Precise Control Research Articles

Modular multi-degree-of-freedom soft origami robots with reprogrammable electrothermal actuation

Soft robots often draw inspiration from nature to navigate different environments. Although the inching motion and crawling motion of caterpillars have been widely studied in the design of soft robots, the steering motion with local bending control remains challenging. To address this challenge, we explore modular origami units which constitute building blocks for mimicking the segmented caterpillar body. Based on this concept, we report a modular soft Kresling origami crawling robot enabled by electrothermal actuation. A compact and lightweight Kresling structure is designed, fabricated, and characterized with integrated thermal bimorph actuators consisting of liquid crystal elastomer and polyimide layers. With the modular design and reprogrammable actuation, a multiunit caterpillar-inspired soft robot composed of both active units and passive units is developed for bidirectional locomotion and steering locomotion with precise curvature control. We demonstrate the modular design of the Kresling origami robot with an active robotic module picking up cargo and assembling with another robotic module to achieve a steering function. The concept of modular soft robots can provide insight into future soft robots that can grow, repair, and enhance functionality.

Zero-field quantum sensing via precise geometric controls for a spin-1 system

Zero-field quantum sensing via precise geometric controls for a spin-1 system

Multimaterial 3D Laser Printing of Cell-Adhesive and Cell-Repellent Hydrogels.

Here, a straightforward method is reported for manufacturing 3D microstructured cell-adhesive and cell-repellent multimaterials using two-photon laser printing. Compared to existing strategies, this approach offers bottom-up molecular control, high customizability, and rapid and precise 3D fabrication. The printable cell-adhesive polyethylene glycol (PEG) based material includes an Arg-Gly-Asp (RGD) containing peptide synthesized through solid-phase peptide synthesis, allowing for precise control of the peptide design. Remarkably, minimal amounts of RGD peptide (<0.1wt%) suffice for imparting cell-adhesiveness, while maintaining identical mechanical properties in the 3D printed microstructures to those of the cell-repellent, PEG-based material. Fluorescent labeling of the RGD peptide facilitates visualization of its presence in cell-adhesive areas. To demonstrate the broad applicability of the system, the fabrication of cell-adhesive 2.5D and 3D structures is shown, fostering the adhesion of fibroblast cells within these architectures. Thus, this approach allows for the printing of high-resolution, true 3D structures suitable for diverse applications, including cellular studies in complex environments.

Azobenzene-Integrated NHC Ligands: A Versatile Platform for Visible-Light-Switchable Metal Catalysis.

A new class of photoswitchable NHC ligands, named azImBA, has been developed by integrating azobenzene into a previously unreported imidazobenzoxazol-1-ylidene framework. These rigid photochromic carbenes enable precise control over confinement around a metal's coordination sphere. As a model system, gold(I) complexes of these NHCs exhibit efficient bidirectional E-Z isomerization under visible light, offering a versatile platform for reversibly photomodulating the reactivity of organogold species. Comprehensive kinetic studies of the protodeauration reaction reveal rate differences of up to 2 orders of magnitude between the E and Z isomers of the NHCs, resulting in a quasi-complete visible-light-gated ON/OFF switchable system. Such a high level of photomodulation efficiency is unprecedented for gold complexes, challenging the current state-of-the-art in photoswitchable organometallics. Thorough investigations into the ligand properties paired with structure-reactivity correlations underscored the unique ligand's steric features as a key factor for reactivity. This effective photocontrol strategy was further validated in gold(I) catalysis, enabling in situ photoswitching of catalytic activity in the intramolecular hydroalkoxylation and -amination of alkynes. Given the significance of these findings and its potential as a widely applicable, easily customizable photoswitchable ancillary ligand platform, azImBA is poised to stimulate the development of adaptive, multifunctional metal complexes.

Electrohydrodynamic Inkjet Printing of Three-Dimensional Perovskite Nanocrystal Arrays for Full-Color Micro-LED Displays.

Perovskite nanocrystal (PeNC) arrays are showing a promising future in the next generation of micro-light-emitting-diode (micro-LED) displays due to the narrow emission linewidth and adjustable peak wavelength. Electrohydrodynamic (EHD) inkjet printing, with merits of high resolution, uniformity, versatility, and cost-effectiveness, is among the competent candidates for constructing PeNC arrays. However, the fabrication of red light-emitting CsPbBrxI(3-x) nanocrystal arrays for micro-LED displays still faces challenges, such as low brightness and poor stability. This work proposes a design for a red PeNC colloidal ink that is specialized for the EHD inkjet printing of three-dimensional PeNC arrays with enhanced luminescence and stability as well as being adaptable to both rigid and flexible substrates. Made of a mixture of PeNCs, polymer polystyrene (PS), and a nonpolar xylene solvent, the PeNC colloidal ink enables precise control of array sizes and shapes, which facilitates on-demand micropillar construction. Additionally, the inclusion of PS significantly increases the brightness and environmental stability. By adopting this ink, the EHD printer successfully fabricated full-color 3D PeNC arrays with a spatial resolution over 2500 ppi. It shows the potential of the EHD inkjet printing strategy for high-resolution and robust PeNC color conversion layers for micro-LED displays.

Quantitative Analysis and 3D Visualization of Crack Behavior in 3D-Printed Rock-Like Specimens with Single Flaw Using In-Situ Micro-CT Imaging

Abstract3D printing technology allows for precise control of preparing complex geometries and internal defects in printed rock analogs, while in-situ Micro-CT imaging enables real-time observation of crack behavior. The combination of these technologies offers a new research approach for studying rock crack behavior. In this study, 3D-printed rock-like specimens containing a pre-existing flaw were prepared using a gypsum powder-based 3D printer. An advanced in-situ Micro-CT system equipped with a loading device was used to quantitatively and visually investigate the crack behavior in 3D-printed specimens under uniaxial compression testing. 2D CT images obtained from in-situ compression testing at different deformations could be used to reconstruct a 3D model and visually identify the crack patterns of the extracted cracks in 3D-printed specimens. The initiation angle of cracks, volume of the pre-existing flaw, volume of newly formed cracks, and damage value with respect to strains were analyzed to quantitatively investigate crack behavior. The results indicated that within the 3D-printed specimens, tensile cracks were first initiated near the internal flaw, followed by the occurrence of shear cracks or tensile-shear mixed cracks at the flaw tips. Additionally, there was a negative linear correlation between the initiation angle of newly formed cracks and the initial flaw angle. For flaw angles in the range of 0° ≤ α ≤ 45°, a higher number of newly formed cracks were observed in the 3D-printed specimens, and the rates of increase in crack volume and damage values with strain were faster. However, for flaw angles in the range of 45° &lt; α ≤ 90°, the results showed the opposite trend. Furthermore, through comparison with the crack behavior of natural rocks containing a single flaw, it was found that the failure modes and crack behavior of the 3D-printed specimens exhibit certain similarities with natural rocks.

Enhancing Power Grid Data Analysis with Fusion Algorithms for Efficient Association Rule Mining in Large-Scale Datasets

Against the backdrop of the rapid development of information technology, the total amount of data has exploded, and efficient association rule mining methods for large-scale datasets have been studied. Conventional rule mining algorithms are subject to electrical constraints when working, and their convergence speed and data noise are currently the main problems they face. In order to accelerate the working process of the algorithm, this study introduces a data warehouse into the K-Means algorithm, and connects the time series and voltage interaction functions with the long-and-short-term memory network for efficient information analysis of power grid data, generating fusion algorithms. The study conducted experiments on the Netloss dataset and simultaneously conducted experiments on three models, including long-and-short-term memory networks, to verify the superiority of the fusion algorithm. Under the same experimental voltage, the circuit power flows of the four models were 0.37, 0.64, 0.79, and 0.82A, respectively, indicating that the algorithm effectively controlled the electrical dataset. Its measurement accuracy was the highest among the four models, at 91.7%. The experimental results show that the fusion algorithm proposed in the study has precise control ability in power grid datasets, and can effectively mine association rules on large-scale datasets.

Dimensional Regulation in Metal‐Free Perovskites by Compositional Engineering to Achieve Record Low X‐ray Detection Limits

Utilizing the manipulation of perovskite dimensions has been proven as an effective approach in regulating perovskite properties. Nevertheless, achieving precise control over the dimensions of perovskites within the same system poses a significant challenge. In this study, we introduce a sophisticated method to attain precise dimensional control in metal‐free perovskites (MFPs), specifically through the process of octahedron tailoring by compositional engineering. Accordingly, we successfully instigated a transition from HPIP‐NH4I3⋅H2O (3D), HPIP2‐NH4I5 (2D) and HPIP3‐NH4I7 (1D) structures. Notably, HPIP2‐NH4I5 is the first 2D MFP. As anticipated, these perovskites exhibited completely distinct fluorescence and X‐ray detection capabilities due to their differing dimensions. Remarkably, the 2D HPIP2‐NH4I5 device effectively hindered ion migration perpendicular to the 2D layers, achieving the lowest detection limit of 12.2 nGyairs‐1 among metal‐free single crystals‐based detectors. This study expands the dimensionality control strategies for MFPs and introduces, for the first time, the potential of 2D MFPs as high‐performance X‐ray detectors, thereby enriching the diversity of the MFPs family.

Dimensional Regulation in Metal-Free Perovskites by Compositional Engineering to Achieve Record Low X-ray Detection Limits.

Utilizing the manipulation of perovskite dimensions has been proven as an effective approach in regulating perovskite properties. Nevertheless, achieving precise control over the dimensions of perovskites within the same system poses a significant challenge. In this study, we introduce a sophisticated method to attain precise dimensional control in metal-free perovskites (MFPs), specifically through the process of octahedron tailoring by compositional engineering. Accordingly, we successfully instigated a transition from HPIP-NH4I3⋅H2O (3D), HPIP2-NH4I5 (2D) and HPIP3-NH4I7 (1D) structures. Notably, HPIP2-NH4I5 is the first 2D MFP. As anticipated, these perovskites exhibited completely distinct fluorescence and X-ray detection capabilities due to their differing dimensions. Remarkably, the 2D HPIP2-NH4I5 device effectively hindered ion migration perpendicular to the 2D layers, achieving the lowest detection limit of 12.2 nGyairs-1 among metal-free single crystals-based detectors. This study expands the dimensionality control strategies for MFPs and introduces, for the first time, the potential of 2D MFPs as high-performance X-ray detectors, thereby enriching the diversity of the MFPs family.

Functionalized DNA Origami-Enabled Detection of Biomarkers.

Biomarkers are crucial physiological and pathological indicators in the host. Over the years, numerous detection methods have been developed for biomarkers, given their significant potential in various biological and biomedical applications. Among these, the detection system based on functionalized DNA origami has emerged as a promising approach due to its precise control over sensing modules, enabling sensitive, specific, and programmable biomarker detection. We summarize the advancements in biomarker detection using functionalized DNA origami, focusing on strategies for DNA origami functionalization, mechanisms of biomarker recognition, and applications in disease diagnosis and monitoring. These applications are organized into sections based on the type of biomarkers-nucleic acids, proteins, small molecules, and ions-and concludes with a discussion on the advantages and challenges associated with using functionalized DNA origami systems for biomarker detection.

PhysOM: Physarum polycephalum Oriented Microstructures

AbstractBiological shapes possess fascinating properties and behaviours that are the result of emergent mechanisms: they can evolve over time, dynamically adapt to changes in their environment, while also exhibiting interesting mechanical properties and aesthetic appeal. In this work, we bring and extend an existing biological‐inspired model of the Physarum polycephalum, aka the blob, to the field of computer graphics, in order to design porous organic‐like microstructures that resemble natural foam‐like cells or filament‐like patterns with variable local properties. In contrast to approaches based on static global optimization that provides only limited expressivity over the result, our method allows precise control over the local orientation of 3D patterns, relative cell extension and precise infill of shapes with well defined boundaries. To this end, we extend the classical agent‐based model for Physarum to fill an arbitrary domain with local anisotropic behaviour. We further provide a detailed analysis of the model parameters, contributing to the understanding of the system behaviour. The method is fast, parallelizable and scalable to large volumes and compatible with user interaction, allowing a designer to guide the structure, erase parts and observe its evolution in real‐time. Overall, our method provides a versatile and efficient means of generating intricate organic microstructures that have potential applications in fields such as additive manufacturing, design or biological representation and engineering.

Nature-Inspired Helicoidal Nanocellulose-Based Multi-Compartment Assemblies with Tunable Chiroptical Properties.

Cellulose-based nanocomposites are highly appealing for the development of next-generation sustainable functional materials. Although many advances have been made in this direction, the true potential of fibrillar nanocomposites has yet to be realized because available fabrication approaches are inadequate for achieving precise structural control at the sub-micrometer scale. Here a spray-assisted alignment methodology of cellulose nanofibrils is combined with the layer-by-layer assembly into an additive manufacturing process in which the alignment direction of each cellulose layer is rationally selected to achieve thin films with a helicoidal arrangement of the nanofibrils. The helicoidal structure of the films is verified by measuring the circular dichroism (CD) of the samples. The sign and position of the structural CD peak show that the handedness and the pitch of the chiral structures can be easily tuned by deliberately selecting simple parameters, such as the number of consecutive cellulose layers sprayed in the same direction, and the angle of rotation between successive stacks of layers. To the authors' knowledge, this approach is unique as it offers the possibility to prepare complex nanocomposite architectures with various nanoscale-controlled sub-structures from different anisometric objects, which is enabling novel designs of composite films with damage-resistant and/or optical filtering functionalities.

State‐of‐the‐art CO2 reduction in electrochemical microfluidic systems: A short review and new perspectives

The need to mitigate carbon dioxide has motivated an influx of interest in innovative technologies, and microfluidic systems have emerged as a promising forefront in this endeavor. This short review analyzes CO2 reduction within microfluidic platforms, thoroughly investigating existing methodologies, challenges, and novel perspectives. This work commences with a detailed exposition of the fundamental principles governing microfluidic electrolyzers, elucidating the interaction of microchannels and electrodes. We show the electrochemical reactions supporting CO2 reduction, detailing the processes at the cathode. The use of microfluidic systems encompasses precise control over reaction conditions, efficient mass transport, reduced energy consumption, high throughput screening capabilities, integration with analytical tools, and portability. Catalyst selection for optimal CO2 reduction products, technical complexities, integration of renewable energy sources, and cost‐effectiveness are notable challenges on the horizon. A perspective on potential pathways to resolution is delineated, with each impediment succinctly but insightfully addressed. Moreover, this review extends beyond a looking‐back analysis, propounding innovative perspectives. It posits the concept of microfluidic fuel cells directly fueled by CO2. This work seeks to inspire new researchers and innovation in the field by comparing the present state‐of‐the‐art with prospective avenues of exploration

Evolutionary conservation of receptor compensation for stem cell homeostasis in Solanaceae plants

Abstract Stem cell homeostasis is pivotal for continuous and programmed formation of organs in plants. The precise control of meristem proliferation is mediated by the evolutionarily conserved signaling that encompasses complex interactions among multiple peptide ligands and their receptor-like kinases. Here, we identified compensation mechanisms involving the CLAVATA1 (CLV1) receptor and its paralogs, BARELY ANY MERISTEMs (BAMs), for stem cell proliferation in two Solanaceae species, tomato, and groundcherry. Genetic analyses of higher-order mutants deficient in multiple receptor genes, generated via CRISPR-Cas9 genome editing, reveal that tomato SlBAM1 and SlBAM2 compensate for slclv1 mutations. Unlike the compensatory responses between orthologous receptors observed in Arabidopsis, tomato slclv1 mutations do not trigger transcriptional upregulation of four SlBAM genes. The compensation mechanisms within receptors are also conserved in groundcherry, and critical amino acid residues of the receptors associated with the physical interaction with peptide ligands are highly conserved in Solanaceae plants. Our findings demonstrate that the evolutionary conservation of both compensation mechanisms and critical coding sequences between receptor-like kinases provides a strong buffering capacity during stem cell homeostasis in tomato and groundcherry.

An Origami-enabled Soft Linear Actuator and its Application on a Crawling Robot

Abstract Soft linear actuators have strong deformation ability and good environmental adaptability, which have been widely used in soft robot design. However, little work has focused on designing soft linear actuators with balanced performances, featuring fast driving speed, large output displacement, lightweight, and miniaturization. Herein, we present a novel soft linear actuator design based on the Kresling origami structure. By driving the Kresling tubes with a servo motor, the soft linear actuator has good compliance and strong environmental adaptability and can achieve fast driving speed, large driving force, and high control precision comparable to the traditional electrical motor. The analytical models of the Kresling tubes and the whole actuator are respectively derived to analyze the mechanical properties, determine the optimal geometry of the Kresling tube and evaluate the driving performance of the whole actuator. The actuator prototype is fabricated by 3D printing, and the actual driving performance is tested. It is shown that the prototype can achieve a maximum output displacement of 18.9 mm without payload or 16mm under a payload of 30 N. Finally, as a case study, the soft linear actuator is applied to a crawling robot, where the maximum moving speed of 28 mm/s is reached.

Pure Tunable Emissions from Cesium Manganese Bromide by Monitoring the Crystal Fields Through a Sustainable Approach

AbstractResearch on manganese (Mn) halide perovskite derivatives with tunable emissions and high color purity have gathered a significant amount of attention for display technology. Despite of mesmerizing optical properties, the synthesis of these all‐inorganic Mn halide compounds is followed by complex and toxic processes. Second, a precise control over the synthesis parameters is mandatory to achieve their pure emissions. Therefore, an ecologically sustainable water‐based solution approach is adapted here to tailor the phases and emissions of cesium manganese bromide (Cs‐Mn‐Br) perovskite derivatives. It is observed that a controlled injection of solution stabilizer plays a pivotal role in engineering the intrinsic properties of Mn halide perovskites. This solution stabilizer interacts with the Mn‐ions of those perovskite derivatives influencing their surrounding coordination environment and pure emission from then. A pure green emission with PLQY of 82% is achieved from as prepared Cs3MnBr5, whereas CsMnBr3 showed a red emission with PLQY of ≈20%. Encouraged by these properties phosphor‐driven light emitting diodes (LED) are designed that show a steady electroluminescence intensity. The CIE coordinates of the Cs3MnBr5 and CsMnBr3 LED prototypes are at (0.224, 0.659) and (0.688, 0.316). This study showcases simple, eco‐friendly tactics for developing green and red LED prototypes contributing toward sustainable device design.

Efficient Deep-Blue Multiple-Resonance Emitters Based on Azepine-Decorated Ν-DABNA for CIEy below 0.06.

Ultrapure deep-blue emitters are in high demand for organic light-emitting diodes (OLEDs). Although color coordinates serve as straightforward parameters for assessing color purity, precise control over the maximum wavelength and full-width at half-maximum is necessary to optimize OLED performance, including luminance efficiency and luminous efficacy. Multiple-resonance (MR) emitters are promising candidates for achieving ideal luminescence properties; consequently, a wide variety of MR frameworks have been developed. However, most of these emitters experience a wavelength displacement from the ideal color, which limits their practical applicability. Therefore, a molecular design that is compatible with MR emitters for modulating their energy levels and color output is particularly valuable. Here, we demonstrate that the azepine donor unit induces an appropriate blue-shift in the emission maximum while maintaining efficient MR characteristics, including high photoluminescence quantum yield, narrow emission, and a fast reverse intersystem crossing rate. OLEDs using newly developed MR emitters based on the ν-DABNA framework simultaneously exhibit a high quantum efficiency of ∼30%, luminous efficacy of ∼20lm W-1, exceptional color purity with Commission Internationale de l'Éclairage coordinates as low as (0.14, 0.06), and notably high operational stability. These results demonstrate unprecedentedly high levels compared with those observed in previously reported deep-blue emitters. This article is protected by copyright. All rights reserved.

Light-Responsive Pt(IV) Prodrugs with Controlled Photoactivation and Low Dark Toxicity.

Light-induced release of cisplatin from Pt(IV) prodrugs represents a promising approach for precise control over the antiproliferative activity of Pt-based chemotherapeutic drugs. This method has the potential to overcome crucial drawbacks of conventional cisplatin therapy, such as high general toxicity toward healthy organs and tissues. Herein, we report two Pt(IV) prodrugs with BODIPY-based photoactive ligands Pt-1 and Pt-2, which were designed using carbamate and triazole linkers, respectively. Both prodrugs demonstrated the ability to release cisplatin under blue light irradiation without the requirement of an external reducing agent. Dicarboxylated Pt-2 prodrug turned out to be more stable in the dark and more sensitive to light than its monocarbamate Pt-1 counterpart; these observations were explained using DFT calculations. The investigation of the photoreduction mechanism of Pt-1 and Pt-2 prodrugs using DFT modeling and ΔG0 PET estimation suggests that the photoinduced electron transfer from the singlet excited state of the BODIPY axial ligand to the Pt(IV) center is the key step in the light-induced release of cisplatin from the complexes. Cytotoxicity studies demonstrated that both prodrugs were nontoxic in the dark and toxic to MCF-7 cells under low-dose irradiation with blue light, and the observed effect was solely due to the cisplatin release from the Pt(IV) prodrugs. Our research presents an elegant synthetic approach to light-activated Pt(IV) prodrugs and presents findings that may contribute to the future rational design of photoactivatable Pt(IV) prodrugs.

A Small Step for Epitaxy, a Large Step Toward Twist Angle Control in 2D Heterostructures

Abstract2D materials have received a lot of interest over the past decade. Especially van der Waals (vdW) 2D materials, such as transition metal dichalcogenides (TMDCs), and their heterostructures exhibit semiconducting properties that make them highly suitable for novel device applications. Controllable mixing and matching of the 2D materials with different properties and precise control of the in‐plane twist angle in these heterostructures are essential to achieve superior properties and need to be established through large‐scale device fabrication. To gain fundamental insight into the potential control of these twist angles, 2D heterostructures of tungsten disulfide (WS2) and graphene (Gr) grown by bottom‐up synthesis via metal‐organic chemical vapor deposition (MOCVD) are investigated using a scanning transmission electron microscope (STEM). Specifically, the combination of conventional high‐resolution imaging with scanning nanobeam diffraction (SNBD) using advanced 4D STEM techniques is used to analyze moiré structures. The latter technique is used to reveal the epitaxial alignment within the WS2/Gr heterostructure, showing a direct influence of the underlying Gr layers on the moiré structure in the subsequent WS2 layers. In particular, the importance of grain boundaries (GBs) within the underlying WS2 and Gr layers on the structure of moiré patterns with rotation angles below 2° is discussed.

Data-Monitoring Solution for Desalination Processes: Cooling Tower and Mechanical Vapor Compression Hybrid System

The advancement of novel water treatment technologies requires the implementation of both accurate data measurement and recording processes. These procedures are essential for acquiring results and conducting thorough analyses to enhance operational efficiency. In addition, accurate sensor data facilitate precise control over chemical treatment dosages, ensuring optimal water quality and corrosion inhibition while minimizing chemical usage and associated costs. Under this framework, this paper describes the sensoring and monitoring solution for a hybrid system based on a cooling tower (CT) connected to mechanical vapor compression (MVC) equipment for desalination and brine concentration purposes. Sensors connected to the data commercial logger solution, Almemo 2890-9, are also discussed in detail such as temperature, relative humidity, pressure, flow rate, etc. The monitoring system allows remote control of the MVC based on a server, GateManager, and TightVNC. In this way, the proposed solution provides remote access to the hybrid system, being able to visualize gathered data in real time. A case study located in Cartagena (Spain) is used to assess the proposed solution. Collected data from temperature transmitters, pneumatic valves, level sensors, and power demand are included and discussed in the paper. These variables allow a subsequent forecasting process to estimate brine concentration values. Different sample times are included in this paper to minimize the collected data from the hybrid system within suitable operation conditions. This solution is suitable to be applied to other desalination processes and locations.