Abstract: Provided are a robot-based random warehousing method and apparatus, an electronic device, and a storage medium. In the method, randomly allocated goods position information is acquired, and a shelving robot is controlled according to the goods position information to carry goods to goods position corresponding to the randomly allocated goods position information; a prompt is given to a picker to prompt the picker to take the goods from the shelving robot and place the goods at the goods position, and goods information and goods position information of the goods are synchronized to an unshelving order; and order information of the unshelving order is acquired and a picking robot in the vicinity of the goods position is controlled to move to the goods position to instruct a picker to pick the goods at the goods position and pass the goods to the picking robot.

Abstract: A system may include a vehicle for delivering items and a moveable track that cooperates with the vehicle. The moveable track may cooperate with a storage system having storage locations for storing items. The vehicle may drive into the moveable track and lift the track using a vertical drive mechanism. The vehicle may include a horizontal drive system operable to drive the vehicle horizontally along the ground to carry the moveable track to a position adjacent the storage location. The vehicle may operate the vertical drive system to drop the moveable track adjacent the storage system. Additionally, the vehicle may operate the vertical drive to drive up the moveable track to an elevated position adjacent one of the storage locations in the storage system. The vehicle may include a transfer mechanism for transferring items between the vehicle and the storage location while the vehicle is in the elevated position.

Abstract: A workstation for a material handling system is provided. The system may include a plurality of vehicles for retrieving items from a plurality of storage locations located in one or more racks. The workstation is configured to accommodate the vehicles so that the vehicles drive into the workstation and drive upwardly along a track in the workstation. In one configuration, the track is configured to tilt the vehicle at a predetermined angle relative to the horizon as the vehicle is driven upwardly. After the vehicle is tilted to the predetermined angle the vehicle continues to drive upwardly while maintaining the predetermined angle.

Abstract: A modular conveyor belt (10) comprises a plurality of first rows of one or more belt modules (20) and a plurality of second rows of one or more belt modules (40). Each of the first rows comprises a first drive surface (26) for receiving a force-transmitting surface of a first series of force-transmitting surfaces of a drive sprocket, the first drive surfaces (26) of the first rows being arranged along a first line in a direction of belt travel (T). Each of the second rows comprises a second drive surface (48) for receiving a force-transmitting surface of a second series of force-transmitting surfaces of the drive sprocket, the second drive surfaces (48) of the second rows being arranged along a second line in the direction of belt travel (T). The first line and the second line are offset with respect to each other.

Abstract: A roller modular conveyor belt module for motorized continuous conveyors includes, first and second hinge elements extending from a main body along opposite directions orthogonal to the first direction and spaced from each other. Each of the hinge elements has a through hole with axis parallel to the first direction and being coaxial to each other to receive a respective hinge pin. The first hinge elements are adapted to interpose to second hinge elements of another module with through holes coaxial to each other to receive a hinge pin articulating therebetween. In the space between adjacent hinge elements, there is at least one roller passed through by an axial hole arranged coaxially with the through holes of the adjacent hinge elements delimiting the space. The module includes at least one bushing having an end portion inserted in the through hole, and extending through the roller axial hole.

Abstract: A conveyor drive system for installation in a load-holding compartment, the load-holding compartment having a compartment floor having a top surface, the conveyor drive system includes a linear actuator, a framework, and at least one linear-actuator-to-slat connector.

Abstract: To provide a plate material conveying system configured to load plate materials produced by a press work onto a tray at regular intervals, prior to a cleaning process. The plate material conveying system comprises: a feeding section 13 that feeds the plate materials produced by the press work at regular intervals; a storage section 14 that stores the plate materials conveyed sequentially from the feeding section 13; a loading section 15 that loads the plate materials stored in the storage section 14 on the tray opposing thereto at one time; and a discharging section 16 that conveys the tray from a site to be opposed to the storage section 14 to a predetermined site.

Abstract: The present invention provides a medicine checking assembly line. The present invention solves a problem of low automation degree of the existing medicine checking assembly line. The medicine checking assembly line includes a conveying device, a turnover device, a separation device, a medicine bottle recycling device, a medicine bag stacking device and a medicine basket stacking device, which are connected sequentially. The conveying device is used for transferring medicine baskets between medicine dissolving personnel and medicine checking personnel; the turnover device is used for turning over the medicine baskets; the separation device is used for separating the medicine baskets, medicine bottles and medicine bags; the medicine bottle recycling device is used for recycling the used medicine bottles; the medicine bag stacking device is used for stacking and collecting the medicine bags; and the medicine basket stacking device is used for stacking and recycling the medicine baskets.

Abstract: In one aspect, a transfer guard member having a body for being positioned in a gap intermediate conveying surfaces, an upper portion of the body for spanning the gap and outer portions of the upper body for slidingly engaging the conveying surfaces, and a pair of spaced, resilient legs having distal end portions for resiliently and slidingly engaging the conveying surfaces. In another aspect, a transfer guard member having a body and at least one attachment member of the body configured for being detachably fixed to a mounting bar. The body has at least one recess adjacent the attachment member for receiving at least one attachment member of another transfer guard member fixed to the mounting bar so that upper transfer surfaces of the attachment members are adjacent one another.

Abstract: An operating device for placing or retrieving bottle-like piece goods onto or from storage places of a picking device is provided. The operating device includes a gripping jaw assembly having two profile-rod shaped gripping jaws with opposite lying inner surfaces extending in a first horizontal direction corresponding to a direction for placing and retrieving piece goods. The gripping jaws are configured so that the distance of the inner surfaces from each other tapers in the downward direction at least in sections and the bottle-like piece goods can be lifted from below. The operating device also includes an actuation unit coupled to the gripping jaw assembly for moving the gripping jaw assembly in the first horizontal direction.

Abstract: A vacuum-type powder transfer system capable of quantitatively supplying a constant amount of powder in a wide range from a small amount to a large amount, and a vacuum-type powder transfer method using the vacuum-type powder transfer system are disclosed. In an aspect, the vacuum-type powder transfer system includes a storage part configured to store powder, one or more chamber parts configured to accommodate the powder transferred from the storage part, a hopper part disposed to control fluid communication with the one or more chamber parts, and configured to accommodate the powder transferred from the storage part, and a vacuum pressure forming part configured to provide vacuum pressure to the one or more chamber parts, wherein the powder is split and supplied to the one or more chamber parts or the hopper part.

Abstract: A foldable baffle structure is mounted to a tray of a scanner or a printer. The foldable baffle structure includes two limiting components mounted to the tray. Each limiting component includes a sliding element, a stopping element, a guiding element and a pivoting element. Middles of the two sliding elements of the two limiting components have two accommodating spaces penetrating through top surfaces and bottom surfaces of the two sliding elements. The two stopping elements of the two limiting components are mounted in the accommodating spaces of the two limiting components. A middle of one end surface of the stopping element protrudes outward to form a pivoting portion. The guiding element is mounted around an outside of the pivoting portion. The pivoting element is pivotally disposed in the stopping element.

Abstract: A sheet storage device includes a sheet positioning member that is movable in a first direction, and positions a sheet by abutting on a side end portion of the sheet at a side in the first direction. The sheet positioning member includes a moving body, an abutting portion, a first and a second biasing member, and a bias removing portion. The moving body is configured to move in the first direction. The abutting portion is supported by the moving body to be movable in the first direction and configured to abut on the side end portion when the sheet positioning member positions the sheet. The first biasing member biases the abutting portion toward the side end portion. The second biasing member biases the abutting portion against a biasing force of the first biasing member. The bias removing portion removes a bias applied by the second biasing member.

Abstract: A sheet conveying apparatus includes a sheet conveyance section, a roller pair unit, first and second guides, and a movable guide including an upstream portion extending upstream in the sheet conveying direction with respect to the nip portion and a downstream portion extending downstream in the sheet conveying direction with respect to the nip portion. The roller pair unit nips the sheet, warps the sheet in a case where a leading end of the sheet conveyed by the sheet conveyance section comes into contact with the roller pair unit, and conveys the sheet. The first guide opposes a first side of the sheet and guides the sheet. The second guide opposes a second side of the sheet. The movable guide opposes the first side of the sheet and moves in such a manner that the downstream portion of the movable guide moves closer to or away from the second guide.

Abstract: A switching device for switching transport directions of a recording medium includes a switching member and at least one rotation stopper. The switching member is configured to switch transport paths of the recording medium. The at least one rotation stopper is configured to hit the switching member to stop rotation of the switching member. The at least one rotation stopper is disposed asymmetrically in a direction perpendicular to a transport direction in which the switching member transports the recording medium.

Abstract: A medium loading device includes a side end aligning member which is positioned at a standby position when a medium is ejected; and a control section. When a value based on first information relating to recording density of a medium to be ejected this time and at least one medium among the media ejected previously is equal to or greater than a threshold value, the control section specifies a first position, which overlaps the medium to be ejected this time, as the standby position, and when the value based on the first information is less than the threshold value, the control section specifies a second position, which does not overlap the medium to be ejected this time, as the standby position, and the control section adjusts the threshold value based on second information relating to at least one medium among the media recorded before the ejection at this time.

Abstract: A recording material processing apparatus includes a processing tray, a detecting unit, a stapling unit, an instructing unit, a control unit, a switching unit, and a notifying unit. The detecting unit detects recording material placed in the processing tray. The stapling unit executes a stapling process for the recording material placed in the processing tray. The instructing unit outputs a stapling process execution instruction. Upon receipt of the execution instruction in a state in which the detecting unit has detected a recording material inserted in the processing tray from an outside of a main body of a main body apparatus, the control unit cause the stapling process to be executed. The switching unit switches a position of the stapling unit among a plurality of positions. The notifying unit provides notification of a placement position of the recording material in the processing tray corresponding to each of the plurality of positions.

Abstract: A process includes coding or marking a first side of a ream of paper such that a first mark appears on an edge of each sheet of paper of the ream of paper. This coding or marking results in the first mark absorbing onto a top surface and a bottom surface of each sheet of paper of the ream of paper. The coding or marking can either convey information or serve a function such as assisting in folding a sheet of paper.

Abstract: A fish tape system includes a fish tape and a case having a storage compartment that stores the fish tape for deployment from the case. The fish tape has a length extending from a first end to a second end. The length includes a luminescent material that emits light after being energized by exposure to a light source. At least a portion of the case is transparent to allow the luminescent material 22 to be energized by light passing through the transparent portion and into the storage compartment.

Abstract: A drive assembly for a tool with a rotatable crank and a reel may include a carrier operably coupled to the reel, a stress relief plate interposed between the carrier and the crank and configured to operably couple the carrier to the crank, and mating surfaces disposed on the carrier, the stress relief plate, and the crank in a stacked arrangement to distribute stresses and increase maximum torque capacity of the drive assembly.

Abstract: A belt of an elevator system includes one or more tension elements extending longitudinally along a length of the belt, and an elastomeric jacket at least partially enveloping the one or more tension elements. The jacket defines a traction side configured to be interactive with a traction sheave of the elevator system and a back side opposite the traction side. A protective tape is applied to the elastomeric jacket at the back side. A method of assembling an elevator system includes forming a belt, and installing the belt in a hoistway of the elevator system. One or more additional components of the elevator system are installed in the hoistway. A protective tape is removed from a jacket of the belt after installation of the one or more additional components is completed.

Abstract: The invention relates to a vehicle (1) for transporting people on a sloping track (V) of a cable transport installation, said vehicle comprising a carriage (10) suitable for running on the track (V) while being drawn by at least one traction cable (C1) of the transport installation, a cabin support (120) carried by the carriage (10), an onboard braking device (14) and a shock absorber (13) linked to the onboard braking device and to the cabin support (120), and suitable for transforming the kinetic energy of the cabin support (120) into heat when the cabin support (120) moves relative to the onboard braking device (14) along a shock absorption trajectory in the shock absorption direction, characterized in that the onboard braking device (14) is rigidly connected to the carriage (10) and the vehicle also comprises a slide link (12) between the cabin support (120) and the carriage (10) to guide a movement of the cabin support (120) relative to the carriage (10) along the shock absorption trajectory.

Abstract: Apparatus for transporting a load from a first to a second level includes means for maintaining the load carrier in a predetermined rotational position. The means includes a motor to rotate the load carrier relative to the frame. The apparatus includes an emergency rotation blocking arrangement having a first braking member rigidly connected to the frame or load carrier, a second braking member rigidly connected to the other of the frame and load carrier, a third braking member between the first and second braking members, and a movable retaining member which holds the third braking member and is movable relative to the second braking member. In braking mode the retaining member moves relative to the second braking member to move the third braking member to engage the primary and secondary braking surface and block rotation of the second braking member in a tangential direction relative to the first braking member.

Abstract: A footrest safety pad arrangement is incorporated in a stairlift carriage in which movement of a safety pad relative to the carriage is sensed by an electromagnetic sensor and a control signal applied to the stairlift drive motor.

Abstract: An elevator arrangement having an elevator includes an elevator car having a floor and a roof. The elevator car is provided with one or more extension spaces which are arranged to extend the height of the elevator car during construction time use.

Abstract: A safety exit assembly for an elevator car and an elevator system. The safety exit assembly includes: a door panel, which is configured to open and close a safety exit of the elevator car, and which has an upper surface and a lower surface; a moving assembly, which includes a guide block provided on a lower surface of the door panel, and a guide rail which guides the door panel to move downward and translate through a cooperation with the guide block; a drive assembly, which drives the door panel to reciprocate along the guide rail; and a locking assembly, which includes an unlocking element provided on an upper surface of the door panel; wherein the unlocking element is electrically connected to the drive assembly, and an unlocking action of the unlocking element triggers the drive assembly to drive the door panel to move until the safety exit is opened.

Abstract: An anti-rotation device for suspending a load under a machine for lifting and moving this load includes a sling system provided with a fastener to the machine. It further includes a spreader beam, having a main longitudinal axis and a yaw rotation vertical transverse axis, including: a system for upper fastening to the sling system so it can be suspended in a substantially horizontal arrangement of its main longitudinal axis and free about its vertical transverse axis under the machine using the sling system; a system for lower fastening to the load, allowing driving of the load by the spreader beam about its vertical transverse axis. The spreader beam includes a propulsion unig disposed in such a way as to engage its rotation, selectively in one direction or in the other, about its vertical transverse axis when it is suspended from the machine via the sling system.

Abstract: The present invention provides an automatic container landing device based on an expert system and a control method therefor.

Abstract: A confined-space davit, including a vertical, elongate mast provided by at least one annular tube; and, a boom that is pivotally connected to an upper end portion of the mast and that extends forwardly from the mast. The tube comprises a forward wall and an opposing rearward wall and comprises left and right opposing lateral sidewalls that each connect the forward wall to the rearward wall.

Abstract: Aspects of the disclosure include apparatus for and methods of facilitating transfer of objects using a crane. Disclosed apparatuses include a target tracking device mounted on or near a crane at a first location, and a target located near a landing location for the object. The target tracking device and the target facilitate real time determination of relative motion between the two locations. Methods of using the same are also disclosed.

Abstract: The disclosure relates to a mobile crane, such as a crawler crane, comprising an undercarriage having a chassis, a superstructure rotatably supported on the undercarriage, and superstructure ballast, with the superstructure ballast comprising a ballast mounting apparatus vertically adjustable by means of a lifting device of the superstructure. In accordance with the disclosure, the ballast mounting apparatus is fastenable to the superstructure in an assembly position by means of a single connection element bearing the vertical load of the superstructure ballast. A centering means is furthermore provided that is adapted to take up transverse forces occurring in the assembly position.

Abstract: A crane includes a carrier unit having a chassis, tires connected to the chassis, a carrier deck and outriggers. A superstructure is mounted on the carrier unit, the superstructure includes a telescoping boom. A slope sensor is operably connected to the carrier unit and configured to detect a pitch and/or a roll of the carrier unit during a lift operation. The crane further includes a system for monitoring a load lifted by the telescoping boom. The system is configured to determine the current load lifted by the telescoping boom, receive pitch and/or roll information of the carrier unit from the slope sensor, adjust coordinates of the crane in a coordinate system based on the pitch and/or roll information, determine a transformed operating radius using the adjusted coordinates; and compare the load lifted to a rated capacity at the transformed operating radius.

Abstract: Disclosed are a winch, a rope guide, and a transmission device having a clutch function. The winch includes a base seat, a reel, a rope guide, a transmission assembly, and a motor. The reel is rotatably provided to the base seat. The rope guide is provided to the base seat. The transmission assembly is connected with the rope guide. The motor is connected with the reel to drive the reel to rotate, and the motor drives the rope guide through the transmission assembly. In the winch according to embodiments of the present disclosure, the rope guide is an active rope guide, bringing about a good rope guiding effect. Moreover, the reel and the rope guide are driven by the same motor, which reduces the number of components and parts, simplifies the structure and control, and lowers costs.

Abstract: A cable puller is provided to pull rope or cable where the cable puller includes a puller frame, a capstan rotatably mounted on the puller frame around a first axis of rotation, an output shaft rotatably mounted to the puller frame and coupled to the capstan, The capstan is configured to rotate when the output shaft is driven. A shift motor is configured to drive a cam to engage gearing coupled to the output shaft to a gear position comprising a low speed position, a medium speed position, and a high-speed position.

Abstract: Self-tailing winch with a release function, where said winch comprises: a stator body adapted to be fastened on a surface; a drum body arranged concentrically and rotatable around said stator body; a self-tailing device arranged concentrically to said drum body, where said self-tailing device comprises: two self-tailing jaws defining an opening suitable to receive a rope, sheet or halyard; a self-tailing cover which is rotatable relative to the drum body and the self-tailing jaws; a releasable coupling arranged between the self-tailing cover and the self-tailing jaws, said coupling being able to couple the self-tailing jaws to the drum body and by manipulating the self-tailing cover completely releasing the self-tailing jaws from their engagement with the drum body, allowing the self-tailing jaws to rotate relative to the drum.

Abstract: A lifting device for use in lifting towable irrigation towers mounted on an all terrain vehicle (ATV). The lifting device having a support frame fitted beneath the ATV, a parallelogram linkage attached to the support frame operable with a hydraulic cylinder between a collapsed and upright position with saddles on an upper rail for lifting an axle of the tower such that the tower wheels can be rotated, a winch for raising and lowering the support frame and a suspension limiter for stopping movement of the support frame in the up position such that the frame does not damage the underside of the ATV.

Abstract: A pressing device is provided, including: a main body, including a chamber; a pushing assembly, including a retractable mechanism movably inserted within the chamber, a first pushing board connected with the retractable mechanism and a restricting member embedded within the chamber and blocking the retractable mechanism from moving out of the chamber; a hydraulic mechanism, including a tube body which is connected with the main body and communicated with the chamber, a driving rod movably inserted within the tube body and a piston driven by the driving rod, the piston being configured to drive fluid to flow in or out of the chamber. Another pressing device is further provided, differing from the pressing device described above in that: the main body further including a channel, a wall of the chamber including at least one recession which is communicated with the channel.

Abstract: A lifting device with a head cavity in the lifting member shaped to accept a removable lifting head. The head cavity in the lifting device—e.g., the piston of a bottle jack—may be provided with threads, or may have the threads removed. A yoke fitted on the lifting head provides registration, horizontal restraint, or both against a lifted object, component, or surface to prevent sliding off the lifting head while in use. In a smooth-walled-shaft embodiment, a set of risers (spacers, adjusters, trims, or shims) serves to adjust an extension height of the shaft, elevating the lifting head with respect to the piston prior to beginning to lift the hydraulic piston.

Abstract: There are included front and back slope portions attachable to and detachable from storage positions and use positions, front and back holding portions capable of engaging with engagement portions of the front and back slope portions as attached to the storage positions and holding the front and back slope portions at the storage positions, and a disengaging operation tool capable of being manually operated to a disengaging position at which the front holding portion and the back holding portion are releasable from the engagement portions of the front and back slope portions and at which the slope portions are detachable from the storage positions.

Abstract: An apparatus for hot or warm filling comprising a compression machine configured to apply an axial compression force to a collapsible thermoplastic container for liquids. The compression machine includes a lower body having a surface designed to be a resting surface for the base of the container; at least one upper body designed to contact a portion of the container above the peripheral groove, so that the container can be held in an upright position by the at least one lower body and the at least one upper body; actuating means for actuating the at least one lower body and/or the at least one upper body in order to apply said axial compression force, acting along a direction parallel to the longitudinal axis of the container, in order to make the proximal straight side to come into contact with the distal straight side, thus reducing the internal volume of the container.

Abstract: Provided is a liquid supply device including: a plug having a plug side liquid channel; a socket having a socket side liquid channel; a hand configured to grip the socket and arrange the socket in a predetermined attitude at a three-dimensional position within the motion range; and an image capturing unit configured to recognize the orientation of the plug axis of the plug. The hand grips the socket so that the socket and the plug are in an attitude where the orientation of a socket axis matches the orientation of the plug axis recognized by the image capturing unit, and the socket gripped by the hand is inserted in the plug to couple the socket side liquid channel to the plug side liquid channel.

Abstract: The present application provides a beverage dispensing system for combining a number of ingredients. The beverage dispensing system may include an ingredient pouch, an ingredient storage tank, a pump, a nozzle, an inlet diverter valve upstream of the pump, and an outlet diverter valve downstream of the pump.

Abstract: The present application provides a beverage dispensing system. The beverage dispensing system may include a nozzle, a first beverage component with a first ingredient in communication with the nozzle via a first pump, and a second beverage component with the first ingredient and a second ingredient in communication with the nozzle via a second pump. The first pump and the second pump may vary the flow rate of the first beverage component and the second beverage component to the nozzle to create different beverages.

Abstract: Athletes in an athletic organization are provided access to a network of beverage dispensers associated with the organization. User profiles for each of the athletes are actively synchronized on the beverage dispensers within the network in response to changes to any of the user profiles. The user profiles are centrally maintained on a profile database and each profile includes performance parameters and personal parameters. Different users are given different levels of access to the user profiles. Each athlete is given access to view their entire profile and make modifications to personal parameters in their profile. Likewise, trainers or other training staff of the athletic organization are given access to view personal parameters of athlete's profiles and access to make modifications to performance parameters. Upon receiving a selection of an athlete's profile, a dispenser in the network is configured according to the personal and performance parameters stored in their profile.

Abstract: A fluidic interconnect includes a first interface including a liquid port, a gas port, and a cradle; a second interface including a liquid port, a gas port, and a swing bar to engage the cradle, a weight of a container attached to one of the first or second interfaces to drive the liquid port of the first interface into connection with the liquid port of the second interface and the gas port of the first interface into connection with the gas port of the second interface.

Abstract: A transaction appliance is located within a retail fueling station environment. Presence of a consumer vehicle at a fuel dispenser is detected and the transaction appliance transmits a transaction trigger to a transaction server located remotely outside the retail fueling station environment. The transaction server responsively invokes personalized consumer data associated with the transaction trigger including advertising and promotions for purchasing products and services from a vendor. The personalized transaction data is provided to the consumer by way of the transaction appliance and a fuel dispenser user interface during the time the consumer is dispensing fuel.

Abstract: A liquid discharge system includes a liquid product pump having a sensor for monitoring vibrations passing through an outer casing of the liquid product pump to detect an occurrence of cavitation within the liquid product pump. A system and method for controlling the operation of a liquid product pump in an engine-driven hydraulic discharge system. The liquid product pump has a vibration sensor operable to detect cavitation within the liquid product pump and for providing an electrical vibration signal to a speed control module. The speed control module is operable to process the vibration signal and to produce an electrical speed control signal that is provided to an electronic actuator. The electronic actuator is operable to actuate a motor control lever of a variable speed hydraulic motor to adjust the operating speed of the liquid product pump.

Abstract: An intermediate bulk container, valve and connector system is provided that includes a split nut connector. The split nut connector is rotatably mounted on a valve adapter plate which connects with the valve, and is internally threaded for engagement with external threads on the intermediate bulk container outlet. An O-ring seal is aligned and positioned between the adaptor plate inlet and intermediate bulk container outlet by positioning surfaces to provide compression and sealing between the component engaging surfaces, and sealing contact is provided between corresponding surfaces of the components.

Abstract: This application discloses a MEMS chip structure, including a substrate, a side wall, a dielectric plate, a MEMS micromirror array, and a grid array, where the MEMS micromirror array includes a plurality of grooves and a plurality of MEMS micromirrors. The plurality of MEMS micromirrors are in a one-to-one correspondence with the plurality of grooves. The grid array is located above the MEMS micromirror array, and a lower surface of the grid array is connected to upper surfaces of side walls of at least some of the plurality of grooves.

Abstract: Illustrative embodiments provide an electrostatic actuator and methods of making and operating an electrostatic actuator. The electrostatic actuator comprises a framework and a plurality of electrodes. The framework comprises walls defining a plurality of cells forming an array of cells. The plurality of electrodes comprise an electrode in each cell in the plurality of cells. A gap separates the electrode in each cell from the walls of the cell. The framework is configured to contract in response to an electrical signal applied between the framework and the plurality of electrodes.