This paper presents a novel Bionic Soft Finger (BSF) that aims to overcome the limitations of conventional rigid manipulators in terms of adaptability and safety, as well as the challenges faced by soft hands regarding carrying capacity and stability. The BSF design uses a hybrid variable stiffness mechanism combining memory alloy actuators with particle jamming to achieve the desired bending angle and actuator stiffness. Our innovative approach utilizes a bionic finger design that incorporates a memory alloy skeleton and a water-cooled recirculation system, leading to a substantial reduction in the time required for each operation. Through the integration of particle jamming, we have enhanced the overall stiffness and performance of the manipulator, enabling load capacities of up to 3N per finger and more than twice the stiffness of a normal condition. Additionally, our design enables multimode grasping and incorporates a liquid metal strain sensor (METT) for real-time monitoring of finger bending angles. Comparative analyses demonstrate that our design exhibits superior stiffness and enables five-mode grasping in comparison to pneumatic actuators. We believe that bionic soft fingers present a promising solution for enhancing adaptability, safety, and performance in human-robot interaction applications.

In china, the heating measurement system employed a ball valve to control the flow rate on the pipe inlet of the house. Unsurely, the valve remain turn on when the inhabitant at home and remain cut off when the inhabitant go to work, which can make a step change to water supply temperature. In this paper, the characteristic of the temperature distribution curve of radiator was analyzed in transient, the parallel moving presumption of the temperature distribution curve was proposed, according to the presumption, the functional relation between heat dissipating capacity of radiator and the time in transient was put forward, the rationality of the functional relation was proved by experiments.

In heating measuring system, the water supply temperature of the heat source is requested invariable, it adopts the mode of changeable flow adjustment to change the capacity of heat supply, but in the actual operation it relates to the maintenance of the system and the sewage discharge, especially to the heating system of the boiler room. Furthermore, the heating measurement system unsurely employed a ball valve to control the flow rate on the pipe inlet of the house, the valve remain turn on when the inhabitant at home and remain cut off when the inhabitant go to work. All these reasons result in the temperature of water supply system has a sudden variety. In this paper, the characteristic of the temperature distribution curve of radiator was analyzed in transient, according to the the parallel moving presumption, the functional relation between heat dissipating capacity of radiator and the time in transient was put forward, finally, the measurement error of steady-state formula was compared under different water supply temperature and different temperature step change. It provides a valuable reference for the study of dynamic characteristics of variable flow heating system.