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Abstract

Autonomous manipulation of group objects requires the gripper/robot hand to achieve high productivity without poor outcomes such as object slippage and damage. This article develops the robot hand capable of achieving effective performance in each trial of grasping the group objects. Our proposed robot hand consists of two symmetrical groups of hybrid fingers having soft pads on the grasping interfaces, which operate as a comb. The grasping ability of this robot hand was theoretically and experimentally validated by handling three groups of objects showcases: tea packs, toothbrushes, and mixing sticks.Additionally, validation resultswere compared with those of another soft robot hand having soft Pneunet fingers. In each trial, the experimental results showed that the proposed robot hand with hybrid fingers achieved more stable grasping states characterized by a higher number of grasped objects than those in the case of the soft robot hand. Also, experimental results were in good agreement with the predictions of the proposed theoretical analysis. Finally, better performances of the hybrid robot hand in handling the group object provide the bases for developing a novel-robotic application in industrial production.
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Bibliography

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Authors and Affiliations

Pho Van Nguyen
1 2
ORCID: ORCID
Phi N. Nguyen
2
Tan Nguyen
2
Thanh Lanh Le
2

  1. Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa, Japan
  2. Department of Technology, Dong Nai Technology University, Bien Hoa 810000, Vietnam
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Abstract

Strengthening the functioning of existing rural piped water supply systems is a critical strategy for ensuring household water security, particularly in water-scarce contexts. Improving operation and maintenance (O&M) of the systems is an important area of focus, commonly plagued by poor reliability and functionality over time. From an economic perspective, there is an opportunity to optimise O&M input efficiencies as a foundation for improved management. This paper presented challenges and opportunities to optimise O&M input efficiencies based on an analysis of water supply systems in Vietnam’s highland areas characterised by mountainous terrain and water scarcity. The analysis focused on state-based agencies for O&M given their mandate for restoring the inefficient systems and identified input norms for guidance on how to optimise O&M activities. We applied an input-oriented data envelopment analysis (DEA) model under constant returns to scale assumption to estimate technical, economic and allocative efficiencies. The results identified efficiency levels of 90%, 30% and 33% respectively. The study suggests a 10% reduction in general input amounts and identified efficient input target values reveal potential reduction rates for technical labour (12%), electricity (12%), as well as the technical and economic norms of technical labour (0.86 person- day∙(100 m3)–1 water sold) and electricity (0.53 kWh∙m–3 water sold). The policy implications for O&M state-based agencies include the adoption of input-based contracting mechanisms, while the government is encouraged to approve water tariffs and provide compensation based on input items to promote water service supply as a public good in water- scarce and challenging areas.
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Authors and Affiliations

Dao Van Dinh
1
ORCID: ORCID
Phong Tung Nguyen
2
ORCID: ORCID
Tan Tiep Nguyen
3
ORCID: ORCID
Naomi Carrard
4
ORCID: ORCID
Ngoc Minh Nguyen
5
ORCID: ORCID
Ton Nu Hai Au
6
ORCID: ORCID

  1. Institute for Water Resources Economics and Management, No 131, Chua Boc, 10000, Dong Da, Hanoi, Vietnam
  2. Ministry of Agriculture and Rural Development, Department of Water Resources, No 2, Ngoc Ha, 10000, Ba Dinh, Hanoi, Vietnam
  3. Vietnam Academy of Water Resources, No 17, Tay Son, Dong Da, 10000, Hanoi, Vietnam
  4. University of Technology Sydney-Institute for Sustainable Futures, Broadway 15-73, Ultimo, 2007, Sydney, Australia
  5. Hanoi Architectural University, km 10, Nguyen Trai, Thanh Xuan, 10000, Hanoi, Vietnam
  6. University of Economics, Hue University, 99 Ho Dac Di, 49000, Hue City, Vietnam

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