Force Optimization of Elongated Undulating Fin Robot Using Improved PSO-Based CPG.

Biorobotic fishes have a huge impact on the development of underwater devices due to both fast swimming speed and great maneuverability. In this paper, an enhanced CPG model is investigated for locomotion control of an elongated undulating fin robot inspired by black knife fish. The proposed CPG network includes sixteen coupled Hopf oscillators for gait generation to mimic fishlike swimming.

A compact microfluidic chip with integrated impedance biosensor for protein preconcentration and detection.

In this study, a low-cost, compact biochip is designed and fabricated for protein detection. Nanofractures formed by self-assembled gold nanoparticles at junction gaps are applied for ion enrichment and depletion to create a trapping zone when electroosmotic flow occurs in microchannels. An impedance measurement module is implemented based on the lock-in amplifier technique to measure the impedance change during antibody growth on the gold electrodes which is caused by trapped proteins in the detection region.