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
Spectrum sensing is a core function at cognitive radio systems to have spectrum awareness. This could be achieved by collecting samples from the frequency band under observation to make a conclusion whether the band i...Spectrum sensing is a core function at cognitive radio systems to have spectrum awareness. This could be achieved by collecting samples from the frequency band under observation to make a conclusion whether the band is occupied, or it is a spectrum hole. The task of sensing is becoming more challenging especially at wideband spectrum scenario. The difficulty is due to conventional sampling rate theory which makes it infeasible to sample such very wide range of frequencies and the technical requirements are very costly. Recently, compressive sensing introduced itself as a pioneer solution that relaxed the wideband sampling rate requirements. It showed the ability to sample a signal below the Nyquist sampling rate and reconstructed it using very few measurements. In this paper, we discuss the approaches used for solving compressed spectrum sensing problem for wideband cognitive radio networks and how the problem is formulated and rendered to improve the detection performance.展开更多
A detailed design methodology of a micro-scale 2-DOF energy harvesting device that can harvest human motion energy of low frequency and wide bandwidth is developed. Based on the concept of the 2-DOF vibration absorber...A detailed design methodology of a micro-scale 2-DOF energy harvesting device that can harvest human motion energy of low frequency and wide bandwidth is developed. Based on the concept of the 2-DOF vibration absorber, device parameters are selected to harvest energy at low frequency of 1-10 Hz and wide bandwidth with ±20% of the mean frequency, which matches the human motion. The device dimensions are limited to 40 × 30 × 10 mm3 to fit with the human wrist size. Then, a finite element model is developed to investigate the system performance with the selected parameters. When subjected to harmonic excitation of 1 g, the proposed 2-DOF device is able to provide a power of at least 10 μW in between the two close resonant peaks of 4 Hz and 6 Hz, which is the target frequency range. The device shows very high power per square frequency compared with the reported harvesters.展开更多
Cell separation using microfluidics has become an effective method to isolate biological contaminants from bodily fluids and cell cultures,such as isolating bacteria contaminants from microalgae cultures and isolating...Cell separation using microfluidics has become an effective method to isolate biological contaminants from bodily fluids and cell cultures,such as isolating bacteria contaminants from microalgae cultures and isolating bacteria contaminants from white blood cells.In this study,bacterial cells were used as a model contaminant in microalgae culture in a passive microfluidics device,which relies on hydrodynamic forces to demonstrate the separation of microalgae from bacteria contaminants in U and W-shaped cross-section spiral microchannel fabricated by defocusing CO_(2) laser ablation.At a flow rate of 0.7 ml/min in the presence of glycine as bacteria chemoattractant,the spiral microfluidics devices with U and W-shaped cross-sections were able to isolate microalgae(Desmodesmus sp.)from bacteria(E.coli)with a high separation efficiency of 92%and 96%respectively.At the same flow rate,in the absence of glycine,the separation efficiency of microalgae for U-and W-shaped cross-sections was 91%and 96%,respectively.It was found that the spiral microchannel device with a W-shaped cross-section with a barrier in the center of the channel showed significantly higher separation efficiency.Spiral microchannel chips with U-or W-shaped cross-sections were easy to fabricate and exhibited high throughput.With these advantages,these devices could be widely applicable to other cell separation applications,such as separating circulating tumor cells from blood.展开更多
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.
文摘Spectrum sensing is a core function at cognitive radio systems to have spectrum awareness. This could be achieved by collecting samples from the frequency band under observation to make a conclusion whether the band is occupied, or it is a spectrum hole. The task of sensing is becoming more challenging especially at wideband spectrum scenario. The difficulty is due to conventional sampling rate theory which makes it infeasible to sample such very wide range of frequencies and the technical requirements are very costly. Recently, compressive sensing introduced itself as a pioneer solution that relaxed the wideband sampling rate requirements. It showed the ability to sample a signal below the Nyquist sampling rate and reconstructed it using very few measurements. In this paper, we discuss the approaches used for solving compressed spectrum sensing problem for wideband cognitive radio networks and how the problem is formulated and rendered to improve the detection performance.
文摘A detailed design methodology of a micro-scale 2-DOF energy harvesting device that can harvest human motion energy of low frequency and wide bandwidth is developed. Based on the concept of the 2-DOF vibration absorber, device parameters are selected to harvest energy at low frequency of 1-10 Hz and wide bandwidth with ±20% of the mean frequency, which matches the human motion. The device dimensions are limited to 40 × 30 × 10 mm3 to fit with the human wrist size. Then, a finite element model is developed to investigate the system performance with the selected parameters. When subjected to harmonic excitation of 1 g, the proposed 2-DOF device is able to provide a power of at least 10 μW in between the two close resonant peaks of 4 Hz and 6 Hz, which is the target frequency range. The device shows very high power per square frequency compared with the reported harvesters.
文摘Cell separation using microfluidics has become an effective method to isolate biological contaminants from bodily fluids and cell cultures,such as isolating bacteria contaminants from microalgae cultures and isolating bacteria contaminants from white blood cells.In this study,bacterial cells were used as a model contaminant in microalgae culture in a passive microfluidics device,which relies on hydrodynamic forces to demonstrate the separation of microalgae from bacteria contaminants in U and W-shaped cross-section spiral microchannel fabricated by defocusing CO_(2) laser ablation.At a flow rate of 0.7 ml/min in the presence of glycine as bacteria chemoattractant,the spiral microfluidics devices with U and W-shaped cross-sections were able to isolate microalgae(Desmodesmus sp.)from bacteria(E.coli)with a high separation efficiency of 92%and 96%respectively.At the same flow rate,in the absence of glycine,the separation efficiency of microalgae for U-and W-shaped cross-sections was 91%and 96%,respectively.It was found that the spiral microchannel device with a W-shaped cross-section with a barrier in the center of the channel showed significantly higher separation efficiency.Spiral microchannel chips with U-or W-shaped cross-sections were easy to fabricate and exhibited high throughput.With these advantages,these devices could be widely applicable to other cell separation applications,such as separating circulating tumor cells from blood.
