Inspired by natural creatures, soft robots possess the unique advantages of large actuation and excellent adaptability. Untethered designs of soft robots are drawing more attention to researchers, but current research is limited. Also, there is an increasing need to improve the performance of bio-mimetic robots. This work describes an untethered soft robotic jellyfish with high mobility that can mimic a natural jellyfish’s performance. The electrode of the robotic jellyfish is made by sandwiching carbon grease between two layers of dielectric elastomer film. The frame of the material, where six plastic paddles are attached, is made from a silicone elastomer. The robotic jellyfish has a maximum recorded swim speed of up to 1 cm s−1, with a peak thrust force of 0.000 12 N. A finite element simulation is developed to study the performance of the robotic jellyfish in a theoretical manner. By embedding a compact remote-controlled power source, the robotic jellyfish is made autonomous. In this case, the max peak speed is around 0.5 cm s−1. Ultimately, the working principles of the bio-mimetic robotic jellyfish can be useful in field studies and to guide the design of soft robots and flexible devices.

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Ultrafiltration grade polysulfone-based mixed matrix membranes (MMMs) incorporated with two-dimensional boron nitride nanosheet (BNNS) was prepared via phase inversion method. The amount of BN incorporated was varied and the influence on membrane morphology, contact angle, surface charge, as well as water permeability and humic acid rejection were investigated. Results revealed that the addition of BN to the membrane matrix resulted in profound increase in water permeability (almost tripled to that of neat PSf) and humic acid rejection due to the increase in pore size and surface negative charge. Beyond the morphological changes imparted by the inclusion of BNNS, we postulated that the presence of BNNS within the membrane matrix also contribute to the enhancement in flux and rejection based on surface-slip and selective interlayer transport. Despite the favourable augmentation of water transport and filtration performance, the MMMs suffered with fouling problem due to the entrapment of foulant within the enlarged pores and the membrane valleys. Its inherent adsorptive character could be a disadvantage when utilized as membrane filler.