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This paper describes the development of a unique prison participatory research project, in which incarcerated women formed a research team, the research activities and the lessons learned. The participatory action research project was conducted in the main short sentence minimum/medium security women’s prison located in a Western Canadian province. An ethnographic multi‐method approach was used for data collection and analysis. Quantitative data was collected by surveys and analysed using descriptive statistics. Qualitative data was collected from orientation package entries, audio recordings, and written archives of research team discussions, forums and debriefings, and presentations. These data and ethnographic observations were transcribed and analysed using iterative and interpretative qualitative methods and NVivo 7 software. Up to 15 women worked each day as prison research team members; a total of 190 women participated at some time in the project between November 2005 and August 2007. Incarcerated women peer researchers developed the research processes including opportunities for them to develop leadership and technical skills. Through these processes, including data collection and analysis, nine health goals emerged. Lessons learned from the research processes were confirmed by the common themes that emerged from thematic analysis of the research activity data. Incarceration provides a unique opportunity for engagement of women as expert partners alongside academic researchers and primary care workers in participatory research processes to improve their health.

Additive manufacturing (AM) offers substantial flexibility in shape, but much less flexibility in materials and functionality – particularly at small size scales. A system for automatically incorporating microscale components would enable the fabrication of objects with more functionality. The purpose of this paper is to consider the potential of self‐assembly to serve as an automated programmable integration method. In particular, it addresses the ability of random self‐assembly processes to successfully assemble objects with high performance despite the possibility of assembly errors.

A self‐assembled thermoelectric system is taken as a sample system. The performance expectations for these systems are then predicted using modified one‐dimensional models that incorporate the effects of random errors. Monte‐Carlo simulation is used to predict the likely performance of self‐assembled thermoelectric systems and evaluate the impact of key process and system design parameters.

While assembly yield can drop quickly with increasing numbers of assembled parts, large functional assemblies can be constructed by arranging components in parallel to provide redundancy. In some cases, the performance losses are minimal. Alternatively, sensing can be incorporated to identify perfect assemblies. For small assemblies, the probability of perfection may be high enough to achieve an acceptable assembly rate. Small assemblies could then be combined into larger functional systems.

The paper identifies two strategies that can guide the development of AM processes that incorporate miniature components to increase the system functionality. The analysis shows that this may be possible despite significant errors in the self‐assembly process because systems may be tolerant of significant assembly errors.

The purpose of this paper is to predict a suitable paper substrate which has high capillary pressure with the tendency of subsequent fluid wrenching in onward direction for the fabrication of microfluidics device application.

The experiment has been done on the Whatman^TM grade 1, Whatman^TM chromatography and nitrocellulose paper samples which are made by GE Healthcare Life Sciences. The structural characterization of paper samples for surface properties has been done by scanning electron microscope and ImageJ software. Identification of functional groups on the surface of samples has been done by Fourier transform infrared analysis. A finite elemental analysis has also been performed by using the “Multiphase Flow in Porous Media” module of the COMSOL Multiphysics tool which combines Darcy’s law and Phase Transport in Porous Media interface.

Experimentally, it has been concluded that the paper substrate for flexible microfluidic device application must have large number of internal (intra- and interfiber) pores with fewer void spaces (external pores) that have high capillary pressure to propel the fluid in onward direction with narrow paper fiber channel.

Surface structure has a dynamic impact in paper substrate utilization in multiple applications such as paper manufacturing, printing process and microfluidics applications.

The purpose of this study is to propose an improved design of PneuNets bending actuator which aims at obtaining larger deflection with the same magnitude of pressure. The PneuNets bending actuator shows potential application in the morphing trailing edge concept.

Finite element method is used to investigate the characteristics of the improved design bending actuator. Multiobjective optimal design of the PneuNets bending actuator is proposed based on the Gauss process regression models.

The maximum deflection is obtained when the height of the beams is smaller than half the height of the chambers. The spacing between chambers (beam length) has little effect on the deflection. Larger spacing could be used to reduce the actuator weight.

With the same pressure magnitude, the deflection of the improved design bending actuator is much larger than that of the baseline configuration. PneuNets bending actuator could increase the continuity of the aerodynamic surface compared to other actuators.

Rigid robotic hands are generally fast, precise and capable of exerting large forces, whereas soft robotic hands are compliant, safe and adaptive to complex environments. It is valuable and challenging to develop soft-rigid robotic hands that have both types of capabilities. The paper aims to address the challenge through developing a paradigm to achieve the behaviors of soft and rigid robotic hands adaptively.

The design principle of a two-joint finger is proposed. A kinematic model and a stiffness enhancement method are proposed and discussed. The manufacturing process for the soft-rigid finger is presented. Experiments are carried out to validate the accuracy of the kinematic model and evaluate the performance of the flexible body of the finger. Finally, a robotic hand composed of two soft-rigid fingers is fabricated to demonstrate its grasping capacities.

The kinematic model can capture the desired distal deflection and comprehensive shape accurately. The stiffness enhancement method guarantees stable grasp of the robotic hand, without sacrificing its flexibility and adaptability. The robotic hand is lightweight and practical. It can exhibit different grasping capacities.

It can be applied in the field of industrial grasping, where the objects are varied in materials and geometry. The hand’s inherent characteristic removes the need to detect and react to slight variations in surface geometry and makes the control strategies simple.

This work proposes a novel robotic hand. It possesses three distinct characteristics, i.e. high compliance, exhibiting discrete or continuous kinematics adaptively, lightweight and practical structures.

This paper aims to investigate the applicability of 3D-printed molds to be used as a substitute for photolithography in the formation of polymer-based stamps. It proposes leveraging 3D printing as a rapid prototyping tool to be applied to microfluidic fabrication.

Different designs are created using computer-aided design (CAD) software and printed via Makerbot 3D printer. The molds serve as negative reliefs for a PDMS stamp. The stamp is used to apply paraffin wax to chromatography paper, creating hydrophobic barriers and hydrophilic channels. The minimum functional channel widths and barrier widths are determined for the method.

The method is demonstrated to be effective for bypassing the more cost-prohibitive photolithography approach for rapid paper microdevice fabrication. This approach produces functional channels that can be used for on-chip analytical assays. The minimum functional barrier widths and minimum functional channel widths are in good agreement with other published methods for paper-based microchannel fabrication.

The approach cannot generate the high-resolution structures possible with photolithography. Therefore, if higher resolutions are needed for a particular application, this approach is not the best.

The simplicity of the approach introduces an affordable method to create disposable devices that can be used at the point of testing.

The paper satisfies a need for inexpensive, rapid prototyping of paper-based devices. The method is simple and can be used as a tool for introducing labs to microfluidics research.

The purpose of this study is to demonstrate and characterise a soft-tooled micro-injection moulding process through in-line measurements and surface metrology using a data-intensive approach.

A soft tool for a demonstrator product that mimics the main features of miniature components in medical devices and microsystem components has been designed and fabricated using material jetting technique. The soft tool was then integrated into a mould assembly on the micro-injection moulding machine, and mouldings were made. Sensor and data acquisition devices including thermal imaging and injection pressure sensing have been set up to collect data for each of the prototypes. Off-line dimensional characterisation of the parts and the soft tool have also been carried out to quantify the prototype quality and dimensional changes on the soft tool after the manufacturing cycles.

The data collection and analysis methods presented here enable the evaluation of the quality of the moulded parts in real-time from in-line measurements. Importantly, it is demonstrated that soft-tool surface temperature difference values can be used as reliable indicators for moulding quality. Reduction in the total volume of the soft-tool moulding cavity was detected and quantified up to 100 cycles. Data collected from in-line monitoring was also used for filling assessment of the soft-tool moulding cavity, providing about 90% accuracy in filling prediction with relatively modest sensors and monitoring technologies.

This work presents a data-intensive approach for the characterisation of soft-tooled micro-injection moulding processes for the first time. The overall results of this study show that the product-focussed data-rich approach presented here proved to be an essential and useful way of exploiting additive manufacturing technologies for soft-tooled rapid prototyping and new product introduction.

This paper aims to present a new methodology to manufacture micro-channels suitable for high operating pressures and micro particle image velocimetry (μPIV) measurements using a rapid-prototyping high-resolution 3D printer. This methodology can fabricate channels down to 250 μm and withstand pressures of up to 5 ± 0.2 MPa. The manufacturing times are much shorter than in soft lithography processes.

The novel manufacturing method developed takes advantage of the recently improved resolution in 3D printers to manufacture an rapid prototyping technique part that contains the hose connections and a micro-channel useful for microfluidics. A method to assemble one wall of the micro-channel using UV curable glue with a glass slide is presented – an operation required to prepare the channel for μPIV measurements. Once built, the micro-channel has been evaluated when working under pressure and the grease flow behavior in it has been measured using μPIV. Furthermore, the minimum achievable channels have been defined using a confocal microscopy study.

This technique is much faster than previous micro-manufacturing techniques where different steps were needed to obtain the micro-machined parts. However, due to current 3D printers ' resolutions (around 50 μm) and according to the experimental results, channels smaller than 250-μm2 cross-section should not be used to characterize fluid flow behaviors, as inaccuracies in the channel boundaries can deeply affect the fluid flow behavior.

The present methodology is developed due to the need to validate micro-channels using μPIV to lubricate critical components (bearings and gears) in wind turbines.

This novel micro-manufacturing technique overcomes current techniques, as it requires less manufacturing steps and therefore it is faster and with less associated costs to manufacture micro-channels down to 250-μm2 cross-section that can withstand pressures higher than 5 MPa that can be used to characterize microfluidic flow behavior using μPIV.

In flexible electronics applications, organic inks are mostly used for inkjet printing. Three-dimensional (3 D) printing technology has the advantages of low cost, high speed and good precision in modern electronic printing. The purpose of this study is to solve the high cost of traditional printing and the pollution emissions of organic ink. It is necessary to develop a water-based conductive ink that is easily degradable and can be 3 D printed. A nano-silver ink printed circuit pattern with high precision, high conductivity and good mechanical properties is a promising strategy.

The researched nano-silver conductive ink is mainly composed of silver nanoparticles and resin. The effect of adding methyl cellulose on the ink was also explored. A simple 3 D circuit pattern was printed on photographic paper. The line width, line length, line thickness and conductivity of the printed circuit were tested. The influence of sintering temperature and sintering time on pattern resistivity was studied. The relationship between circuit pattern bending performance and electrical conductivity is analyzed.

The experimental results show that the ink has the characteristics of low silver content and good environmental protection effect. The printing feasibility of 3 D printing circuit patterns on paper substrates was confirmed. The best printing temperature is 160°C–180°C, and the best sintering time is 30 min. The circuit pattern can be folded 120°, and the cycle is folded more than 60 times. The minimum resistivity of the circuit pattern is 6.07 µΩ·cm. Methyl cellulose can control the viscosity of the ink. The mechanical properties of the pattern have been improved. The printing method of 3 D printing can significantly reduce the sintering time and temperature of the conductive ink. These findings may provide innovation for the flexible electronics industry and pave the way for alternatives to cost-effective solutions.

In this study, direct ink writing technology was used to print circuit patterns on paper substrates. This process is simple and convenient and can control the thickness of the ink layer. The ink material is nonpolluting to the environment. Nano-silver ink has suitable viscosity and pH value. It can meet the requirements of pneumatic 3 D printers. The method has the characteristics of simple process, fast forming, low cost and high environmental friendliness.

Soft robotics, regarded as a new research branch of robotics, has generated increasing interests in this decade and has demonstrated its outperformance in addressing safety issues when cooperating with human beings. However, there is still lack of accurate close-loop control because of the difficulty in acquiring feedback information and accurately modeling the system, especially in interactive environments. To this end, this paper aims to improve the controllability of the soft robot working in specific underwater environment. The system dynamics, which takes complicated hydrodynamics into account, is solved using Kane’s method. The dynamics-based adaptive visual servoing controller is proposed to realize accurate sensorimotor control.

This paper presents an image-based visual servoing control scheme for a cable-driven soft robot with a fixed camera observing the motions. The intrinsic and extrinsic parameters of the camera can be adapted online so that tedious camera calibration work can be eliminated. It is acknowledged that kinematics-based control can be only applied into tasks in the free space and has limitation in accelerating the motion speed of robot arms. That is, one must consider the unneglectable interaction effects generated from the environment and objectives when operating soft robots in such interactive control tasks. To extend the application of soft robots into underwater environment, the study models system dynamics considering complicated hydrodynamic effects. With the pre-knowledge of the external effects, the performance of the robot can be further improved by adding the compensation term into the controller.

The proposed controller has theoretically proved its convergence of image error, adaptive estimation error and the stability of the dynamical system based on Lyapunov’s analysis. The authors also validate the performance of the controller in positioning control task in an underwater environment. The controller shows its capacity of rapid convergence to and accurate tracking performance of a static image target in a physical experiment.

To the best of the authors’ knowledge, there is no such research before that has developed dynamics-based visual servoing controller which takes into account the environment interactions. This work can thus improve the control accuracy and enhance the applicability of soft robotics when operating in complicated environments.