Soft robotics offers a flexible alternative to rigid systems, enabling safe and adaptive interaction in biomedical, wearable, and unstructured environments. Among available actuation methods, soft electromagnetic actuators are notable for their fast response, low operating voltage, and ease of integration. However, some designs require pre-stretching mechanism, which produces an external force to maintain the separation between the coil and permanent magnets. Additionally, there is a mechanical complexity and difficulty in calibrating the spring parameters precisely. Furthermore, the pre-stretching mechanism increases the electromagnetic force required to counteract the opposing spring force, leading to a significant increase in power consumption. Therefore, this paper presents MagFlex V-2, a soft actuator featuring an air gap between a coil and permanent magnets, encapsulated in silicone to eliminate the need for pre-stretching. Three evaluation approaches were employed: 1) experimental testing across 0–45 V; 2) finite element simulation in COMSOL; and 3) analytical modeling using energy-based methods and a magnetic dipole field. MagFlex V-2 exhibited voltage-induced contraction, reducing its length from 17.1 cm to 15.1 cm at 42.5 V. The displacement followed a nonlinear voltage relationship, becoming more linear with increased silicone stiffness. In addition, electromagnetic force showed high sensitivity to voltage and air gap, peaking at 7.03 N (analytical) and 7.43 N (numerical) at 0.5 mm and 45 V. Furthermore, statistical analysis ( p \gt 0.05 ) confirmed that silicone damping and elasticity were not significant. Finally, electrical behavior showed close agreement among analytical, numerical, and experimental results at low currents, with deviations at higher voltages attributed to thermal effects.
In this experimental and numerical analysis, three varieties of under-reamed piles comprising one bulb were used. The location of the bulb changes from pile to pile, as it is found at the bottom, center, and top of the pile, respectively.
The amount of protein in the serum depends on the balance between the rate of its synthesis, and that of its catabolism or loss. Abnormal metabolism may result from nutritional deficiency, enzyme deficiency, abnormal secretion of hormones, or the actions of drugs and toxins. Renal cancer is the third most common malignancy of the genitourinary system, and accounts for 3% of adult malignancies globally. Total serum proteins were measured in malignant kidney tumor, benign kidney tumors, and non tumoral kidney diseases patient groups, as well as in healthy individuals. A significant decrease (p< 0.001) of total serum protein levels in patients with malignant kidney tumors when compared with those of benign tumors, non tumoral diseases, and hea
... Show MoreThe continuous increase in population has led to the development of underground structures like tunnels to be of great importance due to several reasons. One of these reasons is that tunnels do not affect the living activities on the surface, nor they interfere with the existing traffic network. More importantly, they have a less environmental impact than conventional highways and railways. This paper focuses on using numerical analysis of circular tunnels in terms of their behavior during construction and the deformations that may occur due to overburden and seismic loads imposed on them. In this study, the input data are taken from an existing Cairo metro case study; results were found for the lateral and vertical displacements, the Peak
... Show MoreUnderstanding how abiotic influences affect organisms and their interactions within ecological communities has long been of interest to ecologists. The significance of this comprehension has increased given rapid human-induced climate change. Wind speed variation is one of the less researched effects of climate change, as wind speeds worldwide are generally falling. Although wind is a fairly universal component of the environment, relatively little work has been conducted to integrate our knowledge of how wind affects interactions between different species. In this study, the influence of wind on bottom-up trophic interactions in the plant–ungulate–wolf food chain has been investigated through mathematical modeling. Positivity and bound
... Show MoreThe effect of air injection device on the performance of airlift pump used for water pumping has been studied numerically and experimentally. An airlift pump of dimensions 42mm diameter and 2200 mm length with conventional and modified air injection device was considered. A modification on conventional injection device (normal air-jacket type) was carried out by changing injection angle from 90 (for conventional) to 22.5 (for modified). Continuity and Navier-Stokes equations in turbulent regime with an appropriate two-phase flow model (VOF) and turbulent model ( ) in two dimensions axisymmetry flow were formulated and solved by using the known package FLUENT version (14.5). The numerical and experimental investiga
... Show MoreThe earth-air heat exchanger (EHX) has a promising potential to passively save the energy consumption of traditional air conditioning systems while maintaining a high degree of indoor comfort. The use of EHX systems for air conditioning in commercial and industrial settings offers several environmental benefits and is capable of operating in both standalone and hybrid modes. This study tests the performance and effectiveness of an EHX design in a sandy soil area in Baghdad, Iraq. The area has a climate of the subtropical semi-humid type. Ambient air temperatures and soil temperatures were recorded throughout the months of 2021. During the months of January and June, the temperatures of the inlet and outflow air at varying air veloci
... Show MoreIn this study, we design narrow band pass filter for window (3_5) ?m dependent on the needle optimization method , and a comparison with global designs published -Also, the effect of change parameter design on the optical performance of filter was studded and being able to overcome the difficulties of the design.In this study, the adoption of homogeneous optical properties materials as thin film depositing on a substrate of germanium at wavelength design (? = 4 ?m). For design this kind of filters we used advanced computer program (Matlab )to build a model design dependent both matrix characteristic and Needle technique. In this paper we refer to the type of Mert function , which is used for correct optical performance acces
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