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.
Abstract
In the present work, thermal diffusivity and heat capacity measurements have been investigated in temperature range between RT and 1473 K for different duplex stainless steel supplied by Outokumpu Stainless AB, Sweden. The purpose of this study is to get a reliable thermophysical data of these alloys and to study the effect of microstructure on the thermal diffusivity and heat capacity value. Results show the ferrite content in the duplex stainless steel increased with temperature at equilibrium state. On the other hand, ferrite content increased with increasing Cr/Ni ratio and there is no significant effect of ferrite content on the thermal diffusivity value at room temperature. Furthermore, the heat capacity of all sam
... Show MoreFetal growth restriction is a significant contributor to fetal morbidity and mortality. In addition, there are heightened maternal risks associated with surgical operations and their accompanying dangers. Monitoring fetal development is a crucial objective of prenatal care and effective methods for early diagnosis of Fetal growth restriction, allowing prompt management and timely intervention to improve the outcomes. Screening for Fetal growth restriction can be achieved via many modalities; it can be medical, biochemical, or radiological. Some recommended combining more than one for better outcomes. Currently, there is inconsistency about the best method of Fetal growth restriction screening. In this review, a comprehensive
... Show MoreThis Book is the second edition that intended to be textbook studied for undergraduate/ postgraduate course in mathematical statistics. In order to achieve the goals of the book, it is divided into the following chapters. Chapter One introduces events and probability review. Chapter Two devotes to random variables in their two types: discrete and continuous with definitions of probability mass function, probability density function and cumulative distribution function as well. Chapter Three discusses mathematical expectation with its special types such as: moments, moment generating function and other related topics. Chapter Four deals with some special discrete distributions: (Discrete Uniform, Bernoulli, Binomial, Poisson, Geometric, Neg
... Show MoreIn this work, the experimental data of four eco-friendly soil stabilizers—recycled concrete aggregate (RCA), recycled aggregate concrete (RAC), Class F fly ash, and nano-MgO— used for low plasticity clay (CL) are synthesized in a comparative manner. A well-organized secondary database was developed for OMC and MDD, UCS, soaked CBR, ultimate bearing capacity, and settlement. Differences between studies were controlled by limiting the data to similar test conditions and calculating changes from each source study’s respective untreated control. OMC was raised by the fly ash from 17.2% to 20.2%, while MDD was decreased from 1.80 g/cm3 (3% dosage) to 1.69 g/cm3 (9% dosage). RCA and RAC yielded maximum dry density (MDD) of 1.86
... Show MoreThis research includes the preparation of a new azo 2-((2-(1H-indol-2- yl)ethyl)diazinyl)-5-aminophenol, in which the diazonium salt of 2(1H– Indole–3yl)- ethylamine reacts with a compound 3-aminophenol, and complexes have been prepared with the ions of Ni (II), Pd(II), Pt(IV), and Au(III). The characteristics of compounds include F.A.A, (C. H .N and O), 1H & 13C-NMR, IR, LC-Mass , UV-Vis spectral, DSC/TGA curve, the measurements of magnetic, and molar conductance. Each complex has an amount of [1:1] [M:L] and does not contain electrolytes. Based on the obtained results, molecular structural and geometry have been octahedral geometry suggest of Pt(IV) complex and tetrahedral of Ni (II)complex, the square planar of both Pd(II) and Au(III
... Show MoreIn this work ester derivatives were synthesized by the reaction of imidazole derivatives (C1) with ethylchloroacetate in ethanol and NaOH to give the corresponding (C2) .While compound (C3) acetohydrazide was synthesized by the reaction of ester derivatives (C2) with hydrazine hydrat in ethanol. Compound (C3) from the reaction with different aromatic aldehydes in absolute ethanol gave the Schiff′s bases (C4,C5). The product compounds were characterized by FT-IR, U.V and 1HNMR spectra and the biological activities were studied as antibacterial.
Gas-lift technique plays an important role in sustaining oil production, especially from a mature field when the reservoirs’ natural energy becomes insufficient. However, optimally allocation of the gas injection rate in a large field through its gas-lift network system towards maximization of oil production rate is a challenging task. The conventional gas-lift optimization problems may become inefficient and incapable of modelling the gas-lift optimization in a large network system with problems associated with multi-objective, multi-constrained, and limited gas injection rate. The key objective of this study is to assess the feasibility of utilizing the Genetic Algorithm (GA) technique to optimize t
Numerical study has been conducted to investigate the thermal performance enhancement of flat plate solar water collector by integrating the solar collector with metal foam blocks.The flow is assumed to be steady, incompressible and two dimensional in an inclined channel. The channel is provided with eight foam blocks manufactured form copper. The Brinkman-Forchheimer extended Darcy model is utilized to simulate the flow in the porous medium and the Navier-Stokes equation in the fluid region. The energy equation is used with local thermal equilibrium (LTE) assumption to simulate the thermofield inside the porous medium. The current investigation covers a range of solar radiation intensity at 09:00 AM, 12:00 PM, and 04:00
... Show MoreNew Azo ligands HL1 [2-Hydroxy-3-((5-mercapto-1,3,4-thiadiazol-2-yl)diazenyl)-1-naphth aldehyde] and HL2 [3-((1,5-Dimethyl-3-oxo-2-phenyl-2,3-dihydro-1H-pyrazol-4-yl)diazenyl)-2-hydroxy-1-naphthaldehyde] have been synthesized from reaction (2-hydroxy-1-naphthaldehyde) and (5-amino-1,3,4-thiadiazole-2-thiol) for HL1 and (4-amino-1,5-dimethyl-2-phenyl-1H-pyrazol-3(2H)-one) for HL2. Then, its metal ions complexes are synthesized with the general formula; [CrHL1Cl3(H2O)], [VOHL1(SO4)] [ML1Cl(H2O)] where M = Mn(II), Co(II), Ni(II) and Cu(II), and general formula; [Cr(L2)2 ]Cl and [M(L2)2] where M = VO(II), Mn(II), Co(II), Ni(II) and Cu(II) are reported. The ligands and their metal complexes are characterized by phisco- chemical spectroscopic
... Show MoreThe preparation of a new Azo compounds of highly conjugated dimeric and polymeric liquid crystal to achieve the crystalline characteristics Which have structures assigned based on elemental analysis, IR 1HNMR and CHNS-O while mesogenic properties have been set for DSC and hot-stage polarizing optical microscopy. The compounds show enantiotropicnematic phase being displayed. The compounds show photoluminescence properties in the organic solution at room temperature, with the fluorescence band centered around 400 nm.