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Articles 4231 - 4260 of 36801
Full-Text Articles in Engineering
The Active Cryocubesat Technology: Active Thermal Control For Small Satellites, Lucas S. Anderson
The Active Cryocubesat Technology: Active Thermal Control For Small Satellites, Lucas S. Anderson
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
Modern CubeSats and Small Satellites have advanced in capability to tackle science and technology missions that would usually be reserved for more traditional, large satellites. However, this rapid growth in capability is only possible through the fast-to-production, low-cost, and advanced technology approach used by modern small satellite engineers. Advanced technologies in power generation, energy storage, and high-power density electronics have naturally led to a thermal bottleneck, where CubeSats and Small Satellites can generate more power than they can easily reject. The Active CryoCubeSat (ACCS) is an advanced active thermal control technology (ATC) for Small Satellites and CubeSats, which hopes to …
Dynamic Inductive Power Transfer Systems With Reflexive Tuning Networks Designed By Machine Learning, Shuntaro Inoue
Dynamic Inductive Power Transfer Systems With Reflexive Tuning Networks Designed By Machine Learning, Shuntaro Inoue
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
This dissertation proposes a new way to make dynamic wireless charging systems more affordable. Instead of using one inverter for each transmitter coil, as is typically done, the proposed system uses a single inverter that is connected to multiple transmitter coils. This approach is made possible by reflexive tuning, which allows for high currents to be achieved only on the transmitter coil in use. The system was tested with a 50kW prototype, designed using a combination of neural networks and genetic algorithms. The prototype was tested on both automated rail and vehicle systems. The measured dc-dc efficiency with single and …
Viability And Performance Of Rf Source Localization Using Autocorrelation-Based Fingerprinting, Joseph L. Ipson
Viability And Performance Of Rf Source Localization Using Autocorrelation-Based Fingerprinting, Joseph L. Ipson
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
Finding the source location of a radio-frequency (RF) transmission is a useful capability for many civilian, industrial, and military applications. This problem is particularly challenging when done “Blind,” or when the transmitter was not designed with finding its location in mind, and relatively little information is available about the signal before-hand. Typical methods for this operation utilize the time, phase, power, and frequency viewable from received signals. These features are all less predictable in indoor and urban environments, where signals undergo transformation from multiple interactions with the environment. These interactions imprint structure onto the received signal which is dependent on …
Communication‐Less Synchronous Rectification For In Motion Wireless Charging, Joshua B. Larsen
Communication‐Less Synchronous Rectification For In Motion Wireless Charging, Joshua B. Larsen
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
This thesis puts forward a control scheme to allow for synchronous rectification for dynamic wireless power transfer. The automotive industry is transitioning away from internal combustion engines (ICEs) and towards electric vehicles (EVs). This transition is spurred by the environmental and economic benefits EVs offer over ICEs. However, further improvements can still be made to how electric vehicles operate. One of these improvements is the technology of in motion wireless charging or dynamic wireless power transfer. In motion wireless charging offers the ability to remove existing range anxiety concerns for EVs. It also offers the potential for a reduction in …
Producing Analytical Models Of The Sport Spacecraft For Science Data Processing, Jason L. Powell
Producing Analytical Models Of The Sport Spacecraft For Science Data Processing, Jason L. Powell
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
The Scintillation Prediction Observation Research Task (SPORT) is a joint United States of America and Brazil 6U CubeSat mission. The SPORT mission is to understand how the Earth’s ionosphere evolves during day and night transitions. Space Weather Probes, a suite of instruments developed by Utah State University, monitors the ionosphere by observing currents and voltages around the SPORT spacecraft body. This thesis presents the data collected by Space Weather Probes and how it is used to measure the ionosphere. Modeling techniques are also presented to demonstrate how the Space Weather Probes instrument is expected to respond to the ionosphere.
Generation Of Plasma With A Rotating Electric Field, Franklin Price Mosely
Generation Of Plasma With A Rotating Electric Field, Franklin Price Mosely
Electrical & Computer Engineering Theses & Dissertations
Nonthermal plasma generation is an important area of research that has many applications ranging from semiconductor production to medical applications including the treatment of cancers and sterilization of surfaces. Specific radicals and excited species and discharge powers are critical for the successful completion of these processes. It is important that these excited species are shown to be achievable for a given discharge system without leading to instabilities such as arcing.
The present thesis details the design, fabrication, testing, and analysis of a novel plasma generation system based on multiphase excitation. As predicted by theory, the experimental results demonstrate that a …
Design Approaches To Enhance Power Density In Power Converters For Traction Applications, Shamar Christian
Design Approaches To Enhance Power Density In Power Converters For Traction Applications, Shamar Christian
Graduate Theses and Dissertations
This dissertation presents a design strategy to increase the power density for automotive Power Conversion Units (PCUs) consisting of DC-DC and DC-AC stages. The strategy significantly improves the volumetric power density, as evident by a proposed PCU constructed and tested having 55.6 kW/L, representing an 11.2 % improvement on the Department of Energy’s 2025 goal of 50 kW/L for the same power electronics architecture. The dissertation begins with a custom magnetic design procedure, based on optimization of a predetermined C-core geometrical relationship and custom Litz wire. It accounts for electrical and thermal tradeoffs to produce a magnetic structure to best …
Multiple Output Power Supply Using Toroidal Transformers For Medium Voltage Active Gate Drivers, Samhitha Venkata Machireddy
Multiple Output Power Supply Using Toroidal Transformers For Medium Voltage Active Gate Drivers, Samhitha Venkata Machireddy
Graduate Theses and Dissertations
When operating in high power applications, power devices dissipate tens or hundreds of watts of power in the form of heat. The ability of the power devices to withstand power and dissipation of heat across the power devices becomes a prominent requirement in designing the power converter. This challenge demands a power converter design to be more effective and consistent which factors in size, cost, weight, power density and reliability. This study aims to propose a gate driver isolated power supply design that can be used in medium voltage applications (e.g., up to 10 kV) while respecting the principle of …
Development Of Medical Device For Volume Status Assessment Using Peripheral Venous Pressure, Audra Beneux
Development Of Medical Device For Volume Status Assessment Using Peripheral Venous Pressure, Audra Beneux
Graduate Theses and Dissertations
The severe side effects of acute dehydration and blood loss may be prevented if assessed and treated quickly. As amplifier technology has improved, small peripheral venous pressure (PVP) signals collected using a transducer on an intravenous catheter can be analyzed to monitor patient volume status. This thesis details the development of an embedded system prototype that quickly and accurately assesses volume status using PVP analysis. The volume prediction algorithm classified 10 seconds of PVP data as “dehydrated” or “resuscitated”. The hardware design consisted of four primary areas: analog signal conditioning, processing, user interaction, and power. After data collection, the signal …
Peak To Average Power Ratio Reduction In Spectrally Efficient Fdm Using Repeated Clipping And Filtering, Buthaina Mosa Omran, Yamaan Esmiel Majeed, Iftekhar Ahmad
Peak To Average Power Ratio Reduction In Spectrally Efficient Fdm Using Repeated Clipping And Filtering, Buthaina Mosa Omran, Yamaan Esmiel Majeed, Iftekhar Ahmad
Research outputs 2022 to 2026
Multi-carrier transmission may be considered one of the important developments in wireless communications. Spectrally efficient frequency division multiplexing (SEFDM) is a promising multi-carrier modulation which can significantly improve utilization of spectral. The SEFDM has high peak to average power ratio (PAPR) like any multicarrier system. High PAPR reduces the random forest (RF) transmitter power amplifier efficiency, which minimize the use of this technique in limited power supply transmitters. In this work, a repeated clipping and filtering method is introduced to reduce the PAPR in SEFDM with minimum or no out of band radiation. The results of the simulated approach show …
Restorative Hand Therapy Exercise Using Iot-Based Flex Force Smart Glove, Yi Neng Chang, Mohamad Khairi Ishak, Khalid Ammar
Restorative Hand Therapy Exercise Using Iot-Based Flex Force Smart Glove, Yi Neng Chang, Mohamad Khairi Ishak, Khalid Ammar
Makara Journal of Technology
Stroke has long been a major health concern in Malaysia, with cerebrovascular disease accounting for one-third of all deaths. Patients who have had a stroke have varying degrees of movement impairment, which can be improved with physiotherapy. A smart glove system is proposed in this paper to measure and visualize patient finger flexes in real-time remotely and record these flexes for further analysis to monitor and assess patient physiotherapy sessions. The system is designed to help physiotherapists evaluate physiotherapy exercises of patients and provide detailed information regarding the rehabilitation process. This paper also includes performance analysis and data from physiotherapy …
Remote Alignment Fixing Device With Vizir Marks In Base Lcd Indicator, Nodirbek Rustambekovich Yusupbekov, Zahidov Muratovich Nematjon
Remote Alignment Fixing Device With Vizir Marks In Base Lcd Indicator, Nodirbek Rustambekovich Yusupbekov, Zahidov Muratovich Nematjon
Chemical Technology, Control and Management
The article substantiates the needs to increase the level of automation of methods and geodetic support of geometric parameters during the construction of buildings and structures. In particular, the method of alignment measurements is considered. This is widely used in determining deviations from the straightness and alignment of the installation of elements in engineering building structures, including hydraulic structures, as well as in the control of process equipment installations, rolling mills, conveyor lines, crane tracks, when monitoring precipitation. and deformations of techno objects. One of the methods of alignment measurements with the use of a visual-optical device – aliniometer and …
The Magnetic Chain Mathematical Models Of A New Angular Displacement Converter With A Variable Active Area Of A Movable Core, Sultan Faizullayevich Аmirov, Ulugbek Shukhratovich Mamadaliyev, Islom Azim Ugli Karimov
The Magnetic Chain Mathematical Models Of A New Angular Displacement Converter With A Variable Active Area Of A Movable Core, Sultan Faizullayevich Аmirov, Ulugbek Shukhratovich Mamadaliyev, Islom Azim Ugli Karimov
Chemical Technology, Control and Management
The article develops mathematical models of the magnetic chain of new differential type angular displacement transformer converter with a variable active area of the movable core, in which the width of the movable ferromagnetic core is a function of the angular displacement of the converter. In this case, the magnetic chain of the converter, divided into three characteristic (before the mobile ferromagnetic core, ferromagnetic core and after the ferromagnetic core) sections, is considered as a magnetic chain with distributed parameters. It is established that when the magnetic resistance of the magnetic chain steel part is not taken into account, the …
Choice Of Instruments For Verification And Calibration Of Gas Analyzers, Ortigali Khakimov, Paraxat Mayliyevna Matyakubova, Mirolim Muhammad O'G'Li Maxmudjonov
Choice Of Instruments For Verification And Calibration Of Gas Analyzers, Ortigali Khakimov, Paraxat Mayliyevna Matyakubova, Mirolim Muhammad O'G'Li Maxmudjonov
Chemical Technology, Control and Management
This article analyzes the process of metrological control of gas analyzers and metrological requirements for them. The current state of the standards used in the state metrological control of gas analyzers and the results of the analyzes were studied. The task of choosing the measuring instruments used in the verification process and optimizing the requirements for them is set. An experimental verification process was organized in three groups using several measuring devices, and the reliability of the verification results was assessed. With the use of modern measuring instruments, a graph of the output value was built during the experimental verification …
Power Amplifier Based On Composite Injection-Voltaic Transistors, Nodira Batirdjanovna Alimova
Power Amplifier Based On Composite Injection-Voltaic Transistors, Nodira Batirdjanovna Alimova
Chemical Technology, Control and Management
The problem of high-current radio engineering devices is related to the fact that the use of high-power transistors and other semiconductor devices is limited by such a phenomenon as a secondary breakdown, in which there is a sharp decrease in the voltage on the device with simultaneous internal current lacing, and the device fails. To solve the problem of secondary breakdown, schemes have been proposed that operate stably at reverse voltage values 4-5 times higher than usual and at power dissipation 2-3 times higher than the maximum allowable power for an individual device. The problem is proposed to be solved …
Modeling And Adjustment Of A Fuzzy Controller In A Bioreactor Control System, Mahmudov Giyosjon Baqoyevich
Modeling And Adjustment Of A Fuzzy Controller In A Bioreactor Control System, Mahmudov Giyosjon Baqoyevich
Chemical Technology, Control and Management
The article describes the modeling and configuration of a fuzzy controller for the control system of the bacterial oxidation of hard-to-enrich gold-bearing sulfide ores. The simulated logical fuzzy controller allows you to save the consumption of refrigerant water consumed in the process by 4,3%, using it to control the process of bacterial oxidation.
Mathematical Description Of A Bleach Impregnation Reservoir, Bekobod Ibragimov
Mathematical Description Of A Bleach Impregnation Reservoir, Bekobod Ibragimov
Chemical Technology, Control and Management
This article discusses the issues of constructing a mathematical model of the technological process of bleaching textile materials in an impregnating reservoir using the heat balance equation, on the basis of which a qualitative analysis of the dynamic properties of an object has been carried out in order to create highly efficient control systems with the use of energy-saving technologies. While constructing a mathematical model characterizing the established and non-established modes of the control object (impregnating reservoir) used changes in heat flow and mass velocity of the incoming tissue. An algorithm for constructing a mathematical model of the process of …
Mathematical Description And Algorithm For Solving The Model Of The Ionite Regeneration Process In The Ion Exchange Method Of Water Softening, Djalolitdin Paxritdinovich Mukhitdinov, Nilufar Abdusami Qizi Yunusova
Mathematical Description And Algorithm For Solving The Model Of The Ionite Regeneration Process In The Ion Exchange Method Of Water Softening, Djalolitdin Paxritdinovich Mukhitdinov, Nilufar Abdusami Qizi Yunusova
Chemical Technology, Control and Management
Based on the modern representation of the water softening process by the ion exchange method, modeling was carried out, an algorithm was developed and the ionite regeneration process was calculated in a water softening plant with a fixed ionite layer. To solve the system of equations of the model, special, but simple enough for use in engineering calculations, techniques and methods have been developed and applied. The constructed model and its solution algorithm can be used to predict the process of ionite regeneration in an ion exchange apparatus. It can also be used to calculate the time of the ionite …
Synthesis Methods And Algorithms For Expanding The Dynamic Range Of The Adc, Jumaev Odil Abdujalilovich, Rashidov G'Olibjon Xayriddinovich
Synthesis Methods And Algorithms For Expanding The Dynamic Range Of The Adc, Jumaev Odil Abdujalilovich, Rashidov G'Olibjon Xayriddinovich
Chemical Technology, Control and Management
The modern development of new technologies, in particular, the intensive use of programmable logic integrated circuits in digital information processing tasks, allows for algorithmically and programmatically solving problems, opens up real opportunities to increase accuracy and ensure the required signal conversion speed, and also, it will be possible to take into account the effects of noise and their elimination over the entire time interval band. The article discusses the main methods of digital information processing, analyzes the ways and possibilities of expanding the dynamic range of analog-to-digital converters, as well as the synthesis of appropriate conversion devices, primarily digital filters.
Synergetic Synthesis Of Multivariate Nonlinear Dynamic Objects, Isamiddin Siddikov, Komil Usmanov
Synergetic Synthesis Of Multivariate Nonlinear Dynamic Objects, Isamiddin Siddikov, Komil Usmanov
Chemical Technology, Control and Management
Based on the synergetic approach, the article solves the problem of analyzing a chemical reactor as a control object and formulates recommendations on the structural and topological synthesis of various control system options. The main feature of technological control objects, in which, as a result of hydromechanical, physical, chemical influences on the flows of the starting substances, their physical properties, state of aggregation and composition change, is their multidimensionality, nonlinearity, multiconnectedness, as well as parametric uncertainty of the mathematical model at the design stage. This type of facility includes a chemical reactor, thermal management, which in most cases is carried …
Methods And Algorithms For Monitoring And Prediction Of Various Fire Hazardous Situations, Mizaakbar Xakkulmirzayevich Hudayberdiyev, Oybek Zokirovich Koraboshev
Methods And Algorithms For Monitoring And Prediction Of Various Fire Hazardous Situations, Mizaakbar Xakkulmirzayevich Hudayberdiyev, Oybek Zokirovich Koraboshev
Chemical Technology, Control and Management
This article analyzes emergency situations arising from natural disasters (fires, explosions, earthquakes, floods, landslides, etc.) and man-made accidents. The event in which the values of fire risks in the area decrease uniformly and at the same time the amount of fire risks is minimal is considered optimal. Models, methods, and logistic regression algorithm have been used to predict fire hazard situations and identify potential fire safety measures.
Preface To The Special Issue On Lithium-Sulfur Batteries, Jia-Jia Chen, Ren-Jie Chen, Zhong Jin
Preface To The Special Issue On Lithium-Sulfur Batteries, Jia-Jia Chen, Ren-Jie Chen, Zhong Jin
Journal of Electrochemistry
No abstract provided.
From Fiber Bragg Gratings To Coaxial Cable Bragg Gratings: One-Dimensional Microwave Quasi-Periodic Photonic Crystals, Chen Zhu, Osamah Alsalman, Jie Huang
From Fiber Bragg Gratings To Coaxial Cable Bragg Gratings: One-Dimensional Microwave Quasi-Periodic Photonic Crystals, Chen Zhu, Osamah Alsalman, Jie Huang
Electrical and Computer Engineering Faculty Research & Creative Works
Coaxial cables and optical fibers are two types of cylindrical waveguides used in telecommunications. Fiber Bragg gratings (FBGs) have found successful applications in various fields, such as optical communications, fiber lasers, and fiber-optic sensing. In this paper, we propose and numerically investigate the implementations of various fiber Bragg configurations, including uniform, chirped, apodized, and phase-shifted configurations, on coaxial cables to generate the corresponding special types of coaxial cable Bragg gratings (CCBGs). The simulation results of different CCBGs match well with the well-known FBG theories. It is demonstrated that the reflection spectrum of a CCBG can be flexibly tailored by introducing …
Cobalt/Carbon Composites As Sulfur Hosts For High-Performance Lithium-Sulfur Batteries, Yun-Rui Yang, Huan-Huan Dong, Zhi-Qiang Hao, Xiang-Xi He, Zhuo Yang, Lin Li, Shu-Lei Chou
Cobalt/Carbon Composites As Sulfur Hosts For High-Performance Lithium-Sulfur Batteries, Yun-Rui Yang, Huan-Huan Dong, Zhi-Qiang Hao, Xiang-Xi He, Zhuo Yang, Lin Li, Shu-Lei Chou
Journal of Electrochemistry
Lithium-sulfur (Li-S) battery is one of the promising energy storage devices because of its high energy density. However, the sulfur cathode suffers from sluggish electrochemical reaction kinetics, slow charge transfer, large volume expansion and severe shuttle effect of lithium polysulfides inevitably resulting in low reversible capacity, poor rate performance and short cycle life, limiting its practical applications. Herein, the recent progress of cobalt/carbon composites, including cobalt nanoparticles and cobalt single atoms, as the sulfur host materials in Li-S batteries is overviewed. In general, cobalt plays the role of electrocatalyst, which inhibits the shuttle effect of lithium polysulfides, accelerates the electrochemical …
Recent Advances Of Functional Electrolyte Additives For Lithium-Sulfur Batteries, Xiu-Qing Zhang, Shuai Tang, Yong-Zhu Fu
Recent Advances Of Functional Electrolyte Additives For Lithium-Sulfur Batteries, Xiu-Qing Zhang, Shuai Tang, Yong-Zhu Fu
Journal of Electrochemistry
Lithium-sulfur (Li-S) batteries have become one of the most promising next-generation battery systems due to their high energy density and low cost. However, the application of Li-S batteries still faces critical challenges, such as the low conductivities of S and Li2S, shuttle effect of polysulfides and dendrite growth of Li, etc. The optimization of the electrolyte can ameliorate the electrolyte|electrode interphase, conveniently regulating the parasitic reaction and improving the performance of the resultant batteries. The functional additives in electrolytes provide chances to tune the interphase and even the redox mechanism to improve the performance of the batteries. In …
Metals And Alloys As Catalytic Hosts Of Sulfur Cathode For Lithium-Sulfur Batteries, Zhen-Yu Wang, Xue-Ping Gao
Metals And Alloys As Catalytic Hosts Of Sulfur Cathode For Lithium-Sulfur Batteries, Zhen-Yu Wang, Xue-Ping Gao
Journal of Electrochemistry
Lithium-sulfur batteries are recognized as one of the most promising next-generation energy storage devices, owing to the high theoretical energy density of 2600 Wh·kg–1. However, their application has been seriously hindered by the sluggish electrochemical reaction kinetics of elemental sulfur and discharged products (Li2S2/Li2S), and the notorious “shuttle effect” of soluble intermediate lithium polysulfide species, leading to poor cycle stability, low sulfur utilization and inferior coulombic efficiency. Introducing catalytic hosts into sulfur cathode is an efficient path to propel the conversion of sulfur-contained species, thus preventing the dissolution and loss of active-sulfur …
Ultraviolet-Initiated In-Situ Cross-Linking Of Multifunctional Binder Backbones Enables Robust Lithium-Sulfur Batteries, Sha Li, Xiao Zhan, Gu-Lian Wang, Hui-Qun Wang, Wei-Ming Xiong, Li Zhang
Ultraviolet-Initiated In-Situ Cross-Linking Of Multifunctional Binder Backbones Enables Robust Lithium-Sulfur Batteries, Sha Li, Xiao Zhan, Gu-Lian Wang, Hui-Qun Wang, Wei-Ming Xiong, Li Zhang
Journal of Electrochemistry
Lithium-sulfur (Li-S) batteries show attractive prospects owing to their high theoretical energy density, but their commercialization still faces such challenges as lithium polysulfides shuttling, severe volume change and considerable polarization. These stubborn issues place higher demands on each component in the battery, such as the development of multifunctional binders with superior mechanical properties. Herein, ethoxylated trimethylolpropane triacrylate was firstly introduced into sulfur cathodes, and in-situ cross-linked by ultraviolet (UV) curing combined with traditional polyvinylidene difluoride binder (i.e., forming a binary binder, denoted as c-ETPTA/PVDF) to construct high-loading and durable Li-S batteries. The covalently cross-linked ETPTA framework not only significantly enhances …
Pole Placement Of Linear Multidimensional Systems Using Unlimited Rank Output Feedback, Jasur Usmonovich Sevinov, Okila Khusanovna Boeva
Pole Placement Of Linear Multidimensional Systems Using Unlimited Rank Output Feedback, Jasur Usmonovich Sevinov, Okila Khusanovna Boeva
Chemical Technology, Control and Management
The problem of placing poles in linear multidimensional systems using a feedback matrix of unlimited rank is considered. The effect of output feedback of indefinite rank of the characteristic polynomial of a system with several variables is studied. The results are then used to obtain a recurrent pole placement algorithm without any restrictions on the rank of the output feedback matrix used. The algorithm is based on the pseudo-inverse concept of obtaining solutions to systems of linear equations using the least squares method and is computationally efficient.
Design And Development Of A Solar Module Health Monitoring Device, Elijah Madaris, Christopher Baden, Sandip Das
Design And Development Of A Solar Module Health Monitoring Device, Elijah Madaris, Christopher Baden, Sandip Das
Symposium of Student Scholars
Solar power has emerged as a promising renewable clean energy source and installations of solar panels are increasing sharply year after year. Monitoring the power output and health of solar panels is critically important to ensure safe and reliable operation of a solar power plant throughout its operational lifetime. In this project, we have designed and built a low-cost electronic device that is capable of measuring the electrical parameters of a solar cell or module. The device consists of a microprocessor with integrated analog-to-digital converter, a supercapacitor bank, current sense amplifier, and electromechanical relays. The microprocessor performs data acquisition through …
Development Of A Fish Robot Equipped With Novel 3d-Printed Soft Bending Actuators, Steven Steele, Jorge Diaz Rodriguez, Sharun Sripathy, Turaj Ashuri, Saleh Gharaie, Yusun Chang, Amir Ali Amiri Moghadam
Development Of A Fish Robot Equipped With Novel 3d-Printed Soft Bending Actuators, Steven Steele, Jorge Diaz Rodriguez, Sharun Sripathy, Turaj Ashuri, Saleh Gharaie, Yusun Chang, Amir Ali Amiri Moghadam
Symposium of Student Scholars
This paper reports on design and fabrication of a novel soft fish robot. Application of soft actuators for the fish tail will generates continuum bending motion which resembles the natural motion of the fish. However, most soft actuator mechanisms are complex and have low efficiency. Thus, to address this issue we have developed a 3D printed soft bending actuator which can be actuated with an electromotor. The basic design idea of the soft bending actuator is explained, and iteration of the design showed to create the desired motion for the soft tail. The soft actuator has been successfully integrated with …