Traditional underwater rigid robots have some shortcomings that limit their applications in the ocean. In contrast, because of their inherent flexibility, soft robots, which have gained popularity recently, offer greater adaptability, efficiency, and safety than rigid robots. Among them, the soft actuator is the core component to power the soft robot. Here, we propose a class of soft electrohydraulic bending actuators suitable for underwater robots, which realize the bending motion of the actuator by squeezing the working liquid with an electric field. The actuator consists of a silicone rubber film, polydimethylsiloxane (PDMS) films, soft electrodes, silicone oils, an acrylic frame, and a soft flipper. When a square wave voltage is applied, the actuator can generate continuous flapping motions. By mimicking Haliclystus auricula, we designed an underwater robot based on six soft electrohydraulic bending actuators and constructed a mechanical model of the robot. Additionally, a high-voltage square wave circuit board was created to achieve the robot’s untethered motions and remote control using a smart phone via WiFi. The test results show that 1 Hz was the robot’s ideal driving frequency, and the maximum horizontal swimming speed of the robot was 7.3 mm/s.
Mirtazapine is a commonly prescribed antidepressant and has been found widespread in aquatic environments. However, its toxicities to aquatic organisms has rarely been explored. Herein, we conducted a comprehensive study on the developmental effects of mirtazapine on early life stages of zebrafish at environmentally relevant concentrations (3.9 ng/L and 43.5 ng/L). Out of the endpoints measured, spontaneous contraction of embryos at 24 h post fertilization (hpf) and hatching rate and heart rate of embryos at 50 hpf and 56 hpf, respectively, were significantly affected. In light-dark transition behavior test, mirtazapine significantly reduced the swimming frequency and swimming speed of embryos at both concentrations of 3.9 ng/L and 43.5 ng/L. Furthermore, the total swimming distances in dark conditions were also significantly reduced. Transcriptomic analysis was further conducted. It demonstrated that the decreased neural activities in embryos may be associated with altered epinephrine and neuregulin signaling. The present results fill a data gap regarding the exposure of fish to mirtazapine at environmentally relevant concentrations and provide new insights into the neurotoxic mechanisms of mirtazapine exposure.
Inspired by the efficient swimming capabilities of swordfish, a novel wireless soft swordfish-like robot with programmable magnetization has been developed, integrating direct-ink-writing (DIW) 3D printing and assembly technology. This 20 mm long robot features a streamlined form and magnetically programmable movements, enabling biomimetic locomotion patterns such as straight-line swimming and turning swimming. The robot includes a silicone-based torso (body, abdomen, and pectoral fin) and a crescent-shaped tail fin made from a magnetically programmable polymer embedded with neodymium-iron-boron (NdFeB) particles. The tail fin, fabricated by multi-material alternating printing to achieve a gradient magnetism distribution, is controlled by an external magnetic field to mimic the rapid oscillation of a swordfish's tail, achieving a swimming speed of 0.51 BL/ s. The tail fin's asymmetric oscillation amplitudes, adjusted by magnetic field control, allow the robot to transition seamlessly from high-speed straight swimming to agile turning. The robot can perform tracking swimming along specific planned paths, such as “C” and “Z” shaped trajectories. Potential applications include environmental monitoring and targeted drug release. The multi-material 3D printing technology enhances the robot's efficiency and sensitivity in simulating natural biological movements, extending to the design and development of various flexible devices and soft robots.
危险品化学品经营许可证（带存储）