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The Cabibbo-Kobayashi-Maskawa quark mixing matrix currently does not satisfy unitarity at the 2σ-level. This could be the result of an inaccurate value of one or both of its largest matrix elementsV_usandV_ud. In the case ofV_ud, the most precise measurement is obtained from thef t-value measurements of superallowed beta-transitions between 0⁺states. The accuracy of this determination can, in turn, be tested by extractingV_udin other transitions including superallowed transitions between mirror nuclei. The Superallowed Transition Beta-Neutrino Decay Ion Coincidence Trap (St. Benedict) is currently under construction at the Nuclear Science Laboratory of the University of Notre Dame to perform such a determination, with the goal of shedding more light on this tension with unitarity. St. Benedict will take a radioactive ion beam produced byTwinSol, thermalize it in a large volume gas catcher, then transport it in two separate differentially-pumped volumes using a radio-frequency (RF) carpet and a radio-frequency quadrupole (RFQ) ion guide before injecting it in an RFQ trap to create cool ion bunches for injection in the measurement Paul trap. In this paper, we detail the installation of the beam preparation components of St. Benedict, and present the results of the first RIBs successfully stopped and extracted from its gas catcher. 

Variable stiffness grippers can adapt to objects with different shapes and gripping forces. This paper presents a novel variable stiffness gripper (VSG) based on the Fin Ray effect that can adjust stiffness discretely. The main structure of the gripper includes the compliant frame, rotatable ribs, and the position limit components attached to the compliant frame. The stiffness of the gripper can be adjusted by rotating the specific ribs in the frame. There are four configurations for the gripper that were developed in this research: a) all ribs OFF (Flex) mode; b) upper ribs ON and lower ribs OFF (Hold) mode; c) upper ribs OFF and lower ribs ON (Pinch) mode; d) all ribs ON (Clamp) mode. Different configurations can provide various stiffness for the gripper’s finger to adapt the objects with different shapes and weights. To optimize the design, the stiffness analysis under various configurations and force conditions was implemented by finite element analysis (FEA). The 3-D printed prototypes were constructed to verify the feature and performance of the design concept of the VSG compared with the FEA results. The design of the VSG provides a novel idea for industrial robots and collaborative robots on adaptive grasping.