The Kynix Blog

SummaryIn the development of advanced lithium-ion battery,improving one property without sacrificing others is challenging due to the trade-off nature among the key parameters. In a recent paper in Nature Communications, a research team from the Samsung Advanced Institute of Technology reported a chemical vapor deposition process to grow a graphene-silica 3D assembly, called a graphene-ball to provide both fast charging and high volumetric energy densities in Li-ion batteries.  About GrapheneIts hierarchical 3D structure with the SiOx nanoparticle center allows even 1 wt％ graphene-ball to be uniformly coated onto a nickel-rich layered cathode (LiNi0.6Co0.1Mn0.3O2) via mild Nobilta milling. The graphene-ball coating improves cycle life and fast charging capability by protecting the electrode surface from detrimental side reactions and providing efficient conductive pathways. The graphene-ball itself also serves as an anode material with high specific capacity of 716.2 mAh g-1. A full-cell incorporating graphene-balls increases the volumetric energy density by 27.6％ compared to a control cell without graphene-balls, showing the possibility of achieving 800 Wh L-1 in a commercial cell setting, along with a high cyclability of 78.6％ retention of the initial capacity after 500 cycles at 5C and 60 degrees C. Graphene growth from SiO2 nanoparticles. a-c TEM characterization a before CVD growth, b after 5 min growth, and c after 30 min growth (scale bars, 50 nm). d-f Their respective magnified images (scale bars, 10 nm). g Higher magnification image of graphene after 30 min growth and its atom-level view from the white box (inset) (scale bar, 2 nm). h Graphical illustration of popcorn-like graphene growth from SiO2 nanoparticles. A Boom in the Creation of New DevicesRecent innovations in materials science such as the development of graphene balls for Li-ion batteries have led to a boom in the creation of new devices, allowing for a rapid shift from analog to digital in a relatively short amount of time.In the past, materials were researched, developed and perfected long before they were applied to devices. Take liquid crystals, for example. They were first discovered in the late 1800s, and for decades were studied and defined in the academic realm. It wasn't until the 1960s―almost a century later―that they were utilized in commercial products. Similarly, it took 30 years after its invention for lithium metal oxide to even be tested in batteries, and another decade before it made its official commercial market introduction. Once materials such as these were introduced, however, they allowed for a steady and fairly rapid increase in device performance. In the display industry specifically, there has been enormous growth in the market because of such advancements up until now.However, as the market becomes increasingly saturated, electronic materials innovations are beginning to fall behind the device revolution. This is mostly due to the fact that the device product life cycle is becoming much faster than that of the material. Now, the device itself is facing the limitations of this revolution in terms of product performance and functionality without the aid of novel materials. Research on Materials and DevicesIt's reported at the  the plenary session led by Dr. Hyuk Chang, Executive Vice President , Samsung Advanced Institute of Technology (SAIT), at the 9th International Conference on Quantum Dots held that to ensure consistent advancements and optimum functionality, both materials and devices have to be synchronized throughout the development process from the earliest stages of research so that performance requirements can be properly understood. The following picture is about the speeds of material and device innovation have changed over time. SAIT now aims to synchronize the two. Chang noted that the synchronization of materials research and device development can accelerate the enhancement of both the devices and the materials that they are made of, thus revitalizing the market."After all, innovation comes in many forms, and source technology is a foundational one," Chang said. At Samsung, there are numerous organizations that carry out research and development. These include SAIT, where the company pioneers long-term, radical researches with five to ten year or more horizons; the R&D centers that explore next-generation products and platform technologies one to three years in advance; and business unit development teams that focus on commercialization, applying these latest technologies in product development.Samsung is increasingly synchronizing its R&D efforts to bring core technologies like new materials to products more quickly.Take an example,the quantum dot technology.Confident that this specific technology could ultimately drive the future of display, among other areas, Samsung has researched the material and its advantages in earnest. In fact, researchers at SAIT started focusing on quantum dot technology over a decade ago, and have since registered numerous patents on the subject. The following picture is about a synchronized research roadmap Through constant testing, evaluating and verifying the material from the earliest stages of device design, Samsung was able to incorporate quantum dots to create a revolutionary line-up of products―its 2015 SUHD TVs. n doing so, the technology allowed for highly accurate color expression and better, brighter picture quality while improving overall energy efficiency at a lower cost―all with cadmium-free quantum dots. Considering that this was the first commercial application of the material, it created quite a buzz among academics in the field who had been eagerly anticipating such a milestone. Despite these accomplishments, Samsung wanted to improve upon this technology and did so with its 2016 SUHD TVs, making them even more energy-efficient, and allowing them to display the picture quality more accurately. "As a materials scientist, my previous work was in small-scale labs," Chang explained. "It was overwhelming to see this technology make its way to mass production and even hit center stage at the industry's top events like CES in just a decade. That's the speed and scale of Samsung."As Samsung continues to research and refine the technology, the company predicts that quantum dots will further enhance display devices.Chang noted that quantum dots could be applied in other ways, too, such as to improve the accuracy of image sensors, which could significantly advance autonomous cars. Experts note that the technology also has great potential in the areas of chemo- and bio-sensing. In fact, researchers at SAIT have already begun to utilize quantum dot technology in these areas, and are eager to continue to progress these developments. "Just as Samsung's SUHD TVs were realized by evolutionary quantum dot materials and boundless research for discovering novel physical phenomena, functional materials, value-added materials and next-generation devices must be closely interconnected," Chang stated. This, he believes, will accelerate materials innovations, leading to new functionalities in devices and the creation of novel devices. The synchronization of materials research and device development will also help to breathe new life into the massive global materials marketplace. By consistently providing added value with new materials, Samsung hopes to continue to revitalize the electronic devices industry. Article resources:Samsung Advanced Institute of TechnologyArticle edited: kynix 

You will often find the 13009 transistor, also called the 13009d transistor, in circuits where you need high-voltage, high-speed switching. This npn bipolar junction transistor works as a power transistor. It uses silicon to handle tough jobs in devices like telephone accessories, IoT modules, medical electronics, and even aerospace systems. You can rely on the 13009d transistor for power supplies, voltage regulators, and motor control circuits. Many engineers choose this npn bipolar junction transistor because it delivers reliable switching in demanding environments. The 13009 transistor is widely available and affordable, with unit prices dropping as you order more.Image Source: statics.mylandingpages.co13009 Transistor SpecificationsWhen you look at the 13009d transistor, you will see that it stands out because of its strong absolute specifications. These specifications make it a popular choice for high-voltage and high-speed switching circuits. You can find all the important details in the datasheet, but here is a clear breakdown to help you understand what makes this npn power transistor special.Voltage RatingsYou need to know the voltage ratings before using the 13009d transistor in your project. These ratings tell you how much voltage the transistor can handle safely. The datasheet lists three main voltage ratings:Voltage RatingSymbolValueUnitCollector-Emitter VoltageVCEO400VCollector-Base VoltageVCBO700VEmitter-Base VoltageVEBO9VThese numbers show that the 13009 transistor can handle high voltages, just like other npn transistors in its class. However, it gives you a higher current rating, which means you can use it in more demanding circuits. You will find that the voltage ratings are standard for high-voltage npn transistors, but the 13009d transistor offers extra power for tougher jobs.Tip: Always check the absolute specifications in the datasheet before connecting the transistor to your circuit. This helps you avoid damaging the device.Current and PowerThe 13009d transistor can handle a lot of current and power. This makes it perfect for circuits where you need to switch large loads quickly. Here is a table that shows the main current and power ratings:ParameterValueUnitMaximum Collector Current (IC)12APower Dissipation (PTM Max)100WCollector-Emitter Saturation Voltage (VCE(sat))2.5VYou will notice that the maximum collector current is 12A, which is higher than many other npn transistors like the 13007 series. The power dissipation can reach up to 100W, but this depends on the package and how well you manage heat. If you use a TO-220 package with a good heat sink, you can get the best performance from your 13009d transistor.Note: The datasheet often lists power dissipation for different packages. Always use a heat sink for high-power applications to keep the transistor cool and safe.Package and TemperatureThe 13009d transistor usually comes in a TO-220 package. This package helps the transistor get rid of heat quickly, which is important when you use it in power supplies or motor control circuits. The TO-220 package is easy to mount on a heat sink, so you can keep the transistor at a safe temperature.Package Type: TO-220 (sometimes TO-3P for higher power)Maximum Junction Temperature: +150°CThermal Management: Use a heat sink for high-power circuitsYou will also find that the 13009d transistor uses multi-epitaxial planar technology. This special design gives you:High voltage capability (up to 700V)Very high switching speed for efficient power conversionConsistent performance with low spread of dynamic parametersHollow emitter structure for even faster switchingGood thermal performance, especially with the TO-220 packageMost manufacturers, like ON Semiconductor and Motorola, keep the specifications very similar. The datasheet may show small differences in power dissipation or package type, but the main features stay the same. Many 13009d transistors now come in lead-free packages, which helps meet environmental standards.When you choose the 13009d transistor, you get a reliable npn power transistor with strong absolute specifications. You can trust it for high-voltage, high-speed switching in demanding environments.Pin ConfigurationImage Source: unsplashWhen you work with the 13009 transistor, you need to know how to connect its pins correctly. The pin configuration tells you where to attach each wire in your circuit. This helps you avoid mistakes and keeps your project running smoothly.Pin LayoutThe 13009 transistor usually comes in a TO-220 package. You can easily identify the pins by looking at the flat side of the package with the pins facing down. Here is the standard pin layout:Emitter (E) – This is Pin 1. You connect it to the negative side of your power supply.Base (B) – This is Pin 2. You use this pin as the control input.Collector (C) – This is Pin 3. You connect it to the positive side of your power supply.Tip: Always double-check the pin layout before soldering or plugging the transistor into your circuit. A wrong connection can damage the transistor or your other components.Pin FunctionsEach pin on the 13009 transistor has a special job. Understanding these functions helps you design circuits that work well and stay safe. The table below explains what each pin does and gives you extra details:PinFunctionAdditional DetailsBaseControls the transistor action by receiving a small input current that biases the device.Enables current flow from collector to emitter.CollectorTerminal through which the main current flows into the transistor.Lightly doped terminal.EmitterTerminal through which current leaves the transistor.Highly doped terminal.The base pin acts like a gatekeeper. When you send a small current to the base, it lets a much larger current flow from the collector to the emitter. The collector pin brings in the main current, while the emitter pin lets the current leave the transistor. This setup makes the 13009 transistor a strong choice for switching and amplifying signals in your projects.13009 Transistor ApplicationsImage Source: unsplashThe 13009d transistor is a popular choice in many electronic circuits because of its high voltage and current handling. You can use this npn device in several important applications. Let’s look at how it works in power supplies, motor control, and high-frequency circuits.Power SuppliesYou often see the 13009d transistor in power supply circuits. It helps convert AC to DC and keeps the voltage steady for your devices. This transistor works well in both linear and switching power supplies. Its strong TO-220 package lets it handle high power and stay cool. You can trust it to work across a wide temperature range, from -55°C to +150°C. This makes it reliable even in tough conditions.Here is a table showing where you might use the 13009d transistor in power supply systems:Application TypeDescriptionTypical Performance RequirementsPower Supply CircuitsUsed in both linear and switching power supplies to convert AC to regulated DC voltage.High voltage and current handling; power dissipation of several watts; wide temperature range (-55°C to +150°C).Voltage RegulatorsStabilizes output voltage despite input/load fluctuations, powering sensitive electronics.Consistent voltage output; robust voltage and current ratings.Power Management SystemsUsed in UPS, battery chargers, and renewable energy systems for power regulation and distribution.Robust voltage/current handling; reliable under demanding conditions.The 13009d transistor stands out because it can handle more current and power than many other transistors. Its efficient heat dissipation means you get less energy loss and more reliable operation. You will find it in uninterruptible power supplies, battery chargers, and voltage regulators.Tip: The 13009d transistor is a better choice than smaller transistors like the MJE13001 when you need to manage large loads or high power.Image Source: statics.mylandingpages.coMotor ControlYou can use the 13009d transistor to control motors in robots, automation, and industrial machines. This npn transistor switches motor windings quickly, which lets you change the speed and direction of DC motors with precision. Its high collector-emitter voltage and current capacity make it perfect for these jobs.Some key reasons to use the 13009d transistor in motor control include:Fast switching for precise motor speed and direction.High voltage and current ratings for demanding motors.Good heat dissipation with the TO-220 package.Reliable operation even when the circuit gets hot.Efficient power regulation for smooth motor performance.You will see the 13009d transistor in motor drivers and controllers where stable and efficient operation is important.High-Frequency CircuitsThe 13009d transistor also works well in high-frequency circuits. You can use it in switch-mode power supplies (SMPS), inverters, and converters. Its fast switching speed and rugged design help you build circuits that need to switch on and off very quickly.Here are some advantages of using the 13009d transistor in high-frequency designs:High voltage and current handling for demanding circuits.Efficient heat dissipation for stable operation.Reliable performance in switch-mode power supplies and inverters.Fast switching speed for less energy loss.Strong construction for long-lasting use.You will find the 13009d transistor in many topologies, such as SMPS, inverters, motor drivers, and lighting ballasts. Its high power dissipation and robust npn design make it a favorite for engineers who need efficiency and reliability.13009d Transistor EquivalentsWhen you need to replace a 13009d transistor, you have several good options. You can find direct replacements that match the electrical behavior and fit into your circuit without any trouble. Choosing the right equivalent helps your project work smoothly and safely.Direct ReplacementsYou can use several transistors as direct replacements for the 13009d transistor. These alternatives offer similar voltage, current, and power ratings. They also come in the same TO-220 package, so you do not need to change your circuit layout. Here is a table that compares some of the most popular choices:TransistorCollector Current (Ic)Collector-Emitter Voltage (Vceo)Power Dissipation (W)Collector-Emitter Saturation Resistance (Rce)NotesMJE130078.0 A400 V80 W @ 25°C~600 mΩ max (3V/5A)Ic/Ib=5MJE13009G15 A400 V100 W @ 25°C~240 mΩ max (1.2V/5A)Ic/Ib=5; may need more base currentPHE130078 A400 V80 W @ 25°C~400 mΩ max (2V/5A)Ic/Ib=52SC507112 A400 V100 W @ 25°C~186 mΩ typical (1.3V/7A)Ic/Ib=5; lowest saturation resistanceYou can see that the MJE13009G and 2SC5071 are strong choices. The 2SC5071 gives you the highest current and power ratings, along with the lowest saturation resistance. The MJE13009G is also a reliable option, but it may need more base current to work well.Image Source: statics.mylandingpages.coYou can also use other 13009 variants, such as D13009K or FJP13009. These parts behave the same as the original 13009d transistor, so you do not need to worry about compatibility.Selection TipsWhen you pick an equivalent for the 13009d transistor, you should keep a few things in mind. These tips help you avoid problems and keep your circuit running well:Always check the technical documentation for the replacement part. Make sure the voltage, current, and power ratings match your needs.Look at the package type. The TO-220 package is common for the 13009d transistor and its equivalents.Check the power handling and heat dissipation. Use a heat sink if your circuit runs at high power.If your original 13009d transistor failed, check nearby parts like resistors, diodes, and small transistors. These may also be damaged.Test the voltage drop across the transistor junctions. A good transistor usually shows about 0.7V.Think about your application. For example, switching in power supplies or motor drivers may need higher current or faster switching.After replacing the 13009d transistor, test your circuit to make sure everything works as expected.Tip: All 13009d transistor variants from different brands work the same way. You can use any of them as a replacement if the main ratings match.By following these tips, you can choose the best equivalent for your project and keep your circuit safe and reliable.You now know that the 13009 transistor is a strong NPN BJT built for high-voltage, high-speed switching. Here is a quick summary:Key SpecificationValueTypeNPN BJTPackageTO-220Collector-Emitter VoltageUp to 400VCollector Current12APower DissipationUp to 150WTemperature Range-55°C to +150°CYou can use this transistor in power supplies, motor control, and high-frequency circuits. Its robust design and affordable price make it a top choice for demanding power electronics.FAQWhat is the main use of the 13009 transistor?You often use the 13009 transistor in power supply circuits. It helps switch high voltages and currents quickly. You can also use it in motor control and high-frequency circuits.Can you replace the 13009 transistor with another part?Yes, you can use equivalents like D13009K, FJP13009, or MJE13009G. Always check the datasheet to match voltage, current, and package type.How do you connect the pins of the 13009 transistor?Face the flat side of the TO-220 package toward you.Pin 1: EmitterPin 2: BasePin 3: CollectorWhat is the maximum current the 13009 transistor can handle?The 13009 transistor can handle up to 12 amps of collector current. You should use a heat sink for high-power circuits to keep it cool.Why does the 13009 transistor need a heat sink?The transistor can get very hot when switching large loads. A heat sink helps remove heat. This keeps the transistor safe and working well.

Today,let's talk something about MSP430 interrupts and times.   About "Interrupt"   Do you know what is an "interrupt"? Interrupt is a signal that informs our MCU that a certain event has happened,causing the interruption of the normal flow of the main program and the execution of an "interrupt routine",that handles the event and takes a specified action. Interrupts are essential to avoid wasting the processor's valuable time in polling loops, waiting for external events (in fact they are used in Real-Time Operating Systems, RTOS).   In the MSP430 architecture, there are several types of interrupts: timer interrupts, port interrupts, ADC interrupts and so on. Each one of them needs to be enabled and configured to work, and there is a separate "service routine" for every interrupt.   About code  Now let's see how to use timer and port interrupts to flash some LEDs,we will keep the ADC interrupt for the next turorial. So,let's write some code!   #include "msp430g2231.h" void main(void){  WDTCTL = WDTPW + WDTHOLD;                 // Stop WDT   You should recognize those lines,we used them in the last tutorial to add the definition file for our MCU, declare the main function and stop the watchdog timer.  CCTL0 = CCIE;                             // CCR0 interrupt enabled  TACTL = TASSEL_2 + MC_1 + ID_3;           // SMCLK/8, upmode    CCR0 =  10000;                           // 12.5 Hz   Here's some interesting stuff. These lines configure the timer interrupt. We first enable it by setting the CCIE bit in the CCTL0 register. Then we set the clock for the timer module in the TimerA control register. If you have a look at the msp430g2231.h file, you can see that: TASSEL_2 selects the SMCLK (supplied by an internal DCO which runs at about 1 MHz); MC_1 selects the "UP mode", the timer counts up to the number stored in the CCR0 register; ID_3 selects an internal 8x divider for the supplied clock (in our case we have SMCLK/8).   Finally, we set the CCR0 register. We configured the TimerA module to count up to the number stored in this register before overflowing and triggering the interrupt. By setting it at 10000, we get an overflow-frequency of 12,5 Hz. In fact we have (SMCLK/8)/10000 = 12,5 . You may obtain several frequencies by changing this number (remember that the MSP430 has a 16-bit timer, so the value stored in the CCR0 register must not be higher than 65535), changing the dividers or adding an if-else block with a counter in the interrupt routine. Let's go ahead.    P1OUT &= 0x00;               // Shut down everything  P1DIR &= 0x00;                P1DIR |= BIT0 + BIT6;       // P1.0 and P1.6 pins output the rest are input  P1REN |= BIT3;                 // Enable internal pull-up/down resistors  P1OUT |= BIT3;                 //Select pull-up mode for P1.3     These lines should be familiar too, but there are some additions: firstly, we clear the PORT1 output and direction registers. Then we set the P1.0 and P1.6 pins as outputs and the rest as inputs. The last two lines enable the pull-up resistor on the switch (BIT3) so that the normal state (button not pressed) will be "1".  P1IE |= BIT3;                    // P1.3 interrupt enabled  P1IES |= BIT3;                  // P1.3 Hi/lo edge  P1IFG &= ~BIT3;               // P1.3 IFG cleared With these lines of code, we first tell the MCU to listen to the P1.3 pin for logic-state changes (effectively enabling the interrupt on that particular pin). Then we select the edge when the interrupt is raised (from High to Low or Low to High); remember that the button on the LaunchPad connects the input pin to GND when pushed and to VCC when not. For this reason we seletct Hi/Lo edge. Finally we clear the interrupt flag for that pin. The interrput flag register P1IFG reports when an interrupt is raised, and it should be cleared at the end of the interrupt service routine.  _BIS_SR(CPUOFF + GIE);        // Enter LPM0 w/ interrupt    while(1)                      //Loop forever, we do  everything with interrupts!  {}} With this line, as you can remember, we shut down the CPU to spare some power while keeping the interrupts enabled. Then we enter a loop to be sure the MCU does nothing else, as we do our job with interrupts. // Timer A0 interrupt service routine#pragma vector=TIMERA0_VECTOR__interrupt void Timer_A (void){  P1OUT ^= BIT0;                            // Toggle P1.0} This is the TimerA interrupt service routine. Every time the TimerA overflows, the code inserted in this routine (note the special declaration) is executed. As you can see we only toggle the P1.0 pin (red led on LaunchPad), then we return to normal execution. // Port 1 interrupt service routine#pragma vector=PORT1_VECTOR__interrupt void Port_1(void){       P1OUT ^= BIT6;                        // Toggle P1.6     P1IFG &=~BIT3;                        // P1.3 IFG cleared    } This is the Port1 interrupt service routine. Every time the we push the P1.3 button, the code inserted in this routine (note the special declaration) is executed. We toggle the P1.6 pin (greenled on LaunchPad), clear the P1.3 interrupt flag (very important) and then we return to normal execution. Compile and program the LaunchPad, you should see the red led blink, and the green led toggle when you press the P1.3 button. Here's the full code, enjoy! #include "msp430g2231.h"    void main(void){  WDTCTL = WDTPW + WDTHOLD;     // Stop WDT    CCTL0 = CCIE;                             // CCR0 interrupt enabled  TACTL = TASSEL_2 + MC_1 + ID_3;           // SMCLK/8, upmode  CCR0 =  10000;                     // 12.5 Hz    P1OUT &= 0x00;               // Shut down everything  P1DIR &= 0x00;                P1DIR |= BIT0 + BIT6;            // P1.0 and P1.6 pins output the rest are input  P1REN |= BIT3;                   // Enable internal pull-up/down resistors  P1OUT |= BIT3;                   //Select pull-up mode for P1.3  P1IE |= BIT3;                       // P1.3 interrupt enabled  P1IES |= BIT3;                     // P1.3 Hi/lo edge  P1IFG &= ~BIT3;                  // P1.3 IFG cleared  _BIS_SR(CPUOFF + GIE);          // Enter LPM0 w/ interrupt  while(1)                          //Loop forever, we work with interrupts!  {}}  // Timer A0 interrupt service routine #pragma vector=TIMERA0_VECTOR __interrupt void Timer_A (void) {     P1OUT ^= BIT0;                          // Toggle P1.0 } // Port 1 interrupt service routine#pragma vector=PORT1_VECTOR__interrupt void Port_1(void){       P1OUT ^= BIT6;                      // Toggle P1.6   P1IFG &= ~BIT3;                     // P1.3 IFG cleared }  

Three fingers on a new soft robotic gripper each have specialized sensors that can estimate the size and shape of an object accurately enough to identify it from a set of multiple items.  Robots have many strong suits, but delicacy traditionally hasn't been one of them. Rigid limbs and digits make it difficult for them to grasp, hold, and manipulate a range of everyday objects without dropping or crushing them. Recently, researchers from MIT's Computer Science and Artificial Intelligence Laboratory (CSAIL) have discovered that the solution may be to turn to a substance more commonly associated with new buildings and Silly Putty: silicone. At a conference this month, researchers from CSAIL Director Daniela Rus' Distributed Robotics Lab demonstrated a 3-D-printed robotic hand made out of silicone rubber that can lift and handle objects as delicate as an egg and as thin as a compact disc. Just as impressively, its three fingers have special sensors that can estimate the size and shape of an object accurately enough to identify it from a set of multiple items. "Robots are often limited in what they can do because of how hard it is to interact with objects of different sizes and materials," Rus says. "Grasping is an important step in being able to do useful tasks; with this work we set out to develop both the soft hands and the supporting control and planning systems that make dynamic grasping possible." The paper, which was co-written by Rus and graduate student Bianca Homberg, PhD candidate Robert Katzschmann, and postdoc Mehmet Dogar, will be presented at this month's International Conference on Intelligent Robots and Systems. The hard science of soft robots The gripper, which can also pick up such items as a tennis ball, a Rubik's cube and a Beanie Baby, is part of a larger body of work out of Rus' lab at CSAIL aimed at showing the value of so-called "soft robots" made of unconventional materials such as silicone, paper, and fiber. Researchers say that soft robots have a number of advantages over "hard" robots, including the ability to handle irregularly-shaped objects, squeeze into tight spaces, and readily recover from collisions. "A robot with rigid hands will have much more trouble with tasks like picking up an object," Homberg says. "This is because it has to have a good model of the object and spend a lot of time thinking about precisely how it will perform the grasp." Soft robots represent an intriguing new alternative. However, one downside to their extra flexibility (or "compliance") is that they often have difficulty accurately measuring where an object is, or even if they have successfully picked it up at all. That's where the CSAIL team's "bend sensors" come in. When the gripper hones in an object, the fingers send back location data based on their curvature. Using this data, the robot can pick up an unknown object and compare it to the existing clusters of data points that represent past objects. With just three data points from a single grasp, the robot's algorithms can distinguish between objects as similar in size as a cup and a lemonade bottle. "As a human, if you're blindfolded and you pick something up, you can feel it and still understand what it is," says Katzschmann. "We want to develop a similar skill in robots—essentially, giving them 'sight' without them actually being able to see." The team is hopeful that, with further sensor advances, the system could eventually identify dozens of distinct objects, and be programmed to interact with them differently depending on their size, shape, and function. How it works（“We want to ... give robots‘sight’ without them actually being able to see,” says MIT grad student Robert Katzschmann. ） Researchers control the gripper via a series of pistons that push pressurized air through the silicone fingers. The pistons cause little bubbles to expand in the fingers, spurring them to stretch and bend. The hand can grip using two types of grasps: "enveloping grasps," where the object is entirely contained within the gripper, and "pinch grasps," where the object is held by the tips of the fingers. Outfitted for the popular Baxter manufacturing robot, the gripper significantly outperformed Baxter's default gripper, which was unable to pick up a CD or piece of paper and was prone to completely crushing items like a soda can. Like Rus' previous robotic arm, the fingers are made of silicone rubber, which was chosen because of its qualities of being both relatively stiff, but also flexible enough to expand with the pressure from the pistons. Meanwhile, the gripper's interface and exterior finger-molds are 3-D-printed, which means the system will work on virtually any robotic platform. In the future, Rus says the team plans to put more time into improving and adding more sensors that will allow the gripper to identify a wider variety of objects. "If we want robots in human-centered environments, they need to be more adaptive and able to interact with objects whose shape and placement are not precisely known," Rus says. "Our dream is to develop a robot that, like a human, can approach an unknown object, big or small, determine its approximate shape and size, and figure out how to interface with it in one seamless motion." Ref.KY45-TSL1401CLKY45-11242-11

SummarySingaporean researchers,led by by professor Hirotaka Sato,describe their work about designing robots--It's possible to use a living insect as a platform to develop a living insect-machine hybrid robot.Such a hybrid retains the complex structure of the insect's rigid exokeleton,complaint joints,and soft actuators, as well as the insect’s locomotion capability, and it does so while enabling high controllability and low power consumption. Such an insect-machine hybrid robot is made of a living insect platform with a miniaturized electronic device attached on it to control it.   By using the insect itself as the robot, researchers bypass the complex processes of designing and fabricating the robot body, using the insect’s muscular system as the soft actuators and flexible joints and its nervous system as part of the control system. About BeetleThis kind of particular beetle is a a darkling beetle. It’s small (2 to 2.5 centimeters), lightweight (about 0.5 gram), and lives for three months or so, which is a long time for a little bug. A backpack of electronics interfaces with the beetle’s antennae, and when the antennae are stimulated with an electric pulse, it activates the beetle’s built-in escape mechanism, fooling it into thinking it’s running into something and causing it to turn. The picture is from Nanyang Technological University AdvantageThe advantage of doing things this way (as opposed to direct nerve or muscle stimulation, something that the researchers also experimented with) is that the beetle’s brain is still in charge of controlling its limbs such that it’ll respond to high-level controls with adaptive gaits and such, making locomotion a much simpler problem to solve. With just two coin cell batteries, the cybeetle can be controlled for 8 hours, which is long enough for it to travel over a kilometer at an average speed of 4 cm/s. The following picture is from  Cyborg Insect: Ultralightweight Living Legged Robot The key to effectively controlling an insect using these methods is that the response to the antenna stimulation can’t be binary, since you’d end up with a level of control that would often be too coarse to be useful. By changing the frequency of the stimulation, the researchers were able to modulate how sharp of a turn the insect took: Increasing the stimulation frequency also increased the insect’s turning rate, with a success rate of over 85 percent. Stimulating both antennae at once causes the insect to back up, and it moves forward by default, giving you just about as much control as you can hope for. Living Robots' DifferencesElectrical stimulation is commonly used for neuromuscular stimulation in cyborg insects such as cockroaches, giant beetles, and moths. There are other groups working on antenna stimulation but they were not able to grade the response of the insect, which is very important for developing a precise closed-loop control system to make the cyborg insect work autonomously. The giant cyborg beetle mainly relies on neuromuscular stimulation of direct flight muscles for flight control and leg muscles of the fore legs for walking control. Ideally, stimulating the muscle would be more precise as we can perfectly control the individual legs, but it costs more in implantation and computing to plan and stimulate all the individual muscles for walking. Antenna stimulation is simpler and easier than stimulating all the individual muscles thus it helps us to simplify the hardware and control system a lot. Hopefully, in the near future, we can control the cyborg beetle as precisely as any other artificial motor. The zophobas beetle were used to develop this cyborg insect because its small size (2-2.5 cm) would help it to access the small rubbles system easily at disaster sites, where the cockroach and giant beetle can not get in. Moreover, a swarming of flying and walking cyborg insects of various sizes would increase the coverage and reduce the searching time, thus enhancing the efficiency and accuracy of search and rescue operations. Control IssueFor walking cyborg insects, researchers are able to integrate external sensors into the backpack as the insect is able to carry loads up to double its weight. We are developing a new backpack with integrated sensors for human detection and navigation. It would help us to detect victims when using cyborg insects at disaster sites, and enable the cyborg insects to work autonomously. On the other hand,research could release hundreds of flying and crawling cyborg insects to the sites as the price for one cyborg insect would be negligible once mass produced for a disaster scenario.The insects can move freely themselves into the collapsed structures and send back maps of their positions and environmental conditions so that the rescue team can plan for their action efficiently on how and where they should access. Once an insect detects a victim, it will send an alarm to the rescue team and switch to autonomous control mode to move around the victim for confirmation and build a clearer map of surrounding environment. At the end of the rescue operation, all the insects will autonomously return to the control base. I know that it sounds like science fiction, but we are in fact working to realize it. Researcher's GoalNow,researchers are working on a feedback control system to precisely control the insect locomotion with high reliability. We are also developing a new backpack with a navigation system and environmental sensors designed to promote fully autonomous and practical cyborg insects. For real applications, we need to maintain the power supply for the cyborg insect (mainly for the electronics backpack), which is currently a huge challenge if we just rely on the battery. So we are developing a biofuel cell, which is able to convert biofuel inside the insect to electric current for running the control backpack. It will help to maintain the backpack power for long-term use. Article resources: journal Soft RoboticsAtticle edited by kynix 

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