Acome, E. et al. Robot. One robot recovers and flies upward after this collision, Chen, Y., Zhao, H., Mao, J. et al. Shows the electric field in the capacitor. Choe, K. et al. Scale bars in ac represent 5 cm. Scale bar represents 100 m. is applied, the electrostatic pressure https://doi.org/10.1038/s41586-019-1737-7, DOI: https://doi.org/10.1038/s41586-019-1737-7. Shepherd, R. F. et al. endstream endobj 175 0 obj <>stream Examples may be utilized for propelling vehicles through air or water, e.g. 0 1, 511 (2014). 600 VDC, 50 A High Capacity Power Relay with Bidirectional Switching. WebThree-phase electric power (abbreviated 3) is a common type of alternating current used in electricity generation, transmission, and distribution. Smart Mater. {~ !qXgILm{Az ^{Po3:MYhS ':38>2:LCl3'3,_t2z]9? The range of end uses could include a medical probe that needs to rest flush on the skin, a biopotential electrode sensor, or the housing holding a catheter tube in place. {\displaystyle \varepsilon _{r}} J. Fluid Mech. WebIn electrical engineering, capacitive sensing (sometimes capacitance sensing) is a technology, based on capacitive coupling, that can detect and measure anything that is conductive or has a dielectric different from air. Extended Data Fig. by 3b. Hence, heat Natl Acad. a, Illustration of wing pitch bias in a one-DEA module. j, Front view of a DEA. 09 August 2022, Nature Communications volume575,pages 324329 (2019)Cite this article. The reason the sensor electrode is placed on the right side of the subjects chest is that this position gets the least impact from other physiological activities. The red arrow marks l3, which is the inverse of the transmission ratio T. Scale bar represents 200 m. This is typically performed by measuring the skins electrical conductivity. WebCapacitance Formulas. Measuring a parallel-plate capacitors capacitance. WebAluminum electrolytic capacitor are polarized electrolytic capacitors whose anode electrode (+) is made of a pure aluminum foil with an etched surface. {\displaystyle p_{el}} Mater. Struct. 0000003209 00000 n WebThe RC time constant, also called tau, the time constant (in seconds) of an RC circuit, is equal to the product of the circuit resistance (in ohms) and the circuit capacitance (in farads), i.e. Zhao, H. et al. Thickness Mode Actuators: The force and stroke moves in the z-direction (out of plane). Fast-moving soft electronic fish. Syst. Struct. c, Two one-DEA modules having the same yaw torque bias direction are assembled into a two-DEA robot. built the robot. A capacitive touch sensor provides a user interface in the form of a push button, a slider bar, a scroll wheel, or other forms similar to the examples shown in Figure 1. energy, in physics, the capacity for doing work. All authors provided feedback. and J.M. 4695, 126137 (International Society for Optics and Photonics, 2002); https://www.spiedigitallibrary.org/conference-proceedings-of-spie/4695/0000/Dielectric-elastomer-artificial-muscle-actuators-toward-biomimetic-motion/10.1117/12.475157.full. e, An illustration of rolling an elastomer-electrode multilayer into a DEA. 0000002290 00000 n Katzschmann, R. K., Marchese, A. D. & Rus, D. Hydraulic autonomous soft robotic fish for 3D swimming. Conf. r2y1Qijoc0aPR266Nh `Q H()1AzXQH $/(l2 We thank Y. Zhu for comments and discussion. Four types of capacitance sensors, shown in Figure 4, are differentiated by the way the excitation is applied. & De Wagter, C. Design, aerodynamics, and vision-based control of the DelFly. The These features make them ideal for high-resolution touch sensor functions, such as slider bars or scroll wheels, with minimal software requirements. a, b, A composite image (a) and the measured DEA current (b) of a short takeoff flight without any collisions. To increase the mechanical power output of the actuator and to demonstrate flight control, we present ways to overcome challenges unique to soft actuators, such as nonlinear transduction and dynamic buckling. Usually, strains of DEA are in the order of 1035%, maximum values reach 300% (the acrylic elastomer VHB 4910, commercially available from 3M, which also supports a high elastic energy density and a high electrical breakdown strength. Completely filling the space between capacitor plates with a dielectric increase the capacitance by a factor of the dielectric constant. However, sensor designincluding pattern, size, and positionthe associated detailed electronic circuit design, and the need for deep research, comprehensive experiments, and effective testing, are critically dependent on the nature of each application, so we merely hope to stimulate creativity by suggesting some possibilities here. Subscribe today! In Electroactive Polymer Actuators and Devices (EAPAD) 94301P (International Society for Optics and Photonics, 2015); https://www.spiedigitallibrary.org/conference-proceedings-of-spie/9430/94301P/Use-of-aligned-fibers-to-enhance-the-performance-of-dielectric/10.1117/12.2084140.full. Respiratory rate measurement is an important module in patient monitoring systems. HT Dgal dBx>M7o, Switching speeds are limited only by mechanical inertia. A list of potential applications include: "Conference Detail for Electroactive Polymer Actuators and Devices (EAPAD) XV", "The Current State of Silicone-Based Dielectric Elastomer Transducers", "A Modulated Voltage Waveform for Enhancing the Travel Range of Dielectric Elastomer Actuators", "DC dynamic pull-in instability of a dielectric elastomer balloon: An energy-based approach", "Dielectric elastomers as electromechanical transducers: Fundamentals, materials, devices, models & applications of an emerging electroactive polymer technology", EuroEAP - International conference on Electromechanically Active Polymer (EAP) transducers & artificial muscles, WorldWide Electroactive Polymer Actuators * Webhub, Dielectric Elastomer Stack Actuators (DESA), PolyWEC EU Project: New mechanisms and concepts for exploiting electroactive Polymers for Wave Energy Conversion, https://en.wikipedia.org/w/index.php?title=Dielectric_elastomers&oldid=1119279385, Pages with login required references or sources, Creative Commons Attribution-ShareAlike License 3.0. Sadeghipour, K., Salomon, R. & Neogi, S. Development of a novel electrochemically active membrane and smart material based vibration sensor/damper. Our work demonstrates how soft actuators can achieve sufficient power density and bandwidth to enable controlled flight, illustrating the potential of developing next-generation agile soft robots. Flying insects capable of navigating in highly cluttered natural environments can withstand in-flight collisions because of the combination of their low inertia1 and the resilience of their wings2, exoskeletons1 and muscles. The robot is destabilized after making the third collision. Chen, Y. et al. Dielectric Strength Current insect-scale (less than ten centimetres long and weighing less than five grams) aerial robots3,4,5,6 use rigid microscale actuators, which are typically fragile under external impact. Change the voltage and see charges built up on the plates. b, Top view schematic of the eight-wing robot. The robots are driven by multi-layered dielectric elastomer actuators that weigh 100 milligrams each and have a resonance frequency of 500 hertz and power density of 600 watts per kilogram. is the dielectric constant of the polymer and for inputs as well as output (J, kJ, MJ, Cal, kCal, eV, keV, C, kC, MC). Keep it tested with a built-in Lithium Ion battery, Keep it connected using detachable Kelvin test leads, Keep it focused with a 10.4 daylight viewable touchscreen, Keep it stored with 480 GB of SSD internal storage and two USB ports, Keep it paperless using cloud storage for synchronised testing and reporting, Keep it updated with an Android operating system. Nature 570, 491495 (2019). Similarly, hk and lo show the tracked flight data corresponding to the flights shown in b and c, respectively. It passively recovers from this collision and continues to fly upward. Struct. To obtain Nature Communications USA 109, 98229827 (2012). [6] Properties such as fast response times and efficiency are superior using natural rubber based DEs compared to VHB (acrylic elastomer) based DEs for strains under 15%. By clicking Accept All, you agree to the storing of cookies on your device to enhance site navigation, analyze site usage, and assist in our marketing efforts. 0 The data shown in cf correspond to the flight in b. b, Right wing stroke amplitude as a function of driving voltage and frequency. Struct. There is a dielectric between them. A weight is placed on top of the DEA as the glue cures. 0000016677 00000 n In these flights, the robot flips upside down within 200 ms after lift-off owing to aerodynamic torque imbalances from the two wings. Keplinger, C. et al. In gi, the robot rolls sideways and flips over owing to lift force imbalances between its left and right wings. Performance characteristics of electro-chemically driven polyacrylonitrile fiber bundle actuators. Models that describe large strains and viscoelasticity are required for the calculation of such actuators. Nature (Nature) Push-In Terminal Block PCB Connectors Designed with a Unique Dual-Spring Structure for Enhanced Ease of Use, Electronics Solutions for the Energy Market. 1 Design and fabrication of robot components. 0*k|Q=*#?muv=I Y_>\kavg@h#4}:t_`x4~ g, An example of a failed collision recovery experiment. Dickerson, A. K., Shankles, P. G., Madhavan, N. M. & Hu, D. L. Mosquitoes survive raindrop collisions by virtue of their low mass. Dielectric Strength i, j, An image sequence (i) and the measured current (j) of a flapping-wing characterization test. The device first outputs an excitation signal to charge the plate of the capacitor. The actuators can be rolled around a compression spring or without a core. Get time limited or full article access on ReadCube. USA 108, 2040020403 (2011). 0000006589 00000 n The 24-bit AD7746, with its two capacitance measurement channels, could be useful for this kind of application. Scale bar represents 2 mm. Film thickness decreases, requiring a lower voltage to obtain the same electrostatic pressure; Avoiding compressive stresses in the film plane directions. Li, T. et al. hb```b``d`e`gd@ AEF'FL.wc3*"}kygOG Gu 3]j&WuK],[zJ^|,-qo7H&r8z (-I7H=:TD4!1(rT\U*xdU*S+|GQ29?9 R9V|4bg.sQdr,KMjg1dr}b1TmzS(\!Og0Wsw8$]@vdJA/9L1158LYb;M;::+::LftpfxD&]H&7 *cKDbpa&3Ah~X9xPMav2XPX , 2UI)Isz,L^3`8"AK]yB! 0000009240 00000 n To allow the use of various infusion substances with different dielectric constants, a second capacitive sensor located near the bottom acts as a reference channel to produce ratiometric measurements. &3M4Y9 ws3q@V~f8g>]["mHR_>10.gA@O@j E di, Unstable (pitch and roll) takeoff flights of a robot with two DEAs. {\displaystyle p_{eq}} Part 1 compares the flapping kinematics at 1 Hz, 100 Hz, and 280 Hz. The robot makes multiple collisions and the red circles in g and h relate these collisions to DEA current changes. e The generalised equation for the capacitance of a In several cases, the electromechanical instability precedes the dielectric breakdown. lO#!{EN}Qouyzlvcg@ /?r[zqf\WCm@4})~{~ (!`a7(~nFZd& PT\w{AU 8#Y:da" . A parallel-plate capacitor consists of two conductors (metal plates) and is characterized by. ISSN 0028-0836 (print). The pitch (), roll (), and yaw () angles are defined with respect to the fixed X, Y and Z axes. The essence of capacitance detection and measurement technique is shown in Figure 3 for a parallel-plate capacitor. They belong to the group of electroactive polymers (EAP). motion. Article The red arrows indicate the directions of the mean drag force caused by biasing the wing pitch. Rosset, S. & Shea, H. R. Flexible and stretchable electrodes for dielectric elastomer actuators. WebA capacitor is a device that stores electrical energy in an electric field by virtue of accumulating electric charges on two close surfaces insulated from each other. 2a, b. g, The DEAs instantaneous power consumption when driven at 1,400 V and 300 Hz. Both of the capacitance-altering mechanisms described above produce effects that are proportional to distance. Zou, Y., Zhang, W. & Zhang, Z. Liftoff of an electromagnetically driven insect-inspired flapping-wing robot. {\displaystyle U} & Chin, Y.-W. Lightweight mechanical amplifiers for rolled dielectric elastomer actuators and their integration with bio-inspired wing flappers. Wood. This DEAs blocked force and free displacement measurements are shown in Fig. 0000008547 00000 n If electric charge is transferred between two initially uncharged conductors, both become equally Aqueous ionic hydrogels can deliver potentials of multiple kilovolts, despite the onset of electrolysis at below 1.5 V.[3][4], The difference between the capacitance of the double layer and the dielectric leads to a potential across the dielectric that can be millions of times greater than that across the double layer. Y.C., H.Z. used over a moderate temperature range in application where high capacitance is required because of its unstable . Google Scholar. [8]. %PDF-1.4 % With a well-directed activation, the foils assume complex three-dimensional shapes. Because the sensor capacitance is determined by a, b, d, and r, varying the values of these parameters, or observing variations in their values, allows CDC technology to be used for direct capacitance value measurement, as well as for many other kinds of applications, depending on the sensor types. 4b, c. go, Dynamical simulation of robot takeoff flights under different values of body yaw torque. When a voltage Phys. Dielectric elastomer artificial muscle actuators: toward biomimetic motion. In df, the robot pitches forward and eventually flips over owing to asymmetric lift forces from the front and the back robot modules. The Q factor of a capacitor, also known as the quality factor, or simply Q, represents the efficiency of a given capacitor in terms of energy losses. Multigait soft robot. John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA, Yufeng Chen,Jie Mao,E. Farrell Helbling,Nak-seung Patrick Hyun,David R. Clarke&Robert J. = [seconds] It is the time required to charge the capacitor, through the resistor, from an initial charge voltage of zero to approximately 63.2% of the value of an applied where 0 is the permittivity of free space. The AD774x family has an internal temperature sensor to measure the on-chip temperatureand an additional ADC voltage channel that can be used to measure the temperature at the sensor site. Materials used in research include graphite powder, silicone oil / graphite mixtures, gold electrodes. ryFE,GT|fpbG+8erv^ mj In blood pressure measurement applications using an inflatable cuff, an important task is to measure the pressure at the air valve. Rus, D. & Tolley, M. T. Design, fabrication and control of soft robots. Kellaris, N., Venkata, V. G., Rothemund, P. & Keplinger, C. An analytical model for the design of Peano-HASEL actuators with drastically improved performance. contributed to modelling and data analysis. This video shows collisions between an obstacle and a robot that is driven at 1,300 V and 300Hz. Quantitative flight trajectory comparisons are shown in Extended Data Figure 7. Bending actuators:The in-plane actuation of dielectric elastomer (DE) based actuator is converted into out-of-plane actuation such as bending or folding using unimorph configuration where one or multiple layers of DE sheets are stacked on top of one layer of inactive substrate. Surface Mount Multilayer Ceramic Chip Capacitors (SMD MLCCs) X7R Dielectric, 6.3 250 VDC (Commercial Grade) Applications IEEE Contr. Analog Devices is in the process of updating our website. Whitney, J. P. & Wood, R. J. Shian, S., Bertoldi, K. & Clarke, D. R. Use of aligned fibers to enhance the performance of dielectric elastomer inchworm robots. Work since 2000 has established the utility of electrolyte gate electrodes. The experimental measurement of the robots vertical motion is superimposed on the same graph. Kellaris, N., Venkata, V. G., Smith, G. M., Mitchell, S. K. & Keplinger, C. Peano-HASEL actuators: muscle-mimetic, electrohydraulic transducers that linearly contract on activation. Part 2 shows simultaneous flights of two robots. endstream endobj 173 0 obj <>stream In part 1, an obstacle makes collisions with the robots left wing. p 2 Characterization of blocked force, free displacement and power dissipation. Google Scholar. Parallel Plate Capacitors are the type of capacitors which that have an arrangement of electrodes and insulating material (dielectric). Scale bar represents 1 cm. The effect of a capacitor is known as capacitance.While some capacitance exists between any two electrical conductors in WebThe capacitor made of this kind of material is the highest dielectric constant of all ceramic capacitors. WebDouble-layer capacitance is the important characteristic of the electrical double layer which appears, for example, at the interface between a conductive electrode and an adjacent liquid electrolyte.At this boundary two layers of charge with opposing polarity form, one at the surface of the electrode, and one in the electrolyte. Typically a frame or support structure is mounted around the film. Article Change the size of the plates and add a dielectric to see how it affects capacitance. ADS The diverse test capabilities of the ADX allows it to meet the testing needs of OEMs, industrial maintenance engineers, motor repair shops and field service engineers.The development of the ADX focused on the industries and environments over the product itself, understanding our customers needs and meeting them in a way that makes your jobs easier and prevents motor downtime.This focus is exemplified in features that include a full QUERTY water and dust repellant keyboard, direct printing from the ADX both wireless and wired, simple data importing from the Megger Baker AWA and DX, EAR+ , and the ability to add images to assets. Extended Data Fig. ADX developers focused on the industries and environments over the product itself. Google Scholar. These options offer limited mechanical properties, sheet resistances, switching times and easy integration. The authors declare no competing interests. Any opinions, findings and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the National Science Foundation. Webcapacitance, property of an electric conductor, or set of conductors, that is measured by the amount of separated electric charge that can be stored on it per unit change in electrical potential. Cheng, N. G., Gopinath, A., Wang, L., Iagnemma, K. & Hosoi, A. E. Thermally tunable, self-healing composites for soft robotic applications. 217, 11081115 (2014). i, Thermal images showing the temperature of the DEA during operation. This high speed video shows a robot flapping its wings at 280 Hz. To obtain this additional information, several capacitive sensor electrodes, shown in blue, could be embedded directly into a devices plastic housing at the injection molding stage during manufacturing. d, Front view of a robot wing whose wing span (R) and centre of pressure (rcp) are 10 mm and 7 mm, respectively. [3][4], Deformations are well controlled, reversible, and capable of high-frequency operation. is the vacuum permittivity, endstream endobj 161 0 obj <>stream J. Exp. 21, 115021 (2011). MathSciNet Combined with the PowerDB dashboard (a cloud-based application) you can create and edit routes, assets, test configurations, and installations. & Deng, X. WebExplore how a capacitor works! k, A zoomed-in plot of robot pitch that corresponds to the red region in j. l, Maximum robot pitch deviation as a function of input yaw torque. C = C o, where C o is the capacitance with no dielectric between the plates. :2G}AfCPl$c\Ua*HHR|!@CD6eR]2w,Ba,G]~%r]K1 J. Micromech. 299, 12791284 (2014). Visitors have the right to withdraw their consent. Liang, J. et al. 32, 12851289 (2016). Eng. The aluminum forms a very thin insulating layer of aluminium oxide by anodization that acts as the dielectric of the capacitor. 0000001985 00000 n 1, 172 (1992). and is given by: where Smart Mater. Potentials in the kilovolt range can be realized without electrochemically degrading the hydrogel. Webpermittivity (electric permittivity): Permittivity, also called electric permittivity, is a constant of proportionality that exists between electric displacement and electric field intensity. This video shows flight demonstrations of a four-wing robot powered by two DEAs. p i, Fabrication of the DEA. Ma, K. Y., Chirarattananon, P., Fuller, S. B. Although the driving frequency and phase of each DEA are changed, the robot is still passively upright stable. Yufeng Chen or Robert J. Open Access A capacitive sensor can be easily used in this kind of pressure sensing applications. John Wiley & Sons, Inc., 2005. Z5U, and Y5V at voltage ratings up to 200 V. The X7R-type is preferred because it has less capacitance change as a function of dc bias voltage than the Z5U and Y5V types. 10 Controller design of the eight-wing robot and hovering flight repeatability. For example, if a, b, and r are constant, the CDC output is in inverse proportion to the distance between two conductors. WebInserting a dielectric between the plates of a capacitor affects its capacitance. 7 Simulation of open-loop ascending flight and comparison with experimental results. WebCeramic dielectric capacitors are available in values up to several F in the high-K dielectric formulations of X7R. Velocity: Solid Polyethylene (PE) 1.54: 0.659c: Foam Polyethylene (FE) 1.27: 0.800c: a, A composite image of a 0.5-s open-loop takeoff flight captured at 3,000 frames per second. A vacuum can be created by removing air from a space using a vacuum pump or by Dickinson, M. H. Muscle efficiency and elastic storage in the flight motor of Drosophila. %%EOF 0000004530 00000 n As pressure is applied to the sensor, the capacitive plates move closer together. parameters (critical voltage and the corresponding maximum stretch) are dependent on several factors, such as the level of prestretch, temperature, and the deformation dependent permittivity. The left-wing stroke and pitch amplitudes are 42 and 59, respectively. NewConnecter XW4M/XW4NA coding key for preventing erroneous insertion, a short bar, and a release tool are available as optional parts. Prutchi, David, and Michael Norris. 0000011386 00000 n h and i show the same experiment. Mater. At operating frequencies that are substantially lower than system resonance, the wing stroke motion is asymmetric due to nonlinear actuation. & Wood, R. J. 12, 2127 (1992). Sci. High-capacity PCB power relay G9KA Landing Page has been renewed. Proc. and R.J.W. The ADX is the smartest way to save you money and timeWhen connected to the internet, asset management with the ADX amplifies. Nat. The hinge width (hw), length (hl), and thickness (ht) determine its torsional stiffness. Extended Data Fig. Although the possible applications of capacitance sensing are limited only by the users creativity, here are a few ideas for applications in the healthcare field. and E.F.H. Scale bars in ai represent 1 cm. Zhao, J., Niu, J., McCoul, D., Leng, J. Scale bar represents 1 mm. 0000000016 00000 n The resulting devices can be perfectly transparent. Our emphasis is understanding your needs and meeting them in a way that makes your jobs easier and prevents motor downtime.The diverse test capabilities of the ADX allows it to meet the testing needs of OEMs, industrial maintenance engineers, motor repair shops, and field service engineers.This focus is exemplified in features that include a full QUERTY water-repellant keyboard, direct printingfrom the ADXboth wired and wireless, and the ability to add images to assets. Further reasons for prestretching include: The elastomers show a visco-hyperelastic behavior. Supports multiple measurement units (mv, V, kV, MV, GV, mf, F, etc.) The reduced distance between the plates increases the capacitance. Sign up for the Nature Briefing newsletter what matters in science, free to your inbox daily. Anyone you share the following link with will be able to read this content: Sorry, a shareable link is not currently available for this article. WebThe European co-operation for Accreditation or EA is an association of national accreditation bodies in Europe that are officially recognised by their national Governments to assess and verifyagainst international standardsorganisations that carry out evaluation services such as certification, verification, inspection, testing and calibration (also known as endstream endobj startxref on Robotics and Automation (ICRA). In Robotics Research 525540 (Springer, 2017). IEEE Trans. https://doi.org/10.1038/s41586-019-1737-7. In one approach, shown in Figure 7, an excitation plate is put on the back of the patient while the sensor electrode belt is fastened on the right side of the chest of the patient. 186 0 obj <>stream WebThe ADX is designed to increase your productivity through simplified workflows thanks to its combined manual and automatic testing, sequence-based test procedures, route-based testing, instant test-related help and customisable folder structures. WebIn order to understand the effect of the dielectric on a capacitor, let us first quickly review the known formula for the capacitance of a parallel-plate capacitor: where C is the capacitance , r is the relative permittivity of the material, 0 is the permittivity of vacuum, A is the area of the plates and d is the distance between the plates. In recent years, advances in electronic technology have made many innovations and improvements in the healthcare industry possible. Furthermore, button-sensor applications can be implemented completely by on-chip digital logic without any software requirement. Introducing the best OMRON products for the energy industry. Our simulation predicts that the steady-state oscillation with respect to the robots X and Y axes is smaller than 3. In the meantime, to ensure continued support, we are displaying the site without styles The robot pitch deviation is approximately 35 at85 ms after takeoff. Peer review information Nature thanks Dario Floreano, Christoph Keplinger and the other, anonymous, reviewer(s) for their contribution to the peer review of this work. 5 Repeated unstable takeoff flights. n, A zoomed-in plot of robot roll that corresponds to the red region in m. o, Maximum robot roll deviation as a function of input yaw torque. 0000002176 00000 n endstream endobj 167 0 obj <> endobj 168 0 obj <> endobj 169 0 obj <> endobj 170 0 obj <> endobj 171 0 obj <> endobj 172 0 obj <>stream WebCapacitance Dielectric Materials Electric Charge Electric Field Impedance and Reactance Parasitic Inductance Q factor Q factor Chapter 1 - Fundamentals Q Factor definition. Extended Data Fig. It may be useful to add a second capacitance sensor to measure the ambient humidity and use it for common-mode compensation. Provide us with your email address to get Analog Dialogue delivered directly to your inbox! Extended Data Fig. This video illustrates the influence of nonlinear DEA actuation on flapping wing kinematics. In part 2, the obstacle directly presses against the DEA during its operation. This flexibility allows you to conduct AC and DC motor partial discharge and low impedance testing on all motors, generators, coils, and other devices.ADX test suiteWinding Resistance Insulation Resistance Inductance Capacitance Partial Discharge on Surge Dielectric Analysis (PD) Polarisation Index (PI) Dielectric Analysis (DA) DC Step-Voltage DC Continuous Ramped DC HiPot (High Potential Tester) Surge Test - EAR+. 0000003829 00000 n Get the most important science stories of the day, free in your inbox. 0 0000010761 00000 n They collide with the wall and each other without suffering damage. 0000017173 00000 n If you find something abusive or that does not comply with our terms or guidelines please flag it as inappropriate. This robot can produce sufficient lift force to take off from the ground. Copyright OMRON Corporation 2022 All Rights Reserved. ), Cylindrical/Roll actuators: Coated elastomer films are rolled around an axis. 0000007181 00000 n e, Simulated pitch () and roll () motion. hbbd```b``="?A$[dVnq,f`i`v=X5f\Q !Dj?H =T)H2N8bsH/@ `sMJ{!i !X This video shows the robot can survive in-flight collisions. a, FFT of the tracked wing stroke kinematics when a wing is driven at 1 Hz, 100 Hz and 280 Hz. ), Replacing the electrodes with soft hydrogels allows ionic transport to replace electron transport. Adv. This acts as a separator for the plates. contracts here. Loomis, J., Xu, P. & Panchapakesan, B. Stimuli-responsive transformation in carbon nanotube/expanding microspherepolymer composites. ADS 28, 1804328 (2018). 0000004774 00000 n 309 0 obj <>stream wrote the paper. Ning Jia is an applications engineer in the Customer Applications Center, Asia. Build a parallel-plate capacitor with plates that tightly adhere to the outside wall of the infusion bottle and extend to near the bottom of the bottle. WebFree online capacitor charge and capacitor energy calculator to calculate the energy & charge of any capacitor given its capacitance and voltage. 7, 036001 (2012). They are . This capacitance change is non-linear. This is a preview of subscription content, access via your institution. Part 2 compares experimental and simulation results of the robots open-loop, passively upright stable ascending flights. Nature 521, 467475 (2015). Controlled flight of a biologically inspired, insect-scale robot. The stroke kinematics data are taken from that shown in Fig. The robot makes 11 revolutions with respect to its z axis 0.8 s after takeoff. The robot powered by one DEA demonstrates open-loop liftoff. xref on Intelligent Robots and Systems 23292336 (IEEE, 2016). CT = dQ / dV. f, A zoomed-in illustration of the inset shown in e. g, A zoomed-in illustration of the inset shown in f. The bottom layer of the top multi-layer and the top layer of the bottom multi-layer forms a region that can be actuated. 29, 1604209 (2017). 1995 - 2022 Analog Devices, Inc. All Rights Reserved, ADI Capacitance-to-Digital Converter Technology in Healthcare Applications. Once the electrode information is available, a simple algorithm running on the host controller could be applied to determine if all sensor electrodes were making proper contact with the skin. Coaxial Cable Specifications: Properties of Coaxial Cable Dielectrics (c = speed of light in a vacuum) Dielectric Type: Time Delay (ns/ft) Propagation. 0e%zAu Q*-G;g=%dElHqZ2s7McZx-N(pe2"bcCeMr+kuG:'[o*p*2kb4O$'APa@Yq2M4.3A1R}|#Lhg{g5zouO~'YL=js0`[tU;,}+9~IM3zNC$\j*?lg7lhOBb#7B9gp7ZnFyvg(pDv;6:(:0WTl20aT_iw-(s*6bcGV( #%/ ?Rf MUOGS 2a and b. e, f, The DEAs energy (e) and power (f) density as functions of driving frequency and voltage. After it has been transferred, energy is always designated according to its nature. It is a passive electronic component with two terminals.. Nature 575, 324329 (2019). In some medical and fitness-testing equipment, there is a need to measure perspiration from a human body. proposed and designed the research. WebEffect of Dielectric in Capacitance Dielectric Slabs in Series. A carbon fiber rod with a point mass is attached to the robots airframe to adjust its center of mass position. 0000006226 00000 n Experimental and computational studies of the aerodynamic performance of a flapping and passively rotating insect wing. 243 0 obj <>/Filter/FlateDecode/ID[<4D30770331774A408F2F4BB574116227><4CC63DEEE0F8414F9E1E0CDC57607EB4>]/Index[214 96]/Info 213 0 R/Length 142/Prev 922713/Root 215 0 R/Size 310/Type/XRef/W[1 3 1]>>stream d, Comparison of measured and simulated yaw rate (\(\dot{\psi }\)). This constant is equal to approximately 8.85 x 10 -12 farad per meter (F/m) in free space (a vacuum). The capacitance between two conducting plates with a dielectric between then can be calculated by: Where. When the wing is driven near the system resonant frequency (280 Hz), the red circles indicate that the fundamental harmonic grows and the second harmonic is attenuated. Browser Compatibility Issue: We no longer support this version of Internet Explorer. arising from the Coulomb forces acts between the electrodes. These capacitance changes can be measured by CDC devices. The challenges for healthcare equipment include developing new diagnosis and treatment methods, enabling remote monitoring and home healthcare devices, improving quality and reliability, and enhancing flexibility and ease of use. Webwhere is the vacuum permittivity, is the dielectric constant of the polymer and is the thickness of the elastomer film. A temperature sensor can be used to detect the temperature change of the sensor to compensate its characteristics change with temperature. Sci. The wing pitch bias causes different wing pitching motion in the up stroke and down stroke phases of the wing motion, which leads to different drag forces. However, the robot is intrinsically unstable, and it has no control authority. 3, eaar3276 (2018). 3f. *M|j`+@ E? Y.C., H.Z., and R.J.W. A modular dielectric elastomer actuator to drive miniature autonomous underwater vehicles. b, Top view of the planar four-bar transmission. Open Access articles citing this article. These robots can sense and withstand collisions with surrounding obstacles and can recover from in-flight collisions by exploiting material robustness and vehicle passive stability. 0000007849 00000 n Y.C., H.Z., J.M., P.C. As shown in Figure 8, the diaphragm of the pressure sensor is basically made from two capacitive plates. CAS Sudden jumps in the tracking data (h, i, l and m) indicate the time at which the Vicon motion capture system loses tracking. Design and Development of Medical Electronic Instrumentation. The capacitance is measured using a capacitance-to-digital converter (CDC). WebThe Parallel Plate Capacitor. 23, 025021 (2014). Robot. [4], DEs based on silicone (PDMS) and natural rubber are promising research fields. Whitney, J. P., Sreetharan, P. S., Ma, K. Y. Appl. CAS 0000009830 00000 n Suzumori, K., Iikura, S. & Tanaka, H. Applying a flexible microactuator to robotic mechanisms. The dielectric constant will also change because of the complex physiological activities during breathing. For devices intended to operate in the vicinity of human skin, such as those shown in Figure 6, it is often beneficial to have information about the quality of contact between the devices surface area and the patients skinbefore the device is activated or a measurement is taken. The AD7147/AD7148 CapTouch controller family, designed to activate and interface with capacitive touch sensors, measures capacitance changes from single-electrode sensors. The two conducting plates act as electrodes. They are lightweight and have a high elastic energy density. Additionally, they also depend on the voltage The ADX is the smartest way to save you time and money.When connected to the internet, asset management with the ADX amplifies. A biologically inspired, flapping-wing, hybrid aerial-aquatic microrobot. CapTouch Programmable Controller for Single-Electrode Capacitance Sensors, 24-bit, 2 Channel Capacitance to Digital Converter. Small High Dielectric Strength Types; High Dielectric Strength Types; Current Limiting Types; Small Size High Current Types; Signal Relays. The other plate is formed by the users finger, which is essentially grounded with respect to the sensor input. Int. endstream endobj 162 0 obj <> endobj 163 0 obj <> endobj 164 0 obj <> endobj 165 0 obj <> endobj 166 0 obj <>stream )&lWCk' E Towards enduring autonomous robots via embodied energy, The emerging technology of biohybrid micro-robots: a review, Cancel Intrinsically stretchable and transparent thin-film transistors based on printable silver nanowires, carbon nanotubes and an elastomeric dielectric. Completely filling the space between capacitor plates with a dielectric increase the capacitance by a factor of the dielectric constant. ISSN 1476-4687 (online) The AD7147 and AD7148, with 13 and eight capacitance sensor inputs, respectively, have on-chip calibration logic that compensates for measurement changes caused by changes in the ambient environment, thus ensuring that there are no false triggers on the external sensors due to changing temperature or humidity. WebThe capacitance formula (C) of a MLCC capacitor is based on the formula for a plate capacitor enhanced with the number of layers: = where stands for dielectric permittivity; A for electrode surface area; n for the number of layers; and d 9 Robot unbalanced takeoff flights and a failed collision recovery experiment. Google Scholar. ISBN 0-471-67623-3. The data shown in cf correspond to the simulation and experiment shown in Supplementary Video5 and Fig. Actuators that shorten under activation are good candidates. Scale bar represents 1 cm. Proc. k is the dielectric constant; d is the permittivity of the dielectric; 0 is the permittivity of space which is equal to 8.854 x 10-12 F/m; A is the area of the plates; d is the separation between the plates Science 268, 8790 (1995). Natl Acad. This article, a brief introduction to advances in CDC technology at Analog Devices, hints at the enormous potential of CDC techniques in healthcare applications. Carpi, F., Bauer, S. & Rossi, D. D. Stretching dielectric elastomer performance. 153 34 A parallel plate capacitor contains two dielectric slabs of thickness d 1, d 2 and dielectric constant k 1 and k 2 respectively. Thank you for visiting nature.com. endstream endobj 215 0 obj <>>> endobj 216 0 obj <. a, Perspective view of the eight-wing robot with a superimposed coordinate system. l However, it might be possible to get more information on bodily functions by putting multiple sensor electrodes on different positions on the patients chest. 34293435 (IEEE, 2018). Science 359, 6165 (2018). All rights reserved. 0000016909 00000 n WebThe larger the dielectric constant, the more charge can be stored. Influence of wing morphological and inertial parameters on flapping flight performance. Internet Explorer). A non-solid electrolyte covers the rough surface of the oxide layer, serving in Copyright 2022 Megger . Its capacitance and f, Simulation results of the robots displacement after takeoff. Science 340, 603607 (2013). and JavaScript. This plot corresponds to the red region in g. i, Robot altitude at one second after takeoff as a function of input body yaw torque. Robot. Scale bars in a, b, and g represent 5 cm. Part 1 shows a robot flying out of a transparent cylindrical shell. Balloon actuators: Plane elastomer is attached to an air chamber and inflated with a constant volume of air, then the stiffness of the elastomer can be varied by applying electrical load; hence resulting in voltage-controlled bulging of the elastomeric balloon. 0000001564 00000 n Extended Data Fig. This result shows that wing-wing interactions do not substantially influence robot stability, Robustness against in-flight collisions. Open Access 0000006360 00000 n Capacitor charge and energy formula and equations with calculation For optimal site performance we recommend you update your browser to the latest version. WebThe transition capacitance is also known as depletion region capacitance, junction capacitance or barrier capacitance. q Lett. 0000002127 00000 n Webcapacitance with respect to time and voltage, boasting a minimal change in capacitance with reference to ambient temperature. This contact reduces the amplitude of the wing motion, but does not break the DEA, DEA nonlinear actuation. <<687BC6710A20A446A1BA721F7C52A1CA>]>> HTS; 9'8`l=%pIRq#m,0_98--&eq][+K]E .IR]Oa&!YQ9E, Sjw$||I*, LI) "c!T>=|9EeMAG(*)%B1Qi~71%`-pI\O}i;Rx7+$:v]=7Tvhb|[;A%W>XsHNNEPLCRUsU\*(k#tj-#/ ]}o7YT@;Doj"#p=pGIh_:|B`  This article will focus on capacitance-to-digital converter (CDC) technology, which enables the use of high performance capacitance sensing in healthcare applications. Signal Relays; Power Relays. xb```b``qe`c`fb@ !V(G NmZ8&In[ N|TXx^.6?iB2F `j%XVtE%gQ9 a!Lx>Qxf3*^0M7j Publishers note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. & Wood, R. J. Concomitant sensing and actuation for piezoelectric microrobots. In its nominal forma parallel-plate capacitorthe capacitance, C, is a measure of the charge, Q, stored in a capacitor at a given voltage, V, and is calculated by. For more than 40 years, Analog Devices comprehensive portfolio of linear, mixed-signal, MEMS, and digital signal-processing technologies have helped make a difference in healthcare designs in areas such as instrumentation, imaging, and patient monitoring. Bottlebrush elastomers: a new platform for freestanding electroactuation. Article 791, 133 (2016). Biomimetic artificial muscles7,8,9,10 that are capable of large deformation offer a promising alternative for actuation because they can endure the stresses caused by such impacts. In Experimental Robotics 405420 (Springer, 2016). g, h, A robot takeoff flight in a transparent box. instability, which arises due to nonlinear interaction between the electrostatic and the mechanical restoring forces. Scale bars in a, b and i represent 1 cm. Mag. The red region represents stroke amplitudes and frequencies that cannot be achieved without constraining the DEA. Wood, Research Laboratory of Electronics, Massachusetts Institute of Technology, Cambridge, MA, USA, Department of Mechanical Engineering, Tsinghua University, Beijing, China, College of Chemical and Biological Engineering, Zhejiang University, Hangzhou, China, Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China, You can also search for this author in Conf. Berlinger, F. et al. Every year, conferences are held in the US[1] and Europe.[2]. temperature coefficient, but where moderate losses and capacitance changes can be tolerated. This work is supported by the National Science Foundation (award number CMMI-1830291) and the Wyss Institute for Biologically Inspired Engineering. for blimps. The CDC device applies an excitation to one plate of the capacitor and measures the charge stored in the capacitor; then, the digital result is available for the external host. However, if the measurement needs to be performed without galvanic contact, this function can be implemented by detecting the humidity near the human body using a capacitance sensor. Scale bar represents 2 mm. The basic principle for liquid level sensing is shown in Figure 5. The ADX is designed to increase your productivity through simplified workflows with combined manual and automatic testing, sequence-based test procedures, route-based testing, instant test-related help and customisable folder structures. Nature The area of the capacitor plates and slabs is equal to A. The ADX series of models are designed to perform tests at up to 15,000 V and can be coupled with power packs to increase test voltages to 30 kV or 40 kV. 8@BTTH6X4b1r qyxsJ+H8\#a|eSo7H`K`mcv0`mea`uoLp,3Dg0h yB is twice the electrostatic pressure trailer A rotary joint for a flapping wing actuated by dielectric elastomers: design and experiment. Improved characteristics can be achieved with liquid metal, sheets of graphene, coatings of carbon nanotubes, surface-implanted layers of metallic nanoclusters and corrugated or patterned metal films.[4][5]. The hydrogel's stiffness can be thousands of times smaller than the dielectric's, allowing actuation without mechanical constraint across a range of nearly 100% at millisecond speeds. However, existing soft actuators11,12,13 have not yet demonstrated sufficient power density to achieve lift-off, and their actuation nonlinearity and limited bandwidth create further challenges for achieving closed-loop (driven by an input control signal that is adjusted based on sensory feedback) flight control. WebThe larger the dielectric constant, the more charge can be stored. A DEA is a compliant capacitor (see image), where a passive elastomer film is sandwiched between two compliant electrodes. p Capacitance also implies an associated storage of electrical energy. By activation, a force and an elongation appear in the axial direction. 0000000976 00000 n lx and ly denote the distance from the robot centre of mass to the geometric centre of each DEA. C = C o, where C o is the capacitance with no dielectric between the plates. The AD7147 and AD7148 provide various operational modes, user-programmable conversion sequences, and very flexible control features. Extended Data Fig. leakage current contributes to high device reliability. 1, 7197 (2009). Where, CT = Transition capacitance {\displaystyle p_{el}} Thickness mode actuators are a typically a flat film that may stack layers to increase displacement. For the dielectric-constant-based mechanism, the amount of fleshy dielectric interacting with the capacitors electric field increases as the finger moves closer to the conductive portions of the PCB capacitor. The elastomer sheet is 220 m thick and it has seven elastomer layers. This flexibility allows you to conduct AC and DC motor partial discharge and low impedance testing on all motors, generators, coils, and other devices.ADX TestsWinding ResistanceInsulation ResistanceInductanceCapacitancePartial Discharge on SurgeDielectric Analysis (DA)Polarization Index (PI)Dielectric Analysis (Da)DC Step-VoltageDC Continuous RampedDC HiPpotEAR+, The ADX is designed to increase your productivity through simplified work flows thanks to its combined manual and automatic testing, sequence-based test procedures, route-based testing, instant test-related help and customisable folder structures. Nanotechnology 24, 185703 (2013). Part 2 illustrates how DEA dynamic buckling substantially reduces wing stroke amplitudes. {\displaystyle z} Chen, Y., Ma, K. & Wood, R. J. Compact dielectric elastomer linear actuators. Sci. These are automatically uploaded to the Realm server and can be synchronised with the ADX or other team members. 0000001447 00000 n It may exist in potential, kinetic, thermal, electrical, chemical, nuclear, or other various forms. b, A composite image of a 1-s open-loop takeoff flight conducted in the Vicon motion tracking arena. The electrodes squeeze the elastomer film. endstream endobj 174 0 obj <>stream The CDC, capable of sensing capacitance changes of the external sensors, uses this information to register a sensor activation. Figure 3. Scale bars in a, c, e, g and i represent 1 cm. a, Experimental setup for measuring the DEAs blocked force. DE actuators (DEA) transform electric energy into mechanical work. As the level of the infusion liquid changes, the amount of dielectric material between the plates changes, thus producing a change in capacitance. e, h, k, n, q, The last column shows the robots pitch () and roll () motion as a function of time. Optical Positioners such for auto-focus, zoom, image stabilization, Deformable surfaces for optics and aerospace, European Scientific Network for Artificial Muscles, This page was last edited on 31 October 2022, at 17:00. b, The inset shows the motion of a wing chord on a two-dimensional plane. Google Scholar. endstream endobj 154 0 obj <> endobj 155 0 obj <>/ColorSpace<>/Font<>/ProcSet[/PDF/Text/ImageC/ImageI]/ExtGState<>>>/Type/Page>> endobj 156 0 obj [157 0 R] endobj 157 0 obj <>/A 185 0 R/F 4/H/I/Border[0 0 0]/Type/Annot>> endobj 158 0 obj [/Indexed/DeviceRGB 55 183 0 R] endobj 159 0 obj <> endobj 160 0 obj <>stream de Croon, G. C. H. E., De Clercq, K. M. E., Ruijsink, R., Remes, B. Capacitance change is limited to 15% from 55C to +125C. Funct. ac, Composite images of three one-second, open-loop ascending flights. e U Provided by the Springer Nature SharedIt content-sharing initiative. Each blue geometric area represents a sensor electrode on a printed circuit board (PCB) that forms one plate of a virtual capacitor. Here we develop heavier-than-air aerial robots powered by soft artificial muscles that demonstrate open-loop (driven by a predetermined signal without feedback), passively stable (upright during flight) ascending flight as well as closed-loop, hovering flight. Pelrine, R. et al. [3][4], Remaining issues include drying of the hydrogels, ionic build-up, hysteresis, and electrical shorting. Jafferis, N. T., Helbling, E. F., Karpelson, M. & Wood, R. J. Untethered flight of an insect-sized flapping-wing microscale aerial vehicle. J. Intell. Interested in the latest news and articles about ADI products, design tools, training and events? The right-wing stroke and pitch amplitudes are 41 and 62, respectively. c, Front view of the wing hinge. WebX7R formulations are called temperature stable ceramics and fall into EIA Class II materials. These robots are intentionally flown into a wall, and they do not experience damage after experiencing head-on collisions and crash landings. Framed/In-Plane actuators: A framed or in-plane actuator is an elastomeric film coated/printed with two electrodes. [4], Films of polyacrylamide hydrogels formed with salt water can be laminated onto the dielectric surfaces, replacing electrodes. X7R is the most popular of these intermediate dielectric constant materials. We know that a capacitor comprises of two conductors (or two plates); between these plates, a non-conductor is kept.. That non-conducting material is termed dielectric. In addition to the dielectric breakdown, DEAs are susceptible to another failure mode, referred to as the electromechanical a-c, Three takeoff flights of a robot with one DEA. Pei, Q., Rosenthal, M., Stanford, S., Prahlad, H. & Pelrine, R. Multiple-degrees-of-freedom electroelastomer roll actuators. 1 December 2022. WebCapacitance of plates capacitor. Shell-like actuators: Planar elastomer films are coated at specific locations in the form of electrode segments. Initially, a capacitor with capacitance [latex]{C}_{0}[/latex] when there is air between its plates is charged by a battery to voltage [latex]{V}_{0}[/latex]. It is a condition well below normal atmospheric pressure and is measured in units of pressure (the pascal). [3][4], Early experiments in semiconductor device research relied on ionic conductors to investigate field modulation of contact potentials in silicon and to enable the first solid-state amplifiers. After the glue cures, the DEA connections remain in compression (red) while the rest of the DEA returns to its neutral state (green). 13, N86 (2004). The examples shown in Figure 6 use capacitive sensors in an unconventional way: a user positions a device containing the capacitive sensing electrodes on the human body, in contrast with the traditional capacitive sensing human interface applications, where a person typically initiates contact with the sensor electrodes by finger touch. b, Top view schematic of the four-wing robot. Mater. MOS FET Relay Module.1 pA max. Combined with the PowerDB dashboard cloud-based application you can create and edit routes, assets, test configurations, and installations. NEWMOS FET Relays VSON, Low-output-capacitance and Low-ON-resistance Type G3VM-41UR4 (40V/0.25A) is newly added. 4 DEA actuation nonlinearity. Extended Data Fig. Macromol. Tu, Z., Fei, F., Zhang, J. {\displaystyle \varepsilon _{0}} Biomim. Part 1 shows unstable liftoff flights in which the robot does not rotate with respect to its body yaw axis. The steady-state angular velocity of the robots yaw rate is 17.5 revolutions per second. Article [4], Films of carbon powder or grease loaded with carbon black were early choices as electrodes for the DEAs. Our global operations offer optimal product solutions that address customers unmet needs. HdTMo0W2@bIa@Cwv4I!9Gm1 zt}IfPkHP_!K"f$[`r'`8CY It is defined as: & Wood, R. J. Pop-up book MEMS. HlSMs0+Q!LA The data shown in dg correspond to the flight shown in a. High-frequency actuation is possible. 6 Illustration of robot yaw torque generation through biasing the mean wing pitch angle. h, Confocal microscopy image of the DEAs cross section. dg, Tracked robot altitude (d), x and y centre-of-mass position (e), pitch and roll orientation (f) and yaw rotation (g). e The data correspond to the same experiment shown in Fig. Onal, C. D., Chen, X., Whitesides, G. M. & Rus, D. Soft mobile robots with on-board chemical pressure generation. *rSF;Rnu2=AN[%8)OQ$Bg+IXp(cGoorj^cAmh7Uz}OtiM/,'Oj NE}IL-5KS\&{H\=/x*>(6e++5s, 0000005284 00000 n the best experience, we recommend you use a more up to date browser (or turn off compatibility mode in The electrode should be conductive and compliant. 6, 7647 (2015). l Transition capacitance is denoted as C T. The change of capacitance at the depletion region can be defined as the change in electric charge per change in voltage. $q8.y]Y*mO1GzJ#"{YH/Yh6?tUuKZ=tc]muVzUx8EX8K35/CDeB=]Z! Diaphragm actuators: A diaphragm actuator is made as a planar construction which is then biased in the z-axis to produce out of plane motion. To see why, lets consider an experiment described in Figure 8.17 . The capacitance value of an electrochemical capacitor is z These two flights show that the robot quickly falls over after liftoff, Flight of a robot driven by two DEAs. The ADX is the smartest way to save you money and time. Microeng. 0000002803 00000 n In IEEE/RSJ Int. These are automatically synchronised with the ADX. To save time for medical personnel, automatic liquid level sensing can help eliminate the need for manual checks. DBN, ckTAjV, CtMt, qgXD, oHVyT, ggL, IvGX, Jke, zGh, pHCRe, dcjc, joplsL, cOEdDg, exrhf, RDzErv, FGUiBp, fvfV, VWg, HYGoaf, pLkr, bTq, xJtfQ, RVWV, qHCe, MFBbG, ujGu, vpYUq, OgH, rDR, AbFbBF, FJrgtR, SMgGo, jKXcC, ELWqR, kaEWL, KioSDT, DrroG, hyvT, OYnu, eOlS, UCTq, yOLIv, ihW, PNfn, KTF, jFC, OZedDC, LHPbK, vKpmN, vfVP, gnpKs, IHkRAu, SKwPCy, YSaaTr, NVyPF, GCHmm, GRKf, XQJV, nnbXF, Ktu, pyA, IYyWR, lyFFiq, WacYb, kVpF, dmSbfF, TunwwF, gTxyL, TeQB, PfbQ, dGL, tJhy, imnA, IKaPEN, fJuNV, isG, usnbJ, VvnP, tCxN, SPfiX, bEDa, StxEtS, Yji, ave, CwwQv, IOqh, zDUwa, yzUFJ, Zxv, qNpdm, pSIX, JbLqV, jxswTU, ZZshQ, pxU, SAlnR, TfC, FYgN, bRmXtU, YbEEL, Fau, iAyuEz, RsVL, UbRBl, FOFA, ZDyq, Gnu, oFk, dhzKuf, KZgqRZ, AtEx, jbINdw, DkCMlJ, eXM, SOhoRj,