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Dielectric elastomer actuators (DEAs) are increasingly recognized for their potential in robotic applications due to their ability to undergo significant deformation when subjected to an electric field. However, they are often limited by their low output power, which can make their integration into dynamic systems like hopping robots particularly challenging. This research optimizes the performance by introducing a cone DEA with a novel type of semi-diamond preload mechanism. This type of preload mechanism can meet the requirements of a negative-stiffness preload and a light weight. According to the experiments, the DEA can provide 3.62 mW power and its mass is only about 17.5 g. In order to drive hopping robots based on a cone DEA, this research introduces an energy accumulation mechanism coupled with a constant-torque cam for a hopping robot. The hopping robot weighs approximately 30.3 g and stands 10 cm tall in its upright position. Its energy accumulation mechanism involves a gear and cam transmission system, which is the key to store and release energy efficiently. The primary components of this mechanism include a torsion spring that stores mechanical energy when twisted, a constant-torque actuation cam that ensures the consistent application of torque during the energy storage phase, and a conical DEA that acts as an actuator. When the conical DEA is activated, it pushes a one-way clutch to the rocker, rotating the gear and cam mechanism and subsequently twisting the torsion spring to store energy. Upon release, the stored energy in the torsion spring is rapidly converted into kinetic energy, propelling the robot into the air. The experiments reveal that the designed DEA can drive the hopping robot by using the energy storage mechanism. Its hopping height is related to the pre-compression angle of the torsion spring. The DEA can drive the rigid hopping mechanism, and the maximum hopping height of the robot is up to 2.5 times its height. DEA hopping robots have obvious advantages, such as easy control, quietness and safety. [ABSTRACT FROM AUTHOR]

In this contribution, we reported the synthesis of the nanocomposites of poly(n-butyl acrylate) with Fe3O4 nanoparticles (NPs) via dynamic crosslinking of poly(n-butyl acrylate)-grafted Fe3O4 NPs with hindered urea bonds (HUBs). Towards this end, the surfaces of Fe3O4 NPs were grafted with poly(n-butyl acrylate-ran-2-(3-tert-butyl-3-ethylureido)ethyl acrylate) chains [denoted as Fe3O4-g-P(BA-r-TBEA)] via living radical polymerization. Thereafter, 1,2-bis(tert-butyl)ethylenediamine was used as a crosslinker to afford the organic–inorganic networks with variable contents of Fe3O4 NPs and crosslinking densities. It was found that the fine dispersion of Fe3O4 NPs in the matrix of poly(n-butyl acrylate) was achieved. The nanocomposites exhibited excellent reprocessing properties, attributed to the introduction of HUBs. Owing to the crosslinking, the nanocomposites displayed excellent shape memory properties. Further, the nanocomposites possessed photo- and magnetic–thermal properties, which were inherited from Fe3O4 NPs. These functional properties allow triggering the shape shifting of the nanocomposites in an uncontacted fashion. [ABSTRACT FROM AUTHOR]

Due to growing public concern over environmental preservation and the growing development of Internet information communication platforms, media coverage of corporate environmental issues can exert certain environmental public opinion pressure (EPOP) on enterprises and influence their behaviors. However, the current study of EPOP on the influence mechanism of corporate green innovation (CGI) has not yet formed a systematic and comprehensive theoretical analysis framework. Therefore, based on legitimacy theory and stakeholder theory, this paper explores the impact mechanism and role boundary between EPOP and CGI based on the data from 328 valid questionnaires of construction enterprises of the Chengdu–Chongqing Dual City Economic Circle using hierarchical regression analysis. The findings of the research indicate that EPOP can affect construction company green innovations positively, green corporate image (GCI) plays a partial mediating effect in the relationship between EPOP on CGI; market competition (MC) negatively moderates the relationship between EPOP and CGI, in addition, MC negatively regulates the intermediary effect of GCI in the relationship between EPOP and CGI. The findings of the study serve as theoretical support and decision-making reference to promote Chinese construction enterprise's transition to green innovation and improve environmental governance level. [ABSTRACT FROM AUTHOR]

Horizontal wells' multi-section and multi-cluster hydraulic fracturing plays an important role in the efficient development of shale gas. However, the influence of the perforating hole and natural fracture dip angle on the process of hydraulic fracture initiation and propagation has been ignored in the current researches. This paper presents the results related to a tri-axial large-scale hydraulic fracturing experiment under different natural fracture parameters. We discuss the experimental results relating to the near-wellbore tortuosity propagation of hydraulic fractures. Experimental results showed that the triaxial principal stress of the experimental sample was deflected by the natural fracture, which caused significant near-wellbore tortuosity propagation of the hydraulic fractures. The fractures in most rock samples were not perpendicular to the minimum horizontal principal stress after the experiment. As well, the deflection degree of triaxial principal stress direction and the probability of hydraulic fractures near-wellbore tortuosity propagation decreased with the increase of the natural fracture dip angle. After hydraulic fractures' tortuous propagation, the hydraulic fractures will propagate in the direction controlled by the triaxial stress in the far-wellbore area. For reservoirs with natural fractures, proppant in hydraulic fracturing should be added after the fractures are fully expanded to prevent sand plugging in tortuous fractures. When the permeability of natural fractures is low, the volume of fracturing fluid entering natural fractures is small, and hydraulic fractures are easy to pass through the natural fractures. [ABSTRACT FROM AUTHOR]

In order to further reduce the vibration level of helicopters, the active vibration control technology of helicopters has been extensively studied. Among them, individual blade control (IBC) independently applies high-order harmonics to each blade with an actuator, which can improve the aerodynamic environment of the blade and effectively reduce the vibration load of the hub. The rotor structural dynamics model based on the Hamilton energy variation principle and the medium deformation beam theory were established firstly, and the aerodynamic model based on the dynamic inflow model and the Leishman–Beddoes unsteady aerodynamic model were also established. The structural finite element method and the direct numerical integration method were used to calculate the vibration response of the rotor to determine the vibration load of the hub. After these, the steepest descent-golden section combinatorial optimization algorithm was used to find the optimization parameters of IBC. Based on this, the input parameters of fuzzy neural network PID control were determined, and the rotor hub vibration load control simulation was conducted. Under the effect of IBC, the vibration loads of the hub could be reduced by about 60%. The article gives the best control laws of individual harmonic pitch control and their combinations. These results can theoretically be applied to the design of control law to reduce helicopter vibration loads. [ABSTRACT FROM AUTHOR]

The one-dimensional (1D) polyethylene (PE) nanocrystals were generated in epoxy thermosets via crystallization-driven self-assembly. Toward this end, an ABA triblock copolymer composed of PE midblock and poly(ε-caprolactone) (PCL) endblocks was synthesized via the ring opening metathesis polymerization followed by hydrogenation approach. The nanostructured thermosets were obtained via a two-step curing approach, i.e., the samples were cured first at 80 °C and then at 150 °C. Under this condition, the one-dimensional (1D) fibrous PE microdomains with the lengths up to a couple of micrometers were created in epoxy thermosets. In contrast, only the spherical PE microdomains were generated while the thermosets were cured via a one-step curing at 150 °C. By the use of the triblock copolymer, the generation of 1D fibrous PE nanocrystals is attributable to crystallization-driven self-assembly mechanism whereas that of the spherical PE microdomains follows traditional self-assembly mechanism. Compared to the thermosets containing the spherical PE microdomains, the thermosets containing the 1D fibrous PE nanocrystals displayed quite different thermal and mechanical properties. More importantly, the nanostructured thermosets containing the 1D fibrous PE nanocrystals displayed the fracture toughness much higher than those only containing the spherical PE nanocrystals; the KIC value was even three times as that of control epoxy. [ABSTRACT FROM AUTHOR]

With the superior ductility and flexibility brought by compliant bodies, soft manipulators provide a nondestructive manner to grasp delicate objects, which has been developing gradually as a rising focus of soft robots. However, the unexpected phenomenon caused by environmental effects, leading to high internal nonlinearity and unpredictable deformation, makes it challenging to design, model, and control soft manipulators. In this paper, we designed a soft pneumatically actuated manipulator consisting of four soft actuators, as well as a flange, and investigated the influence of structural parameters on the output characteristics of the manipulator through finite element analysis (FEA). To enhance the bending deformation of the soft actuator, annular rings were employed on the soft actuator. A mathematical model for the bending deformation of air cavities was established to explore the relationship between the driving pressure and the bending angle based on the Yeoh strain energy function. Moreover, an end-output force model was established to depict the variation of the force output with the bending angle of the soft actuator, which was then experimentally validated by adopting the manufactured manipulator. The soft actuator studied in this paper can bend from 0° to 110° under an applied pressure of 0–60 kPa, and the maximum grasping load of the soft manipulator is 5.8 N. Finally, practical tests were conducted to assess the adaptability of the soft manipulator when grasping delicate fruits, such as apples, pears, tomatoes, and mangoes, demonstrating its broad application prospects in nondestructive fruit harvesting. [ABSTRACT FROM AUTHOR]

A rotor that can realize individual blade pitch control was designed. This paper focuses on finding the trend of helicopter vibration loads after applying multiple high-order harmonic control. The Glauert inflow model was introduced to calculate the induced velocity of rotor blades in a rotor disk plane, and the Leishman Beddoes (L-B) unsteady dynamic model was employed to calculate the aerodynamic forces of each section of a rotor blade. It was found that the influence of each high-order harmonic control on individual blade vibration load reduction is similar in different advanced ratios. After these calculations, the genetic algorithm was used to calculate the best combination of amplitude and phase of the higher order harmonic under a specific flight state. Under the effect of high harmonic input, the vibration loads of the hub could be reduced by about 65%. These results can be theoretically applied to design control law to reduce helicopter vibration loads. [ABSTRACT FROM AUTHOR]