This paper proposes a new pneumatic modular joint to address the problem of balancing compliance and load-bearing capacity for soft robots. The possesses characteristics that allow omnidirectional deformation dynamically adjustable stiffness. In this study, mathematical models were established describe stiffness variability joint. Corresponding relationships between gas pressure magnetic field ...

A geometric nonlinear modeling approach for strong rigid–flexible–thermal coupling dynamics of a hub and multiplate system considering frictional contact is proposed. Based on the absolute nodal coordinate formulation (ANCF), an ANCF thin-plate element with thermoelasticity developed, where temperature field expressed Taylor polynomials to yield heat-conduction equations. In contrast traditiona...

The methods needed to interrogate passive resonance sensors are studied. A portable impedance measurement unit and the methods to extract a coupling coefficient compensated resonance frequency are presented. The interrogation methods are demonstrated with ECG and pressure measurements. The results show that the quality of the ECG signal measured with a flexible textile coil is sufficient to ext...

Iterative cross-coupling represents a potentially general approach for the simple, efficient, and flexible construction of a wide range of functional small molecules. In this context, (Z)-(2-bromovinyl)-Nmethyliminodiacetic acid (MIDA) boronate is a very useful building block for small molecule synthesis. This compound can serve as a starting material for the preparation of a wide range of cis-...

A Bayesian framework is proposed to define flexible coupling models for joint decompositions of data sets. Under this framework, a solution to the joint decomposition can be cast in terms of a maximum a posteriori estimator. Examples of joint posterior distributions are provided, including general Gaussian priors and non Gaussian coupling priors. Then simulations are reported and show the effec...

This paper describes implementation strategies for external coupling of distributed building system component models. This approach differs from the traditional way of developing software, where additional models are added by incorporating new modules in an existing program. This results in a simulation environment that is more flexible, practical, and powerful than the sum of the individual so...