25th Anniversary Article: A Soft Future: From Robots and Sensor Skin to Energy Harvesters

Scientists are exploring elastic and soft forms of robots, electronic skin and energy harvesters, dreaming to mimic nature and to enable novel applications in wide fields, from consumer and mobile appliances to biomedical systems, sports and healthcare. All conceivable classes of materials with a wide range of mechanical, physical and chemical properties are employed, from liquids and gels to organic and inorganic solids. Functionalities never seen before are achieved. In this review we discuss soft robots which allow actuation with several degrees of freedom. We show that different actuation mechanisms lead to similar actuators, capable of complex and smooth movements in 3d space. We introduce latest research examples in sensor skin development and discuss ultraflexible electronic circuits, light emitting diodes and solar cells as examples. Additional functionalities of sensor skin, such as visual sensors inspired by animal eyes, camouflage, self‐cleaning and healing and on‐skin energy storage and generation are briefly reviewed. Finally, we discuss a paradigm change in energy harvesting, away from hard energy generators to soft ones based on dielectric elastomers. Such systems are shown to work with high energy of conversion, making them potentially interesting for harvesting mechanical energy from human gait, winds and ocean waves.     

In situ Characterization of SiO2 Nanoparticle Biointeractions Using BrightSilica

By adding a gold core to silica nanoparticles (BrightSilica), silica‐like nanoparticles are generated that, unlike unmodified silica nanoparticles, provide three types of complementary information to investigate the silica nano‐biointeraction inside eukaryotic cells in situ. Firstly, organic molecules in proximity of and penetrating into the silica shell in live cells are monitored by surface‐enhanced Raman scattering (SERS). The SERS data show interaction of the hybrid silica particles with tyrosine, cysteine and phenylalanine side chains of adsorbed proteins. Composition of the biomolecular corona of BrightSilica nanoparticles differs in fibroblast and macrophage cells. Secondly, quantification of the BrightSilica nanoparticles using laser ablation inductively coupled plasma mass spectrometry (LA‐ICP‐MS) micromapping indicates a different interaction of silica nanoparticles compared to gold nanoparticles under the same experimental conditions. Thirdly, the metal cores allow the investigation of particle distribution and interaction in the cellular ultrastructure by cryo nanoscale X‐ray tomography (cryo‐XT). In 3D reconstructions the assumption is confirmed that BrightSilica nanoparticles enter cells by an endocytotic mechanism. The high SERS intensities are explained by the beneficial plasmonic properties due to agglomeration of BrightSilica. The results have implications for the development of multi‐modal qualitative and quantitative characterization in comparative nanotoxicology and bionanotechnology.     

The work load of warehouse workers in three different working systems

An investigation was conducted in five companies in the distribution branch. These companies were divided into three different working systems, i.e., highly mechanized (HM), moderately mechanized (MM), and slightly mechanized (SM). The three systems differed in logistics and kind of appliances used. The purpose of this study was to compare the three working systems with different degrees of mechanization concerning the time spent on tasks, activities during the working day, postures that occurred, physiological work load, perceived exertion and recovery from work. To investigate the different tasks, activities and working postures, 50 warehouse workers, originating from the three working systems, were observed by means of a direct observation method, called: ‘TRAC’. To investigate the physiological work load the heart rate was recorded continuously during the working day and related to the individually determined relation between heart rate and oxygen uptake. This relation was constructed with the results of a cycle ergometer test done in the laboratory. During lunch and at the end of the working day the warehouse workers filled in a questionnaire concerning their perceived exertion and recovery from work.

In the slightly mechanized system more time was spent with the trunk flexed more than 75° as compared with the other two systems. This posture was very common during lifting of objects, and lifting was done more often in this system than in the other systems. In the MM system the warehouse workers had the highest estimated oxygen uptake and reported the highest perceived exertion at the end of the working day. The workers in the HM system had a shorter working day and had less problems with recovery from work than the workers of the other two systems. Poor working postures like rotation and lateroflexion were commonly found in the HM working system. An important explanation was the difference in time spent driving an electric car. This activity was done mostly in the HM system. In conclusion, the HM system was considered most favourable when it concerned work load and recovery from work. The appliances used in the HM system, and especially the electric car, need to be designed according to ergonomic guidelines to avoid poor working postures.     

Are theoretical consultants needed?

Comments on the article by B. D. Slife and R. N. Williams (see record 84-17550) concerning theoretical psychology as a subdiscipline of psychology. The authors agree that important philosophical and metatheoretical issues confront psychology and that greater training in these areas is needed at the doctoral level; however, they do not agree with the negative assessment of positivism nor with the recommendation that specially trained theoreticians should serve as consultants in psychology departments. It is believed that the content of the proposal was vague and the use of the term theory is confusing. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Monoclinic Zirconia Bodies by Thermoplastic Ceramic Extrusion

Two ultrafine, undoped ZrO₂ powders with median primary particle sizes of 9 and 25 nm were used to prepare ceramic suspensions for thermoplastic extrusion. The organic vehicle consisted of an industrial-grade poly(ethylene- co -vinyl acetate) (EVA) or polyethylene (PE-HD) and decanoic acid as a dispersing agent. The powder volume loadings achieved were 44% and 52% by volume for the two powders, respectively. The amount of dispersant needed was calculated from a new model based on available chemisorption sites on the powder surface. Mixing and extrusion were conducted using a conventional modular plastic processing unit. Green bodies were dewaxed up to 450°C in an inert atmosphere and sintered to full density in air at 1060° and 1100°C, respectively. Analysis of the ceramic phase content and the microstructure of the bodies is presented.     

Impact of the access network topology on the handoff performance

Micromobility protocols such as Cellular IP, Hawaii and Hierarchical Mobile IP are developed to solve problems of high handoff latency and control overhead, which occur when Mobile IP is used in combination with frequent handoffs. Up to now, tree access network topologies are considered to evaluate the protocol performance. However, for reasons of robustness against link failures and load balancing, extra uplinks and mesh links in the topology are desired. This article makes a classification of several topology types and gives a model that points out to which extent the topology influences the protocol performance in terms of handoff latency and handoff packet loss. Simulations confirm the results calculated by the model. Performance metrics such as load balancing, end-to-end delay and robustness against link failures are also evaluated. The study points to several shortcomings of the existing micromobility protocols for different topology types. Several aspects of the studied handoff schemes, their advantages and drawbacks are identified. L. Peters is a Research Assistant of the Fund for Scientific Research – Flanders (F.W.O.-V., Belgium) Liesbeth Peters was born in Temse, Belgium, in 1978. She received her Master of Science degree in Electrotechnical Engineering from Ghent University, Gent, Belgium in 2001. Since August 2001, she has been working as a doctoral researcher with the Department of Information Technology (INTEC) of the Faculty of Applied Sciences, Ghent University, where she joined the Broadband Communications Networks Group. Since October 2002, she works there as a research assistant of the Fund for Scientific Research—Flanders (F.W.O.-V., Belgium). Her current research interests are in broadband wireless communication and the support of IP mobility in wired cum wireless networks. Ingrid Moerman was born in Gent, Belgium, in 1965. She received the degree in Electro-technical Engineering and the Ph.D degree from the Ghent University, Gent, Belgium in 1987 and 1992, respectively. Since 1987, she has been with the Interuniversity Micro-Electronics Centre (IMEC) at the Department of Information Technology (INTEC) of the Ghent University, where she conducted research in the field of optoelectronics. In 1997, she became a permanent member of the Research Staff at IMEC. Since 2000 she is part-time professor at the Ghent University. Since 2001 she has switched her research domain to broadband communication networks. She is currently involved in the research and education on broadband mobile & wireless communication networks and on multimedia over IP. Her main research interests related to mobile & wireless communication networks are: adaptive QoS routing in wireless ad hoc networks, personal networks, body area networks, wireless access to vehicles (high bandwidth & driving speed), protocol boosting on wireless links, design of fixed access/metro part, traffic engineering and QoS support in the wireless access network. Ingrid Moerman is author or co-author of more than 300 publications in the field of optoelectronics and communication networks. Bart Dhoedt received a degree in Engineering from the Ghent University in 1990. In September 1990, he joined the Department of Information Technology of the Faculty of Applied Sciences, University of Ghent. His research, addressing the use of micro-optics to realize parallel free space optical interconnects, resulted in a PhD degree in 1995. After a 2 year post-doc in opto-electronics, he became professor at the Faculty of Applied Sciences, Department of Information Technology. Since then, he is responsible for several courses on algorithms, programming and software development. His research interests are software engineering and mobile & wireless communications. Bart Dhoedt is author or co-author of more than 100 papers published in international journals or in the proceedings of international conferences. His current research addresses software technologies for communication networks, peer-to-peer networks, mobile networks and active networks. Piet Demeester finished his PhD thesis at the Department of Information Technology (INTEC) at the Ghent University in 1988. At the same department he became group leader of the activities on Metal Organic Vapour Phase Epitaxial growth for optoelectronic components. In 1992 he started a new research group on Broadband Communication Networks. The research in this field resulted in already more than 300 publications. In this research domain he was and is a member of several programme committees of international conferences, such as: ICCCN, the International Conference on Telecommunication Systems, OFC, ICC, and ECOC. He was Chairman of DRCN’98. In 2001 he was chairman of the Technical Programme Committee ECOC’01. He was Guest Editor of three special issues of the IEEE Communications Magazine. He is also a member of the Editorial Board of the Journals “Optical Networks Magazine” and “Photonic Network Communications”. He was a member of several national and international PhD thesis commissions. Piet Demeester is a member of IEEE (Senior Member), ACM and KVIV. His current research interests include: multilayer networks, Quality of Service (QoS) in IP-networks, mobile networks, access networks, grid computing, distributed software, network and service management and applications (supported by FWO-Vlaanderen, the BOF of the Ghent University, the IWT and the European Commission). Piet Demeester is currently full-time professor at the Ghent University, where he is teaching courses in Communication Networks. He has also been teaching in different international courses.     

Color‐gamut expansion in CRTs

Abstract— This paper describes the architecture for a color picture tube (CPT), which enables a cost‐effective expansion of the color gamut. Besides a gamut expansion based on application of more‐saturated phosphors in the present three‐primary system, four‐ and five‐primary systems are described. Gun‐pitch modulation allows the application of a conventional electron gun for both a four‐ and five‐primary CRT. In these systems, the mask and matrix transmissions need to be reduced to maintain color purity. From this point of view, a five‐primary CRT is unrealistic. Two four‐primary CRTs are evaluated in more detail. But, here, the total anode current to generate white has to be increased substantially because of the reduced mask and matrix transmissions. Nonetheless, in this paper it is argued that with one of the four‐primary CRTs more‐saturated yellow colors can be displayed at 85% of the display luminance of a conventional system without loss of perceived sharpness.