Compliant, Large-Strain, and Self-Sensing Twisted String Actuators with Applications to Soft Robots

The twisted string actuator (TSA) is a rotary-to-linear transmission system that has been implemented in robots for high force output and efficiency. The basic components of a TSA are a motor, strings, and a load (to keep the strings in tension). The twisting of the strings shortens their length to generate linear contraction. Due to their high force output, energy efficiency, and compact form factor, TSAs hold the potential to improve the performance of soft robots. Currently, it is challenging to realize high-performance soft robots because many existing soft or compliant actuators exhibit limitations such as fabrication complexity, high power consumption, slow actuation, or low force generation. The applications of TSAs in soft robots have hitherto been limited, mainly for two reasons. Firstly, the conventional strings of TSAs are stiff and strong, but not compliant. Secondly, precise control of TSAs predominantly relies on external position or force sensors. For these reasons, TSA-driven robots are often rigid or bulky.To make TSAs more suitable for actuating soft robots, compliant, large-strain, and self-sensing TSAs are developed and applied to various soft robots in this work. The design was realized by replacing conventional inelastic strings with compliant, thermally-activated, and conductive supercoiled polymer (SCP) strings. Self-sensing was realized by correlating the electrical resistance of the strings with their length. Large strains are realized by heating the strings in addition to twisting them. The quasi-static actuation and self-sensing properties are accurately captured by Preisach hysteresis operators. Next, a data-driven mathematical model was proposed and experimentally validated to capture the transient decay, creep, and hysteretic effects in the electrical resistance. This model was then used to predict the length of the TSA, given its resistance. Furthermore, three TSA-driven soft robots were designed and fabricated: a three-fingered gripper, a soft manipulator, and an anthropomorphic gripper. For the three-fingered gripper, its fingers were compliant and designed to exploit the Fin Ray Effect for improved grasping. The soft manipulator was driven by three TSAs that allowed it to bend with arbitrary magnitude and direction. A physics-based modeling strategy was developed to predict this multi-degree-of-freedom motion. The proposed modeling approaches were experimentally verified to be effective. For example, the proposed model predicted bending angle and bending velocity with mean errors of 1.58 degrees (2.63%) and 0.405 degrees/sec (4.31%), respectively. The anthropomorphic gripper contained 11 TSAs; two TSAs were embedded in each of the four fingers and three TSAs were embedded in the thumb. Furthermore, the anthropomorphic gripper achieved tunable stiffness and a wide range of grasps

Overtwisting and Coiling Highly Enhances Strain Generation of Twisted String Actuators

Twisted string actuators (TSAs) have exhibited great promise in robotic applications by generating high translational force with low input torque. To further facilitate their robotic applications, it is strongly desirable but challenging to enhance their consistent strain generation while maintaining compliance. Existing studies predominantly considered overtwisting and coiling after the regular twisting stage to be undesirable non-uniform and unpredictable knots, entanglements, and coils formed to create an unstable and failure-prone structure. Overtwisting would work well for TSAs when uniform coils can be consistently formed. In this study, we realize uniform and consistent coil formation in overtwisted TSAs, which greatly increases their strain. Furthermore, we investigate methods for enabling uniform coil formation upon overtwisting the strings in a TSA and present a procedure to systematically "train" the strings. To the authors' best knowledge, this is the first study to experimentally investigate overtwisting for TSAs with different stiffnesses and realize consistent uniform coil formation. Ultra-high molecular-weight polyethylene (UHMWPE) strings form the stiff TSAs whereas compliant TSAs are realized with stretchable and conductive supercoiled polymer (SCP) strings. The strain, force, velocity, and torque of each overtwisted TSA was studied. Overtwisting and coiling resulted in approximately 70% strain in stiff TSAs and approximately 60% strain in compliant TSAs. This is more than twice the strain achieved through regular twisting. Lastly, the overtwisted TSA was successfully demonstrated in a robotic bicep

Anthropomorphic Twisted String-Actuated Soft Robotic Gripper with Tendon-Based Stiffening

Realizing high-performance soft robotic grippers is challenging because of the inherent limitations of the soft actuators and artificial muscles that drive them, including low force output, small actuation range, and poor compactness. Despite advances in this area, realizing compact soft grippers with high dexterity and force output is still challenging. This paper explores twisted string actuators (TSAs) to drive a soft robotic gripper. TSAs have been used in numerous robotic applications, but their inclusion in soft robots has been limited. The proposed design of the gripper was inspired by the human hand. Tunable stiffness was implemented in the fingers with antagonistic TSAs. The fingers' bending angles, actuation speed, blocked force output, and stiffness tuning were experimentally characterized. The gripper achieved a score of 6 on the Kapandji test and recreated 31 of the 33 grasps of the Feix GRASP taxonomy. It exhibited a maximum grasping force of 72 N, which was almost 13 times its own weight. A comparison study revealed that the proposed gripper exhibited equivalent or superior performance compared to other similar soft grippers.Comment: 19 pages, 15 figure

Versatile spaceborne photonics with chalcogenide phase-change materials

Recent growth in space systems has seen increasing capabilities packed into smaller and lighter Earth observation and deep space mission spacecraft. Phase-change materials (PCMs) are nonvolatile, reconfigurable, fast-switching, and have recently shown a high degree of space radiation tolerance, thereby making them an attractive materials platform for spaceborne photonics applications. They promise robust, lightweight, and energy-efficient reconfigurable optical systems whose functions can be dynamically defined on-demand and on orbit to deliver enhanced science or mission support in harsh environments on lean power budgets. This comment aims to discuss the recent advances in rapidly growing PCM research and its potential to transition from conventional terrestrial optoelectronics materials platforms to versatile spaceborne photonic materials platforms for current and next-generation space and science missions. Materials International Space Station Experiment-14 (MISSE-14) mission-flown PCMs outside of the International Space Station (ISS) and key results and NASA examples are highlighted to provide strong evidence of the applicability of spaceborne photonics.Comment: 16 pages, 4 figure

ALICE Central Trigger System for LHC Run 3

A major upgrade of the ALICE experiment is in progress and will result in high-rate data taking during LHC Run 3 (2022-2024). The LHC interaction rate at Point 2 where the ALICE experiment is located will be increased to $50\ \mathrm{kHz}$in Pb--Pb collisions and$1\ \mathrm{MHz}$ in pp collisions. The ALICE experiment will be able to read out data at these interaction rates leading to an increase of the collected luminosity by a factor of up to about 100 with respect to LHC Runs 1 and 2. To satisfy these requirements, a new readout system has been developed for most of the ALICE detectors, allowing the full readout of the data at the required interaction rates without the need for a hardware trigger selection. A novel trigger and timing distribution system will be implemented, based on Passive Optical Network (PON) and GigaBit Transceiver (GBT) technology. To assure backward compatibility a triggered mode based on RD12 Trigger-Timing-Control (TTC) technology, as used in the previous LHC runs, will be maintained and re-implemented under the new Central Trigger System (CTS). A new universal ALICE Trigger Board (ATB) based on the Xilinx Kintex Ultrascale FPGA has been designed to function as a Central Trigger Processor (CTP), Local Trigger Unit (LTU), and monitoring interfaces. In this paper, this new hybrid multilevel system with continuous readout will be described, together with the triggering mechanism and algorithms. An overview of the CTS, the design of the ATB and the different communication protocols will be presented.Comment: 10 pages, 6 figures, submitted as a proceedings paper for 25th International Conference on Computing in High-Energy and Nuclear Physics (vCHEP 2021) to European Physical Journal (EPJ) Web of Conferences, May 17th-2th 2021, v2: corrected institution lis

Quinta-Gamelin Community Center: Architectural Design

The new facility will add meeting space for many of community organizations and sport leagues as well as people interested in renting the gymnasium and meeting rooms. Last year our community center gymnasium was given out 192 times on an average of two hours each, our meeting room was given out 68 times. Similar towns rent these facilities at approximately $15.00 an hour

Measurement of charm production at central rapidity in proton-proton collisions at s=2.76\sqrt{s} = 2.76 TeV

The $p_{\rm T}$-differential production cross sections of the prompt (B feed-down subtracted) charmed mesons D$^0$, D$^+$, and D$^{*+}$ in the rapidity range $|y|<0.5$, and for transverse momentum $1< p_{\rm T} <12$ GeV/$c$, were measured in proton-proton collisions at $\sqrt{s} = 2.76$ TeV with the ALICE detector at the Large Hadron Collider. The analysis exploited the hadronic decays D$^0 \rightarrow$K$\pi$, D$^+ \rightarrow$K$\pi\pi$, D$^{*+} \rightarrow$D$^0\pi$, and their charge conjugates, and was performed on a $L_{\rm int} = 1.1$ nb$^{-1}$ event sample collected in 2011 with a minimum-bias trigger. The total charm production cross section at $\sqrt{s} = 2.76$ TeV and at 7 TeV was evaluated by extrapolating to the full phase space the $p_{\rm T}$-differential production cross sections at $\sqrt{s} = 2.76$ TeV and our previous measurements at $\sqrt{s} = 7$ TeV. The results were compared to existing measurements and to perturbative-QCD calculations. The fraction of cdbar D mesons produced in a vector state was also determined.Comment: 20 pages, 5 captioned figures, 4 tables, authors from page 15, published version, figures at http://aliceinfo.cern.ch/ArtSubmission/node/307

Production of He-4 and (4) in Pb-Pb collisions at root(NN)-N-S=2.76 TeV at the LHC

Results on the production of He-4 and (4) nuclei in Pb-Pb collisions at root(NN)-N-S = 2.76 TeV in the rapidity range vertical bar y vertical bar <1, using the ALICE detector, are presented in this paper. The rapidity densities corresponding to 0-10% central events are found to be dN/dy4(He) = (0.8 +/- 0.4 (stat) +/- 0.3 (syst)) x 10(-6) and dN/dy4 = (1.1 +/- 0.4 (stat) +/- 0.2 (syst)) x 10(-6), respectively. This is in agreement with the statistical thermal model expectation assuming the same chemical freeze-out temperature (T-chem = 156 MeV) as for light hadrons. The measured ratio of (4)/He-4 is 1.4 +/- 0.8 (stat) +/- 0.5 (syst). (C) 2018 Published by Elsevier B.V.Peer reviewe

Azimuthal anisotropy of charged jet production in root s(NN)=2.76 TeV Pb-Pb collisions

We present measurements of the azimuthal dependence of charged jet production in central and semi-central root s(NN) = 2.76 TeV Pb-Pb collisions with respect to the second harmonic event plane, quantified as nu(ch)(2) (jet). Jet finding is performed employing the anti-k(T) algorithm with a resolution parameter R = 0.2 using charged tracks from the ALICE tracking system. The contribution of the azimuthal anisotropy of the underlying event is taken into account event-by-event. The remaining (statistical) region-to-region fluctuations are removed on an ensemble basis by unfolding the jet spectra for different event plane orientations independently. Significant non-zero nu(ch)(2) (jet) is observed in semi-central collisions (30-50% centrality) for 20 <p(T)(ch) (jet) <90 GeV/c. The azimuthal dependence of the charged jet production is similar to the dependence observed for jets comprising both charged and neutral fragments, and compatible with measurements of the nu(2) of single charged particles at high p(T). Good agreement between the data and predictions from JEWEL, an event generator simulating parton shower evolution in the presence of a dense QCD medium, is found in semi-central collisions. (C) 2015 CERN for the benefit of the ALICE Collaboration. Published by Elsevier B.V. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).Peer reviewe