Universal Robotic Gripper based on the Jamming of Granular Material

Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current designs are based on the multi-fingered hand, but this approach introduces hardware and software complexities. These include large numbers of controllable joints, the need for force sensing if objects are to be handled securely without crushing them, and the computational overhead to decide how much stress each finger should apply and where. Here we demonstrate a completely different approach to a universal gripper. Individual fingers are replaced by a single mass of granular material that, when pressed onto a target object, flows around it and conforms to its shape. Upon application of a vacuum the granular material contracts and hardens quickly to pinch and hold the object without requiring sensory feedback. We find that volume changes of less than 0.5% suffice to grip objects reliably and hold them with forces exceeding many times their weight. We show that the operating principle is the ability of granular materials to transition between an unjammed, deformable state and a jammed state with solid-like rigidity. We delineate three separate mechanisms, friction, suction and interlocking, that contribute to the gripping force. Using a simple model we relate each of them to the mechanical strength of the jammed state. This opens up new possibilities for the design of simple, yet highly adaptive systems that excel at fast gripping of complex objects.Comment: 10 pages, 7 figure

Critical packing in granular shear bands

In a realistic three-dimensional setup, we simulate the slow deformation of idealized granular media composed of spheres undergoing an axisymmetric triaxial shear test. We follow the self-organization of the spontaneous strain localization process leading to a shear band and demonstrate the existence of a critical packing density inside this failure zone. The asymptotic criticality arising from the dynamic equilibrium of dilation and compaction is found to be restricted to the shear band, while the density outside of it keeps the memory of the initial packing. The critical density of the shear band depends on friction (and grain geometry) and in the limit of infinite friction it defines a specific packing state, namely the \emph{dynamic random loose packing}

Differential postural effects of plantar-flexor muscles fatigue under normal, altered and improved vestibular and neck somatosensory conditions

The aim of the present study was to assess the effects of plantar-flexor muscles fatigue on postural control during quiet standing under normal, altered and improved vestibular and neck somatosensory conditions. To address this objective, young male university students were asked to stand upright as still as possible with their eyes closed in two conditions of No Fatigue and Fatigue of the plantar-flexor muscles. In Experiment 1 (n=15), the postural task was executed in two Neutral head and Head tilted backward postures, recognized to degrade vestibular and neck somatosensory information. In Experiment 2 (n=15), the postural task was executed in two conditions of No tactile and Tactile stimulation of the neck provided by the application of strips of adhesive bandage to the skin over and around the neck. Centre of foot pressure displacements were recorded using a force platform. Results showed that (1) the Fatigue condition yielded increased CoP displacements relative to the No Fatigue condition (Experiment 1 and Experiment 2), (2) this destabilizing effect was more accentuated in the Head tilted backward posture than Neutral head posture (Experiment 1) and (3) this destabilizing effect was less accentuated in the condition of Tactile stimulation than that of No tactile stimulation of the neck (Experiment 2). In the context of the multisensory control of balance, these results suggest an increased reliance on vestibular and neck somatosensory information for controlling posture during quiet standing in condition of altered ankle neuromuscular function

Optical design and verification of the 4mm receiver for the 20m telescope at Onsala Space Observatory

The work of this research is the design, analysis and verification of the optical performance of a 4 mm receiver channel for the 20 m telescope at Onsala Space Observatory, Onsala, Sweden. The 4 mm (75 GHz) receiver is a newly proposed channel designed to be installed parallel to the existing 3 mm (100 GHz) channel targeting new science at that longer wavelength. Gaussian beam mode analysis is used to produce the fundamental optical design of the system. The design is then analysed more accurately with the physical optics approximation. We report on the comparison of simulation and measurement and verification of the system design

Fluctuations in the coarsening dynamics of the O(N) model: are they similar to those in glassy systems?

We study spatio-temporal fluctuations in the non-equilibrium dynamics of the d dimensional O(N) in the large N limit. We analyse the invariance of the dynamic equations for the global correlation and response in the slow ageing regime under transformations of time. We find that these equations are invariant under scale transformations. We extend this study to the action in the dynamic generating functional finding similar results. This model therefore falls into a different category from glassy problems in which full time-reparametrisation invariance, a larger symmetry that emcompasses time scale invariance, is expected to be realised asymptotically. Consequently, the spatio-temporal fluctuations of the large N O(N) model should follow a different pattern from that of glassy systems. We compute the fluctuations of local, as well as spatially separated, two-field composite operators and responses, and we confront our results with the ones found numerically for the 3d Edwards-Anderson model and kinetically constrained lattice gases. We analyse the dependence of the fluctuations of the composite operators on the growing domain length and we compare to what has been found in super-cooled liquids and glasses. Finally, we show that the development of time-reparametrisation invariance in glassy systems is intimately related to a well-defined and finite effective temperature, specified from the modification of the fluctuation-dissipation theorem out of equilibrium. We then conjecture that the global asymptotic time-reparametrisation invariance is broken down to time scale invariance in all coarsening systems.Comment: 57 pages, 5 figure

Herschel observations of extra-ordinary sources: Detection of Hydrogen Fluoride in absorption towards Orion~KL

We report a detection of the fundamental rotational transition of hydrogen fluoride in absorption towards Orion KL using Herschel/HIFI. After the removal of contaminating features associated with common molecules ("weeds"), the HF spectrum shows a P-Cygni profile, with weak redshifted emission and strong blue-shifted absorption, associated with the low-velocity molecular outflow. We derive an estimate of 2.9 x 10^13 cm^-2 for the HF column density responsible for the broad absorption component. Using our best estimate of the H2 column density within the low-velocity molecular outflow, we obtain a lower limit of ~1.6 x 10^-10 for the HF abundance relative to hydrogen nuclei, corresponding to 0.6% of the solar abundance of fluorine. This value is close to that inferred from previous ISO observations of HF J=2--1 absorption towards Sgr B2, but is in sharp contrast to the lower limit of 6 x 10^-9 derived by Neufeld et al. (2010) for cold, foreground clouds on the line of sight towards G10.6-0.4.Comment: 5 pages, 3 figures, paper to be published in the Herschel special issue of A&A letter

Herschel observations of EXtra-Ordinary Sources: The Terahertz spectrum of Orion KL seen at high spectral resolution

We present the first high spectral resolution observations of Orion KL in the frequency ranges 1573.4 - 1702.8 GHz (band 6b) and 1788.4 - 1906.8 GHz (band 7b) obtained using the HIFI instrument on board the Herschel Space Observatory. We characterize the main emission lines found in the spectrum, which primarily arise from a range of components associated with Orion KL including the hot core, but also see widespread emission from components associated with molecular outflows traced by H2O, SO2, and OH. We find that the density of observed emission lines is significantly diminished in these bands compared to lower frequency Herschel/HIFI bands.Comment: Accepted for publication in the Herschel HIFI special issue of Astronomy and Astrophysics Letters, 5 pages, 3 figure

Reversal of infall in SgrB2(M) revealed by Herschel/HIFI observations of HCN lines at THz frequencies

To investigate the accretion and feedback processes in massive star formation, we analyze the shapes of emission lines from hot molecular cores, whose asymmetries trace infall and expansion motions. The high-mass star forming region SgrB2(M) was observed with Herschel/HIFI (HEXOS key project) in various lines of HCN and its isotopologues, complemented by APEX data. The observations are compared to spherically symmetric, centrally heated models with density power-law gradient and different velocity fields (infall or infall+expansion), using the radiative transfer code RATRAN. The HCN line profiles are asymmetric, with the emission peak shifting from blue to red with increasing J and decreasing line opacity (HCN to H$^{13}$CN). This is most evident in the HCN 12--11 line at 1062 GHz. These line shapes are reproduced by a model whose velocity field changes from infall in the outer part to expansion in the inner part. The qualitative reproduction of the HCN lines suggests that infall dominates in the colder, outer regions, but expansion dominates in the warmer, inner regions. We are thus witnessing the onset of feedback in massive star formation, starting to reverse the infall and finally disrupting the whole molecular cloud. To obtain our result, the THz lines uniquely covered by HIFI were critically important.Comment: A&A, HIFI special issue, accepte

Herschel observations of deuterated water towards Sgr B2(M)

Observations of HDO are an important complement for studies of water, because they give strong constraints on the formation processes -- grain surfaces versus energetic process in the gas phase, e.g. in shocks. The HIFI observations of multiple transitions of HDO in Sgr~B2(M) presented here allow the determination of the HDO abundance throughout the envelope, which has not been possible before with ground-based observations only. The abundance structure has been modeled with the spherical Monte Carlo radiative transfer code RATRAN, which also takes radiative pumping by continuum emission from dust into account. The modeling reveals that the abundance of HDO rises steeply with temperature from a low abundance ($2.5\times 10^{-11}$) in the outer envelope at temperatures below 100~K through a medium abundance ($1.5\times 10^{-9}$) in the inner envelope/outer core, at temperatures between 100 and 200~K, and finally a high abundance ($3.5\times 10^{-9}$) at temperatures above 200~K in the hot core.Comment: A&A HIFI special issue, accepte