Supramolecular Self-Healing Sensor Fiber Composites for Damage Detection in Piezoresistive Electronic Skin for Soft Robots

Self-healing materials can prolong the lifetime of structures and products by enabling the repairing of damage. However, detecting the damage and the progress of the healing process remains an important issue. In this study, self-healing, piezoresistive strain sensor fibers (ShSFs) are used for detecting strain deformation and damage in a self-healing elastomeric matrix. The ShSFs were embedded in the self-healing matrix for the development of self-healing sensor fiber composites (ShSFC) with elongation at break values of up to 100%. A quadruple hydrogen-bonded supramolecular elastomer was used as a matrix material. The ShSFCs exhibited a reproducible and monotonic response. The ShSFCs were investigated for use as sensorized electronic skin on 3D-printed soft robotic modules, such as bending actuators. Depending on the bending actuator module, the electronic skin was loaded under either compression (pneumatic-based module) or tension (tendon-based module). In both configurations, the ShSFs could be successfully used as deformation sensors, and in addition, detect the presence of damage based on the sensor signal drift. The sensor under tension showed better recovery of the signal after healing, and smaller signal relaxation. Even with the complete severing of the fiber, the piezoresistive properties returned after the healing, but in that case, thermal heat treatment was required. With their resilient response and self-healing properties, the supramolecular fiber composites can be used for the next generation of soft robotic modules.

ROBOT PENJELAJAH BERODA AUTONOMOUS

The wheeled robot design consists of various modules with their own functionalities. We chosethe components based on theirs specification, autonomous functionality, and in theirs prices. We assembledthese components as modules. The modules in this design are power supply module, processing modulewhich is used ATMega 328 microcontroller, distance sensor module, line sensor module, wirelesscommunication module, motor driver module and actuator module which is used DC motor. Systemperformance indicated with: Able to follow square, triangle, synes conture and stopping ability. Experimentshawed that all of the modules worked as design. The robot could navigate according to contoursautonomously. We tested by using a display module. We gave inputs and then feeded to processing modulethrough bluetooth. From the experiment, it can be concluded that the robot which was using wall followingmethod could be controlled well. The PID controller performed well so the navigation could be stable. Thestable condition was achieved under 3 seconds. But the performance criteria had not been achieved becausethe maximum overshoot was 41.2% which was far from the limit of 10%.

Advanced Technology Application on Monitoring and Forecasting Lobster Farming Environment in Phu Yen

Environmental monitoring is an urgent requirement in aquaculture. In this paper, the author presents solutions to apply advanced technologies in design and development in monitoring and forecasting lobster farming environment and practical implementation in Phu Yen. This is a complete IoT system including: (1) sensor/actuator module to collect data from the environment; (2) communication module connecting sensors, forming a flexible wireless network architecture, sending reliable data to the server/cloud, with long distance and low energy consumption; (3) data storage and processing subsystem using AI to provide real-time monitoring and forecasting of environmental trends, early warning of risks and epidemics; (4) application modules including web-app and mobile-app allow users to exploit services and interact with the system, manage and operate monitoring equipment.

Actuator model for spacecraft attitude control simulation

Purpose The purpose of this paper is to study the general actuator modeling in spacecraft attitude control systems. Design/methodology/approach The proposed module in this paper provides various non-ideal factors such as the second-order dynamic time response, time-delay, bias torques, dead-zones and saturation. The actuator module can make the simulation as close to the practical situation as possible. Findings This paper presents a practical integrated module for the simulation of attitude control algorithms. Based on theoretical modeling, we give simulation modules and numerical examples. The proposed model can be directly used in spacecraft control simulation. Instead of considering only a few of them, it makes the simulation more convincing. Though it may not be perfect, it is better than totally ignoring the actuator dynamics. Originality/value The authors provide an integrated actuator model for spacecraft attitude control simulation, considering as many nonlinear factors as possible once time.

Automatic Control and Model Verification for a Small Aileron-Less Hand-Launched Solar-Powered Unmanned Aerial Vehicle

This paper describes a low-cost flight control system of a small aileron-less hand-launched solar-powered unmanned aerial vehicle (UAV). In order to improve the accuracy of the whole system model and quantify the influence of each subsystem, detailed modeling of UAV energy and a control system including a solar model, engine, energy storage, sensors, state estimation, control law, and actuator module are established in accordance with the experiment and component principles. A whole system numerical simulation combined with the 6 degree-of-freedom (DOF) simulation model is constructed based on the typical mission route, and the parameter precision sequence and energy balance are obtained. Then, a hardware-in-the-loop (HIL) experiment scheme based on the Stewart platform (SP) is proposed, and three modes of acceleration, angular velocity, and attitude are designed to verify the control system through the inner and boundary states of the flight envelope. The whole system scheme is verified by flight tests at different altitudes, and the aerodynamic force coefficient and sensor error are corrected by flight data. With the increase of altitude, the cruise power increases from 47 W to 78 W, the trajectory tracking precision increases from 23 m to 44 m, the sensor measurement noise increases, and the bias decreases.

Development of an interactive shirt for self-directed motor learning

Purpose The purpose of this paper is to develop a framework for an interactive clothing that offers a self-directed learning environment in which learners can practice exercises in a time and cost-efficient manner. Design/methodology/approach To verify the validity of the framework, an interactive shirt has been developed that can help its wearer practicing certain motor skills in a self-directed manner. This shirt enables the wearer to set reference body postures and to compare current posture with them and can notify whether its wearer repeats them correctly or not through vibrotactile feedback. Findings The interactive shirt prototype developed in this study will offer an environment in which learners can practice exercises in a time and cost-efficient manner. Originality/value The smart garment framework developed in this study consists of sensor-actuator module, switch device and control software. As this framework is easily scalable, it is expected that it can be used for various smart garment projects where an interaction between the garment and its wearer is needed.

A biosensing soft robot: Autonomous parsing of chemical signals through integrated organic and inorganic interfaces

The integration of synthetic biology and soft robotics can fundamentally advance sensory, diagnostic, and therapeutic functionality of bioinspired machines. However, such integration is currently impeded by the lack of soft-matter architectures that interface synthetic cells with electronics and actuators for controlled stimulation and response during robotic operation. Here, we synthesized a soft gripper that uses engineered bacteria for detecting chemicals in the environment, a flexible light-emitting diode (LED) circuit for converting biological to electronic signals, and soft pneu-net actuators for converting the electronic signals to movement of the gripper. We show that the hybrid bio-LED-actuator module enabled the gripper to detect chemical signals by applying pressure and releasing the contents of a chemical-infused hydrogel. The biohybrid gripper used chemical sensing and feedback to make actionable decisions during a pick-and-place operation. This work opens previously unidentified avenues in soft materials, synthetic biology, and integrated interfacial robotic systems.