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The integration of variable stiffness materials and structures into soft robots is a popular trend, allowing soft robots to switch between soft and rigid states in different situations. This concept combines the advantages of rigid mechanisms and soft robots, resulting in not only excellent flexibility but also tunable stiffness for high load capacity and fast and precise operation. Here, a stiffness-tunable soft actuator based on wire/fiber jamming structure is proposed, where the fiber-reinforced soft actuator is responsible for the bending motion, and the jamming structure acts as a stiffness-tunable layer controlled by vacuum pressure. The primary design objective of this study is to fabricate a jamming structure with wide-range stiffness, universal adaptability and high dexterity. Thus, the behaviors of wire/fiber jamming structures with different layouts, materials and wire arrangements are analyzed, and a theoretical model is developed to predict the effect of geometric parameters. Experimental characterizations show that the stiffness can be significantly enhanced in the bending direction, while the stiffness is smaller in the torsion direction. Additionally, by integrating Velcro strips into the design, a quick and detachable scheme for the stiffness-tunable soft actuator is achieved. Application examples exhibit high load capacity and good shape adaptability.

Power plant cooling water systems that interact with nearby effluents are complex non-linear, large-time-delay systems. A neural network-based software tool was developed for prediction of the canal water discharge temperature at a coal-fired power plant as a function of plant operating parameters and local weather conditions, including tide information. The plant has four units totaling an installed capacity of 1550MW and its water thermal discharge is environmentally regulated. In the summer months, when the price of electricity is very profitable and the risk of exceeding the canal temperature limit is greater, the tradeoff between maximum generation and environmental compliance violations is financially significant. The software is a predictive tool to assist in scheduling load generation among the plant's four units without exceeding a thermal discharge limit of 95^oF. Back propagation neural network architectures were trained using plant operating data with an 'off-set' component. The artificial intelligence models produced reasonable trends for year-round prediction and different operational scenarios. Comparison of measured and predicted canal temperatures indicated an accuracy of less than 0.3^oF over the range between 90 and 95^oF. The software tool was developed as an Object Linking and Embedding (OLE) for Process Control (OPC) client, with real-time communication and interface with the plant Distributed Control System (DCS).