Although various soft pneumatic actuators have been studied, their performance, including load capacity, has not been satisfied yet. Enhancing their actuation capability and using them to develop soft robots with high performance is still an open and challenging issue. In this study, we developed novel pneumatic actuators based on fiber-reinforced airbags as a solution to this problem, of which the maximum pressure reaches more than 100 kPa. Through cellular rearrangement, the developed actuators could bend uni- or bidirectionally, achieving large driving force, large deformation, and high conformability. Hence, they could be used to develop soft manipulators with relatively large payload (up to 10 kg, about 50 times the body self-weight) and soft climbing robots with high mobility. In this article, we first present the design of the airbag-based actuators and then model the airbag to obtain the relationship between the pneumatic pressure, external force, and deformation. Subsequently, we validate the models by comparing the simulated and measured results and test the load capacity of the bending actuators. Afterward, we present the development of a soft pneumatic robot that can rapidly climb horizontal, inclined, and vertical poles with different cross-sectional shapes and even outdoor natural objects, like bamboos, at a speed of 12.6 mm/s generally. In particular, it can dexterously transition between poles at any angle, which, to the best of our knowledge, has not been achieved before.
Similar to the end effectors for traditional rigid robots, those for soft robots are essential as the interacting media between the robots and their environments. Inspired by the forelegs of climbing animals, a passively adaptive soft gripper (ASG), with six claws and a compliant mechanism, is developed for grasping objects and attaching to rough surfaces. The design method, grasp adaptability, form closure, and force equilibrium of the ASG are presented and analyzed in this paper. Due to the compliance at each claw root, the ASG possesses a high passive adaption to various objects. With sharp hooks, a form closure may be achieved easily when the ASG grasps rough objects with structured or unstructured shapes. The ASG grasping an object constitutes an under-actuated system, the solution to which is difficult to obtain. The Monte Carlo method is suggested to achieve effective solutions for such systems, and the in-hull rate is proposed to evaluate the difficulty of finding solution. Tests and experiments with the ASG grasping various objects have verified the adaptability and reliability of the ASG. The analytic and experimental results show that the novel ASG may be used as a universal gripper for soft manipulators and a prospective attaching device for biped climbing soft robots.
Robotics , Animals , Hand Strength , Mechanical Phenomena , Prospective Studies , Reproducibility of Results
In view of the influence of variability of low-frequency noise frequency on noise prevention in real life, we present a novel two-dimensional tunable phononic crystal plate which is consisted of lead columns deposited in a silicone rubber plate with periodic holes and calculate its bandgap characteristics by finite element method. The low-frequency bandgap mechanism of the designed model is discussed simultaneously. Accordingly, the influence of geometric parameters of the phononic crystal plate on the bandgap characteristics is analyzed and the bandgap adjustability under prestretch strain is further studied. Results show that the new designed phononic crystal plate has lower bandgap starting frequency and wider bandwidth than the traditional single-sided structure, which is due to the coupling between the resonance mode of the scatterer and the long traveling wave in the matrix with the introduction of periodic holes. Applying prestretch strain to the matrix can realize active realtime control of low-frequency bandgap under slight deformation and broaden the low-frequency bandgap, which can be explained as the multiple bands tend to be flattened due to the localization degree of unit cell vibration increases with the rise of prestrain. The presented structure improves the realtime adjustability of sound isolation and vibration reduction frequency for phononic crystal in complex acoustic vibration environments.
Incorporating metal nanocrystals with semiconductor photoanodes significantly enhances the efficiency of the energy conversion in the visible range during water splitting due to the excitation of hot electrons. While extensively studied on ensemble samples, hot electron response of metal nanocrystals in a photoelectrochemical cell remains unexploited at the single-particle level. Herein, we systematically investigate hot electron response of individual single-crystalline gold nanocrystals (AuNCs) on a TiO2 photoanode during water splitting. We directly correlate the morphology of the AuNC and its plasmonic property to the efficiencies involving hot electrons with the help of single-particle dark-field microscopy and photocurrent mapping. Our results show that the efficiencies of individual AuNCs are dependent on a variety of factors including interface condition, applied bias, excitation power, incident angle, and AuNC size. Our research may shed light on optimizing the light-harvesting capability of metal/semiconductor photoanodes by providing insights into the photocatalytic processes.
Reversible redox reaction-based thermochromism using plasmonic nanocrystals is challenging due to the requirements set based on the complexity of the reaction system where the oxidizing and reducing agents must not interfere with each other, and both should possess temperature sensitivity. Herein, we demonstrate plasmonic thermochromism based on a reversible redox reaction of Ag+/Ag on Au nanorods (AuNRs) by incorporating temperature-sensitive reducing and oxidizing agents into the same system. The competition between reduction and oxidation is solely dependent on temperature. When the temperature is above (below) the transition temperature, the reduction of Ag+ (oxidation of Ag) dominates on the surface of AuNRs, and the thermochromic nanostructure solution appears green (red). An experimental study on the mechanism reveals that HOCl produced at low concentrations by H2O2 is the source of the observed temperature dependence of the Ag oxidation. Rationally tuning the transition temperature in a range from 27 to 40 °C can be realized by changing the concentration of some key chemical compounds in the solution. The thermochromic solution can be standalone-functional within multiple cycles of heating and cooling and long-term storage without any additional reagents. Our study provides new insight into plasmonic thermochromism and may pave the way for fabricating smart thermochromic materials.
In kernel methods, Nyström approximation is a popular way of calculating out-of-sample extensions and can be further applied to large-scale data clustering and classification tasks. Given a new data point, Nyström employs its empirical affinity vector, k, for calculation. This vector is assumed to be a proper measurement of the similarity between the new point and the training set. In this paper, we suggest replacing the affinity vector by its projections on the leading eigenvectors learned from the training set, i.e., using k*=∑i=1ckTuiui instead, where ui is the i-th eigenvector of the training set and c is the number of eigenvectors used, which is typically equal to the number of classes designed by users. Our work is motivated by the constraints that in kernel space, the kernel-mapped new point should (a) also lie on the unit sphere defined by the Gaussian kernel and (b) generate training set affinity values close to k. These two constraints define a Quadratic Optimization Over a Sphere (QOOS) problem. In this paper, we prove that the projection on the leading eigenvectors, rather than the original affinity vector, is the solution to the QOOS problem. The experimental results show that the proposed replacement of k by k* slightly improves the performance of the Nyström approximation. Compared with other affinity matrix modification methods, our k* obtains comparable or higher clustering performance in terms of accuracy and Normalized Mutual Information (NMI).
For a biped climbing robot with dual grippers to climb poles, trusses or trees, feasible collision-free climbing motion is inevitable and essential. In this paper, we utilize the sampling-based algorithm, Bi-RRT, to plan single-step collision-free motion for biped climbing robots in spatial trusses. To deal with the orientation limit of a 5-DoF biped climbing robot, a new state representation along with corresponding operations including sampling, metric calculation and interpolation is presented. A simple but effective model of a biped climbing robot in trusses is proposed, through which the motion planning of one climbing cycle is transformed to that of a manipulator. In addition, the pre- and post-processes are introduced to expedite the convergence of the Bi-RRT algorithm and to ensure the safe motion of the climbing robot near poles as well. The piecewise linear paths are smoothed by utilizing cubic B-spline curve fitting. The effectiveness and efficiency of the presented Bi-RRT algorithm for climbing motion planning are verified by simulations.
We theoretically investigate the nonresonant two-photon absorption (TPA) process in a two-level atom induced by a weak chirped pulse in the frequency domain. According to the extremum condition of the two-photon transition probability (TPTP) at the transition center frequency, we propose a Fresnel-inspired pulse tailoring scheme for TPA that is significantly different from that of Broers et al. [Phys. Rev. A46, 2749 (1992)]. Using this scheme, the TPTP can be focused or eliminated completely by constructively or destructively modulating various pathways of the quantum interference. Our results are a significant improvement on those obtained by Broers et al. and will have potential applications in selective two-photon microscopy and spectroscopy.
