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Soft robotics has attracted growing attention due to its compliant structure, safe operation, and promising applications in constrained and unstructured environments. Octopus can employ its arm and suckers to catch prey in complex environments. Intrigued by these capabilities, we explored a new approach in sensing, modeling, and control of a bioinspired soft robot that enables both bending and suction for manipulating and perception of environmental load. By implementing EGaIn-based soft sensors with a crosswise manner on the soft tentacle, both sensory feedbacks of the elongation and expansion induced by the pneumatic inflation can be acquired. In this article, we built a variable curvature model for the bending kinematic reconstruction of the soft robot based on the feedback of the soft sensors. Both modeling and experimental results show that this crosswise sensor design allows for more accurate sensing of the soft robot's bending than the one-axis design. With the crosswise sensor, the robotic tentacle can distinguish the bending under external stimuli and internal self-actuation. We experimentally verified the sensory response as well as the accuracy of the self-sensing system and the model under freeload bending, externally loaded bending, and grasping conditions. By synergistically adopting the sensing of the vacuum-actuated suckers with the bending arm, we show that the soft robot can detect, suck, and bend to grasp objects. The results from this article may provide new design and application insights into the creation of autonomous soft manipulators with both bending and suction for tasks in constrained environments.

A finite element analysis of a rigid sphere contact with a deformable elastic–plastic plat called indentation model is studied. The numerical results are applied on the rough surfaces contact of the Greenwood-Williamson (G-W) model. A series of the relationships of the rough surfaces contact parameters are obtained. The contact parameters of the indentation model and the flattening model are compared in detail, and the reasons for their differences are analyzed. In the case of single asperity contact, for ω/ωc > 1, the indentation model reaches the initial plastic yield while the flattening model is ω/ωc=1. In ω/ωc=10, the plastic yield reaches the contact surface for the first time, and the corresponding point of the flattening model is relatively earlier in ω/ωc=6. The contact parameters of the rough surface in different plasticity indexes are compared again. On the point of ψ = 0.5, the contact parameters of the flattening model and the indentation model coincide perfectly. For 0.5 < ψ < 4, the difference between the parameters curves become larger and larger. To the point of ψ = 4, when the distance difference reaches the maximum, it begins to decrease until the two curves are close to coincide again. The dimensionless elastic–plastic contact hardness is introduced. The relation between the real contact area and the contact pressure of the indentation model can be acquired quickly. The results show that the geometric shape of deformable contact parts has an important effect on the contact parameters, especially for the extension of the plastic deformation region within a specific range of plasticity index.

Electroplated micropore interconnection is one of the core technologies to realize the electronic connections of the high-density multilayer Printed circuit board (PCB). The quality of electroplated copper layer is a key factor for the reliability of PCB and electronic components. Focusing on the acid copper plating process, this paper expounds the development of the electroplating solution and additives, the mechanisms of electroplated copper deposition and hole filling mechanism, and the process control of electroplating, which will provide a reference for the in-depth study of the electroplating micropore interconnection technology.

The temperature range of general military and civil electronic reliability research is - 55°C ~400°C. But in deep space exploration, the extreme low temperature and large changing condition without thermal guarantee will give a great challenge to the service reliability of electronic interconnection structures and normal operation of the equipment. The low temperature brittleness is the serious problem of the Sn-Pb solder or Sn-Ag, Sn-Cu and Sn-Ag-Cu lead-free solders. In-Pb solder which has good toughness at extremely low temperature is a promising solder for deep space exploration. In this paper, the evolution mechanism of microstructure and mechanical properties of solder alloys in extreme conditions, and the reliability of solder joints and welded structures both domestic and abroad are reviewed.

The elastic-plastic contact analysis which is caused by a rigid asperity and a deformable plane is presented in this paper on the basis of elastic-perfectly plastic contact analysis. The parameters influence of seven materials stiffness in the process of contact is taken into account A finite element analysis model for the contact of a single asperity is established. On the basis of this model, the deformable plane is replaced by a material with different stiffness for the contact analysis. The relationship between the parameters of contact analysis is obtained, and the relevant empirical formula is fitted. The results show that, the relationship of contact parameters fluctuates in a certain extent which is because the coexistence of elastic contact and plastic contact in the elastic-plastic region during the process, however, the broader trend is approximately the same. When the full plastic contact is reached, the contact parameters tend to be stable.

In this work, a brand new one-step in situ thermal polymerization (ISTP) preparation of highly stable polymer-coated superhydrophobic materials has been reported. On the basis of the thermal initiation and nonvolatility of an ionic liquid (IL) precursor, robust polymeric layer could be in situ generated and coated to meshes under air atmosphere, while the anchored nanoparticles could provide hierarchical micro/nanostructure. An “oxidative crosslinking” effect was found, and the possible mechanism was proposed. As expected, the obtained mesh exhibited superhydrophobicity with water CA of 158° and superoleophilicity with oil CA of 0°. Besides, the mesh showed self-cleaning effect with a low sliding angle. As for application evaluation, the mesh could act as a filter for the highly efficient separation of a series of oil–water mixtures. More importantly, the mesh exhibited excellent stability and durability toward ultrasonic, abrasion treatment, long-term storage, and even under strongly acidic, alkaline, an...

In this work, the simple preparation of novel polymer supported polyoxometallates (POMs) catalysts has been reported. Soluble task-specific cross-linked poly (ionic liquid) (PIL) was prepared with N,​N-​dimethyl-​dodecyl-​(4-​vinylbenzyl) ammonium chloride and divinylbenzene as co-monomers. The as-prepared cationic PILs were assembled with different commercial POMs to form the interlinked mesoporous catalysts, and the formation mechanism was provided. The catalytic oxidation activities of the catalysts were closely related to the formation pathway of their corresponding peroxide active species. The catalyst with H2W12O4210- as counterion, which exhibited the best activity in the oxidation of benzothiophene (BT) and dibenzothiophene (DBT) to sulfones in model oil with hydrogen peroxide (H2O2, 30wt%) as oxidant, was characterized by different techniques and systematically studied for its sulfur removal performance. As for the oxidative desulfurization of a real diesel, it was observed that almost all of the original sulfur compounds could be completely converted, and the catalyst could be reused for at least eight cycles without noticeable changes in both catalytic activity and chemical structure. In the end, a catalytic mechanism was put forward with the assistant of Raman analysis.

In this work, poly(ionic liquid)s (PIL), namely poly-[1-vinyl,3-alkylimidazolium] bromine (PVABr) with different length of monomer carbon chain have been synthesized and assembled with [β-Mo8O26]4− into novel interlinked thin-layer nano-wire mesoporous material. The resulting POM/PIL hybrids were characterized by different techniques and utilized to catalyze the oxidative desulfurization (ODS) of thiophenic compounds with H2O2 as oxidant. Detailed experiments for ODS of synthesized diesel were carried out to investigate the influence of some important factors, including reaction temperature, molar ratio of H2O2/S, catalyst dosage and sulfide species. As for the desulfurization of hydrogenated diesel, it was observed that almost all of the original sulfur compounds in diesel could be completely converted and a further solvent extraction with methanol as extractant led to the deep sulfur removal. The catalyst could at least be reused for six times without noticeable changes in catalytic performance. The results demonstrate that the mesoporous isopolyanion-based polymeric hybrid is an efficient, durable and sustainable catalyst for ODS of diesel fuel.

The primary genetic linkage maps of Fenneropenaeus chinensis (Osbeck) were constructed by using the “two-way pseudo-testcross” strategy with RAPD and SSR markers. Parents and F1 progeny were used as segregating populations. Sixty-one RAPD primers and 20 pairs of SSR primers were screened from 460 RAPD primers and 44 pairs of SSR primers. These primers were used to analyze the parents and 82 progeny of the mapping family. About 146 primers (128 RAPDs, 18 microsatellites) in the female and 127 primers (109 RAPDs, 18 microsatellites) in the male were segregating markers. The female linkage map included eight linkage groups, nine triplets and 14 doublets, spanning 1,173 cM with the average marker density of 11.28 cM, and the observed coverage was 59.36%. The male linkage map included 10 linkage groups, 12 triplets and seven doublets, spanning 1,144.6 cM with the average marker density of 12.05 cM, and the observed coverage was 62.01%. The construction of the F. chinensis genetic linkage maps here opened a new prospect for marker-assisted selection program, comparative genomics and quantitative trait loci (QTL) gene location and cloning.