YUMUŞAK ROBOTLAR
Yumuşak robotik, pürüzsüz ve karmaşık bir hareket elde etmek için doğada bulunan yumuşak cisimlerin hareket mekanizmalarını taklit etmeye dayanan büyüyen bir alandır. Karmaşık ortamlarda hareket edebilen “yumuşak bedenler” arasında solucanlar, yılanlar, larva böcekler, ahtapot ve yılan balıkları yıllar içinde geliştirilen, ilham alabileceğimiz çok çeşitli stratejiler sunar.
YUMUŞAK ROBOT NEDİR?
Yumuşak robotlar, öncelikle çevre malzemelerle uyumu sağlayan sıvılar, jeller ve elastomerler gibi kolayca deforme olabilen maddelerden oluşur. Uyumluluk eşleştirme, iç yükü eşit şekilde dağıtmak ve arayüzey arası stres konsantrasyonlarını en aza indirmek için birbiriyle temas eden malzemelerin benzer mekanik sertliği paylaşması gerektiği prensibidir. [1] Bununla birlikte, bu ilke, yumuşak malzemelerle (E = 102-106Pa) etkileşime giren, hasara veya mekanik immobilizasyona neden olan sert robotlara (E = 109Pa) uygulanmaz (burada E, Young'ın Modülüdür; bu, bir katı maddenin sertliğinin bir ölçüsünü verir) malzeme). Yumuşak malzemelerle bu tür etkileşimler, örneğin doğal cilt, kas dokusu, hassas iç organlar gibi organizmalar, ayrıca organizmalar, biyolojik işlevselliklerin yapay kopyaları vb. Gibi yaygın olarak yayılır. Mekanik uyumdaki bu dramatik uyumsuzluk nedeniyle, Sert robotların uyarlanmadığı ve hatta samimi insan etkileşimi için tehlikeli olduğu sonucuna varıldı. Bu nedenle, doğada bulunan materyallerin ve organizmaların elastik ve reolojik özelliklerine uyan robotlara ihtiyaç vardır ve bu, yumuşak robotların çözümü getirebileceği yerdir.
Yumuşak robotlar tasarlamak, onların mekaniği, güç kaynağı ve kontrolünde tamamen yeni modeller gerektirir. [2] Bununla birlikte, malzemeleri yeniden düşünmek, tasarım stratejileri ve üretim teknikleri, birçok alanda makro ve mikro uzunluk ölçeklerinde yeni yumuşak robotik alanları açmalıdır (sağlık, insan yardımı, saha araştırması…).
Bu derleme, uygulamalarında daha derine inmeden önce, mevcut yumuşak hareketlerin temel üretim yönteminin yanı sıra var olan farklı türden harekete geçirme konularını ele almaktadır.
YUMUŞAK BİR ROBOTUN ÜRETİMİ ve ÇALIŞMASI
1. ÇALIŞMA
Pnömatik Şebeke aktüatörleri (PneuNets) en yaygın yumuşak robotlardır ve içinde basınçlı akışkanların bir dizi kanal ve bölmede dolaşabileceği bir elastomer olan yumuşak bir malzemeden yapılmıştır. Bu bölmelere basınç uygulandığında, sıkışmış olan akışkan malzemenin içinden stres oluşturarak malzemenin gerilmesine, deforme olmasına ve aktüatörün hareketini mümkün kılanlara neden olur. Bu hareketin doğası gömülü odaların geometrisi ve duvarlarının malzeme özellikleri değiştirilerek kontrol edilir. Genel olarak, bir akışkan elastomer robotun her bir parçası bükülür ve bu bükülme, malzeme gerilmesinden kaynaklanır.
Eğer bir robot tek bir homojen elastomerden oluşuyorsa, en genişleme en ince yapılar üzerinde gerçekleşecek ve böylece robotun hareketi bu nedenle mikroakışkan devresinin geometrisine bağlı olacaktır. Bununla birlikte, farklı elastik davranışlara sahip malzemeler, aktüatör davranışı üzerinde daha fazla kontrol sağlamak için de kullanılabilir.
Yumuşak robotik, pürüzsüz ve karmaşık bir hareket elde etmek için doğada bulunan yumuşak cisimlerin hareket mekanizmalarını taklit etmeye dayanan büyüyen bir alandır. Karmaşık ortamlarda hareket edebilen “yumuşak bedenler” arasında solucanlar, yılanlar, larva böcekler, ahtapot ve yılan balıkları yıllar içinde geliştirilen, ilham alabileceğimiz çok çeşitli stratejiler sunar.
Across the world of rapidly changing finance and variable costs from time to time situations appear where you need to get financial support until your next salary. In this context, a salary loan becomes one of the famous financial tools. It is necessary to consider what kind of lending this is and how it can be can be useful.
1. Definition of Loan up to Salary
A loan up to salary is a short-term type of loans provided to the borrower subject to repayment on the day of receipt of his next salary. As usual such loans have small amounts, and their purpose is to assist the borrower to cope with temporary financial difficulties until the subsequent payment of salary.
2. Advantages of a loan up to Salary
Urgency: Pre-salary loans usually are issued quickly, making them an pretty solution for those faced with sudden expenses .
Ease of Obtaining: The process of design of such loans is usually minimal. The borrower often needs provide only basic information and confirmation of measured income.
No Lending History: For most loans up to salary there is no needed verification of the credit history of the borrower, which is a big advantage for those , who do not have excellent lending history.
3. Features of Repayment and Interest Rates
Repayment Term: Usually the loan term until salary composes several weeks or until subsequent salary of the borrower.
Refinance Rates: The rates on such loans can be higher than long-term loans since they are provided on a short-term base and frequently do not require collateral.
4. Safety and Regulation
Legality and Regulation: Mainly choose only reliable monetary organizations and legitimate lenders, since regulation here helps prevent unfair practices.
Protection of consumers: Laws and regulations provide protection of consumers, including transparency of conditions of credit and provision of complete information about interest and fees.
5. Caution and Alternatives
Consideration of Alternatives: Before applying for a loan up to wages, it is worth considering other options, including borrowing from friends or families, appeal to charitable organizations or consider other financial possibilities.
Wise Implementation: Fundamentally use credit before salary reasonably and responsibly, avoiding constant appeal for such loans and observing repayment deadlines.
Conclusion
A payday loan is a tool that possibly useful in situations of short-term monetary difficulties. However, it should be used with caution, observing repayment deadlines and electing reliable lenders. Remember that financial security is an important aspect of your personal card game, and smart money planning will help avoid excessive monetary problems.
In a world of of rapidly changing money and variable costs sometimes situations arise where you need to get financial support until your next salary. In this context, a salary loan becomes one of the favorite monetary tools. Let’s look at what kind of lending this is and how it can be useful.
1. Definition of Loan up to Salary
A loan up to salary is a short-term type of payday loans provided to the borrower subject to repayment on the day of receipt of his subsequent salary. Usually such loans have small amounts, and their purpose is to help the borrower to cope with temporary financial difficulties until the next payment of wages.
2. Advantages of a loan up to Wages
Urgency: Pre-payday loans as usual are issued quickly, making them an attractive solution for those faced with sudden expenses .
Ease of Obtaining: The process of design of such loans is as usual small. The borrower often needs provide only basic information and confirmation of measured income.
No Lending History: For most loans up to salary there is no required verification of the lending history of the borrower, which is a big advantage those , who do not have fair credit history.
3. Features of Repayment and Interest Rates
Repayment Term: As usual the loan term until salary is several weeks or until next wages of the borrower.
Interest Rates: The rates on such loans can be higher than long-term loans because they are provided on a short-term basis and frequently do not require collateral.
4. Safety and Regulation
Legality and Regulation: Important choose only reliable financial organizations and legal lenders, because regulation here helps prevent dishonest practices.
Safety of consumers: Laws and regulations ensure protection of consumers, including transparency of conditions of credit and provision of complete information about interest and fees.
5. Caution and Alternatives
Consideration of Alternatives: Before applying for a loan up to salary, it is worth considering alternative options, such as borrowing from friends or families, appeal to charitable organizations or consider other monetary possibilities.
Reasonable Use: Fundamentally use credit before wages appropriate and responsibly, avoiding constant application for such loans and observing repayment deadlines.
Conclusion
A payday loan is a tool that can be useful in situations of short-term monetary problems. However, it should be used with caution, observing repayment deadlines and choosing reliable lenders. Remember that financial security is an important aspect of your personal card game, and smart money planning will help avoid excessive financial problems.
Across the world of rapidly changing finance and variable costs sometimes situations appear where you need to get financial support until your next salary. In this context, a wages loan becomes one of the famous financial tools. It is necessary to consider what kind of lending this is and how it can be useful.
1. Definition of Loan up to Wages
A loan up to wages is a short-term type of loans near me provided to the borrower on the terms of repayment per day of receipt of his next wages boards. Usually such loans have small amounts, and their purpose is to assist the borrower to cope with temporary financial difficulties until the next payment of wages.
2. Advantages of a loan up to Wages
Urgency: Pre-payday loans usually are issued quickly, making them an pretty solution for those faced with unexpected expenses .
Ease of Obtaining: The process of design of such loans is as usual small. The borrower often require provide only basic information and confirmation of measured income.
No Credit History: For most loans up to salary there is no required verification of the lending history of the borrower, which is a big advantage those , who do not have excellent lending history.
3. Features of Repayment and Refinancing Rates
Repayment Term: Usually the loan term until salary is several weeks or until subsequent salary of the borrower.
Interest Rates: The rates on such loans may be higher than long-term loans since they are provided on a short-term basis and frequently do not require collateral.
4. Safety and Regulation
Legality and Regulation: Mainly choose only reliable monetary organizations and legal lenders, because regulation in this area helps prevent dishonest practices.
Protection of consumers: Laws and regulations ensure protection of consumers, including transparency of conditions of credit and provision of complete information about interest and fees.
5. Caution and Candidates
Consideration of Alternatives: Before applying for a loan up to wages, it is worth inspecting alternative options, such as borrowing from buddies or families, appeal to charitable organizations or consider other financial possibilities.
Reasonable Implementation: Mainly use credit before wages wise and responsibly, avoiding constant application for such loans and observing repayment deadlines.
Conclusion
A payday loan is a tool that possibly useful in situations of short-term financial difficulties. However, it should be used with caution, observing repayment deadlines and electing reliable lenders. Remember that financial security is an important aspect of your personal card game, and smart money planning will help avoid excessive monetary difficulties.
In a world of of rapidly changing money and variable costs sometimes situations arise where you need to get financial support until your next salary. In this context, a wages loan becomes one of the fashionable financial tools. Let’s look at is and how it can be useful.
1. Definition of Loan up to Wages
A loan up to salary is a short-term type of loans provided to the borrower on the terms of repayment per day of receipt of his next salary. As usual such loans have small amounts, and their purpose is to help the borrower to cope with temporary financial difficulties until the subsequent payment of salary.
2. Advantages of a loan up to Salary
Urgency: Pre-payday loans as usual are issued quickly, making them an attractive solution for those faced with sudden expenses .
Ease of Obtaining: The process of design of such loans is usually small. The borrower often must provide only basic information and proof of stable income.
No Lending History: For most loans up to wages there is no needed verification of the credit history of the borrower, which is a big advantage for those , who do not have good lending history.
3. Features of Repayment and Refinancing Rates
Repayment Term: Usually the loan term until salary composes several weeks or until next wages of the borrower.
Refinance Rates: The rates on such loans may be higher than long-term loans since they are provided on a short-term basis and frequently do not require collateral.
4. Safety and Regulation
Legality and Regulation: Fundamentally choose only reliable monetary organizations and legal lenders, since regulation in this area helps prevent unfair practices.
Protection of consumers: Laws and regulations provide protection of consumers, including transparency of criteria of credit and provision of complete information about interest and fees.
5. Prudence and Candidates
Consideration of Alternatives: Before applying for a loan up to salary, it is worth considering other options, such as borrowing from friends or families, appeal to charitable organizations or consider other financial possibilities.
Wise Use: Mainly use credit before wages appropriate and responsibly, avoiding constant application for such loans and observing repayment deadlines.
Conclusion
A payday loan is a tool that possibly useful in situations of short-term monetary difficulties. However, it should be used with caution, observing repayment deadlines and choosing reliable lenders. Remember that financial security is an important aspect of your personal cards, and smart money planning will help avoid excessive monetary problems.
Across the world of rapidly changing money and variable costs sometimes situations appear where you need to get financial support until your subsequent salary. In this context, a salary loan becomes one of the fashionable monetary tools. Let’s look at what kind of lending this is and how it can be useful.
1. Definition of Loan up to Wages
A loan up to salary is a short-term type of loans provided to the borrower on the terms of repayment on the day of receipt of his next wages boards. As usual such loans have small amounts, and their purpose is to help the borrower to cope with temporary financial difficulties until the next payment of salary.
2. Advantages of a loan up to Salary
Urgency: Pre-payday loans as usual are issued soon, making them an attractive solution for those faced with unexpected expenses .
Ease of Obtaining: The process of design of such loans is as usual minimal. The borrower often require provide only basic information and confirmation of measured income.
No Credit History: For most loans up to salary there is no required verification of the credit history of the borrower, which is a big advantage for those , who do not have good lending history.
3. Features of Repayment and Refinancing Rates
Repayment Term: Usually the loan term until salary composes several weeks or until subsequent wages of the borrower.
Interest Rates: The rates on such loans may be higher than long-term loans since they are provided on a short-term basis and frequently do not require collateral.
4. Safety and Regulation
Legality and Regulation: Fundamentally choose only reliable financial organizations and legitimate lenders, because regulation here helps prevent dishonest practices.
Protection of consumers: Laws and regulations provide protection of consumers, including transparency of criteria of credit and provision of complete information about interest and fees.
5. Caution and Candidates
Consideration of Alternatives: Before applying for a loan up to salary, it is worth considering alternative options, including borrowing from friends or families, appeal to charitable organizations or consider other monetary possibilities.
Reasonable Use: Mainly use credit before salary appropriate and responsibly, avoiding constant appeal for such loans and observing repayment deadlines.
Conclusion
A payday loan is a tool that can be useful in situations of short-term monetary difficulties. However, it should be used with caution, observing repayment deadlines and choosing reliable lenders. Remember that financial security is an important nuance of your personal card game, and smart financial planning will help avoid excessive financial difficulties.