Highly Manoeuvrable Eversion Robot Based on Fusion of Function with Structure

Despite their soft and compliant bodies, most of today’s soft robots have limitations when it comes to elongation or extension of their main structure. In contrast to this, a new type of soft robot called the eversion robot can grow longitudinally, exploiting the principle of eversion. Eversion robots can squeeze through narrow openings, giving the possibility to access places that are inaccessible by conventional robots. The main drawback of these types of robots is their limited bending capability due to the tendency to move along a straight line. In this paper, we propose a novel way to fuse bending actuation with the robot’s structure. We devise an eversion robot whose body forms both the central chamber that acts as the backbone as well as the actuators that cause bending and manoeuvre the manipulator. The proposed technique shows a significantly improved bending capability compared to externally attaching actuators to an eversion robot showing a 133% improvement in bending angle. Due to the increased manoeuvrability, the proposed solution is a step towards the employment of eversion robots in remote and difficult-to-access environments

Natural Sound Library-AB Format

Sound recording of everyday sounds. Digitally recorded using an artificial head and AB-stereo set up. Each recording is five minutes long, with a calibration tone and other reference sounds.Please note file named "Choir in Church" is actually two pieces of music with a very short time interval between songs.Under the supervision of ICRA members, two MSc students at the department of Acoustics Technology at the Technical University of Denmark undertook recording, calibration and documenting the sound files (Berg&Larsen, 2006).ICR

The Natural Sound Library-Reference Sounds

The recordings were carefully calibrated. There are three calibration files available. 1. Track 1 - Pure tone 1000 Hz 94 dB mono.wav 2. Track 2 - White Noise 84 dB mono (6. Order Butterwoth Bandpass 800-1250Hz).wav 3. Track 3 - Pink Noise 84 dB mono (6. Order Butterworth Bandpass 20-20000Hz).wav Any of these reference sounds can be played back and adjusted to their nominal value (94 dB re 20 μPa for the pure tone and 84 dB re 20 μPa for the two noise signals) for correct level calibration of the recorded sound files. The Pink Noise can also be used to equalize the playback chain at the position of the listener (without the listener present) for correct spectral representation of the material.Under the supervision of ICRA members, two MSc students at the department of Acoustics Technology at the Technical University of Denmark undertook recording, calibration and documenting the sound files (Berg&Larsen, 2006.

The Natural Sound Library-Audio CD Format

Sound recording of everyday sounds. Digitally recorded using an artificial head and both XY- and AB- stereo set up. The recording is five minutes long, with a calibration tone and other reference sounds. Please note the file "Choir in Church" is actually two pieces of music with a very short time interval between the songs.Under the supervision of ICRA members, two MSc students at the department of Acoustics Technology at the Technical University of Denmark undertook recording, calibration and documenting the sound files (Berg&Larsen, 2006.

The Natural Sound Library-XY Format

Sound recording of everyday sounds. Digitally recorded using an artificial head and both XY- and AB- stereo set up. The recording is five minutes long, with a calibration tone and other reference sounds. Please note the file "Choir in Church" is actually two pieces of music with a very short time interval between songs.Under the supervision of ICRA members, two MSc students at the department of Acoustics Technology at the Technical University of Denmark undertook recording, calibration and documenting the sound files (Berg&Larsen, 2006.

The Natural Sound Library-Reference Sounds-CD Format

The recordings were carefully calibrated. There are three calibration files available. 1. Track 1 - Pure tone 1000 Hz 94 dB mono.wav 2. Track 2 - White Noise 84 dB mono (6. Order Butterwoth Bandpass 800-1250Hz).wav 3. Track 3 - Pink Noise 84 dB mono (6. Order Butterworth Bandpass 20-20000Hz).wav Any of these reference sounds can be played back and adjusted to their nominal value (94 dB re 20 μPa for the pure tone and 84 dB re 20 μPa for the two noise signals) for correct level calibration of the recorded sound files. The Pink Noise can also be used to equalize the playback chain at the position of the listener (without the listener present) for correct spectral representation of the material

The Natural Sound Library-HATS File Format

Sound recording of everyday sounds. Digitally recorded using an artificial head and both XY- and AB- stereo set up. The recording is five minutes long, with a calibration tone and other reference sounds.Please note the file "Choir in Church" is actually two pieces of music, with a very short time interval between songs.Under the supervision of ICRA members, two MSc students at the department of Acoustics Technology at the Technical University of Denmark undertook recording, calibration and documenting the sound files (Berg&Larsen, 2006.