A Fully Soft Bionic Grasping Device with the Properties of Segmental Bending Shape and Automatically Adjusting Grasping Range

In this paper,we propose a fully Soft Bionic Grasping Device(SBGD),which has advantages in automatically adjusting the grasping range,variable stiffness,and controllable bending shape.This device consists of soft gripper structures and a soft bionic bracket structure.We adopt the local thin-walled design in the soft gripper structures.This design improves the grippers’bending efficiency,and imitate human finger’s segmental bending function.In addition,this work also proposes a pneumatic soft bionic bracket structure,which not only can fix grippers,but also can automatically adjust the grasping space by imitating the human adjacent fingers’opening and closing movements.Due to the above advantages,the SBGD can grasp larger or smaller objects than the regular grasping devices.Particularly,to grasp small objects reliably,we further present a new Pinching Grasping(PG)method.The great performance of the fully SBGD is verified by experiments.This work will promote innovative development of the soft bionic grasping robots,and greatly meet the applications of dexterous grasping multi-size and multi-shape objects.

A Range Adjusted Measure of Super-Efficiency in Integer-Valued Data Envelopment Analysis with Undesirable Outputs

DEA(data envelopment analysis) models can be divided into two groups: Radial DEA and non-radial DEA, and the latter has higher discriminatory power than the former. The range adjusted measure(RAM) is an effective and widely used non-radial DEA approach. However, to the best of our knowledge, there is no literature on the integer-valued super-efficiency RAM-DEA model,especially when undesirable outputs are included. We first propose an integer-valued RAM-DEA mode with undesirable outputs and then extend this model to an integer-valued super-efficiency RAM-DEA model with undesirable outputs. Compared with other DEA models, the two novel models have many advantages: 1) They are non-oriented and non-radial DEA models, which enable decision makers to simultaneously and non-proportionally improve inputs and outputs;2) They can handle integer-valued variables and undesirable outputs, so the results obtained are more reliable;3) The results can be easily obtained as it is based on linear programming;4) The integer-valued super-efficiency RAM-DEA model with undesirable outputs can be used to accurately rank efficient DMUs. The proposed models are applied to evaluate the efficiency of China’s regional transportation systems(RTSs) considering the number of transport accidents(an undesirable output). The results help decision makers improve the performance of inefficient RTSs and analyze the strengths of efficient RTSs.

Energy Efficient Beacon Discovering Scheme for Node Localization in Wireless Sensor Networks

Efficient sensor node localization is a crucial part of many location-dependent applications that utilize wireless sensor networks (WSNs). To cope with the problem of insufficient bea-con node for localization,we design a beacon discovery protocol in this paper that helps the blind node to find beacons nearby and present an energy efficient scheme for the beacon that receives the request from a blind node to adjust its radio range. We obtain the relationship between the mean energy consumption with adjust-ment number by the mathematical analysis. Numerical results show that great energy saving is achieved when the optimal ad-justment number is adopted.