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.     

The assembly line worker assignment and balancing problem with stochastic worker availability

Assembly lines can be employed successfully in sheltered work centres to better include persons with disabilities in the labour market as well as to improve production efficiency. The optimal assignment of a heterogeneous workforce is known as the assembly line worker assignment and balancing problem (ALWABP). These assembly lines are characterised not only by a heterogeneous workforce, but also by high levels of absenteeism, which makes it more difficult to obtain stable and efficient line balancing solutions. In this paper, an extension of the ALWABP to minimise the expected cycle time under uncertain worker availability is proposed. We model this problem as a two-stage mixed integer program, and propose local search heuristics for solving it. Computational experiments show that stochastic modelling can help to improve the line’s efficiency and that the proposed heuristics produce good results for instances of practical size.     

Retracted: Dual Effects of Nanostructuring and Oxygen Vacancy on Photoelectrochemical Water Oxidation Activity of Superstructured and Defective Hematite Nanorods

An Ar atmospheric treatment is rationally used to etch and activate hematite nanoflakes (NFs) as photoanodes toward enhanced photoelectrochemical water oxidation. The formation of a highly ordered hematite nanorods (NRs) array containing a high density of oxygen vacancy is successfully prepared through in situ reduction of NFs in Ar atmosphere. Furthermore, a hematite (104) plane and an iron suboxide layer at the absorber/back‐contact interface are formed. The material defects produced by a thermal oxidation method can be critical for the morphology transformation from 2D NFs to 1D NRs. The resulting hematite NR photoanodes show high efficiency toward solar water splitting with improved light harvesting capabilities, leading to an enhanced photoresponse due to the artificially formed oxygen vacancies.     

DuD Recht

DuD Recht

DuD Recht     

A fully integrated 1‐in. AMOLED display using current feedback based on a five‐mask LTPS CMOS process

Abstract— In the past, a five‐mask LTPS CMOS process requiring only one single ion‐doping step was used. Based on that process, all necessary components for the realization of a fully integrated AMOLED display using a 3T1C current‐feedback pixel circuit has recently been developed. The integrated data driver is based on a newly developed LTPS operational amplifier, which does not require any compensation for Vth or mobility variations. Only one operational amplifier per column is used to perform digital‐to‐analog conversion as well as current control. In order to achieve high‐precision analog behavior, the operational amplifier is embedded in a switched capacitor network. In addition to circuit verification by simulation and analytic analysis, a 1‐in. fully integrated AMOLED demonstrator was successfully built. To the best of the authors' knowledge, this is the first implementation of a fully integrated AMOLED display with current feedback.     

Physics-Based Person Tracking Using the Anthropomorphic Walker

We introduce a physics-based model for 3D person tracking. Based on a biomechanical characterization of lower-body dynamics, the model captures important physical properties of bipedal locomotion such as balance and ground contact. The model generalizes naturally to variations in style due to changes in speed, step-length, and mass, and avoids common problems (such as footskate) that arise with existing trackers. The dynamics comprise a two degree-of-freedom representation of human locomotion with inelastic ground contact. A stochastic controller generates impulsive forces during the toe-off stage of walking, and spring-like forces between the legs. A higher-dimensional kinematic body model is conditioned on the underlying dynamics. The combined model is used to track walking people in video, including examples with turning, occlusion, and varying gait. We also report quantitative monocular and binocular tracking results with the HumanEva dataset.