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Soft robot arms possess unique capabilities when it comes to adaptability, flexibility, and dexterity. In addition, soft systems that are pneumatically actuated can claim high power-to-weight ratio. One of the main drawbacks of pneumatically actuated soft arms is that their stiffness cannot be varied independently from their end-effector position in space. The novel robot arm physical design presented in this article successfully decouples its end-effector positioning from its stiffness. An experimental characterization of this ability is coupled with a mathematical analysis. The arm combines the light weight, high payload to weight ratio and robustness of pneumatic actuation with the adaptability and versatility of variable stiffness. Light weight is a vital component of the inherent safety approach to physical human-robot interaction. To characterize the arm, a neural network analysis of the curvature of the arm for different input pressures is performed. The curvature-pressure relationship is also characterized experimentally.

The four-level active neutral point clamped (ANPC) inverter has become increasingly widely used in the renewable energy industry since it offers one more voltage level without increasing the total number of active switches compared to the three-level ANPC inverter. The model predictive current control (MPCC) is a promising control method for multi-level inverters. However, the conventional MPCC suffers from high computational complexity and tedious weighting factor tuning in multi-level inverter applications. A low-complexity MPCC without weighting factors for a four-level ANPC inverter is proposed in this paper. The computational burden and voltage vector candidate set are reduced according to the relationship between voltage vector and neutral point voltage balance. The proposed MPCC shows excellent steady-state and dynamics performances while ensuring the neutral point voltage balancing. The efficacy of the proposed MPCC is verified by simulation and experimental results. [ABSTRACT FROM AUTHOR]

The precise and prompt determination of quality control indicators such as moisture, stilbene glycosides, and anthraquinone glycosides is crucial in assessing the quality of Polygoni Multiflori Radix. Near-infrared spectroscopy is a nondestructive analytical technique that offers a more desirable approach than traditional methods for assessing content levels. In this study, various spectral preprocessing techniques were used to preprocess the raw spectral data. The spectral data were correlated with the determination of three-component contents using the partial least squares regression (PLSR) method. Then different algorithms, such as competitive adaptive weighted sampling (CARS), Monte Carlo uninformative variable elimination (MCUVE), and random frog hopping (RF), were used for model simplification and feature selection. The data suggest that the first-order deconvolution derivative (1st Dev.) processing of the spectral data is superior to other methods in all three model evaluation metrics. The PLSR model for moisture, stilbene glycosides, and anthraquinone glycosides produced the calibration coefficient of determination (R2C) of 0.82, 0.52, and 0.58, the root mean square error of cross validation (RMSECV) of 0.91%, 0.77%, and 0.69%, the prediction coefficient of determination (R2P) of 0.72, 0.28, and 0.54, the root mean square error of prediction (RMSEP) of 0.65%, 0.81%, and 0.75%, and relative percentage differences (RPDs) of 1.7, 1.0, and 0.8. After optimizing the model using CARS, R2C increased by 0.15%, 0.41%, and 0.34%, RMSECV decreased by 0.53%, 0.32%, and 0.24%, R2P increased by 0.21%, 0.63%, and 0.35%, RMSEP decreased by 0.36%, 0.41%, and 0.31%, and RPD increased by 1.1, 0.9, and 0.6, significantly improving the predictive capacity of the model. This research provides a feasible method for rapid compliance testing of Polygoni Multiflori Radix. To further improve the model's performance and applicability, it is necessary to continuously expand the sample set with different varieties and locations for wide variation. [ABSTRACT FROM AUTHOR]

This paper proposes a new type of circular ring traveling wave linear ultrasonic motor with incomplete teeth. The motor's movable slider is pressed against the end face of the tooth structure on the outer surface of the circular ring vibrator under a certain pre-pressure, four piezoelectric ceramic plates are evenly distributed at 90° intervals on the inner side of the circular structure, and four sets of driving teeth are arranged at 45° intervals from the position of the piezoelectric ceramic plates.When the motor is in operation, only one driving tooth works, and the life of the ultrasonic motor can be increased by rotating the different working teeth. The motor operates in two in-plane third-order bending modes that are orthogonal to each other at the same frequency. The dynamic design and simulation of the vibrator was carried out using ANSYS finite element software to analyze the effect of the structure on the mode. The principle prototype was fabricated, and the operating mode of the vibrator was measured using a laser Doppler vibrometer (LDV), and the vibration characteristics and output performance of the prototype were tested. Experimental results show that the motor runs smoothly at the excitation voltage of 240 V peak-to-peak, the excitation frequency of 30.459 kHz and the pre-pressure of 0.6 N, with the maximum output force of 90 mN and the motor no-load speed of 102 mm/s. [ABSTRACT FROM AUTHOR]