Almost all pneumatic and hydraulic actuators useful for mesoscale functions rely on hard valves for control. This article describes a soft, elastomeric valve that contains a bistable membrane, which acts as a mechanical "switch" to control air flow. A structural instability-often called "snap-through"-enables rapid transition between two stable states of the membrane. The snap-upward pressure, DP 1 (kilopascals), of the membrane differs from the snap-downward pressure, DP 2 (kilopascals). The values DP 1 and DP 2 can be designed by changing the geometry and the material of the membrane. The valve does not require power to remain in either "open" or "closed" states (although switching does require energy), can be designed to be bistable, and can remain in either state without further applied pressure. When integrated in a feedback pneumatic circuit, the valve functions as a pneumatic oscillator (between the pressures DP 1 and DP 2 ), generating periodic motion using air from a single source of constant pressure. The valve, as a component of pneumatic circuits, enables (i) a gripper to grasp a ball autonomously and (ii) autonomous earthworm-like locomotion using an air source of constant pressure. These valves are fabricated using straightforward molding and offer a way of integrating simple control and logic functions directly into soft actuators and robots.
With the broad interest in and development of superhydrophobic surfaces for self-cleaning, condensation heat transfer enhancement and anti-icing applications, more detailed insights on droplet interactions on these surfaces have emerged. Specifically, when two droplets coalesce, they can spontaneously jump away from a superhydrophobic surface due to the release of excess surface energy. Here we show that jumping droplets gain a net positive charge that causes them to repel each other mid-flight. We used electric fields to quantify the charge on the droplets and identified the mechanism for the charge accumulation, which is associated with the formation of the electric double layer at the droplet-surface interface. The observation of droplet charge accumulation provides insight into jumping droplet physics as well as processes involving charged liquid droplets. Furthermore, this work is a starting point for more advanced approaches for enhancing jumping droplet surface performance by using external electric fields to control droplet jumping.
When condensed droplets coalesce on a superhydrophobic nanostructured surface, the resulting droplet can jump due to the conversion of excess surface energy into kinetic energy. This phenomenon has been shown to enhance condensation heat transfer by up to 30% compared to state-of-the-art dropwise condensing surfaces. However, after the droplets jump away from the surface, the existence of the vapor flow toward the condensing surface increases the drag on the jumping droplets, which can lead to complete droplet reversal and return to the surface. This effect limits the possible heat transfer enhancement because larger droplets form upon droplet return to the surface, which impedes heat transfer until they can be either removed by jumping again or finally shedding via gravity. By characterizing individual droplet trajectories during condensation on superhydrophobic nanostructured copper oxide (CuO) surfaces, we show that this vapor flow entrainment dominates droplet motion for droplets smaller than R ≈ 30 μm at moderate heat fluxes (q″ > 2 W/cm(2)). Subsequently, we demonstrate electric-field-enhanced condensation, whereby an externally applied electric field prevents jumping droplet return. This concept leverages our recent insight that these droplets gain a net positive charge due to charge separation of the electric double layer at the hydrophobic coating. As a result, with scalable superhydrophobic CuO surfaces, we experimentally demonstrated a 50% higher overall condensation heat transfer coefficient compared to that on a jumping-droplet surface with no applied field for low supersaturations (<1.12). This work not only shows significant condensation heat transfer enhancement but also offers avenues for improving the performance of self-cleaning and anti-icing surfaces as well as thermal diodes.
Although soft devices (grippers, actuators, and elementary robots) are rapidly becoming an integral part of the broad field of robotics, autonomy for completely soft devices has only begun to be developed. Adaptation of conventional systems of control to soft devices requires hard valves and electronic controls. This paper describes completely soft pneumatic digital logic gates having a physical scale appropriate for use with current (macroscopic) soft actuators. Each digital logic gate utilizes a single bistable valve-the pneumatic equivalent of a Schmitt trigger-which relies on the snap-through instability of a hemispherical membrane to kink internal tubes and operates with binary high/low input and output pressures. Soft, pneumatic NOT, AND, and OR digital logic gates-which generate known pneumatic outputs as a function of one, or multiple, pneumatic inputs-allow fabrication of digital logic circuits for a set-reset latch, two-bit shift register, leading-edge detector, digital-to-analog converter (DAC), and toggle switch. The DAC and toggle switch, in turn, can control and power a soft actuator (demonstrated using a pneu-net gripper). These macroscale soft digital logic gates are scalable to high volumes of airflow, do not consume power at steady state, and can be reconfigured to achieve multiple functionalities from a single design (including configurations that receive inputs from the environment and from human users). This work represents a step toward a strategy to develop autonomous control-one not involving an electronic interface or hard components-for soft devices. logic | control | artificial intelligence | human-soft device interaction | buckling
Lubricant infused surfaces (LIS) are a recently developed and promising approach to fluid repellency for applications in biology, microfluidics, thermal management, lab-on-a-chip, and beyond. The design of LIS has been explored in past work in terms of surface energies, which need to be determined empirically for each interface in a given system. Here, we developed an approach that predicts a priori whether an arbitrary combination of solid and lubricant will repel a given impinging fluid. This model was validated with experiments performed in our work as well as in literature and was subsequently used to develop a new framework for LIS with distinct design guidelines. Furthermore, insights gained from the model led to the experimental demonstration of LIS using uncoated high-surface-energy solids, thereby eliminating the need for unreliable low-surface-energy coatings and resulting in LIS repelling the lowest surface tension impinging fluid (butane, γ ≈ 13 mN/m) reported to date.
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