This paper presents a new developed multisensory five-fingered dexterous robot hand : the DLR/HIT Hand II. The hand has an independent palm and five identical modular fingers, each finger has three DOFs and four joints. All the actuators and electronics are integrated in the finger body and the palm. By using powerful super flat brushless DC motors, tiny harmonic drivers and BGA form DSPs and FPGAs, the whole finger's size is about one third smaller than the former finger in the DLR/HIT Hand I. By using the steel coupling mechanism, the phalanx distal's transmission ratio is exact 1:1 in the whole movement range. At the same time, the multisensory dexterous hand integrates position, force/torque and temperature sensors. The hierarchical hardware structure of the hand consists of the finger DSPs, the finger FPGAs, the palm FPGA and the PCI based DSP/FPGA board. The hand can communicate with external with PPSeCo , CAN and Internet. Instead of extra cover, the packing mechanism of the hand is implemented directly in the finger body and palm to make the hand smaller and more human like. The whole weight of the hand is about 1.5Kg and the fingertip force can reach 10N.

We studied dampness and mold in China in relation to rhinitis, ocular, throat and dermal symptoms, headache and fatigue. A questionnaire study was performed in six cities including 36 541 randomized parents of young children. Seven self‐reported signs of dampness were evaluated. Multilevel logistic regression models were used to calculate odds ratios (ORs). Totally, 3.1% had weekly rhinitis, 2.8% eye, 4.1% throat and 4.8% skin symptoms, 3.0% headache and 13.9% fatigue. Overall, 6.3% of the homes had mold, 11.1% damp stains, 35.3% damp bed clothing, 12.8% water damage, 45.4% window pane condensation, 11.1% mold odor, and 37.5% humid air. All dampness signs were associated with symptoms (ORs from 1.2 to 4.6; P < 0.001), including rhinitis (ORs from 1.4 to 3.2; P < 0.001), and ORs increased by number of dampness signs. The strongest associations were for mold odor (ORs from 2.3 to 4.6) and humid air (ORs from 2.8 to 4.8). Associations were stronger among men and stronger in Beijing as compared to south China. In conclusion, dampness and mold are common in Chinese homes and associated with rhinitis and ocular, throat and dermal symptoms, headache and fatigue. Men can be more sensitive to dampness and health effects of dampness can be stronger in northern China.

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In this paper, phase-locking dynamics of 2D VCSEL hexagonal array with an integrated Talbot cavity are numerically investigated based on rate equations aiming at achieving high brightness output. The processes of wavelength synchronization and phase locking under different fill factors ff and fractional Talbot cavity lengths L were addressed comprehensively. Different supermodes of phase-locked VCSEL array were then analyzed from both near-field and far-field pattern, and proved to be well matched with the results of coupled-mode theory. With appropriate configuration the Talbot-VCSEL system can operate in a full in-phase mode eventually, which is beneficial for determining the parameter interval corresponding to the most expected single narrow-lobe far-field pattern. Furthermore, the simulation results also indicate that, considering the parametric interactions the distribution of optical feedback from the fractional Talbot cavity should be consistent as much as possible to facilitate the realization of phase-locked state. Our study could provide a theoretical support to obtain the full in-phase coupled VCSEL array with high performance.

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Lithium niobate material (LN) has shown great application potentials in the fabrication of integrated optical devices due to its excellent physical properties, especially with the occurrence of lithium niobate-on-insulator (LNOI) substrate. However, the greatest challenge of micro/nano optical devices based on LN material lies in the precise etching process and thus limits its applications. In this paper, we comprehensively analyze the etching results treated by the proposed proton-exchanged wet-etching method (PEWE) combining with theoretical simulations and experiments. It is found that the proton-exchanged layer in the LN material can be easily etched after using a mixture acid of HF/HNO 3 , leading to the improvement of etching rate and surface morphology. The lowest roughness of the optical waveguide is measured to be 0.81 nm, which is beneficial for the performance improvement of LN-based optical devices. Ultimately, a quasi-vertical sidewall of the upper part of optical waveguide with improved surface morphology is successfully realized by utilizing the PEWE. Moreover, this method could also be extended to improve the performance of LNOI-based optical devices and pave the way for ultra-compact photonic integrated circuits based on LNOI.