A Soft,Fast and Versatile Electrohydraulic Gripper with Capacitive Object Size Detection

Soft robotic grippers achieve increased versatility and reduced complexity through intelligence embodied in their flexible and conformal structures. The most widely used soft grippers are pneumatically driven; they are simple and effective but require bulky air compressors that limit their application space and external sensors or computationally expensive vision systems for pick verification. In this study, a multi-material architecture for self-sensing electrohydraulic bending actuators is presented that enables a new class of highly versatile and reconfigurable soft grippers that are electrically driven and feature capacitive pick verification and object size detection. These electrohydraulic grippers are fast (step input results in finger closure in 50 ms), draw low power (6.5 mW per finger to hold grasp), and can pick a wide variety of objects with simple binary electrical control. Integrated high-voltage driving electronics are presented that greatly increase the application space of the grippers and make them readily compatible with commercially available robotic arms.     

Covalent Adaptable Microstructures via Combining Two-Photon Laser Printing and Alkoxyamine Chemistry: Toward Living 3D Microstructures

Manufacturing programmable materials, whose mechanical properties can be adapted on demand, is highly desired for their application in areas ranging from robotics, to biomedicine, or microfluidics. Herein, the inclusion of dynamic and living bonds, such as alkoxyamines, in a printable formulation suitable for two-photon 3D laser printing is exploited. On one hand, taking advantage of the dynamic covalent character of alkoxyamines, the nitroxide exchange reaction is investigated. As a consequence, a reduction of the Young´s Modulus by 50%, is measured by nanoindentation. On the other hand, due to its “living” characteristic, the chain extension becomes possible via nitroxide mediated polymerization. In particular, living nitroxide mediated polymerization of styrene results not only in a dramatic increase of the volume (≈8 times) of the 3D printed microstructure but also an increase of the Young's Modulus by two orders of magnitude (from 14 MPa to 2.7 GPa), while maintaining the shape including fine structural details. Thus, the approach introduces a new dimension by enabling to create microstructures with dynamically tunable size and mechanical properties.     

Enhancing Planar Inverted Perovskite Solar Cells with Innovative Dumbbell-Shaped HTMs: A Study of Hexabenzocoronene and Pyrene-BODIPY-Triarylamine Derivatives

Dumbbell-shaped systems based on PAHs-BODIPY-triarylamine hybrids TM-(01-04) are designed as novel and highly efficient hole-transporting materials for usage in planar inverted perovskite solar cells. BODIPY is employed as a bridge between the PAH units, and the effects of the conjugated π-system's covalent attachment and size are investigated. Fluorescence quenching, 3D fluorescence heat maps, and theoretical studies support energy transfer within the moieties. The systems are extremely resistant to UVC 254 nm germicidal light sources and present remarkable thermal stability at degradation temperatures exceeding 350 °C. Integrating these systems into perovskite solar cells results in outstanding power conversion efficiency (PCE), with TM-02-based devices exhibiting a PCE of 20.26%. The devices base on TM-01, TM-03, and TM-04 achieve PCE values of 16.98%, 17.58%, and 18.80%, respectively. The long-term stability of these devices is measured for 600 h, with initial efficiency retention between 94% and 86%. The TM-04-based device presents noticeable stability of 94%, better than the reference polymer PTAA with 91%. These findings highlight the exciting potential of dumbbell-shaped systems based on PAHs-BODIPY-triarylamine derivatives for next-generation photovoltaics.     

A Coating that Combines Lotus‐Effect and Contact‐Active Antimicrobial Properties on Silicone

The antimicrobial equipment of materials is of great importance in medicine but also in daily life. A challenge is the antimicrobial modification of hydrophobic surfaces without increasing their low surface energy. This is particularly important for silicone‐based materials. Because most antimicrobial surface modifications render the materials more hydrophilic, methods are needed to achieve antimicrobial activity without changing the high water‐contact‐angle. This is achieved in the present work, where SiO₂ nanoparticles are prepared and functionalized with 3‐(trimethoxysilyl)‐propyldimethyloctadecyl ammonium chloride (QAS) in a one‐pot synthesis. The modified nanoparticles are applied onto a silicone surface from suspension with no need of elaborate pretreatment. The resulting surface exhibits a Lotus‐Effect combined with contact‐active antimicrobial properties. The particle surfaces show self‐organizing micro‐ and nanostructures that afford a water‐contact angle of 144° and a hysteresis below 10°. The particles are self‐adhering on the silicone after solvent evaporation and resistant against immersion into and washing with water for at least 5 d. Thereby, the adhesion of the bacterial strain Staphylococcus aureus to these surfaces is reduced and the remaining bacterial cells are killed within 16 h. This is the first example of a Lotus‐Effect surface with intrinsic contact‐active antimicrobial properties.     

Photovoltaic Devices: Highly Conductive PEDOT:PSS Electrode with Optimized Solvent and Thermal Post‐Treatment for ITO‐Free Organic Solar Cells (Adv. Funct. Mater. 6/2011)

Highly conductive poly(3,4‐ethylenedioxythiophene):poly(styrenesulfonate) (PEDOT:PSS) films as stand‐alone electrodes for organic solar cells have been optimized using a solvent post‐treatment method. The treated PEDOT:PSS films show enhanced conductivities up to 1418 S cm^?1, accompanied by structural and chemical changes. The effect of the solvent treatment on PEDOT:PSS has been investigated in detail and is shown to cause a reduction of insulating PSS in the conductive polymer layer. Using these optimized electrodes, ITO‐free, small molecule organic solar cells with a zinc phthalocyanine (ZnPc):fullerene C₆₀ bulk heterojunction have been produced on glass and PET substrates. The system was further improved by pre‐heating the PEDOT:PSS electrodes, which enhanced the power conversion efficiency to the values obtained for solar cells on ITO electrodes. The results show that optimized PEDOT:PSS with solvent and thermal post‐treatment can be a very promising electrode material for highly efficient flexible ITO‐free organic solar cells.     

基于普通向量的虹膜识别算法

典型的虹膜识别算法都是针对单个虹膜样本采用图像处理的方法提取虹膜特征,只强调个体信息,而忽略了虹膜样本间的联系.本文提出了一种基于普通向量的虹膜识别算法,从模式分析的角度,利用普通向量方法融合虹膜的个体特征和统计特征,并且通过高效的睫毛滤除和眼皮定位的算法,进一步提高了识别的精度和算法的稳定性.实验结果表明了该算法具有良好的性能.     

Quantification of character-impact odour compounds of roasted beef

Beef was roasted for 7 min in frying pans made of glass (A) or of stainless steel (B). The lower temperature in A yielded a more roasty-sweet flavour and the higher temperature in B a roasty-harsh, more caramellike flavour. Using stable isotope dilution assays the concentration levels of the odour compounds 4-hydroxy-2,5-dimethyl-3(2H)-furanone (I), 2-acetyl-2-thiazoline (II), 2-ethyl-3,5-dimethylpyrazine (III), 2,3-diethyl-5-methylpyrazine (IV), guaiacol (V) and methional (VI) were determined in samples A and B. The data obtained were divided by the corresponding odour thresholds which were evaluated nasally and retronasally. The results indicated that the flavour differences of A and B were preferentially caused by differences in the concentration levels of odorantsI, II, IV, andVI.

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Quantitative Analyse charakteristischer Geruchsstoffe von gebratenem Rindfleisch

Zusammenfassung Rindfleisch wurde 7 min in Pfannen aus Glas (A) und rostfreiem Stahl (B) gebraten. Die niedrigere Temperatur in A führte zu einem stärker röstig-süßen Aroma und die höhere Temperatur in B zu einem röstig-herben, stärker caramelartigen Aroma. Die Konzentrationen der Geruchsstoffe 4-Hydroxy-2,5-dimethyl-3(2H)-furanon (I), 2-Acetyl-2-thiazolin (II), 2-Ethyl-3,5-dimethyl-pyrazin (III), 2,3-Diethyl-5-methylpyrazin (IV), Guajacol (V) und Methional (VI) wurden in den Proben A und B mit Hilfe von Isotopenverdünnungsanalysen bestimmt. Die erhaltenen Werte wurden dividiert durch die entsprechenden nasal und retronasal ermittelten Geruchsschwellen. Die Ergebnisse zeigten, daß die Aromaunterschiede von A und B in erster Linie auf Unterschiede in den Konzentrationen der GeruchsstoffeI,II, IV undVI beruhen.

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Presented in part at the symposium Flavour Precursors, University of Würzburg, Sept. 30th to Oct. 2nd, 1992     

Variational optical flow computation in real time.

This paper investigates the usefulness of bidirectional multigrid methods for variational optical flow computations. Although these numerical schemes are among the fastest methods for solving equation systems, they are rarely applied in the field of computer vision. We demonstrate how to employ those numerical methods for the treatment of variational optical flow formulations and show that the efficiency of this approach even allows for real-time performance on standard PCs. As a representative for variational optic flow methods, we consider the recently introduced combined local-global method. It can be considered as a noise-robust generalization of the Horn and Schunck technique. We present a decoupled, as well as a coupled, version of the classical Gauss-Seidel solver, and we develop several multgrid implementations based on a discretization coarse grid approximation. In contrast, with standard bidirectional multigrid algorithms, we take advantage of intergrid transfer operators that allow for nondyadic grid hierarchies. As a consequence, no restrictions concerning the image size or the number of traversed levels have to be imposed. In the experimental section, we juxtapose the developed multigrid schemes and demonstrate their superior performance when compared to unidirectional multgrid methods and nonhierachical solvers. For the well-known 316 x 252 Yosemite sequence, we succeeded in computing the complete set of dense flow fields in three quarters of a second on a 3.06-GHz Pentium4 PC. This corresponds to a frame rate of 18 flow fields per second which outperforms the widely-used Gauss-Seidel method by almost three orders of magnitude.     

RTS-MAC: A Relative Time Synchronization MAC Protocol for Low Duty Cycle Body Sensor Networks

Emerging applications in the medical field require body sensor networks to communicate in real-time in a very energy-efficient way. An example is the Artificial Accommodation System??a set of two small active medical implants aiming at restoring accommodation of the human eye??in which sensor data have to be exchanged continuously between both eyes. To achieve energy efficiency, it is essential to operate the radios with a very low duty cycle. Therefore, idle listening and general protocol overhead must be reduced as much as possible. In this paper, we present a relative time synchronization medium access control protocol (RTS-MAC), which keeps relative time synchronization between two or more sensor nodes in a very energy-efficient manner: RTS-MAC makes use of the periodic broadcast of regular data messages and exploits the inter-arrival times to predict future arrivals within tight boundaries. Thereby, no overhead is generated for synchronization purposes, and still, idle listening is reduced to a minimum, which solely depends on the short-term accuracy of the underlying clock systems. We implemented the proposed protocol using off-the-shelf components and employed the internal low-accuracy oscillators of the microcontrollers as clock sources. Thereby, we achieved very low duty cycles close to an ideal minimum. Further, our results indicate that through omitting external crystals in favor of a minimally larger battery, the battery life of a sensor node can be prolonged.