Sequential Fusion Filter for State Estimation of Nonlinear Multi-Sensor Systems with Cross-Correlated Noise and Packet Dropout Compensation.

This paper is concerned with the problem of state estimation for nonlinear multi-sensor systems with cross-correlated noise and packet loss compensation. In this case, the cross-correlated noise is modeled by the synchronous correlation of the observation noise of each sensor, and the observation noise of each sensor is correlated with the process noise at the previous moment. Meanwhile, in the process of state estimation, since the measurement data may be transmitted in an unreliable network, data packet dropout will inevitably occur, leading to a reduction in estimation accuracy. To address this undesirable situation, this paper proposes a state estimation method for nonlinear multi-sensor systems with cross-correlated noise and packet dropout compensation based on a sequential fusion framework. Firstly, a prediction compensation mechanism and a strategy based on observation noise estimation are used to update the measurement data while avoiding the noise decorrelation step. Secondly, a design step for a sequential fusion state estimation filter is derived based on an innovation analysis method. Then, a numerical implementation of the sequential fusion state estimator is given based on the third-degree spherical-radial cubature rule. Finally, the univariate nonstationary growth model (UNGM) is combined with simulation to verify the effectiveness and feasibility of the proposed algorithm.

355 nm ultraviolet laser output based on a PPMgLN crystal.

This paper reports the method of generating a 355 nm ultraviolet (UV) quasicontinuous pulse laser by using two periodically poled Mg-doped lithium niobate (PPMgLN) crystals in a single-pass cascade. In the first PPMgLN crystal with a length of 20 mm and a first-order-poled period of 6.97 µm, the second-harmonic light of a 532 nm laser with 780 mW is generated from the 1064 nm laser with an average power of 2 W; After that, in the second PPMgLN crystal with a length of 15 mm and a third-order-poled period of 5.30 µm, the 532 nm laser generated was combined with the 1064 nm laser remaining through the first PPMgLN crystal to obtain a 355 nm UV laser with a maximum output average power of 20 mW, a repetition rate of 40 kHz, a pulse width of 49 ns, and a peak power of 10 W. Compared with existing reports, we have higher peak power and single pulse energy, which is an important application of the PPMgLN crystal. This paper will provide an important case for the realization of a 355 nm UV quasicontinuous or a continuous laser.

Broadband and CMOS-compatible polarization splitter and rotator built on a silicon nitride-on-silicon multilayer platform.

A broadband and CMOS-compatible polarization beam splitter and rotator (PSR) built on the silicon nitride-on-silicon multilayer platform is presented. The PSR is realized by cascading a polarization beam splitter and a polarization rotator, which are both subtly constructed with an asymmetrical directional coupler waveguide structure. The advantage of this device is that the function of PSR can be directly realized in the SiN layer, providing a promising solution to the polarization diversity schemes in SiN photonic circuits. The chip is expected to have high power handling capability as the light is input from the SiN waveguide. The use of silicon dioxide as the upper cladding of the device ensures its compatibility with the metal back-end-of-line process. By optimizing the structure parameters, a polarization conversion loss lower than 1 dB and cross talk larger than 27.6 dB can be obtained for TM-TE mode conversion over a wavelength range of 1450 to 1600 nm. For TE mode, the insertion loss is lower than 0.26 dB and cross talk is larger than 25.3 dB over the same wavelength range. The proposed device has good potential in diversifying the functionalities of the multilayer photonic chip with high integration density.

Broadband yellow-orange light generation based on a step-chirped PPMgLN ridge waveguide.

Yellow-orange lights, valuable in photodynamic therapies, spectroscopy, and optogenetics, are limited by the narrow bandwidth and bulky setup via the conventional Raman or optical parametric oscillation processes. Moreover, flatness in the broad-band spectrum is also important for the aforementioned applications with extended functions. In this paper, by carefully designing grating-periods of a step-chirped PPMgLN ridge waveguide for sum frequency generation (SFG), we report a compact broad-band yellow-orange light with bandwidth of 5.6 nm and an un-reported flatness (<1.5 dB). Correspondingly, the optical conversion efficiency is 232.08%/W, which is the best SFG efficiency for PPMgLN at the yellow-orange region, to the best of our knowledge. The results could also be adopted for other broad-band SFG process toward the vis-infrared region in an integrated structure.

CMOS-compatible, broadband, and polarization-independent edge coupler for efficient chip coupling with standard single-mode fiber.

A CMOS-compatible, broadband, and polarization-independent edge coupler for efficient chip coupling with standard single-mode fiber is proposed. Three layers of a silicon nitride waveguide array with the same structures are used in the top oxide cladding of the chip to achieve high coupling efficiency and to simplify the mode transformation structure. Optimal total coupling loss at the wavelength of 1550 nm, -0.49dB for TE mode polarization and -0.92dB for TM mode polarization is obtained. The -1dB bandwidth is beyond 160 nm for TE mode polarization and ∼130nm for TM mode polarization, respectively. A significant reduction in the packaging cost of silicon photonic chips is anticipated. Meanwhile, the structure holds vast potential for on-chip three-dimensional photonic integrations or fiber-to-chip, chip-to-chip optical interconnections.

Nanopore Structure and Origin of Lower Permian Transitional Shale, Eastern Ordos Basin, China.

Nanopores in the shale play a vital role in methane adsorption, and their structural characteristics and origins are of great significance for revealing the mechanism of methane adsorption, desorption, and diffusion. In this paper, through low-temperature ashing and low-pressure gas adsorption experiments, the nanopore structure of original shales and ashed shales was quantitatively characterized, and the nanopore origins in the transitional shale of lower Permian in eastern Ordos Basin were analyzed. The results show that the pore volume (PV) and specific surface area (SSA) of nanopores in transitional shale reservoirs are 0.0217-0.0449 cm3/g and 13.91-51.20 m2/g, respectively. The average contribution rates of micropores (<2 nm), mesopores (2-50 nm), and macropores (50-100 nm) to PV are 18.78, 72.26, and 8.96%, respectively, and the average contribution rates to SSA are 66.19, 33.10, and 0.71%, respectively. In addition, it is found that the average contribution rates of inorganic minerals and organic matter to the SSA of micropores are 55.9 and 44.1%, respectively, and the average contribution rates to the SSA of mesopores are 92.3 and 7.7%, respectively. Combining the adsorption properties of the main clay minerals and kerogen in shale, it is concluded that organic pores control the adsorption of methane with an absolute advantage in transitional shales. It is of great significance to understand the mechanism of methane occurrence, desorption, and diffusion in shales by clarifying the origins of multiscale pores.

A Gas-Ribbon-Hybrid Actuated Soft Finger with Active Variable Stiffness.

A new hybrid actuated soft finger with active variable stiffness is proposed for the first time by integrating gas-driven and ribbon-driven mechanisms. By carefully coordinating the two mechanisms, the bending deformation and the stiffness modulation processes of the soft finger can be uncoupled, providing it with both high flexibility and good variable stiffness. Although the soft finger, made entirely from flexible materials, works under a low and safe gas pressure of below 35 kPa, the maximum bending angle reaches ∼210°, and a single soft finger can withstand a weight of 1.25 kg. For any bending angle, with the help of the ribbon-driven mechanism, the stiffness of the soft finger can increase by three to six times. In addition, theoretical models are established for the evaluation of the bending-deformation characteristic and the output force of the soft finger, which are verified by experiments. A dual-finger soft robotic gripper is assembled by utilizing two soft fingers, which can easily and stably grab various objects with different sizes, shapes, and weights. Both the theoretical and experimental results indicate that the proposed gas-ribbon-hybrid actuated mechanism can effectively enhance the variable stiffness property of a soft finger while retaining its good compliance with the surroundings. This work might provide future insights for the development of compact and cost-effective soft end effectors with active variable stiffness.

Mid-infrared ridge waveguides fabricated in CaF2 crystal by the technique of O5+ ion irradiation.

The fabrication of ridge waveguides in calcium fluoride (CaF2) crystal working at the mid-infrared wavelength was studied. First, the planar waveguide was fabricated by using O5+ ion irradiation, and then the ridge waveguide structure was manufactured by precise diamond blade dicing. The propagation loss was measured by end-face coupling arrangement, and then annealing treatment was implemented to optimize the waveguide performance, and the propagation loss was finally reduced to 0.5 dB/cm. We measured the Raman spectra of the waveguide and substrate to observe the damage to the material lattice caused by O5+ ion irradiation technology.

Dual-laser-actuated operation of small size objects at a liquid interface.

This work focuses on the use, for the first time to our knowledge, of dual laser beams in photothermal-effect-based propulsion of small size objects at liquid interfaces. Compared with the single-laser mode, dual-laser-actuated operation turns out to be much more controllable with high quality, efficiency, and anti-interference capacity, which can be achieved through automated programming instead of through manual operation. A series of experiments were carried out to verify the principle, with the effects of laser power, laser-spot distance, and movement speed discussed in detail. The findings of this work might provide some insights into the development of intelligent macro/micro-operation systems for manipulating objects at different scales, such as drug particles and cells at liquid interfaces in the future.

A New Spiral-Type Inflatable Pure Torsional Soft Actuator.

Soft robot has become a hot topic recently due to its distinct advantages over traditional rigid robots such as high deformability and good impact resistance. However, the coupled deflections of flexile materials bring challenges to soft robotic research in many aspects such as kinematic modeling, dynamic analysis, and control. Besides, unwanted deformations might enlarge external dimensions of soft robots, causing a reduction in the efficiency and bringing about unexpected or harmful contacts with surrounding environments that will significantly affect the robots' performance. In this study, we propose a new inflatable soft actuator driven by two spiral chambers twined with fibers for the first time. A key feature of this actuator is that it possesses a pure and high-efficient torsional motion with no bending and extension movements when works without load, which reduces the difficulties of theoretical analysis and control to some extent. Kinematic model is established by combining virtual work principle and elastic strain energy function for nonlinear flexible materials. The new soft torsional actuator module is carefully designed and fabricated, of which both the kinematic property and output torque are investigated experimentally. Results show that the module exhibits good linearity with air pressure ranging from 35 to 100 kPa, and can provide a torsion angle of up to 110° with an angular displacement accuracy of ±2° in empty loaded conditions; the maximum output torque reaches 0.026 N·m with the corresponding air pressure of 100 kPa. Finally, three soft robots are assembled by utilizing this new, inflatable, pure, soft torsional actuator, and successfully carry out different manipulating tasks. This work might provide some insights into the design of linear soft actuators without coupled deformations in future.

A water-walking robot mimicking the jumping abilities of water striders.

The highly efficient and agile water-surface locomotion of water striders has attracted substantial research attention. Compared with imitating the horizontal rowing motion, imitating the jumping capability of water striders is much more challenging because the strong interaction in the jumping process easily causes the robot to sink. This study focuses on designing a miniature robot capable of continuously jumping on the water surface. A spring-based actuating mechanism is proposed to produce a large jumping force. The center of gravity of the robot is carefully designed to allow the robot to jump on the surface continuously and smoothly. The influences of several critical factors, including the area of the supporting legs, the spring stiffness, the jumping angle, etc on jumping ability are analyzed by means of dynamic simulation and experiments. The jumping performance under different jumping angles is tested. The fabricated robot weighs approximately 10.2 g and can continuously jump on water with a maximum leap height and length of 120 and 410 mm, respectively. This study helps researchers understand the jumping mechanism of water striders and provides a reference for developing water-jumping robots that can perform various aquatic tasks in the future.

Why superhydrophobicity is crucial for a water-jumping microrobot? Experimental and theoretical investigations.

This study reported for the first time a novel microrobot that could continuously jump on the water surface without sinking, imitating the excellent aquatic locomotive behaviors of a water strider. The robot consisted of three supporting legs and two actuating legs made from superhydrophobic nickel foam and a driving system that included a miniature direct-current motor and a reduction gear unit. In spite of weighing 11 g, the microrobot jumped 14 cm high and 35 cm long at each leap. In order to better understand the jumping mechanism on the water surface, the variation of forces exerted on the supporting legs was carefully analyzed and calculated based on numerical models and computational simulations. Results demonstrated that superhydrophobicity was crucial for increasing the upward force of the supporting legs and reducing the energy consumption in the process of jumping. Although bionic microrobots mimicking the horizontal skating motions of aquatic insects have been fabricated in the past years, few studies reported a miniature robot capable of continuously jumping on the water surface as agile as a real water strider. Therefore, the present finding not only offers a possibility for vividly imitating and better understanding the amazing water-jumping capability of aquatic insects but also extends the application of porous and superhydrophobic materials to advanced robotic systems.

Bioinspired aquatic microrobot capable of walking on water surface like a water strider.

Walking on the water surface is a dream of humans, but it is exactly the way of life for some aquatic insects. In this study, a bionic aquatic microrobot capable of walking on the water surface like a water strider was reported. The novel water strider-like robot consisted of ten superhydrophobic supporting legs, two miniature dc motors, and two actuating legs. The microrobot could not only stand effortlessly but also walk and turn freely on the water surface, exhibiting an interesting motion characteristic. A numerical model describing the interface between the partially submerged leg and the air-water surface was established to fully understand the mechanism for the large supporting force of the leg. It was revealed that the radius and water contact angle of the legs significantly affect the supporting force. Because of its high speed, agility, low cost, and easy fabrication, this microrobot might have a potential application in water quality surveillance, water pollution monitoring, and so on.