There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.

Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …

I and i

다중혈관 관상동맥 환자에서 y-문합을 이용하여 양쪽 내흉동맥만을 사용한 우회술의 조기 성적

Data-driven Soft Sensors in the process industry

Traditional robots have rigid underlying structures that limit their ability to interact with their environment. For example, conventional robot manipulators have rigid links and can manipulate objects using only their specialised end effectors. These robots often encounter difficulties operating in unstructured and highly congested environments. A variety of animals and plants exhibit complex movement with soft structures devoid of rigid components. Muscular hydrostats e.g. octopus arms and elephant trunks are almost entirely composed of muscle and connective tissue and plant cells can change shape when pressurised by osmosis. Researchers have been inspired by biology to design and build soft robots. With a soft structure and redundant degrees of freedom, these robots can be used for delicate tasks in cluttered and/or unstructured environments. This paper discusses the novel capabilities of soft robots, describes examples from nature that provide biological inspiration, surveys the state of the art and outlines existing challenges in soft robot design, modelling, fabrication and control.

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Soft robotics: Biological inspiration, state of the art, and future research

Fractional Order Systems Fractional Order PID Controller Chaotic Fractional Order Systems Field Programmable Gate Array, Microcontroller and Field Programmable Analog Array Implementation Switched Capacitor and Integrated Circuit Design Modeling of Ionic Polymeric Metal Composite

Fractional Order Systems: Modeling and Control Applications

In this paper an integrated motion sensor-actuator system is presented. The innovative system consists of a couple of Ionic Polymer Metal Composite (IPMC) strips working respectively as a sensor and as an actuator showing the capability of this materials to realize smart devices. Tough a number of applications have been proposed to show that IPMCs can work both as actuators or as sensors, none has been produced that exploits both properties in one application. The developed system is composed of a sensor that monitors the vibrations of a membrane under the effects of external disturbs. The sensor output is manipulated and sent to the actuator to reduce vibrations of the membrane itself. Experimental results show that the vibrations of the system are reduced when the control loop is closed.

A sensor-actuator integrated system based on IPMCs

Input selection methods for data-driven Soft sensors design: Application to an industrial process

In this paper, the characterization of ionic polymer-metal composite (IPMC)-based sensors, for possible applications related to biological systems, with respect to the influence of environmental temperature and relative humidity is investigated. This paper is second in a row devoted to the characterization of IPMC transducers with respect to the aforementioned influencing quantities. The characterization is performed by statistically investigating sensing signals in typical working conditions, and the experiments performed show that, for the investigated ranges, the effects of relative humidity are much more evident than the corresponding effects produced by temperature changes. The results reported give information that integrated IPMC transducer models, which are introduced so far, contribute to better exploit this novel technology.

Characterization of the Temperature and Humidity Influence on Ionic Polymer–Metal Composites as Sensors

Vibration sensing and control in structures and machinery are essential to prevent damage or failure. This paper proposes a new sensor, based on polymeric materials, to be used as a vibration sensor. Ionic polymer metal composites (IPMCs), active materials showing a bidirectional electromechanical coupling, are used. A new model has been developed and a test setup was realized using an electromechanical shaker, a laser based deflection meter and an accelerometer. To study the feasibility of the proposed device a cantilever bender was constructed using the ionic polymer nafion. Test results comparing model estimation and experimental are presented. Since the conditioning circuitry required by the IPMC based sensor is very simple, it could be in the near future realized by using plastic based electronics.

IPMCs as Vibration Sensors

In this paper, Fractional Order Elements (FOEs), fabricated by using a carbon black nano structured dielectrics, are presented. FOEs have been realized by varying different fabrication parameters such as the percentage of carbon black, the curing temperature, and the solvent type. Results on the experimental frequency characterization of one FOE device are given. The FOE has been, then, used for demonstrating the possibility of realizing a fractional order RC filter. The frequency analysis of the RC filter shows the coherence of the fractional order between the FOE and corresponding RC circuit.

Salvatore Graziani

Papers

A sensor-actuator integrated system based on IPMCs

Input selection methods for data-driven Soft sensors design: Application to an industrial process

Characterization of the Temperature and Humidity Influence on Ionic Polymer–Metal Composites as Sensors

IPMCs as Vibration Sensors

Carbon Black based capacitive Fractional Order Element towards a new electronic device