Network Formation, Properties, and Actuation Performance of Functionalized Liquid Isoprene Rubber.

Due to some useful mechanical, dynamic, and dielectric properties along with the ease of processing and forming, liquid rubbers are ideal materials for fabricating dielectric elastomer actuators in various configurations and for many potential applications ranging from automation to automobile and medical industry. In this study, we present a cross-linkable liquid rubber composition where amine-catalyzed esterification reactions lead to the formation of a network structure based on anhydride functional isoprene rubber, carboxyl-terminated nitrile-butadiene rubber, and epoxy end-capped prepolymers. The success of this intricate network formation procedure was verified by HR-MAS NMR spectroscopy. The new isoprene-based elastomeric material exhibits actuation-relevant attributes including a low elastic modulus of 0.45 MPa, soft response to an applied load up to a large deformation of 300%, and a dielectric constant value (2.6) higher than the conventional Elastosil silicone (2.2). A dot actuator comprising of an isoprene dielectric elastomer film in unstretched state and carbon paste electrodes was fabricated that demonstrated an electrode deformation of 0.63%, which is nearly twice as high as for the commercial Elastosil 2030 film (∼0.30%) at 5 kV. Compared to the Elastosil silicone film, the enhanced performance is attributed to the low modulus and high dielectric constant value of the new isoprene elastomer.

Influence of Active-to-Passive Ratio on the Deformation in Circular Dielectric Elastomer Actuators.

To further improve the performance of dielectric elastomer actuaotrs (DEAs), the development of novel elastomers with enhanced electro-mechanical properties is focal for the advancement of the technology. Hence, reliable techniques to assess their electro-mechanical performance are necessary. Characterization of the actuator materials is often achieved by fabricating circular DEAs with the pre-stretch of the membrane fixed by a stiff frame. Because of this set-up, the electrode size relative to the carrier frame's dimension has an impact on actuator strain and displacement. To allow for comparable results across different studies, the influence of this effect needs to be quantified and taken into account. This paper presents an in-depth study of the active-to-passive ratio by proposing two simplified analytical models for circular DEA and comparing them. The first model is taking the hyperelastic material properties of the dielectric film into account while the second model is a linear elastic lumped parameter model based on the electro-mechanical analogy. Both models lie in good agreement and show a significant linear impact of the radial active-to-passive ratio on the electro-active strain and a resulting maximum of displacement around 50% radial coverage ratio. These findings are validated by experiments with actuators fabricated using silicone membranes. It is shown that the electrode size is not only an important parameter in the experimental design, but in some cases of higher significance for the accuracy of analytical models than the hyperelastic properties of the material. Furthermore, it could be shown that a radial coverage ratio of around 50% is desirable when measuring displacement as it maximizes the displacement and lowers the impact of deviations in electrode sizes due to fabrication errors.

Porosity Engineering of Dried Smart Poly(N-isopropylacrylamide) Hydrogels for Gas Sensing.

A recent study unveiled the potential of acrylamide-based stimulus-responsive hydrogels for volatile organic compound detection in gaseous environments. However, for gas sensing, a large surface area, that is, a highly porous material, offering many adsorption sites is crucial. The large humidity variation in the gaseous environment constitutes a significant challenge for preserving an initially porous structure, as the pores tend to be unstable and irreversibly collapse. Therefore, the present investigation focuses on enhancing the porosity of smart PNiPAAm hydrogels under the conditions of a gaseous environment and the preservation of the structural integrity for long-term use. We have studied the influence of polyethylene glycol (PEG) as a porogen and the application of different drying methods and posttreatment. The investigations lead to the conclusion that only the combination of PEG addition, freeze-drying, and subsequent conditioning in high relative humidity enables a long-term stable formation of a porous surface and inner structure of the material. The significantly enhanced swelling response in a gaseous environment and in the test gas acetone is confirmed by gravimetric experiments of bulk samples and continuous measurements of thin films on piezoresistive pressure sensor chips. These measurements are furthermore complemented by an in-depth analysis of the morphology and microstructure. While the study was conducted for PNiPAAm, the insights and developed processes are general in nature and can be applied for porosity engineering of other smart hydrogel materials for VOC detection in gaseous environments.

Understanding the Impact of Active-to-Passive Area Ratio on Deformation in One-Dimensional Dielectric Elastomer Actuators with Uniaxial Strain State.

There is increasing interest in the use of novel elastomers with inherent or modified advanced dielectric and mechanical properties, as components of dielectric elastomer actuators (DEA). This requires corresponding techniques to assess their electro-mechanical performance. A common way to test dielectric materials is the fabrication of actuators with pre-stretch fixed by a stiff frame. This results in the problem that the electrode size has an influence on the achievable actuator displacement and strain, which is detrimental to the comparability of experiments. This paper presents an in-depth study of the active-to-passive ratio with the aim of investigating the influence of the coverage ratio on uniaxial actuator displacement and strain. To model the effect, a simple lumped-parameter model is proposed. The model shows that the coverage ratio for maximal displacement is 50%. To validate the model results, experiments are carried out. For this, a rectangular, fiber-reinforced DEA is used to assess the relation of the coverage ratio and deformation. Due to the stiffness of the fibers, highly anisotropic mechanical properties are achieved, leading to the uniaxial strain behavior of the actuator, which allows the validation of the one-dimensional model. To consider the influence of the simplifications in the lumped-parameter model, the results are compared to a hyperelastic model. In summary, it is shown that the ratio of the active-to-passive area has a significant influence on the actuator deformation. Both the model and experiments confirm that an active-to-passive ratio of 50% is particularly advantageous in most cases.

Thermoelectric transport properties of Si, SiGe, and silicide CMOS-compatible thin films.

Characterization of thermoelectric transport properties for temperature sensing, cooling, and energy harvesting applications is necessary for a reliable device performance in progressively minimized computer chips. In this contribution, we present a fully automated thermovoltage and sheet resistance measurement setup, which is calibrated and tested for the production of silicon- and silicon-germanium-doped as well as silicide complementary metal-oxide-semiconductor-compatible thin films. A LabVIEW-programmed software application automatically controls the measurement and recording of thermovoltages at individually defined temperature set points. The setup maps average temperature and temperature differences simultaneously in the regime from 40 to 70 °C. The Seebeck coefficient calculated by means of the inversion method was used to eliminate the offset voltage influence. Finally, we present and discuss the Seebeck coefficient as well as the sheet resistance for application-specific different temperature set points of several doped poly-Si, poly-SiGe, and silicides.

Multitarget Reactive Magnetron Sputtering towards the Production of Strontium Molybdate Thin Films.

X-ray photoelectron spectroscopy was used to study the direct synthesis of strontium and molybdenum oxide thin films deposited by multitarget reactive magnetron sputtering (MT-RMS). Sr and Mo targets with a purity of 99.9% and 99.5%, respectively, were co-sputtered in an argon-oxygen gas mixture. The chamber was provided with an oxygen background flow plus an additional controlled oxygen supply to each of the targets. We demonstrate that variation in the power applied to the Mo target during MT-RMS enables the production of strontium and molybdenum oxide films with variable concentrations of Mo atoms. Both molybdenum and strontium were found in the oxidized state, and no metallic peaks were detected. The deconvoluted high-resolution XPS spectra of molybdenum revealed the presence of several Mo 3d peaks, which indicates molybdenum bonds in a lower valence state. Contrary to the Mo spectra, the high-resolution strontium Sr 3d spectra for the same samples were very similar, and no additional peaks were detected.

THz Thin Film Varactor Based on Integrated Ferroelectric HfZrO2.

In this paper, we present a broadband microwave characterization of ferroelectric hafnium zirconium oxide (Hf0.5Zr0.5O2) metal-ferroelectric-metal (MFM) thin film varactor from 1 kHz up to 0.11 THz. The varactor is integrated into the back-end-of-line (BEoL) of 180 nm CMOS technology as a shunting capacitor for the coplanar waveguide (CPW) transmission line. At low frequencies, the varactor shows a slight imprint behavior, with a maximum tunability of 15% after the wake-up. In the radio- and mmWave frequency range, the varactor's maximum tunability decreases slightly from 13% at 30 MHz to 10% at 110 GHz. Ferroelectric varactors were known for their frequency-independent, linear tunability as well as low loss. However, this potential was never fully realized due to limitations in integration. Here, we show that ferroelectric HfO2 thin films with good back-end-of-line compatibility support very large scale integration. This opens up a broad range of possible applications in the mmWave and THz frequency range such as 6G communications, imaging radar, or THz imaging.

Achieving software-equivalent accuracy for hyperdimensional computing with ferroelectric-based in-memory computing.

Hyperdimensional computing (HDC) is a brain-inspired computational framework that relies on long hypervectors (HVs) for learning. In HDC, computational operations consist of simple manipulations of hypervectors and can be incredibly memory-intensive. In-memory computing (IMC) can greatly improve the efficiency of HDC by reducing data movement in the system. Most existing IMC implementations of HDC are limited to binary precision which inhibits the ability to match software-equivalent accuracies. Moreover, memory arrays used in IMC are restricted in size and cannot immediately support the direct associative search of large binary HVs (a ubiquitous operation, often over 10,000+ dimensions) required to achieve acceptable accuracies. We present a multi-bit IMC system for HDC using ferroelectric field-effect transistors (FeFETs) that simultaneously achieves software-equivalent-accuracies, reduces the dimensionality of the HDC system, and improves energy consumption by 826x and latency by 30x when compared to a GPU baseline. Furthermore, for the first time, we experimentally demonstrate multi-bit, array-level content-addressable memory (CAM) operations with FeFETs. We also present a scalable and efficient architecture based on CAMs which supports the associative search of large HVs. Furthermore, we study the effects of device, circuit, and architectural-level non-idealities on application-level accuracy with HDC.

An Effective Method to Model and Simulate the Behavior of Inductive Angle Encoders.

Many angle or position sensors rank among the inductive encoders, although their sensing principle is different. The sensor design investigated in this paper is based on coupled coils, whereas the information about the position angle is modulated on the induced voltage, measured at the receiving coils. Unfortunately, no closed solution for most of the physical quantities exists, since this principle is based on eddy currents, which are rather complex to calculate for the given geometry. Consequently, the common way is to calculate the sensor quantities by a 3D finite-element (FE) simulation. However, this leads in most cases to a high time and computational effort. To overcome the limitations with respect to computational resources, a novel method is presented to reduce simulation effort and calculate regression models, which can even replace simulations. In the following investigations, D-optimal designs are used-a subdomain in the field of statistical design of experiments-and combined with a numerical implementation of Faraday's law, in order to calculate the induced voltages afterwards from simulated magnetic field data. With this method, the sensor signals can be calculated for multiple angle positions from one simulated position by shifting the integration boundaries. Hence, simulation time is significantly reduced for a full period. The regression models obtained by this method, can predict the Tx-coil inductance, induced Rx-voltage amplitude and angular error in dependency of geometric design parameters.

Suitability of Different Analytical Derivations of Electrically Induced Stress States in Planar and Cylindrical Dielectric Elastomer Actuators.

Dielectric elastomers (DE) belong to a very performant and efficient class of functional materials for actuators, while being compliant, low-weight and silent, they offer high energy efficiencies and large deformations under an applied electric field. In this work, a comparison of different approaches to derive expressions for the electrically induced stress states in dielectric materials is given. In particular, the focus is on three different ways to analytically describe stress states in planar actuator setups and to show how they are connected to each other regarding their resulting deformations. This is the basis to evaluate the suitability of these approaches for cylindrical actuator geometries together with exemplary calculations for concrete use cases. As an outcome, conclusions on the suitability of the different approaches for certain actuator setups are drawn. In particular cylindrical actuator geometries are taken into account and a recommendation on which approach is useful to describe a certain actuator effect is given.

Integrated Temperature and Position Sensors in a Shape-Memory Driven Soft Actuator for Closed-Loop Control.

Soft actuators are a promising option for the advancing fields of human-machine interaction and dexterous robots in complex environments. Shape memory alloy wire actuators can be integrated into fiber rubber composites for highly deformable structures. For autonomous, closed-loop control of such systems, additional integrated sensors are necessary. In this work, a soft actuator is presented that incorporates fiber-based actuators and sensors to monitor both deformation and temperature. The soft actuator showed considerable deformation around two solid body joints, which was then compared to the sensor signals, and their correlation was analyzed. Both, the actuator as well as the sensor materials were processed by braiding and tailored fiber placement before molding with silicone rubber. Finally, the novel fiber-rubber composite material was used to implement closed-loop control of the actuator with a maximum error of 0.5°.

Thermo-Electro-Mechanical Characterization of PDMS-Based Dielectric Elastomer Actuators.

The present contribution aims towards a thermo-electro-mechanical characterization of dielectric elastomer actuators (DEA) based on polydimethylsiloxane (PDMS). To this end, an experimental setup is proposed in order to evaluate the PDMS-based DEA behavior under the influence of various rates of mechanical loading, different ambient temperatures, and varying values of an applied electric voltage. To obtain mechanical, electro-mechanical and thermo-mechanical experimental data, the passive behavior of the material, as well as the material's response when electrically activated, was tested. The influence of the solid electrode on the dielectric layer's surface was also examined. Moreover, this work focuses on the production of such DEA, the experimental setup and the interpretation and evaluation of the obtained mechanical hysteresis loops. Finite element modeling approaches were used in order to model the passive and the electro-mechanically active response of the material. A comparison between experimental and simulation results was performed.

Complete Genome Sequence and Manual Reannotation of Mycobacterium avium subsp. paratuberculosis Strain DSM 44135.

Here, we report the complete genome sequence of the Mycobacterium avium subsp. paratuberculosis reference strain DSM 44135, amended with a manual genome reannotation. The strain was originally described as M. paratuberculosis strain 6783. It was isolated from feces from a dairy cow in northern Germany.

Bistable Threshold Humidity Sensor Switch with Rectangular Bimorph Bending Plate.

Energy-autonomous bistable threshold sensor switches have the potential to reduce costs because they do not need any electrical energy supply for monitoring physical quantities, such as relative humidity. In previous work, a bistable beam-like sensor switch with switching hysteresis was manufactured from sheet metal and a partially coated water vapor-sensitive hydrogel (poly(vinyl alcohol)/poly(acryl acid)). Based on the beam theory, a corresponding mechanical model was developed. However, bending plates should be used instead of bending beams to separate the humidity to be measured from the electrical contacts. For this reason, this work deals with the development and realization of a mechanical model based on the plate theory to describe the deflection of a silicon bimorph bending plate partially coated with hydrogel that swells with increasing humidity. For implementing a switching hysteresis a plasma-enhanced chemical vapor deposition silicon dioxide (SiO2) layer is used, which was deposited and structured on top of the silicon plate. The hydrogel layer itself is patterned on the surface of the bending plate using a stamp technique. To validate the mechanical model, the switching hysteresis of the miniaturized sensor switch was measured optically by a camera measurement device.

Swelling Studies of Porous and Nonporous Semi-IPN Hydrogels for Sensor and Actuator Applications.

In this article, we present a semi-interpenetrating network (IPN) hydrogel of reasonable size with improved swelling behavior. The semi-IPN is composed of N-isopropylacrylamide and 2-acrylamido-2-methyl-1-propanesulfonic acid. Porosity was generated chemically by a surfactant-based template method. The swelling behavior was measured after an abrupt change of the temperature to 25 °C or 40 °C or after an abrupt change of the salt concentration of the aqueous medium surrounding the hydrogel samples. A set of static swelling degrees was determined from swelling measurements in salt solutions of varying concentrations and at different temperatures. Introducing porosity to the semi-IPN decreases the swelling times for most measurements while the sensor and actuator characteristics of the hydrogel found in previous studies are preserved. Additionally, we propose theoretical assumptions and explanations regarding the differences in the swelling kinetics of the porous and the nonporous semi-IPN and deduce implications for sensor and actuator applications.

A Biomimetic Fish Fin-Like Robot Based on Textile Reinforced Silicone.

The concept of merging pre-processed textile materials with tailored mechanical properties into soft matrices is so far rarely used in the field of soft robotics. The herein presented work takes the advantages of textile materials in elastomer matrices to another level by integrating a material with highly anisotropic bending properties. A pre-fabricated textile material consisting of oriented carbon fibers is used as a stiff component to precisely control the mechanical behavior of the robotic setup. The presented robotic concept uses a multi-layer stack for the robot's body and dielectric elastomer actuators (DEAs) on both outer sides of it. The bending motion of the whole structure results from the combination of its mechanically adjusted properties and the force generation of the DEAs. We present an antagonistic switching setup for the DEAs that leads to deflections to both sides of the robot, following a biomimetic principle. To investigate the bending behavior of the robot, we show a simulation model utilizing electromechanical coupling to estimate the quasi-static deflection of the structure. Based on this model, a statement about the bending behavior of the structure in general is made, leading to an expected maximum deflection of 10 mm at the end of the fin for a static activation. Furthermore, we present an electromechanical network model to evaluate the frequency dependent behavior of the robot's movement, predicting a resonance frequency of 6.385 Hz for the dynamic switching case. Both models in combination lead to a prediction about the acting behavior of the robot. These theoretical predictions are underpinned by dynamic performance measurements in air for different switching frequencies of the DEAs, leading to a maximum deflection of 9.3 mm located at the end of the actuators. The herein presented work places special focus on the mechanical resonance frequency of the robotic setup with regard to maximum deflections.

A Worm-Like Biomimetic Crawling Robot Based on Cylindrical Dielectric Elastomer Actuators.

In recent years the field of soft robotics has gained a lot of interest both in academia and industry. In contrast to rigid robots, which are potentially very powerful and precise, soft robots are composed of compliant materials like gels or elastomers (Rich et al., 2018; Majidi, 2019). Their exclusive composition of nearly entirely soft materials offers the potential to extend the use of robotics to fields like healthcare (Burgner-Kahrs et al., 2015; Banerjee et al., 2018) and advance the emerging domain of cooperative human-machine interaction (Asbeck et al., 2014). One material class used frequently in soft robotics as actuators are electroactive polymers (EAPs). Especially dielectric elastomer actuators (DEAs) consisting of a thin elastomer membrane sandwiched between two compliant electrodes offer promising characteristics for actuator drives (Pelrine et al., 2000). Under an applied electric field, the resulting electrostatic pressure leads to a reduction in thickness and an expansion in the free spatial directions. The resulting expansion can reach strain levels of more than 300% (Bar-Cohen, 2004). This paper presents a bioinspired worm-like crawling robot based on DEAs with additional textile reinforcement in its silicone structures. A special focus is set on the developed cylindrical actuator segments that act as linear actuators.

Link between Heterotrophic Carbon Fixation and Virulence in the Porcine Lung Pathogen Actinobacillus pleuropneumoniae.

Actinobacillus pleuropneumoniae is a capnophilic pathogen of the porcine respiratory tract lacking enzymes of the oxidative branch of the tricarboxylic acid (TCA) cycle. We previously claimed that A. pleuropneumoniae instead uses the reductive branch in order to generate energy and metabolites. Here, we show that bicarbonate and oxaloacetate supported anaerobic growth of A. pleuropneumoniae Isotope mass spectrometry revealed heterotrophic fixation of carbon from stable isotope-labeled bicarbonate by A. pleuropneumoniae, which was confirmed by nano-scale secondary ion mass spectrometry at a single-cell level. By gas chromatography-combustion-isotope ratio mass spectrometry we could further show that the labeled carbon atom is mainly incorporated into the amino acids aspartate and lysine, which are derived from the TCA metabolite oxaloacetate. We therefore suggest that carbon fixation occurs at the interface of glycolysis and the reductive branch of the TCA cycle. The heme precursor δ-aminolevulinic acid supported growth of A. pleuropneumoniae, similar to bicarbonate, implying that anaplerotic carbon fixation is needed for heme synthesis. However, deletion of potential carbon-fixing enzymes, including PEP-carboxylase (PEPC), PEP-carboxykinase (PEPCK), malic enzyme, and oxaloacetate decarboxylase, as well as various combinations thereof, did not affect carbon fixation. Interestingly, generation of a deletion mutant lacking all four enzymes was not possible, suggesting that carbon fixation in A. pleuropneumoniae is an essential metabolic pathway controlled by a redundant set of enzymes. A double deletion mutant lacking PEPC and PEPCK was not impaired in carbon fixation in vitro but showed reduction of virulence in a pig infection model.

Enzyme-Functionalized Piezoresistive Hydrogel Biosensors for the Detection of Urea.

Urea is used in a wide variety of industrial applications such as the production of fertilizers. Furthermore, urea as a metabolic product is an important indicator in biomedical diagnostics. For these applications, reliable urea sensors are essential. In this work, we present a novel hydrogel-based biosensor for the detection of urea. The hydrolysis of urea by the enzyme urease leads to an alkaline pH change, which is detected with a pH-sensitive poly(acrylic acid-co-dimethylaminoethyl methacrylate) hydrogel. For this purpose, the enzyme is physically entrapped during polymerization. This enzyme-hydrogel system shows a large sensitivity in the range from 1 mmol/L up to 20 mmol/L urea with a high long-term stability over at least eight weeks. Furthermore, this urea-sensitive hydrogel is highly selective to urea in comparison to similar species like thiourea or N-methylurea. For sensory applications, the swelling pressure of this hydrogel system is transformed via a piezoresistive pressure sensor into a measurable output voltage. In this way, the basic principle of hydrogel-based piezoresistive urea biosensors was demonstrated.

Hydrogel-Based Sensors for Ethanol Detection in Alcoholic Beverages.

A fast and reliable determination of the ethanol concentration is essential in the analysis of alcoholic beverages. However, different factors like pH value or salt concentration can influence the ethanol measurement. Furthermore, analytical figures of merit for the alcohol sensor, such as limit of detection, sensitivity and measurement uncertainty, are necessary for the application. In this paper, a detailed sensor characterization of a novel sensor based on ethanol-sensitive poly acrylamide hydrogels will be presented. The resulting swelling pressure of the hydrogel was transformed via a piezoresistive pressure sensor into a measurable output voltage. These kinds of sensors can be used over a large measuring range, up to 50 vol% ethanol and more, with a high sensitivity. In the range from pH 7.4 to 4, the pH value had no influence on the sensor signal. Higher salt concentrations can slightly influence the measurement. The detection limit amounts to 0.06⁻0.65 vol% ethanol. The concentration of a vodka sample was determined with a sufficient measuring uncertainty.