40K is one of the most important atomic species for ultra-cold atomic physics. Due to the extremely low con- centration （0.012%） of 40K in natural abundance of potassium, most experiments use 4-10% enriched potassiu...40K is one of the most important atomic species for ultra-cold atomic physics. Due to the extremely low con- centration （0.012%） of 40K in natural abundance of potassium, most experiments use 4-10% enriched potassium source, which have greatly suffered from the extremely low annual production and significant price hikes in recent years. Using naturally abundant potassium source, we capture 5.4 × 10 6 cold 40K atoms with the help of a high performance of two-dimensional magneto-optical trap （2D＋ MOT）, which is almost three orders of magnitude greater than previous results without the 2D＋ MOT. The number of the 40K atoms is sufficient for most ultra-cold 40K experiments, and our approach provides an ideal alternative for the field.展开更多
Soft robotic crawlers have limited payload capacity and crawling speed.This study proposes a high-performance inchworm-like modular robotic crawler based on fluidic prestressed composite(FPC)actuators.The FPC actuator...Soft robotic crawlers have limited payload capacity and crawling speed.This study proposes a high-performance inchworm-like modular robotic crawler based on fluidic prestressed composite(FPC)actuators.The FPC actuator is precurved and a pneumatic source is used to flatten it,requiring no energy cost to maintain the equilibrium curved shape.Pressurizing and depressurizing the actuators generate alternating stretching and bending motions of the actuators,achieving the crawling motion of the robotic crawler.Multi-modal locomotion(crawling,turning,and pipe climbing)is achieved by modular reconfiguration and gait design.An analytical kinematic model is proposed to characterize the quasi-static curvature and step size of a single-module crawler.Multiple configurations of robotic crawlers are fabricated to demonstrate the crawling ability of the proposed design.A set of systematic experiments are set up and conducted to understand how crawler responses vary as a function of FPC prestrains,input pressures,and actuation frequencies.As per the experiments,the maximum carrying load ratio(carrying load divided by robot weight)is found to be 22.32,and the highest crawling velocity is 3.02 body length(BL)per second(392 mm/s).Multi-modal capabilities are demonstrated by reconfiguring three soft crawlers,including a matrix crawler robot crawling in amphibious environments,and an inching crawler turning at an angular velocity of 2/s,as well as earthworm-like crawling robots climbing a 20 inclination slope and pipe.展开更多
基金Supported by the National Key Research and Development Program of China under Grant Nos 2016YFA0300600 and2016YFA0301500the National Natural Science Foundation of China under Grant Nos 11474347,61227902 and 61775232
文摘40K is one of the most important atomic species for ultra-cold atomic physics. Due to the extremely low con- centration （0.012%） of 40K in natural abundance of potassium, most experiments use 4-10% enriched potassium source, which have greatly suffered from the extremely low annual production and significant price hikes in recent years. Using naturally abundant potassium source, we capture 5.4 × 10 6 cold 40K atoms with the help of a high performance of two-dimensional magneto-optical trap （2D＋ MOT）, which is almost three orders of magnitude greater than previous results without the 2D＋ MOT. The number of the 40K atoms is sufficient for most ultra-cold 40K experiments, and our approach provides an ideal alternative for the field.
基金supported by the National Natural Science Foundation of China under Grant No.62203174the Guangzhou Municipal Science and Technology Project under Grant No.202201010179.
文摘Soft robotic crawlers have limited payload capacity and crawling speed.This study proposes a high-performance inchworm-like modular robotic crawler based on fluidic prestressed composite(FPC)actuators.The FPC actuator is precurved and a pneumatic source is used to flatten it,requiring no energy cost to maintain the equilibrium curved shape.Pressurizing and depressurizing the actuators generate alternating stretching and bending motions of the actuators,achieving the crawling motion of the robotic crawler.Multi-modal locomotion(crawling,turning,and pipe climbing)is achieved by modular reconfiguration and gait design.An analytical kinematic model is proposed to characterize the quasi-static curvature and step size of a single-module crawler.Multiple configurations of robotic crawlers are fabricated to demonstrate the crawling ability of the proposed design.A set of systematic experiments are set up and conducted to understand how crawler responses vary as a function of FPC prestrains,input pressures,and actuation frequencies.As per the experiments,the maximum carrying load ratio(carrying load divided by robot weight)is found to be 22.32,and the highest crawling velocity is 3.02 body length(BL)per second(392 mm/s).Multi-modal capabilities are demonstrated by reconfiguring three soft crawlers,including a matrix crawler robot crawling in amphibious environments,and an inching crawler turning at an angular velocity of 2/s,as well as earthworm-like crawling robots climbing a 20 inclination slope and pipe.
