3D-printed digital pneumatic logic for the control of soft robotic actuators.

Soft robots are paving their way to catch up with the application range of metal-based machines and to occupy fields that are challenging for traditional machines. Pneumatic actuators play an important role in this development, allowing the construction of bioinspired motion systems. Pneumatic logic gates provide a powerful alternative for controlling pressure-activated soft robots, which are often controlled by metallic valves and electric circuits. Many existing approaches for fully compliant pneumatic control logic suffer from high manual effort and low pressure tolerance. In our work, we invented three-dimensional (3D) printable, pneumatic logic gates that perform Boolean operations and imitate electric circuits. Within 7 hours, a filament printer is able to produce a module that serves as an OR, AND, or NOT gate; the logic function is defined by the assigned input signals. The gate contains two alternately acting pneumatic valves, whose work principle is based on the interaction of pressurized chambers and a 3D-printed 1-millimeter tube inside. The gate design does not require any kind of support material for its hollow parts, which makes the modules ready to use directly after printing. Depending on the chosen material, the modules can operate on a pressure supply between 80 and more than 750 kilopascals. The capabilities of the invented gates were verified by implementing an electronics-free drink dispenser based on a pneumatic ring oscillator and a 1-bit memory. Their high compliance is demonstrated by driving a car over a fully flexible, 3D-printed robotic walker controlled by an integrated circuit.

Capillary condensation in linear mesopores of different shape.

The hysteresis and kinetics of capillary condensation of N2 and Ar in linear mesopores, produced by etching of Si wafers, have been studied for different pore shapes, including the ink bottle geometry. Pore blocking has been observed in the solid state of the pore fillings, but not in the liquid state. We conclude that individual local geometries such as the pore mouth, a blind end, or a single constriction have no effect on the shape of sorption isotherms, that the pore space should be regarded as a statistical ensemble of pore segments with a lot of quenched disorder.

Characterization of a self-designated transsexual population.

Since its founding, the Gender Identity Clinic of the Johns Hopkins Medical Institutions has been contacted by 1034 correspondents designating themselves as transsexuals and requesting sex conversion surgery. This group was surveyed using a simple screening questionnaire. Five hundred and ninety-nine respondents partially completed or completed the questionnaire and are characterized along demographic, medical, psychiatric, and personal parameters.