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First-Order Comprehensive Adjoint Sensitivity Analysis Methodology For Neural Ordinary Differential Equations: Mathematical Framework And Illustrative Application To The Nordheim–Fuchs Reactor Safety Model, Dan Gabriel Cacuci Sep 2024

First-Order Comprehensive Adjoint Sensitivity Analysis Methodology For Neural Ordinary Differential Equations: Mathematical Framework And Illustrative Application To The Nordheim–Fuchs Reactor Safety Model, Dan Gabriel Cacuci

Faculty Publications

This work introduces the mathematical framework of the novel “First-Order Comprehensive Adjoint Sensitivity Analysis Methodology for Neural Ordinary Differential Equations” (1st-CASAM-NODE) which yields exact expressions for the first-order sensitivities of NODE decoder responses to the NODE parameters, including encoder initial conditions, while enabling the most efficient computation of these sensitivities. The application of the 1st-CASAM-NODE is illustrated by using the Nordheim–Fuchs reactor dynamics/safety phenomenological model, which is representative of physical systems that would be modeled by NODE while admitting exact analytical solutions for all quantities of interest (hidden states, decoder outputs, sensitivities with respect to all parameters and initial conditions, …


Enhanced Perfluorooctanoic Acid (Pfoa) Degradation By Electrochemical Activation Of Peroxydisulfate (Pds) During Electrooxidation For Water Treatment, Melvin S. Samuel, Kadarkarai Govindan, Donald R. Ryan, Sean T. Mcbeath, Brooke K. Mayer, Patrick J. Mcnamara Sep 2024

Enhanced Perfluorooctanoic Acid (Pfoa) Degradation By Electrochemical Activation Of Peroxydisulfate (Pds) During Electrooxidation For Water Treatment, Melvin S. Samuel, Kadarkarai Govindan, Donald R. Ryan, Sean T. Mcbeath, Brooke K. Mayer, Patrick J. Mcnamara

Civil and Environmental Engineering Faculty Research and Publications

Improved treatment of per- and polyfluoroalkyl substances (PFAS) in water is critically important in light of the proposed United States Environmental Protection Agency (USEPA) drinking water regulations at ng L−1 levels. The addition of peroxymonosulfate (PMS) during electrooxidation (EO) can remove and destroy PFAS, but ng L−1 levels have not been tested, and PMS itself can be toxic. The objective of this research was to test peroxydisulfate (PDS, an alternative to PMS) activation by boron-doped diamond (BDD) electrodes for perfluorooctanoic acid (PFOA) degradation. The influence of PDS concentration, temperature, and environmental water matrix effects, and PFOA concentration on PDS-EO …


Value Creation In A Pedagogically-Focused Faculty Online Learning Community, Fred Goldberg, Edward Price, Mo Basir, Lawrence Escalada, Steve Maier, Steven Sahyun, Tamara D. Snyder, Liang Zeng Sep 2024

Value Creation In A Pedagogically-Focused Faculty Online Learning Community, Fred Goldberg, Edward Price, Mo Basir, Lawrence Escalada, Steve Maier, Steven Sahyun, Tamara D. Snyder, Liang Zeng

Physics & Astronomy Faculty Publications

Faculty online learning communities (FOLCs) can help faculty effectively adopt and persist in using research-based curricula. This paper documents faculty perspectives on the value they gained from participating in a multi-year FOLC designed to help them implement an inquiry-based physical science curriculum. Personal value narratives were collected from 11 volunteer FOLC participants. In the narratives, participants responded to prompts regarding their initial reasons for participation, activities they engaged in, and values they gained, as well as how participation impacted their profession, social connections, professional practice, and ability to influence their world as teachers. Qualitative analysis shows that the values faculty …


Estimating Dis Performance Using Mininet, Ryan D. Winz Sep 2024

Estimating Dis Performance Using Mininet, Ryan D. Winz

Theses and Dissertations

Real time distributed simulation is an exceptionally useful tool for training and wargaming used by the military and industry alike. This research aims to provide scenarios and structures to evaluate the effect of distributing simulations among different compute nodes. Specific scenarios involve the analysis of performance as a function of latency and the degree network protocols and reliability affect simulation performance. Various standards exist for administering geographically separated simulations. The focus of this thesis will be on the Distributed Interactive Simulation standard, a peer-to-peer open standard for simulation messages to adhere to, but lessons can be extended to other standards.


Optimal Humanized Scg3-Neutralizing Antibodies For Anti-Angiogenic Therapy Of Diabetic Retinopathy, Hong Tian, Christina Y Weng, John Timothy Stout, Iok-Hou Pang, Keith A Webster, Wei Li Sep 2024

Optimal Humanized Scg3-Neutralizing Antibodies For Anti-Angiogenic Therapy Of Diabetic Retinopathy, Hong Tian, Christina Y Weng, John Timothy Stout, Iok-Hou Pang, Keith A Webster, Wei Li

Faculty, Staff and Students Publications

Secretogranin III (Scg3) is a diabetic retinopathy (DR)-restricted angiogenic factor identified in preclinical studies as a target for DR therapy. Previously, our group generated and characterized ML49.3, an anti-Scg3 monoclonal antibody (mAb) which we then converted into an EBP2 humanized antibody Fab fragment (hFab) with potential for clinical application. We also generated anti-Scg3 mT4 mAb and related EBP3 hFab. In this study, to identify the preferred hFab for DR therapy, we compared all four antibodies for binding, neutralizing and therapeutic activities in vitro and in vivo. Octet binding kinetics analyses revealed that ML49.3 mAb, EBP2 hFab, mT4 mAb and EBP3 …


Behind Armor Blunt Trauma: Liver Injuries Using A Live Animal Model, Narayan Yoganandan, Alok Shah, Brian D. Stemper, Lewis Somber, Valeta Carol Chancey, Joseph Mcentire Sep 2024

Behind Armor Blunt Trauma: Liver Injuries Using A Live Animal Model, Narayan Yoganandan, Alok Shah, Brian D. Stemper, Lewis Somber, Valeta Carol Chancey, Joseph Mcentire

Biomedical Engineering Faculty Research and Publications

Introduction

While the 44-mm clay penetration criterion was developed in the 1970s for soft body armor applications, and the researchers acknowledged the need to conduct additional tests, the same behind the armor blunt trauma displacement limit is used for both soft and hard body armor evaluations and design considerations. Because the human thoraco-abdominal contents are heterogeneous, have different skeletal coverage, and have different functional requirements, the same level of penetration limit does not imply the same level of protection. It is important to determine the regional responses of different thoraco-abdominal organs to better describe human tolerance and improve the current …


The Shriners Children's Standard Gait Model (Scgm), Karen M. Kruger, Patrick Fischer, Sam Augsburger, Jing Feng, Jean-Francois Girouard, Daniel L. Gregory, Logan Johnson, Bruce A. Macwilliams, Mark L. Mcmulkin, Bradley Nelson, Spencer Warshauer, Prabhav Saraswat, Ross S. Chafetz Sep 2024

The Shriners Children's Standard Gait Model (Scgm), Karen M. Kruger, Patrick Fischer, Sam Augsburger, Jing Feng, Jean-Francois Girouard, Daniel L. Gregory, Logan Johnson, Bruce A. Macwilliams, Mark L. Mcmulkin, Bradley Nelson, Spencer Warshauer, Prabhav Saraswat, Ross S. Chafetz

Biomedical Engineering Faculty Research and Publications

No abstract provided.


Commentary: The Precarious Position Of Teaching As A Graduate Student, Candice R. Luebbering, Korine N. Kolivras Aug 2024

Commentary: The Precarious Position Of Teaching As A Graduate Student, Candice R. Luebbering, Korine N. Kolivras

The Geographical Bulletin

Although elementary and secondary education teachers often undertake years of schooling and practice before taking charge of the classroom, graduate students can be called upon as instructors shortly after their f irst arrival to campus . With little time to review or develop course elements, graduate students are thrown headfirst into dealing with the dramatic daily role reversal of being both a student and a professor . This article, in contrast to formal pedagogy papers, provides a narrative by a graduate student intended for fellow graduate students about to assume the title of instructor . It is an informal collection …


Volume 51-1 Complete Issue, Steven M. Schnell Aug 2024

Volume 51-1 Complete Issue, Steven M. Schnell

The Geographical Bulletin

Volume 51-1 Complete Issue


Tropical Deforestation In The Ecuadorian Chocó: Logging Practices And Socio-Spatial Relationships, Santiago López, Rodrigo Sierra, Milton Tirado Aug 2024

Tropical Deforestation In The Ecuadorian Chocó: Logging Practices And Socio-Spatial Relationships, Santiago López, Rodrigo Sierra, Milton Tirado

The Geographical Bulletin

This article examines the implications of forest management on biodiversity at a local level and the relationships between deforestation and its geographic and demographic contexts at a regional level in the Ecuadorian Chocó region . We evaluated the implications of logging practices on biodiversity through the comparison of two 5-ha vegetation quadrats in two areas with and without forest management . Results of the local evaluation showed that the managed forest had higher tree density, larger basal area, and more commercial tree species per hectare than the unmanaged area . Yet, forest gaps were notably large in both research sites …


Volume 59-2 Complete Issue, Casey D. Allen Aug 2024

Volume 59-2 Complete Issue, Casey D. Allen

The Geographical Bulletin

Volume 59-2 Complete Issue


Predicting Gypsy Moth Population Size In Porcupine Mountains Wilderness State Park Using A Satellite Disturbance Index, Jonathan B. Thayn, Courtney M. Ballard, Emily L. Eichholzer, Michael J. Genard, Jordan A. Hawks, John P. Richard Aug 2024

Predicting Gypsy Moth Population Size In Porcupine Mountains Wilderness State Park Using A Satellite Disturbance Index, Jonathan B. Thayn, Courtney M. Ballard, Emily L. Eichholzer, Michael J. Genard, Jordan A. Hawks, John P. Richard

The Geographical Bulletin

The pattern of gypsy moth defoliation in the Apostle Islands suggests that moths arrived first to the most isolated islands, not those that are nearest the mainland or the most visited by tourists. Gypsy moths are primarily wind-dispersed, so at least some of the moths may have been blown across Lake Superior. The Porcupine Mountains, about 55 km away, are a potential source for these moths. We used a satellite image-based disturbance index to map the extent of defoliation in and around Porcupine Mountains Wilderness State Park. Using these data and moth trap data provided by the Slow the Spread …


Relationship Of Flood Peaks To 24-Hour Rainfall In The Eastern Texas Hill Country, South-Central Texas, Richard A. Earl, Jeanett Bosarge, Heather Wooten, Sarita Hedgepeth, Joel Sherrouse Aug 2024

Relationship Of Flood Peaks To 24-Hour Rainfall In The Eastern Texas Hill Country, South-Central Texas, Richard A. Earl, Jeanett Bosarge, Heather Wooten, Sarita Hedgepeth, Joel Sherrouse

The Geographical Bulletin

The eastern Texas Hill Country is noted for its extreme storm rainfall amounts and the resulting flood discharges. The resulting flash f loods contribute to Texas leading the U.S. in automobile-related, flood fatalities. These f loods produce considerable groundwater recharge to the Edwards Aquifer. A better knowledge of relations between precipitation and peak flood discharges can improve f lood hazard warning and provide estimates of groundwater recharge from ungauged ephemeral streams. The purpose of this study was to analyze the relationship between 24-hour precipitation amounts and peak discharge for four ephemeral streams, with drainage areas between 0.3 to 18.8 mi.2 …


Heat Reduction Capabilities Of Urban Tree Species, Renee Baker Aug 2024

Heat Reduction Capabilities Of Urban Tree Species, Renee Baker

The Geographical Bulletin

Cities are predicted to house 61% of the world’s population within the next 30 years and their ecological footprints extend much farther than the extent of developed land. In addition, they trap 15-30% more radiation than their rural counterparts, making air temperatures 0.6 - 1.3° C warmer. Higher temperatures drive chemical reactions and increases the energy expended in buildings for cooling. In this study, the thermal effects of tree species in Santa Barbara, California were observed using data from the Airborne Visible Infrared Imaging Spectrometer-Next Generation (AVIRIS-NG) satellite on June 3, 2014, and MASTER data from June 4, 2014. A …


Investigating The Neurovascular Correlates Of Cognitive Function In Individuals With Spinal Cord Injury Using Functional Near-Infrared Spectroscopy, Donna Yali Chen Aug 2024

Investigating The Neurovascular Correlates Of Cognitive Function In Individuals With Spinal Cord Injury Using Functional Near-Infrared Spectroscopy, Donna Yali Chen

Dissertations

Individuals with spinal cord injury (SCI) have a 13 times greater risk of cognitive impairment than able-bodied individuals and commonly report symptoms of depression and anxiety. The reports of cognitive impairment in individuals with SCI are independent of concomitant brain injury. Although the direct cause of cognitive impairment in individuals with SCI is unknown, key contributors may include comorbid depression, chronic pain, anxiety, fatigue, brain injury, or cardiovascular dysfunction. Previous studies have focused on SCI at the level of the spinal cord but have under-investigated the supraspinal levels. Due to the lack of neuroimaging studies on SCI rehabilitation, it is …


A Micromagnetic Study Of Skyrmions In Thin-Film Multilayered Ferromagnetic Materials, Nicholas J. Dubicki Aug 2024

A Micromagnetic Study Of Skyrmions In Thin-Film Multilayered Ferromagnetic Materials, Nicholas J. Dubicki

Dissertations

Magnetic skyrmions are topologically protected, localized, nanoscale spin textures in non-centrosymmetric thin ferromagnetic materials and heterostructures. At present they are of great interest to physicists for potential applications in information technology due to their particle-like properties and stability. In a system of multiple thin ferromagnetic layers, the stray field interaction was typically treated with various simplifications and approximations. It is shown that extensive analysis of the micromagnetic equations leads to an exact representation of the stray field interaction energy in the form of layer interaction kernels, a so-called 'finite thickness' representation. This formulation reveals the competition between perpendicular magnetic anisotropy …


Enhancing Community Flood Resilience By Incorporating Landscape Hydrological Sensitivity And Connectivity, Wenlong Feng Aug 2024

Enhancing Community Flood Resilience By Incorporating Landscape Hydrological Sensitivity And Connectivity, Wenlong Feng

Dissertations

Rapid urban expansion and dramatic climate change have significantly increased the intensity and frequency of floods worldwide. With rising flood risks, conventional flood defense strategies that rely on structural measures become ineffective. The present designations for flood-prone areas, such as FEMA's flood maps, are becoming unreliable. Flood risk management is shifting toward enhancing community flood resilience, highlighting the importance of non-structural approaches. Landscape resilience has become a foundation of community flood resilience. However, past urban development typically undermined natural hydro-ecological functions and landscape resilience because of poor recognition of landscapes' ecological role, hydrological sensitivity, and hydrological connections. This study aims …


Certifying Stability In Runge-Kutta Schemes: Algebraic Conditions And Semidefinite Programming, Austin Juhl Aug 2024

Certifying Stability In Runge-Kutta Schemes: Algebraic Conditions And Semidefinite Programming, Austin Juhl

Dissertations

Numerical stability is a critical property for a time-integration scheme. In the context of Runge-Kutta methods applied to stiff differential equations, A-stability is one of the most basic and practically important notions of stability. Dating back to the work of Dahlquist, it has been known that A-stability is equivalent to the Runge-Kutta stability function satisfying a particular convex feasibility problem. Specifically, up to a transformation, the stability function lies in the convex cone of positive functions. In recent years, sum-of-squares optimization and semidefinite programming have become valuable tools in developing rigorous certificates of stability in dynamical systems. Therefore, it is …


Federated Learning Systems For Mobile Sensing Data, Xiaopeng Jiang Aug 2024

Federated Learning Systems For Mobile Sensing Data, Xiaopeng Jiang

Dissertations

Federated Learning (FL) has emerged as a new distributed Deep Learning (DL) paradigm that enables privacy-aware training and inference on mobile devices with help from the cloud. This dissertation presents a comprehensive exploration of FL with mobile sensing data, covering systems, applications, and optimizations.

First, a mobile-cloud FL system, FLSys, is designed to balance model performance with resource consumption, tolerate communication failures, and achieve scalability. In FLSys, different DL models with different FL aggregation methods can be trained and accessed concurrently by different apps. In addition, FLSys provides advanced privacy-preserving mechanisms and a common API for third-party app developers to …


Data Driven Decision Making For Sustainable Planning And Operations Of Large Scale Networks, Bahareh Kargar Aug 2024

Data Driven Decision Making For Sustainable Planning And Operations Of Large Scale Networks, Bahareh Kargar

Dissertations

This dissertation explores data-driven decision-making networks, focusing on sustainable planning and operations for large-scale systems such as healthcare supply chains and power systems. One significant application in healthcare is the optimization of vaccine supply chains. An agent-based simulation-optimization modeling framework is developed to enhance the efficiency and sustainability of vaccine distribution. First, an agent-based epidemiological model of COVID-19 is extended to capture disease transmission dynamics and forecast the number of susceptible individuals and infections. Then, a sustainable vaccine supply chain considering the impacts of greenhouse gases is developed and integrated with the simulation model to minimize total costs and environmental …


Electrified Membrane For Water Treatment And Resource Recovery: Advancing Multiscale Strategies In Gas-Involving Reactions, Jianan Gao Aug 2024

Electrified Membrane For Water Treatment And Resource Recovery: Advancing Multiscale Strategies In Gas-Involving Reactions, Jianan Gao

Dissertations

Multifunctional, modular, and scalable water treatment technologies that operate without chemical additives are crucial for addressing global water pollution challenges. While traditional membrane-based separation processes are crucial for ensuring clean water supplies, they primarily focus on pollutant removal rather than on the upcycling of pollutants into valuable resources. Electrified membrane filtration presents a robust alternative, utilizing minimal or no chemical additives and harnessing electrical power to directly reduce contaminants or produce reactive oxidants or reductants on-site.

This dissertation is dedicated to the development of innovative electrochemically reactive membranes designed to address three major challenges: (1) the engineering of electrocatalysts with …


A Methodological Framework For Ontology Development, Enrichment, And Application In Natural Language Processing Tasks, Navya Martin Kollapally Aug 2024

A Methodological Framework For Ontology Development, Enrichment, And Application In Natural Language Processing Tasks, Navya Martin Kollapally

Dissertations

Electronic Health Records (EHRs) have been widely used in healthcare to record demographics, vital signs, test results, immunizations, medical imaging reports, differential diagnoses, etc. It is now accepted that non-clinical (e.g., social) factors have a substantial influence on health outcomes. Hence, it is desirable to record these Social and Commercial Determinants of Health (SDoH & CDoH) in an EHR. The "non-text parts" of EHR notes (e.g., data tables) rely on coded terms from underlying ontologies or terminologies to facilitate semantic interoperability. Ontologies help define concepts, the relationships between them, and instances that can be utilized in research.

The first accomplishment …


Microwave Catalysis-Enabled Membrane Processes For Microbial Inactivation, Fangzhou Liu Aug 2024

Microwave Catalysis-Enabled Membrane Processes For Microbial Inactivation, Fangzhou Liu

Dissertations

The COVID-19 pandemic has highlighted the urgent need for advanced technologies to combat virus transmission. Traditional membrane filtration technologies primarily serve as physical barriers, capturing pollutants but failing to inactivate microbial agents such as bacteria and viruses. These membranes typically target larger particles but are ineffective against sub-micrometer viral particles. Thus, there's a critical demand for membrane filtration processes that combine robust filtration with antifouling and reaction -enabled functions for efficient pathogen disinfection. This research explores a novel microwave-assisted membrane filtration process incorporating catalytic reactions to enhance microbial disinfection and prevent membrane fouling, offering a groundbreaking solution to global challenges …


Estimation Of Spo2 Levels And Heart Rate From Ppg Signals In The Presence Of Motion Artifacts, Chizhong Wang Aug 2024

Estimation Of Spo2 Levels And Heart Rate From Ppg Signals In The Presence Of Motion Artifacts, Chizhong Wang

Dissertations

In the rapidly advancing world of health technology, wearable devices are at the forefront, fundamentally changing how individuals monitor their health. The key to this transformation is photoplethysmography (PPG), a non-invasive optical method that measures blood flow variations through the skin by detecting changes in light absorption with each heartbeat. This capability makes PPG essential for monitoring vital signs such as heart rate and blood oxygen saturation(SpO2). Furthermore, the utility of PPG signals has been extended beyond traditional health metrics to include human activity classification, offering a holistic perspective on an individual's physical health and activity levels, in …


Order-Picking Strategies And Efficiency Models For The Fulfillment Of Multi-Line E-Commerce Grocery Orders, Zijia Wang Aug 2024

Order-Picking Strategies And Efficiency Models For The Fulfillment Of Multi-Line E-Commerce Grocery Orders, Zijia Wang

Dissertations

The fulfillment process for Buy Online Pickup from Store grocery orders (BOPS-Grocery) is particularly challenging, given the large item count per order and the low-profit margins. This research investigates the BOPS-Grocery model and pursues the following objectives: (i) Defining and specifying the BOPS-Grocery fulfillment process. Differentiating the process from classical warehouse order picking., identifying performance objectives, and characterizing design options and facility layout. (ii) Modelling and developing order picking algorithms specific to the straight aisle section. Formulated as an order hatching problem with picker movement minimization. No order splitting, and (iii) modeling and developing order picking algorithms specific to the …


Numerical Techniques For Improving Simulations Of Tropical Cyclones, Yassine Tissaoui Aug 2024

Numerical Techniques For Improving Simulations Of Tropical Cyclones, Yassine Tissaoui

Dissertations

The increasing frequency and intensity of tropical cyclones (TCs) due to climate change pose significant challenges for forecasting and mitigating their impacts. Despite advancements, accurately predicting TC rapid intensification (RI) remains a challenge. Large eddy simulation (LES) allows for explicitly resolving the large eddies involved in TC turbulence, thus providing an avenue for studying the mechanisms behind their intensification and RI. LES of a full tropical cyclone is very computationally expensive and its accuracy will depend on both explicit and implicit dissipation within an atmospheric model. This dissertation presents two novel numerical methodologies with the potential to improve the efficiency …


Collision Dynamics Of Compound Droplets In Microchannels: A Combined Numerical And Data-Driven Study, S M Abdullah Al Mamun Aug 2024

Collision Dynamics Of Compound Droplets In Microchannels: A Combined Numerical And Data-Driven Study, S M Abdullah Al Mamun

Dissertations

Understanding and predicting the hydrodynamic interactions of micron-scale droplets is crucial in a wide range of industrial and real-life applications, including microfluidics, pharmaceutics, drug delivery, food science, and enhanced oil recovery. These multi-phase and multi-scale phenomena are further complicated by the presence of core droplets of an immiscible fluid within shell droplets, known as compound droplets. The collisions and interactions of droplets in emulsions are influenced by various physical and geometric parameters, leading to distinct rheological and dynamic responses. This research employs numerical methods for a systematic parametric study of both simple and compound droplet pair collisions under confined shear …


Large Deviation Theory In Stochastic Processes: Applications To Biological Modeling, Moshe C. Silverstein Aug 2024

Large Deviation Theory In Stochastic Processes: Applications To Biological Modeling, Moshe C. Silverstein

Dissertations

This dissertation delves into developing and applying stochastic models to analyze complex biological systems. It leverages Large Deviation Theory (LDT) to gain insights into these systems, focusing on two key examples: neural networks and calcium signaling dynamics. Traditional deterministic methods frequently fail to capture biological processes' randomness and inherent variability. Meanwhile, many stochastic approaches struggle to be mathematically tractable or provide accessible insights. The approach introduced in this study provides rigorous mathematical frameworks to enhance understanding of these stochastic behaviors while remaining tractable and insightful.

A stochastic model for a random biological neural network is constructed that addresses the dependencies …


Is Science For All An Elusive Goal? Disparities In U.S. Science Education, David Devraj Kumar, John L. Pecore Aug 2024

Is Science For All An Elusive Goal? Disparities In U.S. Science Education, David Devraj Kumar, John L. Pecore

The Journal of the Research Association of Minority Professors

An examination of published reports on Free or Reduced-Price Lunch (FRPL) regarding Per Pupil Spending, Technology Resources, Science Course Offerings, and Race and Ethnicity Distribution in FRPL Groups shows that science for all remains an elusive goal in the United States. Science for all requires long-term solutions, including adequate fiscal resources for high FRPL quartile schools and effective policies to ensure quality science learning experiences for low-income students. Teachers in high FRPL schools need access to high-quality instructional resources, technology tools, and effective strategies to engage students in science learning. Schools should invest in technology tools like virtual reality and …


Modular Reconfigurable Rotary Style Soft Pneumatic Actuators, Nicholas Pagliocca, Aatish Gupta, Joshua Knospler, Nand K. Singh, Mitja Trkov Aug 2024

Modular Reconfigurable Rotary Style Soft Pneumatic Actuators, Nicholas Pagliocca, Aatish Gupta, Joshua Knospler, Nand K. Singh, Mitja Trkov

Henry M. Rowan College of Engineering Departmental Research

Modular soft robots have the advantage in their ability to be reconfigured and change their morphology on-demand according to a specified task. The actuator design and particularly the inter-unit connectivity strength commonly govern the usability and functionality of these modular robots and their applications. In this paper, we present development of reconfigurable modular rotary soft actuators that allow the construction of highly versatile soft robotic actuators and systems. These pneumatically driven modular actuators are composed of an inner balloon and a flexible arched reinforcement structure to produce a rotary motion. They serve as building blocks which may be combined in …