Current Issue : July-September Volume : 2023 Issue Number : 3 Articles : 5 Articles
Haptics plays a significant role not only in the rehabilitation of neurological disorders, such as stroke, by substituting necessary cognitive information but also in human–computer interfaces (HCIs), which are now an integral part of the recently launched metaverse. This study proposes a unique, soft, monolithic haptic feedback device (SoHapS) that was directly manufactured using a low-cost and open-source fused deposition modeling (FDM) 3D printer by employing a combination of soft conductive and nonconductive thermoplastic polyurethane (TPU) materials (NinjaTek, USA). SoHapS consists of a soft bellow actuator and a soft resistive force sensor, which are optimized using finite element modeling (FEM). SoHapS was characterized both mechanically and electrically to assess its performance, and a dynamic model was developed to predict its force output with given pressure inputs. We demonstrated the efficacy of SoHapS in substituting biofeedback with tactile feedback, such as gripping force, and proprioceptive feedback, such as finger flexion–extension positions, in the context of teleoperation. With its intrinsic properties, SoHapS can be integrated into rehabilitation robots and robotic prostheses, as well as augmented, virtual, and mixed reality (AR/VR/MR) systems, to induce various types of bio-mimicked feedback....
This paper demonstrates the effectiveness of a hierarchical design framework in developing environment-specific behaviour for fluid-actuated soft robots. Our proposed framework employs multi-step optimisation and reduced-order modelling to reduce the computational expense associated with simulating non-linear materials used in the design process. Specifically, our framework requires the designer to make high-level decisions to simplify the optimisations, targeting simple objectives in earlier steps and more complex objectives in later steps. We present a case study, where our proposed framework is compared to a conventional direct design approach for a simple 2D design. A soft pneumatic bending actuator was designed that is able to perform asymmetrical motion when actuated cyclically. Our results show that the hierarchical framework can find almost 2.5 times better solutions in less than 3% of the time when compared to a direct design approach....
The current study shows the numerical performances of the fractional order mathematical model based on the Majnun and Layla (FO-MML) romantic story. The stochastic computing numerical scheme based on the scaled conjugate gradient neural networks (SCGNNs) is presented to solve the FO-MML. The purpose of providing the solutions of the fractional derivatives is to achieve more accurate and realistic performances of the FO-MML romantic story model. The mathematical model is divided into four dynamics, while the exactness is authenticated through the comparison of obtained and reference Adam results. Moreover, the negligible absolute error enhances the accuracy of the stochastic scheme. Fourteen numbers of neurons have been taken and the information statics are divided into authorization, training, and testing, which are divided into 12%, 77% and 11%, respectively. The reliability, capability, and accuracy of the stochastic SCGNNs is performed through the stochastic procedures using the regression, error histograms, correlation, and state transitions for solving the mathematical model....
As a special form of multiaccess edge computing (MEC), vehicular edge computing (VEC) plays an important role in emergency logistics by providing real-time and low-latency services for vehicles. The solution of the joint task offloading and resource allocation problem (JTORA) is the key to improving VEC efficiency. This study formulates a special model according to the multistage characteristics of the computational task in vehicular edge computing networks (VECNs) for emergency logistics. First, the JTORA problem is decomposed into three computational steps, each of which includes a task offload (TO) problem and a resource allocation (RA) problem. Then, a hybrid solution is proposed which uses a simulated annealing process to optimize the genetic algorithm (GA) and cooperate with the particle swarm optimization (PSO) algorithm, called the genetic simulated annealing and particle swarm optimization (GSA-PSO) algorithm. Furthermore, a simulation experiment is designed and the effectiveness of the GSA-PSO is verified....
In this article, we apply the concept of fuzzy soft δ-open sets to define new types of compactness in fuzzy soft topological spaces, namely, δ-compactness and δ∗-compactness. We explore some of their basic properties and reveal the relationships between these types and that which are defined by other authors. Also, we show that δ∗-compactness is more general than that which is presented in other papers. To clarify the obtained results and relationships, some illustrative examples are given....
Loading....