Objective: In this work we design and evaluate a bidirectional pneumatic soft actuator made from silicone rubber (RTV2 C10) for the use in prosthetic hand. The actuator aimed to enhance flexibility and provide motion in two directions that mimic the actions of the human fingers. Materials and Methods: Two parallel air chambers are used in the actuator design where each chamber is divided into smaller internal cavities. These chambers are linked through a narrow connecting channel. The fabrication process relied on a molding technique based on 3D printed molds. Three separate mold components were designed and printed to allow accurate casting of silicone rubber into the desired shape. The completed actuators were then tested using an experimental setup. Results: We evaluate the performance of the developed actuators by measuring the maximum bending angle and output force under various air pressures. Three air-chamber dimensions (3.5 mm, 4.5 mm, and 5.5 mm) were tested to compare the actuator’s response. We noticed that the 5.5 mm chamber produced the largest bending angle whereas the 3.5 mm chamber showed the smallest. On the other hand, force analysis revealed that the actuator with 3.5 mm spacing generated the highest output force at an air pressure of 102 kPa and the 5.5 mm model returned the lowest under the same conditions. Discussion: The findings suggest that increasing the distance between air chambers enhances bending and overall flexibility where it indicates that shorter chamber spacing raises greater force. Conclusion: The developed actuator demonstrates promising properties for use in prosthetic hand designs. The bending range and force output enable the actuator for producing human-like finger motion that used in assistive robotic applications.
The main objective of this study is to introduce a systematic design procedure for short-span segmental beams following a sophisticated ACI 440.2R-17 design procedure. The general aspects of innovative short-span segmental beams are easy to fabricate, economical and rapidly placed in pre-specified positions. Short-span segmental beams fabricated from individual precast plain-concrete blocks and CFRP plates. Recently, experimental tests performed on short-span segmental beams, by the authors, investigated CFRP plate-bonding, CFRP plate cross-sectional area, the thickness of plate-bonding epoxy resin, surface-to-surface condition of concrete blocks, as well as, interface condition of the bonding surface. The experimental program comprises tes
... Show MoreSince his first existence on earth, human had formed a connecting link for a regressive, kinetic and developed relationship that comes from a semi-complicated interaction between natural environment and constructed environment, and this resulted in the survival of human and his existence continuance. Constructed environment enabled human to survive the natural environment inconstancies and enemies as predators, also it helped him to feel safe, comfortable and to practice his everyday life activities...etc. This alternative interaction resulted in creating a civilized legacy for a group of landmarks that tell about the development of this relationship by elemental output that reached us either by documents and manuscripts or as an existed
... Show MoreThis study aimed to investigate the role of Big Data in forecasting corporate bankruptcy and that is through a field analysis in the Saudi business environment, to test that relationship. The study found: that Big Data is a recently used variable in the business context and has multiple accounting effects and benefits. Among the benefits is forecasting and disclosing corporate financial failures and bankruptcies, which is based on three main elements for reporting and disclosing that, these elements are the firms’ internal control system, the external auditing, and financial analysts' forecasts. The study recommends: Since the greatest risk of Big Data is the slow adaptation of accountants and auditors to these technologies, wh
... Show MoreIn this paper a system is designed and implemented using a Field Programmable Gate Array (FPGA) to move objects from a pick up location to a delivery location. This transportation of objects is done via a vehicle equipped with a robot arm and an FPGA. The path between the two locations is followed by recognizing a black line between them. The black line is sensed by Infrared sensors (IR) located on the front and on the back of the vehicle. The Robot was successfully implemented by programming the Field Programmable Gate Array with the designed system that was described as a state diagram and the robot operated properly.
The optimization of artificial gas lift techniques plays a crucial role in the advancement of oil field development. This study focuses on investigating the impact of gas lift design and optimization on production outcomes within the Mishrif formation of the Halfaya oil field. A comprehensive production network nodal analysis model was formulated using a PIPESIM Optimizer-based Genetic Algorithm and meticulously calibrated utilizing field-collected data from a network comprising seven wells. This well group encompasses three directional wells currently employing gas lift and four naturally producing vertical wells. To augment productivity and optimize network performance, a novel gas lift design strategy was proposed. The optimization of
... Show MoreThe Marshlands cover an area of about 24% of the land area of Iraq, which gives it special importance to the country with its resources, resources and human capabilities, and because the conditions of this region are different from other areas environmentally and living necessitates subject to certain design principles achieve sustainable environmental integration to maintain them from For future generations, the idea of research is crystallized by the interest of environmental organizations and urban designers in planning and establishing special laws to exploit the region environmentally, economically and tourism, especially after the current focus of the country's economic revival. T tourism and begin the development
... Show MoreReverse shoulder arthroplasty is an increasingly common surgical intervention. However there are concerns and known limitations in relation to such joint replacement, while novel designs of reverse shoulder prostheses continue to appear on the market. Many claim to offer improvements over older designs but such assertions are difficult to validate when there is no consensus as to how such implants should be tested in vitro or even if such testing is necessary. In order to permit appropriate in vitro testing of reverse shoulder prostheses a unique, multi-station test rig was designed which was capable of applying motion in three axes to test prostheses. The shoulder simulator can apply up to 110° of motion in the flexion–extension and abd
... Show MoreThe Iraqi construction industry suffers from many issues that lead to many design errors, clashes, delays and cost overruns. Therefore, applying constructability will prevent these issues from happening, as it has proven its positive effect in different projects around the world. The goal of this paper is to use building information modelling (BIM) to assess the constructability, provide the opportunities for the project stakeholders to choose the best constructable design alternative and find the affection of applying constructability on project cost. The practical side of this research consists of two parts: in the first part, 37 factors are collected from the literature review as factors that effect on constructability. After tha
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