Recent Development of Jumping Motions Based on Soft Actuators

Drawing inspiration from the jumping motions of living creatures in nature, jumping robots have emerged as a promising research field over the past few decades due to great application potential in interstellar exploration, military reconnaissance, and life rescue missions. Early reviews mainly focused on jumping robots made of lightweight and rigid materials with mechanical components, concentrating on jumping control and stability. Herein, attention is paid to the jumping mechanisms of soft actuators assembled from various soft smarting materials and powered by different stimulus sources. The challenges and prospects of soft jumping actuators are also discussed. It is hoped that this review will contribute to the further development of soft jumping actuators and broaden their practical applications.     

3D Knitting for Pneumatic Soft Robotics

Soft robots adapt passively to complex environments due to their inherent compliance, allowing them to interact safely with fragile or irregular objects and traverse uneven terrain. The vast tunability and ubiquity of textiles has enabled new soft robotic capabilities, especially in the field of wearable robots, but existing textile processing techniques (e.g., cut-and-sew, thermal bonding) are limited in terms of rapid, additive, accessible, and waste-free manufacturing. While 3D knitting has the potential to address these limitations, an incomplete understanding of the impact of structure and material on knit-scale mechanical properties and macro-scale device performance has precluded the widespread adoption of knitted robots. In this work, the roles of knit structure and yarn material properties on textile mechanics spanning three regimes–unfolding, geometric rearrangement, and yarn stretching–are elucidated and shown to be tailorable across unique knit architectures and yarn materials. Based on this understanding, 3D knit soft actuators for extension, contraction, and bending are constructed. Combining these actuation primitives enables the monolithic fabrication of entire soft grippers and robots in a single-step additive manufacturing procedure suitable for a variety of applications. This approach represents a first step in seamlessly “printing” conformal, low-cost, customizable textile-based soft robots on-demand.     

Highly Conductive MXene/PEDOT:PSS-Integrated Poly(N-Isopropylacrylamide) Hydrogels for Bioinspired Somatosensory Soft Actuators

Sophisticated sensing and actuation capabilities of many living organisms in nature have inspired scientists to develop biomimetic somatosensory soft robots. Herein, the design and fabrication of homogeneous and highly conductive hydrogels for bioinspired somatosensory soft actuators are reported. The conductive hydrogels are synthesized by in situ copolymerization of conductive surface-functionalized MXene/Poly(3,4-ethylenedioxythiophene)/poly(styrenesulfonate) ink with thermoresponsive poly(N-isopropylacrylamide) hydrogels. The resulting hydrogels are found to exhibit high conductivity (11.76 S m⁻¹), strain sensitivity (GF of 9.93), broad working strain range (≈560% strain), and high stability after over 300 loading–unloading cycles at 100% strain. Importantly, shape-programmable somatosensory hydrogel actuators with rapid response, light-driven remote control, and self-sensing capability are developed by chemically integrating the conductive hydrogels with a structurally colored polymer. As the proof-of-concept illustration, structurally colored hydrogel actuators are applied for devising light-driven programmable shape-morphing of an artificial octopus, an artificial fish, and a soft gripper that can simultaneously monitor their own motions via real-time resistance variation. This work is expected to offer new insights into the design of advanced somatosensory materials with self-sensing and actuation capabilities, and pave an avenue for the development of soft-matter-based self-regulatory intelligence via built-in feedback control that is of paramount significance for intelligent soft robotics and automated machines.     

Use of blowing catalysts for integral skin polyurethane applications in a controlled molecular architectural environment: Synthesis and impact on ultimate physical properties

Polyurethane elastomers of a controlled molecular architecture were synthesized using a two‐step polymerization technique. The building blocks of the elastomeric materials included urea–urethane prepolymers end‐capped with diisocyanate groups and had an exact number of urea groups at both ends. Two‐dimensional bifurcated hydrogen‐bonding networks incorporating the urea groups were, with differential scanning calorimetric and dynamic mechanical thermal analyzer techniques, responsible for the increase in the glass‐transition temperature (T_g) of the hard block and sharp interface morphology between the pure “hard” domains and pure “soft” domains. The higher extent of the phase separation between the two phases contributed to higher elastic moduli for the hard blocks and higher tensile strength for the elastomeric samples. Higher elongation values were attributed to the liberation of the elastomeric chain ends that otherwise would have been constrained in the interface region. The higher T_g values of the hard blocks corresponded to an increase in the hardness values and a decrease in the tear‐strength values. The increase in the amount of urea groups within the hard segments, as a result of the increased amount of water and blowing catalyst, resulted in elastomeric foams with higher open‐cell content. This resulted in lower resilience values as measured using the pendulum rebound test and was attributed to the ability of the open cells to absorb and dissipate energy. © 2002 Wiley Periodicals, Inc. J Polym Sci Part A: Polym Chem 40: 2526–2536, 2002     

Low-molecular-weight photoresponsive supramulecular hydrogel based on a dicationic azobenzene-bridged pyridinium hydrogelator

Photoresponsive supramolecular hydrogel was fabricated from a small azobenzene-bridged dicationic pyridinium salt in the aqueous solution. The UV-vis light triggered reversible gel-sol transformation of such low-molecular-weight supramolecular hydrogel was systematically investigated through various analytical techniques.     

增强实验室X激光的亮度

实验室X激光已经取得重大进展,但均属自发辐射放大,缺乏模式限制的措施,故激光功率分散在多横模中,提高激光亮度的措施之一是模式限制.由于X光多层膜一般为高吸收膜,用以形成谐振腔作模式限制看来是困难的.本文建议采用相距足够远的二段激光等离子体作同步延迟行波放大来进行横模限制.分析表明,达到衍射极限的单横模X激光是可能的,这对X光全息术以及高亮度X激光的实现是十分重要的.本文还建议改变一般采用的产生线状等离子体的光学系统设计,使激光功率密度在长线上达到均匀;认为过去的光学系统不良是长焦线时,X激光增益-长度乘积低的一个可能原因.     

ORGANIC GEOCHEMISTRY OF ARTIFICIALLY HEATED SPHAGNUM COAL CONSIDERED AS POSSIBLE SOURCE ROCK FOR OIL AND GAS

A preliminary study of simulated thermal maturity has been conducted to evaluate the oil, gas and hydrocarbon generation potential of sphagnum coal in the Jinsuo brown coal basin, Yunnan Province and to understand the characteristics of the element composition and biomarkers in the course of thermal alteration. The experimental result was compared with that of xylitic coal, a kind of lithotype of soft brown coal. It is considered that sphagnum coal possesses the potential of forming economic accumulation of oil and gas. Its highest proportion of oil and hydrocarbon generation is 510 mg/g Corg. and 232.1 mg/g Corg. respectively. At an R_(ran)~° value of 2.51%, the ratio of gas generation from sphagnum coal attains to 620.5 ml/g Corg. In view of sphagnum coal being different from the conventional soft brown coal in various respects such as coal forming raw materials and enviroments as well as physico-chemical properties, it is Suggested as a special kind of source rock for coal-generated oil and gas.     

Influence of media nutrients on synthesis of lignin peroxidase from Aspergillus sp

The effect of carbon and nitrogen sources, lignocellulosic substrates, and metal ions on lignin peroxidase (LiP) activity of Aspergillus sp., which was isolated from a mangrove area, was studied. Glucose (1%) was found to be the best carbon source. Among the various lignocellulosic substrates used, coir pith at 3% concentration increased LiP activity twofold on the second day of incubation. Peptone and KNO₃ completely inhibited the enzyme synthesis while (NH₄)₂SO₄ at 12.5 mM produced maximum activity. Since seawater contained all the requisite metal ions, any added ions had a negative effect on activity. Cu²⁺ had the most inhibiting effect while K⁺ the least. When all the optimized conditions were provided, in nitrogen- and carbon-sufficient medium, a maximum LiP activity of 345 U/mL was obtained on the second day of incubation.     

Imaging Magnetic Domain Structures with Soft X-Ray Microscopy

The current achievements in magnetic transmission soft X-ray microscopy will be reviewed. The magnetic contrast is given by X-ray magnetic circular dichroism (X-MCD), i.e., the dependence of the absorption coefficient of circularly polarized X rays on the projection of the magnetization in a ferromagnetic system onto the photon propagation direction. X-MCD contrast can reach, e.g., at L_2,3 edges in transition metals, large values up to 50%. Combined with a soft X-ray microscope where Fresnel zone plates acting as optical elements provide a lateral resolution down at 25 nm, it allows for imaging magnetic microstructures. Specific features of this photon-based technique are the recording of images in varying external magnetic fields, an inherent chemical specificity, a high sensitivity to thin magnetic layers, due to the large contrast, and the possibility to distinguish between in-plane and out-of plane contributions. In this report, recent results obtained with the XM-1 microscope at the ALS (Berkeley/CA) demonstrate the broad applicability of this novel experimental technique to both fundamental and technological relevant issues in nanomagnetism. The future potential will be briefly outlined.     

New lipids from the soft corals of the Andaman Islands

Sphingolipids and glycolipids including previously unknown (2S,3S,4R)-1,3,4-trihydroxy-2-(2-(R)-hydroxyoctadecanoylamino)octadec-8E-ene, (2S,3R)-1,3-dihydroxy-2-octadecanoylamino-4E,8E-hexadecadiene, and (2-hydroxy-3-hexadecyloxypropyl)--L-fucopyranoside were isolated from soft corals collected on the shelf near the Andaman Islands (Indian Ocean). The structures of all compounds were established by spectroscopic methods and chemical analyses. The lipids possessed antibacterial activity against Bacillus subtilis, Bacillus pumilus, Escherichia coli, and Pseudomonas aeruginosa and antifungal activity against Aspergillus niger, Rhizopus oryzae, and Candida albicans.