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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. 

The importance of alternative methods for measuring the Hubble constant, such as time-delay cosmography, is highlighted by the recent Hubble tension. It is paramount to thoroughly investigate and rule out systematic biases in all measurement methods before we can accept new physics as the source of this tension. In this study, we perform a check for systematic biases in the lens modelling procedure of time-delay cosmography by comparing independent and blind time-delay predictions of the system WGD 2038−4008 from two teams using two different software programs:GLEEandLENSTRONOMY. The predicted time delays from the two teams incorporate the stellar kinematics of the deflector and the external convergence from line-of-sight structures. The un-blinded time-delay predictions from the two teams agree within 1.2σ, implying that once the time delay is measured the inferred Hubble constant will also be mutually consistent. However, there is a ∼4σdiscrepancy between the power-law model slope and external shear, which is a significant discrepancy at the level of lens models before the stellar kinematics and the external convergence are incorporated. We identify the difference in the reconstructed point spread function (PSF) to be the source of this discrepancy. When the same reconstructed PSF was used by both teams, we achieved excellent agreement, within ∼0.6σ, indicating that potential systematics stemming from source reconstruction algorithms and investigator choices are well under control. We recommend that future studies supersample the PSF as needed and marginalize over multiple algorithms or realizations for the PSF reconstruction to mitigate the systematics associated with the PSF. A future study will measure the time delays of the system WGD 2038−4008 and infer the Hubble constant based on our mass models.

 

We revisit the notion of tracial approximation for unital simple C*-algebras. We show that a unital simple separable innite dimensional C*-algebra A is asymptotically tracially in the class of C-algebras with nite nuclear dimension if and only if A is asymptotically tracially in the class of nuclear Z-stable C-algebras. 1 

We present an alternative calibration of the MagLim lens sample redshift distributions from the Dark Energy Survey (DES) first 3 yr of data (Y3). The new calibration is based on a combination of a self-organizing-map-based scheme and clustering redshifts to estimate redshift distributions and inherent uncertainties, which is expected to be more accurate than the original DES Y3 redshift calibration of the lens sample. We describe in detail the methodology, and validate it on simulations and discuss the main effects dominating our error budget. The new calibration is in fair agreement with the fiducial DES Y3 n(z) calibration, with only mild differences (<3σ) in the means and widths of the distributions. We study the impact of this new calibration on cosmological constraints, analysing DES Y3 galaxy clustering and galaxy–galaxy lensing measurements, assuming a Lambda cold dark matter cosmology. We obtain Ωm = 0.30 ± 0.04, σ8 = 0.81 ± 0.07, and S8 = 0.81 ± 0.04, which implies a ∼0.4σ shift in the Ω − S8 plane compared to the fiducial DES Y3 results, highlighting the importance of the redshift calibration of the lens sample in multiprobe cosmological analyses.