A Tendon-Driven Origami Hopper Triggered by Proprioceptive Contact Detection

We report on experiments with a laptop-sized (0.23m, 2.53kg), paper origami robot that exhibits highly dynamic and stable two degree-of-freedom (circular boom) hopping at speeds in excess of 1.5 bl/s (body-lengths per second) at a specific resistance O(1) while achieving aerial phase apex states 25% above the stance height over thousands of cycles. Three conventional brushless DC motors load energy into the folded paper springs through pulley-borne cables whose sudden loss of tension upon touchdown triggers the release of spring potential that accelerates the body back through liftoff to flight with a 20W powerstroke, whereupon the toe angle is adjusted to regulate fore-aft speed. We also demonstrate in the vertical hopping mode the transparency of this actuation scheme by using proprioceptive contact detection with only motor encoder sensing. The combination of actuation and sensing shows potential to lower system complexity for tendon-driven robots. For more information: Kod*lab (link to kodlab.seas.upenn.edu

Forward Kinematics and Control of a Segmented Tunable-Stiffness 3-D Continuum Manipulator

In this work, we consider the problem of controlling the end effector position of a continuum manipulator through local stiffness changes. Continuum manipulators offer the advantage of continuous deformation along their lengths, and recent advances in smart material actuators further enable local compliance changes, which can affect the manipulator\u27s bulk motion. However, leveraging local stiffness change to control motion remains lightly explored. We build a kinematic model of a continuum manipulator as a sequence of segments consisting of symmetrically arranged springs around the perimeter of every segment, and we show that this system has a closed form solution to its forward kinematics. The model includes common constraints such as restriction of torsional or shearing movement. Based on this model, we propose a controller on the spring stiffnesses for a single segment and provide provable guarantees on convergence to a desired goal position. The results are verified in simulation and compared to physical hardware

An Improved Assessment Tool on Holistic Living

This study aims to investigate the multifaceted dimensions of happiness among students, exploring eight significant factors identified through a comprehensive questionnaire consisting of 148 questions. The scope of the research extends to understanding the nuanced aspects of well-being within the student demographic. Employing rigorous factor analysis, the study delves into the reliability and validity of the questionnaire, ensuring its robustness as a measurement tool for assessing various dimensions of happiness. Results of the study reveal a rich tapestry of factors contributing to student happiness, ranging from academic satisfaction and social connectedness to personal growth and emotional well-being. Notably, the reliability of the questionnaire is exceptionally high, with a reliability coefficient of 0.918, affirming its suitability for capturing the complexities of student well-being. These findings not only align with the initial research questions but also provide novel perspectives, enriching the discourse on happiness within the educational context. Key features of the study include the commendable reliability, ensuring the accuracy and consistency of the instrument in measuring happiness-related constructs. Furthermore, the thorough validation process guarantees the instrument\u27s efficacy, offering a nuanced understanding of individual contentment within the student demographic. The practical implications of these findings extend to educators, counsellors, and policymakers, providing valuable insights for interventions aimed at fostering holistic well-being among students. In conclusion, this research contributes significantly to the understanding of happiness among students, offering a robust measurement tool, novel insights, and practical implications that can inform future interventions and policies in the realm of positive psychology and education

Design and Control of a Tunable-Stiffness Coiled-Spring Actuator

We propose a novel design for a lightweight and compact tunable stiffness actuator capable of stiffness changes up to 20x. The design is based on the concept of a coiled spring, where changes in the number of layers in the spring change the bulk stiffness in a near-linear fashion. We present an elastica nested rings model for the deformation of the proposed actuator and empirically verify that the designed stiffness-changing spring abides by this model. Using the resulting model, we design a physical prototype of the tunable-stiffness coiled-spring actuator and discuss the effect of design choices on the resulting achievable stiffness range and resolution. In the future, this actuator design could be useful in a wide variety of soft robotics applications, where fast, controllable, and local stiffness change is required over a large range of stiffnesses

Proceedings of the International Conference on Frontiers in Desalination, Energy, Environment and Material Sciences for Sustainable Development

This proceeding contains articles on the various ideas of the academic community presented at the International Conference on Frontiers in Desalination, Energy, Environment and Material Sciences for Sustainable Development (FEEMSSD-2023) & Annual Congress of InDA (InDACON-2023) jointly organized by the Madan Mohan Malaviya University of Technology Gorakhpur, KIPM-College of Engineering and Technology Gida Gorakhpur, and Indian Desalination Association, India on 16th-17th March 2023.  FEEMSSD-2023 & InDACON-2023 focuses on addressing issues and concerns related to sustainability in all domains of Energy, Environment, Desalination, and Material Science and attempts to present the research and innovative outputs in a global platform. The conference aims to bring together leading academicians, researchers, technocrats, practitioners, and students to exchange and share their experiences and research outputs in Energy, Environment, Desalination, and Material Science.  Conference Title: International Conference on Frontiers in Desalination, Energy, Environment and Material Sciences for Sustainable Development & Annual Congress of InDAConference Acronyms: FEEMSSD-2023 & InDACON-2023Conference Date: 16th-17th March 2023Conference Location: Madan Mohan Malaviya University of Technology, GorakhpurConference Organizers: Madan Mohan Malaviya University of Technology Gorakhpur, KIPM-College of Engineering and Technology Gida Gorakhpur, and Indian Desalination Association, Indi