Bio‐inspired soft robots provide a promising solution for robots working in human‐centered scenarios and interacting with unstructured environments. However, the functional versatility and multimodal sensing of soft robots still need improvements. On one hand, the configuration of a soft robot is predefined during manufacturing; on the other hand, the multimodal perception of the deformable soft actuator is challenging. In this work, a reconfigurable and proprioceptive soft origami module is presented, where two kinds of basic actuation modes (i.e., extension and bending) are realized, and multimodal perception is enabled using a novel foldable self‐inductance sensor. As a result, the origami module can be reconfigured to assemble multifunctional robots that can measure interaction force, body configuration, and other environmental information. Dedicated experiments are performed to validate the performance of the proposed origami module. An intelligent gripper assembled using three origami modules is designed with the capabilities of grasping mode adjustment, grasping force measurement, and the grasping target's size measurement. An intelligent jellyfish is assembled using five origami modules, and equipped with buoyancy adjustment and underwater grasping capabilities. The proposed proprioceptive modular soft origami provides an effective solution for versatile and intelligent soft robot design.
is paper proposes an improved impedance function for roads with mixed traffic. It is known that only limited studies consider the impact of nonmotorized traffic on travel impedance of a road segment, and a comparison of the impedance considering nonmotorized traffic with the classic BPR function, which does not consider the former, is scarce. Most of the previous studies targeted road conditions in developed countries, where the presence of nonmotorized traffic is negligible, and therefore limited efforts have been invested to develop improved impedance function considering mixed traffic. To overcome this limitation, this paper develops an improved impedance function and carries out a case study for a road in the city of Wuhan, China. e improved impedance function explicitly considers the interaction between motorized and nonmotorized traffic. Taxi GPS data from the case study road is used to extract and analyze the travel time of the "probe vehicles" running through the sampled segment at any time during a sampling day. e capacity of the road segment is measured, and the traffic flow of motorized vehicles and nonmotorized vehicles on the segment is counted. Based on the above data, the classic BPR function and the improved one proposed in this paper are calibrated. After comparing and analyzing the observed road impedance based on both analytical and simulation results, the classic BPR function and the proposed impedance function, the proposed impedance function is found to be more accurate to simulate the observed road impedance, with the error reducing from 14.83 s with the classic BPR impedance function to 6.50 s with the improved function. e proposed impedance function possesses a simple structure and high flexibility, and the parameters calibrated in this paper can be applied to similar roads to provide more realistic impedance than the previous ones based on the classic BPR function. e calibrated improved impedance function's transferability to other similar roads is validated by applying it to another road and the results show that the percentage error between the predicted travel times and the observed ones is only 3.8%.
Phosphorus and calcium are essential nutrients for the human body. However, excessive intake of phosphates and a low calcium:phosphorus ratio can lead to disorders in calcium-phosphorus metabolism, kidney disease, or osteoporosis. In this study, a total diet study (TDS) was used. The total phosphorus concentrations of foods were combined with the average dietary consumption to calculate the estimated daily intake, which was compared with the maximum tolerable daily intake (MTDI) to assess the resulting health risk of total phosphorus exposure. The calcium concentration in food and total calcium intake were also analyzed and estimated to calculate the calcium:phosphorus ratio. In conclusion, the phosphate exposure risks for the Taiwanese population are acceptable. However, the calcium:phosphorus ratio in the Taiwanese population (0.51–0.63) is lower than the reference calcium:phosphorus ratio (1.25).
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