A method for gripping objects by means of a robotic gripper mechanism is provided, wherein the gripping mechanism comprises gripping jaws, a wedge actuator between the gripping jaws, wherein the wedge actuator moves the gripping jaws together and apart as it slides backward and forward, and a motor that moves the wedge actuator by means of a connecting leadscrew. An organic semiconducting material fills the channel ; and a dielectric layer formed atop the first and second electrodes and the channel. Based on the analysis, the node makes a decision on whether to remain \u201cawake\u201d for reception of the remaining beacon or to return to sleep. These compositions also have good demulsibility properties. The larger of the two conical sections is orientated such that the large end faces toward the object to be viewed.