Hardware Sequencing of Inflatable Nonlinear Actuators for Autonomous Soft Robots

Soft robots are an interesting alternative for classic rigid robots in applications requiring interaction with organisms or delicate objects. Elastic in?atable actuators are one of the preferred actuation mechanisms for soft robots since they are intrinsically safe and soft. However, these pneumatic actuators each require a dedicated pressure supply and valve to drive and control their actuation sequence. Because of the relatively large size of pressure supplies and valves compared to electrical leads and electronic controllers, tethering pneumatic soft robots with multiple degrees of freedom is bulky and unpractical. Here, a new approach is described to embed hardware intelligence in soft robots where multiple actuators are attached to the same pressure supply, and their actuation sequence is programmed by the interaction between nonlinear actuators and passive ?ow restrictions. How to model this hardware sequencing is discussed, and it is demonstrated on an 8‐degree‐of‐freedom walking robot where each limb comprises two actuators with a sequence embedded in their hardware. The robot is able to carry pay loads of 800 g in addition to its own weight and is able to walk at travel speeds of 3 body lengths per minute, without the need for complex on‐board valves or bulky tethers.     

3D Scaffolds to Study Basic Cell Biology

Mimicking the properties of the extracellular matrix is crucial for developing in vitro models of the physiological microenvironment of living cells. Among other techniques, 3D direct laser writing (DLW) has emerged as a promising technology for realizing tailored 3D scaffolds for cell biology studies. Here, results based on DLW addressing basic biological issues, e.g., cell‐force measurements and selective 3D cell spreading on functionalized structures are reviewed. Continuous future progress in DLW materials engineering and innovative approaches for scaffold fabrication will enable further applications of DLW in applied biomedical research and tissue engineering.     

Tunable,Grating-Gated,Graphene-On-Polyimide Terahertz Modulators

An electrically switchable graphene terahertz (THz) modulator with a tunable-by-design optical bandwidth is presented and it is exploited to compensate the cavity dispersion of a quantum cascade laser (QCL). Electrostatic gating is achieved by a metal grating used as a gate electrode, with an HfO₂/AlO_x gate dielectric on top. This is patterned on a polyimide layer, which acts as a quarter wave resonance cavity, coupled with an Au reflector underneath. The authors achieve 90% modulation depth of the intensity, combined with a 20 kHz electrical bandwidth in the 1.9–2.7 THz range. The modulator is then integrated with a multimode THz QCL. By adjusting the modulator operational bandwidth, the authors demonstrate that the graphene modulator can partially compensate the QCL cavity dispersion, resulting in an integrated laser behaving as a stable frequency comb over 35% of the operational range, with 98 equidistant optical modes and a spectral coverage ~1.2 THz. This paves the way for applications in the terahertz, such as tunable transformation-optics devices, active photonic components, adaptive and quantum optics, and metrological tools for spectroscopy at THz frequencies.     

Crystallization of 2D Hybrid Organic–Inorganic Perovskites Templated by Conductive Substrates

2D hybrid organic–inorganic perovskites are valued in optoelectronic applications for their tunable bandgap and excellent moisture and irradiation stability. These properties stem from both the chemical composition and crystallinity of the layer formed. Defects in the lattice, impurities, and crystal grain boundaries generally introduce trap states and surface energy pinning, limiting the ultimate performance of the perovskite; hence, an in-depth understanding of the crystallization process is indispensable. Here, a kinetic and thermodynamic study of 2D perovskite layer crystallization on transparent conductive substrates are provided—fluorine-doped tin oxide and graphene. Due to markedly different surface structure and chemistry, the two substrates interact differently with the perovskite layer. A time-resolved grazing-incidence wide-angle X-ray scattering (GIWAXS) is used to monitor the crystallization on the two substrates. Molecular dynamics simulations are employed to explain the experimental data and to rationalize the perovskite layer formation. The findings assist substrate selection based on the required film morphology, revealing the structural dynamics during the crystallization process, thus helping to tackle the technological challenges of structure formation of 2D perovskites for optoelectronic devices.     

Incidence of an Ozonation Stage on the Treatment of Cherry Stillage by Activated Sludge

This article presents a laboratory study of the ozonation of diluted cherry stillage, a high-strength wastewater. Influence of variables, kinetics, and the effects of an ozonation stage coupled with the biological treatment by activated sludge are addressed. Single activated sludge processing was shown effective to remove biological oxygen demand (BOD) and chemical oxygen demand (COD) but polyphenols were reduced to a lesser extent. On the other hand, direct wastewater ozonation did not reduce COD and total organic carbon (TOC) appreciably, and foaming problems were experienced when a high gas flow rate was applied. However, polyphenols and UV₂₅₄ absorbance decreased substantially by means of ozonation. To best achieve complete cherry stillage purification, two ways of coupling ozonation with activated sludge are proposed. Ozonation prior to activated sludge is advised for high-concentration wastewater to reduce polyphenol concentration, thus removing inhibiting effects. For wastewater with low polyphenol concentration the sequence activated sludge–ozonation–activated sludge is preferred to enhance the overall process performance in terms of oxidation efficiency and sludge settling.     

Collection of soot particles into aqueous suspension using a particle-into-liquid sampler

Steam collection devices collecting aerosol particles into liquid samples are frequently used to analyze water-soluble particulate material. The fate of water-insoluble components is often neglected. In this work, we show that fresh soot particles can be suspended into pure water using a steam collection device, the particle-into-liquid sampler (PILS, Weber et?al. 2001). The overall collection efficiency of freshly generated soot particles was found to be on the order of 20%. This shows that, depending on the analytic technique employed, the presence of insoluble, and/or hydrophobic particles in liquid samples from steam collection cannot be neglected.

Copyright © 2018 The Author(s). Published with license by Taylor & Francis Group, LLC     

Relationship concerning the nature and concentration of Fe(III) species on the surface of TiO2 particles and photocatalytic activity of the catalyst

There have been contradictory results concerning the effect of doping TiO₂ with Fe(III) upon its photocatalytic activity. We believe that this is due to the method used in adding the Fe(III) to TiO₂. This paper addresses this issue by using a precise adsorption process for loading stable aqueous suspensions (sols) of TiO₂ doped with Fe(III). In this manner, we control the speciation of Fe(III) on the surface of TiO₂ and subsequently use these loaded sols to produce stable thin-film photocatalysts. Adsorption isotherms for these systems at different pH (2.0 and 2.5) values showed that both pH and the concentration of Fe(III) in solution influence the adsorption density of Fe(III), the stability of the resulting sols, and the speciation (degree of polymerization) of Fe(III) ions on the surface of the TiO₂ nano-particles. UV-Vis spectroscopy on selected systems was the technique employed to confirm these results. The pore structure of the resulting gels (xerogels) prepared from these sols, as well as thermal stability of porous materials prepared by firing the xerogels have been determined by measuring N₂ adsorption as a function of firing temperature. Thermal analysis (TG–DTA) studies on xerogels obtained from some of these systems showed that the presence of Fe(III) species on the TiO₂ retards the conversion of anatase into rutile and therefore increases the thermal stability of the gel microstructure. Lastly, porous films, resulting from the casting of the sols on glass rings and subsequent firing, were used in photocatalytic studies. In the presence of UV light, these supported films were capable of degrading ethanol in the gas phase. While photocatalytic activity for Fe(III) loaded TiO₂ films is less than for TiO₂ films without Fe(III), the speciation of Fe(III) on the surface directly influences the behavior of the intermediate—acetaldehyde—formed in this reaction. Since we have only evaluated the effect of iron speciation on the degradation of ethanol, other target species may be influenced either advantageously or deleteriously depending upon the state of Fe(III) on the surface of TiO₂ photocatalysts.     

Volatiles from Potential Hosts of Rhopalicus tutela a Bark Beetle Parasitoid

Host location cues for parasitic wasps that attack bark beetle larvae concealed under the bark of spruce trees were analyzed by collecting odor samples from entrance holes into the bark beetle galleries, isolated larvae, and pupal chambers with or without bark beetle larvae. Odor samples were collected by dynamic headspace adsorptions on Porapak Q or static adsorptions by using solid-phase microextraction (SPME) with Carbowax–divinylbenzene as the adsorbing phase. Samples were analyzed by coupled gas chromatographic–electroantennographic detection (GC-EAD) and GC-mass spectrometry (GC-MS). The antennae of Rhopalicus tutela females responded primarily to oxygenated monoterpenes that are typical for damaged host trees. These compounds are attractive to bark beetle parasitoids in long-range host location, suggesting that they are used in both long- and short-range host location. No differences could be detected between samples collected from pupal chambers with or without mature larvae. Larvae outside pupal chambers emitted low quantities of the same compounds present in empty pupal chambers. The data support the hypothesis that volatiles used by host foraging parasitoids arise from the interaction between introduced microorganisms and the bark and/or vascular tissue of the host tree rather than from the bark beetle larvae.     

Anionic polymerization of acrylates. XIV. Synthesis of MMA/acrylate block copolymers initiated with ester-enolate/tert-alkoxide complex

Diblock copolymers of methyl methacrylate (MMA) with 2-ethylhexyl, butyl, ethyl or tert-butyl acrylate (EtHA, BuA, EtA, t-BuA) have been prepared by the ligated anionic polymerization initiated with methyl 2-lithioisobutyrate (MIB-Li) in the presence of an excess of Li tert-butoxide (t-BuOLi) in toluene/THF mixture at −60 or −78 °C. The copolymers, prepared at −60 °C, show MWD with a hint of bimodality, indicating partial deactivation of the living PMMA upon addition of acrylic monomer. At −78 °C, the extent of this deactivation is distinctly lower, the formed block copolymers, in particular, poly(MMA-b-EtHA), have unimodal MWD and exhibit tails only in the lower-molecular-weight region. Poly(MMA-b-EtHA)s were extracted with acetonitrile dissolving PMMA; very small parts of the crude products dissolved, whereas prevailing parts remained as solids documenting thus formation of block copolymer in a high yield. Surprisingly, the highest amount of self terminated PMMA was found in block copolymerization of MMA with t-BuA at both the temperatures, the products of which had clearly bimodal MWDs. This finding is shortly discussed on the basis of relatively slow propagation of t-BuA in comparison with EtHA, BuA and EtA.     

Selective sorption of a Ge(IV) oxoanion by composite sorbent with hydrous oxide of cerium

In this work, composite sorbent based on hydrous cerium oxide was used for selective removal of a Ge (IV) oxoanion. Experiments were carried out by batch equilibrium tests and dynamic column sorption. The best sorption capacity of the Ge(IV) anion was reached at a pH of 9, where the sorption capacity was about 1.1 g/L. The negative effect of chlorides and sulfates was not observed in the concentration range of 100–1000 mg/L. The optimal flow rate for Ge(VI) sorption by sorbent CeO₂/XAD-7 was determined to be 6–12 BV/h. For regeneration, 10 BV of 1 mol/L HCl solution was used.