Model-Based Design of Variable Stiffness Soft Gripper Actuated by Smart Hydrogels.

Soft grippers have shown their ability to grasp fragile and irregularly shaped objects, but they often require external mechanisms for actuation, limiting their use in large-scale situations. Their limited capacity to handle loads and deformations also restricts their customized grasping capabilities. To address these issues, a model-based soft gripper with adaptable stiffness was proposed. The proposed actuator comprises a silicone chamber with separate units containing hydrogel spheres. These spheres exhibit temperature-triggered swelling and shrinking behaviors. In addition, variable stiffness strips embedded in the units are introduced as the stiffness variation method. The validated finite element method model was used as the model-based design approach to describe the hydrogel behaviors and explore the affected factors on the bending performance. The results demonstrate that the actuator can be programmed to respond in a desired way, and the stiffness variation method enhances bending stiffness significantly. Specifically, a direct correlation exists between the bending angle and hydrogel sphere layers, with a maximum of 128° achieved. In addition, incorporating gap configurations into the chamber membrane results in a maximum threefold increase in the bending angle. Besides, the membrane type minimally impacts the bending angle from 21.3° to 24.6°. In addition, the embedded variable stiffness strips substantially increase stiffness, resulting in a 30-fold rise in bending stiffness. In conclusion, the novel soft gripper actuator enables substantial bending and stiffness control through active actuation, showcasing the potential for enhancing soft gripper performance in complex and multiscale grasping scenarios.

Pin-on-Disc Modelling with Mesh Deformation Using Discrete Element Method.

The pin-on-disc test is a standard sliding wear test used to analyse sliding properties, including wear contour and wear volume. In this study, long-term laboratory test performance is compared with a short-term numerical model. A discrete element method (DEM) approach combined with an Archard wear model and a deformable geometry technique is used. The effect of mesh size on wear results is evaluated, and a scaling factor is defined to relate the number of revolutions between the experiment and the numerical model. The simulation results indicate that the mesh size of the disc has a significant effect on the wear contour. The wear depth and wear width follow a normal distribution after experiencing a run-in phase, while the wear volume has a quadratic relation with the number of revolutions. For the studied material combination, the calibration of the wear coefficient shows that the wear volume of the pin-on-disc test accurately matches the simulation results for a minimum of eight revolutions with a wear coefficient lower than 2 × 10-11 Pa-1.

The Effect of Environmental Conditions on the Degradation Behavior of Biomass Pellets.

Biomass pellets provide a pivotal opportunity in promising energy transition scenarios as a renewable source of energy. A large share of the current utilization of pellets is facilitated by intensive global trade operations. Considering the long distance between the production site and the end-user locations, pellets may face fluctuating storage conditions, resulting in their physical and chemical degradation. We tested the effect of different storage conditions, from freezing temperatures (-19 °C) to high temperature (40 °C) and humidity conditions (85% relative humidity), on the physicochemical properties of untreated and torrefied biomass pellets. Moreover, the effect of sudden changes in the storage conditions on pellet properties was studied by moving the pellets from the freezing to the high temperature and relative humidity conditions and vice versa. The results show that, although storage at one controlled temperature and RH may degrade the pellets, a change in the temperature and relative humidity results in higher degradation in terms of higher moisture uptake and lower mechanical strength.

Numerical calculations of environmental impacts for deep sea mining activities.

With the expected dramatic increase of mineral resources consumption, deep sea mining (DSM) was proposed as a method supplying the running of world economy by cooperating with or compensating for the terrestrial mining industry. However, its industrialization process is hindered by various reasons including the technological feasibility, economic profitability, and the DSM environmental impacts. The objective of this paper is to calculate the DSM environmental impacts based on a DSM environmental impact framework, which was selected through a systematic literature review in earlier work. The numerical calculations focus on the initial DSM disturbances and plume source, species disturbance, sediment plume and tailings. More importantly, the interconnection between the sediment plume and the species disturbances is also analysed particularly in this paper. The research quantifies the environmental impacts into a systematic framework, which could be helpful to assess the comprehensive environmental performances of a DSM activity and to promote the DSM industrialization process in the future.

A numerical calculation method of environmental impacts for the deep sea mining industry - a review.

Since the gradual decrease of mineral resources on-land, deep sea mining (DSM) is becoming an urgent and important emerging activity in the world. However, until now there has been no commercial scale DSM project in progress. Together with the reasons of technological feasibility and economic profitability, the environmental impact is one of the major parameters hindering its industrialization. Most of the DSM environmental impact research focuses on only one particular aspect ignoring that all the DSM environmental impacts are related to each other. The objective of this work is to propose a framework for the numerical calculation methods of the integrated DSM environmental impacts through a literature review. This paper covers three parts: (i) definition and importance description of different DSM environmental impacts; (ii) description of the existing numerical calculation methods for different environmental impacts; (iii) selection of a numerical calculation method based on the selected criteria. The research conducted in this paper provides a clear numerical calculation framework for DSM environmental impact and could be helpful to speed up the industrialization process of the DSM industry.