A Review of Smart Materials for the Boost of Soft Actuators,Soft Sensors,and Robotics Applications

With the advance of smart material science,robotics is evolving from rigid robots to soft robots.Compared to rigid robots,soft robots can safely interact with the environment,easily navigate in unstructured fields,and be minimized to operate in narrow spaces,owning to the new actuation and sensing technologies developed by the smart materials.In the review,different actuation and sensing technologies based on different smart materials are analyzed and summarized.According to the driving or feedback signals,actuators are categorized into electrically responsive actuators,thermally responsive actuators,magnetically responsive actuators,and photoresponsive actuators;sensors are categorized into resistive sensors,capacitive sensors,magnetic sensors,and optical waveguide sensors.After introducing the principle and several robotic prototypes of some typical materials in each category of the actuators and sensors.The advantages and disadvantages of the actuators and sensors are compared based on the categories,and their potential applications in robotics are also presented.

Radiofrequency sensing systems based on emerging two-dimensional materials and devices

As one of the most promising platforms for wireless communication,radiofrequency(RF)electronics have been widely advocated for the development of sensing systems.In particular,monolayer and few-layer two-dimensional(2D)materials exhibiting extraordinary electrical properties not only can be integrated to improve the performance of RF circuits,but also to display exceptional sensing capabilities.This review provides an in-depth perspective of current trends and challenges in the application of 2D materials for RF biochemical sensing,including:(i)theoretical bases to achieve different sensing schemes;(ii)unique properties of 2D materials for reasoning their applications in RF sensing;(iii)developments in 2D RF sensors to facilitate the practice of biochemical sensors with ever-demanding sensitivities,as well as their potential uses in meeting the requirements and challenges of biochemical sensors in the Internet-of-Things era.

Gel-Based Triboelectric Nanogenerators for Flexible Sensing:Principles,Properties,and Applications

The rapid development of the Internet of Things and artificial intelligence technologies has increased the need for wearable,portable,and self-powered flexible sensing devices.Triboelectric nanogenerators(TENGs)based on gel materials(with excellent conductivity,mechanical tunability,environmental adaptability,and biocompatibility)are considered an advanced approach for developing a new generation of flexible sensors.This review comprehensively summarizes the recent advances in gel-based TENGs for flexible sensors,covering their principles,properties,and applications.Based on the development requirements for flexible sensors,the working mechanism of gel-based TENGs and the characteristic advantages of gels are introduced.Design strategies for the performance optimization of hydrogel-,organogel-,and aerogel-based TENGs are systematically summarized.In addition,the applications of gel-based TENGs in human motion sensing,tactile sensing,health monitoring,environmental monitoring,human-machine interaction,and other related fields are summarized.Finally,the challenges of gel-based TENGs for flexible sensing are discussed,and feasible strategies are proposed to guide future research.

Field Sensing Characteristic Research of Carbon Fiber Smart Material

In order to research the field sensing characteristic of the carbon fiber smart material, the Tikhonov regularization principle and the modified Newton-Raphson(MNR) algorithm were adopted to solve the inverse problem of the electrical resistance tomography(ERT). An ERT system of carbon fiber smart material was developed. Field sensing characteristic was researched with the experiment. The experimental results show that the specific resistance distribution of carbon fiber smart material is highly consistent with the distribution of structural strain. High resistance zone responds to high strain area, and the specific resistance distribution of carbon fiber smart material reflects the distribution of sample strain in covering area. Monitoring by carbon fiber smart material on complicated strain status in sample field domain is realized through theoretical and experimental study.

Recent Advances and Perspective on Design and Synthesis of Electrode Materials for Electrochemical Sensing of Heavy Metals

The increase in release of toxic heavy metals into natural water attracts much attention due to its devastating effect on ecology and human health.The design and implementation of green electrode materials is pivotal for improving the electrochemical performance of in situ heavy metal monitoring.

Rational Design of Cellulosic Triboelectric Materials for Self‑Powered Wearable Electronics

With the rapid development of the Internet of Things and flexible electronic technologies,there is a growing demand for wireless,sustainable,multifunctional,and independently operating self-powered wearable devices.Nevertheless,structural flexibility,long operating time,and wearing comfort have become key requirements for the widespread adoption of wearable electronics.Triboelectric nanogenerators as a distributed energy harvesting technology have great potential for application development in wearable sensing.Compared with rigid electronics,cellulosic self-powered wearable electronics have significant advantages in terms of flexibility,breathability,and functionality.In this paper,the research progress of advanced cellulosic triboelectric materials for self-powered wearable electronics is reviewed.The interfacial characteristics of cellulose are introduced from the top-down,bottom-up,and interfacial characteristics of the composite material preparation process.Meanwhile,the modulation strategies of triboelectric properties of cellulosic triboelectric materials are presented.Furthermore,the design strategies of triboelectric materials such as surface functionalization,interfacial structure design,and vacuum-assisted self-assembly are systematically discussed.In particular,cellulosic self-powered wearable electronics in the fields of human energy harvesting,tactile sensing,health monitoring,human–machine interaction,and intelligent fire warning are outlined in detail.Finally,the current challenges and future development directions of cellulosic triboelectric materials for self-powered wearable electronics are discussed.

Preparation and Properties of Fiber Optic Oxygen Sensing Material by Thermo-polymerization Method

A new kind of fiber optic oxygen sensing material based on the fluorescence quenching of Ru（bpy）3Cl2 was prepared by the themo-polymerization method. The ruthenium dye was immobilized in N, N-methylene bisacrylamide（MBBA） polymer by physically trapping while MBBA was covalently crosslinked on the glass micro-beads by NaHSO3-O2-MnSO4 initiator system. The lock-in amplifyication technology was used for the detection of their sensing properties. The influences of indicator concentration, glass micro-beads diameter, post polymerization time, concentration and reaction time of glutaraldehyde on the properties of sensing materials were studied. To optimize the influencing factors to the sensing materials, the indicator concentration of 0.7 g/L, glass micro-beads diameter of 0.3 mm, post polymerization time of 5 h were achieved. The immobilization stability of ruthenium dye and the performance of the sensing materials were improved by the new polymerization system. An absolute detection limit of 3×10-6 （V/V） and the response time of 10 s were obtained. This kind of sensing materials has good stability and their life time is 2 years.

Advances Toward Sustainable Lignin-based Gel for Energy Storage and Smart Sensing

Polymers obtained from biomass are promising alternatives to petrobased polymers owing to their low cost,biocompatibility,and biodegradability.Lignin,a complex aromatic polymer containing several functional hydrophilic and active groups including hydroxyls,carbonyls,and methoxyls,is the second most abundant biopolymer in plants.In particular,sustainable ligninbased gels are emerging as an appealing material platform for developing energy-and sensing-related applications owing to their attractive and tailorable physiochemical properties.This study describes the preparation strategies of lignin-based gels according to previously reported methods,with significant attention on the diverse performance of lignin-derived gel materials.Additionally,a detailed review of lignin-based gels utilized as an important resource in diverse fields is provided.Finally,a future vision on challenges and their possible solutions is presented.

Mapping a Paleodrainage System of the Keriya River Using Remote Sensing Data and Historical Materials

Keriya River, one of the ancient Four Green Corridors in the Tarim Basin, recording the changes of climate-environment and the ancient Silk Road of the region. According to the archaeological data, historical materials and paleoclimates information, its eeo-environment and climate have taken great changes since the 1.09 Ma B.P, especially during the recent 2,000 years, many famous ancient cities having been abandoned and the south route of the Silk Road has been moved southward. This study illustrates the capability of the remote sensing data （radar data, topographic data and optical images） and historical materials, in mapping the ancient drainage networks. A major paleodrainage system of Keriya River has linked the Kunlun Mountains to the Tienshan Mountains, possibly as far back as the early Pleistocene. The Keriya River will have important implications for not only the understanding of the paleoenvironments and paleoclimates of Tarim Basin from the early Pleistocene to the Holocene, but also the changes of the Silk Road.

Functional-Material-Based Touch Interfaces for Multidimensional Sensing for Interactive Displays:A Review

Multidimensional sensing is a highly desired attribute for allowing human-machine interfaces(HMIs)to perceive various types of information from both users and the environment,thus enabling the advancement of various smart electronics/applications,e.g.,smartphones and smart cities.Conventional multidimensional sensing is achieved through the integration of multiple discrete sensors,which introduces issues such as high energy consumption and high circuit complexity.These disadvantages have motivated the widespread use of functional materials for detecting various stimuli at low cost with low power requirements.This work presents an overview of simply structured touch interfaces for multidimensional(x-y location,force and temperature)sensing enabled by piezoelectric,piezoresistive,triboelectric,pyroelectric and thermoelectric materials.For each technology,the mechanism of operation,state-of-the-art designs,merits,and drawbacks are investigated.At the end of the article,the author discusses the challenges limiting the successful applications of functional materials in commercial touch interfaces and corresponding development trends.

基于大数据聚类的搬运机器人抓取末端控制系统设计

为提高搬运机器人抓取效率,避免损伤货物,设计了基于大数据聚类的搬运机器人抓取末端控制系统。利用主控制器和驱动控制器平稳控制机器人运行,通过在末端执行器内安装红外扫描装置、集成锁相环路解码器LM567,判断货物是否处于抓取末端内部。使用FRS-402敏感电阻,降低力敏感电阻值,提高抓取的稳定性,完成系统硬件设计。基于大数据聚类拟合控制信号,降低数据维度并提取特征向量。通过匀速抓取、反馈减速以及应力松弛3步,实现搬运机器人抓取末端控制系统设计。实验结果表明,所设计系统能够有效减小抓取位置误差,提高搬运效率,降低货物损失。

双工位针刺机器人系统设计

针对单工位针刺成型系统中人和机器无法高效协同生产,预制体生产效率较低;现有的直线型双工位针刺机器人设备需要2个外部回转轴带动双工位参与织物针刺,系统编程难度较高,且工位切换时需要占据的空间大的问题。提出一种混合切换双工位针刺机器人系统,并开展了双工位针刺成形系统的机械结构设计、异型预制体模具和针刺工艺设计、控制系统设计、运动仿真以及预制体制备的实验验证。结果表明:系统成功实现了大尺寸异型曲面预制体的高效针刺成形,直线/旋转混合切换的双工位使得实现预制体的自动换装的同时又能保证系统空间占用量小;双工位中只有针刺工位上的外部回转轴与6关节机械臂联动,系统较为简单,编程方便;同时提高了数控回转工作台的承载力且将针刺末端执行器的布针数量增加至25针,满足了大尺寸预制体的针刺成形,并使得针刺成形效率直接提高2倍。本文系统可应用于批量化制备大尺寸异型曲面复材预制体。

基于多FBG组合传感的机械臂外部干扰应力监测系统

为了解决机械臂工作过程中外部应力干扰导致装配位置偏差的问题,设计了一种基于多光纤光栅传感器组合传感的监测系统。根据机械臂运动角度范围,仿真分析了在两个特征位置上不同方向外加应力后外机械臂与内机械臂的应力场分布特征。依据应力场分布特性,设计了多FBG的传感阵列,并计算了不同FBG响应与外部干扰应力的对应关系。实验采用16个FBG对FS-MP1C型小型机械的抓取过程进行在线监测,随机外部干扰应力设置为2~20 N。16个FBG的响应线性度均在0.99以上,正向和负向波长响应最大值分别为1354 pm和-984 pm。在100次分层干扰测试中,X与Y轴向干扰应力检出率优于80.0%,Z轴向干扰应力检出率优于97.5%。系统平均误检率低于4.0%。可见,本设计可以在线完成外部干扰应力的实时监测,具有一定的实用价值。

电力嗅觉传感原理与关键技术研究综述

仿生感知技术在电力设备状态监测与故障诊断领域已被广泛应用。结合微型气体传感器与智能算法的电力嗅觉技术,通过检测绝缘介质的特征分解气体,可以有效评估电力设备的故障类型和严重程度。因其成本低、体积小和集成度高的优势,电力嗅觉技术受到越来越多关注。因此,该文针对SF6气体绝缘设备、空气绝缘设备、变压器、电力电缆和储能电池的应用背景,梳理了当前电力嗅觉传感技术的研究现状。首先,总结了不同电力设备状态劣化的产气特性及内在机理,分析了特征分解气体的异同;之后,针对不同特征分解气体,总结了电力嗅觉敏感材料的研究进展与改进方向;然后,对比了陶瓷基底、柔性基底和硅基底的封装差异性,提出了电力嗅觉传感器件的芯片化、集成化发展方向;最后,讨论了基于特征工程和数据驱动的传感器信号处理算法,点明了边缘计算技术在电力嗅觉智能算法方面的应用潜力。该文对电力嗅觉传感原理与关键技术进行了详细归纳,强调了在气体分析方法、气敏材料开发、传感器制备技术和智能算法应用等方面的技术创新潜力,为电力设备的智能化发展提供了指导方向。

“机器人学”课程思政建设

“机器人学”是机器人工程、人工智能、自动化等专业的核心课程,探索“机器人学”课程思政建设对相关专业“三全育人”教学模式的实现具有重要意义。机器人技术发展迅速,对制造业高质量发展和应对人口老龄化有着重要作用。“机器人学”课程蕴含了非常丰富的思政元素,从家国情怀、科学精神、工匠精神、人文关怀、哲学原理等五个方面充分挖掘了思政元素。通过巧妙的教学设计,在传授显性知识的同时,进行潜移默化的价值引领,实现了良好的思政育人效果。

自动钻铆末端双目高精定位系统设计

设计了基于自动钻铆末端的双目高精定位系统。首先对视觉定位需求进行分析,设计双目视觉系统结构参数,基于视觉光源去除复合材料背景纹理;其次对轮廓进行提取拟合,预处理标定后结合ESPCN和Canny算子进行亚像素边缘提取,利用改进最小二乘法拟合计算圆心坐标;最后对视觉定位系统进行精度验证。结果表明:平面定位误差小于0.02mm,深度定位误差小于0.04mm,满足钻铆机器人的视觉测量要求。

基于遥感GIS信息融合的测绘机器人滑模跟踪控制系统

测绘机器人是实现测绘自动化的执行设备,测绘机器人的工作空间更为复杂,给机器人的跟踪控制工作带来较大挑战;为提高测绘机器人跟踪控制效果,设计了基于遥感GIS信息融合的测绘机器人滑模跟踪控制系统;加设遥感信息采集器和GIS信息采集器,改装遥感GIS信息处理器以及滑模跟踪控制器,完成硬件系统的优化设计;考虑信息结构以及信息之间的逻辑关系,构建系统数据库,为遥感GIS信息提供充足的存储空间;根据测绘任务生成机器人滑模移动轨迹,作为机器人的控制目标;采集测绘机器人实时遥感与GIS信息,利用遥感GIS信息融合技术跟踪机器人实时位姿,比对位姿跟踪结果与生成的控制目标,计算滑模跟踪控制量,完成系统的测绘机器人滑模跟踪控制软件功能优化;系统测试结果表明:设计系统的控制误差平均值为1.9 m,抖振幅值为0.8 dB,具有较好的控制效果。

光纤类光栅聚合物波导应变传感探究

利用光敏材料的光固化特性,在两根多模光纤之间通过逐级固化构建了类光栅聚合物长波导结构。采用了Norland光胶粘剂(NOA)作为光聚合体系。首先,在两根排列的光纤之间涂抹了该光胶粘剂,然后使用405 nm激光灯对液滴进行固化,从而在排列的光纤芯之间形成了聚合物通道,在外力作用下使其中一端脱离,重复操作即可得到类光栅结构,在形成的类光栅结构后再次固化一段长波导即完成了类光栅聚合物长波导。对这些波导进行了力学响应的研究。通过改变光栅的尺寸,寻找到了最佳的光栅聚合物长波导。研究结果表明,类光栅聚合物长波导的引入使光传输随着波导间距呈极高线性变化趋势。具体而言,当类光栅聚合物长波导光栅尺寸为5μm,线性度可达到0.99以上,拉应变敏感度为49/με。

基于PEGPEA-高灵敏仿生光子晶体薄膜制备及应用

采用乳液聚合结合改良的Stӧber方法制备了单分散聚苯乙烯(PS)@SiO2核壳纳米微球,然后将其分散在聚(乙二醇)苯基醚丙烯酸酯(PEGPEA)中,形成非密集颗粒阵列后快速光聚合捕获规则阵列,制备了一种机械变色的光子晶体薄膜。采用SEM、光纤耦合光谱仪对光子晶体薄膜进行了表征,考察了PS@SiO2核壳纳米微球体积分数和粒径对光子晶体薄膜结构色的影响,并对光子晶体薄膜的力致变色机理进行了推测。结果表明,热处理改善了PS@SiO2核壳纳米微球的微观秩序,加快形成蛋白石光子晶体结构;光子晶体薄膜结构色随着PS@SiO2核壳纳米微球体积分数的增加或粒径的减小由红色向蓝色渐变;光子晶体薄膜具有的结构色反射率>60%、拉伸应变至少可达70%、灵敏度2.16 nm/%、响应速度1.9 nm/ms,反射波长调谐范围为151 nm;在100次拉伸/释放循环实验和25℃下维持拉伸状态3 d,恢复后光子晶体薄膜结构色保持不变。

多孔氢键有机框架材料应用于传感和光学材料领域的研究

氢键有机框架(HOFs)是一类通过有机连接基团间的氢键自组装形成的聚合物多孔材料。为实现HOF的永久多孔性,需构建稳定且坚固的开放框架,这可以通过精心设计刚性分子结构单元和强相互作用的氢键单元来达成。氢键的柔性和可逆性赋予了HOF溶液加工性、高结晶度、易于纯化和再生等特性。这些独特的优势使HOF成为研究多孔功能材料的重要平台。近年来,HOF作为多孔功能材料已在气体存储与分离、化学传感、催化、分子识别、生物医学、光学和电学材料等多个关键领域得到广泛应用。