Electrically Activated Soft Robots: Speed Up by Rolling.

Soft robots show excellent body compliance, adaptability, and mobility when coping with unstructured environments and human-robot interactions. However, the moving speed for soft locomotion robots is far from that of their rigid partners. Rolling locomotion can provide a promising solution for developing high-speed robots. Based on different rolling mechanisms, three rolling soft robot (RSR) prototypes with advantages of simplicity, lightweight, fast rolling speed, good compliance, and shock resistance are fabricated by using dielectric elastomer actuators. The experimental results demonstrate that the impulse-based and gravity-based RSRs can move both stably and continuously on the ground with a maximum speed higher than 1 blps (body length per second). The ballistic RSR exhibits a high rolling speed of ∼4.59 blps. And during its accelerating rolling process, the instantaneous rolling speed of the robot prototype reaches about 0.65 m/s (13.21 blps), which is much faster than most of the previously reported locomotion robots driven by soft responsive materials. The structure design and implementation methods based on different rolling mechanisms presented can provide guidance and inspiration for creating new, fast-moving, and hybrid mobility soft robots.

A fiber optic Doppler sensor and its application in debonding detection for composite structures.

Debonding is one of the most important damage forms in fiber-reinforced composite structures. This work was devoted to the debonding damage detection of lap splice joints in carbon fiber reinforced plastic (CFRP) structures, which is based on guided ultrasonic wave signals captured by using fiber optic Doppler (FOD) sensor with spiral shape. Interferometers based on two types of laser sources, namely the He-Ne laser and the infrared semiconductor laser, are proposed and compared in this study for the purpose of measuring Doppler frequency shift of the FOD sensor. Locations of the FOD sensors are optimized based on mechanical characteristics of lap splice joint. The FOD sensors are subsequently used to detect the guided ultrasonic waves propagating in the CFRP structures. By taking advantage of signal processing approaches, features of the guided wave signals can be revealed. The results demonstrate that debonding in the lap splice joint results in arrival time delay of the first package in the guided wave signals, which can be the characteristic for debonding damage inspection and damage extent estimation.

Treatment of phosphate-containing oily wastewater by coagulation and microfiltration.

The oily wastewater generated from pretreatment unit of electrocoating industry contains oils, phosphate, organic solvents, and surfactants. In order to improve the removal efficiencies of phosphate and oils, to mitigate the membrane fouling, coagulation for ceramic membrane microfiltration of oily wastewater was performed. The results of filtration tests show that the membrane fouling decreased and the permeate flux and quality increased with coagulation as pretreatment. At the coagulant Ca (OH)2 dosage of 900 mg/L, the removal efficiency of phosphate was increased from 46.4% without coagulation to 99.6%; the removal of COD and oils were 97.0% and 99.8%, respectively. And the permeate flux was about 70% greater than that when Ca(OH)2 was not used. The permeate obtained from coagulation and microfiltration can be reused as make-up water, and the recommended operation conditions for pilot and industrial application are transmembrane pressure of 0.10 MPa and cross-flow velocity of 5 m/s. The comparison results show that 0.2 microm ZrO2 microfilter with coagulation could be used to perform the filtration rather than conventional ultrafilter, with very substantial gain in flux and removal efficiency of phosphate.

Finite element analysis of multi-piece post-crown restoration using different types of adhesives.

The multi-piece post-crown technique is more effective in restoring residual root than other restoration techniques. Various types of adhesives have different material properties that affect restoration. Therefore, the choice of adhesive is particularly important for patients. However, the effect of different kinds of adhesives was not too precise by experimental methods when concerning about individual differences of teeth. One tooth root can only be restored with one type of adhesive in experiment. After the mechanical test, this tooth root cannot be restored with other adhesives. With the help of medical imaging technology, reverse engineering and finite element analysis, a molar model can be reconstructed precisely and restored using different types of adhesives. The same occlusal and chewing loads were exerted on the same restored residual root models with different types of adhesives separately. Results of von Mises stress analysis showed that the adhesives with low Young's modulus can protect the root canal effectively. However, a root canal concentration is apparently produced around the root canal orifice when chewing. Adhesives with large Young's modulus can buffer the stress concentration of the root canal orifice. However, the root canal tissue may be destroyed because the adhesive is too hard to buffer the load.