Aerial online mapping on-board system by real-time object detection for UGV path generation in unstructured outdoor environments

An optimal path provides efficient operation of unmanned ground vehicles (UGVs) for many kinds of tasks such as transportation, exploration, surveillance, and search and rescue in unstructured areas that include various unexpected obstacles. Various onboard sensors such as LiDAR, radar, sonar, and cameras are used to detect obstacles around the UGVs. However, their range of view is often limited by movable obstacles or barriers, resulting in inefficient path generation. Here, we present the aerial online mapping system to generate an efficient path for a UGV on a two-dimensional map. The map is updated by projecting obstacles detected in the aerial images taken by an unmanned aerial vehicle through an object detector based on a conventional convolutional neural network. The proposed system is implemented in real-time by a skid steering ground vehicle and a quadcopter with relatively small, low-cost embedded systems. The frameworks and each module of the systems are given in detail to evaluate the performance. The system is also demonstrated in unstructured outdoor environments such as in a football field and a park with unreliable communication links. The results show that the aerial online mapping is effective in path generation for autonomous UGVs in real environments.     

Study on wet patterning of thin films in vertical‐transfer wet station for thin‐film‐transistor manufacturing

Abstract— To overcome the “pseudo‐puddling effect” in a low‐angle‐tilt transfer system with an oversized glass substrate over 2 m, a vertical transfer is suggested. The aim of the present work is to study the wet‐etching behavior of an aluminum/molybdenum double layer deposited on the glass substrate in a vertical transfer wet etching system and compare it with a typical 5°‐tilt‐transfer system. Compared with the tilt‐transfer wet station, the vertical etching system has three advantages, namely, 50% space savings, higher throughput due to the high etch rate, and good etch uniformity over the entire glass for thin‐film‐transistor application. The computational fluid‐dynamics analysis is used to predict the change of the etch uniformity as a function of the tilt angle of the glass substrate.     

Multiscale Modulation of Nanocrystalline Cellulose Hydrogel via Nanocarbon Hybridization for 3D Neuronal Bilayer Formation

Bacterial biopolymers have drawn much attention owing to their unconventional three‐dimensional structures and interesting functions, which are closely integrated with bacterial physiology. The nongenetic modulation of bacterial (Acetobacter xylinum) cellulose synthesis via nanocarbon hybridization, and its application to the emulation of layered neuronal tissue, is reported. The controlled dispersion of graphene oxide (GO) nanoflakes into bacterial cellulose (BC) culture media not only induces structural changes within a crystalline cellulose nanofibril, but also modulates their 3D collective association, leading to substantial reduction in Young's modulus (≈50%) and clear definition of water–hydrogel interfaces. Furthermore, real‐time investigation of 3D neuronal networks constructed in this GO‐incorporated BC hydrogel with broken chiral nematic ordering revealed the vertical locomotion of growth cones, the accelerated neurite outgrowth (≈100 µm per day) with reduced backward travel length, and the efficient formation of synaptic connectivity with distinct axonal bifurcation abundancy at the ≈750 µm outgrowth from a cell body. In comparison with the pristine BC, GO‐BC supports the formation of well‐defined neuronal bilayer networks with flattened interfacial profiles and vertical axonal outgrowth, apparently emulating the neuronal development in vivo. We envisioned that our findings may contribute to various applications of engineered BC hydrogel to fundamental neurobiology studies and neural engineering.     

A study on the distribution of chlorination by-products (CBPs) in treated water in Korea

Fifteen chlorination by-products were analyzed in 416 water samples collected from 35 water treatment plants in Korea from 1996 to 1998. These samples were divided into five groups according to water sources (Han-river, Nakdong-river, Youngsan-river, Kum-river and Cheju) and detected CBPs were classified into six classes (trihalomethanes; THMs, haloacetic acids; HAAs, haloacetonitriles: HANs haloketones; HKs, chloralhydrate; CH, chloropicrin; CP) and then, it was observed the detection tendency and frequency of CBPs in each water source. The total concentration of CBPs in treated water from Nakdong-river or Han-river was higher than those from the other rivers. And the distribution pattern of each class of CBPs was similar in all water sources. THMs were the highest portion in the range of 40-50%, and HAAs and HANs were 28-35 and 9-15%, respectively. And there was a strong correlation between HANs and HKs (r=0.813). Each and total concentrations of CBPs showed to be more affected by the water source in two-way analysis of variance (two-way ANOVA) among the concentration of CBPs, the source of water and season.     

Mixed‐Dimensional 1D ZnO–2D WSe2 van der Waals Heterojunction Device for Photosensors

2D layered van der Waals (vdW) atomic crystals are an emerging class of new materials that are receiving increasing attention owing to their unique properties. In particular, the dangling‐bond‐free surface of 2D materials enables integration of differently dimensioned materials into mixed‐dimensional vdW heterostructures. Such mixed‐dimensional heterostructures herald new opportunities for conducting fundamental nanoscience studies and developing nanoscale electronic/optoelectronic applications. This study presents a 1D ZnO nanowire (n‐type)–2D WSe₂ nanosheet (p‐type) vdW heterojunction diode for photodetection and imaging process. After amorphous fluoropolymer passivation, the ZnO–WSe₂ diode shows superior performance with a much‐enhanced rectification (ON/OFF) ratio of over 10⁶ and an ideality factor of 3.4–3.6 due to the carbon–fluorine (C? F) dipole effect. This heterojunction device exhibits spectral photoresponses from ultraviolet (400 nm) to near infrared (950 nm). Furthermore, a prototype visible imager is demonstrated using the ZnO–WSe₂ heterojunction diode as an imaging pixel. To the best of our knowledge, this is the first demonstration of an optoelectronic device based on a 1D–2D hybrid vdW heterojunction. This approach using a 1D ZnO–2D WSe₂ heterojunction paves the way for the further development of electronic/optoelectronic applications using mixed‐dimensional vdW heterostructures.     

Hierarchically Nanostructured 1D Conductive Bundle Yarn‐Based Triboelectric Nanogenerators

Wearable 2D textile platforms are the subject of intense focus to promote the creation of outstanding added value for textile‐based applications in consumer electronics, energy harvesting, and storage. In particular, 2D textile‐based energy harvesters from the living environment of human motions exhibit insufficient geometry deformation and low current density, thereby providing low power generation. Therefore, a unique starting point in this work is the use of 1D conductive bundle yarn (1D CBY) as a generic step for the development of 1D CBY‐based energy harvesters through a weaving technology. The performance of 1D CBY‐based triboelectric nanogenerators (1D CBY‐TENGs) is addressed through contact electrification between the arrays of nanostructured 1D CBYs and 2D conductive fabric serving as tribomaterials. The manipulation of hierarchically nanostructured surfaces on the 1D CBYs by the hydrothermal process represents one of the crucial approaches of enhancing power generation through a large contact surface area. The 1D CBY‐TENGs with a variation in the number of 1D CBY and stack configurations are also tested as a simple integration scheme, confirming the expected 1D CBY number and stack dependency in the output performance.     

Analysis of the Bipolar Resistive Switching Behavior of a Biocompatible Glucose Film for Resistive Random Access Memory

Resistive random access memory (RRAM) devices are fabricated through a simple solution process using glucose, which is a natural biomaterial for the switching layer of RRAM. The fabricated glucose‐based RRAM device shows nonvolatile bipolar resistive switching behavior, with a switching window of 10³. In addition, the endurance and data retention capability of glucose‐based RRAM exhibit stable characteristics up to 100 consecutive cycles and 10⁴ s under constant voltage stress at 0.3 V. The interface between the top electrode and the glucose film is carefully investigated to demonstrate the bipolar switching mechanism of the glucose‐based RRAM device. The glucose based‐RRAM is also evaluated on a polyimide film to verify the possibility of a flexible platform. Additionally, a cross‐bar array structure with a magnesium electrode is prepared on various substrates to assess the degradability and biocompatibility for the implantable bioelectronic devices, which are harmless and nontoxic to the human body. It is expected that this research can provide meaningful insights for developing the future bioelectronic devices.