Soft grippers with soft and flexible materials have been widely researched to improve the functionality of grasping. Although grippers that can grasp various objects with different shapes are important, a large number of industrial applications require a gripper that is targeted for a specified object.  https://www.selleckchem.com/products/iso-1.html  In this paper, we propose a design methodology for soft grippers that are customized to grasp single dedicated objects. A customized soft gripper can safely and efficiently grasp a dedicated target object with lowered surface contact forces while maintaining a higher lifting force, compared to its non-customized counterpart. A simplified analytical model and a fabrication method that can rapidly customize and fabricate soft grippers are proposed. Stiffness patterns were implemented onto the constraint layers of pneumatic bending actuators to establish actuated postures with irregular bending curvatures in the longitudinal direction. Soft grippers with customized stiffness patterns yielded higher shape conformability to target objects than non-patterned regular soft grippers. The simplified analytical model represents the pneumatically actuated soft finger as a summation of interactions between its air chambers. Geometric approximations and pseudo-rigid-body modeling theory were employed to build the analytical model. The customized soft grippers were compared with non-patterned soft grippers by measuring their lifting forces and contact forces while they grasped objects. Under the identical actuating pressure, the conformable grasping postures enabled customized soft grippers to have almost three times the lifting force than that of non-patterned soft grippers, while the maximum contact force was reduced to two thirds.Automatic fingerprint identification systems (AFIS) make use of global fingerprint information like ridge flow, ridge frequency, and delta or core points for fingerprint alignment, before performing matching. In latent fingerprints, the ridges will be smudged and delta or core points may not be available. It becomes difficult to pre-align fingerprints with such partial fingerprint information. Further, global features are not robust against fingerprint deformations; rotation, scale, and fingerprint matching using global features pose more challenges. We have developed a local minutia-based convolution neural network (CNN) matching model called "Combination of Nearest Neighbor Arrangement Indexing (CNNAI)." This model makes use of a set of "n" local nearest minutiae neighbor features and generates rotation-scale invariant feature vectors. Our proposed system doesn't depend upon any fingerprint alignment information. In large fingerprint databases, it becomes very difficult to query every fingerprint against every other fingerprint in the database. To address this issue, we make use of hash indexing to reduce the number of retrievals. We have used a residual learning-based CNN model to enhance and extract the minutiae features. Matching was done on FVC2004 and NIST SD27 latent fingerprint databases against 640 and 3,758 gallery fingerprint images, respectively. We obtained a Rank-1 identification rate of 80% for FVC2004 fingerprints and 84.5% for NIST SD27 latent fingerprint databases. The experimental results show improvement in the Rank-1 identification rate compared to the state-of-art algorithms, and the results reveal that the system is robust against rotation and scale.The study of sustainability challenges requires the consideration of multiple coupled systems that are often complex and deeply uncertain. As a result, traditional analytical methods offer limited insights with respect to how to best address such challenges. By analyzing the case of global climate change mitigation, this paper shows that the combination of high-performance computing, mathematical modeling, and computational intelligence tools, such as optimization and clustering algorithms, leads to richer analytical insights. The paper concludes by proposing an analytical hierarchy of computational tools that can be applied to other sustainability challenges.Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of physical damping exist in compliant robotic legged locomotion. It remains unclear how physical damping can be exploited for locomotion tasks, while its advantages as sensor-free, adaptive force- and negative work-producing actuators are promising. In a simplified numerical leg model, we studied the energy dissipation from viscous and Coulomb damping during vertical drops with ground-level perturbations. A parallel spring- damper is engaged between touch-down and mid-stance, and its damper auto-decouples from mid-stance to takeoff. Our simulations indicate that an adjustable and viscous damper is desired. In hardware we explored effective viscous damping and adjustability, and quantified the dissipated energy. We tested two mechanical, leg-mounted damping mechanisms a commercial hydraulic damper, and a custom-made pneumatic damper. The pneumatic damper exploits a rolling diaphragm with an adjustable orifice, minimizing Coulomb damping effects while permitting adjustable resistance. Experimental results show that the leg-mounted, hydraulic damper exhibits the most effective viscous damping. Adjusting the orifice setting did not result in substantial changes of dissipated energy per drop, unlike adjusting the damping parameters in the numerical model. Consequently, we also emphasize the importance of characterizing physical dampers during real legged impacts to evaluate their effectiveness for compliant legged locomotion.Visual reasoning is a critical stage in visual question answering (Antol et al., 2015), but most of the state-of-the-art methods categorized the VQA tasks as a classification problem without taking the reasoning process into account. Various approaches are proposed to solve this multi-modal task that requires both abilities of comprehension and reasoning. The recently proposed neural module network (Andreas et al., 2016b), which assembles the model with a few primitive modules, is capable of performing a spatial or arithmetical reasoning over the input image to answer the questions. Nevertheless, its performance is not satisfying especially in the real-world datasets (e.g., VQA 1.0& 2.0) due to its limited primitive modules and suboptimal layout. To address these issues, we propose a novel method of Dual-Path Neural Module Network which can implement complex visual reasoning by forming a more flexible layout regularized by the pairwise loss. Specifically, we first use the region proposal network to generate both visual and spatial information, which helps it perform spatial reasoning.