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Soft actuators are versatile and can readily perform various functions and interact safely with humans and the environment owing to their deformability. Shape memory alloys (SMAs) have advantages of high power-to-weight ratio, silent operation, and high response speed, which make them suitable for fabricating soft, compact, and muscle-like soft actuators with various transformation capabilities. However, it is challenging to precisely control SMA-based soft actuators and robots because of the lack of explicit dynamics-based control method. In this study, a linear phase transition model of SMA is derived to express the dynamic model of an SMA planar actuator (SPA) in an explicit form. Then, a model-based feedback controller considering constraints of strain of the SMA, temperature increment of the SPA and load increment, was built. Strain gauges are used to obtain the bending angle of the SPA as the feedback signal for the controller. Various capabilities of the SPA, such as step response, position tracking with constant angular speed, and motion control with load, were experimentally evaluated. The developed method is meaningful for the modeling and control of various SMA-based actuators and robots.

Additional file 21: Table S1. The significant changes of BRIP1 expression in transcription level in pan-cancers (ONCOMINE database). Table S2. Univariate and Multivariate COX regression for clinical characteristics and BRIP1 expression in various tumors. Table S3. Enrichment analysis of BRIP1-related genes across pancancer. Table S4. Association between BRIP1 DNA methylation and gene expression for the 24 tumors of TCGA. Table S5. The correlation between BRIP1 and other genes of ACC from the TCGA database. Table S6. The correlation between BRIP1 and other genes of BLCA from the TCGA database. Table S7. The correlation between BRIP1 and other genes of LUSC from the TCGA database. Table S8. The correlation between BRIP1 and other genes of OV from the TCGA database. Table S9. The correlation between BRIP1 and other genes of THCA from the TCGA database. Table S10. The correlation between BRIP1 and other genes of UCEC from the TCGA database. Table S11. The correlation between BRIP1 and other genes of BRCA from the TCGA database. Table S12. The correlation between BRIP1 and other genes of COAD, READ from the TCGA database. Table S13. The correlation between BRIP1 and other genes of ESCA with STAD from the TCGA database. Table S14. The correlation between BRIP1 and other genes of GBM from the TCGA database. Table S15. The correlation between BRIP1 and other genes of KIRC from the TCGA database. Table S16. The correlation between BRIP1 and other genes of LGG from the TCGA database. Table S17. The correlation between BRIP1 and other genes of LUAD from the TCGA database. Table S18. The correlation between BRIP1 and other genes of PRAD from the TCGA database. Table S19. The correlation between BRIP1 and other genes of STAD from the TCGA database.

Three novel bis-cationic asphalt emulsifiers were synthesized by two steps reaction of N-tallow-1,3-diaminopropane, methyl acrylate, sodium hydroxide and chloroacetic acid. The structure of the product was confirmed by FTIR, 1 H NMR and elemental analysis. The emulsifier exhibits satisfactory emulsification. The prepared bituminous emulsion showed higher storage stability. The emulsifier belongs to medium-set and slow-set asphalt emulsifier. It can be designed to perform in a wide variety of applications including tack coat, fog seal, chip seal and slurry seal in asphalt pavement construction.