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| 1 | A soft gripper of fast speed and low energy consumption显示文摘Grasping of complicated objects is an active research area which is developing fast throughout the years. Soft grippers can be an effective solution, since they are capable of holding workpieces of various shapes and interacting with unstructured environments effectively. Soft grippers generally consist of soft, flexible and compliant materials, which are able to conform to the shape of the object so that the gripper will not deform or bruise the soft object. Fast grasping of objects with various sizes and shapes remains a challenging task for soft grippers. In the present article, a soft gripper based on bi-stable dielectric elastomer actuator(DEA) inspired by the insect-catching ability of the Venus flytrap, is designed. This soft gripper can achieve good performances in grasping various objects by a simple actuation system. The gripper can switch from one stable state to another when subject to an impulse voltage of 0.04 s. The time duration for each grasping action is 0.17 s, and no continuous voltage is required for holding the gripped object. Thus, energy consumption can be achieved as low as 0.1386 J per grasping action. The mechanism of achieving bi-stable states is related to the duration of impulse voltage applied and the resonant frequency of the structure. The present study demonstrates that bi-stable dielectric elastomer actuators are capable of achieving fast speed for grasping with very low energy consumption, which is significant in the applications to soft grippers and biomimetic robots. | WANG YuZhe GUPTA Ujjaval PARULEKAR Nachiket ZHU Jian | 2019 | Science China(Technological Sciences)2019，62，1： | 4 |
| 2 | Bacterial growth on lactose: An experimental investigation显示文摘 | Straight J V Ramkrishna D Parulekar S J | 1989 | Bio-technology and Bioengineering1989，34，5： | 1 |
| 3 | Cultivation of green mussel, Perna viridis L, on a floating raft in an estuary along the west coast of India显示文摘 | Rivonker C U Ansari Z A Parulekar A H | 1993 | Aquaculture1993，112，1： | 1 |
| 4 | Use of small-bore as large bore chest tubes for treatment of maligant pleural offusions显示文摘 | Parulekar W Di Primio G Matzinger F | 2001 | Chest2001，120，1： | 1 |
| 5 | A randomized controlled trial to evaluate inhibition of T-cell costimulation in allergen-induced airway inflammation 显示文摘 | Parulekar AD Boomer JS Patterson BM | 2013 | Am J Respir Crit Care Med2013，187，5： | 1 |
| 6 | Regional nodal ir- radiation in early-stage breast eaneer显示文摘 | Whelan TJ Olivotto 1A Parulekar WR | 2015 | N Engl J Med2015，373，4： | 1 |
| 7 | Ultrasound evaluation of common bile duct size显示文摘 | Parulekar SG | 1979 | Radiology1979，133，： | 1 |
| 8 | Solving Markov Decision Processes with Downside Risk Adjustment显示文摘Markov decision processes(MDPs) and their variants are widely studied in the theory of controls for stochastic discreteevent systems driven by Markov chains.Much of the literature focusses on the risk-neutral criterion in which the expected rewards,either average or discounted,are maximized.There exists some literature on MDPs that takes risks into account.Much of this addresses the exponential utility(EU) function and mechanisms to penalize different forms of variance of the rewards.EU functions have some numerical deficiencies,while variance measures variability both above and below the mean rewards;the variability above mean rewards is usually beneficial and should not be penalized/avoided.As such,risk metrics that account for pre-specified targets(thresholds) for rewards have been considered in the literature,where the goal is to penalize the risks of revenues falling below those targets.Existing work on MDPs that takes targets into account seeks to minimize risks of this nature.Minimizing risks can lead to poor solutions where the risk is zero or near zero,but the average rewards are also rather low.In this paper,hence,we study a risk-averse criterion,in particular the so-called downside risk,which equals the probability of the revenues falling below a given target,where,in contrast to minimizing such risks,we only reduce this risk at the cost of slightly lowered average rewards.A solution where the risk is low and the average reward is quite high,although not at its maximum attainable value,is very attractive in practice.To be more specific,in our formulation,the objective function is the expected value of the rewards minus a scalar times the downside risk.In this setting,we analyze the infinite horizon MDP,the finite horizon MDP,and the infinite horizon semi-MDP(SMDP).We develop dynamic programming and reinforcement learning algorithms for the finite and infinite horizon.The algorithms are tested in numerical studies and show encouraging performance. | Abhijit Gosavi Anish Parulekar | 2016 | International Journal of Automation and computing2016，13，3： | 1 |
| 9 | Growth and morphometric characteristic in the horseshoe crab, Carcinoscorpius rotundicauda (Latreille) from Canning (West Bengal), India显示文摘 | CHATTERJI A VIJAYAKUMAR R PARULEKAR A H | 1988 | Pakistan Journal of Scientific and Industrial Research1988，31，5： | 1 |
| 10 | A randomised double-blindstudy comparing sodium feredetate with ferrous fumarate in anaemiain pregnancy显示文摘 | Sarkate P Patil A Parulekar S | 2007 | J Indian Med Assoc2007，105，27： | 1 |
| 11 | Periostin, a novel biomarker of TH2-driven asthma 显示文摘 | Parulekar AD Atik MA Hanania NA | 2014 | Curr Opin Pulm Med2014，20，1： | 1 |
| 12 | Use of small-bore vs largebore chest tubes for treatment of malisnantpleural effusions显示文摘 | Parulekar W Di Primio G Matzinger F | 2001 | Chest2001，12，1： | 1 |
| 13 | Use of small bore vs large-bore chest tubes for treatment of malignant pleural effusions显示文摘 | Parulekar W Di Primio G Matzinger F | 2001 | Chest2001，120，1： | 1 |
| 14 | Use of small bore vs large bore chest tubes for treatment of malianant pleuraleffusions 显示文摘 | Parulekar W Dipfinio G Matzinger F | 2001 | Respiration2001，120，1： | 1 |
| 15 | Use of small-bore vs large-bore chest tubes for treatment of malianant pleural effusions显示文摘 | Parulekar W Di Prinio G Matzinger F | 2001 | Chest2001，120，1： | 1 |
| 16 | Phase I study of 5-fluorouracil and leucovorin by continuous infusion chronotherapy and pelvic radiotherapy in patients with locally advanced or recurrent rectal cancer显示文摘 | Wendy Parulekar Robert W de Marsh Rebecca Wong William Mendenhall Phillip Davey Robert Zlotecki Scott Berry W.Robert Rout Georg A Bjarnason | 2004 | International Journal of Radiation Oncology Biology Physics2004，，5： | 1 |
| 17 | Use small borers large bore chest tubes for treatment of malignant pleurleffusions显示文摘 | Parulekar W Diprimio G Matziger F | | 0，，： | 1 |
| 18 | Magnesium Potassium Phosphate Ceramic for 99Tc Immobilization显示文摘 | Singh D Mandalika V R Parulekar S J | 2006 | Journal of Nuclear Materials2006，348，3： | 1 |
| 19 | Use of small-bore VS large-bore chest tubes for treatment of malignant pleural effusions显示文摘 | Parulekar W Di Prirmio G Matzinger F | 2001 | Chest2001，120，1： | 1 |
| 20 | Sub -Tenon's local anaesthesia for the treatment of retinopathy of prematurity with diode laser 显示文摘 | Parulekar MV Chen SD Patel CK | 2008 | Eye (Lond)2008，22，3： | 1 |
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