scholarly journals JelloCube: A Continuously Jumping Robot With Soft Body

2019 ◽  
Vol 24 (2) ◽  
pp. 447-458 ◽  
Author(s):  
Shuguang Li ◽  
Daniela Rus
Keyword(s):  
2021 ◽  
Author(s):  
Dong Zhou ◽  
Yuan Fu ◽  
Jie Deng ◽  
Jin Sun ◽  
Yingxiang Liu

2021 ◽  
Vol 11 (13) ◽  
pp. 5891
Author(s):  
Gang-Hyun Jeon ◽  
Yong-Jai Park

In this paper, soft-morphing, deformation control by fabric structures and soft-jumping mechanisms using magnetic yield points are studied. The durability and adaptability of existing rigid-base jumping mechanisms are improved by a soft-morphing process that employs the residual stress of a polymer. Although rigid body-based jumping mechanisms are used, they are driven by multiple components and complex structures. Therefore, they have drawbacks in terms of shock durability and fatigue accumulation. To improve these problems, soft-jumping mechanisms are designed using soft polymer materials and soft-morphing techniques with excellent shock resistance and environmental adaptability. To this end, a soft jumping mechanism is designed to store energy using the air pressure inside the structure, and the thickness of the polymer layer is adjusted based on the method applied for controlling the polymer freedom and residual stress deformation. The soft jumping mechanism can transfer energy more efficiently and stably using an energy storage and release mechanism and the rounded ankle structure designed using soft morphing. Therefore, the soft morphing and mechanisms of energy retention and release were applied to fabricate a soft robot prototype that can move in the desired direction and jump; the performance experiment was carried out.


2021 ◽  
Vol 140 (1) ◽  
Author(s):  
Christian Klug ◽  
Günter Schweigert ◽  
Helmut Tischlinger ◽  
Helmut Pochmann

AbstractAmmonoid soft parts have been rarely described. Here, we document the soft parts of a perisphinctid ammonite from the early Tithonian of Wintershof near Eichstätt (Germany). This exceptional preservation was enabled by the special depositional conditions in the marine basins of the Solnhofen Archipelago. Here, we document this find and attempt to homologize its parts with various organs such as the digestive tract, reproductive organs, the mantle cavity with gills, and the hyponome, with differing degrees of reservation. Alternative interpretations are also taken into account. We suggest that the soft parts were separated from the conch either taphonomically (following necrolytical processes affecting the attachment structures) or during a failed predation, where a predator (fish or coleoid) removed the soft parts from the conch but then dropped them. This find is interesting because it adds to the knowledge of ammonite anatomy, which is normally hidden in the conch. The reproductive organs show traces of what might have been spermatophores, thus supporting the hypothesis that the microconchs represented the males.


Author(s):  
Kent Yoshikawa ◽  
Masatsugu Otsuki ◽  
Takashi Kubota ◽  
Takao Maeda ◽  
Masataka Ushijima ◽  
...  

2017 ◽  
Vol 164 (1) ◽  
pp. 15-18 ◽  
Author(s):  
Lee Tilsley ◽  
D J Carr ◽  
C Lankester ◽  
C Malbon

IntroductionBody armour typically comprises a fabric garment covering the torso combined with hard armour (ceramic/composite). Some users wear only soft armour which provides protection from sharp weapons and pistol ammunition. It is usually recommended that body armour is worn against the body with no air-gaps being present between the wearer and the armour. However, air-gaps can occur in certain situations such as females around the breasts, in badly fitting armour and where manufacturers have incorporated an air-gap claiming improvements in thermophysiological burden. The effect of an air-gap on the ballistic protection and the back face signature (BFS) as a result of a non-perforating ballistic impact was determined.MethodsArmour panels representative of typical police armour (400x400 mm) were mounted on calibrated Roma Plastilina No 1 and impacted with 9 mm Luger FMJ (9×19 mm; full metal jacket; Dynamit Nobel DM11A1B2) ammunition at 365±10 m/s with a range of air-gaps (0–15 mm). Whether or not the ammunition perforated the armour was noted, the BFS was measured and the incidence of pencilling (a severe, deep and narrow BFS) was identified.ResultsFor 0° impacts, a critical air-gap size of 10 mm is detrimental to armour performance for the armour/ammunition combination assessed in this work. Specifically, the incidences of pencilling were more common with a 10 mm air-gap and resulted in BFS depth:volume ratios ≥1.0. For impacts at 30° the armour was susceptible to perforation irrespective of air-gap.ConclusionsThis work suggested that an air-gap behind police body armour might result in an increased likelihood of injury. It is recommended that body armour is worn with no air-gap underneath.


2003 ◽  
Vol 61 (1-2) ◽  
pp. 103-113 ◽  
Author(s):  
Alastair F. Johnson ◽  
Martin Holzapfel

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