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Carbon nanotubes (CNTs), owing to their superior electrical and mechanical properties, are a promising alternative to nonmetallic electrically conducting materials. In practice, cellulose as a low‐cost sustainable matrix has been used to prepare the aqueous dispersion of cellulose‐CNT (C‐CNT) nanocomposites. However, the compatibility with conventional solution‐processing and structural rearrangement for improving conductivity has yet to be determined. Herein, a straightforward route to prepare a conductive composite material from single‐walled CNTs (SWCNTs) and natural pulp is reported. High‐power shaking realizes the self‐alignment of individual SWCNTs in a cellulose matrix, resulting from the structural change in molecular orientations owing to countless collisions of zirconia beads in the aqueous mixture. The structural analysis of the dried C‐CNT films confirms that the entanglement and dispersion of C‐CNT nanowires determine the mechanical and electrical properties. Moreover, the rheological behavior of C‐CNT inks explains their coating and printing characteristics. By controlling shaking time, the electrical conductivity of the C‐CNT films with only 9 wt.% of SWCNTs from 0.9 to 102.4 S cm−1 are adjusted. the optimized C‐CNT ink is highly compatible with the conventional coating and printing processes on diverse substrates, thus finding potential applications in eco‐friendly, highly flexible, and stretchable electrodes is also demonstrated. [ABSTRACT FROM AUTHOR]

Abstract In integrated circuits (ICs), the parasitic capacitance is one of the crucial factors that degrade the circuit dynamic performance; for instance, it reduces the operating frequency of the circuit. Eliminating the parasitic capacitance in organic transistors is notoriously challenging due to the inherent tradeoff between manufacturing costs and interlayer alignment accuracy. Here, we overcome such a limitation using a cost‐effective method for fabricating organic thin‐film transistors and rectifying diodes without redundant electrode overlaps. This is achieved by placing all electrodes horizontally and introducing sub‐100 nm gaps for separation. A representative small‐scale IC consisting of five‐stage ring oscillators based on the obtained nonparasitic transistors and diodes is fabricated on flexible substrates, which performs reliably at a low driving voltage of 1 V. Notably, the oscillator exhibits signal propagation delays of 5.8 μs per stage at a supply voltage of 20 V when utilizing pentacene as the active layer. Since parasitic capacitance has been a common challenge for all types of thin‐film transistors, our approach may pave the way toward the realization of flexible and large‐area ICs based on other emerging and highly performing semiconductors.

Abstract Carbon nanotubes (CNTs), owing to their superior electrical and mechanical properties, are a promising alternative to nonmetallic electrically conducting materials. In practice, cellulose as a low‐cost sustainable matrix has been used to prepare the aqueous dispersion of cellulose‐CNT (C‐CNT) nanocomposites. However, the compatibility with conventional solution‐processing and structural rearrangement for improving conductivity has yet to be determined. Herein, a straightforward route to prepare a conductive composite material from single‐walled CNTs (SWCNTs) and natural pulp is reported. High‐power shaking realizes the self‐alignment of individual SWCNTs in a cellulose matrix, resulting from the structural change in molecular orientations owing to countless collisions of zirconia beads in the aqueous mixture. The structural analysis of the dried C‐CNT films confirms that the entanglement and dispersion of C‐CNT nanowires determine the mechanical and electrical properties. Moreover, the rheological behavior of C‐CNT inks explains their coating and printing characteristics. By controlling shaking time, the electrical conductivity of the C‐CNT films with only 9 wt.% of SWCNTs from 0.9 to 102.4 S cm−1 are adjusted. the optimized C‐CNT ink is highly compatible with the conventional coating and printing processes on diverse substrates, thus finding potential applications in eco‐friendly, highly flexible, and stretchable electrodes is also demonstrated.

BACKGROUND: Hydrogels have been widely used in many research fields owing to optical transparency, good biocompatibility, tunable mechanical properties, etc. Unlike typical hydrogels in the form of an unstructured bulk material, we developed aqueous dispersions of fiber-shaped hydrogel structures with high stability under ambient conditions and their application to various types of transparent soft cell culture interfaces with anisotropic nanoscale topography. METHOD: Nanofibers based on the polyvinyl alcohol and polyacrylic acid mixture were prepared by electrospinning and hydrogelified to nano-fibrous hydrogels (nFHs) after thermal crosslinking and sulfuric acid treatment. By modifying various material surfaces with positively-charged polymers, negatively-charged superabsorbent nFHs could be selectively patterned by employing micro-contact printing or horizontally aligned by applying shear force with a wired bar coater. RESULTS: The angular distribution of bar-coated nFHs was dramatically reduced to ± 20° along the applied shear direction unlike the drop-coated nFHs which exhibit random orientations. Next, various types of cells were cultured on top of transparent soft nFHs which showed good viability and attachment while their behaviors could be easily monitored by both upright and inverted optical microscopy. Particularly, neuronal lineage cells such as PC 12 cells and embryonic hippocampal neurons showed highly stretched morphology along the overall fiber orientation with aspect ratios ranging from 1 to 14. Furthermore, the resultant neurite outgrowth and migration behaviors could be effectively controlled by the horizontal orientation and the three-dimensional arrangement of underlying nFHs, respectively. CONCLUSION: We expect that surface modifications with transparent soft nFHs will be beneficial for various biological/biomedical studies such as fundamental cellular studies, neuronal/stem cell and/or organoid cultures, implantable probe/device coatings, etc.

Abstract The current parallel ankle rehabilitation robot (ARR) suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation, which may lead to secondary injuries to the patient. This study investigates type synthesis of a parallel self-alignment ankle rehabilitation robot (PSAARR) based on the kinematic characteristics of ankle joint rotation center drift from the perspective of introducing "suitable passive degrees of freedom (DOF)" with a suitable number and form. First, the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain (HRCC) formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of "decoupled" and "less limb". Second, the relationship between the self-alignment principle and actuation wrenches (twists) of PSAARR was analyzed with the velocity Jacobian matrix as a "bridge". Subsequently, the type synthesis conditions of PSAARR were proposed. Third, a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis conducted. Finally, an HRCC kinematic model was established to verify the self-alignment capability of the PSAARR. In this study, 93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis, which provides a theoretical basis for the design of such an ARR.

The current parallel ankle rehabilitation robot (ARR) suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation, which may lead to secondary injuries to the patient. This study investigates type synthesis of a parallel self-alignment ankle rehabilitation robot (PSAARR) based on the kinematic characteristics of ankle joint rotation center drift from the perspective of introducing "suitable passive degrees of freedom (DOF)" with a suitable number and form. First, the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain (HRCC) formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of "decoupled" and "less limb". Second, the relationship between the self-alignment principle and actuation wrenches (twists) of PSAARR was analyzed with the velocity Jacobian matrix as a "bridge". Subsequently, the type synthesis conditions of PSAARR were proposed. Third, a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis conducted. Finally, an HRCC kinematic model was established to verify the self-alignment capability of the PSAARR. In this study, 93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis, which provides a theoretical basis for the design of such an ARR. [ABSTRACT FROM AUTHOR]

Exoskeleton robots enable individuals with impaired physical functions to perform daily activities and maintain independence. However, the discomfort experienced by users when using these devices may limit the application scope of exoskeleton robots. Therefore, this paper systematically defines and analyzes the key design factors affecting the wearing comfort of rigid exoskeleton robots by differentiating and discussing the characteristics of traditional exoskeleton robots and exoskeleton robots equipped with the self-alignment mechanism based on addressing misalignment issues. Furthermore, the various structural configurations of the Physical Human-Robot Attachment Interface (PHRAI) and related quantitative evaluation indicators are explored in depth, and the advantages and limitations of structural customized design methods combining parametric design, Three-Dimensional (3D) scanning, and 3D printing technology are evaluated. Finally, the current concerns in the research field and potential solution strategies are proposed, aiming to provide directional guidance to optimize future exoskeleton robots. The research findings are of significant value for enhancing the comfort of wearing exoskeleton robots and provide valuable theoretical and practical references for future research.

We have developed a manufacturing process for micromirrors based on microelectromechanical systems (MEMS) technology. The process involves designing an electrostatic vertically comb-driven actuator and utilizing a self-alignment process to produce a height difference between the movable comb structure and the fixed comb structure of the micromirror. To improve the stability of the micromirror, we propose four instability models in micromirror operation with the quasi-static driving principle and structure of the micromirror considered, which can provide a basic guarantee for the performance of vertical comb actuators. This analysis pinpoints factors leading to instability, including the left and right gap of the movable comb, the torsion beams of the micromirror, and the comb-to-beams distance. Ultimately, the voltages at which device failure occurs can be determined. We successfully fabricated a one-dimensional micromirror featuring a 0.8 mm mirror diameter and a 30 μm device layer thickness. The height difference between the movable and fixed comb structures was 10 μm. The micromirror was able to achieve a static mechanical angle of 2.25° with 60 V@DC. Stable operation was observed at voltages below 60 V, in close agreement with the theoretical calculations and simulations. At the driving voltage of 80 V, we observed the longitudinal displacement movement of the comb fingers. Furthermore, at a voltage of 129 V, comb adhesion occurred, resulting in device failure. This failure voltage corresponds to the lateral torsional failure voltage. [ABSTRACT FROM AUTHOR]

Abstract Background Hydrogels have been widely used in many research fields owing to optical transparency, good biocompatibility, tunable mechanical properties, etc. Unlike typical hydrogels in the form of an unstructured bulk material, we developed aqueous dispersions of fiber-shaped hydrogel structures with high stability under ambient conditions and their application to various types of transparent soft cell culture interfaces with anisotropic nanoscale topography. Method Nanofibers based on the polyvinyl alcohol and polyacrylic acid mixture were prepared by electrospinning and hydrogelified to nano-fibrous hydrogels (nFHs) after thermal crosslinking and sulfuric acid treatment. By modifying various material surfaces with positively-charged polymers, negatively-charged superabsorbent nFHs could be selectively patterned by employing micro-contact printing or horizontally aligned by applying shear force with a wired bar coater. Results The angular distribution of bar-coated nFHs was dramatically reduced to ± 20° along the applied shear direction unlike the drop-coated nFHs which exhibit random orientations. Next, various types of cells were cultured on top of transparent soft nFHs which showed good viability and attachment while their behaviors could be easily monitored by both upright and inverted optical microscopy. Particularly, neuronal lineage cells such as PC 12 cells and embryonic hippocampal neurons showed highly stretched morphology along the overall fiber orientation with aspect ratios ranging from 1 to 14. Furthermore, the resultant neurite outgrowth and migration behaviors could be effectively controlled by the horizontal orientation and the three-dimensional arrangement of underlying nFHs, respectively. Conclusion We expect that surface modifications with transparent soft nFHs will be beneficial for various biological/biomedical studies such as fundamental cellular studies, neuronal/stem cell and/or organoid cultures, implantable probe/device coatings, etc.

The structure of steering gear’s HATLAPA mechanism is analyzed. It is shown that presence of redundant constraints in it increases laboriousness of gear montage and respectively worsen maintainability. On the basis of provided analysis developed mechanism with reduced more than twice redundant constrainsts number.

We have developed a manufacturing process for micromirrors based on microelectromechanical systems (MEMS) technology. The process involves designing an electrostatic vertically comb-driven actuator and utilizing a self-alignment process to produce a height difference between the movable comb structure and the fixed comb structure of the micromirror. To improve the stability of the micromirror, we propose four instability models in micromirror operation with the quasi-static driving principle and structure of the micromirror considered, which can provide a basic guarantee for the performance of vertical comb actuators. This analysis pinpoints factors leading to instability, including the left and right gap of the movable comb, the torsion beams of the micromirror, and the comb-to-beams distance. Ultimately, the voltages at which device failure occurs can be determined. We successfully fabricated a one-dimensional micromirror featuring a 0.8 mm mirror diameter and a 30 μm device layer thickness. The height difference between the movable and fixed comb structures was 10 μm. The micromirror was able to achieve a static mechanical angle of 2.25° with 60 V@DC. Stable operation was observed at voltages below 60 V, in close agreement with the theoretical calculations and simulations. At the driving voltage of 80 V, we observed the longitudinal displacement movement of the comb fingers. Furthermore, at a voltage of 129 V, comb adhesion occurred, resulting in device failure. This failure voltage corresponds to the lateral torsional failure voltage.

To reduce the impact of offshore launching platform motion and swaying on the self-alignment accuracy of a launch vehicle, a rapid self-alignment strategy, which involves an optimal combination of anti-swaying coarse alignment (ASCA), backtracking navigation, and reverse Kalman filtering is proposed. During the entire alignment process, the data provided by the strapdown inertial navigation system (SINS) are stored and then applied to forward and backtrack self-alignment. This work elaborates the basic principles of coarse alignment and then analyzes the influence of ASCA time on alignment accuracy. An error model was built for the reverse fine alignment system. The coarse alignment was carried out based on the above work, then the state of the alignment system was retraced using the reverse inertial navigation solution and reverse Kalman filtering with the proposed strategy. A cycle-index control function was designed to approximate strict backtracking navigation. Finally, the attitude error was compensated for after the completion of the first and the last forward navigation. To demonstrate the effectiveness of the proposed strategy, numerical simulations were carried out in a scenario of launch vehicle motion and swaying. The proposed strategy can maximize the utilization of SINS data and hence improve the alignment accuracy and further reduce the alignment time. The results show that the fully autonomous alignment technology of the SINS can replace the complex optical aiming system and realize the determination of the initial attitude of a launch vehicle before launch. [ABSTRACT FROM AUTHOR]

Featured Application: New approaches to design efficient RF devices that use LCs. We evaluated hexadecyltrimethylammonium bromide (HTAB) for liquid crystals (LCs) in layered ITO cells with various cell gap conditions. HTAB is a surfactant that can self-align vertically on the surface of indium tin oxide (ITO) substrates and induce homeotropic alignment of the LC molecules. For implementing RF devices with HTAB and LCs, we should consider limitations caused by the design conditions which are different from conventional liquid crystal displays such as cell gap. We quantified the concentration of HTAB ([HTAB]) that is necessary to form and maintain a sufficiently dense vertical alignment of 5CB (4-Cyano-4′-pentylbiphenyl). The required [HTAB] for full-homeotropic alignment was increased to the cell gap until it was too large to support the transfer of the surface alignment to the LC molecules, due to the weak anchoring nature of HTAB. We also showed the phase-change characteristic of the LC mixture related to [HTAB] for the design of RF devices driven by light or heat. This study may help to guide the development of new approaches to designing efficient RF devices that use LCs. [ABSTRACT FROM AUTHOR]

There exist vast areas of offshore wind resources with water depths greater than 100 m that require floating structures. This paper provides a detailed analysis on the hydrostatic stability characteristics of a novel floating wind turbine concept. The preliminary design supports an 8 MW horizontal-axis wind turbine with a custom self-aligning single-point mooring (SPM) floater, which is to be constructed within the existing shipyard facilities in the Maltese Islands, located in the Central Mediterranean Sea. The theoretical hydrostatic stability calculations used to find the parameters to create the model are validated using SESAM®. The hydrostatic stability analysis is carried out for different ballast capacities whilst also considering the maximum axial thrust induced by the rotor during operation. The results show that the entire floating structure exhibits hydrostatic stability characteristics for both the heeling and pitching axes that comply with the requirements set by the DNV ST-0119 standard. Numerical simulations using partial ballast are also presented. [ABSTRACT FROM AUTHOR]

Powered knee exoskeletons have shown potential for mobility restoration and power augmentation. However, the benefits of exoskeletons are partially offset by some design challenges that still limit their positive effects on people. Among them, joint misalignment is a critical aspect mostly because the human knee joint movement is not a fixed-axis rotation. In addition, remarkable mass and stiffness are also limitations. Aiming to minimize joint misalignment, this paper proposes a bio-inspired knee exoskeleton with a joint design that mimics the human knee joint. Moreover, to accomplish a lightweight and high compliance design, a high stiffness cable-tension amplification mechanism is leveraged. Simulation results indicate our design can reduce 49.3 and 71.9% maximum total misalignment for walking and deep squatting activities, respectively. Experiments indicate that the exoskeleton has high compliance (0.4 and 0.1 Nm backdrive torque under unpowered and zero-torque modes, respectively), high control bandwidth (44 Hz), and high control accuracy (1.1 Nm root mean square tracking error, corresponding to 7.3% of the peak torque). This work demonstrates performance improvement compared with state-of-the-art exoskeletons. [ABSTRACT FROM AUTHOR]

Recently, particle manipulation in non-Newtonian fluids has attracted increasing attention because of a good particle focusing toward the mid-plane of a channel. In this research, we proposed a simple and robust fabrication method to make a microchannel with various T-shaped cross-sections for particle focusing and separation in a viscoelastic solution. SU-8-based soft lithography was used to form three different types of microchannels with T-shaped cross-sections, which enabled self-alignment and plasma bonding between two PDMS molds. The effects of the flow rate and geometric shape of the cross-sections on particle focusing were evaluated in straight microchannels with T-shaped cross-sections. Moreover, by taking images from the top and side part of the channels, it was possible to confirm the position of the particles three-dimensionally. The effects of the corner angle of the channel and the aspect ratio of the height to width of the T shape on the elasto-inertial focusing phenomenon were evaluated and compared with each other using numerical simulation. Simulation results for the particle focusing agreed well with the experimental results both in qualitatively and quantitatively. Furthermore, the numerical study showed a potential implication for particle separation depending on its size when the aspect ratio of the T-shaped microchannel and the flow rate were appropriately leveraged. [ABSTRACT FROM AUTHOR]

This article studies magnetic forces between transmitter (Tx) and receiver (Rx) coils in an inductive power transfer (IPT) system aiming to use those forces to align the coils and, consequently, improve power transfer. Due to its popularity, the analysis is conducted on a series–series compensated IPT system with planar spiral coils. The proposed method utilizes the bifurcation operation mode of the system and unloaded resonating receiver to maximize attractive force between magnetic couplers. Three-dimensional finite-element method simulations indicate that high-power IPT systems can develop enough attractive force to align coils even under nominal current. Regardless of the coil shape, e.g., spiral or Double-D (DD), the attractive forces tend to align the coils. Hence, a smart charging station can be devised based on self-aligning capability. Furthermore, this article proposes a mechanical structure to facilitate the attractive lateral force for the alignment of high power applications, i.e., wireless fast-charging stations. The forces are analyzed, modeled, and simulated for a 100-kW IPT system with an operating frequency of 20 kHz, while the self-aligning capability is experimentally verified on a downscale 11-kW prototype. [ABSTRACT FROM AUTHOR]

Powered knee exoskeletons have shown potential for mobility restoration and power augmentation. However, the benefits of exoskeletons are partially offset by some design challenges that still limit their positive effects on people. Among them, joint misalignment is a critical aspect mostly because the human knee joint movement is not a fixed-axis rotation. In addition, remarkable mass and stiffness are also limitations. Aiming to minimize joint misalignment, this paper proposes a bio-inspired knee exoskeleton with a joint design that mimics the human knee joint. Moreover, to accomplish a lightweight and high compliance design, a high stiffness cable-tension amplification mechanism is leveraged. Simulation results indicate our design can reduce 49.3 and 71.9% maximum total misalignment for walking and deep squatting activities, respectively. Experiments indicate that the exoskeleton has high compliance (0.4 and 0.1 Nm backdrive torque under unpowered and zero-torque modes, respectively), high control bandwidth (44 Hz), and high control accuracy (1.1 Nm root mean square tracking error, corresponding to 7.3% of the peak torque). This work demonstrates performance improvement compared with state-of-the-art exoskeletons.

For the alignment problem of strapdown inertial navigation system (SINS) under the complex environment of unknown latitude, angular oscillation interference, and line interference, the ant colony simulated annealing algorithm of gravity vector optimization is proposed to obtain the gravity apparent motion vector optimization equation, and the polynomial fitting method is proposed to simultaneously perform latitude estimation and self-alignment in combination with the alignment principle of SINS. Simulations and experiments show that the proposed method has more robust anti-interference capability than the traditional interference-based alignment method, the latitude estimation accuracy is improved by six times, the self-alignment yaw angle error RMSE value after obtaining the latitude is within 0.7°, and the roll angle and pitch angle error values are within 0.1°. [ABSTRACT FROM AUTHOR]

Non-covalent functionalization of graphene (Gr) with conducting polymers (CPs) improves the electrical and mechanical properties of both materials owing to the noncovalent π-π stacking interaction between the surface and the aromatic rings in CPs. However, a comprehensive understanding of the self-organization and chain orientation of CPs on the Gr surface remains lacking, which may limit the engineering of CP-Gr complexes with optimized morphology for optoelectronic applications. This study focuses on the Density Functional Theory (DFT) calculations and homemade Python programming code to investigate the self-organization of donor (D)-acceptor (A) type molecules on the Gr surface, aiming to elucidate factors governing the direction of self-alignment. Specifically, basic structural parameters characterizing the aromatic D-A molecules, such as the intramolecular aromatic ring distances, are explored to determine the rules for the preferred alignment direction of the CP monomers on the Gr surface, either in armchair or zigzag paths. Additionally, the influence of Gr on the morphological properties of aromatic molecules, variations in interaction energies between Gr and D-A-D systems with changing A units, and the impact of Gr size on molecular fitting characteristics are examined. The accurate determination of chain alignment direction, which can be applied for all conjugated small molecules and polymers at 2D material interfaces is crucial for guiding experimental studies aimed at tailoring structures and enhanced properties, such as promoting the crystalline domains with high electrical conductivity. [Display omitted] [ABSTRACT FROM AUTHOR]

Electrospinning, a process that converts a solution or melt droplet into an ejected jet under a high electric field, is a well-established technique to produce one-dimensional (1D) fibers or two-dimensional (2D) randomly arranged fibrous meshes. Nevertheless, the direct electrospinning of fibers into controllable three-dimensional (3D) architectures is still a nascent technology. Here, we apply near-field electrospinning (NFES) to directly write arbitrarily shaped 3D structures through consistent and spatially controlled fiber-by-fiber stacking of polyvinylidene fluoride (PVDF) fibers. An element central to the success of this 3D electrospinning is the use of a printing paper placed on the grounded conductive plate and acting as a fiber collector. Once deposited on the paper, residual solvents from near-field electrospun fibers can infiltrate the paper substrate, enhancing the charge transfer between the deposited fibers and the ground plate via the fibrous network within the paper. Such charge transfer grounds the deposited fibers and turns them into locally fabricated electrical poles, which attract subsequent in-flight fibers to deposit in a self-aligned manner on top of each other. This process enables the design and controlled fabrication of electrospun 3D structures such as grids, walls, hollow cylinders, and other 3D logos. As such, this technique has the potential to advance the existing electrospinning technologies in constructing 3D structures for biomedical, microelectronics, and MEMS/NMES applications.

Intrinsic graphene features semi-metallic characteristics that limit its applications in electronic devices, whereas graphene nanoribbons (GNRs) are promising semiconductors because of their bandgap-opening feature. However, the controllable mass-fabrication of high-quality GNR arrays remains a major challenge. In particular, the in situ growth of GNR arrays through template-free chemical vapor deposition (CVD) has not been realized. Herein, we report a template-free CVD strategy to grow large-area, high-quality and self-aligned GNR arrays on liquid copper surface. The width of as-grown GNR could be optimized to sub-10 nm with aspect ratio up to 387, which is higher than those of reported CVD-GNRs. The study of the growth mechanism indicates that a unique comb-like etching-regulated growth process caused by a trace hydrogen flow guides the formation of the mass-produced self-aligned GNR arrays. Our approach is operationally simple and efficient, offering an assurance for the use of GNR arrays in integrated circuits. [ABSTRACT FROM AUTHOR]

Single-walled carbon nanotube (SWCNT)-based polymer matrix composites have been developed for various applications such as transparent electrodes and heaters. To enhance the conductivity of the SWCNT/polymer matrix, diverse alignment technologies for the directional alignment of carbon nanoparticles in the polymer matrix have been studied. In the present study, we demonstrate macroscale dielectrophoretic self-alignment of SWCNTs with carboxymethyl cellulose (CMC) using a high alternating current (AC) voltage (150 Vpp, 10 kHz) without the use of a semiconductor for the fabrication of electrodes. Owing to the latitudinal alignment of the SWCNTs by the AC field, the resistance values of the SWCNT substrates differ in the directions. Furthermore, transfer of the aligned SWCNTs onto the nitrocellulose (NC) substrate using dimethyl sulfoxide (DMSO) evaporation yields a one-directional multiple aligned SWCNTs/transparent NC sheet that provides approximately 3.3 times higher conductivity than that achieved by alignment in another direction.

Abstract In this study, particle focusing phenomena are studied in parallelogram and rectangular cross-sectioned microchannels of varying aspect ratio. In contrast to prior work the microchannels were fabricated using anisotropic wet etching of a Si wafer, plasma bonding, and self-alignment between the Si channel and the PDMS mold. It is shown that the inertial focusing points of the fabricated microchannels of parallelogram and rectangular cross-section were modified as the aspect ratio of the microchannels changed. The particle focusing points of the parallelogram profiled microchannel are compared with those of the rectangular microchannel through experimental measurements and CFD simulation. It is shown that particles can be efficiently focused and separated at a relatively low Reynolds number using a parallelogram profiled microchannel with a low aspect ratio.

We evaluated hexadecyltrimethylammonium bromide (HTAB) for liquid crystals (LCs) in layered ITO cells with various cell gap conditions. HTAB is a surfactant that can self-align vertically on the surface of indium tin oxide (ITO) substrates and induce homeotropic alignment of the LC molecules. For implementing RF devices with HTAB and LCs, we should consider limitations caused by the design conditions which are different from conventional liquid crystal displays such as cell gap. We quantified the concentration of HTAB ([HTAB]) that is necessary to form and maintain a sufficiently dense vertical alignment of 5CB (4-Cyano-4′-pentylbiphenyl). The required [HTAB] for full-homeotropic alignment was increased to the cell gap until it was too large to support the transfer of the surface alignment to the LC molecules, due to the weak anchoring nature of HTAB. We also showed the phase-change characteristic of the LC mixture related to [HTAB] for the design of RF devices driven by light or heat. This study may help to guide the development of new approaches to designing efficient RF devices that use LCs.

There exist vast areas of offshore wind resources with water depths greater than 100 m that require floating structures. This paper provides a detailed analysis on the hydrostatic stability characteristics of a novel floating wind turbine concept. The preliminary design supports an 8 MW horizontal-axis wind turbine with a custom self-aligning single-point mooring (SPM) floater, which is to be constructed within the existing shipyard facilities in the Maltese Islands, located in the Central Mediterranean Sea. The theoretical hydrostatic stability calculations used to find the parameters to create the model are validated using SESAM®. The hydrostatic stability analysis is carried out for different ballast capacities whilst also considering the maximum axial thrust induced by the rotor during operation. The results show that the entire floating structure exhibits hydrostatic stability characteristics for both the heeling and pitching axes that comply with the requirements set by the DNV ST-0119 standard. Numerical simulations using partial ballast are also presented.

To reduce the impact of offshore launching platform motion and swaying on the self-alignment accuracy of a launch vehicle, a rapid self-alignment strategy, which involves an optimal combination of anti-swaying coarse alignment (ASCA), backtracking navigation, and reverse Kalman filtering is proposed. During the entire alignment process, the data provided by the strapdown inertial navigation system (SINS) are stored and then applied to forward and backtrack self-alignment. This work elaborates the basic principles of coarse alignment and then analyzes the influence of ASCA time on alignment accuracy. An error model was built for the reverse fine alignment system. The coarse alignment was carried out based on the above work, then the state of the alignment system was retraced using the reverse inertial navigation solution and reverse Kalman filtering with the proposed strategy. A cycle-index control function was designed to approximate strict backtracking navigation. Finally, the attitude error was compensated for after the completion of the first and the last forward navigation. To demonstrate the effectiveness of the proposed strategy, numerical simulations were carried out in a scenario of launch vehicle motion and swaying. The proposed strategy can maximize the utilization of SINS data and hence improve the alignment accuracy and further reduce the alignment time. The results show that the fully autonomous alignment technology of the SINS can replace the complex optical aiming system and realize the determination of the initial attitude of a launch vehicle before launch.

Recently, particle manipulation in non-Newtonian fluids has attracted increasing attention because of a good particle focusing toward the mid-plane of a channel. In this research, we proposed a simple and robust fabrication method to make a microchannel with various T-shaped cross-sections for particle focusing and separation in a viscoelastic solution. SU-8-based soft lithography was used to form three different types of microchannels with T-shaped cross-sections, which enabled self-alignment and plasma bonding between two PDMS molds. The effects of the flow rate and geometric shape of the cross-sections on particle focusing were evaluated in straight microchannels with T-shaped cross-sections. Moreover, by taking images from the top and side part of the channels, it was possible to confirm the position of the particles three-dimensionally. The effects of the corner angle of the channel and the aspect ratio of the height to width of the T shape on the elasto-inertial focusing phenomenon were evaluated and compared with each other using numerical simulation. Simulation results for the particle focusing agreed well with the experimental results both in qualitatively and quantitatively. Furthermore, the numerical study showed a potential implication for particle separation depending on its size when the aspect ratio of the T-shaped microchannel and the flow rate were appropriately leveraged.

Gyroscope biases may drift in long-term storage, and the drifts become the most important factors that affect the azimuth alignment accuracy of the inertial navigation systems (INSs). In this article, a three-position in- field calibration method is proposed, providing a completely new way to solve the gyroscope bias estimation problem without the turntable available. Based on the analysis of the azimuth errors of attitude tracking, the attitude tracking information at the current position is used to extract the azimuth error of self-alignment at the previous position. The observation equations are derived, with the input arguments of the differences between the attitude tracking results and the self-alignment results at the last two positions, and the solution vectors of the gyroscope biases. Condition number is used to analyze the ill-conditioned problem of the equations. Simulation and experiment results show that the gyroscope biases can be effectively calibrated by designing the rotation angles reasonably. [ABSTRACT FROM AUTHOR]

Self-alignment of strapdown inertial navigation systems incorporating micro-electro-mechanical systems (MSINS) is a great challenge for marine applications. In this paper, a self-alignment method for a rotating MEMS strapdown compass is proposed with the aim of solving this problem. First, based on an analysis of biaxial rotation modulation and initial alignment of the strapdown compass, a self-alignment method is presented and verified. Second, by analyzing the effects of biaxial rotation modulation, the proposed method is improved by speeding up the rotation and reducing the stop time of the biaxial rotation mechanism to shorten the initial alignment time, which effectively suppresses the influence of MEMS noise on the initial alignment error angle. The influence of ship swinging on the initial alignment error angle is also analyzed. The efficiency of the method is verified by experiments on a swinging base. Finally, a parameter adjustment approach is presented that allows the proposed method to be used with different types of MEMS. This approach is validated by experiments. All the experimental results demonstrate the efficiency and precision of the proposed method.

For the alignment problem of strapdown inertial navigation system (SINS) under the complex environment of unknown latitude, angular oscillation interference, and line interference, the ant colony simulated annealing algorithm of gravity vector optimization is proposed to obtain the gravity apparent motion vector optimization equation, and the polynomial fitting method is proposed to simultaneously perform latitude estimation and self-alignment in combination with the alignment principle of SINS. Simulations and experiments show that the proposed method has more robust anti-interference capability than the traditional interference-based alignment method, the latitude estimation accuracy is improved by six times, the self-alignment yaw angle error RMSE value after obtaining the latitude is within 0.7°, and the roll angle and pitch angle error values are within 0.1°.

Initial alignment technology is a key technology for inertial navigation systems (INSs) because the speed and accuracy of the initial alignment determine the working accuracy and rapid response capability of the INS. Thus, the initial alignment technique of an INS must be investigated. In a swaying base environment, traditional alignment methods cannot meet the requirements of alignment accuracy due to the occurrence of interference acceleration and angular velocity, and filtering methods do not perform well in practical and universal applications. This paper studies the self-alignment problem for the swaying base of a rotary strapdown inertial navigation system and uses the latest hybrid inertial navigation system (HINS) as the research platform. Using the double-position rotation strategy, a navigation algorithm based on an updated attitude transformation matrix and a dynamic error compensation algorithm are established, and they effectively resolve the fast and high-precision self-alignment problem of the rotary inertial navigation system (RINS) under the oscillating state. The accuracy and feasibility of the method are demonstrated by mathematical simulations. Experiments show that compared with traditional single-position and continuous-rotation alignment methods, the proposed dynamic self-alignment technology of HINS has the advantages of short alignment time, high alignment accuracy, and dynamic environment adaptability. [ABSTRACT FROM AUTHOR]

In this study, particle focusing phenomena are studied in parallelogram and rectangular cross-sectioned microchannels of varying aspect ratio. In contrast to prior work the microchannels were fabricated using anisotropic wet etching of a Si wafer, plasma bonding, and self-alignment between the Si channel and the PDMS mold. It is shown that the inertial focusing points of the fabricated microchannels of parallelogram and rectangular cross-section were modified as the aspect ratio of the microchannels changed. The particle focusing points of the parallelogram profiled microchannel are compared with those of the rectangular microchannel through experimental measurements and CFD simulation. It is shown that particles can be efficiently focused and separated at a relatively low Reynolds number using a parallelogram profiled microchannel with a low aspect ratio. [ABSTRACT FROM AUTHOR]

The self-alignment process for the strapdown inertial navigation system (SINS) is performed mainly to achieve an accurate initial attitude only using the measurements from the inertial measurement unit (IMU). Different from conventional self-alignment methods, a gradient descent optimization-based SINS self-alignment method, which can determine the initial attitude without using the latitude information, is proposed in this paper. According to certain geometry constraints of the earth rate vector in the navigation frame, we use the measurements from the IMU to represent the earth rate vector instead of directly using the latitude information. To overcome the sensor noise disturbance, we also construct a quaternion-based nonlinear objective function with the estimated earth rate vector, which is formulated as seeking the least square solution of a Wahba problem. Thus, we employ the gradient descent optimization to achieve the optimal solution of the nonlinear objective function. The simulation and experiment results verify the alignment performance and flexibility of the proposed self-alignment method for SINS stationary alignment without using a priori local latitude information. [ABSTRACT FROM AUTHOR]

Alignment and orderly distribution of microfibers have a major effect on the mechanical, electrical, and thermal properties of the fiber reinforced materials, biomimetic materials, and soft microsensors. However, it is still a challenging task to precisely align and distribute microfibers and construct complex patterns. This paper proposes a surface tension-based method to align and orderly distribute microfibers. A model was developed to simulate the surface tension driven alignment of the microfiber. We designed and fabricated hydrophilic–superhydrophobic grooved surfaces. We demonstrated that the microfibers can self-align to the hydrophilic–superhydrophobic grooves with different geometries. We studied the influence of the volume of the droplet and bias on the alignment success rate. The results indicate that the process can tolerate large variations of the bias and the volume, unless the volume is not enough to cover the groove. We further investigated the influence of the width of the groove on the alignment accuracy. The results show that the alignment accuracy is largely depending on the size difference between the groove and the microfiber; the better the size of the groove matches the size of the fiber, the higher the alignment accuracy will be achieved. The proposed method has great potential in construction of complex microstructures using microfibers.

Self-alignment (or initial alignment) is the process by which the Inertial Navigation System (INS) is aligned using only measurements from the inertial sensors and the reference navigation information in the stationary state. The main purpose of self-alignment is to calculate the initial attitude of the INS. The accuracy of self-alignment is determined by the performance grade of the inertial sensors, for instance, the accuracy of the horizontal attitude by the horizontal accelerometer and the accuracy of the vertical attitude by the East-axis gyro. Therefore, uncertain errors in the inertial sensors degrade the performance of self-alignment. The focus of this paper is the temperature stabilizing error of accelerometers, a form of uncertain error. An analysis is presented of how the temperature stabilizing error affect the accuracy of self-alignment. From the analysis, a method is proposed to improve performance by curve fitting the horizontal control rates. This is then verified experimentally.

When CZTSSe is synthesized using a metal precursor, large voids of nonuniform size form at Mo back contact side. Herein, we demonstrate that the voids and CZTSSe in the lower part of the CZTSSe double layer can be controlled by using an Al2O3-patterned Mo substrate. The CZTSSe in the lower part self-aligns on the Mo-exposed area, while the voids self-align on the Al2O3-coated area. The origin of the self-alignment is expected to be the difference in bonding characteristics between liquid Sn and the metal or oxide surface, e.g., Al2O3. Good wettability generally forms between nonreactive liquid metals and metal surfaces due to the strong metallic bonding. By contrast, poor wettability generally forms between nonreactive liquid metals and oxide surfaces due to the weak van der Waals bonding between the liquid metal and the oxide layer. When the patterning was added, the device efficiency tended to decrease from 8.6% to 10.5%.

Analytic alignment is a type of self-alignment for a Strapdown inertial navigation system (SINS) that is based solely on two non-collinear vectors, which are the gravity and rotational velocity vectors of the Earth at a stationary base on the ground. The attitude of the SINS with respect to the Earth can be obtained directly using the TRIAD algorithm given two vector measurements. For a traditional analytic coarse alignment, all six outputs from the inertial measurement unit (IMU) are used to compute the attitude. In this study, a novel analytic alignment method called selective alignment is presented. This method uses only three outputs of the IMU and a few properties from the remaining outputs such as the sign and the approximate value to calculate the attitude. Simulations and experimental results demonstrate the validity of this method, and the precision of yaw is improved using the selective alignment method compared to the traditional analytic coarse alignment method in the vehicle experiment. The selective alignment principle provides an accurate relationship between the outputs and the attitude of the SINS relative to the Earth for a stationary base, and it is an extension of the TRIAD algorithm. The selective alignment approach has potential uses in applications such as self-alignment, fault detection, and self-calibration.

In this study, a novel method to assemble a micro-accelerometer by a flip chip bonding technique is proposed and demonstrated. Both the main two parts of the accelerometer, a double-ended tuning fork and a base-proof mass structure, are fabricated using a quartz wet etching process on Z cut quartz wafers with a thickness of 100 μm and 300 μm, respectively. The finite element method is used to simulate the vibration mode and optimize the sensing element structure. Taking advantage of self-alignment function of the flip chip bonding process, the two parts were precisely bonded at the desired joint position via AuSn solder. Experimental demonstrations were performed on a maximum scale of 4 × 8 mm2 chip, and high sensitivity up to 9.55 Hz/g with a DETF resonator and a Q value of 5000 in air was achieved.

Initial alignment is always a key topic and difficult to achieve in an inertial navigation system (INS). In this paper a novel self-initial alignment algorithm is proposed using gravitational apparent motion vectors at three different moments and vector-operation. Simulation and analysis showed that this method easily suffers from the random noise contained in accelerometer measurements which are used to construct apparent motion directly. Aiming to resolve this problem, an online sensor data denoising method based on a Kalman filter is proposed and a novel reconstruction method for apparent motion is designed to avoid the collinearity among vectors participating in the alignment solution. Simulation, turntable tests and vehicle tests indicate that the proposed alignment algorithm can fulfill initial alignment of strapdown INS (SINS) under both static and swinging conditions. The accuracy can either reach or approach the theoretical values determined by sensor precision under static or swinging conditions.

In this paper, we present the characterization and modeling of downscaled flexible organic thin-film transistors fabricated by photolithography and self-alignment of the source and drain contacts to the gate. A SPICE model based on the unified model and extraction method for thin-film transistors (TFTs) is tailored with high accuracy for the subthreshold regime in order to include the channel length dependence of two semiempirical parameters, viz., the effective mobility and the onset voltage. In addition, we demonstrate the modeling of the hump effect, a phenomenon often present in TFTs fabricated by lithographic methods. [ABSTRACT FROM AUTHOR]

High-precision positioning often requires high speed and high resolution displacement measurements in order to compensate for the small vibrations of critical components. The displacement sensor must be precise and stable over a long period of time to avoid expensive recalibration. This requires tight mounting tolerances, which are especially difficult to meet in inaccessible environments. The proposed sensor system is based on a capacitive sensor and consists of three subsystems: 1) a mechanical “zoom-in” system that performs self-alignment of the capacitive sensor electrode in order to reduce the mounting tolerances of the sensor; 2) a real-time capacitance-to-digital converter that employs an internal reference and electrical zoom-in technique to effectively reduce the dynamic range of the measured capacitance, thus improving the power efficiency; and 3) a self-calibration circuit that periodically calibrates the internal references to eliminate their drift. In previous publications, the three subsystems have been introduced. This paper shows how the different subsystems can be integrated to achieve optimal performance and presents new repeatability and stability measurement results. The overall system demonstrates a displacement measurement resolution of 65 pm (in terms of capacitance 65 aF) for a measurement time of 20 \mu \texts . Furthermore, the thermal drift of the sensor is within 6 ppm/K, owing to the self-calibration circuit. In measurement mode, the system consumes less than 16 mW. [ABSTRACT FROM AUTHOR]

Misalignment is a problematic challenge in RF MEMS resonators. It causes asymmetry in the ultra symmetric radial contour mode disk resonators and degrades their performance by increasing the insertion loss and decreasing their quality factors (Q). Self-alignment method seems to be a good solution for misalignment problem, but it cannot be directly applied on high performance ring shape anchored resonators. This paper discusses misalignment effects for the ring shape anchored resonators and proposes a method for reconfiguring its anchor to be compatible with self-alignment process. Simulation results validate that the crossed ring anchor structure has the same resonance characteristics with the complete ring shape anchored resonator.

In this paper, we present a knee exoskeleton. Due to the complicated structure of the knee, an exoskeleton can limit the wearer’s movement (e.g., when completely sitting down). To prevent this, the proposed exoskeleton is designed to move the ankle part prismatically, so the movement of the wearer is not limited. In addition, the developed exoskeleton could be worn on only one leg, but in this case, it is difficult to detect the intention because the relative relationship information of the two legs is unknown. For this purpose, the length between the knee center of rotation and the ankle (LBKA) was measured and used for intention detection. Using a physical sensor—an encoder and an LBKA sensor, the success rate of intention detection was 82.1%. By additionally using an electromyogram (EMG) sensor, the success rate of intention detection was increased to 92%, and the intention detection was also 27.1 ms faster on average.

Polymer actuators are important components in lab-on-a-chip and micromechanical systems because of the inherent properties that result from their large and fast mechanical responses induced by molecular-level deformations (e.g., isomerization). They typically exhibit bending movements via asymmetric contraction or expansion with respect to changes in environmental conditions. To enhance the mechanical properties of actuators, a strain gradient should be introduced by regulating the molecular alignment; however, the miniaturization of polymer actuators for microscale systems has raised concerns regarding the complexity of such molecular control. Herein, a novel method for the fabrication of micro-actuators using a simple molecular self-alignment method is presented. Amphiphilic molecules that consist of azobenzene mesogens were located between the hydrophilic and hydrophobic surfaces, which resulted in a splayed alignment. Thereafter, molecular isomerization on the surface induced a large strain gradient and bending movement of the actuator under ultraviolet-light irradiation. Moreover, the microelectromechanical systems allowed for the variation of the actuator size below the micron scale. The mechanical properties of the fabricated actuators such as the bending direction, maximum angle, and response time were evaluated with respect to their thicknesses and lengths. The derivatives of the polymer actuator microstructure may contribute to the development of novel applications in the micro-robotics field.

In this paper, a self-alignment method for strapdown inertial navigation systems based on the q-method is studied. In addition, an improved method based on integrating gravitational apparent motion to form apparent velocity is designed, which can reduce the random noises of the observation vectors. For further analysis, a novel self-alignment method using a Kalman filter based on adaptive filter technology is proposed, which transforms the self-alignment procedure into an attitude estimation using the observation vectors. In the proposed method, a linear psuedo-measurement equation is adopted by employing the transfer method between the quaternion and the observation vectors. Analysis and simulation indicate that the accuracy of the self-alignment is improved. Meanwhile, to improve the convergence rate of the proposed method, a new method based on parameter recognition and a reconstruction algorithm for apparent gravitation is devised, which can reduce the influence of the random noises of the observation vectors. Simulations and turntable tests are carried out, and the results indicate that the proposed method can acquire sound alignment results with lower standard variances, and can obtain higher alignment accuracy and a faster convergence rate. [ABSTRACT FROM AUTHOR]