrophysics Data System (ADS)

Lu, Jun; Kim, Sang-Gyun; Lee, Sunwoo; Oh, Il-Kwon

2009-07-01

To develop artificial muscles with improved performance, a novel ionic polymer-metal composite (IPMC) actuator was developed by employing the newly-synthesized ionic networking film of poly (styrene-alt-maleimide) (PSMI)- incorporated poly (vinylidene fluoride) (PVDF). Scanning electron microscope and transmission electron microscopy revealed that much smaller and more uniform nano-sized platinum particles were formed on the surfaces of the film as well as within its polymer matrix after the electroless-plating process. Fourier transform infrared results suggested that no hydrolysis occurred for the as-prepared film actuator before and after the exposure to the elevated PH solutions at 25°C for 48h. The new actuator showed much larger tip displacement than that of a Nafion-based counterpart under the applied electrical stimulus, and overcame the back relaxation of the traditional IPMC actuator under the constant voltage. The current actuator was operated over 6.5h at high-frequency sinusoidal excitation, and its tip displacement was still comparable to that of the referenced Nafion actuator when the test was terminated. The excellent electromechanical performance is due to the inherent large ionic-exchange capacity and the unique hydrophilic nano-channels of the ionic networking film. Furthermore, the working principle of the developed IPMC actuator is thought to be based on a combination of piezoelectricity and ionic transport. The film of PSMI-incorporated PVDF has some advantages over the most widely-used Nafion-based one by diversifying niche applications in biomimetic motion, and the present study is believed to open a new avenue for the design and fabrication of the electro-active polymer film with unique functional properties.

Nanothorn electrodes for ionic polymer-metal composite artificial muscles

PubMed Central

Palmre, Viljar; Pugal, David; Kim, Kwang J.; Leang, Kam K.; Asaka, Kinji; Aabloo, Alvo

2014-01-01

Ionic polymer-metal composites (IPMCs) have recently received tremendous interest as soft biomimetic actuators and sensors in various bioengineering and human affinity applications, such as artificial muscles and actuators, aquatic propulsors, robotic end-effectors, and active catheters. Main challenges in developing biomimetic actuators are the attainment of high strain and actuation force at low operating voltage. Here we first report a nanostructured electrode surface design for IPMC comprising platinum nanothorn assemblies with multiple sharp tips. The newly developed actuator with the nanostructured electrodes shows a new way to achieve highly enhanced electromechanical performance over existing flat-surfaced electrodes. We demonstrate that the formation and growth of the nanothorn assemblies at the electrode interface lead to a dramatic improvement (3- to 5-fold increase) in both actuation range and blocking force at low driving voltage (1–3 V). These advances are related to the highly capacitive properties of nanothorn assemblies, increasing significantly the charge transport during the actuation process. PMID:25146561

Soft Robotic Grippers for Biological Sampling on Deep Reefs.

PubMed

Galloway, Kevin C; Becker, Kaitlyn P; Phillips, Brennan; Kirby, Jordan; Licht, Stephen; Tchernov, Dan; Wood, Robert J; Gruber, David F

2016-03-01

This article presents the development of an underwater gripper that utilizes soft robotics technology to delicately manipulate and sample fragile species on the deep reef. Existing solutions for deep sea robotic manipulation have historically been driven by the oil industry, resulting in destructive interactions with undersea life. Soft material robotics relies on compliant materials that are inherently impedance matched to natural environments and to soft or fragile organisms. We demonstrate design principles for soft robot end effectors, bench-top characterization of their grasping performance, and conclude by describing in situ testing at mesophotic depths. The result is the first use of soft robotics in the deep sea for the nondestructive sampling of benthic fauna.

Soft Robotic Grippers for Biological Sampling on Deep Reefs

PubMed Central

Galloway, Kevin C.; Becker, Kaitlyn P.; Phillips, Brennan; Kirby, Jordan; Licht, Stephen; Tchernov, Dan; Gruber, David F.

2016-01-01

Abstract This article presents the development of an underwater gripper that utilizes soft robotics technology to delicately manipulate and sample fragile species on the deep reef. Existing solutions for deep sea robotic manipulation have historically been driven by the oil industry, resulting in destructive interactions with undersea life. Soft material robotics relies on compliant materials that are inherently impedance matched to natural environments and to soft or fragile organisms. We demonstrate design principles for soft robot end effectors, bench-top characterization of their grasping performance, and conclude by describing in situ testing at mesophotic depths. The result is the first use of soft robotics in the deep sea for the nondestructive sampling of benthic fauna. PMID:27625917

The Relationship Between Cost Growth and Schedule Growth

DTIC Science & Technology

2003-01-01

Relationship between Cost Growth and Schedule Growth, 35th DoDCAS, SCEA 2002, Integrated Program Management Conference (IPMC) 2002, R. L. Coleman...currently valid OMB control number. 1. REPORT DATE 2003 2. REPORT TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE The Relationship Between Cost...

Self-Folded Gripper-Like Architectures from Stimuli-Responsive Bilayers.

PubMed

Abdullah, Arif M; Li, Xiuling; Braun, Paul V; Rogers, John A; Hsia, K Jimmy

2018-06-19

Self-folding microgrippers are an emerging class of smart structures that have widespread applications in medicine and micro/nanomanipulation. To achieve their functionalities, these architectures rely on spatially patterned hinges to transform into 3D configurations in response to an external stimulus. Incorporating hinges into the devices requires the processing of multiple layers which eventually increases the fabrication costs and actuation complexities. The goal of this work is to demonstrate that it is possible to achieve gripper-like configurations in an on-demand manner from simple planar bilayers that do not require hinges for their actuation. Finite element modeling of bilayers is performed to understand the mechanics behind their stimuli-responsive shape transformation behavior. The model predictions are then experimentally validated and axisymmetric gripper-like shapes are realized using millimeter-scale poly(dimethylsiloxane) bilayers that undergo differential swelling in organic solvents. Owing to the nature of the computational scheme which is independent of length scales and material properties, the guidelines reported here would be applicable to a diverse array of gripping systems and functional devices. Thus, this work not only demonstrates a simple route to fabricate functional microgrippers but also contributes to self-assembly in general. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Fabrication and characterization of an SU-8 gripper actuated by a shape memory alloy thin film

NASA Astrophysics Data System (ADS)

Roch, I.; Bidaud, Ph; Collard, D.; Buchaillot, L.

2003-03-01

In this paper, we present the fabrication process of a shape memory alloy (SMA) thin film in both monolithic and hybrid configurations. This provides an effective actuation part for a gripper made of SU-8 thick photoresist. We also extensively describe and discuss the assembly of the SMA thin film with the SU-8 mechanism. Measurements show that the SU-8 gripper is able to achieve an opening action of 500 mum in amplitude at a frequency of 1 Hz. Finite element model simulations indicate that a force of 50 mN, corresponding to 400 mum of opening amplitude, should be produced by the SMA actuator. Although the assembly of the TiNi SMA thin film with the SU-8 mechanism is demonstrated, the bond reliability needs further development in order to improve the thermal behavior of the interface. In this paper, we show that SU-8 is well suited as a structural material for microelectromechanical systems (MEMS) applications. An attractive feature in the MEMS design is that the SMA generated force is well matched with the elastic properties of SU-8. From the application point of view, a SMA-actuated SU-8 high-aspect-ratio microgripper can serve as a secure means to transport microelectronics device, because it provides good grasping and safe insulation. This is also a preliminary result for the future development of biogrippers.

Hazardous materials emergency response mobile robot

NASA Technical Reports Server (NTRS)

Stone, Henry W. (Inventor); Lloyd, James (Inventor); Alahuzos, George (Inventor)

1992-01-01

A simple or unsophisticated robot incapable of effecting straight-line motion at the end of its arm inserts a key held in its end effector or hand into a door lock with nearly straight-line motion by gently thrusting its back heels downwardly so that it pivots forwardly on its front toes while holding its arm stationary. The relatively slight arc traveled by the robot's hand is compensated by a complaint tool with which the robot hand grips the door key. A visible beam is projected through the axis of the hand or gripper on the robot arm end at an angle to the general direction in which the robot thrusts the gripper forward. As the robot hand approaches a target surface, a video camera on the robot wrist watches the beam spot on the target surface fall from a height proportional to the distance between the robot hand and the target surface until the beam spot is nearly aligned with the top of the robot hand. Holes in the front face of the hand are connected through internal passages inside the arm to an on-board chemical sensor. Full rotation of the hand or gripper about the robot arm's wrist is made possible by slip rings in the wrist which permit passage of the gases taken in through the nose holes in the front of the hand through the wrist regardless of the rotational orientation of the wrist.

Modeling of prepregs during automated draping sequences

NASA Astrophysics Data System (ADS)

Krogh, Christian; Glud, Jens A.; Jakobsen, Johnny

2017-10-01

The behavior of wowen prepreg fabric during automated draping sequences is investigated. A drape tool under development with an arrangement of grippers facilitates the placement of a woven prepreg fabric in a mold. It is essential that the draped configuration is free from wrinkles and other defects. The present study aims at setting up a virtual draping framework capable of modeling the draping process from the initial flat fabric to the final double curved shape and aims at assisting the development of an automated drape tool. The virtual draping framework consists of a kinematic mapping algorithm used to generate target points on the mold which are used as input to a draping sequence planner. The draping sequence planner prescribes the displacement history for each gripper in the drape tool and these displacements are then applied to each gripper in a transient model of the draping sequence. The model is based on a transient finite element analysis with the material's constitutive behavior currently being approximated as linear elastic orthotropic. In-plane tensile and bias-extension tests as well as bending tests are conducted and used as input for the model. The virtual draping framework shows a good potential for obtaining a better understanding of the drape process and guide the development of the drape tool. However, results obtained from using the framework on a simple test case indicate that the generation of draping sequences is non-trivial.

[In vitro and in vivo antibacterial activities of pazufloxacin mesilate, a new injectable quinolone].

PubMed

Nomura, Nobuhiko; Mitsuyama, Junichi; Furuta, Yousuke; Yamada, Hisashi; Nakata, Mitsunori; Fukuda, Toshiko; Yamada, Hiroshi; Takahata, Masahiro; Minami, Shinzaburo

2002-08-01

We investigated the in vitro and in vivo antibacterial activities of pazufloxacin mesilate (PZFX mesilate), a new injectable quinolone, and obtained the following results. 1) The MIC50 and MIC90 values of PZFX against clinically isolated Gram-positive and -negative bacteria, ranged from 0.0125 to 12.5 micrograms/ml and 0.025 to 100 micrograms/ml, respectively. PZFX showed broad spectrum activity. The antibacterial activities of PZFX against quinolone-susceptible, methicillin-resistant Staphylococcus aureus, beta-lactamase-negative, ampicillin-resistant Haemophilus influenzae, extended spectrum beta-lactamase possessing Klebsiella pneumoniae and imipenem/cilastatine (IPM/CS)-resistant Pseudomonas aeruginosa were superior to those of ceftazidime (CAZ), ceftriaxone, IPM/CS, meropenem and panipenem/betamipron. 2) PZFX showed superior bactericidal activity against S. aureus, Escherichia coli, Proteus mirabilis, Serratia marcescens and P. aeruginosa to those of CAZ and IPM/CS after treatment for 15 minutes at the drug concentration equivalent to that in human serum at clinical dose to be continued for 15 minutes. 3) CAZ and IPM/CS had no bactericidal activity at the 16 times of MIC against P. aeruginosa in human polymorphonuclear leucocytes, while PZFX exhibited potent bactericidal activity in a dose-dependent manner against such bacteria. 4) PZFX inhibited both DNA gyrase and topoisomerase IV from S. aureus at nearly the same level. PZFX showed poor inhibitory activity against topoisomerase II from human placenta and showed high selectivity to bacterial topoisomerase. 5) PZFX mesilate showed superior therapeutic activity to that of CAZ with following infection model caused by S. aureus and P. aeruginosa or each; systemic infection with cyclophosphamide-treated mice, systemic infection in mice with high challenge doses, CMC pouch infection in rat, and calculus infection in rat bladder. 6) Intravenous administration of PZFX with high plasma concentration just after administration, showed more excellent therapeutic effect against the rat intraperitoneal infection, than p.o. and s.c. administration.

Optimal design of a microgripper-type actuator based on AlN/Si heterogeneous bimorph

NASA Astrophysics Data System (ADS)

Ruiz, D.; Díaz-Molina, A.; Sigmund, O.; Donoso, A.; Bellido, J. C.; Sánchez-Rojas, J. L.

2017-05-01

This work presents a systematic procedure to design piezoelectrically actuated microgrippers. Topology optimization combined with optimal design of electrodes is used to maximize the displacement at the output port of the gripper. The fabrication at the microscale leads us to overcome an important issue: the difficulty of placing a piezoelectric film on both top and bottom of the host layer. Due to the non-symmetric lamination of the structure, an out-of-plane bending spoils the behaviour of the gripper. Suppression of this out-of-plane deformation is the main novelty introduced. In addition, a robust formulation approach is used in order to control the length scale in the whole domain and to reduce sensitivity of the designs to small manufacturing errors.

Optical Gripper

NASA Astrophysics Data System (ADS)

Jalba, C. K.; Muminovic, A.; Epple, S.; Barz, C.; Nasui, V.

2017-05-01

With increasing automation, many work processes become more and more complex. Most technical products can no longer be developed and manufactured by a single department. They are often the product of different divisions and require cooperation from different specialist areas. For example, in the Western world, a simple coffee maker is no longer so much in demand. If the buyer has the possibility to choose between a simple coffee maker and a coffee machine with very complex functions, the choice will probably fall to the more complex variant. Technical progress also applies to other technical products, such as grippers and manipulators. In this paper, it is shown how grasping processes can be redefined and developed with interdisciplinary technical approaches. Both conventional and latest developments in mechanical engineering, production technology, mechatronics and sensor technology will be considered.

Force Sensing Resistor (FSR): a brief overview and the low-cost sensor for active compliance control

NASA Astrophysics Data System (ADS)

Sadun, A. S.; Jalani, J.; Sukor, J. A.

2016-07-01

Force Sensing Resistors (FSR) sensors are devices that allow measuring static and dynamic forces applied to a contact surface. Their range of responses is basically depending on the variation of its electric resistance. In general, Flexiforce and Interlink are two common types of FSR sensors that are available, cheap and easily found in the market. Studies have shown that the FSR sensors are usually applied for robotic grippers and for biomechanical fields. This paper provides a brief overview of the application of the FSR sensors. Subsequently, two different set of experiments are carried out to test the effectiveness of the Flexiforce and Interlink sensors. First, the hardness detector system (Case Study A) and second, the force-position control system (Case Study B). The hardware used for the experiment was developed from low-cost materials. The results revealed that both FSR sensors are sufficient and reliable to provide a good sensing modality particularly for measuring force. Apart from the low-cost sensors, essentially, the FSR sensors are very useful devices that able to provide a good active compliance control, particularly for the grasping robotic hand.

3D vision upgrade kit for TALON robot

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Vaden, Justin; Hyatt, Brian; Morris, James; Pezzaniti, J. Larry; Chenault, David B.; Tchon, Joe; Barnidge, Tracy; Kaufman, Seth; Pettijohn, Brad

2010-04-01

In this paper, we report on the development of a 3D vision field upgrade kit for TALON robot consisting of a replacement flat panel stereoscopic display, and multiple stereo camera systems. An assessment of the system's use for robotic driving, manipulation, and surveillance operations was conducted. The 3D vision system was integrated onto a TALON IV Robot and Operator Control Unit (OCU) such that stock components could be electrically disconnected and removed, and upgrade components coupled directly to the mounting and electrical connections. A replacement display, replacement mast camera with zoom, auto-focus, and variable convergence, and a replacement gripper camera with fixed focus and zoom comprise the upgrade kit. The stereo mast camera allows for improved driving and situational awareness as well as scene survey. The stereo gripper camera allows for improved manipulation in typical TALON missions.

Prospective clinical evaluation of the Polyperf® Safe, a safety Huber needle, in cancer patients.

PubMed

Goossens, Godelieve A; Moons, Philip; Jérôme, Martine; Stas, Marguerite

2011-01-01

Evaluation of the Polyperf® Safe (PPS) needle on safety and user-friendliness, as experienced by first-time and non-first-time users of the device. A prospective, descriptive study was carried out at the University Hospitals Leuven, Belgium. Five hundred PPS needles were individually evaluated in cancer patients. Different aspects of the PPS were assessed: packaging, needle insertion, and needle removal. Nurses were asked whether they had previously inserted or removed this type of needle. We compared the PPS needle with the standard Gripper® needle in terms of safety, ease of use, and ease of training. Three hundred sixty-six evaluation forms were available for analysis (73.2%). Packaging and access evaluations were scored positively, except for two aspects: (1) needle stability, and (2) ease of dressing. Ease of removal was scored unsatisfactory in up to 22.4% of the registrations. Pain at insertion was reported in about 20% registrations, and blood contact was reported by 2.5% of non-first-time users. Safety was scored as good, although ease of use and ease in training scored 25.4% and 43.8%, respectively, lower than the Gripper®. In general, nurses evaluated the PPS positively, with the exception of needle stability, ease of dressing, and ease of removal. No needlestick accidents were recorded. Aspects of ease of use and ease of training for PPS needles scored less than those for the Gripper® needles in up to one-third of the registrations.

Hazardous materials emergency response mobile robot

NASA Technical Reports Server (NTRS)

Stone, Henry W. (Inventor); Lloyd, James W. (Inventor); Alahuzos, George A. (Inventor)

1995-01-01

A simple or unsophisticated robot incapable of effecting straight-line motion at the end of its arm is presented. This robot inserts a key held in its end effector or hand into a door lock with nearly straight-line motion by gently thrusting its back heels downwardly so that it pivots forwardly on its front toes while holding its arm stationary. The relatively slight arc traveled by the robot's hand is compensated by a complaint tool with which the robot hand grips the door key. A visible beam is projected through the axis of the hand or gripper on the robot arm end at an angle to the general direction in which the robot thrusts the gripper forward. As the robot hand approaches a target surface, a video camera on the robot wrist watches the beam spot on the target surface fall from a height proportional to the distance between the robot hand and the target surface until the beam spot is nearly aligned with the top of the robot hand. Holes in the front face of the hand are connected through internal passages inside the arm to an on-board chemical sensor. Full rotation of the hand or gripper about the robot arm's wrist is made possible by slip rings in the wrist which permit passage of the gases taken in through the nose holes in the front of the hand through the wrist regardless of the rotational orientation of the wrist.

Metal muscles and nerves—a self-sensing SMA-actuated hand concept

NASA Astrophysics Data System (ADS)

Simone, F.; Rizzello, G.; Seelecke, S.

2017-09-01

Bio-inspired hand-like grippers actuated by Shape Memory Alloy (SMA) wires represent an emerging new technology with potential applications in many different fields, ranging from industrial assembly processes to biomedical systems. The inherently high energy density makes SMAs a natural choice for compact, lightweight, and silent actuator systems capable of producing a high amount of work, such as hand prostheses or robotic systems in industrial human/machine environments. In this work, a concept for a compact and versatile gripping system is developed, in which SMA wires are implemented as antagonistic muscles actuating an artificial hand with three fingers. In order to combine high gripping force with sufficient actuation speed, the muscle implementation pursues a multi-wire concept with several 0.1 mm diameter NiTi wires connected in parallel, in order to increase the surface-to-volume ratio for accelerated cooling. The paper starts with an illustration of the design concept of an individual 3-phalanx-finger, along with kinematic considerations for optimal placement of SMA wires. Three identical fingers are subsequently fabricated via 3D printing and assembled into a hand-like gripper. The maximum displacement of each finger phalanx is measured, and an average phalanxes dynamic responsiveness is evaluated. SMA self-sensing is documented by experiments relating the wires change in resistance to the finger motion. Several finger force measurements are also performed. The versatility of the gripper is finally documented by displaying a variety of achievable grasping configurations.

Universal robotic gripper based on the jamming of granular material

PubMed Central

Brown, Eric; Rodenberg, Nicholas; Amend, John; Mozeika, Annan; Steltz, Erik; Zakin, Mitchell R.; Lipson, Hod; Jaeger, Heinrich M.

2010-01-01

Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current designs are based on the multifingered hand, but this approach introduces hardware and software complexities. These include large numbers of controllable joints, the need for force sensing if objects are to be handled securely without crushing them, and the computational overhead to decide how much stress each finger should apply and where. Here we demonstrate a completely different approach to a universal gripper. Individual fingers are replaced by a single mass of granular material that, when pressed onto a target object, flows around it and conforms to its shape. Upon application of a vacuum the granular material contracts and hardens quickly to pinch and hold the object without requiring sensory feedback. We find that volume changes of less than 0.5% suffice to grip objects reliably and hold them with forces exceeding many times their weight. We show that the operating principle is the ability of granular materials to transition between an unjammed, deformable state and a jammed state with solid-like rigidity. We delineate three separate mechanisms, friction, suction, and interlocking, that contribute to the gripping force. Using a simple model we relate each of them to the mechanical strength of the jammed state. This advance opens up new possibilities for the design of simple, yet highly adaptive systems that excel at fast gripping of complex objects.

Flexible Electrostatic Technology for Capture and Handling Project

NASA Technical Reports Server (NTRS)

Keys, Andrew; Bryan, Tom; Horwitz, Chris; Rakoczy, John; Waggoner, Jason

2015-01-01

To NASA unfunded & planned missions: This new capability to sense proximity, flexibly align to, and attractively grip and capture practically any object in space without any pre-designed physical features or added sensors or actuators will enable or enhance many of MSFC's strategic emphasis areas in space transportation, and space systems such as: 1. A Flexible Electrostatic gripper can enable the capture, gripping and releasing of an extraterrestrial sample of different minerals or a sample canister (metallic or composite) without requiring a handle or grapple fixture.(B) 2. Flexible self-aligning in-space capture/soft docking or berthing of ISS resupply vehicles, pressurized modules, or nodes for in-space assembly and shielding, radiator, and solar Array deployment for space habitats (C) 3. The flexible electrostatic gripper when combined with a simple steerable extendible boom can grip, position, and release objects of various shapes and materials with low mass and power without any prior handles or physical accommodations or surface contamination for ISS experiment experiments and in-situ repair.(F)(G) 4. The Dexterous Docking concept previously proposed to allow simple commercial resupply ships to station-keep and capture either ISS or an Exploration vehicle for supply or fluid transfer lacked a self-sensing, compliant, soft capture gripper like FETCH that could retract and attach to a CBM. (I) 5. To enable a soft capture and de-orbit of a piece of orbital debris will require self-aligning gripping and holding an object wherever possible (thermal coverings or shields of various materials, radiators, solar arrays, antenna dishes) with little or no residual power while adding either drag or active low level thrust.(K) 6. With the scalability of the FETCH technology, small satellites can be captured and handled or can incorporate FETCH gripper to dock to and handle other small vehicles and larger objects for de-orbiting or mitigating Orbital debris (L) 7. Many of previous MSFC and NASA proposals or concepts can now be realized or simplified by the development of the this initial and future FETCH grippers including commercial resupply, Exploration vehicle assembly, Satellite servicing, and orbital debris removal since a major part of these missions is to align to and capture some handle. Completed Project (2013 - 2014) Flexible Electrostatic Technology for Capture & Handling Project Center Innovation Fund: MSFC CIF Program | Space Technology Mission Directorate (STMD) For more information visit techport.nasa.gov Some NASA technology projects are smaller (for example SBIR/STTR, NIAC and Center Innovation Fund), and will have less content than other, larger projects. Newly created projects may not sensors or injection of permanent adhesives. With gripping forces estimated between 0.5 and 2.5 pounds per square inch or 70-300 lb./sq. ft. of surface contact, the FETCH can turn-on and turn-off rapidly and repeatedly to enable sample handling, soft docking, in-space assembly, and precision relocation for accurate anchor adhesion.

Snap-in compressible biomedical electrode

NASA Technical Reports Server (NTRS)

Frost, J. D., Jr.; Hillman, C. E., Jr. (Inventor)

1977-01-01

A replaceable, prefilled electrode enclosed in a plastic seal and suitably adapted for attachment to a reusable, washable cap having snaps thereon is disclosed. The apparatus is particularly adapted for quick positioning of electrodes to obtain an EEG. The individual electrodes are formed of a sponge body which is filled with a conductive electrolyte gel during manufacture. The sponge body is adjacent to a base formed of a conductive plastic material. The base has at its center a male gripper snap. The cap locates the female snap to enable the electrode to be positioned. The electrode can be stored and used quickly by attaching to the female gripper snap. The snap is correctly positioned and located by mounting it in a stretchable cap. The cap is reusable with new electrodes for each use. The electrolyte gel serves as the contact electrode to achieve a good ohmic contact with the scalp.

Enhanced operator perception through 3D vision and haptic feedback

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Light, Kenneth; Bodenhamer, Andrew; Bosscher, Paul; Wilkinson, Loren

2012-06-01

Polaris Sensor Technologies (PST) has developed a stereo vision upgrade kit for TALON® robot systems comprised of a replacement gripper camera and a replacement mast zoom camera on the robot, and a replacement display in the Operator Control Unit (OCU). Harris Corporation has developed a haptic manipulation upgrade for TALON® robot systems comprised of a replacement arm and gripper and an OCU that provides haptic (force) feedback. PST and Harris have recently collaborated to integrate the 3D vision system with the haptic manipulation system. In multiple studies done at Fort Leonard Wood, Missouri it has been shown that 3D vision and haptics provide more intuitive perception of complicated scenery and improved robot arm control, allowing for improved mission performance and the potential for reduced time on target. This paper discusses the potential benefits of these enhancements to robotic systems used for the domestic homeland security mission.

Methods for promoting knowledge exchange and networking among young professionals in the aerospace sector-IAF's IPMC workshop 2013 insights

NASA Astrophysics Data System (ADS)

Monzon, Amalio; Chow, Tiffany; Guthrie, Paul; Lu, Zhuoyan; Chuma, Constant; He, Huang; Kuzkov, Sergii

2016-01-01

During the next decades, the aerospace community will pursue goals such as human exploration beyond the Moon, commercialization and cost reduction of space activities or sustainability of air transport and space operations, bringing relevant economic, environmental and social benefits to the society. Young professionals development is a critical success factor to enable these goals and in consequence is an area of significant interest. This paper focuses on the methods for promoting knowledge exchange and networking among Young Professionals. On the one hand, it analyzes the different activities currently used for that purpose by the organizations of the sector as well as explores the opportunities to reinforce these methods. On the other hand, it presents the results of a survey addressed to Young Professionals and aimed at identifying their needs, expectations and benefits perceived in relation with these activities. This study was conducted as part of the IAF's (International Astronautical Federation) IPMC (International Programme/Project Management Committee) Workshop held during the International Astronautical Congress (IAC) 2013 in Beijing, whose objective was to provide Young Professionals a forum to share experiences and to discuss ideas and needs, and which counted with more than fifty delegates representing IAF member organizations from all around the world.

Robotic System For Greenhouse Or Nursery

NASA Technical Reports Server (NTRS)

Gill, Paul; Montgomery, Jim; Silver, John; Heffelfinger, Neil; Simonton, Ward; Pease, Jim

1993-01-01

Report presents additional information about robotic system described in "Robotic Gripper With Force Control And Optical Sensors" (MFS-28537). "Flexible Agricultural Robotics Manipulator System" (FARMS) serves as prototype of robotic systems intended to enhance productivities of agricultural assembly-line-type facilities in large commercial greenhouses and nurseries.

SEARCH: Study of Environmental Arctic Change--A System-scale, Cross-disciplinary, Long-term Arctic Research Program

NASA Astrophysics Data System (ADS)

Wiggins, H. V.; Schlosser, P.; Fox, S. E.

2009-12-01

The Study of Environmental Arctic Change (SEARCH) is a multi-agency effort to observe, understand, and guide responses to changes in the changing arctic system. Under the SEARCH program, guided by the Science Steering Committee (SSC), the Observing, Understanding, and Responding to Change panels, and the Interagency Program Management Committee (IPMC), scientists with a variety of expertise work together to achieve goals of the program. Over 150 projects and activities contribute to SEARCH implementation. The Observing Change component is underway through the NSF’s Arctic Observing Network (AON), NOAA-sponsored atmospheric and sea ice observations, and other relevant national and international efforts, including the EU-sponsored Developing Arctic Modeling and Observing Capabilities for Long-term Environmental Studies (DAMOCLES) Program. The Understanding Change component of SEARCH consists of modeling and analysis efforts, including the Sea Ice Outlook project, an international effort to provide a community-wide summary of the expected September arctic sea ice minimum. The Understanding Change component also has strong linkages to programs such as the NSF Arctic System Science (ARCSS) Program. The Responding to Change element will be launched through stakeholder-focused research and applications addressing social and economic concerns. As a national program under the International Study of Arctic Change (ISAC), SEARCH is working to expand international connections. The State of the Arctic Conference (soa.arcus.org), to be held 16-19 March 2010 in Miami, will be a milestone activity of SEARCH and will provide an international forum for discussion of future research directions aimed toward a better understanding of the arctic system and its trajectory. SEARCH is sponsored by eight U.S. agencies that comprise the IPMC, including: the National Science Foundation (NSF), the National Oceanic and Atmospheric Administration (NOAA), the National Aeronautics and Space Administration (NASA), the Department of Defense (DOD), the Department of Energy (DOE), the Department of the Interior (DOI), the Smithsonian Institution, and the U.S. Department of Agriculture (USDA). The U.S. Arctic Research Commission (USARC) participates as an IPMC observer. For more information, visit the website at: http://www.arcus.org/search or contact: Helen V. Wiggins: helen@arcus.org, SEARCH Project Office, ARCUS; or Peter Schlosser, schlosser@ldeo.columbia.edu, SEARCH SSC Chair.

Understanding the Thermal Properties of Precursor-Ionomers to Optimize Fabrication Processes for Ionic Polymer-Metal Composites (IPMCs)

PubMed Central

Choi, Kisuk; Olsen, Zakai; Hwang, Taeseon; Nam, Jae-Do

2018-01-01

Ionic polymer-metal composites (IPMCs) are one of many smart materials and have ionomer bases with a noble metal plated on the surface. The ionomer is usually Nafion, but recently Aquivion has been shown to be a promising alternative. Ionomers are available in the form of precursor pellets. This is an un-activated form that is able to melt, unlike the activated form. However, there is little study on the thermal characteristics of these precursor ionomers. This lack of knowledge causes issues when trying to fabricate ionomer shapes using methods such as extrusion, hot-pressing, and more recently, injection molding and 3D printing. To understand the two precursor-ionomers, a set of tests were conducted to measure the thermal degradation temperature, viscosity, melting temperature, and glass transition. The results have shown that the precursor Aquivion has a higher melting temperature (240 °C) than precursor Nafion (200 °C) and a larger glass transition range (32–65 °C compared with 21–45 °C). The two have the same thermal degradation temperature (~400 °C). Precursor Aquivion is more viscous than precursor Nafion as temperature increases. Based on the results gathered, it seems that the precursor Aquivion is more stable as temperature increases, facilitating the manufacturing processes. This paper presents the data collected to assist researchers in thermal-based fabrication processes. PMID:29693584

The M68HC11 gripper controller electronics

NASA Technical Reports Server (NTRS)

Kelley, Robert B.; Bethel, Jeffrey

1991-01-01

This document describes the instrumentation, operational theory, circuit implementation, calibration procedures, and general notes for the CIRSSE general purpose pneumatic hand. The mechanical design and the control software are discussed. The circuit design, PCB layout, hand instrumentation, and controller construction described in detail in this document are the result of a senior project.

A vacuum microgripping tool with integrated vibration releasing capability

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rong, Weibin; Fan, Zenghua, E-mail: zenghua-fan@163.com; Wang, Lefeng

2014-08-01

Pick-and-place of micro-objects is a basic task in various micromanipulation demands. Reliable releasing of micro-objects is usually disturbed due to strong scale effects. This paper focuses on a vacuum micro-gripper with vibration releasing functionality, which was designed and assembled for reliable micromanipulation tasks. Accordingly, a vibration releasing strategy of implementing a piezoelectric actuator on the vacuum microgripping tool is presented to address the releasing problem. The releasing mechanism was illustrated using a dynamic micro contact model. This model was developed via theoretical analysis, simulations and pull-off force measurement using atomic force microscopy. Micromanipulation experiments were conducted to verify the performancemore » of the vacuum micro-gripper. The results show that, with the assistance of the vibration releasing, the vacuum microgripping tool can achieve reliable release of micro-objects. A releasing location accuracy of 4.5±0.5 μm and a successful releasing rate of around 100% (which is based on 110 trials) were achieved for manipulating polystyrene microspheres with radius of 35–100 μm.« less

A novel algorithm for fast grasping of unknown objects using C-shape configuration

NASA Astrophysics Data System (ADS)

Lei, Qujiang; Chen, Guangming; Meijer, Jonathan; Wisse, Martijn

2018-02-01

Increasing grasping efficiency is very important for the robots to grasp unknown objects especially subjected to unfamiliar environments. To achieve this, a new algorithm is proposed based on the C-shape configuration. Specifically, the geometric model of the used under-actuated gripper is approximated as a C-shape. To obtain an appropriate graspable position, this C-shape configuration is applied to fit geometric model of an unknown object. The geometric model of unknown object is constructed by using a single-view partial point cloud. To examine the algorithm using simulations, a comparison of the commonly used motion planners is made. The motion planner with the highest number of solved runs, lowest computing time and the shortest path length is chosen to execute grasps found by this grasping algorithm. The simulation results demonstrate that excellent grasping efficiency is achieved by adopting our algorithm. To validate this algorithm, experiment tests are carried out using a UR5 robot arm and an under-actuated gripper. The experimental results show that steady grasping actions are obtained. Hence, this research provides a novel algorithm for fast grasping of unknown objects.

Soft Robotics Commercialization: Jamming Grippers from Research to Product

PubMed Central

Cheng, Nadia; Fakhouri, Sami; Culley, Bill

2016-01-01

Abstract Recent work in the growing field of soft robotics has demonstrated a number of very promising technologies. However, to make a significant impact in real-world applications, these new technologies must first transition out of the laboratory through successful commercialization. Commercialization is perhaps the most critical future milestone facing the field of soft robotics today, and this process will reveal whether the apparent impact we now perceive has been appropriately estimated. Since 2012, Empire Robotics has been one of the first companies to attempt to reach this milestone through our efforts to commercialize jamming-based robotic gripper technology in a product called VERSABALL®. However, in spring 2016 we are closing our doors, having not been able to develop a sustainable business around this technology. This article presents some of the key takeaways from the technical side of the commercialization process and lessons learned that may be valuable to others. We hope that sharing this information will provide a frame of reference for technology commercialization that can help others motivate research directions and maximize research impact. PMID:28078197

Integrated Force and Distance Sensing using Elastomer-Embedded Commodity Proximity Sensors.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Patel, Radhen; Cox, Rebecca E.; Correll, Nikolaus

We describe a combined proximity, contact and force (PCF) sensor based on a commodity infrared distance sensor embedded in a transparent elastomer with applications in robotic manipulation. Prior to contact, the sensor works as a distance sensor (0{6 cm), whereas after contact the material doubles as a spring, with force proportional to the compression of the elastomer (0{5 N). We describe its principle of operation and design parameters, including polymer thickness, mixing ratio, and emitter current, and show that the sensor response has an in ection point at contact that is independent of an object's surface properties, making it amore » robust detector for contact events. We then demonstrate how arrays of sensors, custom made for a standard Baxter gripper as well as embedded in the nger of the Kinova hand, can be used to (1) improve gripper alignment during grasping, (2) determine contact points with objects, (3) obtain simple 3D models using both proximity and touch, and (4) register point clouds from touch and RGB-D data.« less

Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station

NASA Technical Reports Server (NTRS)

Park, In-Won; Smith, Marion F.; Sanchez, Hugo S.; Wong, Sze Wun; Piacenza, Pedro; Ciocarlie, Matei

2017-01-01

This paper presents the design and control of the 3-DOF compliant perching arm for the free-flying Astrobee robots that will operate inside the International Space Station (ISS). The robots are intended to serve as a flexible platform for future guest scientists to use for zero-gravity robotics research - thus, the arm is designed to support manipulation research. It provides a 1-DOF underactuated tendon-driven gripper capable of enveloping a range of objects of different shapes and sizes. Co-located RGB camera and LIDAR sensors provide perception. The Astrobee robots will be capable of grasping each other in flight, to simulate orbital capture scenarios. The arm's end-effector module is swappable on-orbit, allowing guest scientists to add upgraded grippers, or even additional arm degrees of freedom. The design of the arm balances research capabilities with Astrobee's operational need to perch on ISS handrails to reduce power consumption. Basic arm functioning and grip strength were evaluated using an integrated Astrobee prototype riding on a low-friction air bearing.

Enhancement of figural creativity by motor activation: effects of unilateral hand contractions on creativity are moderated by positive schizotypy.

PubMed

Rominger, Christian; Papousek, Ilona; Fink, Andreas; Weiss, Elisabeth M

2014-01-01

Creativity is an important trait necessary to achieve innovations in science, economy, arts and daily life. Therefore, the enhancement of creative performance is a significant field of investigation. A recent experiment showed enhanced verbal creativity after unilateral left-hand contractions, which was attributed to elevated activation of the right hemisphere. The present study aimed to extend these findings to the domain of figural creativity. Furthermore, as creativity and positive schizotypy may share some neurobiological underpinnings associated with the right hemisphere, we studied the potential moderating effect of positive schizotypy on the effects of the experimental modification of relative hemispheric activation on creativity. In a gender-balanced sample (20 men and 20 women), squeezing a hand gripper with the left hand enhanced figural creativity on the Torrance Test of Creative Thinking compared to squeezing the gripper with the right hand. However, this was only true when positive schizotypy was low. The moderating effect of schizotypy may be produced by relatively greater activity of certain parts of the right hemisphere being a shared neuronal correlate of creativity and positive schizotypy.

Rod gripper, changer, and storage system

NASA Technical Reports Server (NTRS)

Benson, Mark; Demi, Todd; Mcneill, Robert; Waldo, Keith; Afghan, Alex; Oliver, Jim

1989-01-01

A rod changer and storage design is presented for the lunar deep drill apparatus to be used in conjunction with the Skitter walking platform. The design must take into account all of the lunar environment and working conditions. Some of these are: (1) the moon has one sixth the gravity of earth; (2) temperature gradients can range from about -170 to 265 C; (3) because of the high transportation costs, the design must be as light as possible; and (4) the process must be remotely operated (from earth or satellite) and must be automated. Because of Skitter's multiple degree of freedom movement, the design will utilize Skitter's movement to locate an implement and transport it from the rack to the drill string. The implement will be gripped by a thumb and two finger device, identified through an electronic sensing device on the thumb, and transported from the rack to the footplate and back from the footplate to the rack. The major designs discussed in this report have been broken down into three major areas: (1) gripper design (linear transport mechanism); (2) indexing system; and (3) rack design.

Mechanics and energetics in tool manufacture and use: a synthetic approach.

PubMed

Wang, Liyu; Brodbeck, Luzius; Iida, Fumiya

2014-11-06

Tool manufacture and use are observed not only in humans but also in other animals such as mammals, birds and insects. Manufactured tools are used for biomechanical functions such as effective control of fluids and small solid objects and extension of reaching. These tools are passive and used with gravity and the animal users' own energy. From the perspective of evolutionary biology, manufactured tools are extended phenotypes of the genes of the animal and exhibit phenotypic plasticity. This incurs energetic cost of manufacture as compared to the case with a fixed tool. This paper studies mechanics and energetics aspects of tool manufacture and use in non-human beings. Firstly, it investigates possible mechanical mechanisms of the use of passive manufactured tools. Secondly, it formulates the energetic cost of manufacture and analyses when phenotypic plasticity benefits an animal tool maker and user. We take a synthetic approach and use a controlled physical model, i.e. a robot arm. The robot is capable of additively manufacturing scoop and gripper structures from thermoplastic adhesives to pick and place fluid and solid objects, mimicking primates and birds manufacturing tools for a similar function. We evaluate the effectiveness of tool use in pick-and-place and explain the mechanism for gripper tools picking up solid objects with a solid-mechanics model. We propose a way to formulate the energetic cost of tool manufacture that includes modes of addition and reshaping, and use it to analyse the case of scoop tools. Experiment results show that with a single motor trajectory, the robot was able to effectively pick and place water, rice grains, a pebble and a plastic box with a scoop tool or gripper tools that were manufactured by itself. They also show that by changing the dimension of scoop tools, the energetic cost of tool manufacture and use could be reduced. The work should also be interesting for engineers to design adaptive machines. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

Mechanics and energetics in tool manufacture and use: a synthetic approach

PubMed Central

Wang, Liyu; Brodbeck, Luzius; Iida, Fumiya

2014-01-01

Tool manufacture and use are observed not only in humans but also in other animals such as mammals, birds and insects. Manufactured tools are used for biomechanical functions such as effective control of fluids and small solid objects and extension of reaching. These tools are passive and used with gravity and the animal users' own energy. From the perspective of evolutionary biology, manufactured tools are extended phenotypes of the genes of the animal and exhibit phenotypic plasticity. This incurs energetic cost of manufacture as compared to the case with a fixed tool. This paper studies mechanics and energetics aspects of tool manufacture and use in non-human beings. Firstly, it investigates possible mechanical mechanisms of the use of passive manufactured tools. Secondly, it formulates the energetic cost of manufacture and analyses when phenotypic plasticity benefits an animal tool maker and user. We take a synthetic approach and use a controlled physical model, i.e. a robot arm. The robot is capable of additively manufacturing scoop and gripper structures from thermoplastic adhesives to pick and place fluid and solid objects, mimicking primates and birds manufacturing tools for a similar function. We evaluate the effectiveness of tool use in pick-and-place and explain the mechanism for gripper tools picking up solid objects with a solid-mechanics model. We propose a way to formulate the energetic cost of tool manufacture that includes modes of addition and reshaping, and use it to analyse the case of scoop tools. Experiment results show that with a single motor trajectory, the robot was able to effectively pick and place water, rice grains, a pebble and a plastic box with a scoop tool or gripper tools that were manufactured by itself. They also show that by changing the dimension of scoop tools, the energetic cost of tool manufacture and use could be reduced. The work should also be interesting for engineers to design adaptive machines. PMID:25209405

Bimanual Force Coordination in Children with Spastic Unilateral Cerebral Palsy

ERIC Educational Resources Information Center

Smits-Engelsman, B. C. M.; Klingels, K.; Feys, H.

2011-01-01

In this study bimanual grip-force coordination was quantified using a novel "Gripper" system that records grip forces produced while holding a lower and upper unit, in combination with the lift force necessary to separate these units. Children with unilateral cerebral palsy (CP) (aged 5-14 years, n = 12) were compared to age matched typically…

Design of Ammunition Gripper for 155-mm Robotic Howitzer

DTIC Science & Technology

1985-03-01

construed as an official Department of the Army position, policy , or decision, unless so designated by other docimientation. The citation in this...ocn-^moocaocouiincD-^rcTXDoinnnru’rin lA- ■♦ fuin—«p-oo^mr--^ T ■^ iD’^ .-4ono>inc»^ o^incwr- cncD ’-^-^.^ocucuoooorucDinmLnf^CJicn ojcnnj^u)t7

Automatic assembly of micro-optical components

NASA Astrophysics Data System (ADS)

Gengenbach, Ulrich K.

1996-12-01

Automatic assembly becomes an important issue as hybrid micro systems enter industrial fabrication. Moving from a laboratory scale production with manual assembly and bonding processes to automatic assembly requires a thorough re- evaluation of the design, the characteristics of the individual components and of the processes involved. Parts supply for automatic operation, sensitive and intelligent grippers adapted to size, surface and material properties of the microcomponents gain importance when the superior sensory and handling skills of a human are to be replaced by a machine. This holds in particular for the automatic assembly of micro-optical components. The paper outlines these issues exemplified at the automatic assembly of a micro-optical duplexer consisting of a micro-optical bench fabricated by the LIGA technique, two spherical lenses, a wavelength filter and an optical fiber. Spherical lenses, wavelength filter and optical fiber are supplied by third party vendors, which raises the question of parts supply for automatic assembly. The bonding processes for these components include press fit and adhesive bonding. The prototype assembly system with all relevant components e.g. handling system, parts supply, grippers and control is described. Results of first automatic assembly tests are presented.

Development of novel hybrid flexure-based microgrippers for precision micro-object manipulation.

PubMed

Mohd Zubir, Mohd Nashrul; Shirinzadeh, Bijan; Tian, Yanling

2009-06-01

This paper describes the process of developing a microgripper that is capable of high precision and fidelity manipulation of micro-objects. The design adopts the concept of flexure-based hinges on its joints to provide the rotational motion, thus eliminating the inherent nonlinearities associated with the application of conventional rigid hinges. A combination of two modeling techniques, namely, pseudorigid body model and finite element analysis was utilized to expedite the prototyping procedure, which leads to the establishment of a high performance mechanism. A new hybrid compliant structure integrating cantilever beam and flexural hinge configurations within microgripper mechanism mainframe has been developed. This concept provides a novel approach to harness the advantages within each individual configuration while mutually compensating the limitations inherent between them. A wire electrodischarge machining technique was utilized to fabricate the gripper out of high grade aluminum alloy (Al 7075T6). Experimental studies were conducted on the model to obtain various correlations governing the gripper performance as well as for model verification. The experimental results demonstrate high level of compliance in comparison to the computational results. A high amplification characteristic and maximum achievable stroke of 100 microm can be achieved.

Robot-assisted microsurgical forceps with haptic feedback for transoral laser microsurgery.

PubMed

Deshpande, Nikhil; Chauhan, Manish; Pacchierotti, Claudio; Prattichizzo, Domenico; Caldwell, Darwin G; Mattos, Leonardo S

2016-08-01

In this paper, a novel, motorized, multi-degrees-of-freedom (DoF), microsurgical forceps tool is presented, which is based on a master-slave teleoperation architecture. The slave device is a 7-DoF manipulator with: (i) 6-DoF positioning and orientation, (ii) 1 open/close gripper DoF; and (iii) an integrated force/torque sensor for tissue grip-force measurement. The master device is a 7-DoF haptic interface which teleoperates the slave device, and provides haptic feedback in its gripper interface. The combination of the device and the surgeon interface replaces the manual, hand-held device providing easy-to-use and ergonomic tissue control, simplifying the surgical tasks. This makes the system suitable to real surgical scenarios in the operating room (OR). The performance of the system was analysed through the evaluation of teleoperation control and characterization of gripping force. The new system offers an overall positioning error of less than 400 μm demonstrating its safety and accuracy. Improved system precision, usability, and ergonomics point to the potential suitability of the device for the OR and its ability to advance haptic-feedback-enhanced transoral laser microsurgeries.

Development of novel hybrid flexure-based microgrippers for precision micro-object manipulation

NASA Astrophysics Data System (ADS)

Mohd Zubir, Mohd Nashrul; Shirinzadeh, Bijan; Tian, Yanling

2009-06-01

This paper describes the process of developing a microgripper that is capable of high precision and fidelity manipulation of micro-objects. The design adopts the concept of flexure-based hinges on its joints to provide the rotational motion, thus eliminating the inherent nonlinearities associated with the application of conventional rigid hinges. A combination of two modeling techniques, namely, pseudorigid body model and finite element analysis was utilized to expedite the prototyping procedure, which leads to the establishment of a high performance mechanism. A new hybrid compliant structure integrating cantilever beam and flexural hinge configurations within microgripper mechanism mainframe has been developed. This concept provides a novel approach to harness the advantages within each individual configuration while mutually compensating the limitations inherent between them. A wire electrodischarge machining technique was utilized to fabricate the gripper out of high grade aluminum alloy (Al 7075T6). Experimental studies were conducted on the model to obtain various correlations governing the gripper performance as well as for model verification. The experimental results demonstrate high level of compliance in comparison to the computational results. A high amplification characteristic and maximum achievable stroke of 100 μm can be achieved.

Design of a piezoelectric inchworm actuator and compliant end effector for minimally invasive surgery

NASA Astrophysics Data System (ADS)

Canfield, Shawn; Edinger, Ben; Frecker, Mary I.; Koopmann, Gary H.

1999-06-01

Recent advances in robotics, tele-robotics, smart material actuators, and mechatronics raise new possibilities for innovative developments in millimeter-scale robotics capable of manipulating objects only fractions of a millimeter in size. These advances can have a wide range of applications in the biomedical community. A potential application of this technology is in minimally invasive surgery (MIS). The focus of this paper is the development of a single degree of freedom prototype to demonstrate the viability of smart materials, force feedback and compliant mechanisms for minimally invasive surgery. The prototype is a compliant gripper that is 7-mm by 17-mm, made from a single piece of titanium that is designed to function as a needle driver for small scale suturing. A custom designed piezoelectric `inchworm' actuator drives the gripper. The integrated system is computer controlled providing a user interface device capable of force feedback. The design methodology described draws from recent advances in three emerging fields in engineering: design of innovative tools for MIS, design of compliant mechanisms, and design of smart materials and actuators. The focus of this paper is on the design of a millimeter-scale inchworm actuator for use with a compliant end effector in MIS.

Sensor tip for a robotic gripper and method of manufacture

NASA Technical Reports Server (NTRS)

Lorenz, Robert D. (Inventor); Jackson, Gregory T. (Inventor)

1991-01-01

A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A buffer amplifier circuit (34), one for each of the transducers (14, 16, 18, and 20), receives the signals and provides quasi-steady state force information. The circuit (34) connects the respective transducer (40) in a feedback loop around an amplifier (36) and has desirable attributes for static charge buffering. The sensor tip (10) is calibrated to determine proportionality constants for the decoupling algorithm for use of a force delivering system (60), which uses voice coils (74) to apply a force that is linearly related to the current introduced to each of the coils (74). A method of manufacture of the sensor tip (10) results in improved bonding between the transducers (14, 16, 18, and 20) and the elastomeric body (12) for better performance and longer life of the sensor tip (10).

Sensor tip for a robotic gripper and method of manufacture

NASA Technical Reports Server (NTRS)

Lorenz, Robert D. (Inventor); Jackson, Gregory T. (Inventor)

1993-01-01

A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A buffer amplifier circuit (34), one for each of the transducers (14, 16, 18, and 20), receives the signals and provides quasi-steady state force information. The circuit (34) connects the respective transducer (40) in a feedback loop around an amplifier (36) and has desirable attributes for static charge buffering. The sensor tip (10) is calibrated to determine proportionality constants for the decoupling algorithm for use of a force delivering system (60), which uses voice coils (74) to apply a force that is linearly related to the current introduced to each of the coils (74). A method of manufacture of the sensor tip (10) results in improved bonding between the transducers (14, 16, 18, and 20) and the elastomeric body (12) for better performance and longer life of the sensor tip (10).

Development of a bio-inspired UAV perching system

NASA Astrophysics Data System (ADS)

Xie, Pu

Although technologies of unmanned aerial vehicles (UAVs) including micro air vehicles (MAVs) have been greatly advanced in the recent years, it is still very difficult for a UAV to perform some very challenging tasks such as perching to any desired spot reliably and agilely like a bird. Unlike the UAVs, the biological control mechanism of birds has been optimized through millions of year evolution and hence, they can perform many extremely maneuverability tasks, such as perching or grasping accurately and robustly. Therefore, we have good reason to learn from the nature in order to significantly improve the capabilities of UAVs. The development of a UAV perching system is becoming feasible, especially after a lot of research contributions in ornithology which involve the analysis of the bird's functionalities. Meanwhile, as technology advances in many engineering fields, such as airframes, propulsion, sensors, batteries, micro-electromechanical-system (MEMS), and UAV technology is also advancing rapidly. All of these research efforts in ornithology and the fast growing development technologies in UAV applications are motivating further interests and development in the area of UAV perching and grasping research. During the last decade, the research contributions about UAV perching and grasping were mainly based on fixed-wing, flapping-wing, and rotorcraft UAVs. However, most of the current researches in UAV systems with perching and grasping capability are focusing on either active (powered) grasping and perching or passive (unpowered) perching. Although birds do have both active and passive perching capabilities depending on their needs, there is no UAV perching system with both capabilities. In this project, we focused on filling this gap. Inspired by the anatomy analysis of bird legs and feet, a novel perching system has been developed to implement the bionics action for both active grasping and passive perching. In addition, for developing a robust and autonomous perching system, the following objectives were included for this project. The statics model was derived through both quasi-static and analytical method. The grasping stable condition and grasping target of the mechanical gripper were studied through the static analysis. Furthermore, the contact behavior between each foot and the perched object was modeled and evaluated on SimMechanics based on the contact force model derived through virtual principle. The kinematics modeling of UAV perching system was governed with Euler angles and quaternions. Also the propulsion model of the brushless motors was introduced and calibrated. In addition, the flight dynamics model of the UAV system was developed for simulation-based analysis prior to developing a hardware prototype and flight experiment. A special inertial measurement unit (IMU) was designed which has the capability of indirectly calculating the angular acceleration from the angular velocity and the linear acceleration readings. Moreover, a commercial-of-the-shelf (COTS) autopilot-APM 2.6 was selected for the autonomous flight control of the quadrotor. The APM 2.6 is a complete open source autopilot system, which allows the user to turn any fixed, rotary wing or multi-rotor vehicle into a fully autonomous vehicle and capable of performing programmed GPS missions with pre-programed waypoints. In addition, algorithms for inverted pendulum control and autonomous perching control was introduced. The proportion-integrate-differential (PID) controller was used for the simplified UAV perching with inverted pendulum model for horizontal balance. The performance of the controller was verified through both simulation and experiment. In addition, for the purpose of achieving the autonomous perching, guidance and control algorithms were developed the UAV perching system. For guidance, the desired flight trajectory was developed based on a bio-behavioral tau theory which was established from studying the natural motion patterns of animals and human arms approaching to a fixed or moving target for grasping or capturing. The autonomous flight control was also implemented through a PID controller. Autonomous flight performance was proved through simulation in SimMechanics. Finally, the prototyping of our designs were conducted in different generations of our bio-inspired UAV perching system, which include the leg prototype, gripper prototype, and system prototype. Both the machined prototype and 3D printed prototype were tried. The performance of these prototypes was tested through experiments.

Voice/Natural Language Interfacing for Robotic Control.

DTIC Science & Technology

1987-11-01

THIS PAGE REPORT DOCUMENTATION PAGE Is. REPORT SECURITY CLASSIFICATION lb . RESTRICTIVE MARKINGS UNCLASSIFIED 2a. SECURITY CLASSIFICATION AUTHORITY 3...until major computing power can be profitably allocated to the speech recognition process, off-the- shelf units will never have sufficient intelligence to...coordinate transformation for a location, and opening or closing the gripper’s toggles. External to world operations, each joint may be rotated

Highly Stretchable and UV Curable Elastomers for Digital Light Processing Based 3D Printing.

PubMed

Patel, Dinesh K; Sakhaei, Amir Hosein; Layani, Michael; Zhang, Biao; Ge, Qi; Magdassi, Shlomo

2017-04-01

Stretchable UV-curable (SUV) elastomers can be stretched by up to 1100% and are suitable for digital-light-processing (DLP)-based 3D-printing technology. DLP printing of these SUV elastomers enables the direct creation of highly deformable complex 3D hollow structures such as balloons, soft actuators, grippers, and buckyball electronical switches. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Dynamic modeling and Super-Twisting Sliding Mode Control for Tethered Space Robot

NASA Astrophysics Data System (ADS)

Zhao, Yakun; Huang, Panfeng; Zhang, Fan

2018-02-01

Recent years, tethered space capturing systems have been considered as one of the most promising solutions for active space debris removal due to the increasing threat of space debris to spacecraft and astronauts. In this paper, one of the tethered space capturing systems, Tethered Space Robot (TSR), is investigated. TSR includes a space platform, a space tether, and a gripper as the terminal device. Based on the assumptions that the platform and the gripper are point masses and the tether is rigid, inextensible and remaining straight, the dynamic model of TSR is presented, in which the disturbances from space environment is considered. According to the previous study, the in-plane and out-of-plane angles of the tether oscillate periodically although the tether is released to the desired length. A super-twisting adaptive sliding mode control scheme is designed for TSR to eliminate the vibration of the tether to assure a successful capture in station-keeping phase. Both uncontrolled and controlled situations are simulated. The simulation results show that the proposed controller is effective. Additionally, after comparing with normal sliding mode control algorithm, it is verified that the proposed control scheme can avoid the chattering of normal sliding mode control and is robust for unknown boundary perturbations.

Tetherless thermobiochemically actuated microgrippers.

PubMed

Leong, Timothy G; Randall, Christina L; Benson, Bryan R; Bassik, Noy; Stern, George M; Gracias, David H

2009-01-20

We demonstrate mass-producible, tetherless microgrippers that can be remotely triggered by temperature and chemicals under biologically relevant conditions. The microgrippers use a self-contained actuation response, obviating the need for external tethers in operation. The grippers can be actuated en masse, even while spatially separated. We used the microgrippers to perform diverse functions, such as picking up a bead on a substrate and the removal of cells from tissue embedded at the end of a capillary (an in vitro biopsy).

Flexible Low-Mass Devices and Mechanisms Actuated by Electroactive Polymers

NASA Technical Reports Server (NTRS)

Bar-Cohen, Y; Leary, S.; Shahinpoor, M.; Harrison, J. O.; Smith, J.

1999-01-01

Miniature, lightweight, miser actuators that operate similar to biological muscles can be used to develop robotic devices with unmatched capabilities to impact many technology areas. Electroactive polymers (EAP) offer the potential to producing such actuators and their main attractive feature is their ability to induce relatively large bending or longitudinal strain. Generally, these materials produce a relatively low force and the applications that can be considered at the current state of the art are relatively limited. This reported study is concentrating on the development of effective EAPs and the resultant enabling mechanisms employing their unique characteristics. Several EAP driven mechanisms, which emulate human hand, were developed including a gripper, manipulator arm and surface wiper. The manipulator arm was made of a composite rod with an EAP actuator consisting of a scrolled rope that is activated longitudinally by an electrostatic field. A gripper was made to serve as an end effector and it consisted of multiple bending EAP fingers for grabbing and holding such objects as rocks. An EAP surface wiper was developed to operate like a human finger and to demonstrate the potential to remove dust from optical and IR windows as well as solar cells. These EAP driven devices are taking advantage of the large actuation displacement of these materials but there is need for a significantly greater actuation force capability.

Soft shape-adaptive gripping device made from artificial muscle

NASA Astrophysics Data System (ADS)

Hamburg, E.; Vunder, V.; Johanson, U.; Kaasik, F.; Aabloo, A.

2016-04-01

We report on a multifunctional four-finger gripper for soft robotics, suitable for performing delicate manipulation tasks. The gripping device is comprised of separately driven gripping and lifting mechanisms, both made from a separate single piece of smart material - ionic capacitive laminate (ICL) also known as artificial muscle. Compared to other similar devices the relatively high force output of the ICL material allows one to construct a device able to grab and lift objects exceeding multiple times its own weight. Due to flexible design of ICL grips, the device is able to adapt the complex shapes of different objects and allows grasping single or multiple objects simultaneously without damage. The performance of the gripper is evaluated in two different configurations: a) the ultimate grasping strength of the gripping hand; and b) the maximum lifting force of the lifting actuator. The ICL is composed of three main layers: a porous membrane consisting of non-ionic polymer poly(vinylidene fluoride-co-hexafluoropropene) (PVdF-HFP), ionic liquid 1-ethyl-3-methylimidazolium trifluoromethane-sulfonate (EMITFS), and a reinforcing layer of woven fiberglass cloth. Both sides of the membrane are coated with a carbonaceous electrode. The electrodes are additionally covered with thin gold layers, serving as current collectors. Device made of this material operates silently, requires low driving voltage (<3 V), and is suitable for performing tasks in open air environment.

Grippers Based on Opposing Van Der Waals Adhesive Pads

NASA Technical Reports Server (NTRS)

Parness, Aaron (Inventor); Kennedy, Brett A. (Inventor); Heverly, Matthew C (Inventor); Cutkosky, Mark R. (Inventor); Hawkes, Elliot Wright (Inventor)

2016-01-01

Novel gripping structures based on van der Waals adhesive forces are disclosed. Pads covered with fibers can be activated in pairs by opposite forces, thereby enabling control of the adhesive force in an ON or OFF state. Pads can be used in groups, each comprising a group of opposite pads. The adhesive structures enable anchoring forces that can resist adverse forces from different directions. The adhesive structures can be used to enable the operation of robots on surfaces of space vehicles.

Command/response protocols and concurrent software

NASA Technical Reports Server (NTRS)

Bynum, W. L.

1987-01-01

A version of the program to control the parallel jaw gripper is documented. The parallel jaw end-effector hardware and the Intel 8031 processor that is used to control the end-effector are briefly described. A general overview of the controller program is given and a complete description of the program's structure and design are contained. There are three appendices: a memory map of the on-chip RAM, a cross-reference listing of the self-scheduling routines, and a summary of the top-level and monitor commands.

Anthropomorphic Robot Hand And Teaching Glove

NASA Technical Reports Server (NTRS)

Engler, Charles D., Jr.

1991-01-01

Robotic forearm-and-hand assembly manipulates objects by performing wrist and hand motions with nearly human grasping ability and dexterity. Imitates hand motions of human operator who controls robot in real time by programming via exoskeletal "teaching glove". Telemanipulator systems based on this robotic-hand concept useful where humanlike dexterity required. Underwater, high-radiation, vacuum, hot, cold, toxic, or inhospitable environments potential application sites. Particularly suited to assisting astronauts on space station in safely executing unexpected tasks requiring greater dexterity than standard gripper.

e-Drug3D: 3D structure collections dedicated to drug repurposing and fragment-based drug design.

PubMed

Pihan, Emilie; Colliandre, Lionel; Guichou, Jean-François; Douguet, Dominique

2012-06-01

In the drug discovery field, new uses for old drugs, selective optimization of side activities and fragment-based drug design (FBDD) have proved to be successful alternatives to high-throughput screening. e-Drug3D is a database of 3D chemical structures of drugs that provides several collections of ready-to-screen SD files of drugs and commercial drug fragments. They are natural inputs in studies dedicated to drug repurposing and FBDD. e-Drug3D collections are freely available at http://chemoinfo.ipmc.cnrs.fr/e-drug3d.html either for download or for direct in silico web-based screenings.

Bioinspired Robotic Fingers Based on Pneumatic Actuator and 3D Printing of Smart Material.

PubMed

Yang, Yang; Chen, Yonghua; Li, Yingtian; Chen, Michael Z Q; Wei, Ying

2017-06-01

In this article, we have proposed a novel robotic finger design principle aimed to address two challenges in soft pneumatic grippers-the controllability of the stiffness and the controllability of the bending position. The proposed finger design is composed of a 3D printed multimaterial substrate and a soft pneumatic actuator. The substrate has four polylactic acid (PLA) segments interlocked with three shape memory polymer (SMP) joints, inspired by bones and joints in human fingers. By controlling the thermal energy of an SMP joint, the stiffness of the joints is modulated due to the dramatic change in SMP elastic modulus around its glass transition temperature (T g ). When SMP joints are heated above T g , they exhibit very small stiffness, allowing the finger to easily bend around the SMP joints if the attached soft actuator is actuated. When there is no force from the soft actuator, shape recovery stress in SMP contributes to the finger's shape restoration. Since each joint's rotation can be individually controlled, the position control of the finger is made possible. Experimental analysis has been conducted to show the finger's variable stiffness and the result is compared with the analytical values. It is found that the stiffness ratio can be 24.9 times for a joint at room temperature (20°C) and at an elevated temperature of 60°C when air pressure p of the soft actuator is turned off. Finally, a gripper composed of two fingers is fabricated for demonstration.

SEARCH: Study of Environmental Arctic Change—A System-scale, Cross-disciplinary Arctic Research Program

NASA Astrophysics Data System (ADS)

Wiggins, H. V.; Eicken, H.; Fox, S. E.; Search Science Steering Committee

2010-12-01

The Study of Environmental Arctic Change (SEARCH) is a multi-agency effort to understand system-scale arctic change. Interrelated environmental changes in the Arctic are affecting ecosystems and living resources and are impacting local and global communities. The SEARCH program is guided by the Science Steering Committee (SSC), the Interagency Program Management Committee (IPMC), and focused panels. Over 150 projects and activities contribute to SEARCH implementation. The Observing Change component is underway through the National Science Foundation’s (NSF) Arctic Observing Network (AON), NOAA-sponsored atmospheric and sea ice observations, and other relevant national and international efforts. The Understanding Change component of SEARCH consists of modeling and analysis efforts, with strong linkages to relevant programs such as NSF’s Arctic System Science (ARCSS) Program. The SEARCH Sea Ice Outlook (http://www.arcus.org/search/seaiceoutlook/index.php) is an "Understanding Change" synthesis effort that aims to advance our understanding of the arctic sea ice system. The Responding to Change element currently includes initial planning efforts by the International Study of Arctic Change (ISAC) program as well as a newly-launched "Sea Ice for Walrus Outlook," which is a weekly report of sea ice conditions geared to Alaska Native walrus subsistence hunters, coastal communities, and others interested in sea ice and walrus (http://www.arcus.org/search/siwo). SEARCH is sponsored by eight U.S. agencies, including: the National Science Foundation (NSF), the National Oceanic and Atmospheric Administration (NOAA), the National Aeronautics and Space Administration (NASA), the Department of Defense (DOD), the Department of Energy (DOE), the Department of the Interior (DOI), the Smithsonian Institution, and the U.S. Department of Agriculture (USDA). The U.S. Arctic Research Commission participates as an IPMC observer. For further information, please visit the website: http://www.arcus.org/search or contact: Helen V. Wiggins: helen@arcus.org, SEARCH Project Office, Arctic Research Consortium of the U.S. (ARCUS); or Hajo Eicken, hajo.eicken@gi.alaska.edu, SEARCH SSC Chair.

Energy minimization for self-organized structure formation and actuation

NASA Astrophysics Data System (ADS)

Kofod, Guggi; Wirges, Werner; Paajanen, Mika; Bauer, Siegfried

2007-02-01

An approach for creating complex structures with embedded actuation in planar manufacturing steps is presented. Self-organization and energy minimization are central to this approach, illustrated with a model based on minimization of the hyperelastic free energy strain function of a stretched elastomer and the bending elastic energy of a plastic frame. A tulip-shaped gripper structure illustrates the technological potential of the approach. Advantages are simplicity of manufacture, complexity of final structures, and the ease with which any electroactive material can be exploited as means of actuation.

Advanced dexterous manipulation for IED defeat : report on the feasibility of using the ShadowHand for remote operations.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Anderson, Robert J.

2011-01-01

Improvised Explosive Device (IED) defeat (IEDD) operations can involve intricate operations that exceed the current capabilities of the grippers on board current bombsquad robots. The Shadow Dexterous Hand from the Shadow Robot Company or 'ShadowHand' for short (www.shadowrobot.com) is the first commercially available robot hand that realistically replicates the motion, degrees-of-freedom and dimensions of a human hand (Figure 1). In this study we evaluate the potential for the ShadowHand to perform potential IED defeat tasks on a mobile platform.

Pipe gripper

DOEpatents

Moyers, S.M.

1975-12-16

A device for gripping the exterior surface of a pipe or rod is described which has a plurality of wedges, each having a concave face which engages the outer surface of the pipe and each having a smooth face opposing the concave face. The wedges are seated on and their grooved concave faces are maintained in circular alignment by tapered axial segments of an opening extending through a wedge-seating member. The wedges are allowed to slide across the tapered axial segments so that such a sliding movement acts to vary the diameter of the circular alignment.

Force/torque and tactile sensors for sensor-based manipulator control

NASA Technical Reports Server (NTRS)

Vanbrussel, H.; Belieen, H.; Bao, Chao-Ying

1989-01-01

The autonomy of manipulators, in space and in industrial environments, can be dramatically enhanced by the use of force/torque and tactile sensors. The development and future use of a six-component force/torque sensor for the Hermes Robot Arm (HERA) Basic End-Effector (BEE) is discussed. Then a multifunctional gripper system based on tactile sensors is described. The basic transducing element of the sensor is a sheet of pressure-sensitive polymer. Tactile image processing algorithms for slip detection, object position estimation, and object recognition are described.

Fuel subassembly leak test chamber for a nuclear reactor

DOEpatents

Divona, Charles J.

1978-04-04

A container with a valve at one end is inserted into a nuclear reactor coolant pool. Once in the pool, the valve is opened by a mechanical linkage. An individual fuel subassembly is lifted into the container by a gripper; the valve is then closed providing an isolated chamber for the subassembly. A vacuum is drawn on the chamber to encourage gaseous fission product leakage through any defects in the cladding of the fuel rods comprising the subassembly; this leakage may be detected by instrumentation, and the need for replacement of the assembly ascertained.

Tensile testing apparatus

NASA Technical Reports Server (NTRS)

Blackburn, L. B.; Ellingsworth, J. R. (Inventor)

1985-01-01

An improved mechanical extensometer is described for use with a constant load creep test machine. The dead weight of the extensometer is counterbalanced by two pairs of weights connected through a pulley system and to rod extension and leading into the furnace where the test sample is undergoing elevated temperature (above 500 F.) tensile testing. Novel gripper surfaces, conical tip and flat surface are provided in each sampling engaging platens to reduce the grip pressure normally required for attachment of the extensometer to the specimen and reduce initial specimen bending normally associated with foil-gage metal testing.

The Stanford Automated Mounter: Pushing the limits of sample exchange at the SSRL macromolecular crystallography beamlines

DOE PAGES

Russi, Silvia; Song, Jinhu; McPhillips, Scott E.; ...

2016-02-24

The Stanford Automated Mounter System, a system for mounting and dismounting cryo-cooled crystals, has been upgraded to increase the throughput of samples on the macromolecular crystallography beamlines at the Stanford Synchrotron Radiation Lightsource. This upgrade speeds up robot maneuvers, reduces the heating/drying cycles, pre-fetches samples and adds an air-knife to remove frost from the gripper arms. As a result, sample pin exchange during automated crystal quality screening now takes about 25 s, five times faster than before this upgrade.

The Stanford Automated Mounter: Pushing the limits of sample exchange at the SSRL macromolecular crystallography beamlines

DOE Office of Scientific and Technical Information (OSTI.GOV)

Russi, Silvia; Song, Jinhu; McPhillips, Scott E.

The Stanford Automated Mounter System, a system for mounting and dismounting cryo-cooled crystals, has been upgraded to increase the throughput of samples on the macromolecular crystallography beamlines at the Stanford Synchrotron Radiation Lightsource. This upgrade speeds up robot maneuvers, reduces the heating/drying cycles, pre-fetches samples and adds an air-knife to remove frost from the gripper arms. As a result, sample pin exchange during automated crystal quality screening now takes about 25 s, five times faster than before this upgrade.

The Importance of Visual Feedback Design in BCIs; from Embodiment to Motor Imagery Learning

PubMed Central

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2016-01-01

Brain computer interfaces (BCIs) have been developed and implemented in many areas as a new communication channel between the human brain and external devices. Despite their rapid growth and broad popularity, the inaccurate performance and cost of user-training are yet the main issues that prevent their application out of the research and clinical environment. We previously introduced a BCI system for the control of a very humanlike android that could raise a sense of embodiment and agency in the operators only by imagining a movement (motor imagery) and watching the robot perform it. Also using the same setup, we further discovered that the positive bias of subjects’ performance both increased their sensation of embodiment and improved their motor imagery skills in a short period. In this work, we studied the shared mechanism between the experience of embodiment and motor imagery. We compared the trend of motor imagery learning when two groups of subjects BCI-operated different looking robots, a very humanlike android’s hands and a pair of metallic gripper. Although our experiments did not show a significant change of learning between the two groups immediately during one session, the android group revealed better motor imagery skills in the follow up session when both groups repeated the task using the non-humanlike gripper. This result shows that motor imagery skills learnt during the BCI-operation of humanlike hands are more robust to time and visual feedback changes. We discuss the role of embodiment and mirror neuron system in such outcome and propose the application of androids for efficient BCI training. PMID:27598310

The Importance of Visual Feedback Design in BCIs; from Embodiment to Motor Imagery Learning.

PubMed

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2016-01-01

Brain computer interfaces (BCIs) have been developed and implemented in many areas as a new communication channel between the human brain and external devices. Despite their rapid growth and broad popularity, the inaccurate performance and cost of user-training are yet the main issues that prevent their application out of the research and clinical environment. We previously introduced a BCI system for the control of a very humanlike android that could raise a sense of embodiment and agency in the operators only by imagining a movement (motor imagery) and watching the robot perform it. Also using the same setup, we further discovered that the positive bias of subjects' performance both increased their sensation of embodiment and improved their motor imagery skills in a short period. In this work, we studied the shared mechanism between the experience of embodiment and motor imagery. We compared the trend of motor imagery learning when two groups of subjects BCI-operated different looking robots, a very humanlike android's hands and a pair of metallic gripper. Although our experiments did not show a significant change of learning between the two groups immediately during one session, the android group revealed better motor imagery skills in the follow up session when both groups repeated the task using the non-humanlike gripper. This result shows that motor imagery skills learnt during the BCI-operation of humanlike hands are more robust to time and visual feedback changes. We discuss the role of embodiment and mirror neuron system in such outcome and propose the application of androids for efficient BCI training.

Pellet inspection apparatus

DOEpatents

Wilks, Robert S.; Taleff, Alexander; Sturges, Jr., Robert H.

1982-01-01

Apparatus for inspecting nuclear fuel pellets in a sealed container for diameter, flaws, length and weight. The apparatus includes, in an array, a pellet pick-up station, four pellet inspection stations and a pellet sorting station. The pellets are delivered one at a time to the pick-up station by a vibrating bowl through a vibrating linear conveyor. Grippers each associated with a successive pair of the stations are reciprocable together to pick up a pellet at the upstream station of each pair and to deposit the pellet at the corresponding downstream station. The gripper jaws are opened selectively depending on the state of the pellets at the stations and the particular cycle in which the apparatus is operating. Inspection for diameter, flaws and length is effected in each case by a laser beam projected on the pellets by a precise optical system while each pellet is rotated by rollers. Each laser and its optical system are mounted in a container which is free standing on a precise surface and is provided with locating buttons which engage locating holes in the surface so that each laser and its optical system is precisely set. The roller stands are likewise free standing and are similarly precisely positioned. The diameter optical system projects a thin beam of light which scans across the top of each pellet and is projected on a diode array. The fl GOVERNMENT CONTRACT CLAUSE The invention herein described was made in the course of or under a contract or subcontract thereunder with the Department of Energy bearing No. EY-67-14-C-2170.

Dexterous programmable robot and control system

NASA Astrophysics Data System (ADS)

Engler, Charles D., Jr.

1995-09-01

An anatomically correct, humanlike, mechanical arm and hand is provided that an operator can control to perform with the dexterity and compliance of a human hand. Being humanlike and robotic enhances the device's control and gripper dexterity. Control of the movement of the arm and hand is performed or guided by a 'teach glove' worn by the operator. As he or she performs some hand manipulation, a controller stores signals from sensors on the exoskeleton. The sensors monitor the operator's finger-joint movement positions. These values are later translated into actuator control signals for servomotors, eventually duplicating the operator's movement.

Development of an Automated Airfield Dynamic Cone Penetrometer (AADCP) Prototype and the Evaluation of Unsurfaced Airfield Seismic Surveying Using Spectral Analysis of Surface Waves (SSW) Technology.

DTIC Science & Technology

1993-12-01

mnwwrowl «rlpl« Flar* Ijrp«. Longth 8.3 ft V« lgbt 1 lb. Signal Duration 7 soo. Figure 2.21 Aerial Penetrometer (Molineux 1955) 58 springs, for...Preliminary testing showed that the penetration rod which carried the weight of the piston apparatus did not move. The movement came from the air piston...inclined gripper teeth set inside a narrow barrel that allowed penetration in one direction but locked tight against the rod if movement occurred in

Electroactive Polymers as Artificial Muscles - Reality and Challenges

NASA Technical Reports Server (NTRS)

Bar-Cohen, Y.

2001-01-01

Electroactive Polymers (EAPs) are emerging as effective displacement actuators. These materials offer the closest resemblance of biological muscle potentially enabling unique capabilities changing the paradigm about robots construction. Under a NASA task, several EAP driven mechanisms were developed including dust wiper, gripper, and robotic arm EAP are inducing a low actuation force limiting the applications that can use their current capability. In recognition of this limitation a series of international forums were established including SPIE conference, Webhub, Newsletter, and Newsgroup. A challenge was posed to the EAP community to have an arm wrestling between robot that is equipped with EAP actuators and human.

Quantifying the bending of bilayer temperature-sensitive hydrogels

NASA Astrophysics Data System (ADS)

Dong, Chenling; Chen, Bin

2017-04-01

Stimuli-responsive hydrogels can serve as manipulators, including grippers, sensors, etc., where structures can undergo significant bending. Here, a finite-deformation theory is developed to quantify the evolution of the curvature of bilayer temperature-sensitive hydrogels when subjected to a temperature change. Analysis of the theory indicates that there is an optimal thickness ratio to acquire the largest curvature in the bilayer and also suggests that the sign or the magnitude of the curvature can be significantly affected by pre-stretches or small pores in the bilayer. This study may provide important guidelines in fabricating temperature-responsive bilayers with desirable mechanical performance.

Sensory Interactive Teleoperator Robotic Grasping

NASA Technical Reports Server (NTRS)

Alark, Keli; Lumia, Ron

1997-01-01

As the technological world strives for efficiency, the need for economical equipment that increases operator proficiency in minimal time is fundamental. This system links a CCD camera, a controller and a robotic arm to a computer vision system to provide an alternative method of image analysis. The machine vision system which was employed possesses software tools for acquiring and analyzing images which are received through a CCD camera. After feature extraction on the object in the image was performed, information about the object's location, orientation and distance from the robotic gripper is sent to the robot controller so that the robot can manipulate the object.

Internal shim

DOEpatents

Barth, Clyde H.; Blizinski, Theodore W.

2003-05-13

An internal shim used to accurately measure spaces in conjunction with a standard small probe has a shim top and a chassis. The internal shim is adjustably fixed within the space to be measured using grippers that emerge from the chassis and which are controlled by an arm pivotably attached to the shim top. A standard small probe passes through the shim along guides on the chassis and measures the distance between the exterior of the chassis and the boundary. By summing the measurements on each side of the chassis and the width of the chassis, the dimension of the space can be determined to within 0.001 inches.

SEARCH: Study of Environmental Arctic Change--A System-scale, Cross-disciplinary, Long-term Arctic Research Program

NASA Astrophysics Data System (ADS)

Wiggins, H. V.; Schlosser, P.; Loring, A. J.; Warnick, W. K.; Committee, S. S.

2008-12-01

The Study of Environmental Arctic Change (SEARCH) is a multi-agency effort to observe, understand, and guide responses to changes in the arctic system. Interrelated environmental changes in the Arctic are affecting ecosystems and living resources and are impacting local and global communities and economic activities. Under the SEARCH program, guided by the Science Steering Committee (SSC), the Interagency Program Management Committee (IPMC), and the Observing, Understanding, and Responding to Change panels, scientists with a variety of expertise--atmosphere, ocean and sea ice, hydrology and cryosphere, terrestrial ecosystems, human dimensions, and paleoclimatology--work together to achieve goals of the program. Over 150 projects and activities contribute to SEARCH implementation. The Observing Change component is underway through National Science Foundation's (NSF) Arctic Observing Network (AON), NOAA-sponsored atmospheric and sea ice observations, and other relevant national and international efforts, including the EU- sponsored Developing Arctic Modelling and Observing Capabilities for Long-term Environmental Studies (DAMOCLES) Program. The Understanding Change component of SEARCH consists of modeling and analysis efforts, with strong linkages to relevant programs such as NSF's Arctic System Synthesis (ARCSS) Program. The Responding to Change element is driven by stakeholder research and applications addressing social and economic concerns. As a national program under the International Study of Arctic Change (ISAC), SEARCH is also working to expand international connections in an effort to better understand the global arctic system. SEARCH is sponsored by eight (8) U.S. agencies, including: the National Science Foundation (NSF), the National Oceanic and Atmospheric Administration (NOAA), the National Aeronautics and Space Administration (NASA), the Department of Defense (DOD), the Department of Energy (DOE), the Department of the Interior (DOI), the Smithsonian Institution, and the U.S. Department of Agriculture (USDA). The U.S. Arctic Research Commission participates as an IPMC observer. For further information, please visit the website: http://www.arcus.org/search or contact: Helen V. Wiggins: helen@arcus.org, SEARCH Project Office, Arctic Research Consortium of the U.S. (ARCUS); or Peter Schlosser, schlosser@ldeo.columbia.edu, SEARCH SSC Chair.

FlexED8: the first member of a fast and flexible sample-changer family for macromolecular crystallography.

PubMed

Papp, Gergely; Felisaz, Franck; Sorez, Clement; Lopez-Marrero, Marcos; Janocha, Robert; Manjasetty, Babu; Gobbo, Alexandre; Belrhali, Hassan; Bowler, Matthew W; Cipriani, Florent

2017-10-01

Automated sample changers are now standard equipment for modern macromolecular crystallography synchrotron beamlines. Nevertheless, most are only compatible with a single type of sample holder and puck. Recent work aimed at reducing sample-handling efforts and crystal-alignment times at beamlines has resulted in a new generation of compact and precise sample holders for cryocrystallography: miniSPINE and NewPin [see the companion paper by Papp et al. (2017, Acta Cryst., D73, 829-840)]. With full data collection now possible within seconds at most advanced beamlines, and future fourth-generation synchrotron sources promising to extract data in a few tens of milliseconds, the time taken to mount and centre a sample is rate-limiting. In this context, a versatile and fast sample changer, FlexED8, has been developed that is compatible with the highly successful SPINE sample holder and with the miniSPINE and NewPin sample holders. Based on a six-axis industrial robot, FlexED8 is equipped with a tool changer and includes a novel open sample-storage dewar with a built-in ice-filtering system. With seven versatile puck slots, it can hold up to 112 SPINE sample holders in uni-pucks, or 252 miniSPINE or NewPin sample holders, with 36 samples per puck. Additionally, a double gripper, compatible with the SPINE sample holders and uni-pucks, allows a reduction in the sample-exchange time from 40 s, the typical time with a standard single gripper, to less than 5 s. Computer vision-based sample-transfer monitoring, sophisticated error handling and automatic error-recovery procedures ensure high reliability. The FlexED8 sample changer has been successfully tested under real conditions on a beamline.

Enzyme architecture: deconstruction of the enzyme-activating phosphodianion interactions of orotidine 5'-monophosphate decarboxylase.

PubMed

Goldman, Lawrence M; Amyes, Tina L; Goryanova, Bogdana; Gerlt, John A; Richard, John P

2014-07-16

The mechanism for activation of orotidine 5'-monophosphate decarboxylase (OMPDC) by interactions of side chains from Gln215 and Try217 at a gripper loop and R235, adjacent to this loop, with the phosphodianion of OMP was probed by determining the kinetic parameters k(cat) and K(m) for all combinations of single, double, and triple Q215A, Y217F, and R235A mutations. The 12 kcal/mol intrinsic binding energy of the phosphodianion is shown to be equal to the sum of the binding energies of the side chains of R235 (6 kcal/mol), Q215 (2 kcal/mol), Y217 (2 kcal/mol), and hydrogen bonds to the G234 and R235 backbone amides (2 kcal/mol). Analysis of a triple mutant cube shows small (ca. 1 kcal/mol) interactions between phosphodianion gripper side chains, which are consistent with steric crowding of the side chains around the phosphodianion at wild-type OMPDC. These mutations result in the same change in the activation barrier to the OMPDC-catalyzed reactions of the whole substrate OMP and the substrate pieces (1-β-D-erythrofuranosyl)orotic acid (EO) and phosphite dianion. This shows that the transition states for these reactions are stabilized by similar interactions with the protein catalyst. The 12 kcal/mol intrinsic phosphodianion binding energy of OMP is divided between the 8 kcal/mol of binding energy, which is utilized to drive a thermodynamically unfavorable conformational change of the free enzyme, resulting in an increase in (k(cat))(obs) for OMPDC-catalyzed decarboxylation of OMP, and the 4 kcal/mol of binding energy, which is utilized to stabilize the Michaelis complex, resulting in a decrease in (K(m))(obs).

Origami Inspired Self-assembly of Patterned and Reconfigurable Particles

PubMed Central

Pandey, Shivendra; Gultepe, Evin; Gracias, David H.

2013-01-01

There are numerous techniques such as photolithography, electron-beam lithography and soft-lithography that can be used to precisely pattern two dimensional (2D) structures. These technologies are mature, offer high precision and many of them can be implemented in a high-throughput manner. We leverage the advantages of planar lithography and combine them with self-folding methods1-20 wherein physical forces derived from surface tension or residual stress, are used to curve or fold planar structures into three dimensional (3D) structures. In doing so, we make it possible to mass produce precisely patterned static and reconfigurable particles that are challenging to synthesize. In this paper, we detail visualized experimental protocols to create patterned particles, notably, (a) permanently bonded, hollow, polyhedra that self-assemble and self-seal due to the minimization of surface energy of liquefied hinges21-23 and (b) grippers that self-fold due to residual stress powered hinges24,25. The specific protocol described can be used to create particles with overall sizes ranging from the micrometer to the centimeter length scales. Further, arbitrary patterns can be defined on the surfaces of the particles of importance in colloidal science, electronics, optics and medicine. More generally, the concept of self-assembling mechanically rigid particles with self-sealing hinges is applicable, with some process modifications, to the creation of particles at even smaller, 100 nm length scales22, 26 and with a range of materials including metals21, semiconductors9 and polymers27. With respect to residual stress powered actuation of reconfigurable grasping devices, our specific protocol utilizes chromium hinges of relevance to devices with sizes ranging from 100 μm to 2.5 mm. However, more generally, the concept of such tether-free residual stress powered actuation can be used with alternate high-stress materials such as heteroepitaxially deposited semiconductor films5,7 to possibly create even smaller nanoscale grasping devices. PMID:23407436

The Personal Monitor and Communicator (PMC): An Electronic Dogtag

DTIC Science & Technology

1989-12-31

transmitter must be keyed for 200 msec before data are sent to give the modem in the receiver the time necessary to decode valid data. f. Allocation of CSCI...iV XR + VPPX+ A px+I-- < 56K 200 r- - R3 10K 03 I 3K 470pF Q2 I 2N3904 O JR8-__NC4430K 10K R9 390K 5. 10n F R4 IPMC V. CO.iTRACT 10. PURIDUL UNIV EF...QTY REFERENCE-DES IG:;ATCR DESCPIPTION 2 RP R3 VAL= 10K 1 R2 VAL_63K 1 RI VAL-360K 1 R9 VAL-390K 1 R5 VAL- 56K 1 R6 VAL-430K 1 C3 VAL-470pF 1 :2 2 N39C6

Fuzzy Logic Controller Design for A Robot Grasping System with Different Membership Functions

NASA Astrophysics Data System (ADS)

Ahmad, Hamzah; Razali, Saifudin; Rusllim Mohamed, Mohd

2013-12-01

This paper investigates the effects of the membership function to the object grasping for a three fingered gripper system. The performance of three famously used membership functions is compared to identify their behavior in lifting a defined object shape. MATLAB Simulink and SimMechanics toolboxes are used to examine the performance. Our preliminary results proposed that the Gaussian membership function surpassed the two other membership functions; triangular and trapezoid memberships especially in the context of firmer grasping and less time consumption during operations. Therefore, Gaussian membership function could be the best solution when time consumption and firmer grasp are considered.

Assembly of optical fibers for the connection of polymer-based waveguide

NASA Astrophysics Data System (ADS)

Ansel, Yannick; Grau, Daniel; Holzki, Markus; Kraus, Silvio; Neumann, Frank; Reinhard, Carsten; Schmitz, Felix

2003-03-01

This paper describes the realization of polymer-based optical structures and the assembly and packaging strategy to connect optical fiber ribbons to the waveguides. For that a low cost fabrication process using the SU-8TM thick photo-resist is presented. This process consists in the deposition of two photo-structurized resist layers filled up with epoxy glue realising the core waveguide. For the assembly, a new modular vacuum gripper was realised and installed on an automatic pick and place assembly robot to mount precisely and efficiently the optical fibers in the optical structures. First results have shown acceptable optical propagation loss for the complete test structure.

Coordination of multiple robot arms

NASA Technical Reports Server (NTRS)

Barker, L. K.; Soloway, D.

1987-01-01

Kinematic resolved-rate control from one robot arm is extended to the coordinated control of multiple robot arms in the movement of an object. The structure supports the general movement of one axis system (moving reference frame) with respect to another axis system (control reference frame) by one or more robot arms. The grippers of the robot arms do not have to be parallel or at any pre-disposed positions on the object. For multiarm control, the operator chooses the same moving and control reference frames for each of the robot arms. Consequently, each arm then moves as though it were carrying out the commanded motions by itself.

ROTEX-TRIIFEX: Proposal for a joint FRG-USA telerobotic flight experiment

NASA Technical Reports Server (NTRS)

Hirzinger, G.; Bejczy, A. K.

1989-01-01

The concepts and main elements of a RObot Technology EXperiment (ROTEX) proposed to fly with the next German spacelab mission, D2, are presented. It provides a 1 meter size, six axis robot inside a spacelab rack, equipped with a multisensory gripper (force-torque sensors, an array of range finders, and mini stereo cameras). The robot will perform assembly and servicing tasks in a generic way, and will grasp a floating object. The man machine and supervisory control concepts for teleoperation from the spacelab and from ground are discussed. The predictive estimation schemes for an extensive use of time-delay compensating 3D computer graphics are explained.

A fast and robust kinematic model for a 12 DoF hyper-redundant robot positioning: An optimization proposal

NASA Astrophysics Data System (ADS)

Lima, José; Pereira, Ana I.; Costa, Paulo; Pinto, Andry; Costa, Pedro

2017-07-01

This paper describes an optimization procedure for a robot with 12 degrees of freedom avoiding the inverse kinematics problem, which is a hard task for this type of robot manipulator. This robot can be used to pick and place tasks in complex designs. Combining an accurate and fast direct kinematics model with optimization strategies, it is possible to achieve the joints angles for a desired end-effector position and orientation. The optimization methods stretched simulated annealing algorithm and genetic algorithm were used. The solutions found were validated using data originated by a real and by a simulated robot formed by 12 servomotors with a gripper.

Improving the Quality of Welding Seam of Automatic Welding of Buckets Based on TCP

NASA Astrophysics Data System (ADS)

Hu, Min

2018-02-01

Since February 2014, the welding defects of the automatic welding line of buckets have been frequently appeared. The average repair time of each bucket is 26min, which seriously affects the production efficiency and welding quality. We conducted troubleshooting, and found the main reasons for the welding defects of the buckets were the deviations of the center points of the robot tools and the poor quality of the locating welding. We corrected the gripper, welding torch, and accuracy of repeat positioning of robots to control the quality of positioning welding. The welding defect rate of buckets was reduced greatly, ensuring the production efficiency and welding quality.

Force-controlled automatic microassembly of tissue engineering scaffolds

NASA Astrophysics Data System (ADS)

Zhao, Guoyong; Teo, Chee Leong; Hutmacher, Dietmar Werner; Burdet, Etienne

2010-03-01

This paper presents an automated system for 3D assembly of tissue engineering (TE) scaffolds made from biocompatible microscopic building blocks with relatively large fabrication error. It focuses on the pin-into-hole force control developed for this demanding microassembly task. A beam-like gripper with integrated force sensing at a 3 mN resolution with a 500 mN measuring range is designed, and is used to implement an admittance force-controlled insertion using commercial precision stages. Visual-based alignment followed by an insertion is complemented by a haptic exploration strategy using force and position information. The system demonstrates fully automated construction of TE scaffolds with 50 microparts whose dimension error is larger than 5%.

RADIOLOGICAL SURVEY STATION DEVELOPMENT FOR THE PIT DISASSEMBLY AND CONVERSION PROJECT

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dalmaso, M.; Gibbs, K.; Gregory, D.

2011-05-22

The Savannah River National Laboratory (SRNL) has developed prototype equipment to demonstrate remote surveying of Inner and Outer DOE Standard 3013 containers for fixed and transferable contamination in accordance with DOE Standard 3013 and 10 CFR 835 Appendix B. When fully developed the equipment will be part of a larger suite of equipment used to package material in accordance with DOE Standard 3013 at the Pit Disassembly and Conversion Project slated for installation at the Savannah River Site. The prototype system consists of a small six-axis industrial robot with an end effector consisting of a force sensor, vacuum gripper andmore » a three fingered pneumatic gripper. The work cell also contains two alpha survey instruments, swipes, swipe dispenser, and other ancillary equipment. An external controller interfaces with the robot controller, survey instruments and other ancillary equipment to control the overall process. SRNL is developing automated equipment for the Pit Disassembly and Conversion (PDC) Project that is slated for the Savannah River Site (SRS). The equipment being developed is automated packaging equipment for packaging plutonium bearing materials in accordance with DOE-STD-3013-2004. The subject of this paper is the development of a prototype Radiological Survey Station (RSS). Other automated equipment being developed for the PDC includes the Bagless transfer System, Outer Can Welder, Gantry Robot System (GRS) and Leak Test Station. The purpose of the RSS is to perform a frisk and swipe of the DOE Standard 3013 Container (either inner can or outer can) to check for fixed and transferable contamination. This is required to verify that the contamination levels are within the limits specified in DOE-STD-3013-2004 and 10 CFR 835, Appendix D. The surface contamination limit for the 3013 Outer Can (OC) is 500 dpm/100 cm2 (total) and 20 dpm/100 cm2 (transferable). This paper will concentrate on the RSS developments for the 3013 OC but the system for the 3013 Inner Can (IC) is nearly identical.« less

Task-level testing of the JPL-OMV smart end effector

NASA Technical Reports Server (NTRS)

Hannaford, B.

1987-01-01

An intelligent end effector previously developed at JPL has been tested in over 21 hours of experimental teleoperation. The end effector provides local control of gripper clamping force and a 6-degree-of-freedom, wrist mounted force torque sensor. Resolved forces and torques were displayed to the test subjects, and the effect of this information on their performance of simulated satellite servicing tasks was assessed. The experienced subjects accomplished the tasks with lower levels of Remote Manipulator System (RMS) forces than intermediate and naive subjects, but the force levels were apparently uncorrelated with the presence or absence of the display. This negative finding was attributed to the lack of a suitable control mode in the manipulator control system.

Robotic Vehicle

NASA Technical Reports Server (NTRS)

1994-01-01

A commercially available ANDROS Mark V-A robot was used by Jet Propulsion Laboratory (JPL) as the departure point in the development of the HAZBOT III, a prototype teleoperated mobile robot designed for response to emergencies. Teleoperated robots contribute significantly to reducing human injury levels by performing tasks too hazardous for humans. ANDROS' manufacturer, REMOTEC, Inc., in turn, adopted some of the JPL concepts, particularly the control panel. HAZBOT III has exceptional mobility, employs solid state electronics and brushless DC motors for safer operation, and is designed so combustible gases cannot penetrate areas containing electronics and motors. Other features include the six-degree-of-freedom manipulator, the 30-pound squeeze force parallel jaw gripper and two video cameras, one for general viewing and navigation and the other for manipulation/grasping.

Interaction Forces Between Multiple Bodies in a Magnetic Field

NASA Technical Reports Server (NTRS)

Joffe, Benjamin

1996-01-01

Some of the results from experiments to determine the interaction forces between multiple bodies in a magnetic field are presented in this paper. It is shown how the force values and the force directions depend on the configuration of the bodies, their relative positions to each other, and the vector of the primary magnetic field. A number of efficient new automatic loading and assembly machines, as well as manipulators and robots, have been created based on the relationship between bodies and magnetic fields. A few of these patented magnetic devices are presented. The concepts involved open a new way to design universal grippers for robot and other kinds of mechanisms for the manipulation of objects. Some of these concepts can be used for space applications.

Characteristics and requirements of robotic manipulators for space operations

NASA Technical Reports Server (NTRS)

Andary, James F.; Hewitt, Dennis R.; Spidaliere, Peter D.; Lambeck, Robert W.

1992-01-01

A robotic manipulator, DTF-1, developed as part of the Flight Telerobotic Servicer (FTS) project at Goddard Space Flight Center is discussed focusing on the technical, operational, and safety requirements. The DTF-1 system design, which is based on the manipulator, gripper, cameras, computer, and an operator control station incorporates the fundamental building blocks of the original FTS, the end product of which was to have been a light-weight, dexterous telerobotic device. For the first time in the history of NASA, space technology and robotics were combined to find new and unique solutions to the demanding requirements of flying a sophisticated robotic manipulator in space. DTF-1 is considered to be the prototype for all future development in space robotics.

Control system for the 2nd generation Berkeley AutoMounters (BAM2) at GM/CA CAT macromolecular crystallography beamlines

PubMed Central

Makarov, O.; Hilgart, M.; Ogata, C.; Pothineni, S.; Cork, C.

2011-01-01

GM/CA CAT at Sector 23 of the Advanced Photon Source (APS) is an NIH funded facility for crystallographic structure determination of biological macromolecules by X-ray diffraction. A second generation Berkeley automounter is being integrated into the beamline control system at the 23-BM experimental station. This new device replaces the previous all-pneumatic gripper motions with a combination of pneumatics and XYZ motorized linear stages. The latter adds a higher degree of flexibility to the robot including auto-alignment capability, accommodation of a larger capacity sample Dewar of arbitrary shape, and support for advanced operations such as crystal washing, while preserving the overall simplicity and efficiency of the Berkeley automounter design. PMID:21822343

Hydraulically amplified self-healing electrostatic actuators with muscle-like performance

NASA Astrophysics Data System (ADS)

Acome, E.; Mitchell, S. K.; Morrissey, T. G.; Emmett, M. B.; Benjamin, C.; King, M.; Radakovitz, M.; Keplinger, C.

2018-01-01

Existing soft actuators have persistent challenges that restrain the potential of soft robotics, highlighting a need for soft transducers that are powerful, high-speed, efficient, and robust. We describe a class of soft actuators, termed hydraulically amplified self-healing electrostatic (HASEL) actuators, which harness a mechanism that couples electrostatic and hydraulic forces to achieve a variety of actuation modes. We introduce prototypical designs of HASEL actuators and demonstrate their robust, muscle-like performance as well as their ability to repeatedly self-heal after dielectric breakdown—all using widely available materials and common fabrication techniques. A soft gripper handling delicate objects and a self-sensing artificial muscle powering a robotic arm illustrate the wide potential of HASEL actuators for next-generation soft robotic devices.

Approaching control for tethered space robot based on disturbance observer using super twisting law

NASA Astrophysics Data System (ADS)

Hu, Yongxin; Huang, Panfeng; Meng, Zhongjie; Wang, Dongke; Lu, Yingbo

2018-05-01

Approaching control is a key mission for the tethered space robot to perform the task of removing space debris. But the uncertainties of the TSR such as the change of model parameter have an important effect on the approaching mission. Considering the space tether and the attitude of the gripper, the dynamic model of the TSR is derived using Lagrange method. Then a disturbance observer is designed to estimate the uncertainty based on STW control method. Using the disturbance observer, a controller is designed, and the performance is compared with the dynamic inverse controller which turns out that the proposed controller performs better. Numerical simulation validates the feasibility of the proposed controller on the position and attitude tracking of the TSR.

Data Sets Representative of the Structures and Experimental Properties of FDA-Approved Drugs.

PubMed

Douguet, Dominique

2018-03-08

Presented here are several data sets that gather information collected from the labels of the FDA approved drugs: their molecular structures and those of the described active metabolites, their associated pharmacokinetics and pharmacodynamics data, and the history of their marketing authorization by the FDA. To date, 1852 chemical structures have been identified with a molecular weight less than 2000 of which 492 are or have active metabolites. To promote the sharing of data, the original web server was upgraded for browsing the database and downloading the data sets (http://chemoinfo.ipmc.cnrs.fr/edrug3d). It is believed that the multidimensional chemistry-oriented collections are an essential resource for a thorough analysis of the current drug chemical space. The data sets are envisioned as being used in a wide range of endeavors that include drug repurposing, drug design, privileged structures analyses, structure-activity relationship studies, and improving of absorption, distribution, metabolism, and elimination predictive models.

Real time control for NASA robotic gripper

NASA Technical Reports Server (NTRS)

Salter, Carole A.; Baras, John S.

1990-01-01

The ability to easily manipulate objects in a zero gravity environment will pay a key role in future space activities. Emphasis will be placed on robotic manipulation. This will serve to increase astronaut safety and utility in addition to several other benefits. The aim is to develop control laws for the zero gravity robotic end effectors. A hybrid force/position controller will be used. Sensory data available to the controller are obtained from an array of strain gauges and a linear potentiometer. Applying well known optimal control theoretical principles, the control which minimizes the transition time between positions is obtained. A robust force control scheme is developed which allows the desired holding force to be achieved smoothly without oscillation. In addition, an algorithm is found to determine contact force and contact location.

Low-voltage, large-strain soft electrothermal actuators based on laser-reduced graphene oxide/Ag particle composites

NASA Astrophysics Data System (ADS)

Wang, Qian; Li, Yu-Tao; Zhang, Tian-Yu; Wang, Dan-Yang; Tian, Ye; Yan, Jun-Chao; Tian, He; Yang, Yi; Yang, Fan; Ren, Tian-Ling

2018-03-01

In this paper, low-voltage, large-strain flexible electrothermal actuators (ETAs) based on laser-reduced graphene oxide (LRGO)/Ag particle composites were fabricated in a simple and cost-efficient process. By adding Ag particles to the LRGO, the sheet resistance decreased effectively. Under a driving voltage of 28 V, the actuator obtained a bending angle of 192° within 6 s. Besides, the bending deformation could be precisely controlled by the driving voltage ranging from 10° to 192°. Finally, a gripper composed of two actuators was demonstrated to manipulate a piece of polydimethylsiloxane block. With the advantages of low-voltage, fast-response, and easy-to-manufacture, the graphene based ETAs have a promising application in soft robotics and soft machines.

Elastomeric Sensing of Pressure with Liquid Metal and Wireless Inductive Coupling

NASA Technical Reports Server (NTRS)

Dick, Jacob; Zou, Xiyue; Hogan, Ben; Tumalle, Jonathan; Etikyala, Sowmith; Fung, Diego; Charles, Watley; Gu, Tianye; Hull, Patrick V.; Mazzeo, Aaron D.

2017-01-01

This project describes resistance-based soft sensors filled with liquid metal, which permit measurements of large strains (0 percent to 110 percent), associated with small forces of less than 30 Newtons. This work also demonstrates a methodology for wireless transfer of these strain measurements without connected electrodes. These sensors allow intermittent detection of pressure on soft membranes with low force. Adapting these sensors for passive wireless pressure sensing will eliminate the need for embedded batteries, and will allow the sensors to transmit pressure data through non-conductive materials including glass and acrylic. The absence of batteries allows us to embed these sensors into materials for long-term use because the sensors only use passive analog circuit elements. We found the oxidation of the liquid metal (eutectic gallium indium) plays a role in the repeatability of the soft sensors. We investigated how the oxidation layer affected the behavior of the sensor by encapsulating materials (silicone, fluorosilicone, and PVC) with varied permeabilities to oxygen. We measured the effects of mechanical loading on the oxidation layer and the effects of wireless inductive coupling on the oxidation layer. We concluded our research by investigating the effects of embedding self-resonant circuits into polydimethylsiloxane (PDMS). Efforts to design engineered systems with soft materials are a growing field with progress in soft robotics, epidermal electronics, and wearable electronics. In the field of soft robotics, PDMS-based grippers are capable of picking up delicate objects because their form-fitting properties allow them to conform to the shape of objects more easily than conventional robotic grippers. Epidermal devices also use PDMS as a substrate to hold electronic components such as radios, sensors, and power supply circuits. Additionally, PDMS-based soft sensors can monitor human motion with liquid metal embedded within micro-channels. Passive wireless sensors have applications in structural health monitoring and medical health monitoring. Doctors can take wireless blood pressure measurements inside arteries to monitor the progression of heart disease. Glaucoma patients can use this technology to monitor the pressure in their eyes to track the progression of the disease.

Modular Elastomer Photoresins for Digital Light Processing Additive Manufacturing.

PubMed

Thrasher, Carl J; Schwartz, Johanna J; Boydston, Andrew J

2017-11-15

A series of photoresins suitable for the production of elastomeric objects via digital light processing additive manufacturing are reported. Notably, the printing procedure is readily accessible using only entry-level equipment under ambient conditions using visible light projection. The photoresin formulations were found to be modular in nature, and straightforward adjustments to the resin components enabled access to a range of compositions and mechanical properties. Collectively, the series includes silicones, hydrogels, and hybrids thereof. Printed test specimens displayed maximum elongations of up to 472% under tensile load, a tunable swelling behavior in water, and Shore A hardness values from 13.7 to 33.3. A combination of the resins was used to print a functional multimaterial three-armed pneumatic gripper. These photoresins could be transformative to advanced prototyping applications such as simulated human tissues, stimuli-responsive materials, wearable devices, and soft robotics.

Soft Robots: Manipulation, Mobility, and Fast Actuation

NASA Astrophysics Data System (ADS)

Shepherd, Robert; Ilievski, Filip; Choi, Wonjae; Stokes, Adam; Morin, Stephen; Mazzeo, Aaron; Kramer, Rebecca; Majidi, Carmel; Wood, Rob; Whitesides, George

2012-02-01

Material innovation will be a key feature in the next generation of robots. A simple, pneumatically powered actuator composed of only soft-elastomers can perform the function of a complex arrangement of mechanical components and electric motors. This talk will focus on soft-lithography as a simple method to fabricate robots--composed of exclusively soft materials (elastomeric polymers). These robots have sophisticated capabilities: a gripper (with no electrical sensors) can manipulate delicate and irregularly shaped objects and a quadrupedal robot can walk to an obstacle (a gap smaller than its walking height) then shrink its body and squeeze through the gap using an undulatory gait. This talk will also introduce a new method of rapidly actuating soft robots. Using this new method, a robot can be caused to jump more than 30 times its height in under 200 milliseconds.

An approach to simultaneous control of trajectory and interaction forces in dual-arm configurations

NASA Technical Reports Server (NTRS)

Yun, Xiaoping; Kumar, Vijay R.

1991-01-01

An approach to the control of constrained dynamic systems such as multiple arm systems, multifingered grippers, and walking vehicles is described. The basic philosophy is to utilize a minimal set of inputs to control the trajectory and the surplus input to control the constraint or interaction forces and moments in the closed chain. A dynamic control model for the closed chain is derived that is suitable for designing a controller in which the trajectory and the interaction forces and moments are explicitly controlled. Nonlinear feedback techniques derived from differential geometry are then applied to linearize and decouple the nonlinear model. These ideas are illustrated through a planar example in which two arms are used for cooperative manipulation. Results from a simulation are used to illustrate the efficacy of the method.

Design and implementation of a magnetically suspended microrobotic pick-and-place system

NASA Astrophysics Data System (ADS)

Shameli, Ehsan; Craig, David G.; Khamesee, Mir Behrad

2006-04-01

Micromanipulation is an emerging technology in such diverse areas as precision engineering, microfabrication, and microsurgery. Each of these areas impose certain technological constraints and requirements in fabrication, actuation, and control. This paper performs a review on the latest technologies of microrobotic actuation techniques and suggests a suitable technique for the actuation of a magnetically levitated microrobot. The microrobot, suspended in an externally produced magnetic field, consists of a gripper attached to a series of permanent magnets and is capable of simple pick and place tasks. A number of electromagnets produce the external magnetic field and three laser sensors feedback the position of the levitated microrobot. Through finite element analysis, performance of the levitation system was investigated, and simulations and experiments were carried out to demonstrate the practical capabilities of the proposed system.

Magnetic gripper device

DOEpatents

Meyer, Ross E.

1993-01-01

A climbing apparatus is provided for climbing ferromagnetic surfaces, such as storage tanks and steel frame structures. A magnet assembly is rotatably mounted in a frame assembly. The frame assembly provides a pair of cam surfaces having different dimensions so that, when the frame is rotated, the cam surfaces contact the ferromagnetic surface to separate the magnet assembly from the surface. The different cam dimensions enable one side of the magnet at a time to be detached from the surface to reduce the effort needed to disengage the climbing apparatus. The cam surface also provides for smoothly attaching the apparatus. A hardened dowel pin is also attached to the frame and the pointed end of the dowel engages the surface when the magnet is attached to the surface to prevent downward sliding movement of the assembly under the weight of the user.

Magnetic gripper device

DOEpatents

Meyer, R.E.

1993-03-09

A climbing apparatus is provided for climbing ferromagnetic surfaces, such as storage tanks and steel frame structures. A magnet assembly is rotatably mounted in a frame assembly. The frame assembly provides a pair of cam surfaces having different dimensions so that, when the frame is rotated, the cam surfaces contact the ferromagnetic surface to separate the magnet assembly from the surface. The different cam dimensions enable one side of the magnet at a time to be detached from the surface to reduce the effort needed to disengage the climbing apparatus. The cam surface also provides for smoothly attaching the apparatus. A hardened dowel pin is also attached to the frame and the pointed end of the dowel engages the surface when the magnet is attached to the surface to prevent downward sliding movement of the assembly under the weight of the user.

Method and apparatus for use in making an object

NASA Technical Reports Server (NTRS)

Derkacs, Thomas (Inventor); Fetheroff, Charles W. (Inventor); Matay, Istvan M. (Inventor); Toth, Istvan J. (Inventor)

1982-01-01

Although the method and apparatus of the present invention can be utilized to apply either a uniform or a nonuniform covering of material over many different workpieces, the apparatus (20) is advantageously utilized to apply a thermal barrier covering (64) to an airfoil (22) which is used in a turbine engine. The airfoil is held by a gripper assembly (86) while a spray gun (24) is effective to apply the covering over the airfoil. When a portion of the covering has been applied, a sensor (28) is utilized to detect the thickness of the covering. A control apparatus (32) compares the thickness of the covering of material which has been applied with the desired thickness and is subsequently effective to regulate the operation of the spray gun to adaptively apply a covering of a desired thickness with an accuracy of at least plus or minus 0.0015 inches (1.5 mils) despite unanticipated process variations.

Control apparatus

NASA Technical Reports Server (NTRS)

Derkacs, Thomas (Inventor); Fetheroff, Charles W. (Inventor); Matay, Istvan M. (Inventor); Toth, Istvan J. (Inventor)

1982-01-01

Although the method and apparatus of the present invention can be utilized to apply either a uniform or a nonuniform covering of material over many different workpieces, the apparatus (20) is advantageously utilized to apply a thermal barrier covering (64) to an airfoil (22) which is used in a turbine engine. The airfoil is held by a gripper assembly (86) while a spray gun (24) is effective to apply the covering over the airfoil. When a portion of the covering has been applied, a sensor (28) is utilized to detect the thickness of the covering. A control apparatus (32) compares the thickness of the covering of material which has been applied with the desired thickness and is subsequently effective to regulate the operation of the spray gun to adaptively apply a covering of a desired thickness with an accuracy of at least plus or minus 0.0015 inches (1.5 mils) despite unanticipated process variations.

Research on torsional vibration modelling and control of printing cylinder based on particle swarm optimization

NASA Astrophysics Data System (ADS)

Wang, Y. M.; Xu, W. C.; Wu, S. Q.; Chai, C. W.; Liu, X.; Wang, S. H.

2018-03-01

The torsional oscillation is the dominant vibration form for the impression cylinder of printing machine (printing cylinder for short), directly restricting the printing speed up and reducing the quality of the prints. In order to reduce torsional vibration, the active control method for the printing cylinder is obtained. Taking the excitation force and moment from the cylinder gap and gripper teeth open & closing cam mechanism as variable parameters, authors establish the dynamic mathematical model of torsional vibration for the printing cylinder. The torsional active control method is based on Particle Swarm Optimization(PSO) algorithm to optimize input parameters for the serve motor. Furthermore, the input torque of the printing cylinder is optimized, and then compared with the numerical simulation results. The conclusions are that torsional vibration active control based on PSO is an availability method to the torsional vibration of printing cylinder.

Robotic end gripper with a band member to engage object

DOEpatents

Pollard, Roy E.; Robinson, Samuel C.; Thompson, William F.; Couture, Scott A.; Sutton, Bill J.

1994-01-01

An end effector for use with robotic arms and like devices that utilizes a flexible band to draw an object against an anvil having a concave surface. One typical convex surface is created by a V-block, with an apex of the V being centrally located. If an object to be grasped is fragile, the contour of the concave surface closely matches the surface of the object. Typically the movement of the band is effected by a linear actuator, with the anvil remaining fixed relative to a support base. Several embodiments are described that utilize variations in drawing the band toward the anvil, with one of these embodiments described in detail in the form of a fabricated unit. One embodiment includes a cover element that can be moved over an object after the grasping thereof, with this cover potentially serving various functions. Movement of the cover can be effected with a second linear actuator.

Analysis and experimental evaluation of a Stewart platform-based force/torque sensor

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1992-01-01

The kinematic analysis and experimentation of a force/torque sensor whose design is based on the mechanism of the Stewart Platform are discussed. Besides being used for measurement of forces/torques, the sensor also serves as a compliant platform which provides passive compliance during a robotic assembly task. It consists of two platforms, the upper compliant platform (UCP) and the lower compliant platform (LCP), coupled together through six spring-loaded pistons whose length variations are measured by six linear voltage differential transformers (LVDT) mounted along the pistons. Solutions to the forward and inverse kinematics of the force sensor are derived. Based on the known spring constant and the piston length changes, forces/torques applied to the LCP gripper are computed using vector algebra. Results of experiments conducted to evaluate the sensing capability of the force sensor are reported and discussed.

A study on a robot arm driven by three-dimensional trajectories predicted from non-invasive neural signals.

PubMed

Kim, Yoon Jae; Park, Sung Woo; Yeom, Hong Gi; Bang, Moon Suk; Kim, June Sic; Chung, Chun Kee; Kim, Sungwan

2015-08-20

A brain-machine interface (BMI) should be able to help people with disabilities by replacing their lost motor functions. To replace lost functions, robot arms have been developed that are controlled by invasive neural signals. Although invasive neural signals have a high spatial resolution, non-invasive neural signals are valuable because they provide an interface without surgery. Thus, various researchers have developed robot arms driven by non-invasive neural signals. However, robot arm control based on the imagined trajectory of a human hand can be more intuitive for patients. In this study, therefore, an integrated robot arm-gripper system (IRAGS) that is driven by three-dimensional (3D) hand trajectories predicted from non-invasive neural signals was developed and verified. The IRAGS was developed by integrating a six-degree of freedom robot arm and adaptive robot gripper. The system was used to perform reaching and grasping motions for verification. The non-invasive neural signals, magnetoencephalography (MEG) and electroencephalography (EEG), were obtained to control the system. The 3D trajectories were predicted by multiple linear regressions. A target sphere was placed at the terminal point of the real trajectories, and the system was commanded to grasp the target at the terminal point of the predicted trajectories. The average correlation coefficient between the predicted and real trajectories in the MEG case was [Formula: see text] ([Formula: see text]). In the EEG case, it was [Formula: see text] ([Formula: see text]). The success rates in grasping the target plastic sphere were 18.75 and 7.50 % with MEG and EEG, respectively. The success rates of touching the target were 52.50 and 58.75 % respectively. A robot arm driven by 3D trajectories predicted from non-invasive neural signals was implemented, and reaching and grasping motions were performed. In most cases, the robot closely approached the target, but the success rate was not very high because the non-invasive neural signal is less accurate. However the success rate could be sufficiently improved for practical applications by using additional sensors. Robot arm control based on hand trajectories predicted from EEG would allow for portability, and the performance with EEG was comparable to that with MEG.

Characterization of the electromechanical properties of EAP materials

NASA Technical Reports Server (NTRS)

Bar-Cohen, Yoseph; Sherrita, Stewart; Bhattachary, Kaushik; Lih, Shyh-Shiuh

2001-01-01

Electroactive polymers (EAP) are an emerging class of actuation materials. Their large electrically induced strains (longitudinal or bending), low density, mechanical flexibility, and ease of processing offer advantages over traditional electroactive materials. However, before the capability of these materials can be exploited, their electrical and mechanical behavior must be properly quantified. Two general types of EAP can be identified. The first type is ionic EAP, which requires relatively low voltages (<10V) to achieve large bending deflections. This class usually needs to be hydrated and electrochemical reactions may occur. The second type is Electronic-EAP and it involves electrostrictive and/or Maxwell stresses. This type of materials requires large electric fields (>100MV/m) to achieve longitudinal deformations at the range from 4 - 360%. Some of the difficulties in characterizing EAP include: nonlinear properties, large compliance (large mismatch with metal electrodes), nonhomogeneity resulting from processing, etc. To support the need for reliable data, the authors are developing characterization techniques to quantify the electroactive responses and material properties of EAP materials. The emphasis of the current study is on addressing electromechanical issues related to the ion-exchange type EAP also known as IPMC. The analysis, experiments and test results are discussed in this paper.

Soft Somatosensitive Actuators via Embedded 3D Printing.

PubMed

Truby, Ryan L; Wehner, Michael; Grosskopf, Abigail K; Vogt, Daniel M; Uzel, Sebastien G M; Wood, Robert J; Lewis, Jennifer A

2018-04-01

Humans possess manual dexterity, motor skills, and other physical abilities that rely on feedback provided by the somatosensory system. Herein, a method is reported for creating soft somatosensitive actuators (SSAs) via embedded 3D printing, which are innervated with multiple conductive features that simultaneously enable haptic, proprioceptive, and thermoceptive sensing. This novel manufacturing approach enables the seamless integration of multiple ionically conductive and fluidic features within elastomeric matrices to produce SSAs with the desired bioinspired sensing and actuation capabilities. Each printed sensor is composed of an ionically conductive gel that exhibits both long-term stability and hysteresis-free performance. As an exemplar, multiple SSAs are combined into a soft robotic gripper that provides proprioceptive and haptic feedback via embedded curvature, inflation, and contact sensors, including deep and fine touch contact sensors. The multimaterial manufacturing platform enables complex sensing motifs to be easily integrated into soft actuating systems, which is a necessary step toward closed-loop feedback control of soft robots, machines, and haptic devices. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

A novel cluster-tube self-adaptive robot hand.

PubMed

Fu, Hong; Yang, Haokun; Song, Weishu; Zhang, Wenzeng

2017-01-01

This paper proposes a novel cluster-tube self-adaptive robot hand (CTSA Hand). The CTSA Hand consists of a base, a motor, a transmission mechanism, multiple elastic tendons, and a group of sliding-tube assemblies. Each sliding-tube assembly is composed of a sliding tube, a guide rod, two springs and a hinge. When the hand grasping an object, the object pushes some sliding tubes to different positions according to the surface shape of the object, the motor pulls the tendons tight to cluster tubes. The CTSA Hand can realize self-adaptive grasping of objects of different sizes and shapes. The CTSA Hand can grasp multiple objects simultaneously because the grasping of the hand acts as many grippers in different directions and heights. The grasping forces of the hand are adjusted by a closed-loop control system with potentiometer. Experimental results show that the CTSA Hand has the features of highly self-adaption and large grasping forces when grasping various objects.

Comparison of tongue interface with keyboard for control of an assistive robotic arm.

PubMed

Struijk, Lotte N S Andreasen; Lontis, Romulus

2017-07-01

This paper demonstrates how an assistive 6 DoF robotic arm with a gripper can be controlled manually using a tongue interface. The proposed method suggests that it possible for a user to manipulate the surroundings with his or her tongue using the inductive tongue control system as deployed in this study. The sensors of an inductive tongue-computer interface were mapped to the Cartesian control of an assistive robotic arm. The resulting control system was tested manually in order to compare manual control of the robot using a standard keyboard and using the tongue interface. Two healthy subjects controlled the robotic arm to precisely move a bottle of water from one location to another. The results shows that the tongue interface was able to fully control the robotic arm in a similar manner as the standard keyboard resulting in the same number of successful manipulations and an average increase in task duration of up to 30% as compared with the standard keyboard.

Comparison of joint space versus task force load distribution optimization for a multiarm manipulator system

NASA Technical Reports Server (NTRS)

Soloway, Donald I.; Alberts, Thomas E.

1989-01-01

It is often proposed that the redundancy in choosing a force distribution for multiple arms grasping a single object should be handled by minimizing a quadratic performance index. The performance index may be formulated in terms of joint torques or in terms of the Cartesian space force/torque applied to the body by the grippers. The former seeks to minimize power consumption while the latter minimizes body stresses. Because the cost functions are related to each other by a joint angle dependent transformation on the weight matrix, it might be argued that either method tends to reduce power consumption, but clearly the joint space minimization is optimal. A comparison of these two options is presented with consideration given to computational cost and power consumption. Simulation results using a two arm robot system are presented to show the savings realized by employing the joint space optimization. These savings are offset by additional complexity, computation time and in some cases processor power consumption.

Retraction Assembly for Space Shuttle Extended Nose Landing Gear

NASA Technical Reports Server (NTRS)

Files, Bradley S.; Nicholson, Leonard S. (Technical Monitor)

2000-01-01

As part of a project to encourage the use of shape memory alloy actuators for space actuators, this mechanism uses a nitinol ribbon to provide the necessary motion to help retract the proposed extended nose landing gear (ENLG) for the space shuttle. Initial proof-of-concept design of the ENLG did not include the ability to retract the gear automatically. One proposed actuator for this purpose was designed at Johnson Space Center and uses resistive heating to rotate the ribbon around a cylinder. This rotation then allows the assembly to pull down a wedge that is used to hold the landing gear strut in place, thus returning the landing gear to its previous height before extension. The presentation will follow the design of this assembly from working with the nitinol ribbon to providing mechanical connections and allowing minimal friction for motion of three wraps around a cylinder. Also to be presented is preliminary work on design of a shape memory alloy gripper, a design project to demonstrate uses of NiTi.

Tough Al-alginate/poly(N-isopropylacrylamide) hydrogel with tunable LCST for soft robotics.

PubMed

Zheng, Wen Jiang; An, Ning; Yang, Jian Hai; Zhou, Jinxiong; Chen, Yong Mei

2015-01-28

Tough Al-alginate/poly(N-isopropylacrylamide) (PNIPAM) hydrogel has been synthesized by introducing an interpenetrating network with hybrid physically cross-linked alginate and chemically cross-linked PNIPAM. Varying the concentration of AlCl3 regulates the mechanical properties of the tough hydrogel and tunes its lower critical solution temperature (LCST) as well. The tough Al-alginate/PNIPAM exhibits 6.3 ± 0.3 MPa of compressive stress and 9.95 of uniaxial stretch. Tunability of LCST is also achieved in a wide range within 22.5-32 °C. A bending beam actuator and a four-arm gripper made of bilayer (Na-alginate/PNIPAM)/(Al-alginate/PNIPAM) hydrogel as prototype of all-hydrogel soft robotics are demonstrated. A finite element (FE) simulation model is developed to simulate the deformation of the soft robotics. The FE simulation not only reproduces the deformation process of performed experiments but also predicts more complicated devices that can be explored in the future. This work broadens the application of temperature-responsive PNIPAM-based hydrogels.

Design of mechanical arm for an automatic sorting system of recyclable cans

NASA Astrophysics Data System (ADS)

Resti, Y.; Mohruni, A. S.; Burlian, F.; Yani, I.; Amran, A.

2018-04-01

The use of a mechanical arm for an automatic sorting system of used cans should be designed carefully. The right design will result in a high precision sorting rate and a short sorting time. The design includes first; design manipulator,second; determine link and joint specifications, and third; build mechanical systems and control systems. This study aims to design the mechanical arm as a hardware system for automatic cans sorting system. The material used for the manipulator is the aluminum plate. The manipulator is designed using 6 links and 6 join where the 6th link is the end effectorand the 6th join is the gripper. As a driving motor used servo motor, while as a microcontroller used Arduino Uno which is connected with Matlab programming language. Based on testing, a mechanical arm designed for this recyclable canned recycling system has a precision sorting rate at 93%, where the average total time required for sorting is 10.82 seconds.

Planar and finger-shaped optical tactile sensors for robotic applications

NASA Technical Reports Server (NTRS)

Begej, Stefan

1988-01-01

Progress is described regarding the development of optical tactile sensors specifically designed for application to dexterous robotics. These sensors operate on optical principles involving the frustration of total internal reflection at a waveguide/elastomer interface and produce a grey-scale tactile image that represents the normal (vertical) forces of contact. The first tactile sensor discussed is a compact, 32 x 32 planar sensor array intended for mounting on a parallel-jaw gripper. Optical fibers were employed to convey the tactile image to a CCD camera and microprocessor-based image analysis system. The second sensor had the shape and size of a human fingertip and was designed for a dexterous robotic hand. It contained 256 sensing sites (taxels) distributed in a dual-density pattern that included a tactile fovea near the tip measuring 13 x 13 mm and containing 169 taxels. The design and construction details of these tactile sensors are presented, in addition to photographs of tactile imprints.

Laser ``M'egajoule'' cryogenic target program: from target fabrication to conformation of the deuterium-tritium ice layer

NASA Astrophysics Data System (ADS)

Collier, Rémy; Durut, Frédéric; Reneaume, Benoît; Chicane, Cédric; Théobald, Marc; Breton, Olivier; Martin, Michel; Fleury, Emmanuel; Vincent-Viry, Olivier; Bachelet, Franck; Jeannot, Laurent; Geoffray, Isabelle; Botrel, Ronan; Dauteuil, Christophe; Hermerel, Cyril; Choux, Alexandre; Bednarczyk, Sophie; Legaie, Olivier

2008-11-01

For the French inertial confinement fusion (ICF) experiments, cryogenic target assemblies (CTAs) for the LMJ program are manufactured and filled at CEA Valduc (Dijon) in the cryogenic targets filling station (IRCC). They will be moved at about 20 K into a transport cryostat for cryogenic targets and will be driven from CEA/Valduc to CEA/CESTA (Bordeaux). Cryogenic targets will then be transferred by several cryogenic grippers on the cryogenic target positioner before shots. The CTA has to meet severe specifications and involves a lot of challenging tasks for its manufacture. To fill CTAs by permeation with deuterium-tritium (DT), the IRCC need to meet strict thermal, mechanical and dimensional specifications. To obtain a good combustion yield, a very homogenous DT ice layer and very smooth roughness at 1.5 K below the DT triple point are also required. This paper deals with the up to date main issues in the different fields of the LMJ cryogenic target program.

Haptic Edge Detection Through Shear

NASA Astrophysics Data System (ADS)

Platkiewicz, Jonathan; Lipson, Hod; Hayward, Vincent

2016-03-01

Most tactile sensors are based on the assumption that touch depends on measuring pressure. However, the pressure distribution at the surface of a tactile sensor cannot be acquired directly and must be inferred from the deformation field induced by the touched object in the sensor medium. Currently, there is no consensus as to which components of strain are most informative for tactile sensing. Here, we propose that shape-related tactile information is more suitably recovered from shear strain than normal strain. Based on a contact mechanics analysis, we demonstrate that the elastic behavior of a haptic probe provides a robust edge detection mechanism when shear strain is sensed. We used a jamming-based robot gripper as a tactile sensor to empirically validate that shear strain processing gives accurate edge information that is invariant to changes in pressure, as predicted by the contact mechanics study. This result has implications for the design of effective tactile sensors as well as for the understanding of the early somatosensory processing in mammals.

Haptic Edge Detection Through Shear

PubMed Central

Platkiewicz, Jonathan; Lipson, Hod; Hayward, Vincent

2016-01-01

Most tactile sensors are based on the assumption that touch depends on measuring pressure. However, the pressure distribution at the surface of a tactile sensor cannot be acquired directly and must be inferred from the deformation field induced by the touched object in the sensor medium. Currently, there is no consensus as to which components of strain are most informative for tactile sensing. Here, we propose that shape-related tactile information is more suitably recovered from shear strain than normal strain. Based on a contact mechanics analysis, we demonstrate that the elastic behavior of a haptic probe provides a robust edge detection mechanism when shear strain is sensed. We used a jamming-based robot gripper as a tactile sensor to empirically validate that shear strain processing gives accurate edge information that is invariant to changes in pressure, as predicted by the contact mechanics study. This result has implications for the design of effective tactile sensors as well as for the understanding of the early somatosensory processing in mammals. PMID:27009331

Robotic Sample Manipulator for Handling Astromaterials Inside the Geolab Microgravity Glovebox

NASA Technical Reports Server (NTRS)

Bell, Mary S.; Calaway, M. J.; Evans, C. A.; Li,Z.; Tong, S.; Zhong, Y.; Dahiwala, R.; Wang, L.; Porter, F.

2013-01-01

Future human and robotic sample return missions will require isolation containment systems with strict protocols and procedures for reducing inorganic and organic contamination. Robotic handling and manipulation of astromaterials may be required for preliminary examination inside such an isolation containment system. In addition, examination of astromaterials in microgravity will require constant contact to secure samples during manipulation. The National Space Grant Foundation exploration habitat (XHab) academic innovative challenge 2012 administered through the NASA advanced exploration systems (AES) deep space habitat (DSH) project awarded funding to the University of Bridgeport team to develop an engineering design for tools to facilitate holding and handling geological samples for analysis in a microgravity glovebox environment. The Bridgeport XHab team developed a robotic arm system with a three-finger gripper that could manipulate geologic samples within the existing GeoLab glovebox integrated into NASA's DSH called the GeoLab Robotic Sample Manipulator (see fig. 1 and 2). This hardware was deployed and tested during the 2012 DSH mission operations tests [1].

Robotic end gripper with a band member to engage object

DOEpatents

Pollard, R.E.; Robinson, S.C.; Thompson, W.F.; Couture, S.A.; Sutton, B.J.

1994-05-10

An end effector for use with robotic arms and like devices is described that utilizes a flexible band to draw an object against an anvil having a concave surface. One typical convex surface is created by a V-block, with an apex of the V being centrally located. If an object to be grasped is fragile, the contour of the concave surface closely matches the surface of the object. Typically the movement of the band is effected by a linear actuator, with the anvil remaining fixed relative to a support base. Several embodiments are described that utilize variations in drawing the band toward the anvil, with one of these embodiments described in detail in the form of a fabricated unit. One embodiment includes a cover element that can be moved over an object after the grasping thereof, with this cover potentially serving various functions. Movement of the cover can be effected with a second linear actuator. 8 figures.

Haptic Edge Detection Through Shear.

PubMed

Platkiewicz, Jonathan; Lipson, Hod; Hayward, Vincent

2016-03-24

Most tactile sensors are based on the assumption that touch depends on measuring pressure. However, the pressure distribution at the surface of a tactile sensor cannot be acquired directly and must be inferred from the deformation field induced by the touched object in the sensor medium. Currently, there is no consensus as to which components of strain are most informative for tactile sensing. Here, we propose that shape-related tactile information is more suitably recovered from shear strain than normal strain. Based on a contact mechanics analysis, we demonstrate that the elastic behavior of a haptic probe provides a robust edge detection mechanism when shear strain is sensed. We used a jamming-based robot gripper as a tactile sensor to empirically validate that shear strain processing gives accurate edge information that is invariant to changes in pressure, as predicted by the contact mechanics study. This result has implications for the design of effective tactile sensors as well as for the understanding of the early somatosensory processing in mammals.

Elasto-capillarity in insect fibrillar adhesion.

PubMed

Gernay, Sophie; Federle, Walter; Lambert, Pierre; Gilet, Tristan

2016-08-01

The manipulation of microscopic objects is challenging because of high adhesion forces, which render macroscopic gripping strategies unsuitable. Adhesive footpads of climbing insects could reveal principles relevant for micro-grippers, as they are able to attach and detach rapidly during locomotion. However, the underlying mechanisms are still not fully understood. In this work, we characterize the geometry and contact formation of the adhesive setae of dock beetles (Gastrophysa viridula) by interference reflection microscopy. We compare our experimental results to the model of an elastic beam loaded with capillary forces. Fitting the model to experimental data yielded not only estimates for seta adhesion and compliance in agreement with previous direct measurements, but also previously unknown parameters such as the volume of the fluid meniscus and the bending stiffness of the tip. In addition to confirming the primary role of surface tension for insect adhesion, our investigation reveals marked differences in geometry and compliance between the three main kinds of seta tips in leaf beetles. © 2016 The Author(s).

Nanobits, Nembranes and Micro Four-Point Probes: Customizable Tools for insitu Manipulation and Characterisation of Nanostructures

NASA Astrophysics Data System (ADS)

Boggild, Peter; Hjorth Petersen, Dirch; Sardan Sukas, Ozlem; Dam, Henrik Friis; Lei, Anders; Booth, Timothy; Molhave, Kristian; Eicchorn, Volkmar

2010-03-01

We present a range of highly adaptable microtools for direct interaction with nanoscale structures; (i) semiautomatic pick-and-place assembly of multiwalled carbon nanotubes onto cantilevers for high-aspect ratio scanning probe microscopy, using electrothermal microgrippers inside a SEM. Topology optimisation was used to calculate the optimal gripper shape defined by the boundary conditions, resulting in 10-100 times better performance. By instead pre-defining detachable tips using electron beam lithography, free-form scanning probe tips (Nanobits) can be mounted in virtually any position on a cantilever; (ii) scanning micro four point probes allow fast, non- destructive mapping of local electrical properties (sheet resistance and Hall mobility) and hysteresis effects of graphene sheets; (iii) sub 100 nm freestanding devices with wires, heaters, actuators, sensors, resonators and probes were defined in a 100 nm thin membrane with focused ion beam milling. By patterning generic membrane templates (Nembranes) the fabrication time of a TEM compatible NEMS device is effectively reduced to less around 20 minutes.

Analysis and design of a six-degree-of-freedom Stewart platform-based robotic wrist

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami; Zhou, Zhen-Lei

1991-01-01

The kinematic analysis and implementation of a six degree of freedom robotic wrist which is mounted to a general open-kinetic chain manipulator to serve as a restbed for studying precision robotic assembly in space is discussed. The wrist design is based on the Stewart Platform mechanism and consists mainly of two platforms and six linear actuators driven by DC motors. Position feedback is achieved by linear displacement transducers mounted along the actuators and force feedback is obtained by a 6 degree of freedom force sensor mounted between the gripper and the payload platform. The robot wrist inverse kinematics which computes the required actuator lengths corresponding to Cartesian variables has a closed-form solution. The forward kinematics is solved iteratively using the Newton-Ralphson method which simultaneously provides a modified Jacobian Matrix which relates length velocities to Cartesian translational velocities and time rates of change of roll-pitch-yaw angles. Results of computer simulation conducted to evaluate the efficiency of the forward kinematics and Modified Jacobian Matrix are discussed.

Observing the Forces Involved in Static Friction under Static Situations

ERIC Educational Resources Information Center

Kaplan, Daniel

2013-01-01

Static friction is an important concept in introductory physics. Later in the year students apply their understanding of static friction under more complex conditions of static equilibrium. Traditional lab demonstrations in this case involve exceeding of the maximum level of static friction, resulting in the "onset of motion." (Contains…

14 CFR 23.1325 - Static pressure system.

Code of Federal Regulations, 2013 CFR

2013-01-01

... the correlation between air pressure in the static pressure system and true ambient atmospheric static... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Static pressure system. 23.1325 Section 23...: Installation § 23.1325 Static pressure system. (a) Each instrument provided with static pressure case...

14 CFR 23.1325 - Static pressure system.

Code of Federal Regulations, 2014 CFR

2014-01-01

... the correlation between air pressure in the static pressure system and true ambient atmospheric static... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Static pressure system. 23.1325 Section 23...: Installation § 23.1325 Static pressure system. (a) Each instrument provided with static pressure case...

14 CFR 23.1325 - Static pressure system.

Code of Federal Regulations, 2011 CFR

2011-01-01

... the correlation between air pressure in the static pressure system and true ambient atmospheric static... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Static pressure system. 23.1325 Section 23...: Installation § 23.1325 Static pressure system. (a) Each instrument provided with static pressure case...

14 CFR 23.1325 - Static pressure system.

Code of Federal Regulations, 2012 CFR

2012-01-01

... the correlation between air pressure in the static pressure system and true ambient atmospheric static... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Static pressure system. 23.1325 Section 23...: Installation § 23.1325 Static pressure system. (a) Each instrument provided with static pressure case...

14 CFR 29.1325 - Static pressure and pressure altimeter systems.

Code of Federal Regulations, 2010 CFR

2010-01-01

... between air pressure in the static pressure system and true ambient atmospheric static pressure is not... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Static pressure and pressure altimeter...: Installation § 29.1325 Static pressure and pressure altimeter systems. (a) Each instrument with static air case...

14 CFR 29.1325 - Static pressure and pressure altimeter systems.

Code of Federal Regulations, 2011 CFR

2011-01-01

...: Installation § 29.1325 Static pressure and pressure altimeter systems. (a) Each instrument with static air case... between air pressure in the static pressure system and true ambient atmospheric static pressure is not... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Static pressure and pressure altimeter...

14 CFR 29.1325 - Static pressure and pressure altimeter systems.

Code of Federal Regulations, 2012 CFR

2012-01-01

...: Installation § 29.1325 Static pressure and pressure altimeter systems. (a) Each instrument with static air case... between air pressure in the static pressure system and true ambient atmospheric static pressure is not... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Static pressure and pressure altimeter...

14 CFR 29.1325 - Static pressure and pressure altimeter systems.

Code of Federal Regulations, 2013 CFR

2013-01-01

...: Installation § 29.1325 Static pressure and pressure altimeter systems. (a) Each instrument with static air case... between air pressure in the static pressure system and true ambient atmospheric static pressure is not... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Static pressure and pressure altimeter...

14 CFR 29.1325 - Static pressure and pressure altimeter systems.

Code of Federal Regulations, 2014 CFR

2014-01-01

...: Installation § 29.1325 Static pressure and pressure altimeter systems. (a) Each instrument with static air case... between air pressure in the static pressure system and true ambient atmospheric static pressure is not... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Static pressure and pressure altimeter...

Improvement of mass transfer characteristics and productivities of inclined tubular photobioreactors by installation of internal static mixers.

PubMed

Ugwu, C U; Ogbonna, J C; Tanaka, H

2002-04-01

The feasibility of improving mass transfer characteristics of inclined tubular photobioreactors by installation of static mixers was investigated. The mass transfer characteristics of the tubular photobioreactor varied depending on the type (shape) and the number of static mixers. The volumetric oxygen transfer coefficient ( k(L)a) and gas hold up of the photobioreactor with internal static mixers were significantly higher than those of the photobioreactor without static mixers. The k(L)a and gas hold up increased with the number of static mixers but the mixing time became longer due to restricted liquid flow through the static mixers. By installing the static mixers, the liquid flow changed from plug flow to turbulent mixing so that cells were moved between the surface and bottom of the photobioreactor. In outdoor culture of Chlorella sorokiniana, the photobioreactor with static mixers gave higher biomass productivities irrespective of the standing biomass concentration and solar radiation. The effectiveness of the static mixers (average percentage increase in the productivities of the photobioreactor with static mixers over the productivities obtained without static mixers) was higher at higher standing biomass concentrations and on cloudy days (solar radiation below 6 MJ m(-2) day(-1)).

30 CFR 57.6602 - Static electricity dissipation during loading.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 30 Mineral Resources 1 2013-07-01 2013-07-01 false Static electricity dissipation during loading... MINES Explosives Extraneous Electricity-Surface and Underground § 57.6602 Static electricity dissipation... generates a static electricity hazard— (a) An evaluation of the potential static electricity hazard shall be...

30 CFR 57.6602 - Static electricity dissipation during loading.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 30 Mineral Resources 1 2012-07-01 2012-07-01 false Static electricity dissipation during loading... MINES Explosives Extraneous Electricity-Surface and Underground § 57.6602 Static electricity dissipation... generates a static electricity hazard— (a) An evaluation of the potential static electricity hazard shall be...

30 CFR 57.6602 - Static electricity dissipation during loading.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 30 Mineral Resources 1 2011-07-01 2011-07-01 false Static electricity dissipation during loading... MINES Explosives Extraneous Electricity-Surface and Underground § 57.6602 Static electricity dissipation... generates a static electricity hazard— (a) An evaluation of the potential static electricity hazard shall be...

30 CFR 57.6602 - Static electricity dissipation during loading.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Static electricity dissipation during loading... MINES Explosives Extraneous Electricity-Surface and Underground § 57.6602 Static electricity dissipation... generates a static electricity hazard— (a) An evaluation of the potential static electricity hazard shall be...

30 CFR 57.6602 - Static electricity dissipation during loading.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 30 Mineral Resources 1 2014-07-01 2014-07-01 false Static electricity dissipation during loading... MINES Explosives Extraneous Electricity-Surface and Underground § 57.6602 Static electricity dissipation... generates a static electricity hazard— (a) An evaluation of the potential static electricity hazard shall be...

Chemical Modification and Structure-property Relationships of Acrylic and Ionomeric Thermoplastic Elastomer Gels

NASA Astrophysics Data System (ADS)

Vargantwar, Pruthesh Hariharrao

Block copolymers (BCs) have remained at the forefront of materials research due to their versatility in applications ranging from hot-melt/pressure-sensitive adhesives and impact modifiers to compatibilizing agents and vibration-dampening/nanotemplating media. Of particular interest are macromolecules composed of two or more chemically dissimilar blocks covalently linked together to form triblock or pentablock copolymers. If the blocks are sufficiently incompatible and the copolymer behaves as a thermoplastic elastomer, the molecules can spontaneously self-assemble to form nanostructured materials that exhibit shape memory due to the formation of a supramolecular network. The BCs of these types are termed as conventional. When BCs contain blocks having ionic moieties such as sulfonic acid groups, they are termed as block ionomers. Designing new systems based on either conventional or ionic BCs, characterizing their structure-property relationships and later using them as electroacive polymers form the essential objectives of this work. Electroactive polymers (EAPs) exhibit electromechanical actuation when stimulated by an external electric field. In the first part of this work, it is shown that BCs resolve some of the outstanding problems presently encountered in the design of two different classes of EAP actuators: dielectric elastomers (DEs) and ionic polymer metal composites (IPMCs). All-acrylic triblock copolymer gels used as DEs actuate with high efficacy without any requirement of mechanical prestrain and, thus, eliminate the need for bulky and heavy hardware essential with prestrained dielectric actuators, as well as material problems associated with stress relaxation. The dependence of actuation behavior on gel morphology as evaluated from mechanical and microstructure studies is observed. In the case of IPMCs, ionic BCs employed in this study greatly facilitate processing compared to other contenders such as NafionRTM, which is commonly used in this class of EAPs. The unique copolymer investigated here (i) retains its mechanical integrity when highly solvated by polar solvents, (ii) demonstrates a high degree of actuation when tested in a cantilever configuration, and (iii) avoids the shortcomings of back-relaxation/overshoot within the testing conditions when used in combination with an appropriate solvent. In the second part of this work, two chemical strategies to design midblock sulfonated block ionomers are explored. In one case, selective sulfonation of the midblocks in triblock copolymers is achieved via a dioxane:sulfur trioxide chemistry, while in the other acetyl sulfate is used for the same purpose. Excellent control on the degree of sulfonation (DOS) is achieved. The block ionomers swell in different solvents while retaining their mechanical integrity. They show disorder-order, order-order, and order-reduced order morphological transitions as DOS varies. These transitions in morphologies are reflected in their thermal behavior as well. The microstructures show periodicity, which is, again, a function of DOS. The transitions are explained in terms of the molar volume expansion and volume densification of the blocks on sulfonation. The ionic levels, morphology and periodicity in microstructure are important for applications such as actuators, sensors and fuel cell membranes. The ability to tune these aspects in the ionomers designed in this work make them potential candidates for these applications.

Measurement of static pressure on aircraft

NASA Technical Reports Server (NTRS)

Gracey, William

1958-01-01

Existing data on the errors involved in the measurement of static pressure by means of static-pressure tubes and fuselage vents are presented. The errors associated with the various design features of static-pressure tubes are discussed for the condition of zero angle of attack and for the case where the tube is inclined to flow. Errors which result from variations in the configuration of static-pressure vents are also presented. Errors due to the position of a static-pressure tube in the flow field of the airplane are given for locations ahead of the fuselage nose, ahead of the wing tip, and ahead of the vertical tail fin. The errors of static-pressure vents on the fuselage of an airplane are also presented. Various methods of calibrating static-pressure installations in flight are briefly discussed.

Using biological principles to design MEMS

NASA Astrophysics Data System (ADS)

Scherge, M.; Gorb, S. N.

2000-09-01

In micromechanics the handling and positioning of microparts involves sophisticated assembly procedures and a good understanding of microtribological phenomena. Due to the very low object mass, adhesion between the micropart and the handling tool (usually a mechanical gripper) becomes a performance-limiting factor. Adhesion effects can be even larger than the force that frees the micropart from the handling tool thus making correct positioning impossible. Many useful design principles for optimized adhesion properties can be found in biological systems. In this paper adhesion between the foot of an insect and a surface was evaluated. The attachment pads of the great green bush cricket (Tettigonia viridissima) - used to attach the insect safely to a variety of different surfaces - were investigated to draw conclusions that could be implemented in future technical microsystems. It is shown that the attachment pads are flexible micromechanical units capable of self-adjusting to different scales of roughness. The erratic influence of capillary action due to adsorbed water is presumably suppressed by a hydrophobic layer on the pads. Attaching and releasing mechanisms as well as accurate measurement of the adhesion force are discussed in detail.

Fabricating biomedical origami: a state-of-the-art review

PubMed Central

Johnson, Meredith; Chen, Yue; Hovet, Sierra; Xu, Sheng; Wood, Bradford; Ren, Hongliang; Tokuda, Junichi; Tse, Zion Tsz Ho

2018-01-01

Purpose Origami-based biomedical device design is an emerging technology due to its ability to be deployed from a minimal foldable pattern to a larger volume. This paper aims to review state-of-the-art origami structures applied in the medical device field. Methods Publications and reports of origami structure related to medical device design from the past 10 years are reviewed and categorized according to engineering specifications, including the application field, fabrication material, size/volume, deployment method, manufacturability, and advantages. Results This paper presents an overview of the biomedical applications of devices based on origami structures, including disposable sterilization covers, cardiac catheterization, stent grafts, encapsulation and microsurgery, gastrointestinal microsurgery, laparoscopic surgical grippers, microgrippers, microfluidic devices, and drug delivery. Challenges in terms of materials and fabrication, assembly, modeling and computation design, and clinical adoptability are discussed at the end of this paper to provide guidance for future origami-based design in the medical device field. Conclusion Concepts from origami can be used to design and develop novel medical devices. Origami-based medical device design is currently progressing, with researchers improving design methods, materials, fabrication techniques, and folding efficiency. PMID:28260164

A lightweight, high strength dexterous manipulator for commercial applications

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Schena, Bruce M.; Cohan, Steve M.

1991-01-01

The concept, design, and features are described of a lightweight, high strength, modular robot manipulator being developed for space and commercial applications. The manipulator has seven fully active degrees of freedom and is fully operational in 1 G. Each of the seven joints incorporates a unique drivetrain design which provides zero backlash operation, is insensitive to wear, and is single fault tolerant to motor or servo amplifier failure. Feedback sensors provide position, velocity, torque, and motor winding temperature information at each joint. This sensing system is also designed to be single fault tolerant. The manipulator consists of five modules (not including gripper). These modules join via simple quick-disconnect couplings and self-mating connectors which allow rapid assembly and/or disassembly for reconfiguration, transport, or servicing. The manipulator is a completely enclosed assembly, with no exposed components or wires. Although the initial prototype will not be space qualified, the design is well suited to meeting space requirements. The control system provides dexterous motion by controlling the endpoint location and arm pose simultaneously. Potential applications are discussed.

Fast grasping of unknown objects using cylinder searching on a single point cloud

NASA Astrophysics Data System (ADS)

Lei, Qujiang; Wisse, Martijn

2017-03-01

Grasping of unknown objects with neither appearance data nor object models given in advance is very important for robots that work in an unfamiliar environment. The goal of this paper is to quickly synthesize an executable grasp for one unknown object by using cylinder searching on a single point cloud. Specifically, a 3D camera is first used to obtain a partial point cloud of the target unknown object. An original method is then employed to do post treatment on the partial point cloud to minimize the uncertainty which may lead to grasp failure. In order to accelerate the grasp searching, surface normal of the target object is then used to constrain the synthetization of the cylinder grasp candidates. Operability analysis is then used to select out all executable grasp candidates followed by force balance optimization to choose the most reliable grasp as the final grasp execution. In order to verify the effectiveness of our algorithm, Simulations on a Universal Robot arm UR5 and an under-actuated Lacquey Fetch gripper are used to examine the performance of this algorithm, and successful results are obtained.

Controllable load sharing for soft adhesive interfaces on three-dimensional surfaces.

PubMed

Song, Sukho; Drotlef, Dirk-Michael; Majidi, Carmel; Sitti, Metin

2017-05-30

For adhering to three-dimensional (3D) surfaces or objects, current adhesion systems are limited by a fundamental trade-off between 3D surface conformability and high adhesion strength. This limitation arises from the need for a soft, mechanically compliant interface, which enables conformability to nonflat and irregularly shaped surfaces but significantly reduces the interfacial fracture strength. In this work, we overcome this trade-off with an adhesion-based soft-gripping system that exhibits enhanced fracture strength without sacrificing conformability to nonplanar 3D surfaces. Composed of a gecko-inspired elastomeric microfibrillar adhesive membrane supported by a pressure-controlled deformable gripper body, the proposed soft-gripping system controls the bonding strength by changing its internal pressure and exploiting the mechanics of interfacial equal load sharing. The soft adhesion system can use up to ∼26% of the maximum adhesion of the fibrillar membrane, which is 14× higher than the adhering membrane without load sharing. Our proposed load-sharing method suggests a paradigm for soft adhesion-based gripping and transfer-printing systems that achieves area scaling similar to that of a natural gecko footpad.

Controllable load sharing for soft adhesive interfaces on three-dimensional surfaces

NASA Astrophysics Data System (ADS)

Song, Sukho; Drotlef, Dirk-Michael; Majidi, Carmel; Sitti, Metin

2017-05-01

For adhering to three-dimensional (3D) surfaces or objects, current adhesion systems are limited by a fundamental trade-off between 3D surface conformability and high adhesion strength. This limitation arises from the need for a soft, mechanically compliant interface, which enables conformability to nonflat and irregularly shaped surfaces but significantly reduces the interfacial fracture strength. In this work, we overcome this trade-off with an adhesion-based soft-gripping system that exhibits enhanced fracture strength without sacrificing conformability to nonplanar 3D surfaces. Composed of a gecko-inspired elastomeric microfibrillar adhesive membrane supported by a pressure-controlled deformable gripper body, the proposed soft-gripping system controls the bonding strength by changing its internal pressure and exploiting the mechanics of interfacial equal load sharing. The soft adhesion system can use up to ˜26% of the maximum adhesion of the fibrillar membrane, which is 14× higher than the adhering membrane without load sharing. Our proposed load-sharing method suggests a paradigm for soft adhesion-based gripping and transfer-printing systems that achieves area scaling similar to that of a natural gecko footpad.

Fabricating biomedical origami: a state-of-the-art review.

PubMed

Johnson, Meredith; Chen, Yue; Hovet, Sierra; Xu, Sheng; Wood, Bradford; Ren, Hongliang; Tokuda, Junichi; Tse, Zion Tsz Ho

2017-11-01

Origami-based biomedical device design is an emerging technology due to its ability to be deployed from a minimal foldable pattern to a larger volume. This paper aims to review state-of-the-art origami structures applied in the medical device field. Publications and reports of origami structure related to medical device design from the past 10 years are reviewed and categorized according to engineering specifications, including the application field, fabrication material, size/volume, deployment method, manufacturability, and advantages. This paper presents an overview of the biomedical applications of devices based on origami structures, including disposable sterilization covers, cardiac catheterization, stent grafts, encapsulation and microsurgery, gastrointestinal microsurgery, laparoscopic surgical grippers, microgrippers, microfluidic devices, and drug delivery. Challenges in terms of materials and fabrication, assembly, modeling and computation design, and clinical adoptability are discussed at the end of this paper to provide guidance for future origami-based design in the medical device field. Concepts from origami can be used to design and develop novel medical devices. Origami-based medical device design is currently progressing, with researchers improving design methods, materials, fabrication techniques, and folding efficiency.

Concepts for multi-IFU robotic positioning systems

NASA Astrophysics Data System (ADS)

Miziarski, Stan; Brzeski, Jurek; Bland Hawthorn, Joss; Gilbert, James; Goodwin, Michael; Heijmans, Jeroen; Horton, Anthony; Lawrence, Jon; Saunders, Will; Smith, Greg A.; Staszak, Nicholas

2012-09-01

Following the successful commissioning of SAMI (Sydney-AAO Multi-object IFU) the AAO has undertaken concept studies leading to a design of a new instrument for the AAT (Hector). It will use an automated robotic system for the deployment of fibre hexabundles to the focal plane. We have analysed several concepts, which could be applied in the design of new instruments or as a retrofit to existing positioning systems. We look at derivatives of Starbugs that could handle a large fibre bundle as well as modifications to pick and place robots like 2dF or OzPoz. One concept uses large magnetic buttons that adhere to a steel field plate with substantial force. To move them we replace the gripper with a pneumatic device, which engages with the button and injects it with compressed air, thus forming a magnet preloaded air bearing allowing virtually friction-less repositioning of the button by a gantry or an R-Theta robot. New fibre protection, guiding and retraction systems are also described. These developments could open a practical avenue for the upgrade to a number of instruments.

A two DoF finger for a biomechatronic artificial hand.

PubMed

Carrozza, M C; Massa, B; Dario, P; Zecca, M; Micera, S; Pastacaldi, P

2002-01-01

Current prosthetic hands are basically simple grippers with one or two degrees of freedom, which barely restore the capability of the thumb-index pinch. Although most amputees consider this performance as acceptable for usual tasks, there is ample room for improvement by exploiting recent progresses in mechatronics design and technology. We are developing a novel prosthetic hand featured by multiple degrees of freedom, tactile sensing capabilities, and distributed control. Our main goal is to pursue an integrated design approach in order to fulfill critical requirements such as cosmetics, controllability, low weight, low energy consumption and noiselessness. This approach can be synthesized by the definition "biomechatronic design", which means developing mechatronic systems inspired by living beings and able to work harmoniously with them. This paper describes the first implementation of one single finger of a future biomechatronic hand. The finger has a modular design, which allows to obtain hands with different degrees of freedom and grasping capabilities. Current developments include the implementation of a hand comprising three fingers (opposing thumb, index and middle) and an embedded controller.

Single-step collision-free trajectory planning of biped climbing robots in spatial trusses.

PubMed

Zhu, Haifei; Guan, Yisheng; Chen, Shengjun; Su, Manjia; Zhang, Hong

For a biped climbing robot with dual grippers to climb poles, trusses or trees, feasible collision-free climbing motion is inevitable and essential. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan single-step collision-free motion for biped climbing robots in spatial trusses. To deal with the orientation limit of a 5-DoF biped climbing robot, a new state representation along with corresponding operations including sampling, metric calculation and interpolation is presented. A simple but effective model of a biped climbing robot in trusses is proposed, through which the motion planning of one climbing cycle is transformed to that of a manipulator. In addition, the pre- and post-processes are introduced to expedite the convergence of the Bi-RRT algorithm and to ensure the safe motion of the climbing robot near poles as well. The piecewise linear paths are smoothed by utilizing cubic B-spline curve fitting. The effectiveness and efficiency of the presented Bi-RRT algorithm for climbing motion planning are verified by simulations.

Gesture therapy: a vision-based system for upper extremity stroke rehabilitation.

PubMed

Sucar, L; Luis, Roger; Leder, Ron; Hernandez, Jorge; Sanchez, Israel

2010-01-01

Stroke is the main cause of motor and cognitive disabilities requiring therapy in the world. Therefor it is important to develop rehabilitation technology that allows individuals who had suffered a stroke to practice intensive movement training without the expense of an always-present therapist. We have developed a low-cost vision-based system that allows stroke survivors to practice arm movement exercises at home or at the clinic, with periodic interactions with a therapist. The system integrates a virtual environment for facilitating repetitive movement training, with computer vision algorithms that track the hand of a patient, using an inexpensive camera and a personal computer. This system, called Gesture Therapy, includes a gripper with a pressure sensor to include hand and finger rehabilitation; and it tracks the head of the patient to detect and avoid trunk compensation. It has been evaluated in a controlled clinical trial at the National Institute for Neurology and Neurosurgery in Mexico City, comparing it with conventional occupational therapy. In this paper we describe the latest version of the Gesture Therapy System and summarize the results of the clinical trail.

Controllable load sharing for soft adhesive interfaces on three-dimensional surfaces

PubMed Central

Song, Sukho; Drotlef, Dirk-Michael; Majidi, Carmel; Sitti, Metin

2017-01-01

For adhering to three-dimensional (3D) surfaces or objects, current adhesion systems are limited by a fundamental trade-off between 3D surface conformability and high adhesion strength. This limitation arises from the need for a soft, mechanically compliant interface, which enables conformability to nonflat and irregularly shaped surfaces but significantly reduces the interfacial fracture strength. In this work, we overcome this trade-off with an adhesion-based soft-gripping system that exhibits enhanced fracture strength without sacrificing conformability to nonplanar 3D surfaces. Composed of a gecko-inspired elastomeric microfibrillar adhesive membrane supported by a pressure-controlled deformable gripper body, the proposed soft-gripping system controls the bonding strength by changing its internal pressure and exploiting the mechanics of interfacial equal load sharing. The soft adhesion system can use up to ∼26% of the maximum adhesion of the fibrillar membrane, which is 14× higher than the adhering membrane without load sharing. Our proposed load-sharing method suggests a paradigm for soft adhesion-based gripping and transfer-printing systems that achieves area scaling similar to that of a natural gecko footpad. PMID:28507143

Precharged Pneumatic Soft Actuators and Their Applications to Untethered Soft Robots.

PubMed

Li, Yunquan; Chen, Yonghua; Ren, Tao; Li, Yingtian; Choi, Shiu Hong

2018-06-20

The past decade has witnessed tremendous progress in soft robotics. Unlike most pneumatic-based methods, we present a new approach to soft robot design based on precharged pneumatics (PCP). We propose a PCP soft bending actuator, which is actuated by precharged air pressure and retracted by inextensible tendons. By pulling or releasing the tendons, the air pressure in the soft actuator is modulated, and hence, its bending angle. The tendons serve in a way similar to pressure-regulating valves that are used in typical pneumatic systems. The linear motion of tendons is transduced into complex motion via the prepressurized bent soft actuator. Furthermore, since a PCP actuator does not need any gas supply, complicated pneumatic control systems used in traditional soft robotics are eliminated. This facilitates the development of compact untethered autonomous soft robots for various applications. Both theoretical modeling and experimental validation have been conducted on a sample PCP soft actuator design. A fully untethered autonomous quadrupedal soft robot and a soft gripper have been developed to demonstrate the superiority of the proposed approach over traditional pneumatic-driven soft robots.

Static electricity: A literature review

NASA Astrophysics Data System (ADS)

Crow, Rita M.

1991-11-01

The major concern with static electricity is its discharging in a flammable atmosphere which can explode and cause a fire. Textile materials can have their electrical resistivity decreased by the addition of antistatic finishes, imbedding conductive particles into the fibres or by adding metal fibers to the yarns. The test methods used in the studies of static electricity include measuring the static properties of materials, of clothed persons, and of the ignition energy of flammable gases. Surveys have shown that there is sparse evidence for fires definitively being caused by static electricity. However, the 'worst-case' philosophy has been adopted and a static electricity safety code is described, including correct grounding procedures and the wearing of anti-static clothing and footwear.

Comparative Tests of Pitot-static Tubes

NASA Technical Reports Server (NTRS)

Merriam, Kenneth G; Spaulding, Ellis R

1935-01-01

Comparative tests were made on seven conventional Pitot-static tubes to determine their static, dynamic, and resultant errors. The effect of varying the dynamic opening, static opening, wall thickness, and inner-tube diameter was investigated. Pressure-distribution measurements showing stem and tip effects were also made. A tentative design for a standard Pitot-static tube for use in measuring air velocity is submitted.

Cryogenic exciter

DOEpatents

Bray, James William [Niskayuna, NY; Garces, Luis Jose [Niskayuna, NY

2012-03-13

The disclosed technology is a cryogenic static exciter. The cryogenic static exciter is connected to a synchronous electric machine that has a field winding. The synchronous electric machine is cooled via a refrigerator or cryogen like liquid nitrogen. The static exciter is in communication with the field winding and is operating at ambient temperature. The static exciter receives cooling from a refrigerator or cryogen source, which may also service the synchronous machine, to selected areas of the static exciter and the cooling selectively reduces the operating temperature of the selected areas of the static exciter.

Performance tradeoffs in static and dynamic load balancing strategies

NASA Technical Reports Server (NTRS)

Iqbal, M. A.; Saltz, J. H.; Bokhart, S. H.

1986-01-01

The problem of uniformly distributing the load of a parallel program over a multiprocessor system was considered. A program was analyzed whose structure permits the computation of the optimal static solution. Then four strategies for load balancing were described and their performance compared. The strategies are: (1) the optimal static assignment algorithm which is guaranteed to yield the best static solution, (2) the static binary dissection method which is very fast but sub-optimal, (3) the greedy algorithm, a static fully polynomial time approximation scheme, which estimates the optimal solution to arbitrary accuracy, and (4) the predictive dynamic load balancing heuristic which uses information on the precedence relationships within the program and outperforms any of the static methods. It is also shown that the overhead incurred by the dynamic heuristic is reduced considerably if it is started off with a static assignment provided by either of the other three strategies.

On the relationship between ontogenetic and static allometry.

PubMed

Pélabon, Christophe; Bolstad, Geir H; Egset, Camilla K; Cheverud, James M; Pavlicev, Mihaela; Rosenqvist, Gunilla

2013-02-01

Ontogenetic and static allometries describe how a character changes in size when the size of the organism changes during ontogeny and among individuals measured at the same developmental stage, respectively. Understanding the relationship between these two types of allometry is crucial to understanding the evolution of allometry and, more generally, the evolution of shape. However, the effects of ontogenetic allometry on static allometry remain largely unexplored. Here, we first show analytically how individual variation in ontogenetic allometry and body size affect static allometry. Using two longitudinal data sets on ontogenetic and static allometry, we then estimate variances and covariances for the different parameters of the ontogenetic allometry defined in our model and assess their relative contribution to the static allometric slope. The mean ontogenetic allometry is the main parameter that determines the static allometric slope, while the covariance between the ontogenetic allometric slope and body size generates most of the discrepancies between ontogenetic and static allometry. These results suggest that the apparent evolutionary stasis of the static allometric slope is not generated by internal (developmental) constraints but more likely results from external constraints imposed by selection.

No static bubbling spacetimes in higher dimensional Einstein–Maxwell theory

NASA Astrophysics Data System (ADS)

Kunduri, Hari K.; Lucietti, James

2018-03-01

We prove that any asymptotically flat static spacetime in higher dimensional Einstein–Maxwell theory must have no magnetic field. This implies that there are no static soliton spacetimes and completes the classification of static non-extremal black holes in this theory. In particular, these results establish that there are no asymptotically flat static spacetimes with non-trivial topology, with or without a black hole, in Einstein–Maxwell theory.

Experimental characterization of composites. [load test methods

NASA Technical Reports Server (NTRS)

Bert, C. W.

1975-01-01

The experimental characterization for composite materials is generally more complicated than for ordinary homogeneous, isotropic materials because composites behave in a much more complex fashion, due to macroscopic anisotropic effects and lamination effects. Problems concerning the static uniaxial tension test for composite materials are considered along with approaches for conducting static uniaxial compression tests and static uniaxial bending tests. Studies of static shear properties are discussed, taking into account in-plane shear, twisting shear, and thickness shear. Attention is given to static multiaxial loading, systematized experimental programs for the complete characterization of static properties, and dynamic properties.

Quasi-static evolution of coronal magnetic fields

NASA Technical Reports Server (NTRS)

Longcope, D. W.; Sudan, R. N.

1992-01-01

A formalism is developed to describe the purely quasi-static part of the evolution of a coronal loop driven by its footpoints. This is accomplished under assumptions of a long, thin loop. The quasi-static equations reveal the possibility for sudden 'loss of equilibrium' at which time the system evolves dynamically rather than quasi-statically. Such quasi-static crises produce high-frequency Alfven waves and, in conjunction with Alfven wave dissipation models, form a viable coronal heating mechanism. Furthermore, an approximate solution to the quasi-static equations by perturbation method verifies the development of small-scale spatial current structure.

Assessing validity by comparing transition and static measures of dyspnea in patients with acute decompensated heart failure.

PubMed

Smithline, Howard A; Caglar, Selin; Blank, Fidela S J

2010-01-01

This study assessed the convergent validity of 2 dyspnea measures, the transition measure and the change measure, by comparing them with each other in patients admitted to the hospital with acute decompensated heart failure. Static measures of dyspnea were obtained at baseline (pre-static measure) and at time 1 hour and 4 hour (post-static measures). The change measure was calculated as the difference between the pre-static and post-static measures. Transition measures were obtained at time 1 hour and 4 hour. Visual analog scales and Likert scales were used. Both physicians and patients measured the dyspnea independently. A total of 112 patients had complete data sets at time 0 and 1 hour and 86 patients had complete data sets at all 3 time points. Correlations were calculated between the transition measures and static measures (pre-static, post-static, and change measure). Bland-Altman plots were generated and the mean difference and limits of agreement between the transition measures and the change measures were calculated. In general, short-term dyspnea assessment using transition measures and serial static measures can not be used to validate each other in this population of patients being admitted with acute decompensated heart failure. © 2010 Wiley Periodicals, Inc.

14 CFR 25.899 - Electrical bonding and protection against static electricity.

Code of Federal Regulations, 2012 CFR

2012-01-01

... static electricity. 25.899 Section 25.899 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Miscellaneous § 25.899 Electrical bonding and protection against static electricity. (a) Electrical bonding and protection against static electricity must be designed to minimize accumulation of...

14 CFR 25.899 - Electrical bonding and protection against static electricity.

Code of Federal Regulations, 2011 CFR

2011-01-01

... static electricity. 25.899 Section 25.899 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Miscellaneous § 25.899 Electrical bonding and protection against static electricity. (a) Electrical bonding and protection against static electricity must be designed to minimize accumulation of...

30 CFR 18.26 - Static electricity.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 30 Mineral Resources 1 2012-07-01 2012-07-01 false Static electricity. 18.26 Section 18.26 Mineral... § 18.26 Static electricity. Nonmetallic rotating parts, such as belts and fans, shall be provided with a means to prevent an accumulation of static electricity. ...

30 CFR 18.26 - Static electricity.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 30 Mineral Resources 1 2013-07-01 2013-07-01 false Static electricity. 18.26 Section 18.26 Mineral... § 18.26 Static electricity. Nonmetallic rotating parts, such as belts and fans, shall be provided with a means to prevent an accumulation of static electricity. ...

30 CFR 18.26 - Static electricity.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 30 Mineral Resources 1 2011-07-01 2011-07-01 false Static electricity. 18.26 Section 18.26 Mineral... § 18.26 Static electricity. Nonmetallic rotating parts, such as belts and fans, shall be provided with a means to prevent an accumulation of static electricity. ...

30 CFR 18.26 - Static electricity.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Static electricity. 18.26 Section 18.26 Mineral... § 18.26 Static electricity. Nonmetallic rotating parts, such as belts and fans, shall be provided with a means to prevent an accumulation of static electricity. ...

14 CFR 25.899 - Electrical bonding and protection against static electricity.

Code of Federal Regulations, 2010 CFR

2010-01-01

... static electricity. 25.899 Section 25.899 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Miscellaneous § 25.899 Electrical bonding and protection against static electricity. (a) Electrical bonding and protection against static electricity must be designed to minimize accumulation of...

14 CFR 25.899 - Electrical bonding and protection against static electricity.

Code of Federal Regulations, 2013 CFR

2013-01-01

... static electricity. 25.899 Section 25.899 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Miscellaneous § 25.899 Electrical bonding and protection against static electricity. (a) Electrical bonding and protection against static electricity must be designed to minimize accumulation of...

14 CFR 25.899 - Electrical bonding and protection against static electricity.

Code of Federal Regulations, 2014 CFR

2014-01-01

... static electricity. 25.899 Section 25.899 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Construction Miscellaneous § 25.899 Electrical bonding and protection against static electricity. (a) Electrical bonding and protection against static electricity must be designed to minimize accumulation of...

30 CFR 18.26 - Static electricity.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 30 Mineral Resources 1 2014-07-01 2014-07-01 false Static electricity. 18.26 Section 18.26 Mineral... § 18.26 Static electricity. Nonmetallic rotating parts, such as belts and fans, shall be provided with a means to prevent an accumulation of static electricity. ...

Numerical study on static component generation from the primary Lamb waves propagating in a plate with nonlinearity

NASA Astrophysics Data System (ADS)

Wan, Xiang; Tse, Peter W.; Zhang, Xuhui; Xu, Guanghua; Zhang, Qing; Fan, Hongwei; Mao, Qinghua; Dong, Ming; Wang, Chuanwei; Ma, Hongwei

2018-04-01

Under the discipline of nonlinear ultrasonics, in addition to second harmonic generation, static component generation is another frequently used nonlinear ultrasonic behavior in non-destructive testing (NDT) and structural health monitoring (SHM) communities. However, most previous studies on static component generation are mainly based on using longitudinal waves. It is desirable to extend static component generation from primary longitudinal waves to primary Lamb waves. In this paper, static component generation from the primary Lamb waves is studied. Two major issues are numerically investigated. First, the mode of static displacement component generated from different primary Lamb wave modes is identified. Second, cumulative effect of static displacement component from different primary Lamb wave modes is also discussed. Our study results show that the static component wave packets generated from the primary S0, A0 and S1 modes share the almost same group velocity equal to the phase velocity of S0 mode tending to zero frequency c plate . The finding indicates that whether the primary mode is S0, A0 or S1, the static components generated from these primary modes always share the nature of S0 mode. This conclusion is also verified by the displacement filed of these static components that the horizontal displacement field is almost uniform and the vertical displacement filed is antisymmetric across the thickness of the plate. The uniform distribution of horizontal displacement filed enables the static component, regardless of the primary Lamb modes, to be a promising technique for evaluating microstructural damages buried in the interior of a structure. Our study also illustrates that the static components are cumulative regardless of whether the phase velocity of the primary and secondary waves is matched or not. This observation indicates that the static component overcomes the limitations of the traditional nonlinear Lamb waves satisfying phase velocity matching condition to achieve cumulative second harmonic generation. This nature also enables the primary Lamb waves excited at a low center frequency to generate static component used for inspecting large-scale structures with micro-scale damages.

Cardiovascular responses to static exercise in distance runners and weight lifters

NASA Technical Reports Server (NTRS)

Longhurst, J. C.; Kelly, A. R.; Gonyea, W. J.; Mitchell, J. H.

1980-01-01

Three groups of athletes including long-distance runners, competitive and amateur weight lifters, and age- and sex-matched control subjects have been studied by hemodynamic and echocardiographic methods in order to determine the effect of the training programs on the cardiovascular response to static exercise. Blood pressure, heart rate, and double product data at rest and at fatigue suggest that competitive endurance (dynamic exercise) training alters the cardiovascular response to static exercise. In contrast to endurance exercise, weight lifting (static exercise) training does not alter the cardiovascular response to static exercise: weight lifters responded to static exercise in a manner very similar to that of the control subjects.

The effects of a combined static-dynamic stretching protocol on athletic performance in elite Gaelic footballers: A randomised controlled crossover trial.

PubMed

Loughran, Martin; Glasgow, Philip; Bleakley, Chris; McVeigh, Joseph

2017-05-01

To determine the effect of three different static-dynamic stretching protocols on sprint and jump performance in Gaelic footballers. Double-blind, controlled, crossover trial. Sports Institute research environment. Seventeen male elite level Gaelic footballers, aged 18-30 years, completed three stretching protocols. Athletic performance was measured by countermovement jump height and power, and timed 10 m, 20 m, and 40 m sprints. Static stretching reduced sprint speed by 1.1% over 40 m and 1.0% over 20 m. Static stretching also reduced countermovement jump height by 10.6% and jump power by 6.4%. When static stretching was followed by dynamic stretching, sprint speed improved by 1.0% over 20 m and 0.7% over 40 m (p < 0.05). The static - dynamic stretching protocol also improved countermovement jump height by 8.7% (p < 0.01) and power by 6.7% (p < 0.01). Static stretching reduces sprint speed and jump performance. Static stretching should be followed by dynamic stretching during warm-up to nullify any performance deficits caused by static stretching. Copyright © 2016 Elsevier Ltd. All rights reserved.

14 CFR 27.610 - Lightning and static electricity protection.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Lightning and static electricity protection....610 Lightning and static electricity protection. (a) The rotorcraft must be protected against... static electricity must— (1) Minimize the accumulation of electrostatic charge; (2) Minimize the risk of...

14 CFR 27.610 - Lightning and static electricity protection.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Lightning and static electricity protection....610 Lightning and static electricity protection. (a) The rotorcraft must be protected against... static electricity must— (1) Minimize the accumulation of electrostatic charge; (2) Minimize the risk of...

14 CFR 25.1715 - Electrical bonding and protection against static electricity: EWIS.

Code of Federal Regulations, 2012 CFR

2012-01-01

... static electricity: EWIS. 25.1715 Section 25.1715 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Interconnection Systems (EWIS) § 25.1715 Electrical bonding and protection against static electricity: EWIS. (a) EWIS components used for electrical bonding and protection against static electricity must meet the...

30 CFR 56.6602 - Static electricity dissipation during loading.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 30 Mineral Resources 1 2012-07-01 2012-07-01 false Static electricity dissipation during loading... Explosives Extraneous Electricity § 56.6602 Static electricity dissipation during loading. When explosive material is loaded pneumatically into a blasthole in a manner that generates a static electricity hazard...

30 CFR 56.6602 - Static electricity dissipation during loading.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 30 Mineral Resources 1 2013-07-01 2013-07-01 false Static electricity dissipation during loading... Explosives Extraneous Electricity § 56.6602 Static electricity dissipation during loading. When explosive material is loaded pneumatically into a blasthole in a manner that generates a static electricity hazard...

14 CFR 25.1715 - Electrical bonding and protection against static electricity: EWIS.

Code of Federal Regulations, 2011 CFR

2011-01-01

... static electricity: EWIS. 25.1715 Section 25.1715 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Interconnection Systems (EWIS) § 25.1715 Electrical bonding and protection against static electricity: EWIS. (a) EWIS components used for electrical bonding and protection against static electricity must meet the...

14 CFR 25.1715 - Electrical bonding and protection against static electricity: EWIS.

Code of Federal Regulations, 2010 CFR

2010-01-01

... static electricity: EWIS. 25.1715 Section 25.1715 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Interconnection Systems (EWIS) § 25.1715 Electrical bonding and protection against static electricity: EWIS. (a) EWIS components used for electrical bonding and protection against static electricity must meet the...

14 CFR 25.1715 - Electrical bonding and protection against static electricity: EWIS.

Code of Federal Regulations, 2013 CFR

2013-01-01

... static electricity: EWIS. 25.1715 Section 25.1715 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Interconnection Systems (EWIS) § 25.1715 Electrical bonding and protection against static electricity: EWIS. (a) EWIS components used for electrical bonding and protection against static electricity must meet the...

14 CFR 27.610 - Lightning and static electricity protection.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Lightning and static electricity protection....610 Lightning and static electricity protection. (a) The rotorcraft must be protected against... static electricity must— (1) Minimize the accumulation of electrostatic charge; (2) Minimize the risk of...

30 CFR 56.6602 - Static electricity dissipation during loading.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 30 Mineral Resources 1 2014-07-01 2014-07-01 false Static electricity dissipation during loading... Explosives Extraneous Electricity § 56.6602 Static electricity dissipation during loading. When explosive material is loaded pneumatically into a blasthole in a manner that generates a static electricity hazard...

14 CFR 27.610 - Lightning and static electricity protection.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Lightning and static electricity protection....610 Lightning and static electricity protection. (a) The rotorcraft must be protected against... static electricity must— (1) Minimize the accumulation of electrostatic charge; (2) Minimize the risk of...

30 CFR 56.6602 - Static electricity dissipation during loading.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 30 Mineral Resources 1 2011-07-01 2011-07-01 false Static electricity dissipation during loading... Explosives Extraneous Electricity § 56.6602 Static electricity dissipation during loading. When explosive material is loaded pneumatically into a blasthole in a manner that generates a static electricity hazard...

14 CFR 27.610 - Lightning and static electricity protection.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Lightning and static electricity protection....610 Lightning and static electricity protection. (a) The rotorcraft must be protected against... static electricity must— (1) Minimize the accumulation of electrostatic charge; (2) Minimize the risk of...

30 CFR 56.6602 - Static electricity dissipation during loading.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Static electricity dissipation during loading... Explosives Extraneous Electricity § 56.6602 Static electricity dissipation during loading. When explosive material is loaded pneumatically into a blasthole in a manner that generates a static electricity hazard...

14 CFR 25.1715 - Electrical bonding and protection against static electricity: EWIS.

Code of Federal Regulations, 2014 CFR

2014-01-01

... static electricity: EWIS. 25.1715 Section 25.1715 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION... Interconnection Systems (EWIS) § 25.1715 Electrical bonding and protection against static electricity: EWIS. (a) EWIS components used for electrical bonding and protection against static electricity must meet the...

Proximity and touch sensing using deformable ionic conductors (Conference Presentation)

NASA Astrophysics Data System (ADS)

Madden, John D. W.; Dobashi, Yuta; Sarwar, Mirza S.; Preston, Eden C.; Wyss, Justin K. M.; Woehling, Vincent; Nguyen, Tran-Minh-Giao; Plesse, Cedric; Vidal, Frédéric; Naficy, Sina; Spinks, Geoffrey M.

2017-04-01

There is increasing interest in creating bendable and stretchable electronic interfaces that can be worn or applied to virtually any surface. The electroactive polymer community is well placed to add value by incorporating sensors and actuators. Recent work has demonstrated transparent dielectric elastomer actuation as well as pressure, stretch or touch sensing. Here we present two alternative forms of sensing. The first uses ionically conductive and stretchable gels as electrodes in capacitive sensors that detect finger proximity. In this case the finger acts as a third electrode, reducing capacitance between the two gel electrodes as it approaches, which can be detected even during bending and stretching. Very light finger touch is readily detected even during deformation of the substrate. Lateral resolution is achieved by creating a sensor array. In the second approach, electrodes placed beneath a salt containing gel are able to detect ion currents generated by the deformation of the gel. In this approach, applied pressure results in ion currents that create a potential difference around the point of contact, leading to a voltage and current in the electrodes without any need for input electrical energy. The mechanism may be related to effects seen in ionomeric polymer metal composites (IPMCs), but with the response in plane rather than through the thickness of the film. Ultimately, these ionically conductive materials that can also be transparent and actuate, have the potential to be used in wearable devices.

76 FR 28131 - Federal Motor Vehicle Safety Standards; Motorcycle Helmets

Federal Register 2010, 2011, 2012, 2013, 2014

2011-05-13

..., this final rule sets a quasi-static load application rate for the helmet retention system; revises the... Analysis and Conclusion e. Quasi-Static Retention Test f. Helmet Conditioning Tolerances g. Other... it as a quasi-static test, instead of a static test. Specifying the application rate will aid...

14 CFR 27.1325 - Static pressure systems.

Code of Federal Regulations, 2010 CFR

2010-01-01

... ambient atmospheric static pressure is not altered when the rotorcraft encounters icing conditions. An... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Static pressure systems. 27.1325 Section 27... pressure systems. (a) Each instrument with static air case connections must be vented so that the influence...

14 CFR 25.1325 - Static pressure systems.

Code of Federal Regulations, 2014 CFR

2014-01-01

... pressure systems. (a) Each instrument with static air case connections must be vented to the outside... or other foreign matter, and that the correlation between air pressure in the static pressure system... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Static pressure systems. 25.1325 Section 25...

14 CFR 25.1325 - Static pressure systems.

Code of Federal Regulations, 2012 CFR

2012-01-01

... pressure systems. (a) Each instrument with static air case connections must be vented to the outside... or other foreign matter, and that the correlation between air pressure in the static pressure system... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Static pressure systems. 25.1325 Section 25...

14 CFR 25.1325 - Static pressure systems.

Code of Federal Regulations, 2013 CFR

2013-01-01

... pressure systems. (a) Each instrument with static air case connections must be vented to the outside... or other foreign matter, and that the correlation between air pressure in the static pressure system... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Static pressure systems. 25.1325 Section 25...

14 CFR 25.1325 - Static pressure systems.

Code of Federal Regulations, 2011 CFR

2011-01-01

... pressure systems. (a) Each instrument with static air case connections must be vented to the outside... or other foreign matter, and that the correlation between air pressure in the static pressure system... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Static pressure systems. 25.1325 Section 25...

Static Analysis Using Abstract Interpretation

NASA Technical Reports Server (NTRS)

Arthaud, Maxime

2017-01-01

Short presentation about static analysis and most particularly abstract interpretation. It starts with a brief explanation on why static analysis is used at NASA. Then, it describes the IKOS (Inference Kernel for Open Static Analyzers) tool chain. Results on NASA projects are shown. Several well known algorithms from the static analysis literature are then explained (such as pointer analyses, memory analyses, weak relational abstract domains, function summarization, etc.). It ends with interesting problems we encountered (such as C++ analysis with exception handling, or the detection of integer overflow).

In-Flight Pitot-Static Calibration

NASA Technical Reports Server (NTRS)

Foster, John V. (Inventor); Cunningham, Kevin (Inventor)

2016-01-01

A GPS-based pitot-static calibration system uses global output-error optimization. High data rate measurements of static and total pressure, ambient air conditions, and GPS-based ground speed measurements are used to compute pitot-static pressure errors over a range of airspeed. System identification methods rapidly compute optimal pressure error models with defined confidence intervals.

14 CFR 27.1325 - Static pressure systems.

Code of Federal Regulations, 2011 CFR

2011-01-01

... pressure systems. (a) Each instrument with static air case connections must be vented so that the influence... located in such manner that the correlation between air pressure in the static pressure system and true... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Static pressure systems. 27.1325 Section 27...

14 CFR 27.1325 - Static pressure systems.

Code of Federal Regulations, 2012 CFR

2012-01-01

... pressure systems. (a) Each instrument with static air case connections must be vented so that the influence... located in such manner that the correlation between air pressure in the static pressure system and true... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Static pressure systems. 27.1325 Section 27...

14 CFR 27.1325 - Static pressure systems.

Code of Federal Regulations, 2013 CFR

2013-01-01

... pressure systems. (a) Each instrument with static air case connections must be vented so that the influence... located in such manner that the correlation between air pressure in the static pressure system and true... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Static pressure systems. 27.1325 Section 27...

14 CFR 27.1325 - Static pressure systems.

Code of Federal Regulations, 2014 CFR

2014-01-01

... pressure systems. (a) Each instrument with static air case connections must be vented so that the influence... located in such manner that the correlation between air pressure in the static pressure system and true... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Static pressure systems. 27.1325 Section 27...

Theoretical research and experimental validation of quasi-static load spectra on bogie frame structures of high-speed trains

NASA Astrophysics Data System (ADS)

Zhu, Ning; Sun, Shou-Guang; Li, Qiang; Zou, Hua

2014-12-01

One of the major problems in structural fatigue life analysis is establishing structural load spectra under actual operating conditions. This study conducts theoretical research and experimental validation of quasi-static load spectra on bogie frame structures of high-speed trains. The quasistatic load series that corresponds to quasi-static deformation modes are identified according to the structural form and bearing conditions of high-speed train bogie frames. Moreover, a force-measuring frame is designed and manufactured based on the quasi-static load series. The load decoupling model of the quasi-static load series is then established via calibration tests. Quasi-static load-time histories, together with online tests and decoupling analysis, are obtained for the intermediate range of the Beijing—Shanghai dedicated passenger line. The damage consistency calibration of the quasi-static discrete load spectra is performed according to a damage consistency criterion and a genetic algorithm. The calibrated damage that corresponds with the quasi-static discrete load spectra satisfies the safety requirements of bogie frames.

Prophylactic stretching does not reduce cramp susceptibility.

PubMed

Miller, Kevin C; Harsen, James D; Long, Blaine C

2018-03-01

Some clinicians advocate stretching to prevent muscle cramps. It is unknown whether static or proprioceptive neuromuscular facilitation (PNF) stretching increases cramp threshold frequency (TF c ), a quantitative measure of cramp susceptibility. Fifteen individuals completed this randomized, counterbalanced, cross-over study. We measured passive hallux range of motion (ROM) and then performed 3 minutes of either static stretching, PNF stretching (hold-relax-with agonist contraction), or no stretching. ROM was reassessed and TF c was measured. PNF stretching increased hallux extension (pre-PNF 81 ± 11°, post-PNF 90 ± 10°; P < 0.05) but not hallux flexion (pre-PNF 40 ± 7°, post-PNF 40 ± 7°; P > 0.05). Static stretching increased hallux extension (pre-static 80 ± 11°, post-static 88 ± 9°; P < 0.05) but not hallux flexion (pre-static 38 ± 9°, post-static 39 ± 8°; P > 0.05). No ROM changes occurred with no stretching (P > 0.05). TF c was unaffected by stretching (no stretching 18 ± 7 Hz, PNF 16 ± 4 Hz, static 16 ± 5 Hz; P = 0.37). Static and PNF stretching increased hallux extension, but neither increased TF c . Acute stretching may not prevent muscle cramping. Muscle Nerve 57: 473-477, 2018. © 2017 Wiley Periodicals, Inc.

A COMPARATIVE STUDY OF REAL-TIME AND STATIC ULTRASONOGRAPHY DIAGNOSES FOR THE INCIDENTAL DETECTION OF DIFFUSE THYROID DISEASE.

PubMed

Kim, Dong Wook

2015-08-01

The aim of this study was to compare the diagnostic accuracy of real-time and static ultrasonography (US) for the incidental detection of diffuse thyroid disease (DTD). In 118 consecutive patients, a single radiologist performed real-time US before thyroidectomy. For static US, the same radiologist retrospectively investigated the sonographic findings on a picture-archiving and communication system after 3 months. The diagnostic categories of both real-time and static US diagnoses were determined based on the number of abnormal findings, and the diagnostic indices were calculated by a receiver operating characteristic (ROC) curve analysis using the histopathologic results as the reference standard. Histopathologic results included normal thyroid (n = 77), Hashimoto thyroiditis (n = 11), non-Hashimoto lymphocytic thyroiditis (n = 29), and diffuse hyperplasia (n = 1). Normal thyroid and DTD showed significant differences in echogenicity, echotexture, glandular margin, and vascularity on both real-time and static US. There was a positive correlation between US categories and histopathologic results in both real-time and static US. The highest diagnostic indices were obtained when the cutoff criteria of real-time and static US diagnoses were chosen as indeterminate and suspicious for DTD, respectively. The ROC curve analysis showed that real-time US was superior to static US in diagnostic accuracy. Both real-time and static US may be helpful for the detection of incidental DTD, but real-time US is superior to static US for detecting incidental DTD.

Short-term predictive validity of the static-99 and static-99-R for indigenous and nonindigenous Australian sexual offenders.

PubMed

Smallbone, Stephen; Rallings, Mark

2013-06-01

Actuarial risk assessment (Static-99 and Static-99-R) scores were obtained for 399 Australian adult sexual offenders who were subsequently released from prison and followed up with searches of police arrest records (mean follow-up period = 29 months; range = 15-53 months). Indigenous offenders (n = 67; 16.8%) scored significantly higher on both the Static-99 (M = 4.04 vs. 2.89, p < .001) and Static-99-R (M = 3.72 vs. 2.22, p < .001), were more than twice as likely to be arrested for sexual offenses (9.0% vs. 4.1%, ns), and were significantly more likely to be arrested for nonsexual violent (28.4% vs. 1.9%, p < .001), any violent (including sexual; 37% vs. 5.9%, p < .001), and any offenses (58.2% vs. 21.6%, p < .001). For the combined groups, predictive accuracy of both instruments was comparable to results reported elsewhere. Predictive accuracy of the Static-99 was similar for indigenous and nonindigenous offenders. The Static-99-R was only marginally predictive of any violent recidivism (AUC = .65, 95% CI = [.52, .79]), and did not predict sexual (AUC = .61, 95% CI = [.45, .77]) or nonsexual violent recidivism (AUC = .65, 95% CI = [.48, .78]), for indigenous offenders. Higher risk scores, indigenous race, and unsupervised release all contributed unique variance to any violent recidivism. Results suggest that the Static-99 may be appropriate for assessing Australian indigenous sexual offenders, but more research is needed to test the validity of the Static-99-R for this population. We conclude that practitioners should consider the potential effects of racial differences and postrelease factors, as well as static risk factors, in their assessments.

Results of application of automatic computation of static corrections on data from the South Banat Terrain

NASA Astrophysics Data System (ADS)

Milojević, Slavka; Stojanovic, Vojislav

2017-04-01

Due to the continuous development of the seismic acquisition and processing method, the increase of the signal/fault ratio always represents a current target. The correct application of the latest software solutions improves the processing results and justifies their development. A correct computation and application of static corrections represents one of the most important tasks in pre-processing. This phase is of great importance for further processing steps. Static corrections are applied to seismic data in order to compensate the effects of irregular topography, the difference between the levels of source points and receipt in relation to the level of reduction, of close to the low-velocity surface layer (weathering correction), or any reasons that influence the spatial and temporal position of seismic routes. The refraction statics method is the most common method for computation of static corrections. It is successful in resolving of both the long-period statics problems and determining of the difference in the statics caused by abrupt lateral changes in velocity in close to the surface layer. XtremeGeo FlatironsTM is a program whose main purpose is computation of static correction through a refraction statics method and allows the application of the following procedures: picking of first arrivals, checking of geometry, multiple methods for analysis and modelling of statics, analysis of the refractor anisotropy and tomography (Eikonal Tomography). The exploration area is located on the southern edge of the Pannonian Plain, in the plain area with altitudes of 50 to 195 meters. The largest part of the exploration area covers Deliblato Sands, where the geological structure of the terrain and high difference in altitudes significantly affects the calculation of static correction. Software XtremeGeo FlatironsTM has powerful visualization and tools for statistical analysis which contributes to significantly more accurate assessment of geometry close to the surface layers and therefore more accurately computed static corrections.

Short Durations of Static Stretching when Combined with Dynamic Stretching do not Impair Repeated Sprints and Agility

PubMed Central

Wong, Del P.; Chaouachi, Anis; Lau, Patrick W.C.; Behm, David G.

2011-01-01

This study aimed to compare the effect of different static stretching durations followed by dynamic stretching on repeated sprint ability (RSA) and change of direction (COD). Twenty-five participants performed the RSA and COD tests in a randomized order. After a 5 min aerobic warm up, participants performed one of the three static stretching protocols of 30 s, 60 s or 90 s total duration (3 stretches x 10 s, 20 s or 30 s). Three dynamic stretching exercises of 30 s duration were then performed (90 s total). Sit-and-reach flexibility tests were conducted before the aerobic warm up, after the combined static and dynamic stretching, and post- RSA/COD test. The duration of static stretching had a positive effect on flexibility with 36.3% and 85.6% greater sit-and-reach scores with the 60 s and 90 s static stretching conditions respectively than with the 30 s condition (p ≤ 0.001). However there were no significant differences in RSA and COD performance between the 3 stretching conditions. The lack of change in RSA and COD might be attributed to a counterbalancing of static and dynamic stretching effects. Furthermore, the short duration (≤ 90 s) static stretching may not have provided sufficient stimulus to elicit performance impairments. Key points The duration of combined static and dynamic stretching had a positive effect on flexibility with 36.3% and 85.6% greater sit and reach scores with the 60 s and 90 s static stretching conditions respectively than with the 30 s condition (p ≤ 0.001). No significant differences in RSA and COD between the 3 stretching conditions. The lack of change in RSA and COD might be attributed to a counterbalancing of static and dynamic stretching effects. The short duration (≤ 90 s) static stretching may not have provided sufficient stimulus to elicit performance impairments. PMID:24149890

Short Durations of Static Stretching when Combined with Dynamic Stretching do not Impair Repeated Sprints and Agility.

PubMed

Wong, Del P; Chaouachi, Anis; Lau, Patrick W C; Behm, David G

2011-01-01

This study aimed to compare the effect of different static stretching durations followed by dynamic stretching on repeated sprint ability (RSA) and change of direction (COD). Twenty-five participants performed the RSA and COD tests in a randomized order. After a 5 min aerobic warm up, participants performed one of the three static stretching protocols of 30 s, 60 s or 90 s total duration (3 stretches x 10 s, 20 s or 30 s). Three dynamic stretching exercises of 30 s duration were then performed (90 s total). Sit-and-reach flexibility tests were conducted before the aerobic warm up, after the combined static and dynamic stretching, and post- RSA/COD test. The duration of static stretching had a positive effect on flexibility with 36.3% and 85.6% greater sit-and-reach scores with the 60 s and 90 s static stretching conditions respectively than with the 30 s condition (p ≤ 0.001). However there were no significant differences in RSA and COD performance between the 3 stretching conditions. The lack of change in RSA and COD might be attributed to a counterbalancing of static and dynamic stretching effects. Furthermore, the short duration (≤ 90 s) static stretching may not have provided sufficient stimulus to elicit performance impairments. Key pointsThe duration of combined static and dynamic stretching had a positive effect on flexibility with 36.3% and 85.6% greater sit and reach scores with the 60 s and 90 s static stretching conditions respectively than with the 30 s condition (p ≤ 0.001).No significant differences in RSA and COD between the 3 stretching conditions.The lack of change in RSA and COD might be attributed to a counterbalancing of static and dynamic stretching effects.The short duration (≤ 90 s) static stretching may not have provided sufficient stimulus to elicit performance impairments.

Correlation-based static correction of 4D seismic data with a demonstration at the Ketzin CO2 storage site, Germany

NASA Astrophysics Data System (ADS)

Bergmann, P.; Kashubin, A.; Ivandic, M.; Lueth, S.; Juhlin, C.

2013-12-01

Statics are time-shifts that occur in reflection seismic trace data and are generally considered to be mainly due to shallow velocity variations. Since the refraction static correction is most often based on first break picking and subsequent velocity model estimation, it is even today a labor-consuming and error-prone procedure. Time-lapse seismic also faces this issue in a temporal sense, since changes in statics, due to temporally variable near-surface conditions, are known to be first-order contributors to time-lapse noise. Considerable changes in the statics of repeated on-shore seismic surveys can occur due to precipitation-related changes in soil moisture and in the groundwater table, or may be due to man-made earthworks. Production-related or injection-related processes can cause considerable velocity changes, which leave time-shift imprints on time-lapse seismic data that can be very similar to that of near-surface velocity variations. In this context it is crucial to consider that refraction static corrections are in many cases of limited use, as they aim to enhance the stack coherency of the individual time-lapse data sets only. As an alternative, we propose a time-lapse difference (TLD) static correction that is focused on the accommodation of static changes between the time-lapse data sets. This TLD static correction decomposes the static differences that are determined from cross-correlations in a surface-consistent manner. It therefore does not require first break picking and inversion for velocities from repeat data sets. We tested the TLD static correction for a 4D case study from the Ketzin CO2 storage site, Germany. As a reference we used the results that were obtained from a recent processing in which refraction static corrections were performed individually on the time-lapse data sets. Although the TLD static corrections method is considerably less time-consuming, we found that it is providing a stack difference with enhanced S/N. This is particularly demonstrated for a 4D seismic signature that is proven to be due to injected CO2. This Ketzin case study shows further that the pattern of the TLD statics is highly consistent with patterns in the cumulative precipitation data. This observation confirms that near-surface velocity changes are due to changes in the soil-moisture saturation and that an efficient compensation for them can be achieved by the TLD static correction.

Does Static-99 predict recidivism among older sexual offenders?

PubMed

Hanson, R K

2006-10-01

Static-99 (Hanson & Thornton, 2000) is the most commonly used actuarial risk tool for estimating sexual offender recidivism risk. Recent research has suggested that its methods of accounting for the offenders' ages may be insufficient to capture declines in recidivism risk associated with advanced age. Using data from 8 samples (combined size of 3,425 sexual offenders), the present study found that older offenders had lower Static-99 scores than younger offenders and that Static-99 was moderately accurate in estimating relative recidivism risk in all age groups. Older offenders, however, had lower sexual recidivism rates than would be expected based on their Static-99 risk categories. Consequently, evaluators using Static-99 should considered advanced age in their overall estimate of risk.

Finite element modeling of ROPS in static testing and rear overturns.

PubMed

Harris, J R; Mucino, V H; Etherton, J R; Snyder, K A; Means, K H

2000-08-01

Even with the technological advances of the last several decades, agricultural production remains one of the most hazardous occupations in the United States. Death due to tractor rollover is a prime contributor to this hazard. Standards for rollover protective structures (ROPS) performance and certification have been developed by groups such as the Society of Automotive Engineers (SAE) and the American Society of Agricultural Engineers (ASAE) to combat these problems. The current ROPS certification standard, SAE J2194, requires either a dynamic or static testing sequence or both. Although some ROPS manufacturers perform both the dynamic and static phases of SAE J2194 testing, it is possible for a ROPS to be certified for field operation using static testing alone. This research compared ROPS deformation response from a simulated SAE J2194 static loading sequence to ROPS deformation response as a result of a simulated rearward tractor rollover. Finite element analysis techniques for plastic deformation were used to simulate both the static and dynamic rear rollover scenarios. Stress results from the rear rollover model were compared to results from simulated static testing per SAE J2194. Maximum stress values from simulated rear rollovers exceeded maximum stress values recorded during simulated static testing for half of the elements comprising the uprights. In the worst case, the static model underpredicts dynamic model results by approximately 7%. In the best case, the static model overpredicts dynamic model results by approximately 32%. These results suggest the need for additional experimental work to characterize ROPS stress levels during staged overturns and during testing according to the SAE standard.

Influence of static habitat attributes on local and regional Rocky intertidal community structure

USGS Publications Warehouse

Konar, B.; Iken, K.; Coletti, H.; Monson, Daniel H.; Weitzman, Ben P.

2016-01-01

Rocky intertidal communities are structured by local environmental drivers, which can be dynamic, fluctuating on various temporal scales, or static and not greatly varying across years. We examined the role of six static drivers (distance to freshwater, tidewater glacial presence, wave exposure, fetch, beach slope, and substrate composition) on intertidal community structure across the northern Gulf of Alaska. We hypothesized that community structure is less similar at the local scale compared with the regional scale, coinciding with static drivers being less similar on smaller than larger scales. We also hypothesized that static attributes mainly drive local biological community structure. For this, we surveyed five to six sites in each of the six regions in the mid and low intertidal strata. Across regions, static attributes were not consistently different and only small clusters of sites had similar attributes. Additionally, intertidal communities were less similar on the site compared with the region level. These results suggest that these biological communities are not strongly influenced by the local static attributes measured in this study. An alternative explanation is that static attributes among our regions are not different enough to influence the biological communities. This lack of evidence for a strong static driver may be a result of our site selection, which targeted rocky sheltered communities. This suggests that this habitat may be ideal to examine the influence of dynamic drivers. We recommend that future analyses of dynamic attributes may best be performed after analyses have demonstrated that sites do not differ in static attributes.

Acceleration of a Static Observer Near the Event Horizon of a Static Isolated Black Hole.

ERIC Educational Resources Information Center

Doughty, Noel A.

1981-01-01

Compares the magnitude of the proper acceleration of a static observer in a static, isolated, spherically symmetric space-time region with the Newtonian result including the situation in the interior of a perfect-fluid star. This provides a simple physical interpretation of surface gravity and illustrates the global nature of the event horizon.…

Martian Atmospheric Pressure Static Charge Elimination Tool

NASA Technical Reports Server (NTRS)

Johansen, Michael R.

2014-01-01

A Martian pressure static charge elimination tool is currently in development in the Electrostatics and Surface Physics Laboratory (ESPL) at NASA's Kennedy Space Center. In standard Earth atmosphere conditions, static charge can be neutralized from an insulating surface using air ionizers. These air ionizers generate ions through corona breakdown. The Martian atmosphere is 7 Torr of mostly carbon dioxide, which makes it inherently difficult to use similar methods as those used for standard atmosphere static elimination tools. An initial prototype has been developed to show feasibility of static charge elimination at low pressure, using corona discharge. A needle point and thin wire loop are used as the corona generating electrodes. A photo of the test apparatus is shown below. Positive and negative high voltage pulses are sent to the needle point. This creates positive and negative ions that can be used for static charge neutralization. In a preliminary test, a floating metal plate was charged to approximately 600 volts under Martian atmospheric conditions. The static elimination tool was enabled and the voltage on the metal plate dropped rapidly to -100 volts. This test data is displayed below. Optimization is necessary to improve the electrostatic balance of the static elimination tool.

Downy mildews on ornamental plants and their control.

PubMed

Skrzypczak, C

2006-01-01

Among downy mildews occurring on ornamentals in Poland the most dangerous are downy mildew of rose and downy mildew of German statice (Tartarian statice). Downy mildew of rose caused by Peronospora sparsa Berk. is a serious threat to commercial cultivation of cut roses, especially grown under plastic tunnels. Peronospora statices Lobik casual agent of German statice downy mildew can causes the total losses in the second year of statice cultivation more than 70%. Both pathogens are very difficult to control. Effectiveness of azoxystrobine, cymoxanil + famoxate, mancozeb, phosethyl aluminium, phosethyl aluminium + fenamidone, propamocarb in the control of P. sparsa and P. statices was presented. In the control of statice downy mildew none of tested compounds was able to control satisfactory the pathogen. Relatively the best results were obtained with mixture of fenamidone (88 microg/cm3) and phosethyl AL (1334 microg/cm3). In the control of rose downy mildew, the best results were obtained with phosethyl Al at concentration 1600 microg/cm3.

Utility of the Static-99 and Static-99R With Latino Sex Offenders.

PubMed

Leguízamo, Alejandro; Lee, Seung C; Jeglic, Elizabeth L; Calkins, Cynthia

2017-12-01

The predictive validity of the Static-99 measures with ethnic minorities in the United States has only recently been assessed with mixed results. We assessed the predictive validity of the Static-99 and Static-99R with a sample of Latino sex offenders ( N = 483) as well as with two subsamples (U.S.-born, including Puerto Rico, and non-U.S.-born). The overall sexual recidivism rate was very low (1.9%). Both the Static-99 measures were able to predict sexual recidivism for offenders born in the United States and Puerto Rico, but neither was effective in doing so for other Latino immigrants. Calibration analyses ( N = 303) of the Static-99R were consistent with the literature and provided support for the potential use of the measure with Latinos born in the United States and Puerto Rico. These findings and their implications are discussed as they pertain to the assessment of Latino sex offenders.

An easily implemented static condensation method for structural sensitivity analysis

NASA Technical Reports Server (NTRS)

Gangadharan, S. N.; Haftka, R. T.; Nikolaidis, E.

1990-01-01

A black-box approach to static condensation for sensitivity analysis is presented with illustrative examples of a cube and a car structure. The sensitivity of the structural response with respect to joint stiffness parameter is calculated using the direct method, forward-difference, and central-difference schemes. The efficiency of the various methods for identifying joint stiffness parameters from measured static deflections of these structures is compared. The results indicate that the use of static condensation can reduce computation times significantly and the black-box approach is only slightly less efficient than the standard implementation of static condensation. The ease of implementation of the black-box approach recommends it for use with general-purpose finite element codes that do not have a built-in facility for static condensation.

An embedded real-time red peach detection system based on an OV7670 camera, ARM cortex-M4 processor and 3D look-up tables.

PubMed

Teixidó, Mercè; Font, Davinia; Pallejà, Tomàs; Tresanchez, Marcel; Nogués, Miquel; Palacín, Jordi

2012-10-22

This work proposes the development of an embedded real-time fruit detection system for future automatic fruit harvesting. The proposed embedded system is based on an ARM Cortex-M4 (STM32F407VGT6) processor and an Omnivision OV7670 color camera. The future goal of this embedded vision system will be to control a robotized arm to automatically select and pick some fruit directly from the tree. The complete embedded system has been designed to be placed directly in the gripper tool of the future robotized harvesting arm. The embedded system will be able to perform real-time fruit detection and tracking by using a three-dimensional look-up-table (LUT) defined in the RGB color space and optimized for fruit picking. Additionally, two different methodologies for creating optimized 3D LUTs based on existing linear color models and fruit histograms were implemented in this work and compared for the case of red peaches. The resulting system is able to acquire general and zoomed orchard images and to update the relative tracking information of a red peach in the tree ten times per second.

An Embedded Real-Time Red Peach Detection System Based on an OV7670 Camera, ARM Cortex-M4 Processor and 3D Look-Up Tables

PubMed Central

Teixidó, Mercè; Font, Davinia; Pallejà, Tomàs; Tresanchez, Marcel; Nogués, Miquel; Palacín, Jordi

2012-01-01

This work proposes the development of an embedded real-time fruit detection system for future automatic fruit harvesting. The proposed embedded system is based on an ARM Cortex-M4 (STM32F407VGT6) processor and an Omnivision OV7670 color camera. The future goal of this embedded vision system will be to control a robotized arm to automatically select and pick some fruit directly from the tree. The complete embedded system has been designed to be placed directly in the gripper tool of the future robotized harvesting arm. The embedded system will be able to perform real-time fruit detection and tracking by using a three-dimensional look-up-table (LUT) defined in the RGB color space and optimized for fruit picking. Additionally, two different methodologies for creating optimized 3D LUTs based on existing linear color models and fruit histograms were implemented in this work and compared for the case of red peaches. The resulting system is able to acquire general and zoomed orchard images and to update the relative tracking information of a red peach in the tree ten times per second. PMID:23202040

Advanced robot locomotion.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry

This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics naturalmore » human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.« less

A natural-language interface to a mobile robot

NASA Technical Reports Server (NTRS)

Michalowski, S.; Crangle, C.; Liang, L.

1987-01-01

The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot.

Comparative analysis of numerical models of pipe handling equipment used in offshore drilling applications

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pawlus, Witold, E-mail: witold.p.pawlus@ieee.org; Ebbesen, Morten K.; Hansen, Michael R.

Design of offshore drilling equipment is a task that involves not only analysis of strict machine specifications and safety requirements but also consideration of changeable weather conditions and harsh environment. These challenges call for a multidisciplinary approach and make the design process complex. Various modeling software products are currently available to aid design engineers in their effort to test and redesign equipment before it is manufactured. However, given the number of available modeling tools and methods, the choice of the proper modeling methodology becomes not obvious and – in some cases – troublesome. Therefore, we present a comparative analysis ofmore » two popular approaches used in modeling and simulation of mechanical systems: multibody and analytical modeling. A gripper arm of the offshore vertical pipe handling machine is selected as a case study for which both models are created. In contrast to some other works, the current paper shows verification of both systems by benchmarking their simulation results against each other. Such criteria as modeling effort and results accuracy are evaluated to assess which modeling strategy is the most suitable given its eventual application.« less

LABRADOR: a learning autonomous behavior-based robot for adaptive detection and object retrieval

NASA Astrophysics Data System (ADS)

Yamauchi, Brian; Moseley, Mark; Brookshire, Jonathan

2013-01-01

As part of the TARDEC-funded CANINE (Cooperative Autonomous Navigation in a Networked Environment) Program, iRobot developed LABRADOR (Learning Autonomous Behavior-based Robot for Adaptive Detection and Object Retrieval). LABRADOR was based on the rugged, man-portable, iRobot PackBot unmanned ground vehicle (UGV) equipped with an explosives ordnance disposal (EOD) manipulator arm and a custom gripper. For LABRADOR, we developed a vision-based object learning and recognition system that combined a TLD (track-learn-detect) filter based on object shape features with a color-histogram-based object detector. Our vision system was able to learn in real-time to recognize objects presented to the robot. We also implemented a waypoint navigation system based on fused GPS, IMU (inertial measurement unit), and odometry data. We used this navigation capability to implement autonomous behaviors capable of searching a specified area using a variety of robust coverage strategies - including outward spiral, random bounce, random waypoint, and perimeter following behaviors. While the full system was not integrated in time to compete in the CANINE competition event, we developed useful perception, navigation, and behavior capabilities that may be applied to future autonomous robot systems.

Parameters design of the dielectric elastomer spring-roll bending actuator (Conference Presentation)

NASA Astrophysics Data System (ADS)

Li, Jinrong; Liu, Liwu; Liu, Yanju; Leng, Jinsong

2017-04-01

Dielectric elastomers are novel soft smart material that could deform sustainably when subjected to external electric field. That makes dielectric elastomers promising materials for actuators. In this paper, a spring-roll actuator that would bend when a high voltage is applied was fabricated based on dielectric elastomer. Using such actuators as active parts, the flexible grippers and inchworm-inspired crawling robots were manufactured, which demonstrated some examples of applications in soft robotics. To guide the parameters design of dielectric elastomer based spring-roll bending actuators, the theoretical model of such actuators was established based on thermodynamic theories. The initial deformation and electrical induced bending angle of actuators were formulated. The failure of actuators was also analyzed considering some typical failure modes like electromechanical instability, electrical breakdown, loss of tension and maximum tolerant stretch. Thus the allowable region of actuators was determined. Then the bending angle-voltage relations and failure voltages of actuators with different parameters, including stretches of the dielectric elastomer film, number of active layers, and dimensions of spring, were investigated. The influences of each parameter on the actuator performances were discussed, providing meaningful guidance to the optical design of the spring-roll bending actuators.

Design and analysis on robotic arm for serving hazard container

NASA Astrophysics Data System (ADS)

Razali, Zol Bahri; Kader, Mohamed Mydin M. Abdul; Yi, Khoo Zern; Daud, Mohd Hisam

2017-09-01

This paper presents about design, analyses development and fabrication of robotic arm for sorting multi-material. The major problem that urges the initiation of the project is the fact that manufacturing industry is growing at relatively faster rate. Most of the company produce high load robotic arm. Less company creates light weight, and affordable robotic arm. As the result, light weight and affordable robot is developing to cover this issue. Plastic material was used to construct the body of the robotic arm, and an optical sensor was implemented to provide basic recognition of object to be carried. The robotic arm used five servomotors for overall operation; four for its joints, and one for the gripping mechanism. The gripper was designed and fabricated using Perspex due to the light weight and high strength of the material. The operation of the robotic arm was governed by Basic Stamp programming sequence and the device was expected to differentiate material and other objects based on reflective theory, and perform subsequent operations afterwards. The SolidWorks was used to model the detail design of the robotic arm, and to simulate the motion of the device.

Controllable curvature from planar polymer sheets in response to light.

PubMed

Hubbard, Amber M; Mailen, Russell W; Zikry, Mohammed A; Dickey, Michael D; Genzer, Jan

2017-03-22

The ability to change shape and control curvature in 3D structures starting from planar sheets can aid in assembly and add functionality to an object. Herein, we convert planar sheets of shape memory polymers (SMPs) into 3D objects with controllable curvature by dictating where the sheets shrink. Ink patterned on the surface of the sheet absorbs infrared (IR) light, resulting in localized heating, and the material shrinks locally wherever the temperature exceeds the activation temperature, T a . We introduce two different mechanisms for controlling curvature within SMP sheets. The 'direct' mechanism uses localized shrinkage to induce curvature only in regions patterned with ink. The 'indirect' mechanism uses localized shrinkage in regions patterned with ink to induce curvature in neighboring regions without ink through a balance of internal stresses. Finite element analysis predicts the final shape of the polymer sheets with excellent qualitative agreement with experimental studies. Results from this study show that curvature can be controlled by the distribution and darkness of the ink pattern on the polymer sheet. Additionally, we utilize the direct and indirect curvature mechanisms to demonstrate the formation and actuation of gripper devices, which represent the potential utility of this approach.

Smart Hand For Manipulators

NASA Astrophysics Data System (ADS)

Fiorini, Paolo

1987-10-01

Sensor based, computer controlled end effectors for mechanical arms are receiving more and more attention in the robotics industry, because commonly available grippers are only adequate for simple pick and place tasks. This paper describes the current status of the research at JPL on a smart hand for a Puma 560 robot arm. The hand is a self contained, autonomous system, capable of executing high level commands from a supervisory computer. The mechanism consists of parallel fingers, powered by a DC motor, and controlled by a microprocessor embedded in the hand housing. Special sensors are integrated in the hand for measuring the grasp force of the fingers, and for measuring forces and torques applied between the arm and the surrounding environment. Fingers can be exercised under position, velocity and force control modes. The single-chip microcomputer in the hand executes the tasks of communication, data acquisition and sensor based motor control, with a sample cycle of 2 ms and a transmission rate of 9600 baud. The smart hand described in this paper represents a new development in the area of end effector design because of its multi-functionality and autonomy. It will also be a versatile test bed for experimenting with advanced control schemes for dexterous manipulation.

Grasping with mechanical intelligence. M.S. Thesis

NASA Technical Reports Server (NTRS)

Ulrich, Nathan Thatcher

1988-01-01

Many robotic hands have been designed and a number have been built. Because of the difficulty of controlling and using complex hands, which usually have nine or more degrees of freedom, the simple one- or two-degree-of-freedom gripper is still the most common robotic end effector. A new category of device is presented: a medium-complexity end effector. With three to five degrees of freedom, such a tool is much easier to control and use, as well as more economical, compact and lightweight than complex hands. In order to increase the versatility, it was necessary to identify grasping primitives and to implement them in the mechanism. In addition, power and enveloping grasps are stressed over fingertip and precision grasps. The design is based upon analysis of object apprehension types, requisite characteristics for active sensing, and a determination of necessary environmental interactions. Contained are the general concepts necessary to the design of a medium-complexity end effector, an analysis of typical performance, and a computer simulation of a grasp planning algorithm specific to this type of mechanism. Finally, some details concerning the UPenn Hand-a tool designed for the research laboratory-are presented.

A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242)

PubMed Central

Dülger, L. Canan; Kapucu, Sadettin

2016-01-01

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles. PMID:27610129

Mechanochemically Active Soft Robots.

PubMed

Gossweiler, Gregory R; Brown, Cameron L; Hewage, Gihan B; Sapiro-Gheiler, Eitan; Trautman, William J; Welshofer, Garrett W; Craig, Stephen L

2015-10-14

The functions of soft robotics are intimately tied to their form-channels and voids defined by an elastomeric superstructure that reversibly stores and releases mechanical energy to change shape, grip objects, and achieve complex motions. Here, we demonstrate that covalent polymer mechanochemistry provides a viable mechanism to convert the same mechanical potential energy used for actuation in soft robots into a mechanochromic, covalent chemical response. A bis-alkene functionalized spiropyran (SP) mechanophore is cured into a molded poly(dimethylsiloxane) (PDMS) soft robot walker and gripper. The stresses and strains necessary for SP activation are compatible with soft robot function. The color change associated with actuation suggests opportunities for not only new color changing or camouflaging strategies, but also the possibility for simultaneous activation of latent chemistry (e.g., release of small molecules, change in mechanical properties, activation of catalysts, etc.) in soft robots. In addition, mechanochromic stress mapping in a functional robotic device might provide a useful design and optimization tool, revealing spatial and temporal force evolution within the robot in a way that might be coupled to autonomous feedback loops that allow the robot to regulate its own activity. The demonstration motivates the simultaneous development of new combinations of mechanophores, materials, and soft, active devices for enhanced functionality.

Designs and concept reliance of a fully automated high-content screening platform.

PubMed

Radu, Constantin; Adrar, Hosna Sana; Alamir, Ab; Hatherley, Ian; Trinh, Trung; Djaballah, Hakim

2012-10-01

High-content screening (HCS) is becoming an accepted platform in academic and industry screening labs and does require slightly different logistics for execution. To automate our stand-alone HCS microscopes, namely, an alpha IN Cell Analyzer 3000 (INCA3000), originally a Praelux unit hooked to a Hudson Plate Crane with a maximum capacity of 50 plates per run, and the IN Cell Analyzer 2000 (INCA2000), in which up to 320 plates could be fed per run using the Thermo Fisher Scientific Orbitor, we opted for a 4 m linear track system harboring both microscopes, plate washer, bulk dispensers, and a high-capacity incubator allowing us to perform both live and fixed cell-based assays while accessing both microscopes on deck. Considerations in design were given to the integration of the alpha INCA3000, a new gripper concept to access the onboard nest, and peripheral locations on deck to ensure a self-reliant system capable of achieving higher throughput. The resulting system, referred to as Hestia, has been fully operational since the new year, has an onboard capacity of 504 plates, and harbors the only fully automated alpha INCA3000 unit in the world.

Touch Locating and Stretch Sensing Studies of Conductive Hydrogels with Applications to Soft Robots.

PubMed

Zhou, Yanmin; He, Bin; Yan, Zhe; Shang, Yinghui; Wang, Qigang; Wang, Zhipeng

2018-02-13

Soft robots possess great potential in environmental adaptations, while their environmental sensing abilities are critical. Conductive hydrogels have been suggested to possess sensing abilities. However, their application in soft robots is lacking. In this work, we fabricated a soft and stretchable gel material, introduced its sensing mechanisms, and developed a measurement setup. Both experimental and simulation studies indicate strong nonlinearity of touch locating on a square touch panel with Cartesian coordinates. To simplify the touch locating, we proposed a touch locating system based on round touch panels with polar coordinates. Mathematical calculations and finite element method (FEM) simulations showed that in this system the locating of a touch point was only determined by its polar radius. This was verified by experimental studies. As a resistor, a gel strip's resistance increases with stretching. To demonstrate their applications on soft robots, a 3D printed three-fingered soft gripper was employed with gel strips attached. During finger bending for rod grasping, the resistances of the gel strips increased, indicating stretching of the soft material. Furthermore, the strain and stress of a gel strip increased with a decrease of the rod diameter. These studies advance the application of conductive hydrogels on soft robots.

Designs and Concept-Reliance of a Fully Automated High Content Screening Platform

PubMed Central

Radu, Constantin; Adrar, Hosna Sana; Alamir, Ab; Hatherley, Ian; Trinh, Trung; Djaballah, Hakim

2013-01-01

High content screening (HCS) is becoming an accepted platform in academic and industry screening labs and does require slightly different logistics for execution. To automate our stand alone HCS microscopes, namely an alpha IN Cell Analyzer 3000 (INCA3000) originally a Praelux unit hooked to a Hudson Plate Crane with a maximum capacity of 50 plates per run; and the IN Cell Analyzer 2000 (INCA2000) where up to 320 plates could be fed per run using the Thermo Fisher Scientific Orbitor, we opted for a 4 meter linear track system harboring both microscopes, plate washer, bulk dispensers, and a high capacity incubator allowing us to perform both live and fixed cell based assays while accessing both microscopes on deck. Considerations in design were given to the integration of the alpha INCA3000, a new gripper concept to access the onboard nest, and peripheral locations on deck to ensure a self reliant system capable of achieving higher throughput. The resulting system, referred to as Hestia, has been fully operational since the New Year, has an onboard capacity of 504 plates, and harbors the only fully automated alpha INCA3000 unit in the World. PMID:22797489

A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242).

PubMed

Almusawi, Ahmed R J; Dülger, L Canan; Kapucu, Sadettin

2016-01-01

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles.

Apparatus for loading shape memory gripper mechanisms

DOEpatents

Lee, Abraham P.; Benett, William J.; Schumann, Daniel L.; Krulevitch, Peter A.; Fitch, Joseph P.

2001-01-01

A method and apparatus for loading deposit material, such as an embolic coil, into a shape memory polymer (SMP) gripping/release mechanism. The apparatus enables the application of uniform pressure to secure a grip by the SMP mechanism on the deposit material via differential pressure between, for example, vacuum within the SMP mechanism and hydrostatic water pressure on the exterior of the SMP mechanism. The SMP tubing material of the mechanism is heated to above the glass transformation temperature (Tg) while reshaping, and subsequently cooled to below Tg to freeze the shape. The heating and/or cooling may, for example, be provided by the same water applied for pressurization or the heating can be applied by optical fibers packaged to the SMP mechanism for directing a laser beam, for example, thereunto. At a point of use, the deposit material is released from the SMP mechanism by reheating the SMP material to above the temperature Tg whereby it returns to its initial shape. The reheating of the SM material may be carried out by injecting heated fluid (water) through an associated catheter or by optical fibers and an associated beam of laser light, for example.

Method for loading shape memory polymer gripper mechanisms

DOEpatents

Lee, Abraham P.; Benett, William J.; Schumann, Daniel L.; Krulevitch, Peter A.; Fitch, Joseph P.

2002-01-01

A method and apparatus for loading deposit material, such as an embolic coil, into a shape memory polymer (SMP) gripping/release mechanism. The apparatus enables the application of uniform pressure to secure a grip by the SMP mechanism on the deposit material via differential pressure between, for example, vacuum within the SMP mechanism and hydrostatic water pressure on the exterior of the SMP mechanism. The SMP tubing material of the mechanism is heated to above the glass transformation temperature (Tg) while reshaping, and subsequently cooled to below Tg to freeze the shape. The heating and/or cooling may, for example, be provided by the same water applied for pressurization or the heating can be applied by optical fibers packaged to the SMP mechanism for directing a laser beam, for example, thereunto. At a point of use, the deposit material is released from the SMP mechanism by reheating the SMP material to above the temperature Tg whereby it returns to its initial shape. The reheating of the SMP material may be carried out by injecting heated fluid (water) through an associated catheter or by optical fibers and an associated beam of laser light, for example.

Qualitative models of seat discomfort including static and dynamic factors.

PubMed

Ebe, K; Griffin, M J

2000-06-01

Judgements of overall seating comfort in dynamic conditions sometimes correlate better with the static characteristics of a seat than with measures of the dynamic environment. This study developed qualitative models of overall seat discomfort to include both static and dynamic seat characteristics. A dynamic factor that reflected how vibration discomfort increased as vibration magnitude increased was combined with a static seat factor which reflected seating comfort without vibration. The ability of the model to predict the relative and overall importance of dynamic and static seat characteristics on comfort was tested in two experiments. A paired comparison experiment, using four polyurethane foam cushions (50, 70, 100, 120 mm thick), provided different static and dynamic comfort when 12 subjects were exposed to one-third octave band random vertical vibration with centre frequencies of 2.5 and 5.5 Hz, at magnitudes of 0.00, 0.25 and 0.50 m x s(-2) rms measured beneath the foam samples. Subject judgements of the relative discomfort of the different conditions depended on both static and dynamic characteristics in a manner consistent with the model. The effect of static and dynamic seat factors on overall seat discomfort was investigated by magnitude estimation using three foam cushions (of different hardness) and a rigid wooden seat at six vibration magnitudes with 20 subjects. Static seat factors (i.e. cushion stiffness) affected the manner in which vibration influenced the overall discomfort: cushions with lower stiffness were more comfortable and more sensitive to changes in vibration magnitude than those with higher stiffness. The experiments confirm that judgements of overall seat discomfort can be affected by both the static and dynamic characteristics of a seat, with the effect depending on vibration magnitude: when vibration magnitude was low, discomfort was dominated by static seat factors; as the vibration magnitude increased, discomfort became dominated by dynamic factors.

Evaluation of Relationship between Trunk Muscle Endurance and Static Balance in Male Students

PubMed Central

Barati, Amirhossein; SafarCherati, Afsaneh; Aghayari, Azar; Azizi, Faeze; Abbasi, Hamed

2013-01-01

Purpose Fatigue of trunk muscle contributes to spinal instability over strenuous and prolonged physical tasks and therefore may lead to injury, however from a performance perspective, relation between endurance efficient core muscles and optimal balance control has not been well-known. The purpose of this study was to examine the relationship of trunk muscle endurance and static balance. Methods Fifty male students inhabitant of Tehran university dormitory (age 23.9±2.4, height 173.0±4.5 weight 70.7±6.3) took part in the study. Trunk muscle endurance was assessed using Sørensen test of trunk extensor endurance, trunk flexor endurance test, side bridge endurance test and static balance was measured using single-limb stance test. A multiple linear regression analysis was applied to test if the trunk muscle endurance measures significantly predicted the static balance. Results There were positive correlations between static balance level and trunk flexor, extensor and lateral endurance measures (Pearson correlation test, r=0.80 and P<0.001; r=0.71 and P<0.001; r=0.84 and P<0.001, respectively). According to multiple regression analysis for variables predicting static balance, the linear combination of trunk muscle endurance measures was significantly related to the static balance (F (3,46) = 66.60, P<0.001). Endurance of trunk flexor, extensor and lateral muscles were significantly associated with the static balance level. The regression model which included these factors had the sample multiple correlation coefficient of 0.902, indicating that approximately 81% of the variance of the static balance is explained by the model. Conclusion There is a significant relationship between trunk muscle endurance and static balance. PMID:24800004

Reliability and Correlation of Static and Dynamic Foot Arch Measurement in a Healthy Pediatric Population.

PubMed

Scholz, Timo; Zech, Astrid; Wegscheider, Karl; Lezius, Susanne; Braumann, Klaus-Michael; Sehner, Susanne; Hollander, Karsten

2017-09-01

Measurement of the medial longitudinal foot arch in children is a controversial topic, as there are many different methods without a definite standard procedure. The purpose of this study was to 1) investigate intraday and interrater reliability regarding dynamic arch index and static arch height, 2) explore the correlation between both arch indices, and 3) examine the variation of the medial longitudinal arch at two different times of the day. Eighty-six children (mean ± SD age, 8.9 ± 1.9 years) participated in the study. Dynamic footprint data were captured with a pedobarographic platform. For static arch measurements, a specially constructed caliper was used to assess heel-to-toe length and dorsum height. A mixed model was established to determine reliability and variation. Reliability was found to be excellent for the static arch height index in sitting (intraday, 0.90; interrater, 0.80) and standing positions (0.88 and 0.85) and for the dynamic arch index (both 1.00). There was poor correlation between static and dynamic assessment of the medial longitudinal arch (standing dynamic arch index, r = -0.138; sitting dynamic arch index, r = -0.070). Static measurements were found to be significantly influenced by the time of day (P < .001), whereas the dynamic arch index was unchanged (P = .845). This study revealed some further important findings. The static arch height index is influenced by gender (P = .004), whereas dynamic arch index is influenced by side (P = .011) and body mass index (P < .001). Dynamic and static foot measurements are reliable for medial longitudinal foot arch assessment in children. The variation of static arch measurements during the day has to be kept in mind. For clinical purposes, static and dynamic arch data should be interpreted separately.

Different Relative Orientation of Static and Alternative Magnetic Fields and Cress Roots Direction of Growth Changes Their Gravitropic Reaction

NASA Astrophysics Data System (ADS)

Sheykina, Nadiia; Bogatina, Nina

The following variants of roots location relatively to static and alternative components of magnetic field were studied. At first variant the static magnetic field was directed parallel to the gravitation vector, the alternative magnetic field was directed perpendicular to static one; roots were directed perpendicular to both two fields’ components and gravitation vector. At the variant the negative gravitropysm for cress roots was observed. At second variant the static magnetic field was directed parallel to the gravitation vector, the alternative magnetic field was directed perpendicular to static one; roots were directed parallel to alternative magnetic field. At third variant the alternative magnetic field was directed parallel to the gravitation vector, the static magnetic field was directed perpendicular to the gravitation vector, roots were directed perpendicular to both two fields components and gravitation vector; At forth variant the alternative magnetic field was directed parallel to the gravitation vector, the static magnetic field was directed perpendicular to the gravitation vector, roots were directed parallel to static magnetic field. In all cases studied the alternative magnetic field frequency was equal to Ca ions cyclotron frequency. In 2, 3 and 4 variants gravitropism was positive. But the gravitropic reaction speeds were different. In second and forth variants the gravitropic reaction speed in error limits coincided with the gravitropic reaction speed under Earth’s conditions. At third variant the gravitropic reaction speed was slowed essentially.

Estimation of static parameters based on dynamical and physical properties in limestone rocks

NASA Astrophysics Data System (ADS)

Ghafoori, Mohammad; Rastegarnia, Ahmad; Lashkaripour, Gholam Reza

2018-01-01

Due to the importance of uniaxial compressive strength (UCS), static Young's modulus (ES) and shear wave velocity, it is always worth to predict these parameters from empirical relations that suggested for other formations with same lithology. This paper studies the physical, mechanical and dynamical properties of limestone rocks using the results of laboratory tests which carried out on 60 the Jahrum and the Asmari formations core specimens. The core specimens were obtained from the Bazoft dam site, hydroelectric supply and double-curvature arch dam in Iran. The Dynamic Young's modulus (Ed) and dynamic Poisson ratio were calculated using the existing relations. Some empirical relations were presented to estimate uniaxial compressive strength, as well as static Young's modulus and shear wave velocity (Vs). Results showed the static parameters such as uniaxial compressive strength and static Young's modulus represented low correlation with water absorption. It is also found that the uniaxial compressive strength and static Young's modulus had high correlation with compressional wave velocity and dynamic Young's modulus, respectively. Dynamic Young's modulus was 5 times larger than static Young's modulus. Further, the dynamic Poisson ratio was 1.3 times larger than static Poisson ratio. The relationship between shear wave velocity (Vs) and compressional wave velocity (Vp) was power and positive with high correlation coefficient. Prediction of uniaxial compressive strength based on Vp was better than that based on Vs . Generally, both UCS and static Young's modulus (ES) had good correlation with Ed.

Quasi-Steady Simulations for the Efficient Generation of Static Aerodynamic Coefficients at Subsonic Velocity

DTIC Science & Technology

2016-09-01

ARL-TR-7790 ● SEP 2016 US Army Research Laboratory Quasi -Steady Simulations for the Efficient Generation of Static Aerodynamic... Quasi -Steady Simulations for the Efficient Generation of Static Aerodynamic Coefficients at Subsonic Velocity by Sidra I Silton Weapons and...To) December 2014–April 2015 4. TITLE AND SUBTITLE Quasi -Steady Simulations for the Efficient Generation of Static Aerodynamic Coefficients at

Investigation of two pitot-static tubes at supersonic speeds

NASA Technical Reports Server (NTRS)

Hasel, Lowell E; Coletti, Donald E

1948-01-01

The results of tests at a Mach number of 1.94 of an ogives-nose cylindrical pitot-static tube and similar tests at Mach numbers of 1.93 and 1.62 of a service pitot-static tube to determine body static pressures and indicated Mach numbers are presented and discussed. The radial pressure distribution on the cylindrical bodies is compared with that calculated by an approximate theory.

Quasi-Static Evolution, Catastrophe, and Failed Eruption of Solar Flux Ropes

DTIC Science & Technology

2016-12-30

Naval Research Laboratory Washington, DC 20375-5320 NRL/MR/6794--16-9710 Quasi -Static Evolution, Catastrophe, and “Failed” Eruption of Solar Flux...TELEPHONE NUMBER (include area code) b. ABSTRACT c. THIS PAGE 18. NUMBER OF PAGES 17. LIMITATION OF ABSTRACT Quasi -Static Evolution, Catastrophe...evolution of solar flux ropes subject to slowly increasing magnetic energy, encompassing quasi -static evolution, “catastrophic” transition to an eruptive

Trasonic Cascade Wind Tunnel Modification and Initial Tests.

DTIC Science & Technology

1980-06-01

27.57 Mathr 1.432 la No. 2 t S atic Pressure = 14.040 P.-ptg= .2686 Mach= 1.510 laz~r t~o. 29 Static Pressure= 13.946 p.ptO .26f2 Macha 1.513 T tp...54 Mach = 1.475 3. Ho. 45 Static Pressure t 12.811 PPto= .2451 Mach = 1.572 Tap No. 46 Static Pressures 12.563 P/Ptow .2403 Macha 1.586 Table c-i...T al) tNo. 64 Static Pressure- 11.981 P,/PtO= .2292 Macha 1.61:3 Twi:. No. 65 Static Pressure= 11.726 P’PtG= .2243 Mach= 1.632 af l N. 66 Sttatic

IKOS: A Framework for Static Analysis based on Abstract Interpretation (Tool Paper)

NASA Technical Reports Server (NTRS)

Brat, Guillaume P.; Laserna, Jorge A.; Shi, Nija; Venet, Arnaud Jean

2014-01-01

The RTCA standard (DO-178C) for developing avionic software and getting certification credits includes an extension (DO-333) that describes how developers can use static analysis in certification. In this paper, we give an overview of the IKOS static analysis framework that helps developing static analyses that are both precise and scalable. IKOS harnesses the power of Abstract Interpretation and makes it accessible to a larger class of static analysis developers by separating concerns such as code parsing, model development, abstract domain management, results management, and analysis strategy. The benefits of the approach is demonstrated by a buffer overflow analysis applied to flight control systems.

Evolution of brain-body allometry in Lake Tanganyika cichlids.

PubMed

Tsuboi, Masahito; Kotrschal, Alexander; Hayward, Alexander; Buechel, Severine Denise; Zidar, Josefina; Løvlie, Hanne; Kolm, Niclas

2016-07-01

Brain size is strongly associated with body size in all vertebrates. This relationship has been hypothesized to be an important constraint on adaptive brain size evolution. The essential assumption behind this idea is that static (i.e., within species) brain-body allometry has low ability to evolve. However, recent studies have reported mixed support for this view. Here, we examine brain-body static allometry in Lake Tanganyika cichlids using a phylogenetic comparative framework. We found considerable variation in the static allometric intercept, which explained the majority of variation in absolute and relative brain size. In contrast, the slope of the brain-body static allometry had relatively low variation, which explained less variation in absolute and relative brain size compared to the intercept and body size. Further examination of the tempo and mode of evolution of static allometric parameters confirmed these observations. Moreover, the estimated evolutionary parameters indicate that the limited observed variation in the static allometric slope could be a result of strong stabilizing selection. Overall, our findings suggest that the brain-body static allometric slope may represent an evolutionary constraint in Lake Tanganyika cichlids. © 2016 The Author(s).

Results of the recent precipitation static flight test program on the Navy P-3B antisubmarine aircraft

NASA Technical Reports Server (NTRS)

Whitaker, Mike

1991-01-01

Severe precipitation static problems affecting the communication equipment onboard the P-3B aircraft were recently studied. The study was conducted after precipitation static created potential safety-of-flight problems on Naval Reserve aircraft. A specially designed flight test program was conducted in order to measure, record, analyze, and characterize potential precipitation static problem areas. The test program successfully characterized the precipitation static interference problems while the P-3B was flown in moderate to extreme precipitation conditions. Data up to 400 MHz were collected on the effects of engine charging, precipitation static, and extreme cross fields. These data were collected using a computer controlled acquisition system consisting of a signal generator, RF spectrum and audio analyzers, data recorders, and instrumented static dischargers. The test program is outlined and the computer controlled data acquisition system is described in detail which was used during flight and ground testing. The correlation of test results is also discussed which were recorded during the flight test program and those measured during ground testing.

Three Inexpensive Static-Electricity Demonstrations.

ERIC Educational Resources Information Center

Gore, Gordon R.; Gregg, William R.

1992-01-01

Describes demonstrations to (1) construct an inexpensive static electricity detector; (2) obtain an abundant supply of either negative or positive charge using household items; and (3) create static electricity using a Tesla coil or Van de Graaff generator. (MDH)

Static Multiple-Pole Homopolar Generator With a Superconducting Screen,

DTIC Science & Technology

1983-11-03

STANAR193-A OlCFILE GORY 00 FOREIGN TECHNOLOGY DIVISION STATIC MULTIPLE-POLE HOMOPOLAR GENERATOR WITH A SUPERC9ONDUCTING SCREEN by V.P. Kartsev, avld...November 1983 MICROFICHE MJR: FTD-83-C-001336 STATIC %fULTIPLE-POLE HOMOPOLAR GENERATOR WITH A SUPRCONDUCTING SCREEN By: V.P. Kartsev, and I.M. Yegorov...this translation were extracted from the best quality copy available. STATIC MULTIPLE-POLE HOMOPOLAR GENERATOR WITH A SUPERCONDUCTING SCREEN V.P

The use and misuse of aircraft and missile RCS statistics

NASA Astrophysics Data System (ADS)

Bishop, Lee R.

1991-07-01

Both static and dynamic radar cross sections measurements are used for RCS predictions, but the static data are less complete than the dynamic. Integrated dynamics RCS data also have limitations for prediction radar detection performance. When raw static data are properly used, good first-order detection estimates are possible. The research to develop more-usable RCS statistics is reviewed, and windowing techniques for creating probability density functions from static RCS data are discussed.

Assessment of Marine Coatings at a Central California Static Immersion Test Site

DTIC Science & Technology

2016-10-27

VA 220600-6218 RE: Contract Number N00014-15-1-2321 Assessment of Marine Coatings at a Central California Static Immersion Test Site Principal...Technical Report 05/01/2015 - 07/29/2016 Assessment of Marine Coatings at a Central California Static Immersion Test Site Dean E. Wendt Cal Poly...to test the relationships between the recruitment of fouling organisms to intersite panels and water quality parameters. The static immersion site

Effect of inlet disturbances on fan inlet noise during a static test

NASA Technical Reports Server (NTRS)

Bekofske, K. L.; Sheer, R. E., Jr.; Wang, J. C. F.

1977-01-01

Measurements of fan rotor inlet noise taken during static test situations are at variance with aircraft engine flight data. In particular, static tests generally yield a significantly higher tone at blade passage frequency than that measured during flight. To explain this discrepancy, the extent of the influence of inlet ground vortices and large-scale inlet turbulence on the forward-radiated fan noise measured at a static test facility was investigated. While such inlet disturbances were generated intentionally in an anechoic test chamber, far-field acoustic measurements and inlet flow-field hot-film mappings of a fan rotor were obtained. Experimental results indicate that the acoustic effect of such disturbances appears to be less severe for supersonic than for subsonic tip speeds. Further, a reverse flow that occurs on the exterior cowl in static test facilities appears to be an additional prime candidate for creating inlet disturbances and causing variance between flight and static acoustic data.

Influence of relative humidity and temperature on quantity of electric charge of static protective clothing used in petrochemical industry

NASA Astrophysics Data System (ADS)

Zhang, Yunpeng; Liu, Quanzhen; Liu, Baoquan; Li, Yipeng; Zhang, Tingting

2013-03-01

In this paper, the working principle of static protective clothing and its testing method of quantity of electric charge are introduced, and the influence of temperature and relative humidity on the quantity of electric charge (qe) of static protective clothing is studied by measuring qe of different clothing samples. The result shows that temperature and relative humidity can influence qe of static protective clothing to some extent and the influence of relative humidity is bigger than that of temperature. According to experimental results, the relationship of qe and relative humidity and temperature was analysed, and the safety boundary of quantity of electric charge is discussed. In order to reduce the occurrence of electrostatic accidents and ensure safe production and operation of petrochemical industry, some suggestions on choosing and using of static protective clothing are given for guaranteeing its static protective performance.

A short static-pressure probe design for supersonic flow

NASA Technical Reports Server (NTRS)

Pinckney, S. Z.

1975-01-01

A static-pressure probe design concept was developed which has the static holes located close to the probe tip and is relatively insensitive to probe angle of attack and circumferential static hole location. Probes were constructed with 10 and 20 deg half-angle cone tips followed by a tangent conic curve section and a tangent cone section of 2, 3, or 3.5 deg, and were tested at Mach numbers of 2.5 and 4.0 and angles of attack up to 12 deg. Experimental results indicate that for stream Mach numbers of 2.5 and 4.0 and probe angle of attack within + or - 10 deg, values of stream static pressure can be determined from probe calibration to within about + or - 4 percent. If the probe is aligned within about 7 deg of the flow experimental results indicated, the stream static pressures can be determined to within 2 percent from probe calibration.

Vibration control in statically indeterminate adaptive truss structures

NASA Technical Reports Server (NTRS)

Baycan, C. M.; Utku, Senol; Wada, Ben K.

1993-01-01

In this work vibration control of statically indeterminate adaptive truss structures is investigated. Here, the actuators (i.e., length adjusting devices) that are used for vibration control, work against the axial forces caused by the inertial forces. In statically determinate adaptive trusses no axial force is induced by the actuation. The control problem in statically indeterminate trusses may be dominated by the actuation-induced axial element forces. The creation of actuation-induced axial forces puts the system to a higher energy state, thus aggravates the controls. It is shown that by the usage of sufficient number of slave actuators in addition to the actual control actuators, the actuation-induced axial element forces can be nullified, and the control problem of the statically indeterminate adaptive truss problem is reduced to that of a statically determinate one. It is also shown that the usage of slave actuators saves a great amount of control energy and provides robustness for the controls.

Temporal static stress drop variations due to injection activity at The Geysers geothermal field, California

NASA Astrophysics Data System (ADS)

Staszek, M.; Orlecka-Sikora, B.; Leptokaropoulos, K.; Kwiatek, G.; Martínez-Garzón, P.

2017-07-01

We use a high-quality data set from the NW part of The Geysers geothermal field to determine statistical significance of temporal static stress drop variations and their relation to injection rate changes. We use a group of 322 seismic events which occurred in the proximity of Prati-9 and Prati-29 injection wells to examine the influence of parameters such as moment magnitude, focal mechanism, hypocentral depth, and normalized hypocentral distances from open-hole sections of injection wells on static stress drop changes. Our results indicate that (1) static stress drop variations in time are statistically significant, (2) statistically significant static stress drop changes are inversely related to injection rate fluctuations. Therefore, it is highly expected that static stress drop of seismic events is influenced by pore pressure in underground fluid injection conditions and depends on the effective normal stress and strength of the medium.

EDITORIAL: Artificial Muscles: Selected papers from the 5th World Congress on Biomimetics, Artificial Muscles and Nano-Bio (Osaka, Japan, 25-27 November 2009) Artificial Muscles: Selected papers from the 5th World Congress on Biomimetics, Artificial Muscles and Nano-Bio (Osaka, Japan, 25-27 November 2009)

NASA Astrophysics Data System (ADS)

Shahinpoor, Mohsen

2011-12-01

The 5th World Congress on Biomimetics, Artificial Muscles and Nano-Bio and the 4th International Conference on Artificial Muscles were held in Osaka, Japan, 23-27 November 2009. This special section of Smart Materials and Structures is devoted to a selected number of research papers presented at this international conference and congress. Of the 76 or so papers presented at the conference, only 10 papers were finally selected, reviewed and accepted for this special section, following the regular reviewing procedures of the journal. This special section is focused on polymeric artificial muscles, electroactive polymers, multifunctional nanocomposites and their applications. In particular, an electromechanical model for self-sensing ionic polymer-metal composite actuating devices with patterned surface electrodes is presented which discusses the concept of creating self-sensing ionic polymer-metal composite (IPMC) actuating devices with patterned surface electrodes where actuator and sensor elements are separated by a grounded shielding electrode. Eventually, an electromechanical model of the device is also proposed and validated. Following that, there is broad coverage of polytetrahydrofurane-polyethylene oxide-PEDOT conducting interpenetrating polymer networks (IPNs) for high speed actuators. The conducting polymer (poly(3,4-ethylenedioxythiophene)) is incorporated within the IPNs, which are synthesized from polyethylene oxide (PEO)/polytetrahydrofurane (PTHF) networks. PEO/PTHF IPNs are prepared using poly(ethylene glycol) methacrylate and dimethacrylate and hydroxythelechelic PTHF as starting materials. The conducting IPN actuators are prepared by oxidative polymerization of 3,4-ethylenedioxithiophene (EDOT) using FeCl3 as an oxidizing agent within the PEO/PTHF IPN host matrix. Subsequently, giant and reversible magnetorheology of carrageenan/iron oxide magnetic gels are discussed and the effect of magnetic fields on the viscoelastic properties, magnetorheological effect of carrageenan gel containing iron oxide particles are investigated using dynamic viscoelastic measurements under magnetic fields. Furthermore, the relationship between the magnetorheology and the elasticity of magnetic gel is discussed. This special section then covers the characteristics of ionic polymer-metal composite with chemically-doped TiO2 particles to improve the bending performance of ionic polymer-metal composite (IPMC) actuators. This study is mainly focused on the characterization of the physical, electrochemical, and electromechanical properties of TiO2-doped ionic polymer membranes, and IPMCs prepared by the sol-gel method, which results in a uniform distribution of the particles inside the polymer membrane. It was determined that the lifetime of IPMC is strongly dependent on the level of water uptake. This paper is then followed by a presentation on training and shape retention in conducting polymer artificial muscles. Electrochemomechanical deformation (ECMD) of the conducting polymer, polyaniline film, is studied to investigate the behavior of actuation under tensile loads. The ECMD is induced by strains due to insertion of ionic species (cyclic strain) and a creep due to applied loads during the redox cycle. The cyclic strain is enhanced by the experience of high tensile loads, indicating a training effect. The training effect is explained by the enhanced electrochemical activity of the film. The special section then presents a paper on the current status and future prospects of power generators using dielectric elastomers. Electroactive polymer artificial muscle (EPAM), known as 'dielectric elastomer', appears to offer unique capabilities as an actuator and electrical power generator. However, the power output levels of such generators are small and the efficiencies are rather high. For example, electrical energy conversion efficiency of over 70% has been achieved. The ability of EPAM to produce hydrogen fuel for energy storage was also demonstrated. Because the energy conversion principle of EPAM is capacitive in nature, the performance is largely size-independent. Formation of motile assembly of microtubules driven by kinesins is presented next. Microtubule (MT) and kinesin are rail and motor proteins that are involved in various moving events of eukaryotic cells in natural systems. In vitro, the sliding motion of microtubules (rail) can be reproduced on a kinesin (motor protein)-coated surface coupled with adenosine triphosphate (ATP) hydrolysis, which is called a 'motility assay'. Based on this technique, a method is reported for forming MT assemblies by an active self-assembly (AcSA) process, in which MTs are crosslinked during a sliding motion on a kinesin-coated surface. Streptavidin (ST) is employed as glue to crosslink biotin-labeled MTs. This discussion is then followed by a paper on the performances of fast-moving low-voltage electromechanical actuators based on single-walled carbon nanotubes and ionic liquids. Here the mechanical and electrical properties of the polymer-free single-walled carbon nanotube (SWNT) sheets containing different contents of ionic liquids (ILs) are reported. The polymer-free SWNT sheets are prepared with the knowledge that millimeter-long 'super growth' carbon nanotubes (SG-SWNTs), produced by a water-assisted modified CVD method, associate together tightly with ILs. The molecular mechanism of electroactive polymer actuators is then discussed in the next paper. Movement of ionic electroactive polymer actuators utilizes their anisotropic volume change, which is induced by the applied voltage. The mechanism of the volume change is, however, not well understood, especially at the molecular level. The current understanding of the mechanism of the volume change at the molecular level is reviewed, focusing on the actuators made with carbon materials. Then, the pressure generated in the actuators in response to the applied voltage based on the results of the Monte Carlo simulation is discussed. It is shown that the mechanism of the actuators can be analyzed at the molecular level in terms of the balance between the electrostatic and volume exclusion interactions that act among the electrode materials and the electrolyte ions. The special section then presents a master curve for analyzing the electrochemical aging and memory effects of poly(3,4-ethylenedioxythiophene). The memory effect of conducting polymers in an electrochemical environment is investigated. This memory effect is related to the electromechanical responses of the conducting polymer. Poly(3,4-ethylenedioxythiophene) is chosen because of its interesting properties—mainly its chemical and electrochemical stabilities. By means of cyclic voltammetry, the influence of the waiting time tw at a holding potential Ew in relation to the conformational relaxation process occurring in the conducting polymer is analyzed. The effect of electrochemical aging on the electrical properties is also explained from the viewpoint of the rearrangement of polymer chains. This completes a brief report on the content of the special section on artificial muscles. I would like to thank the contributing authors of this collection of papers on artificial muscles for their outstanding and unique contributions. I am also indebted to all of the reviewers, editors and editorial staff who handled the reviews of all the papers for their time and effort. I would like to express my sincere thanks and appreciation to Professor E Garcia, Editor-in-Chief, for his encouragement and support, and for providing the opportunity to publish this special section of Smart Materials and Structures. I am also grateful to the IOP Publishing team for their support. In particular, I am greatly indebted to publisher Natasha Leeper, for her help and excellent management in the preparation of this special section on artificial muscles.

Hypothesis: the risk of childhood leukemia is related to combinations of power-frequency and static magnetic fields.

PubMed

Bowman, J D; Thomas, D C; London, S J; Peters, J M

1995-01-01

We present a hypothesis that the risk of childhood leukemia is related to exposure to specific combinations of static and extremely-low-frequency (ELF) magnetic fields. Laboratory data from calcium efflux and diatom mobility experiments were used with the gyromagnetic equation to predict combinations of 60 Hz and static magnetic fields hypothesized to enhance leukemia risk. The laboratory data predicted 19 bands of the static field magnitude with a bandwidth of 9.1 microT that, together with 60 Hz magnetic fields, are expected to have biological activity. We then assessed the association between this exposure metric and childhood leukemia using data from a case-control study in Los Angeles County. ELF and static magnetic fields were measured in the bedrooms of 124 cases determined from a tumor registry and 99 controls drawn from friends and random digit dialing. Among these subjects, 26 cases and 20 controls were exposed to static magnetic fields lying in the predicted bands of biological activity centered at 38.0 microT and 50.6 microT. Although no association was found for childhood leukemia in relation to measured ELF or static magnetic fields alone, an increasing trend of leukemia risk with measured ELF fields was found for subjects within these static field bands (P for trend = 0.041). The odds ratio (OR) was 3.3 [95% confidence interval (CI) = 0.4-30.5] for subjects exposed to static fields within the derived bands and to ELF magnetic field above 0.30 microT (compared to subjects exposed to static fields outside the bands and ELF magnetic fields below 0.07 microT). When the 60 Hz magnetic fields were assessed according to the Wertheimer-Leeper code for wiring configurations, leukemia risks were again greater with the hypothesized exposure conditions (OR = 9.2 for very high current configurations within the static field bands; 95% CI = 1.3-64.6). Although the risk estimates are based on limited magnetic field measurements for a small number of subjects, these findings suggest that the risk of childhood leukemia may be related to the combined effects of the static and ELF magnetic fields. Further tests of the hypothesis are proposed.

Indentation-flexure and low-velocity impact damage in graphite/epoxy laminates

NASA Technical Reports Server (NTRS)

Kwon, Young S.; Sankar, Bhavani V.

1992-01-01

Static indentation and low velocity impact tests were performed on quasi-isotropic and cross ply graphite/epoxy composite laminates. The load deflection relations in static tests and impact force history in the impact tests were recorded. The damage was assessed by using ultrasonic C-scanning and photomicrographic techniques. The static behavior of the laminates and damage progression during loading, unloading, and reloading were explained by a simple plate delamination model. A good correlation existed between the static and impact responses. It was found that results from a few static indentation-flexture tests can be used to predict the response and damage in composite laminates due to a class of low velocity impact events.

Photoexcitation and ionization in carbon dioxide - Theoretical studies in the separated-channel static-exchange approximation

NASA Technical Reports Server (NTRS)

Padial, N.; Csanak, G.; Mckoy, B. V.; Langhoff, P. W.

1981-01-01

Vertical-electronic static-exchange photoexcitation and ionization cross sections are reported which provide a first approximation to the complete dipole spectrum of CO2. Separated-channel static-exchange calculations of vertical-electronic transition energies and oscillator strengths, and Stieltjes-Chebyshev moment methods were used in the development. Detailed comparisons were made of the static-exchange excitation and ionization spectra with photoabsorption, electron-impact excitation, and quantum-defect estimates of discrete transition energies and intensities, and with partial-channel photoionization cross sections obtained from fluorescence measurements and from tunable-source and (e, 2e) photoelectron spectroscopy. Results show that the separate-channel static-exchange approximation is generally satisfactory in CO2.

Quasi Static and Dynamic Characterization of Equal Channel Angular Extrusion (ECAE) Processed and Rolled AZ31 Magnesium Alloy Sheet

DTIC Science & Technology

2017-04-01

ARL-TR-8006 ● Apr 2017 US Army Research Laboratory Quasi -Static and Dynamic Characterization of Equal Channel Angular Extrusion...originator. ARL-TR-8006 ● Apr 2017 US Army Research Laboratory Quasi -Static and Dynamic Characterization of Equal Channel Angular...April 2017 2. REPORT TYPE Technical Report 3. DATES COVERED (From - To) April 2015–January 2016 4. TITLE AND SUBTITLE Quasi -Static and Dynamic

The Influence of Forward Flight on Propeller Noise

NASA Technical Reports Server (NTRS)

Magliozzi, B.

1977-01-01

The effect of flight on blade surface pressures and propeller noise was reported. There were significant differences in blade surface pressures and far-field noise between static and flight conditions. The static data showed many high-intensity, tone-like peaks whereas the flight data was generally free from tones. The turbulence ingested by the propeller operating statically was dominated by long, thin eddies. In flight the scale of the turbulence was greately reduced from that observed statically.

A Comparison of Quasi-Static Indentation Testing to Low Velocity Impact Testing

NASA Technical Reports Server (NTRS)

Nettles, Alan T.; Douglas, Michael J.

2001-01-01

The need for a static test method for modeling low-velocity foreign object impact events to composites would prove to be very beneficial to researchers since much more data can be obtained from a static test than from an impact test. In order to examine if this is feasible, a series of static indentation and low velocity impact tests were carried out and compared. Square specimens of many sizes and thickness were utilized to cover the array of types of low velocity impact events. Laminates with a n/4 stacking sequence were employed since this is by the most common type of engineering laminate. Three distinct flexural rigidities under two different boundary conditions were tested in order to obtain damage due to large deflections, contact stresses and both to examine if the static indentation-impact comparisons are valid under the spectrum of damage modes that can be experienced. Comparisons between static indentation and low velocity impact tests were based on the maximum applied transverse load. The dependent parameters examined included dent depth, back surface crack length, delamination area and to a limited extent, load-deflection behavior. Results showed that no distinct differences could be seen between the static indentation tests and the low velocity impact tests, indicating that static indentation can be used to represent a low velocity impact event.

A Comparison of Quasi-Static Indentation to Low-Velocity Impact

NASA Technical Reports Server (NTRS)

Nettles, A. T.; Douglas, M. J.

2000-01-01

A static test method for modeling low-velocity foreign object impact events to composites would prove to be very beneficial to researchers since much more data can be obtained from a static test than from an impact test. In order to examine if this is feasible, a series of static indentation and low-velocity impact tests were carried out and compared. Square specimens of many sizes and thicknesses were utilized to cover the array of types of low velocity impact events. Laminates with a pi/4 stacking sequence were employed since this is by far the most common type of engineering laminate. Three distinct flexural rigidities -under two different boundary conditions were tested in order to obtain damage ranging from that due to large deflection to contact stresses and levels in-between to examine if the static indentation-impact comparisons are valid under the spectrum of damage modes that can be experienced. Comparisons between static indentation and low-velocity impact tests were based on the maximum applied transverse load. The dependent parameters examined included dent depth, back surface crack length, delamination area, and to a limited extent, load-deflection behavior. Results showed that no distinct differences could be seen between the static indentation tests and the low-velocity impact tests, indicating that static indentation can be used to represent a low-velocity impact event.

A foundational methodology for determining system static complexity using notional lunar oxygen production processes

NASA Astrophysics Data System (ADS)

Long, Nicholas James

This thesis serves to develop a preliminary foundational methodology for evaluating the static complexity of future lunar oxygen production systems when extensive information is not yet available about the various systems under consideration. Evaluating static complexity, as part of a overall system complexity analysis, is an important consideration in ultimately selecting a process to be used in a lunar base. When system complexity is higher, there is generally an overall increase in risk which could impact the safety of astronauts and the economic performance of the mission. To evaluate static complexity in lunar oxygen production, static complexity is simplified and defined into its essential components. First, three essential dimensions of static complexity are investigated, including interconnective complexity, strength of connections, and complexity in variety. Then a set of methods is developed upon which to separately evaluate each dimension. Q-connectivity analysis is proposed as a means to evaluate interconnective complexity and strength of connections. The law of requisite variety originating from cybernetic theory is suggested to interpret complexity in variety. Secondly, a means to aggregate the results of each analysis is proposed to create holistic measurement for static complexity using the Single Multi-Attribute Ranking Technique (SMART). Each method of static complexity analysis and the aggregation technique is demonstrated using notional data for four lunar oxygen production processes.

A Comparison of the Immediate Effects of Eccentric Training vs Static Stretch on Hamstring Flexibility in High School and College Athletes.

PubMed

Nelson, Russell T

2006-05-01

A pre-event static stretching program is often used to prepare an athlete for competition. Recent studies have suggested that static stretching may not be an effective method for stretching the muscle prior to competition. The intent of this study was to compare the immediate effect of static stretching, eccentric training, and no stretching/training on hamstring flexibility in high school and college athletes. Seventy-five athletes, with a mean age of 17.22 (+/- 1.30) were randomly assigned to one of three groups - thirty- second static stretch one time, an eccentric training protocol through a full range of motion, and a control group. All athletes had limited hamstring flexibility, defined as a 20° loss of knee extension measured with the femur held at 90° of hip flexion. A significant difference was indicated by follow up analysis between the control group (gain = -1.08°) and both the static stretch (gain = 5.05°) and the eccentric training group (gain = 9.48°). In addition, the gains in the eccentric training group were significantly greater than the static stretch group. The findings of this study reveal that one session of eccentrically training through a full range of motion improved hamstring flexibility better than the gains made by a static stretch group or a control group.

A Comparison of the Immediate Effects of Eccentric Training vs Static Stretch on Hamstring Flexibility in High School and College Athletes

PubMed Central

2006-01-01

Background A pre-event static stretching program is often used to prepare an athlete for competition. Recent studies have suggested that static stretching may not be an effective method for stretching the muscle prior to competition. Objective The intent of this study was to compare the immediate effect of static stretching, eccentric training, and no stretching/training on hamstring flexibility in high school and college athletes. Methods Seventy-five athletes, with a mean age of 17.22 (+/- 1.30) were randomly assigned to one of three groups - thirty- second static stretch one time, an eccentric training protocol through a full range of motion, and a control group. All athletes had limited hamstring flexibility, defined as a 20° loss of knee extension measured with the femur held at 90° of hip flexion. Results A significant difference was indicated by follow up analysis between the control group (gain = -1.08°) and both the static stretch (gain = 5.05°) and the eccentric training group (gain = 9.48°). In addition, the gains in the eccentric training group were significantly greater than the static stretch group. Discussion and Conclusion The findings of this study reveal that one session of eccentrically training through a full range of motion improved hamstring flexibility better than the gains made by a static stretch group or a control group. PMID:21522215

Evaluation of Geosynthetic-Reinforced Flexible Pavements using Static Plate Load Tests

DOT National Transportation Integrated Search

2010-01-01

This study focuses on the response of full-scale geogrid-reinforced flexible pavements to static surface loading. Specifically, static plate load (SPL) tests were performed on a low-volume, asphalt pavement frontage road in Eastern Arkansas, USA (the...

14 CFR 25.175 - Demonstration of static longitudinal stability.

Code of Federal Regulations, 2010 CFR

2010-01-01

... stability. 25.175 Section 25.175 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Flight Stability § 25.175 Demonstration of static longitudinal stability. Static longitudinal stability must be shown as follows: (a...

Extensional ionomeric polymer conductor composite actuators with ionic liquids

NASA Astrophysics Data System (ADS)

Liu, Sheng; Lin, Minren; Zhang, Qiming

2008-03-01

Although the Ionic Polymer-Metal Composite (IPMC) actuators developed up to date are in the form of bending actuators, development of extensional actuators based on IMPC is highly desirable from practical applications and fundamental understanding points of view. This talk presents the design, fabrication and characterization of a recent work on an extensional Ionic Polymer-Metal Composite actuator. The extensional actuator consists of the Nafion ionomer as the matrix and the sub-micron size RuO II particles as the conductive filler for the conductor/ionomr composites. In this investigation, several ionic liquids (IL) were investigated. For a Nafion/RuO II composite with 1-Ethyl-3-methylimidazolium trifluoromethanesulfonate (EMI-Tf) IL, it was found that as the ions are driven into the ionomer/RuO II composite (the composite under negative voltage), an extensional strain of 0.9% was observed; while as the ions were expelled from the ionomer/RuO II composite (under positive voltage), a contraction of -1.2% was observed. The results indicate that multiple ions are participating in charge transport and actuation process. In this paper, we also discuss several design considerations for future extensional actuators with fast response, much improved strain and stress level. Especially an actuator based on multilayer configuration can significantly increase the electric field level in the actuator and consequently significantly improve the actuator speed. The extensional actuator investigated here provides a unique platform to investigate various phenomena related to ion transport and their interaction with the ionomer/conductor matrix to realize high electromechanical performance.

Duration Dependent Effect of Static Stretching on Quadriceps and Hamstring Muscle Force.

PubMed

Alizadeh Ebadi, Leyla; Çetin, Ebru

2018-03-13

The aim of this study was to determine the acute effect of static stretching on hamstring and quadriceps muscles' isokinetic strength when applied for various durations to elite athletes, to investigate the effect of different static stretching durations on isokinetic strength, and finally to determine the optimal stretching duration. Fifteen elite male athletes from two different sport branches (10 football and five basketball) participated in this study. Experimental protocol was designed as 17 repetitive static stretching exercises for hamstring and quadriceps muscle groups according to the indicated experimental protocols; ((A) 5 min jogging; (B) 5 min jogging followed by 15 s static stretching; (C) 5 min jogging followed by 30 s static stretching; (D) 5 min jogging, followed by static stretching for 45 s). Immediately after each protocol, an isokinetic strength test consisting of five repetitions at 60°/s speed and 20 repetitions at 180°/s speed was recorded for the right leg by the Isomed 2000 device. Friedman variance analysis test was employed for data analysis. According to the analyzes, it was observed that 5 min jogging and 15 s stretching exercises increased the isokinetic strength, whereas 30 and 45 s stretching exercises caused a decrease.

Duration Dependent Effect of Static Stretching on Quadriceps and Hamstring Muscle Force

PubMed Central

Çetin, Ebru

2018-01-01

The aim of this study was to determine the acute effect of static stretching on hamstring and quadriceps muscles’ isokinetic strength when applied for various durations to elite athletes, to investigate the effect of different static stretching durations on isokinetic strength, and finally to determine the optimal stretching duration. Fifteen elite male athletes from two different sport branches (10 football and five basketball) participated in this study. Experimental protocol was designed as 17 repetitive static stretching exercises for hamstring and quadriceps muscle groups according to the indicated experimental protocols; ((A) 5 min jogging; (B) 5 min jogging followed by 15 s static stretching; (C) 5 min jogging followed by 30 s static stretching; (D) 5 min jogging, followed by static stretching for 45 s). Immediately after each protocol, an isokinetic strength test consisting of five repetitions at 60°/s speed and 20 repetitions at 180°/s speed was recorded for the right leg by the Isomed 2000 device. Friedman variance analysis test was employed for data analysis. According to the analyzes, it was observed that 5 min jogging and 15 s stretching exercises increased the isokinetic strength, whereas 30 and 45 s stretching exercises caused a decrease.

Comparison of 3-D Multi-Lag Cross-Correlation and Speckle Brightness Aberration Correction Algorithms on Static and Moving Targets

PubMed Central

Ivancevich, Nikolas M.; Dahl, Jeremy J.; Smith, Stephen W.

2010-01-01

Phase correction has the potential to increase the image quality of 3-D ultrasound, especially transcranial ultrasound. We implemented and compared 2 algorithms for aberration correction, multi-lag cross-correlation and speckle brightness, using static and moving targets. We corrected three 75-ns rms electronic aberrators with full-width at half-maximum (FWHM) auto-correlation lengths of 1.35, 2.7, and 5.4 mm. Cross-correlation proved the better algorithm at 2.7 and 5.4 mm correlation lengths (P < 0.05). Static cross-correlation performed better than moving-target cross-correlation at the 2.7 mm correlation length (P < 0.05). Finally, we compared the static and moving-target cross-correlation on a flow phantom with a skull casting aberrator. Using signal from static targets, the correction resulted in an average contrast increase of 22.2%, compared with 13.2% using signal from moving targets. The contrast-to-noise ratio (CNR) increased by 20.5% and 12.8% using static and moving targets, respectively. Doppler signal strength increased by 5.6% and 4.9% for the static and moving-targets methods, respectively. PMID:19942503

Comparison of 3-D multi-lag cross- correlation and speckle brightness aberration correction algorithms on static and moving targets.

PubMed

Ivancevich, Nikolas M; Dahl, Jeremy J; Smith, Stephen W

2009-10-01

Phase correction has the potential to increase the image quality of 3-D ultrasound, especially transcranial ultrasound. We implemented and compared 2 algorithms for aberration correction, multi-lag cross-correlation and speckle brightness, using static and moving targets. We corrected three 75-ns rms electronic aberrators with full-width at half-maximum (FWHM) auto-correlation lengths of 1.35, 2.7, and 5.4 mm. Cross-correlation proved the better algorithm at 2.7 and 5.4 mm correlation lengths (P < 0.05). Static cross-correlation performed better than moving-target cross-correlation at the 2.7 mm correlation length (P < 0.05). Finally, we compared the static and moving-target cross-correlation on a flow phantom with a skull casting aberrator. Using signal from static targets, the correction resulted in an average contrast increase of 22.2%, compared with 13.2% using signal from moving targets. The contrast-to-noise ratio (CNR) increased by 20.5% and 12.8% using static and moving targets, respectively. Doppler signal strength increased by 5.6% and 4.9% for the static and moving-targets methods, respectively.

Elastic facial movement influences part-based but not holistic processing

PubMed Central

Xiao, Naiqi G.; Quinn, Paul C.; Ge, Liezhong; Lee, Kang

2013-01-01

Face processing has been studied for decades. However, most of the empirical investigations have been conducted using static face images as stimuli. Little is known about whether static face processing findings can be generalized to real world contexts, in which faces are constantly moving. The present study investigates the nature of face processing (holistic vs. part-based) in elastic moving faces. Specifically, we focus on whether elastic moving faces, as compared to static ones, can facilitate holistic or part-based face processing. Using the composite paradigm, participants were asked to remember either an elastic moving face (i.e., a face that blinks and chews) or a static face, and then tested with a static composite face. The composite effect was (1) significantly smaller in the dynamic condition than in the static condition, (2) consistently found with different face encoding times (Experiments 1–3), and (3) present for the recognition of both upper and lower face parts (Experiment 4). These results suggest that elastic facial motion facilitates part-based processing, rather than holistic processing. Thus, while previous work with static faces has emphasized an important role for holistic processing, the current work highlights an important role for featural processing with moving faces. PMID:23398253

Static innominate asymmetry and leg length discrepancy in asymptomatic collegiate athletes.

PubMed

Krawiec, C J; Denegar, C R; Hertel, J; Salvaterra, G F; Buckley, W E

2003-11-01

The objectives of the study were to assess: (1) static innominate asymmetry in the sagittal plane, (2) leg length discrepancy (LLD), and (3) the relationship between static innominate rotation and LLD in asymptomatic collegiate athletes. The study was an observational study by design which took place in a University athletic training research laboratory. The participants were twenty-four male and 20 female asymptomatic intercollegiate athletes who volunteered to take part in the study. Static innominate asymmetry was assessed with a caliper/inclinometer tool and LLD was measured with a tape measure using standard clinical methods. Results showed that forty-two subjects (95%) demonstrated some degree of static innominate asymmetry. In 32 subjects (73%), the right innominate was more anteriorly rotated than the left. Nearly all subjects were determined to have unequal leg lengths with a majority, 30 subjects (68%), showing a slightly longer left leg. Weak correlations (r=0.33 - 0.44) were identified between static innominate asymmetry and LLD. In Conclusion static innominate asymmetry and LLD are common among asymptomatic collegiate athletes. This information provides clinicians with normative data of common clinical measures in a physically active population.

Closed-form Static Analysis with Inertia Relief and Displacement-Dependent Loads Using a MSC/NASTRAN DMAP Alter

NASA Technical Reports Server (NTRS)

Barnett, Alan R.; Widrick, Timothy W.; Ludwiczak, Damian R.

1995-01-01

Solving for the displacements of free-free coupled systems acted upon by static loads is commonly performed throughout the aerospace industry. Many times, these problems are solved using static analysis with inertia relief. This solution technique allows for a free-free static analysis by balancing the applied loads with inertia loads generated by the applied loads. For some engineering applications, the displacements of the free-free coupled system induce additional static loads. Hence, the applied loads are equal to the original loads plus displacement-dependent loads. Solving for the final displacements of such systems is commonly performed using iterative solution techniques. Unfortunately, these techniques can be time-consuming and labor-intensive. Since the coupled system equations for free-free systems with displacement-dependent loads can be written in closed-form, it is advantageous to solve for the displacements in this manner. Implementing closed-form equations in static analysis with inertia relief is analogous to implementing transfer functions in dynamic analysis. Using a MSC/NASTRAN DMAP Alter, displacement-dependent loads have been included in static analysis with inertia relief. Such an Alter has been used successfully to solve efficiently a common aerospace problem typically solved using an iterative technique.

Wind-Tunnel Tests of Seven Static-Pressure Probes at Transonic Speeds

NASA Technical Reports Server (NTRS)

Capone, Francis J.

1961-01-01

Wind-tunnel tests have been conducted to determine the errors of 3 seven static-pressure probes mounted very close to the nose of a body of revolution simulating a missile forebody. The tests were conducted at Mach numbers from 0.80 to 1.08 and at angles of attack from -1.7 deg to 8.4 deg. The test Reynolds number per foot varied from 3.35 x 10(exp 6) to 4.05 x 10(exp 6). For three 4-vane, gimbaled probes, the static-pressure errors remained constant throughout the test angle-of-attack range for all Mach numbers except 1.02. For two single-vane, self-rotating probes having two orifices at +/-37.5 deg. from the plane of symmetry on the lower surface of the probe body, the static-pressure error varied as much as 1.5 percent of free-stream static pressure through the test angle-of- attack range for all Mach numbers. For two fixed, cone-cylinder probes of short length and large diameter, the static-pressure error varied over the test angle-of-attack range at constant Mach numbers as much as 8 to 10 percent of free-stream static pressure.

Static properties and moisture content properties of polyester fabrics modified by plasma treatment and chemical finishing

NASA Astrophysics Data System (ADS)

Kan, C. W.; Yuen, C. W. M.

2008-01-01

Low temperature plasma treatment has been conducted in textile industry and has some success in the dyeing and finishing processes. In this paper, an attempt was made to apply low temperature plasma treatment to improve the anti-static property of polyester fabric. The polyester fabrics were treated under different conditions using low temperature plasma. An Orthogonal Array Testing Strategy was employed to determine the optimum treatment condition. After low temperature plasma treatment, the polyester fabrics were evaluated with different characterisation methods. Under the observation of scanning electron microscope, the surface structure of low temperature plasma-treated polyester fabric was seriously altered. This provided more capacity for polyester to capture moisture and hence increase the dissipation of static charges. The relationship between moisture content and half-life decay time for static charges was studied and the results showed that the increment of moisture content would result in shortening the time for the dissipation of static charges. Moreover, there was a great improvement in the anti-static property of the low temperature plasma-treated polyester fabric after comparing with that of the polyester fabric treated with commercial anti-static finishing agent.

Static Recrystallization Behavior of Z12CN13 Martensite Stainless Steel

NASA Astrophysics Data System (ADS)

Luo, Min; Zhou, Bing; Li, Rong-bin; Xu, Chun; Guo, Yan-hui

2017-09-01

In order to increase the hot workability and provide proper hot forming parameters of forging Z12CN13 martensite stainless steel for the simulation and production, the static recrystallization behavior has been studied by double-pass hot compression tests. The effects of deformation temperature, strain rate and inter-pass time on the static recrystallization fraction by the 2% offset method are extensively studied. The results indicate that increasing the inter-pass time and the deformation temperature as well as strain rate appropriately can increase the fraction of static recrystallization. At the temperature of 1050-1150 °C, inter-pass time of 30-100 s and strain rate of 0.1-5 s-1, the static recrystallization behavior is obvious. In addition, the kinetics of static recrystallization behavior of Z12CN13 steel has been established and the activation energy of static recrystallization is 173.030 kJ/mol. The substructure and precipitates have been studied by TEM. The results reveal that the nucleation mode is bulging at grain boundary. Undissolved precipitates such as MoNi3 and Fe3C have a retarding effect on the recrystallization kinetics. The effect is weaker than the accelerating effect of deformation temperature.

pH Static Titration: A Quasistatic Approach

ERIC Educational Resources Information Center

Michalowski, Tadeusz; Toporek, Marcin; Rymanowski, Maciej

2007-01-01

The pH-static titration is applicable to those systems where at least two types of reactions occur in comparable intensities. The commonalities in titrimetric procedure realized according to pH-static titration, irrespective of the kind of chemical processes occurring are discussed.

Equipment and Protocols for Quasi-Static and Dynamic Tests of Very-High-Strength Concrete (VHSC) and High-Strength High-Ductility Concrete (HSHDC)

DTIC Science & Technology

2016-08-01

quasi -static mechanical properties, deformation behavior, and damage mechanisms in HSHDC and compare the behavior with VHSC. 2. Develop experimental ...using the experimental setup described in Chapter 6. The quasi -static strain rate was approximately 10-4/s. All panels tested have nominal dimensions...ER D C TR -1 6- 13 Force Protection Basing; TeCD 1a Equipment and Protocols for Quasi -Static and Dynamic Tests of Very-High-Strength

The motion control of a statically stable biped robot on an uneven floor.

PubMed

Shih, C L; Chiou, C J

1998-01-01

This work studies the motion control of a statically stable biped robot having seven degrees of freedom. Statically stable walking of the biped robot is realized by maintaining the center-of-gravity inside the convex region of the supporting foot and/or feet during both single-support and double-support phases. The main points of this work are framing the stability in an easy and correct way, the design of a bipedal statically stable walker, and walking on sloping surfaces and stairs.

Comparison of forward flight effects theory of A. Michalke and U. Michel with measured data

NASA Technical Reports Server (NTRS)

Rawls, J. W., Jr.

1983-01-01

The scaling laws of a Michalke and Michel predict flyover noise of a single stream shock free circular jet from static data or static predictions. The theory is based on a farfield solution to Lighthill's equation and includes density terms which are important for heated jets. This theory is compared with measured data using two static jet noise prediction methods. The comparisons indicate the theory yields good results when the static noise levels are accurately predicted.

Static harmonization of dynamically harmonized Fourier transform ion cyclotron resonance cell.

PubMed

Zhdanova, Ekaterina; Kostyukevich, Yury; Nikolaev, Eugene

2017-08-01

Static harmonization in the Fourier transform ion cyclotron resonance cell improves the resolving power of the cell and prevents dephasing of the ion cloud in the case of any trajectory of the charged particle, not necessarily axisymmetric cyclotron (as opposed to dynamic harmonization). We reveal that the Fourier transform ion cyclotron resonance cell with dynamic harmonization (paracell) is proved to be statically harmonized. The volume of the statically harmonized potential distribution increases with an increase in the number of trap segments.

Vertical Force-deflection Characteristics of a Pair of 56-inch-diameter Aircraft Tires from Static and Drop Tests with and Without Prerotation

NASA Technical Reports Server (NTRS)

Smiley, Robert F; Horne, Walter B

1957-01-01

The vertical force-deflection characteristics were experimentally determined for a pair of 56-inch-diameter tires under static and drop-test conditions with and without prerotation. For increasing force, the tires were found to be least stiff for static tests, almost the same as for the static case for prerotation drop tests as long as the tires remain rotating, and appreciably stiffer for drop tests without prerotation.

Dynamic 68Ga-DOTATOC PET/CT and static image in NET patients. Correlation of parameters during PRRT.

PubMed

Van Binnebeek, Sofie; Koole, Michel; Terwinghe, Christelle; Baete, Kristof; Vanbilloen, Bert; Haustermans, Karine; Clement, Paul M; Bogaerts, Kris; Verbruggen, Alfons; Nackaerts, Kris; Van Cutsem, Eric; Verslype, Chris; Mottaghy, Felix M; Deroose, Christophe M

2016-06-28

To investigate the relationship between the dynamic parameters (Ki) and static image-derived parameters of 68Ga-DOTATOC-PET, to determine which static parameter best reflects underlying somatostatin-receptor-expression (SSR) levels on neuroendocrine tumours (NETs). 20 patients with metastasized NETs underwent a dynamic and static 68Ga-DOTATOC-PET before PRRT and at 7 and 40 weeks after the first administration of 90Y-DOTATOC (in total 4 cycles were planned); 175 lesions were defined and analyzed on the dynamic as well as static scans. Quantitative analysis was performed using the software PMOD. One to five target lesions per patient were chosen and delineated manually on the baseline dynamic scan and further, on the corresponding static 68Ga-DOTATOC-PET and the dynamic and static 68Ga-DOTATOC-PET at the other time-points; SUVmax and SUVmean of the lesions was assessed on the other six scans. The input function was retrieved from the abdominal aorta on the images. Further on, Ki was calculated using the Patlak-Plot. At last, 5 reference regions for normalization of SUVtumour were delineated on the static scans resulting in 5 ratios (SUVratio). SUVmax and SUVmean of the tumoural lesions on the dynamic 68Ga-DOTATOC-PET had a very strong correlation with the corresponding parameters in the static scan (R²: 0.94 and 0.95 respectively). SUVmax, SUVmean and Ki of the lesions showed a good linear correlation; the SUVratios correlated poorly with Ki. A significantly better correlation was noticed between Ki and SUVtumour(max and mean) (p < 0.0001). As the dynamic parameter Ki correlates best with the absolute SUVtumour, SUVtumour best reflects underlying SSR-levels in NETs.

Statistical Learning of Origin-Specific Statically Optimal Individualized Treatment Rules

PubMed Central

van der Laan, Mark J.; Petersen, Maya L.

2008-01-01

Consider a longitudinal observational or controlled study in which one collects chronological data over time on a random sample of subjects. The time-dependent process one observes on each subject contains time-dependent covariates, time-dependent treatment actions, and an outcome process or single final outcome of interest. A statically optimal individualized treatment rule (as introduced in van der Laan et. al. (2005), Petersen et. al. (2007)) is a treatment rule which at any point in time conditions on a user-supplied subset of the past, computes the future static treatment regimen that maximizes a (conditional) mean future outcome of interest, and applies the first treatment action of the latter regimen. In particular, Petersen et. al. (2007) clarified that, in order to be statically optimal, an individualized treatment rule should not depend on the observed treatment mechanism. Petersen et. al. (2007) further developed estimators of statically optimal individualized treatment rules based on a past capturing all confounding of past treatment history on outcome. In practice, however, one typically wishes to find individualized treatment rules responding to a user-supplied subset of the complete observed history, which may not be sufficient to capture all confounding. The current article provides an important advance on Petersen et. al. (2007) by developing locally efficient double robust estimators of statically optimal individualized treatment rules responding to such a user-supplied subset of the past. However, failure to capture all confounding comes at a price; the static optimality of the resulting rules becomes origin-specific. We explain origin-specific static optimality, and discuss the practical importance of the proposed methodology. We further present the results of a data analysis in which we estimate a statically optimal rule for switching antiretroviral therapy among patients infected with resistant HIV virus. PMID:19122792

The Relationship of Static Tibial Tubercle-Trochlear Groove Measurement and Dynamic Patellar Tracking.

PubMed

Carlson, Victor R; Sheehan, Frances T; Shen, Aricia; Yao, Lawrence; Jackson, Jennifer N; Boden, Barry P

2017-07-01

The tibial tubercle to trochlear groove (TT-TG) distance is used for screening patients with a variety of patellofemoral joint disorders to determine who may benefit from patellar medialization using a tibial tubercle osteotomy. Clinically, the TT-TG distance is predominately based on static imaging with the knee in full extension; however, the predictive ability of this measure for dynamic patellar tracking patterns is unknown. To determine whether the static TT-TG distance can predict dynamic lateral displacement of the patella. Cohort study (Diagnosis); Level of evidence, 2. The static TT-TG distance was measured at full extension for 70 skeletally mature subjects with (n = 32) and without (n = 38) patellofemoral pain. The dynamic patellar tracking patterns were assessed from approximately 45° to 0° of knee flexion by use of dynamic cine-phase contrast magnetic resonance imaging. For each subject, the value of dynamic lateral tracking corresponding to the exact knee angle measured in the static images for that subject was identified. Linear regression analysis determined the predictive ability of static TT-TG distance for dynamic patellar lateral displacement for each cohort. The static TT-TG distance measured with the knee in full extension cannot accurately predict dynamic lateral displacement of the patella. There was weak predictive ability among subjects with patellofemoral pain ( r 2 = 0.18, P = .02) and no predictive capability among controls. Among subjects with patellofemoral pain and static TT-TG distances 15 mm or more, 8 of 13 subjects (62%) demonstrated neutral or medial patellar tracking patterns. The static TT-TG distance cannot accurately predict dynamic lateral displacement of the patella. A large percentage of patients with patellofemoral pain and pathologically large TT-TG distances may have neutral to medial maltracking patterns.

Assessment of Diagnostic Value of Single View Dynamic Technique in Diagnosis of Developmental Dysplasia of Hip: A Comparison with Static and Dynamic Ultrasond Techniques

PubMed Central

Alamdaran, Seyed Ali; Kazemi, Sahar; Parsa, Ali; Moghadam, Mohammad Hallaj; Feyzi, Ali; Mardani, Reza

2016-01-01

Background: Developmental dysplasia of hip (DDH) is a common childhood disorder, and ultrasonography examination is routinely used for screening purposes. In this study, we aimed to evaluate a modified combined static and dynamic ultrasound technique for the detection of DDH and to compare with the results of static and dynamic ultrasound techniques. Methods: In this cross-sectional study, during 2013- 2015, 300 high-risk infants were evaluated by ultrasound for DDH. Both hips were examined with three techniques: static, dynamic and single view static and dynamic technique. Statistical analysis was performed using SPSS version 11.5. Results: Patients aged 9 days to 83 weeks. 75% of the patients were 1 to 3 months old. Among 600 hip joints, about 5% were immature in static sonography and almost all of them were unstable in dynamic techniques. 0.3% of morphologically normal hips were unstable in dynamic sonography and 9% of unstable hips had normal morphology. The mean β angle differences in coronal view before and after stress maneuver was 14.43±5.47° in unstable hips. Single view static and dynamic technique revealed that all cases with acetabular dysplasia, instability and dislocation, except two dislocations, were detected by dynamic transverse view. For two cases, Ortolani maneuver showed femoral head reversibility in dislocated hips. Using single view static and dynamic technique was indicative and applicable for detection of more than 99% of cases. Conclusion: Single view static and dynamic technique not only is a fast and easy technique, but also it is of high diagnostic value in assessment of DDH. PMID:27847852

Method for using global optimization to the estimation of surface-consistent residual statics

DOEpatents

Reister, David B.; Barhen, Jacob; Oblow, Edward M.

2001-01-01

An efficient method for generating residual statics corrections to compensate for surface-consistent static time shifts in stacked seismic traces. The method includes a step of framing the residual static corrections as a global optimization problem in a parameter space. The method also includes decoupling the global optimization problem involving all seismic traces into several one-dimensional problems. The method further utilizes a Stochastic Pijavskij Tunneling search to eliminate regions in the parameter space where a global minimum is unlikely to exist so that the global minimum may be quickly discovered. The method finds the residual statics corrections by maximizing the total stack power. The stack power is a measure of seismic energy transferred from energy sources to receivers.

Dual redundant arm system operational quality measures and their applications - Static measures

NASA Technical Reports Server (NTRS)

Lee, Sukhan; Kim, Sungbok

1990-01-01

The authors present dual-arm system static operational quality measures which quantify the efficiency and capability of a dual-arm system in generating Cartesian velocities and static forces. First, they define and analyze the kinematic interactions between the two arms incurred by the various modes of dual-arm cooperation, such as transport, assembly, and grasping modes of cooperation, and specify the kinematic constraints imposed on individual arms in Cartesian space due to the kinematic interactions. Dual-arm static manipulability is presented. Finally, dual-arm operational quality is scaled by a task-oriented operational quality measure (TOQs) obtained by the comparison between the desired and actual static manipulabilities. TOQs is used in the optimization of dual-arm joint configurations. Simulation results are shown.

Actuator placement in prestressed adaptive trusses for vibration control

NASA Technical Reports Server (NTRS)

Jalihal, P.; Utku, Senol; Wada, Ben K.

1993-01-01

This paper describes the optimal location selection of actuators for vibration control in prestressed adaptive trusses. Since prestressed adaptive trusses are statically indeterminate, the actuators to be used for vibration control purposes must work against (1) existing static axial prestressing forces, (2) static axial forces caused by the actuation, and (3) dynamic axial forces caused by the motion of the mass. In statically determinate adaptive trusses (1) and (2) are non - existing. The actuator placement problem in statically indeterminate trusses is therefore governed by the actuation energy and the actuator strength requirements. Assuming output feedback type control of selected vibration modes in autonomous systems, a procedure is given for the placement of vibration controlling actuators in prestressed adaptive trusses.

Einstein's conversion from his static to an expanding universe

NASA Astrophysics Data System (ADS)

Nussbaumer, Harry

2014-02-01

In 1917 Einstein initiated modern cosmology by postulating, based on general relativity, a homogenous, static, spatially curved universe. To counteract gravitational contraction he introduced the cosmological constant. In 1922 Alexander Friedman showed that Albert Einstein's fundamental equations also allow dynamical worlds, and in 1927 Georges Lemaître, backed by observational evidence, concluded that our universe was expanding. Einstein impetuously rejected Friedman's as well as Lemaître's findings. However, in 1931 he retracted his former static model in favour of a dynamic solution. This investigation follows Einstein on his hesitating path from a static to the expanding universe. Contrary to an often advocated belief the primary motive for his switch was not observational evidence, but the realisation that his static model was unstable.

Comparison between static stretching and the Pilates method on the flexibility of older women.

PubMed

Oliveira, Laís Campos de; Oliveira, Raphael Gonçalves de; Pires-Oliveira, Deise Aparecida de Almeida

2016-10-01

Flexibility decreases with advancing age and some forms of exercise, such as static stretching and Pilates, can contribute to the improvement of this physical ability. To compare the effects of static stretching and Pilates on the flexibility of healthy older women, over the age of 60 years. Thirty-two volunteers were randomized into two groups (Static stretching or Pilates) to perform exercises for 60 min, twice a week, for three months. Evaluations to analyze the movements of the trunk (flexion and extension), hip flexion and plantar and dorsiflexion of the ankle were performed before and after the intervention, using a fleximeter. The static stretching exercises improved the trunk flexion and hip flexion movements, while the Pilates improved all evaluated movements. However, over time, the groups presented differences only for the trunk extension movement. For some body segments, Pilates may be more effective for improving flexibility in older women compared to static stretching. Copyright © 2016 Elsevier Ltd. All rights reserved.