In this paper, we study the concept of soft sets which is introduced by Molodtsov [5]. We give the definition of (τ1,τ2)-semi open soft (resp. (τ1,τ2)-pre open soft, (τ1,τ2)-α-open soft, (τ1,τ2)-β-open soft...In this paper, we study the concept of soft sets which is introduced by Molodtsov [5]. We give the definition of (τ1,τ2)-semi open soft (resp. (τ1,τ2)-pre open soft, (τ1,τ2)-α-open soft, (τ1,τ2)-β-open soft, (τ1,τ2)'-semi open soft, (τ1,τ2)'-pre open soft, (τ1,τ2)'-α-open soft, (τ1,τ2)'-βopen soft) set via two soft topologies. Also we introduce (τ1,τ2)-regular open soft and ESDC on two soft topologies. The aim of this paper is to investigate properties of some mixed soft operations and characterizations of ESDC. Finally, we study τ2-ESDC soft topologies τ1.展开更多
Soft magnetic alloys are extensively used in various power electronic devices due to their advantageous properties,including high saturation magnetic induction,low coercivity,and high permeability.In certain applicati...Soft magnetic alloys are extensively used in various power electronic devices due to their advantageous properties,including high saturation magnetic induction,low coercivity,and high permeability.In certain applications,complex-shaped components are increasingly required for performance enhancement.Additive manufacturing technique,particularly selective laser melting(SLM),has emerged as an effective method for fabricating such complex-shaped soft magnetic components.SLM,a laserbased additive manufacturing technique,employs high-power-density lasers to melt and fuse metal powders within a powder bed selectively.This approach enables rapid prototyping,precise geometrical control,and the integration of multi-material designs.This review highlights recent advancements in the application of SLM technique for the production of soft magnetic alloys,focusing on Fe-Si,Fe-Ni,Fe-Co,and amorphous alloy systems.Moreover,it explores the implementation of SLM in manufacturing processes and evaluates both the opportunities and challenges associated with SLM-based production of soft magnetic alloys.展开更多
In this study,the dynamic characteristics and microstructures of lacustrine soft clays were studied.Dynamic character tests were conducted on undisturbed,remolded,and saturated lacustrine soft clays,using a dynamic tr...In this study,the dynamic characteristics and microstructures of lacustrine soft clays were studied.Dynamic character tests were conducted on undisturbed,remolded,and saturated lacustrine soft clays,using a dynamic triaxial tester.A scanning electron microscope(SEM)was employed to assess the soil samples after dynamic testing.The results indicate that the dynamic characteristics of lacustrine soft clay were significantly affected by confining pressure and water content.A quantitative relationship was established among confining pressures,water content,and the dynamic shear modulus ratio.The dynamic characteristic parameters of undisturbed,remolded and saturated soil are obviously different,and the original structure can enhance the shear strength of soil.By comparing the results with those from other studies,we found that the dynamic characters of soft clays were considerably varied in different regions,and lacustrine soft clays had a larger dynamic shear modulus ratio and a smaller damping ratio when the dynamic shear strain was large.Using IPP software to process the microstructural images,we found that the soil was dominated by small pores and medium particles,and the roundness of pores and particles had an apparently positive correlation with the maximum diameter.Moreover,the pores and particles of the soil showed fractal characteristics and directionality,and the fractal dimensions and probability entropy were strongly correlated with the macrostructural parameters.Finally,we developed a prediction model for macrostructural and microstructural parameters.展开更多
Polyurethane elastomers exhibit high dielectric constants owing to their polar groups,and can be used as energy storage capacitors.Energy storage depends not only on the dielectric constant but also on the dielectric ...Polyurethane elastomers exhibit high dielectric constants owing to their polar groups,and can be used as energy storage capacitors.Energy storage depends not only on the dielectric constant but also on the dielectric loss.However,the relationship between chain structure and dielectric properties is not yet clear.Ketal-containing crosslinked polyurethane elastomers were prepared using cyclic ketal diol as a chain extender.The effect of the soft segment length on the dielectric properties and energy storage was investigated.The cause of the change in the dipolar polarization with the soft segment length was analyzed.As the soft segment length increased,the hard-soft hydrogen bonding decreased,whereas the hard-hard hydrogen bonding increased.Under the action of an electric field,the polar bonds in the ketal-containing polyurethane elastomer overcome the hydrogen bonding between hard-soft segments to produce polarization;meanwhile,they also experience crankshaft motions to generate polarization.The former has a relatively high relaxation activation energy of approximately 10-20 k J·mol^(-1),resulting in a large dielectric loss.The latter has a relatively low relaxation activation energy,approximately 0.7-1.7 kJ·mol^(-1),leading to low dielectric loss.As a result,the dielectric constant showed a decreasing trend,and the dielectric loss gradually decreased.This study provides a theoretical foundation for improving the dielectric properties of polyurethane elastomers.展开更多
Conductive elastomers combining micromechanical sensitivity,lightweight adaptability,and environmental sustainability are critically needed for advanced flexible electronics requiring precise responsiveness and long-t...Conductive elastomers combining micromechanical sensitivity,lightweight adaptability,and environmental sustainability are critically needed for advanced flexible electronics requiring precise responsiveness and long-term wearability;however,the integration of these properties remains a significant challenge.Here,we present a biomass-derived conductive elastomer featuring a rationally engineered dynamic crosslinked network integrated with a tunable microporous architecture.This structural design imparts pronounced micromechanical sensitivity,an ultralow density(~0.25 g cm^(−3)),and superior mechanical compliance for adaptive deformation.Moreover,the unique micro-spring effect derived from the porous architecture ensures exceptional stretchability(>500%elongation at break)and superior resilience,delivering immediate and stable electrical response under both subtle(<1%)and large(>200%)mechanical stimuli.Intrinsic dynamic interactions endow the elastomer with efficient room temperature self-healing and complete recyclability without compromising performance.First-principles simulations clarify the mechanisms behind micropore formation and the resulting functionality.Beyond its facile and mild fabrication process,this work establishes a scalable route toward high-performance,sustainable conductive elastomers tailored for next-generation soft electronics.展开更多
Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advance...Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.展开更多
Soft actuators,capable of producing mechanical work in response to external stimuli,have potential applications in robotics and exoskeletons.However,they face major challenges related to energy supply,especially in lo...Soft actuators,capable of producing mechanical work in response to external stimuli,have potential applications in robotics and exoskeletons.However,they face major challenges related to energy supply,especially in long-distance and miniaturized environments.Fuel-driven actuators offer a promising solution by enabling the conversion of chemical energy into mechanical energy,supporting selfsustaining operations.Chemical energy from fuel can be converted into mechanical energy either directly or indirectly through methods such as electron transfer-induced charge injection,structural changes,fuel-to-electricity conversion,fuel combustioninduced heat,or fuel-induced pneumatic actuation.This paper provides a comprehensive review of recent developments in fuel-powered actuators,covering their fundamental principles,advancements,and challenges.It concludes with an outlook for miniaturized and autonomous robots,highlighting the great potential of integrating fuel-powered actuators.展开更多
Data-driven deep learning modeling has been increasingly applied to quality prediction in complex chemical processes.However,the data show complex temporal features due to different residence times and strong coupling...Data-driven deep learning modeling has been increasingly applied to quality prediction in complex chemical processes.However,the data show complex temporal features due to different residence times and strong coupling relationships among chemical entities.This study proposes a multi-scale temporal feature extraction module to extract local dynamic temporal features across different time scales and combines it with long short-term memory(LSTM)networks to capture global temporal patterns,thereby taking full advantage of available data.In addition,variable-wise channel attention is integrated into the model to enhance attention on the essential parts of the feature maps and improve predictive performance.Furthermore,by analyzing the attention weights,the model quickly identifies the key variables that significantly affect the predictions.Finally,the model is applied to a real corn starch liquefaction process and achieves an accurate product quality prediction with an R^(2) value of 0.9392,which represents a 4%to 9%improvement over traditional models and demonstrates the superiority of the proposed approach.展开更多
Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stabi...Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stability,and nontoxicity.However,its fast crystallization and requirement for high-temperature annealing(>250℃)often lead to inferior film quality,limiting its application in flexible devices.This study introduces an alloying strategy that significantly improves the quality of Cs_(2)AgBiBr_(6)thin films annealed at a reduced temperature of 150℃.Devices based on the alloyed thin films exhibit an ultra-low dark current of 0.32 nA·cm^(-2)and a quantum efficiency of 725%.Furthermore,the first successful integration of Cs_(2)AgBiBr_(6)with a thinfilm transistor backplane demonstrates its superior imaging performance,indicating that Cs_(2)AgBiBr_(6)is a promising material for next-generation soft X-ray sensors.展开更多
The soft actuator is characterized by high safety,flexibility,and adaptability.It is capable of both active and passive defor-mations.This paper presents a discrete degree of freedom(DOF)method for soft actuators to r...The soft actuator is characterized by high safety,flexibility,and adaptability.It is capable of both active and passive defor-mations.This paper presents a discrete degree of freedom(DOF)method for soft actuators to reveal DOF characteristics.The method draws on the superposition mechanism of the deformation characteristics of the sarcomere in the skeletal muscles of living organisms.Firstly,the multi-DOF deformation characteristics of the soft actuator are discretized into superimposed combinations of single-DOF micro-units.Then,the soft actuator was determined to contain deformation characteristics such as extension-contraction,bending,and twisting.Eighteen types of micro-units with basic deforma-tion characteristics were obtained depending on the axis and orientation.Further,the mapping relationship between the combination of micro-units and the motion characteristics of the soft actuator based on the GF set theory was established.Finally,an active-passive DOF co-structured soft actuator(APCSA)was developed.The graphical approach analyzes the experimental results,and it can be concluded that active and passive DOFs can coexist in the composite deformation of the soft actuator.展开更多
The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actu...The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actuators,sensors,and robotic systems that require safe interaction and precise manipulation.Unlike traditional techniques,3D printing offers enhanced capabilities in tailoring structural complexity,resolution,and integrated functionality,enabling the direct fabrication of hydrogel systems with programmed mechanical and functional properties.In this perspective,we explore the evolving role of 3D-printed hydrogels in soft robotics,covering their material composition,fabrication techniques,and diverse applications.We highlight advancements in hydrogel-based actuators,sensors,and robots,emphasizing their ability to perform intricate motions.In addition,we discuss challenges like mechanical robustness,scalability,and integration as well as the potential of hydrogels in soft robotics and explore future directions for their development.展开更多
Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation ...Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental adaption.Accordingly,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments.For decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing applicability.The presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies.This paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.展开更多
Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mec...Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mechanical motions.Here,we present a transformable,reconfigurable robotic platform created by the integration of magnetically responsive soft composite matrices with deformable multifunctional electronics.Magnetic compounds engineered to undergo phase transition at a low temperature can readily achieve reversible magnetization and conduct various changes of motions and shapes.Thin and flexible electronic system designed with mechanical dynamics does not interfere with movements of the soft electronic robot,and the performances of wireless circuit,sensors,and devices are independent of a variety of activities,all of which are verified by theoretical studies.Demonstration of navigations and electronic operations in an artificial track highlights the potential of the integrated soft robot for on-demand,environments-responsive movements/metamorphoses,and optoelectrical detection and stimulation.Further improvements to a miniaturized,sophisticated system with material options enable in situ monitoring and treatment in envisioned areas such as biomedical implants.展开更多
This paper introduces fuzzy N-bipolar soft(FN-BS)sets,a novel mathematical framework designed to enhance multi-criteria decision-making(MCDM)processes under uncertainty.The study addresses a significant limitation in ...This paper introduces fuzzy N-bipolar soft(FN-BS)sets,a novel mathematical framework designed to enhance multi-criteria decision-making(MCDM)processes under uncertainty.The study addresses a significant limitation in existing models by unifying fuzzy logic,the consideration of bipolarity,and the ability to evaluate attributes on a multinary scale.The specific contributions of the FN-BS framework include:(1)a formal definition and settheoretic foundation,(2)the development of two innovative algorithms for solving decision-making(DM)problems,and(3)a comparative analysis demonstrating its superiority over established models.The proposed framework is applied to a real-world case study on selecting vaccination programs across multiple countries,showcasing consistent DM outcomes and exceptional adaptability to complex and uncertain scenarios.These results position FN-BS sets as a versatile and powerful tool for addressing dynamic DM challenges.展开更多
近年来,综合能源系统作为一种以多种能源形态和设备相互交互的能源系统方案得到了广泛应用和研究.然而,在面对动态复杂的多能源系统时,传统的优化调度方法往往无法满足其实时性和精准度需求.因此,本文设计了一种软深度确定性策略梯度(So...近年来,综合能源系统作为一种以多种能源形态和设备相互交互的能源系统方案得到了广泛应用和研究.然而,在面对动态复杂的多能源系统时,传统的优化调度方法往往无法满足其实时性和精准度需求.因此,本文设计了一种软深度确定性策略梯度(Soft Deep Deterministic Policy Gradient,Soft-DDPG)算法驱动的综合能源系统优化调度方法,以最小化调度周期内系统总运行成本为目标,建立设备运行综合能效评估模型,再采用Soft-DDPG算法对每个能源设备的能效调度动作进行优化控制.Soft-DDPG算法将softmax算子引入到动作值函数的计算中,有效降低了Q值高估问题.与此同时,该算法在动作选择策略中加入了随机噪声,提高了算法的学习效率.实验结果显示,本文所提出的方法解决了综合能源系统能效调度实时性差、精准度低的瓶颈问题,实现了系统的高效灵活调度,降低了系统的总运行成本.展开更多
Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptabilit...Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptability and safety.Various materials and actuation strategies have been developed for creating soft robots,among which,ferromagnetic soft materials that self-actuate in response to external magnetic fields have attracted worldwide attention due to their remote controllability and excellent compatibil-ity with biological tissues.This review presents comprehensive and systematic research advancements in the design,fabrication,and applications of ferromagnetic soft materials for miniature robots,providing in-sights into their potential use in biomedical fields and beyond.The programming strategies of ferromag-netic soft materials are summarized and classified,including mold-assisted programming,3D printing-assisted programming,microassembly-assisted programming,and magnetization reprogramming.Each approach possesses unique advantages in manipulating the magnetic responsiveness of ferromagnetic soft materials to achieve outstanding actuation and deformation performances.We then discuss the biomedi-cal applications of ferromagnetic soft material-based soft robots(e.g.,minimally invasive surgery,targeted delivery,and tissue engineering),highlighting their potentials in revolutionizing biomedical technologies.This review also points out the current challenges and provides insights into future research directions,which we hope can serve as a useful reference for the development of next-generation adaptive miniature robots.展开更多
This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterp...This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.展开更多
The concept of soft topological space was introduced by some authors. In the present paper, we investigate some basic notions of soft topological spaces by using new soft point concept. Later we give soft locally comp...The concept of soft topological space was introduced by some authors. In the present paper, we investigate some basic notions of soft topological spaces by using new soft point concept. Later we give soft locally compact space and the relationships between them are discussed in detail. Finally, we define soft paracompactness and explore some of its basic properties.展开更多
Soft actuators and stimuli responsive materials are highlighted in the research field for their enormous potential in transit tasks,sensing,and biomedical devices,particularly the magnetic responsive soft actu-ators d...Soft actuators and stimuli responsive materials are highlighted in the research field for their enormous potential in transit tasks,sensing,and biomedical devices,particularly the magnetic responsive soft actu-ators driven by magnetic force remotely.Nevertheless,the further study of magnetic responsive actuators with complex three-dimensional geometries and multiple functions is still limited by uncomplicated de-sign and flexible locomotion.This work provides a novel scheme integrating the origami method and modular designs,which defines the inner properties of magnetic material,extending the functions of magnetic responsive actuators with various modules.The directions of the inner magnetic moments can be programmed and the deformation degrees can be regulated by this approach,which promotes the fabrication of complicated soft actuators with multiple functions by integrating with modular designs.Especially,a movable actuator with various sensing modulus is designed by the origami method,which can perform the sensing application to external ultra-violet(UV),heat,and pH stimuli.Moreover,a mi-croneedle modular actuator which can be controlled wirelessly by a magnetic field was demonstrated for the potential application in the biomedical field.This proposed scheme for engineering magnetic respon-sive material with modular designs has shown great potential to improve the feasibility,versatility,and multiple functionalities of soft actuators.展开更多
文摘In this paper, we study the concept of soft sets which is introduced by Molodtsov [5]. We give the definition of (τ1,τ2)-semi open soft (resp. (τ1,τ2)-pre open soft, (τ1,τ2)-α-open soft, (τ1,τ2)-β-open soft, (τ1,τ2)'-semi open soft, (τ1,τ2)'-pre open soft, (τ1,τ2)'-α-open soft, (τ1,τ2)'-βopen soft) set via two soft topologies. Also we introduce (τ1,τ2)-regular open soft and ESDC on two soft topologies. The aim of this paper is to investigate properties of some mixed soft operations and characterizations of ESDC. Finally, we study τ2-ESDC soft topologies τ1.
基金National Natural Science Foundation of China(52171191,52371198)Project of Constructing National Independent Innovation Demonstration Zones(XM2024XTGXQ05)。
文摘Soft magnetic alloys are extensively used in various power electronic devices due to their advantageous properties,including high saturation magnetic induction,low coercivity,and high permeability.In certain applications,complex-shaped components are increasingly required for performance enhancement.Additive manufacturing technique,particularly selective laser melting(SLM),has emerged as an effective method for fabricating such complex-shaped soft magnetic components.SLM,a laserbased additive manufacturing technique,employs high-power-density lasers to melt and fuse metal powders within a powder bed selectively.This approach enables rapid prototyping,precise geometrical control,and the integration of multi-material designs.This review highlights recent advancements in the application of SLM technique for the production of soft magnetic alloys,focusing on Fe-Si,Fe-Ni,Fe-Co,and amorphous alloy systems.Moreover,it explores the implementation of SLM in manufacturing processes and evaluates both the opportunities and challenges associated with SLM-based production of soft magnetic alloys.
基金National Natural Science Foundation of China under Grant No.52278340Natural Science Foundation of Hebei Province under Grant No.E2023202028。
文摘In this study,the dynamic characteristics and microstructures of lacustrine soft clays were studied.Dynamic character tests were conducted on undisturbed,remolded,and saturated lacustrine soft clays,using a dynamic triaxial tester.A scanning electron microscope(SEM)was employed to assess the soil samples after dynamic testing.The results indicate that the dynamic characteristics of lacustrine soft clay were significantly affected by confining pressure and water content.A quantitative relationship was established among confining pressures,water content,and the dynamic shear modulus ratio.The dynamic characteristic parameters of undisturbed,remolded and saturated soil are obviously different,and the original structure can enhance the shear strength of soil.By comparing the results with those from other studies,we found that the dynamic characters of soft clays were considerably varied in different regions,and lacustrine soft clays had a larger dynamic shear modulus ratio and a smaller damping ratio when the dynamic shear strain was large.Using IPP software to process the microstructural images,we found that the soil was dominated by small pores and medium particles,and the roundness of pores and particles had an apparently positive correlation with the maximum diameter.Moreover,the pores and particles of the soil showed fractal characteristics and directionality,and the fractal dimensions and probability entropy were strongly correlated with the macrostructural parameters.Finally,we developed a prediction model for macrostructural and microstructural parameters.
基金financially supported by the Hubei Key Laboratory of Pollutant Analysis&Reuse Technology(No.PA230102)。
文摘Polyurethane elastomers exhibit high dielectric constants owing to their polar groups,and can be used as energy storage capacitors.Energy storage depends not only on the dielectric constant but also on the dielectric loss.However,the relationship between chain structure and dielectric properties is not yet clear.Ketal-containing crosslinked polyurethane elastomers were prepared using cyclic ketal diol as a chain extender.The effect of the soft segment length on the dielectric properties and energy storage was investigated.The cause of the change in the dipolar polarization with the soft segment length was analyzed.As the soft segment length increased,the hard-soft hydrogen bonding decreased,whereas the hard-hard hydrogen bonding increased.Under the action of an electric field,the polar bonds in the ketal-containing polyurethane elastomer overcome the hydrogen bonding between hard-soft segments to produce polarization;meanwhile,they also experience crankshaft motions to generate polarization.The former has a relatively high relaxation activation energy of approximately 10-20 k J·mol^(-1),resulting in a large dielectric loss.The latter has a relatively low relaxation activation energy,approximately 0.7-1.7 kJ·mol^(-1),leading to low dielectric loss.As a result,the dielectric constant showed a decreasing trend,and the dielectric loss gradually decreased.This study provides a theoretical foundation for improving the dielectric properties of polyurethane elastomers.
基金supported by National Natural Science Foundation of China(No.52103044)Double First-Class Initiative University of Science and Technology of China(KY2400000037)the Young Talent Programme(GG2400007009).
文摘Conductive elastomers combining micromechanical sensitivity,lightweight adaptability,and environmental sustainability are critically needed for advanced flexible electronics requiring precise responsiveness and long-term wearability;however,the integration of these properties remains a significant challenge.Here,we present a biomass-derived conductive elastomer featuring a rationally engineered dynamic crosslinked network integrated with a tunable microporous architecture.This structural design imparts pronounced micromechanical sensitivity,an ultralow density(~0.25 g cm^(−3)),and superior mechanical compliance for adaptive deformation.Moreover,the unique micro-spring effect derived from the porous architecture ensures exceptional stretchability(>500%elongation at break)and superior resilience,delivering immediate and stable electrical response under both subtle(<1%)and large(>200%)mechanical stimuli.Intrinsic dynamic interactions endow the elastomer with efficient room temperature self-healing and complete recyclability without compromising performance.First-principles simulations clarify the mechanisms behind micropore formation and the resulting functionality.Beyond its facile and mild fabrication process,this work establishes a scalable route toward high-performance,sustainable conductive elastomers tailored for next-generation soft electronics.
基金Open access funding provided by The Science,Technology&Innovation Funding Authority(STDF)in cooperation with The Egyptian Knowledge Bank(EKB).
文摘Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.
基金Financial support from the program of the National Natural Science Foundation of China(Grant no.52475059)Major Program of National Natural Science Founda-tion of China(NSFC)for Basic Theory and Key Technology of Tri-Co Robots(92248301)+3 种基金the Postdoctoral Research Foundation of China(No.2024M751167)the Young Elite Scientists Sponsorship Program by CAST(2023QNRC001)Jiangsu Province Natural Science Foundation(No.BK20240155)supported by the Nano&Material Technology Development Program through the National Research Foundation of Korea(NRF),funded by the Ministry of Science and ICT(RS2024-00406534,RS-2025-25442809)。
文摘Soft actuators,capable of producing mechanical work in response to external stimuli,have potential applications in robotics and exoskeletons.However,they face major challenges related to energy supply,especially in long-distance and miniaturized environments.Fuel-driven actuators offer a promising solution by enabling the conversion of chemical energy into mechanical energy,supporting selfsustaining operations.Chemical energy from fuel can be converted into mechanical energy either directly or indirectly through methods such as electron transfer-induced charge injection,structural changes,fuel-to-electricity conversion,fuel combustioninduced heat,or fuel-induced pneumatic actuation.This paper provides a comprehensive review of recent developments in fuel-powered actuators,covering their fundamental principles,advancements,and challenges.It concludes with an outlook for miniaturized and autonomous robots,highlighting the great potential of integrating fuel-powered actuators.
基金the financial support provided by the Special Foundation for State Major Basic Research Program of China(2021YFD2101005)National Natural Science Foundation of China(22478057,22178045).
文摘Data-driven deep learning modeling has been increasingly applied to quality prediction in complex chemical processes.However,the data show complex temporal features due to different residence times and strong coupling relationships among chemical entities.This study proposes a multi-scale temporal feature extraction module to extract local dynamic temporal features across different time scales and combines it with long short-term memory(LSTM)networks to capture global temporal patterns,thereby taking full advantage of available data.In addition,variable-wise channel attention is integrated into the model to enhance attention on the essential parts of the feature maps and improve predictive performance.Furthermore,by analyzing the attention weights,the model quickly identifies the key variables that significantly affect the predictions.Finally,the model is applied to a real corn starch liquefaction process and achieves an accurate product quality prediction with an R^(2) value of 0.9392,which represents a 4%to 9%improvement over traditional models and demonstrates the superiority of the proposed approach.
基金supported by the NSFC under Grant No.62474169the National Key Research and Development Program of China under Grant No.2024YFB3212200the funding from USTC under Grant Nos.WK2100000025,KY2190000003,and KY2190000006。
文摘Soft X-ray detectors play a vital role in materials science,high-energy physics and medical imaging.Cs_(2)AgBiBr_(6),a lead-free double perovskite,has gained attention for its excellent optoelectronic properties,stability,and nontoxicity.However,its fast crystallization and requirement for high-temperature annealing(>250℃)often lead to inferior film quality,limiting its application in flexible devices.This study introduces an alloying strategy that significantly improves the quality of Cs_(2)AgBiBr_(6)thin films annealed at a reduced temperature of 150℃.Devices based on the alloyed thin films exhibit an ultra-low dark current of 0.32 nA·cm^(-2)and a quantum efficiency of 725%.Furthermore,the first successful integration of Cs_(2)AgBiBr_(6)with a thinfilm transistor backplane demonstrates its superior imaging performance,indicating that Cs_(2)AgBiBr_(6)is a promising material for next-generation soft X-ray sensors.
基金The Central Government Guides Local Foundation for Science and Technology Development(Grant No.YDZJSX2024B004).
文摘The soft actuator is characterized by high safety,flexibility,and adaptability.It is capable of both active and passive defor-mations.This paper presents a discrete degree of freedom(DOF)method for soft actuators to reveal DOF characteristics.The method draws on the superposition mechanism of the deformation characteristics of the sarcomere in the skeletal muscles of living organisms.Firstly,the multi-DOF deformation characteristics of the soft actuator are discretized into superimposed combinations of single-DOF micro-units.Then,the soft actuator was determined to contain deformation characteristics such as extension-contraction,bending,and twisting.Eighteen types of micro-units with basic deforma-tion characteristics were obtained depending on the axis and orientation.Further,the mapping relationship between the combination of micro-units and the motion characteristics of the soft actuator based on the GF set theory was established.Finally,an active-passive DOF co-structured soft actuator(APCSA)was developed.The graphical approach analyzes the experimental results,and it can be concluded that active and passive DOFs can coexist in the composite deformation of the soft actuator.
基金supported by Singapore MOE Tier-2 Award MOE-T2EP50123-0015.
文摘The integration of 3D-printed hydrogels in soft robotics enables the creation of flexible,adaptable,and biocompatible systems.Hydrogels,with their high-water content and responsiveness to stimuli,are suitable for actuators,sensors,and robotic systems that require safe interaction and precise manipulation.Unlike traditional techniques,3D printing offers enhanced capabilities in tailoring structural complexity,resolution,and integrated functionality,enabling the direct fabrication of hydrogel systems with programmed mechanical and functional properties.In this perspective,we explore the evolving role of 3D-printed hydrogels in soft robotics,covering their material composition,fabrication techniques,and diverse applications.We highlight advancements in hydrogel-based actuators,sensors,and robots,emphasizing their ability to perform intricate motions.In addition,we discuss challenges like mechanical robustness,scalability,and integration as well as the potential of hydrogels in soft robotics and explore future directions for their development.
文摘Robotics has aroused huge attention since the 1950s.Irrespective of the uniqueness that industrial applications exhibit,conventional rigid robots have displayed noticeable limitations,particularly in safe cooperation as well as with environmental adaption.Accordingly,scientists have shifted their focus on soft robotics to apply this type of robots more effectively in unstructured environments.For decades,they have been committed to exploring sub-fields of soft robotics(e.g.,cutting-edge techniques in design and fabrication,accurate modeling,as well as advanced control algorithms).Although scientists have made many different efforts,they share the common goal of enhancing applicability.The presented paper aims to brief the progress of soft robotic research for readers interested in this field,and clarify how an appropriate control algorithm can be produced for soft robots with specific morphologies.This paper,instead of enumerating existing modeling or control methods of a certain soft robot prototype,interprets for the relationship between morphology and morphology-dependent motion strategy,attempts to delve into the common issues in a particular class of soft robots,and elucidates a generic solution to enhance their performance.
基金supported by the Korea Institute of Science and Technology(KIST)Institutional Program(Project No.2E32501-23-106)the National Research Foundation of Korea(NRF)grant funded by the Korea government(the Ministry of Science,ICT,MSIT)(RS-2022-00165524)+2 种基金the development of technologies for electroceuticals of National Research Foundation(NRF)funded by the Korean government(MSIT)(RS-2023-00220534)ICT Creative Consilience program through the Institute of Information&Communications Technology Planning&Evaluation(IITP)grant funded by the Korea government(MSIT)(IITP-2024-2020-0-01819)Start up Pioneering in Research and Innovation(SPRINT)through the Commercialization Promotion Agency for R&D Outcomes(COMPA)grant funded by the Korea government(Ministry of Science and ICT)(1711198921).
文摘Soft robots have partially or entirely provided versatile opportunities for issues or roles that cannot be addressed by conventional machine robots,although most studies are limited to designs,controls,or physical/mechanical motions.Here,we present a transformable,reconfigurable robotic platform created by the integration of magnetically responsive soft composite matrices with deformable multifunctional electronics.Magnetic compounds engineered to undergo phase transition at a low temperature can readily achieve reversible magnetization and conduct various changes of motions and shapes.Thin and flexible electronic system designed with mechanical dynamics does not interfere with movements of the soft electronic robot,and the performances of wireless circuit,sensors,and devices are independent of a variety of activities,all of which are verified by theoretical studies.Demonstration of navigations and electronic operations in an artificial track highlights the potential of the integrated soft robot for on-demand,environments-responsive movements/metamorphoses,and optoelectrical detection and stimulation.Further improvements to a miniaturized,sophisticated system with material options enable in situ monitoring and treatment in envisioned areas such as biomedical implants.
文摘This paper introduces fuzzy N-bipolar soft(FN-BS)sets,a novel mathematical framework designed to enhance multi-criteria decision-making(MCDM)processes under uncertainty.The study addresses a significant limitation in existing models by unifying fuzzy logic,the consideration of bipolarity,and the ability to evaluate attributes on a multinary scale.The specific contributions of the FN-BS framework include:(1)a formal definition and settheoretic foundation,(2)the development of two innovative algorithms for solving decision-making(DM)problems,and(3)a comparative analysis demonstrating its superiority over established models.The proposed framework is applied to a real-world case study on selecting vaccination programs across multiple countries,showcasing consistent DM outcomes and exceptional adaptability to complex and uncertain scenarios.These results position FN-BS sets as a versatile and powerful tool for addressing dynamic DM challenges.
文摘近年来,综合能源系统作为一种以多种能源形态和设备相互交互的能源系统方案得到了广泛应用和研究.然而,在面对动态复杂的多能源系统时,传统的优化调度方法往往无法满足其实时性和精准度需求.因此,本文设计了一种软深度确定性策略梯度(Soft Deep Deterministic Policy Gradient,Soft-DDPG)算法驱动的综合能源系统优化调度方法,以最小化调度周期内系统总运行成本为目标,建立设备运行综合能效评估模型,再采用Soft-DDPG算法对每个能源设备的能效调度动作进行优化控制.Soft-DDPG算法将softmax算子引入到动作值函数的计算中,有效降低了Q值高估问题.与此同时,该算法在动作选择策略中加入了随机噪声,提高了算法的学习效率.实验结果显示,本文所提出的方法解决了综合能源系统能效调度实时性差、精准度低的瓶颈问题,实现了系统的高效灵活调度,降低了系统的总运行成本.
基金the National Key R&D Program of China(No.2023YFE0208700)National Natural Sci-ence Foundation of China(No.92163109 and 52072095)+7 种基金Shenzhen Science and Technology Program(No.RCJC20231211090000001,GXWD20231129101105001)the National Natural Science Foundation of China(No.52205590)the Natural Science Foundation of Jiangsu Province(No.BK20220834)the Start-up Research Fund of Southeast University(No.RF1028623098)the State Key Laboratory of Robotics and Systems(HIT)(No.SKLRS-2024-KF-11)National Natural Science Foundation of China(No.52202348)Guangdong Basic and Applied Basic Research Foundation(No.2023A1515011491)Shenzhen Science and Technology Program(Nos.GXWD20220818224716001,KJZD20231023100302006).
文摘Due to the small size,active mobility,and intrinsic softness,miniature soft robots hold promising po-tentials in reaching the deep region inside living bodies otherwise inaccessible with compelling agility,adaptability and safety.Various materials and actuation strategies have been developed for creating soft robots,among which,ferromagnetic soft materials that self-actuate in response to external magnetic fields have attracted worldwide attention due to their remote controllability and excellent compatibil-ity with biological tissues.This review presents comprehensive and systematic research advancements in the design,fabrication,and applications of ferromagnetic soft materials for miniature robots,providing in-sights into their potential use in biomedical fields and beyond.The programming strategies of ferromag-netic soft materials are summarized and classified,including mold-assisted programming,3D printing-assisted programming,microassembly-assisted programming,and magnetization reprogramming.Each approach possesses unique advantages in manipulating the magnetic responsiveness of ferromagnetic soft materials to achieve outstanding actuation and deformation performances.We then discuss the biomedi-cal applications of ferromagnetic soft material-based soft robots(e.g.,minimally invasive surgery,targeted delivery,and tissue engineering),highlighting their potentials in revolutionizing biomedical technologies.This review also points out the current challenges and provides insights into future research directions,which we hope can serve as a useful reference for the development of next-generation adaptive miniature robots.
基金Fundamental Research Funds for the Central Universities(No.2024JBMC011)Aeronautical Science Foundation of China(No.2024Z0560M5001).
文摘This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.
文摘The concept of soft topological space was introduced by some authors. In the present paper, we investigate some basic notions of soft topological spaces by using new soft point concept. Later we give soft locally compact space and the relationships between them are discussed in detail. Finally, we define soft paracompactness and explore some of its basic properties.
基金support provided by the Hong Kong RGC Theme-based Research Scheme(No.AoE/M-402/20)Hong Kong RGC Area of Excellence Scheme(No.AoE/E-101/23-N)+1 种基金Hong Kong RGC Theme-based Research Scheme(No.T45-406/23-R)the Hong Kong Innovation and Technology Commission via the Hong Kong Branch of National Precious Metals Material Engineering Research Center.
文摘Soft actuators and stimuli responsive materials are highlighted in the research field for their enormous potential in transit tasks,sensing,and biomedical devices,particularly the magnetic responsive soft actu-ators driven by magnetic force remotely.Nevertheless,the further study of magnetic responsive actuators with complex three-dimensional geometries and multiple functions is still limited by uncomplicated de-sign and flexible locomotion.This work provides a novel scheme integrating the origami method and modular designs,which defines the inner properties of magnetic material,extending the functions of magnetic responsive actuators with various modules.The directions of the inner magnetic moments can be programmed and the deformation degrees can be regulated by this approach,which promotes the fabrication of complicated soft actuators with multiple functions by integrating with modular designs.Especially,a movable actuator with various sensing modulus is designed by the origami method,which can perform the sensing application to external ultra-violet(UV),heat,and pH stimuli.Moreover,a mi-croneedle modular actuator which can be controlled wirelessly by a magnetic field was demonstrated for the potential application in the biomedical field.This proposed scheme for engineering magnetic respon-sive material with modular designs has shown great potential to improve the feasibility,versatility,and multiple functionalities of soft actuators.
