Ionic gels can be potentially used in wearable devices owing to their high humidity resistance and non-volatility.However,the applicability of existing ionic gel pressure sensors is limited by their low sensitivity.Th...Ionic gels can be potentially used in wearable devices owing to their high humidity resistance and non-volatility.However,the applicability of existing ionic gel pressure sensors is limited by their low sensitivity.Therefore,it is very import-ant to develop an ionic gel pressure sensor with high sensitivity and a wide pressure detection range without sacrificing mechan-ical stretchability and self-healing ability.Herein,we report an effective strategy for developing pressure sensors based on ion-ic gel composites consisting of high-molecular-weight polymers,ionic liquids,and Au nanoparticles.The resulting capacitive pressure sensors exhibit high pressure sensitivity,fast response,and excellent self-healing properties.The sensors composed of highly hydrophobic polymers and ionic liquids can be used to track underwater movements,demonstrating broad application prospects in human motion state monitoring and underwater mechanical operations.展开更多
Underwater minirobots have attracted significant interest due to their value in complex application scenarios.Typical underwater minirobots are driven mainly by a soft or rigid actuator.However,soft actuation is curre...Underwater minirobots have attracted significant interest due to their value in complex application scenarios.Typical underwater minirobots are driven mainly by a soft or rigid actuator.However,soft actuation is currently facing challenges,including inadequate motional control accuracy and the lack of a continuous and steady driving force,while conventional rigid actuation has limited actuation efficiency,environmental adaptability,and motional flexibility,which severely limits the accomplishment of complicated underwater tasks.In this study,we developed underwater minirobots actuated by a hybrid driving method(HDM)that combines combustion-based actuators and propeller thrusters to achieve accurate,fast,and flexible underwater locomotion performance.Underwater experiments were conducted to investigate the kinematic performance of the minirobots with respect to the motion modes of rising,drifting,and hovering.Numerical models were used to investigate the kinematic characteristics of the minirobots,and theoretical models developed to unveil the mechanical principle that governs the driving process.Satisfactory agreement was obtained from comarisons of the experimental,numerical,and theoretical results.Finally,the HDM was compared with selected hybrid driving technologies in terms of acceleration and response time.The comparison showed that the minirobots based on HDM were generally superior in transient actuation ability and reliability.展开更多
目的：观察“蛟龙号”潜航员水下作业时自主神经系统（autonomic nervous system，ANS）的交感－副交感反应，探讨潜航活动中交感－迷走神经对潜航员心脏功能的互动调控作用。方法6名潜航员驾驶“蛟龙号”载人潜水器模拟水下作业，分别...目的：观察“蛟龙号”潜航员水下作业时自主神经系统（autonomic nervous system，ANS）的交感－副交感反应，探讨潜航活动中交感－迷走神经对潜航员心脏功能的互动调控作用。方法6名潜航员驾驶“蛟龙号”载人潜水器模拟水下作业，分别记录潜航前、潜航1．5 h 和潜航2．5 h 的心电图（electrocardiogram，ECG），运用频谱分析法对其心率变异性（heart rate variability，HRV）各指标进行定量分析，包括低频（low frequency，LF）、高频（high frequency，HF）、总功率（total power，TP）、低频／高频比值（LF ／HF）以及高频／总功率比值（HF ／TP）。结果潜航前 LF 值为（2950±248）ms^2，潜航1．5 h LF 升高到（3633±232）ms^2，差异有统计学意义（P ＜0．05）；潜航2．5 h LF 下降到（2800±184）ms^2，与潜航1．5 h 相比差异有统计学意义（P ＜0．05），但与潜航前的对照值相比差异无统计学意义（P ＜0．05）。潜航前的 HF值是（1700±107）ms^2，潜航1．5 h 后下降到（1200±156）ms^2，差异有统计学意义（P ＜0．05），潜航2．5 h 升高至（1917±15）ms^2，比潜航1．5 h 差异有统计学意义（P ＜0．05），但与潜航前比较差异无统计学意义（P ＞0．05）；潜航前 LF／HF 值是1．73±0．81，潜航1．5 h 升高为3．02±1．11，差异有统计学意义（P ＜0．05），潜航2．5 h降为1．46±0．82，与1．5 h 比显著降低，差异有统计学意义（P ＜0．05），但与潜航前比差异无统计学意义（P ＞0．05）。潜航前 HF／TP 值是0．36±0．22，潜航1．5 h 下降为0．25±0．23，差异有统计学意义（P ＜0．05），潜航2．5 h 升高至0．76±0．11，比潜航1．5 h 显著升高，差异有统计学意义（P ＜0．05）。潜航前 TP 值是（4650±280）ms^2，潜航1．5 h无明显变化，潜航2．5 h 比潜航1．5 h 和潜航前都有显著下降（P ＜0．05）。结论潜航员在水下展开更多
基金supported by the National Natural Science Foundation of China(NSFC,Grant Nos.61874111,62174152 and 62022079)the National Key Research and Development Program of China(Grant No.2020YFB1506400)+1 种基金the Youth Innovation Promotion Association of the Chinese Academy of Sciences(No.2020115)the Strategic Priority Research Program of the Chinese Academy of Sciences(XDA16021200).
文摘Ionic gels can be potentially used in wearable devices owing to their high humidity resistance and non-volatility.However,the applicability of existing ionic gel pressure sensors is limited by their low sensitivity.Therefore,it is very import-ant to develop an ionic gel pressure sensor with high sensitivity and a wide pressure detection range without sacrificing mechan-ical stretchability and self-healing ability.Herein,we report an effective strategy for developing pressure sensors based on ion-ic gel composites consisting of high-molecular-weight polymers,ionic liquids,and Au nanoparticles.The resulting capacitive pressure sensors exhibit high pressure sensitivity,fast response,and excellent self-healing properties.The sensors composed of highly hydrophobic polymers and ionic liquids can be used to track underwater movements,demonstrating broad application prospects in human motion state monitoring and underwater mechanical operations.
基金supported by the Key Research and Development Plan of Zhejiang Province,China(No.2021C03181)the Startup Fund of the Hundred Talents Program at the Zhejiang University,Chinathe China Scholarship Council(No.202006320349)。
文摘Underwater minirobots have attracted significant interest due to their value in complex application scenarios.Typical underwater minirobots are driven mainly by a soft or rigid actuator.However,soft actuation is currently facing challenges,including inadequate motional control accuracy and the lack of a continuous and steady driving force,while conventional rigid actuation has limited actuation efficiency,environmental adaptability,and motional flexibility,which severely limits the accomplishment of complicated underwater tasks.In this study,we developed underwater minirobots actuated by a hybrid driving method(HDM)that combines combustion-based actuators and propeller thrusters to achieve accurate,fast,and flexible underwater locomotion performance.Underwater experiments were conducted to investigate the kinematic performance of the minirobots with respect to the motion modes of rising,drifting,and hovering.Numerical models were used to investigate the kinematic characteristics of the minirobots,and theoretical models developed to unveil the mechanical principle that governs the driving process.Satisfactory agreement was obtained from comarisons of the experimental,numerical,and theoretical results.Finally,the HDM was compared with selected hybrid driving technologies in terms of acceleration and response time.The comparison showed that the minirobots based on HDM were generally superior in transient actuation ability and reliability.
文摘目的：观察“蛟龙号”潜航员水下作业时自主神经系统（autonomic nervous system，ANS）的交感－副交感反应，探讨潜航活动中交感－迷走神经对潜航员心脏功能的互动调控作用。方法6名潜航员驾驶“蛟龙号”载人潜水器模拟水下作业，分别记录潜航前、潜航1．5 h 和潜航2．5 h 的心电图（electrocardiogram，ECG），运用频谱分析法对其心率变异性（heart rate variability，HRV）各指标进行定量分析，包括低频（low frequency，LF）、高频（high frequency，HF）、总功率（total power，TP）、低频／高频比值（LF ／HF）以及高频／总功率比值（HF ／TP）。结果潜航前 LF 值为（2950±248）ms^2，潜航1．5 h LF 升高到（3633±232）ms^2，差异有统计学意义（P ＜0．05）；潜航2．5 h LF 下降到（2800±184）ms^2，与潜航1．5 h 相比差异有统计学意义（P ＜0．05），但与潜航前的对照值相比差异无统计学意义（P ＜0．05）。潜航前的 HF值是（1700±107）ms^2，潜航1．5 h 后下降到（1200±156）ms^2，差异有统计学意义（P ＜0．05），潜航2．5 h 升高至（1917±15）ms^2，比潜航1．5 h 差异有统计学意义（P ＜0．05），但与潜航前比较差异无统计学意义（P ＞0．05）；潜航前 LF／HF 值是1．73±0．81，潜航1．5 h 升高为3．02±1．11，差异有统计学意义（P ＜0．05），潜航2．5 h降为1．46±0．82，与1．5 h 比显著降低，差异有统计学意义（P ＜0．05），但与潜航前比差异无统计学意义（P ＞0．05）。潜航前 HF／TP 值是0．36±0．22，潜航1．5 h 下降为0．25±0．23，差异有统计学意义（P ＜0．05），潜航2．5 h 升高至0．76±0．11，比潜航1．5 h 显著升高，差异有统计学意义（P ＜0．05）。潜航前 TP 值是（4650±280）ms^2，潜航1．5 h无明显变化，潜航2．5 h 比潜航1．5 h 和潜航前都有显著下降（P ＜0．05）。结论潜航员在水下
