CINXE.COM

<!DOCTYPE html> <APM_DO_NOT_TOUCH> <script type="text/javascript"> (function(){ window.Sps=!!window.Sps;try{(function(){(function(){var a={decrypt:function(d){try{return JSON.parse(function(g){g=g.split("l");var h="";for(var k=0;k<g.length;++k)h+=String.fromCharCode(g[k]);return h}(d))}catch(g){}}};return a={configuration:a.decrypt("123l34l97l99l116l105l118l101l34l58l34l110l111l34l44l34l100l101l98l117l103l103l105l110l103l34l58l34l110l111l34l44l34l109l111l100l117l108l101l49l34l58l34l101l110l97l98l108l101l100l34l44l34l109l111l100l117l108l101l50l34l58l34l101l110l97l98l108l101l100l34l44l34l109l111l100l117l108l101l51l34l58l34l101l110l97l98l108l101l100l34l44l34l109l111l100l117l108l101l52l34l58l34l101l110l97l98l108l101l100l34l125")}})(); var b=47;try{var aa,ea,ma=c(960)?0:1;for(var oa=(c(711),0);oa<ea;++oa)ma+=(c(157),3);aa=ma;window.Pa===aa&&(window.Pa=++aa)}catch(a){window.Pa=aa}var e=!0;function f(a,d){a+=d;return a.toString(36)}function qa(a){var d=98;a&&(document[p(d,216,203,213,203,196,203,206,203,214,219,181,214,195,214,199)]&&document[p(d,216,203,213,203,196,203,206,203,214,219,181,214,195,214,199)]!==f(68616527568,d)||(e=!1));return e} function p(a){var d=arguments.length,g=[];for(var h=1;h<d;++h)g.push(arguments[h]-a);return String.fromCharCode.apply(String,g)}function t(a){var d=arguments.length,g=[];for(var h=1;h<d;h++)g[h-1]=arguments[h]-a;return String.fromCharCode.apply(String,g)}function ra(){}qa(window[ra[f(1086807,b)]]===ra);qa(typeof ie9rgb4!==f(1242178186152,b));qa(RegExp("\x3c")[f(1372158,b)](function(){return"\x3c"})&!RegExp(t(b,167,98,147))[t(b,163,148,162,163)](function(){return"'x3'+'d';"})); var ta=window[t(b,144,163,163,144,146,151,116,165,148,157,163)]||RegExp(p(b,156,158,145,152,171,144,157,147,161,158,152,147),f(-29,b))[f(1372158,b)](window["\x6e\x61vi\x67a\x74\x6f\x72"]["\x75\x73e\x72A\x67\x65\x6et"]),wa=+new Date+(c(287)?6E5:574745),xa,Ba,Ca,Da=window[p(b,162,148,163,131,152,156,148,158,164,163)],Ga=ta?c(284)?3E4:34198:c(928)?8060:6E3; document[t(b,144,147,147,116,165,148,157,163,123,152,162,163,148,157,148,161)]&&document[t(b,144,147,147,116,165,148,157,163,123,152,162,163,148,157,148,161)](p(b,165,152,162,152,145,152,155,152,163,168,146,151,144,157,150,148),function(a){var d=86;document[t(d,204,191,201,191,184,191,194,191,202,207,169,202,183,202,187)]&&(document[t(d,204,191,201,191,184,191,194,191,202,207,169,202,183,202,187)]===p(d,190,191,186,186,187,196)&&a[p(d,191,201,170,200,203,201,202,187,186)]?Ca=!0:document[p(d,204,191, 201,191,184,191,194,191,202,207,169,202,183,202,187)]===f(68616527580,d)&&(xa=+new Date,Ca=!1,A()))});function A(){if(!document[p(14,127,131,115,128,135,97,115,122,115,113,130,125,128)])return!0;var a=+new Date;if(a>wa&&(c(775)?634015:6E5)>a-xa)return qa(!1);var d=qa(Ba&&!Ca&&xa+Ga<a);xa=a;Ba||(Ba=!0,Da(function(){Ba=!1},c(113)?1:0));return d}A();var Ha=[c(685)?18540874:17795081,c(170)?27611931586:2147483647,c(634)?1933441962:1558153217]; function Ia(a){var d=47;a=typeof a===f(1743045629,d)?a:a[t(d,163,158,130,163,161,152,157,150)](c(159)?36:30);var g=window[a];if(!g||!g[p(d,163,158,130,163,161,152,157,150)])return;var h=""+g;window[a]=function(k,l){Ba=!1;return g(k,l)};window[a][t(d,163,158,130,163,161,152,157,150)]=function(){return h}}for(var Ka=(c(238),0);Ka<Ha[f(1294399158,b)];++Ka)Ia(Ha[Ka]);qa(!1!==window[p(b,130,159,162)]);window.Ea=window.Ea||{};window.Ea.Ub="086f020aa11940002774fe527a69907270d6687a5ed21770a86bde059afdff8533617108513c65776a89e5cea10e2f575bc3e0185a69945949561ceadd08adcc1e01bd86e7b8d44b"; function B(a){var d=+new Date;if(!document[t(22,135,139,123,136,143,105,123,130,123,121,138,133,136,87,130,130)]||d>wa&&(c(707)?480086:6E5)>d-xa)var g=qa(!1);else g=qa(Ba&&!Ca&&xa+Ga<d),xa=d,Ba||(Ba=!0,Da(function(){Ba=!1},c(138)?1:0));return!(arguments[a]^g)}function c(a){return 454>a}(function La(a){a&&"number"!==typeof a||("number"!==typeof a&&(a=1E3),a=Math.max(a,1),setInterval(function(){La(a-10)},a))})(!0);})();}catch(x){}finally{ie9rgb4=void(0);};function ie9rgb4(a,b){return a>>b>>0}; })(); </script> </APM_DO_NOT_TOUCH> <script type="text/javascript" src="/TSPD/0807dc117eab2000dd42f099ec46e47ae8244bd282fee433b0a0b5fa265e54b504ed1955fb063a35?type=9"></script> <script type="text/javascript"> var home = { metadata:{ searchCount: '6,528,293', logoRelPath: '/xploreAssets/images/customer_logos/', thirdParthAuth: false, currentPage: 'document', xploreVirtual:'https://ieeexplore.ieee.org', isWebAccount: false, isProvisioned: false, globalNotification:{}, cart: { count: 0 } } }; </script> <html lang="en-US"> <head> <link rel="icon" type="image/x-icon" href="/assets/img/favicon.ico"> <meta name="google-site-verification" content="qibYCgIKpiVF_VVjPYutgStwKn-0-KBB6Gw4Fc57FZg" /> <meta name="Description" id="meta-description" content="Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a ge"> <link rel="canonical" href="https://ieeexplore.ieee.org/document/10265111/" /> <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />  <meta name="viewport" content="width=device-width, initial-scale=1.0"> <meta name="parsely-title" content="Finite Element Modeling of Pneumatic Bending Actuators for Inflated-Beam Robots | IEEE Journals & Magazine | IEEE Xplore" /> <meta name="parsely-link" content="https://ieeexplore.ieee.org/document/10265111/" /> <meta name="parsely-type" content="post" /> <meta name="parsely-section" content="Journals" /> <meta name="parsely-author" content="Cosima du Pasquier" /> <meta name="parsely-author" content="Sehui Jeong" /> <meta name="parsely-author" content="Allison M. Okamura" /> <title>Browser Not SupportedFinite Element Modeling of Pneumatic Bending Actuators for Inflated-Beam Robots | IEEE Journals & Magazine | IEEE Xplore</title> <script src="https://cmp.osano.com/AzyzptTmRlqVd2LRf/6fda1518-2a1e-4b5b-a049-da0bef71dcab/osano.js"></script> <link rel="stylesheet" href="https://ieeexplore.ieee.org/assets/css/osano-cookie-consent-xplore.css" type="text/css"/> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="X-UA-Compatible" content="IE=Edge"> <g:compress> <link rel="stylesheet" href="/assets/css/simplePassMeter.min.css?cv=20241112_00000" /> <link rel="stylesheet" type="text/css" media="screen, print" href="/assets/dist/ng-new/styles.css?cv=20241112_00000"/> <link rel="stylesheet" type="text/css" media="screen, print" href="/assets/dist/ng-new/customStyles.css?cv=20241112_00000"/> <link rel="stylesheet" href="/assets/vendor/swiper/dist/idangerous.swiper.css?cv=20241112_00000"> <link rel="stylesheet" type="text/css" media="screen, print" href="/assets/css/jquery-ui-1.8.19.custom.css?cv=20241112_00000"/> </g:compress> <script type='text/javascript'> var googletag = googletag || {}; googletag.cmd = googletag.cmd || []; (function() { var gads = document.createElement('script'); gads.async = true; gads.type = 'text/javascript'; var useSSL = 'https:' == document.location.protocol; gads.src = (useSSL ? 'https:' : 'http:') + '//securepubads.g.doubleclick.net/tag/js/gpt.js'; var node = document.getElementsByTagName('script')[0]; node.parentNode.insertBefore(gads, node); })(); </script> <script type="text/javascript" src="/assets/vendor/jquery/jquery-3.5.1.min.js?cv=20241112_00000" charset="utf-8"></script> </head> <body class="body-resp"> <div id="global-notification" class="row stats-global-notification"> <div class="hide u-hide-important col Notification Notification--global Notification--fixed"> <a href class="Notification-close js-close" aria-label="close message button"><i class="fa fa-close"></i></a> <div class="Notification-header"></div> <div class="Notification-text"></div> </div> </div> <div id="LayoutWrapper"> <div class="row"> <div class="col"> <div class="Header" id="xplore-header" data-service="true" data-inst="false" data-web="false" style="display:none"></div> <div id="global-alert-message"></div> <html> <div> <div> <div id='ie-display' style='background-color: #F8E6EB; text-align: left;'> <p> <img id='ie-ico-exclamation' src='/assets/img/ie6/icn_warning.png?cv=20241112_00000' alt='Notice:' name='ie-ico-exclamation' /> <strong style="font-family: Arial Bold; color: #C32000;"> IEEE <em>Xplore</em> is unable to display this page because you may be using an incompatible or unsupported browser. </strong> </p> <p style="color:#333;"> For the best experience, please upgrade to a newer, supported browser using the links below. If you cannot upgrade your browser, a temporary <a href="/mobile/">IEEE <em>Xplore</em> site</a> is available for basic searches with links to full-text. </p> <ul> <li><a href="http://bit.ly/ie6-chrome" style='color:#006699'> Google Chrome (latest version)</a></li> <li><a href="http://bit.ly/ie6-firefox" style='color:#006699'> Mozilla Firefox 8 and above</a></li> <li><a href="http://bit.ly/ie6-ie" style='color:#006699'> Microsoft Internet Explorer 10 and above</a></li> <li><a href="http://bit.ly/ie6-safari" style='color:#006699'> Safari 5 and above</a></li> </ul> </div> </div> </div> </html> <section id="xploreFooter"> <div class="Footer stats-footer hide-mobile"> <div class="pure-g Footer-sections"> <div class="pure-u-1-4"> <h3 class="Footer-header">IEEE Account</h3> <ul class="Footer-list"> <li><a href="https://www.ieee.org/profile/changeusrpwd/showChangeUsrPwdPage.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore">Change Username/Password</a></li> <li><a href="https://www.ieee.org/profile/address/getAddrInfoPage.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore">Update Address</a></li> </ul> </div> <div class="pure-u-1-4"> <h3 class="Footer-header">Purchase Details</h3> <ul class="Footer-list"> <li><a href="https://www.ieee.org/profile/payment/showPaymentHome.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore">Payment Options</a></li> <li><a href="https://www.ieee.org/profile/vieworder/showOrderHistory.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore">Order History</a></li> <li><a href="/articleSale/purchaseHistory.jsp">View Purchased Documents</a></li> </ul> </div> <div class="pure-u-1-4"> <h3 class="Footer-header">Profile Information</h3> <ul class="Footer-list"> <li><a href="https://www.ieee.org/ieee-privacyportal/app/ibp?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore">Communications Preferences</a></li> <li><a href="https://www.ieee.org/profile/profedu/getProfEduInformation.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore">Profession and Education</a></li> <li><a href="https://www.ieee.org/profile/tips/getTipsInfo.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore">Technical Interests</a></li> </ul> </div> <div class="pure-u-1-4"> <h3 class="Footer-header">Need Help?</h3> <ul class="Footer-list"> <li><strong>US & Canada:</strong> +1 800 678 4333</li> <li><strong>Worldwide: </strong> +1 732 981 0060<br> </li> <li><a href="/xpl/contact">Contact & Support</a></li> </ul> </div> </div> <div class="row"> <div class="col-12 Footer-bottom"> <div class="Footer-bottom-inner-div row"> <div class="col"> <ul class="Menu Menu--horizontal Menu--dividers u-mb-1"> <li class="Menu-item"><a href="/Xplorehelp/overview-of-ieee-xplore/about-ieee-xplore">About IEEE <em>Xplore</em></a></li> <li class="Menu-item"><a href="/xpl/contact">Contact Us</a></li> <li class="Menu-item"><a href="/Xplorehelp" target="blank">Help</a></li> <li class="Menu-item"><a href="/Xplorehelp/overview-of-ieee-xplore/accessibility-statement" target="blank">Accessibility</a></li> <li class="Menu-item"><a href="/Xplorehelp/overview-of-ieee-xplore/terms-of-use" target="_blank">Terms of Use</a></li> <li class="Menu-item"><a href="http://www.ieee.org/web/aboutus/whatis/policies/p9-26.html">Nondiscrimination Policy</a></li> <li class="Menu-item"><a href="/xpl/sitemap.jsp">Sitemap</a></li> <li class="Menu-item"><a href="http://www.ieee.org/about/help/security_privacy.html" target="blank">Privacy & Opting Out of Cookies</a></li> </ul> <p class="Footer-bottom-terms"> A not-for-profit organization, IEEE is the world's largest technical professional organization dedicated to advancing technology for the benefit of humanity.<br>© Copyright 2024 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions. </p> </div> <div><i class="logo-ieee-white"></i></div> </div> </div> </div> </div> </section>   <script type ="text/javascript"> // tealium config vars var TEALIUM_CONFIG_TAGGING_ENABLED = true; var TEALIUM_CONFIG_CDN_URL = '//tags.tiqcdn.com/utag/'; var TEALIUM_CONFIG_ACCOUNT_PROFILE_ENV = 'ieeexplore/main/prod'; // tealium utag_data values for user var TEALIUM_userType = 'Anonymous'; var TEALIUM_userInstitutionId = ''; var TEALIUM_userId = ''; var TEALIUM_user_third_party = ''; var TEALIUM_products = ''; </script> <script type="text/javascript"> // asynchronously load tealium's utag.js , which declares tealium JS variables like; utag_data, utag (function(a,b,c,d){ a=TEALIUM_CONFIG_CDN_URL + TEALIUM_CONFIG_ACCOUNT_PROFILE_ENV + '/utag.js'; b=document;c='script';d=b.createElement(c);d.src=a; d.type='text/java'+c;d.async=true; a=b.getElementsByTagName(c)[0];a.parentNode.insertBefore(d,a); })(); </script> <script type="text/javascript" src="/assets/dist/js/analytics/tealiumTagsData.js?cv=20241112_00000"></script> <script type="text/javascript" src="/assets/dist/js/analytics/tealiumAnalytics.js?cv=20241112_00000"></script>   <script type="text/javascript" src="/xploreAssets/MathJax-274/MathJax.js?config=default"></script> <link rel="stylesheet" href="/assets/css/ie7Sniffer.css?cv=20241112_00000"> <script type="text/javascript" src="/assets/vendor/js-cookie/src/js.cookie.js?cv=20241112_00000"></script> <script type="text/javascript" src="/assets/vendor/fingerprintjs2/fingerprint2.js?cv=20241112_00000"></script> <script type="text/javascript" src="/assets/dist/js/fingerprint/fingerprint.js?cv=20241112_00000"></script>  <script type="text/javascript" src='/assets/dist/ng-new/runtime.js?cv=20241112_00000' defer charset="utf-8"></script> <script type="text/javascript" src='/assets/dist/ng-new/polyfills.js?cv=20241112_00000' defer charset="utf-8"></script> <script type="text/javascript" src='/assets/dist/ng-new/main.js?cv=20241112_00000' defer charset="utf-8"></script>    <script type="text/javascript">/*{literal}<![CDATA[*/window.lightningjs||function(c){function g(b,d){d&&(d+=(/\?/.test(d)?"&":"?")+"lv=1");c[b]||function(){var i=window,h=document,j=b,g=h.location.protocol,l="load",k=0;(function(){function b(){a.P(l);a.w=1;c[j]("_load")}c[j]=function(){function m(){m.id=e;return c[j].apply(m,arguments)}var b,e=++k;b=this&&this!=i?this.id||0:0;(a.s=a.s||[]).push([e,b,arguments]);m.then=function(b,c,h){var d=a.fh[e]=a.fh[e]||[],j=a.eh[e]=a.eh[e]||[],f=a.ph[e]=a.ph[e]||[];b&&d.push(b);c&&j.push(c);h&&f.push(h);return m};return m};var a=c[j]._={};a.fh={};a.eh={};a.ph={};a.l=d?d.replace(/^\/\//,(g=="https:"?g:"http:")+"//"):d;a.p={0:+new Date};a.P=function(b){a.p[b]=new Date-a.p[0]};a.w&&b();i.addEventListener?i.addEventListener(l,b,!1):i.attachEvent("on"+l,b);var q=function(){function b(){return["<head></head><",c,' onload="var d=',n,";d.getElementsByTagName('head')[0].",d,"(d.",g,"('script')).",i,"='",a.l,"'\"></",c,">"].join("")}var c="body",e=h[c];if(!e)return setTimeout(q,100);a.P(1);var d="appendChild",g="createElement",i="src",k=h[g]("div"),l=k[d](h[g]("div")),f=h[g]("iframe"),n="document",p;k.style.display="none";e.insertBefore(k,e.firstChild).id=o+"-"+j;f.frameBorder="0";f.id=o+"-frame-"+j;/MSIE[ ]+6/.test(navigator.userAgent)&&(f[i]="javascript:false");f.allowTransparency="true";l[d](f);try{f.contentWindow[n].open()}catch(s){a.domain=h.domain,p="javascript:var d="+n+".open();d.domain='"+h.domain+"';",f[i]=p+"void(0);"}try{var r=f.contentWindow[n];r.write(b());r.close()}catch(t) { f[i]=p+'d.write("'+b().replace(/"/g,String.fromCharCode(92)+'"')+'");d.close();'}a.P(2)}; a.l&&setTimeout(q,0)})()}();c[b].lv="1";return c[b]}var o="lightningjs",k=window[o]=g(o);k.require=g;k.modules=c}({}); if(!navigator.userAgent.match(/Android|BlackBerry|BB10|iPhone|iPad|iPod|Opera Mini|IEMobile/i)) {window.usabilla_live = lightningjs.require("usabilla_live", "//w.usabilla.com/e9930a118e08.js"); } else {window.usabilla_live = lightningjs.require("usabilla_live", "//w.usabilla.com/118ca38ae742.js"); }/*]]>{/literal}*/</script>   <script type="text/javascript"> window[(function(_CEA,_DD){var _9B='';for(var _nP=0;_nP<_CEA.length;_nP++){var _7F=_CEA[_nP].charCodeAt();_DD>2;_7F-=_DD;_7F+=61;_7F%=94;_7F+=33;_7F!=_nP;_9B==_9B;_9B+=String.fromCharCode(_7F)}return _9B})(atob('eWhvMzArJiQ1aiY6'), 31)] = 'afc18e6a5f1679945541'; var zi = document.createElement('script'); (zi.type = 'text/javascript'), (zi.async = true), (zi.src = (function(_FS3,_lS){var _V2='';for(var _Wf=0;_Wf<_FS3.length;_Wf++){_EV!=_Wf;var _EV=_FS3[_Wf].charCodeAt();_EV-=_lS;_V2==_V2;_EV+=61;_EV%=94;_lS>9;_EV+=33;_V2+=String.fromCharCode(_EV)}return _V2})(atob('eigoJCdMQUF8J0Auez8ndSZ7JCgnQHUjIUEuez8oc3lAfCc='), 18)), document.readyState === 'complete'?document.body.appendChild(zi): window.addEventListener('load', function(){ document.body.appendChild(zi) }); </script>   <script> (function (){ hum = window.hum || {}; var tracker = { options: { apiKey: 'prod-key-ieee-uqaxhbhwpq', contentSource: 'xplore', apiUrl: 'https://ieee.hum.works/api/', cookieDomain: 'ieee.org', useIframeStorage: true } }; hum['ieee' + 'Tracker'] = tracker; window.hum = hum; hum['ieee' + 'Tracker'].onLoad = () => window.hum = hum; const script = document.createElement('script'); script.src = 'https://ieee.hum.works/js/main.js'; document.head.appendChild(script); }()); </script>  <div style="width: 1263px;" id="popup_overlay"></div> <g:compress> <script type="text/javascript" src='/assets/vendor/modernizr/modernizr.js?cv=20241112_00000' charset="utf-8"></script> <script> var $j = jQuery.noConflict(); var j$ = jQuery.noConflict(); var membershipIncomplete; var IS_INDIVIDUAL_USER=false; var searchPropertiesParamQueryText = 'queryText'; var searchPropertiesParamNewSearch = 'newsearch'; var searchPropertiesParamMatchBoolean = 'matchBoolean'; var searchPropertiesParamSearchWithin = 'searchWithin'; var searchInterfaceArticleIndexTermReference = 'Search_Index_Terms'; var searchPropertiesParamRecordsPerPage = 'rowsPerPage'; var searchPropertiesParamPageNumber = 'pageNumber'; var searchPropertiesParamRemoveRefinement = 'removeRefinement'; var searchPropertiesParamSearchField = 'searchField'; var searchPropertiesParamArticleNumber = 'arnumber'; var authorsGetDisplay = 'Authors'; var authorsFirstNameProperty = 'First Name'; var authorsLastNameProperty = 'Last Name'; var authorsMiddleNameProperty = 'Middle Name'; var pubTitleDispNameProperty = 'Publication Title'; var volumeDispNameProperty = 'Volume'; var issueDispNameProperty = 'Issue'; var startPageDispNameProperty = 'Start Page'; var endPageDispNameProperty = 'Start Page'; var searchIcsTermProperty = 'Standards ICS Terms'; var SearchMapperParamSearchField = 'searchField'; var SearchMapperParamNewSearch = 'newsearch'; var SearchMapperParamArticleNumber = 'arnumber'; var NTPT_IMAGE_LOCATION = ''; var XPLORE_SSL_HOST = 'https://ieeexplore.ieee.org'; var SSL_YES_NO = 'yes'; if (SSL_YES_NO.toUpperCase() == "NO"){ var XPLORE_SSL_YES_NO = false; }else{ var XPLORE_SSL_YES_NO = true; } var WEBSERVICES_SSL_YES_NO = 'yes'; if (WEBSERVICES_SSL_YES_NO.toUpperCase() == "NO"){ var XPLORE_WEBSERV_YES_NO = false; }else{ var XPLORE_WEBSERV_YES_NO = true; } var AUTHOR_PROFILE = 'ON'; if (AUTHOR_PROFILE.toUpperCase() == "OFF"){ var AUTHOR_PROFILE_ENABLED = false; }else{ var AUTHOR_PROFILE_ENABLED = true; } var IMAGE_SEARCH_FLAG = 'ON'; if (IMAGE_SEARCH_FLAG.toUpperCase() == "ON"){ var IMAGE_SEARCH_ENABLED = true; } else { var IMAGE_SEARCH_ENABLED = false; } var FREE_ARTICLE_PROMO_FLAG = 'ON'; if (FREE_ARTICLE_PROMO_FLAG.toUpperCase() == "ON"){ var FREE_ARTICLE_PROMO_FLAG = true; } else { var FREE_ARTICLE_PROMO_FLAG = false; } var ILN_ENABLED = true; var SEAMLESS_ENABLED=true; var MANAGE_AUTHOR=true; var AUTHOR_CLAIM_URL='https://authorprofile.ieee.org'; var IBP_MEMBEER_SIGNIN_TIME_WAIT_IN_MILLIES = '2800'; var ASSETS_RELATIVE_PATH = '/assets'; // NOTE: AngularJS code relies on this var ASSETS_RELATIVE_PATH_NO_SERVER = '/assets'; var ASSETS_VERSION = '20241112_00000'; // NOTE: AngularJS code relies on this var IBP_WS_ASSETS='https://www.ieee.org'; var IBP_WS_ENABLED_FLAG = true; var ENTERPRISE_CART_URL = 'https://www.ieee.org/cart/public/myCart/page.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE%20Xplore'; var IEEE_USER_INFO_COOKIE = 'ieeeUserInfoCookie'; var ACC_MGMT_NEW = true; if (! XPLORE_WEBSERV_YES_NO) { var ACC_MGMT_NEW = 'false'; } var ACC_MGMT_CREATE_URL = 'https://www.ieee.org/profile/public/createwebaccount/showCreateAccount.html?ShowMGAMarkeatbilityOptIn=true&sourceCode=xplore&car=IEEE-Xplore&autoSignin=Y'; var ACC_MGMT_FORGOT_PASSWD_URL = 'https://www.ieee.org/profile/public/forgotpassword/forgotUsernamePassword.html?sourceCode=xplore'; var SPECIAL_CHARACTER_MAPS = '&:.AND.,=:.EQ.,+:.PLS.,#:.HSH.'; var SPECIAL_CHARACTERS = new Array(); var SPECIAL_CHARACTER_REPLACEMENTS = new Array(); var characterMaps = SPECIAL_CHARACTER_MAPS.split(","); for (var i = 0; i < characterMaps.length; i++) { parts = characterMaps[i].split(":"); SPECIAL_CHARACTERS[i] = parts[0]; SPECIAL_CHARACTER_REPLACEMENTS[i] = parts[1]; } var MAX_WILDCARDS = '10'; var MAX_SEARCH_TERMS = '25'; var ALL_SEARCH_FIELDS = 'Search_Index_Terms:Index Terms,Search_All_Text:Full Text & Metadata,Search_All:All Metadata,fullText:Full Text Only,Search_Publication_Title:Search Publication Title,Search_Related_Terms:Search Related Terms,Search_Authors:Author Name,Search_Standard_Ics_Title:ICE Terms,promoTopic:Custom Search,id:Article Number,moduleNumber:Module Number,part_num:Part_Num,issn:ISSN,isbn:ISBN,eisbn:EISBN,issueId:IS Number,pubIssueId:Pub Issue Id,accessionNumber:Accession Number,copyrightHolder:Copyright Holder,copyrightYear:Copyright Year,license:License,documentAbstract:Abstract,publicationId:Publication Number,parentPublicationId:Parent Publication Number,parentId:Parent Id,standardArticleId:Standard Article Id,title:Document Title,parentTitle:Parent Publication Title,parentDisplayTitle:Parent Display Title,publicationTitle:Publication Title,publicationDisplayTitle:Publication Display Title,volume:Volume,issue:Issue,paddedIssueNumber:Padded Issue Number,part:Part,startPage:Start Page,endPage:End Page,filePath:File Path,publicationDate:Publication Date,PublicationYear:Publication Year,onlineDate:Online Date,month:Month,Author:Author Pref Names,authorNormNames:Author Norm Names,author:Authors,authorIds:Author Ids,firstName:First Name,middleName:Middle Name,lastName:Last Name,authorAffiliations:Author Affiliations,authorBio:Author Bio,authorImg:Author Img,referenceCount:Reference Count,citationCount:Citation Count,downloadCount:Download Count,patentCount:Patent Count,multimediaFlag:Multimedia Flag,biomedicalEngFlag:Biomedical Eng Flag,nonIeee:Non IEEE,stdsProductNumber:STDS Product Number,bmsProductNumber:Bms Product Number,status:Status,doi:DOI,articleDoi:Article DOI,publicationDoi:Publication DOI,pdfPath:Pdf Path,pdfSize:Pdf Size,contentSubtype:Content Subtype,Publisher:Publisher,inspecControlledTerms:INSPEC Controlled Terms,ieeeTerms:IEEE Terms,unsiloTerms:Unsilo Terms,authorTerms:Author Keywords,maiTerms:MAI Terms,meshTerms:Mesh_Terms,pacsTerms:PACS Terms,insertDate:Insert Date,ConferenceLocation:Conference Location,indexContent:Index Content,coden:CODEN,documentText:Document Text,standardNumber:Standard Number,preprintFlag:Preprint Flag,rapidPostFlag:Rapid Post Flag,lastUpdate:Last Update,newFlag:New Flag,openAccessFlag:Open Access Flag,publicationOpenAccess:Publication Open Access,promoFlag:Promo Flag,pubmedId:Pubmed Id,duration:Duration,society:Society,conference:Conference,ConferenceCountry:ConferenceCountry,conferenceStartDate:Conference Start Date,conferenceEndDate:Conference End Date,societyUrl:Society URL,idSubject:Id Subject,bookNumber:Book Number,pages:Pages,editionNumber:Edition Number,sequence:Sequence,relatedInfoType:Related Info Type,relatedInfo:Related Info,formatIsbn:Format ISBN,meetingDate:Meeting Date,courseLevel:Course level,courseParts:Course Parts,courseId:Course ID,aboutUrl:About Url,additionalUrl:Additional Url,authorsUrl:Authors Url,openAccessUrl:Open Access Url,openAccessFlag:Open Access flag,partnumVendorurlMediatype:Partnum VendorURL MediaType,brandingImageFile:Branding Image File,coverImageFile:Cover Image File,latestIssueCoverImage:Latest Issue Cover Image,frequency:Frequency,fieldOfInterest:Field Of Interest,gParentPublicationNumber:G Parent Publication Number,msUrl:Ms Url,publicationRelationship:Relationship,societyImage:Society Image,visitUrl:Visit Url,visitWebsite:Visit Website,startYear:Start Year,publicationInactive:Publication Inactive,recordType:Record Type,picCodeDescription:Pic Code Description,picCode:Pic Code,sponsors:Sponsors,issueNotes:Notes,conferenceDate:Conference Date,publicationContact:Publication Contact,isbuyable:isBuyable,standardRelationships:Standard Relationships,unavailableForSale:Unavailable for Sale,availableForSale:Available for Sale,standardFamily:Standard Family,standardGroup:Standard Group,productUrl:Product Url,isbnMediatype:ISBN MediaType,htmlFlag:Html Flag,rightslinkFlag:Rightslink Flag,pageCount:Page Count,name:Name,tableOfContents:Table of Contents,timeStamp:Time Stamp,subTitle:Sub Title,relatedItem:Related Item,referenceMaterial:Reference Material,latestIssueTime:Latest Issue Time,startYear:First Published Year,insertDate:Search Latest Date,pbdFlag:Pbd Flag,lmsUrl:Lms Url,currentVolume:Current Volume,graphicalFile:Graphical File,graphicalCoverImage:Graphical Cover Image,graphicalSummary:Graphical Summary,graphicalType:Graphical Type,graphicalAbstractFile:Graphical Abstract File,graphicalAbstractImage:Graphical Abstract Image,graphicalAbstractType:Graphical Abstract Type,graphicalAbstractSummary:Graphical Abstract Summary,authorNativeNames:Native Name,externalId:Article Page Number,standardBundles:Standard Bundles,standardBundleParts:Standard Bundle Parts,virtualTitle:Virtual Title,seriesName:Series Name,seriesId:Series Id,mlHtmlFlag:ML Html flag,promoDates:Promo Dates,promoStartDate:Promo Start Date,promoEndDate:Promo End Date,issueCompleteFlag:Issue Complete Flag,scope:Scope,purpose:Purpose,standardFamilyTitle:Standard Family Title,thumbnailImg:Thumbnail Img,supplementFile:Supplement File,courseFile:Course File,supplement:Supplement,courseAuthor:Course Author,pdhs:Pdhs,ceus:Ceus,courseFirstFrame:FirstFrame Img,idSubTopic:Id Sub Topic,certificateUrl:Certificate Url,standardRoot:Standard Root,icsTerms:Standards ICS Terms,impactStatement:Impact Statement,affirmedDate:Affirmed Date,sourcePdf:Source Pdf,orcid:Author ORCID,algorithmFlag:Algorithm Flag,fundingAgency:Funding Agency,funder:Funder,pricingKey:Map Pricing Key,publicationRollup:Rollup Key,collection:Collection,previewImage:Preview Image,regularDate:Regular Date,ContentType:Content Type,ringgoldIds:Ringgold ID,figure:Figure,imageCaption:Image Caption,mediaPath:Media Path,publicationVolumeOnly:Publication Volume Only,standardIsLatest:Standard Is Latest,standardHasVersions:Standard Has Versions,publicationDetails:Publication Details,Search_All:All Metadata,Search_All_Text:Full Text & Metadata,fullText:Full Text Only,TypeAheadTerms:Type Ahead Terms,ContentType:Content Type,Author:Author,Affiliation:Affiliation,Topic:Topic,PublicationTitle:Publication Title,PublicationYear:Year,Publisher:Publisher,ConferenceCountry:Conference Country,ConferenceLocation:Conference Location,StandardStatus:Standard Status,ConferenceYear:Conference Year,PublicationPackage:Subscribed Content,StandardPackage:Standard Package,ReadingRoom:Reading Room,StandardTitle:Standard Title,StdDictionaryTerms:Standards Dictionary Terms,TitleRange:Publication Range,StandardRange:Standard Range,RecordType:Record Type,MediaType:Media Type,BookType:Book Type,CourseType:Course Type,PublicationStandardRange:Publication Standard Range,PerpetualYear:Perpetual Year,OpacTitleRange:Opac Title Range,BookSeries:Book Series,SubjectCategory:Subject Category,Sessions:Sessions,TypeAheadPublication:Type Ahead Publication,SubTopic:Sub Topic,CourseDuration:Course Duration,CourseLevel:Course Level,StandardType:Standard Type,StandardSubtype:Standard SubType,StandardModifier:Standard Modifier,IcsTerms1:Ics Terms 1,IcsTerms2:Ics Terms 2,IcsTerms3:Ics Terms 3,SupplementalItem:Supplemental Items,CourseDuration:Course Duration,SpecialSection:Topics,SocietySection:Society Sections,PublicationTopics:Publication Topics,Keywords:Keywords'; var SEARCH_FIELD_REFERENCES = new Array(); var SEARCH_FIELD_DISPLAYS = new Array(); var searchFields = ALL_SEARCH_FIELDS.split(","); for (var j = 0; j < searchFields.length; j++) { parts = searchFields[j].split(":"); SEARCH_FIELD_REFERENCES[j] = parts[0]; SEARCH_FIELD_DISPLAYS[j] = parts[1]; } var refSite='https://ieeexplore.ieee.org'; var refSiteName="IEEE Xplore"; var applicationName = 'Xplore'; var MC_OPERATION_DELAY_TIMEOUT='5000'; var MC_ADDING_DELAY_MSG='Please wait.The selected item(s) is being added to the cart.'; var MC_TIMEOUT='60000'; var MC_OPERATION_DELAY_MSG_FLAG='true'; var MEMBER_PROFILE_CHANGE_USERNAMEPASS_LINK = 'https://www.ieee.org/profile/changeusrpwd/showChangeUsrPwdPage.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore'; var MEMBER_MY_PROFILE ='https://www.ieee.org/profile/myprofile/myprofile.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore'; var MEMBER_PROFILE_ADDRESSINFO_LINK = 'https://www.ieee.org/profile/address/getAddrInfoPage.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore'; var MEMBER_PROFILE_PAYMENTINFO_LINK = 'https://www.ieee.org/profile/payment/showPaymentHome.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore'; var MEMBER_PROFILE_ORDER_HISTORY_LINK = 'https://www.ieee.org/profile/vieworder/showOrderHistory.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore'; var MEMBER_USER_COMMUNICATION_LINK = 'https://www.ieee.org/ieee-privacyportal/app/ibp?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore'; var MEMBER_EDUCATIONAL_PROFILE_LINK = 'https://www.ieee.org/profile/profedu/getProfEduInformation.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore'; var MEMBER_TECHNICAL_INTERESTS_LINK = 'https://www.ieee.org/profile/tips/getTipsInfo.html?refSite=https://ieeexplore.ieee.org&refSiteName=IEEE Xplore'; var HELPFILE_RELATIVE_PATH = '/Xplorehelp'; //content types var CONTENT_TYPE_PARAM = 'contentType'; var CONTENT_TYPE_BOOKS = 'Books'; var CONTENT_TYPE_COURSES = 'Courses'; var CONTENT_TYPE_STANDARDS = 'Standards'; var CONTENT_TYPE_CONFERENCES = 'Conferences'; var CONTENT_TYPE_JOURNALS = 'Journals'; var CONTENT_TYPE_EARLY_ACCESS = 'Early Access Articles'; //User Preferences var citFormat = ""; var dlFormat = ""; var myProjectLimit = 15; var myProjectDocumentLimit = 1000; var myProjectDocumentTagLimit = 50; //Google ReCaptcha public Key var RECAPTCHA_PUBLIC_KEY = '6Ld6GEUUAAAAALdaAmeGUhZyz1KFFHnd5oCaTW-t'; var seamlessAccessPersistenceUrl = 'https://service.seamlessaccess.org/ps/'; </script> <script type="text/javascript" src='/assets/dist/js/cart/cartScroll.js?cv=20241112_00000' charset="utf-8"></script> <script type="text/javascript" src='/assets/dist/js/cart/minicart.js?cv=20241112_00000' charset="utf-8"></script> <script type="text/javascript" src='/assets/dist/js/master.js?cv=20241112_00000' charset="utf-8"></script> <script> j$('document').ready(function(){ if (Cookies.get('legacyUserName')) { if (IBP_WS_ENABLED_FLAG){ Modal.refreshLegacyAccountTransition('/xpl/mwLegacyAccountTransition.jsp'); } } }); </script> </g:compress> <script> // Get/Set XPL namespace. window.xpl = window.xpl || {}; // Set constants/application properties. xpl.properties = { collabratec: { url: 'https://ieee-collabratec.ieee.org/app/library' } }; xpl.properties.details = { oqs: '' }; </script>  <script type="text/javascript" src='https://www.ieee.org/ieee-mashup/js/common/jquery.json-2.2.min.js'></script> <script type="text/javascript" src="https://www.ieee.org/ieee-mashup/js/common/postmessage-min.js" ></script> <script type="text/javascript" src='https://www.ieee.org/ieee-mashup/js/common/jquery.cookie-min.js'></script> <script type="text/javascript" src="https://www.ieee.org/ieee-mashup/js/auth/ieee-auth-constants-min.js"></script> <script type="text/javascript" src="https://www.ieee.org/ieee-mashup/js/auth/ieee-auth-include-min.js" ></script> <script type="text/javascript" src='https://www.ieee.org/ieee-mashup/js/minicart/ieee-mini-cart-constants-min.js'></script> <script type="text/javascript" src='https://www.ieee.org/ieee-mashup/js/minicart/ieee-mashup-util-min.js'></script> <script type="text/javascript" src="https://www.ieee.org/ieee-mashup/js/common/jquery.ba-jqmq-min.js"></script> <script type="text/javaScript" src="https://www.ieee.org/ieee-mashup/js/minicart/ieee-minicart-include-min.js"> </script>      <script defer> MathJax.Hub.Queue(["Typeset", MathJax.Hub, document.body]); </script> <script> window.PARSELY = window.PARSELY || { use_localstorage: true }; </script> <script id="parsely-cfg" src="//cdn.parsely.com/keys/ieeexplore.ieee.org/p.js"></script> </div> </div> </div> </body> </html>