DEVELOPMENT OF A SHAPE-SHIFTING MOBILE ROBOT FOR URBAN SEARCH AND RESCUE

A portable shape-shifting mobile robot system named as Amoeba Ⅱ（A-Ⅱ） is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. And the joint unit can transform the robot shape to get high environment adaptation. A-Ⅱ robot can not only adapt to the environment but also change its body shape according to the locus space. It behaves two work states including the linear state （named as I state） and the parallel state （named as Ⅱ state）. With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave, etc. The parallel state enables the robot with high mobility on rough ground. Also, the joint unit can propel the robot to roll in sidewise direction. Two modular A-Ⅱ robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. The experimental results validate the adaptation and mobility of A-Ⅱ robot.

Evaluation Method on Steering for the Shape-shifting Robot in Different Configurations

The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for the shape-shifting robot in different configurations is proposed. Comparing to traditional evaluation method, the most important aspects which can influence the steering abilities of the robot in different configurations are researched in detail, including the energy, angular velocity, time and space. In order to improve the robustness of system, the ideal and slippage conditions are all considered by mathematical model. Comparing to the traditional weighting confirming method, the extent of robot steering method is proposed by the combination of subjective and objective weighting method. The subjective weighting method can show more preferences of the experts and is based on five-grade scale. The objective weighting method is based on information entropy to determine the factors. By the sensors fixed on the robot, the contract force between track grouser and ground, the intrinsic motion characteristics of robot are obtained and the experiment is done to prove the algorithm which is proposed as the robot in different common configurations. Through the method proposed in the article, fuzziness and inaccurate of the evaluation method has been solved, so the operators can choose the most suitable configuration of the robot to fulfil the different tasks more quickly and simply.

Toxic tau: structural origins of tau aggregation in Alzheimer’s disease

Alzheimer’s disease is characterized by the extracellular accumulation of the amyloidβin the form of amyloid plaques and the intracellular deposition of the microtubule-associated protein tau in the form of neurofibrillary tangles.Most of the Alzheimer’s drugs targeting amyloidβhave been failed in clinical trials.Particularly,tau pathology connects greatly in the pathogenesis of Alzheimer’s disease.Tau protein enhances the stabilization of microtubules that leads to the appropriate function of the neuron.Changes in the quantity or the conformation of tau protein could affect its function as a microtubules stabilizer and some of the processes wherein it is involved.The molecular mechanisms leading to the accumulation of tau are principally signified by numerous posttranslational modifications that change its conformation and structural state.Therefore,aberrant phosphorylation,as well as truncation of tau protein,has come into focus as significant mechanisms that make tau protein in a pathological entity.Furthermore,the shape-shifting nature of tau advocates to comprehend the progression of Alzheimer’s disease precisely.In this review,we emphasize the recent studies about the toxic and shape-shifting nature of tau in the pathogenesis of Alzheimer’s disease.

On demand bidirectional shape transformations and novel chiral actuators of photomediated shape memory polymer film based on photothermal OEGy-W_(18)O_(49)nanowires

The spatially controllable shape-shifting behaviors of a planar two-dimensional(2D)film to three-dimensional(3D)shapes upon external stimuli are of paramount significance for the development of smart materials.Herein,the present work focuses on fabricating plain film whose shape can be remotely and spatially transformed into various 3D configurations via the formation of a laser-induced temperature gradient;when subjected to laser irradiation,the prestretched hybrid films exhibit out-of-plane bending behavior owing to anisotropic chain relaxation and strain energy release.On this basis,various sophisticated shape transformations can be achieved by site-specific irradiations of laser with a controllable magnitude.Meanwhile,shape morphing involving reversible bending transformations can also be realized by employing the laser on the corresponding opposite side of the hybrid films.Remarkably,under a 160 mW/cm^(2) simulated sunlight illumination,the transformation of flat 2D film into 3D chiral actuators is driven by material anisotropy and geometrical heterogeneity of a bilayer strip design,and it yields right and left-handed helix,the morphologies of the helix shape can be precisely tailored by the strip angles and strain values.

Dynamic swelling performance of hydrophobic hydrogels

Conventional gels manifest monotonous swelling or shrinking performance upon immersing in solvents until reaching an equilibrium state. Recently, we discovered that the “hydrophobic hydrogels” prepared from hydrophobic polymer networks demonstrated dynamic swelling performance without equilibrium states. Upon water immersion, the gels expanded tremendously at the first stage until reaching a swelling peak;subsequently, the gels shrunk at an extremely slow rate. While this phenomenon endows the material with an unusual feature, more efforts are highly demanding for the full understanding of this performance. Herein, we systematically investigate the hydrophobic hydrogels’ swelling kinetics by screening the organic solvent dependence, polymer effect, and temperature impact. It is revealed that the chemical structure of gels greatly influences the swelling kinetics. The higher the networks’ hydrophobicity, the slower the swelling kinetics. Meanwhile, organic solvents demonstrate a limited effect on the dynamic swelling performance. Moreover, higher temperature significantly accelerates the whole volume change process. Based on the swelling performance, we further develop hydrogel-based soft devices with timeprogrammable two-dimensional and three-dimensional shape-shifting performances.