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Article
Publication date: 15 March 2019

Guangkai Sun, Yang Hu, Mingli Dong, Yanlin He, Mingxin Yu and Lianqing Zhu

Soft robotics is a burgeoning field owing to its high adaptability and safety in human–machine interaction and unstructured environments. However, the feedback control of soft…

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Abstract

Purpose

Soft robotics is a burgeoning field owing to its high adaptability and safety in human–machine interaction and unstructured environments. However, the feedback control of soft actuators with flexible sensors is still a challenge.

Design/methodology/approach

To address this issue, this study proposes an optical fibre-based sensing membrane for the posture measurement of soft pneumatic bending actuators. The major contribution is the development of a flexible sensing membrane with a high sensitivity and repeatability for the feedback control of soft actuators. The characteristics of sensing membrane were analysed. The relationship between wavelength shift and bending curvature was derived. The curvatures of soft actuator were measured at four bending status, and the postures were reconstructed.

Findings

The results indicate that the measurement error is less than 2.1% of the actual bending curvature. The sensitivity is up to 212.8 pm/m−1, and the signal fluctuation in repeated measurements is negligible. This approach has broad application prospects in soft robotics, because it makes the optical fibre achieve more strength and compatible with soft actuators, thus improving the sensing accuracy, sensitivity and reliability of fibre sensors.

Originality/value

Different from previous approaches, an optical fibre with FBGs is embedded into a multilayered polyimide film to form a flexible sensing membrane, and the membrane is embedded into a soft pneumatic bending actuator as the smart strain limited layer which is able to measure the posture in real time. This approach makes the optical fibre stronger and compatible with the soft pneumatic bending actuator, and the sensing accuracy, sensitivity and reliability are improved. The proposed sensing configuration is effective for the feedback control of the soft pneumatic bending actuators.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 1
Type: Research Article
ISSN: 0143-991X

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Article
Publication date: 24 September 2019

Madjid Tavana and Vahid Hajipour

Expert systems are computer-based systems that mimic the logical processes of human experts or organizations to give advice in a specific domain of knowledge. Fuzzy expert systems…

908

Abstract

Purpose

Expert systems are computer-based systems that mimic the logical processes of human experts or organizations to give advice in a specific domain of knowledge. Fuzzy expert systems use fuzzy logic to handle uncertainties generated by imprecise, incomplete and/or vague information. The purpose of this paper is to present a comprehensive review of the methods and applications in fuzzy expert systems.

Design/methodology/approach

The authors have carefully reviewed 281 journal publications and 149 conference proceedings published over the past 37 years since 1982. The authors grouped the journal publications and conference proceedings separately accordingly to the methods, application domains, tools and inference systems.

Findings

The authors have synthesized the findings and proposed useful suggestions for future research directions. The authors show that the most common use of fuzzy expert systems is in the medical field.

Originality/value

Fuzzy logic can be used to manage uncertainty in expert systems and solve problems that cannot be solved effectively with conventional methods. In this study, the authors present a comprehensive review of the methods and applications in fuzzy expert systems which could be useful for practicing managers developing expert systems under uncertainty.

Details

Benchmarking: An International Journal, vol. 27 no. 1
Type: Research Article
ISSN: 1463-5771

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