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Tactile information is prerequisite for dexterous manipulation of objects with robots. In this paper a novel tactile sensor using dielectric elastomer is presented. The sensor is a capacitive type and it can be easily covered onto any curved surface due to the intrinsic flexibility of the dielectric elastomer. The practical design and fabrication of a tactile sensor for the robot fingertip are described in details in this paper. Also, a fingertip shaped tactile sensor with twelve tactile cells is developed. The sensor is mounted on a multi-fingered robot hand, called "SKKU Hand III", and its effectiveness is validated with experimental results.

In this study, the transient nitrogen oxide reduction performance of a urea selective catalytic reduction system installed on a non-road diesel engine was tested on an engine dynamometer bench over a scheduled non-road transient cycle mode. Based on the measurement results, the characteristics of the transient selective catalytic reduction behaviours of nitrogen oxide reduction were evaluated. Also, in this study, the effects of several thermal management strategies for improving the selective catalytic reduction efficiency was investigated by transient selective catalytic reduction simulations. The kinetic parameters of the current simulation code for selective catalytic reduction were calibrated and validated by comparison with the measurement data. As a result of this study, it was found that a thermal management strategy utilizing a partial temperature rise in the transient time domain can be an efficient approach for improving the transient selective catalytic reduction efficiency, in comparison with the temperature rise over the entire cycle period. Furthermore, this study can provide some guideline data for the magnitude and the duration of the temperature rise required to obtain the target selective catalytic reduction efficiency over the non-road transient cycle mode. In the last part of this study, the impact of the variation in the space velocity on the transient selective catalytic reduction efficiency was assessed using transient selective catalytic reduction simulations.