arXiv subjects

Muhammad Bilal Khan

Publications and source records attributed to Muhammad Bilal Khan.

5 recordsLinked to original sources

arXiv2026

Muscle-inspired magnetic actuators that push, pull, crawl, and grasp

Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscle-inspired magnetic actuators (MMA), additively manufactured from a thermoplastic/permanent magnet polyurethane/Nd2Fe14B (TPU/MQP-S) composite using laser powder bed fusion (LPBF). By tuning the laser-energy scale between 1.0 and 3.0, both mechanical stiffness and magnetic response are precisely controlled: the tensile strength increases from 0.28 to 0.99 MPa while maintaining 30-45% elongation at break. This process enables the creation of 0.5 mm-thick flexural hinges, which reversibly bend and fold under moderate magnetic fields without damage. Two actuator types are reported showing the system versatility. The elongated actuator with self-weight of 1.57 g, magnetized in its contracted state, achieves linear contraction under a 500 mT field, lifting 50 g (32x its own weight) and sustaining performance over at least 50 cycles. Equipped with anisotropic frictional feet, it supports movement of a magnetic crawling robot that achieves up to 100% locomotion success on textured substrates. The expandable actuator exhibits reversible opening and closing under a 300 mT field, reliably grasping and releasing different objects, including soft berries and rigid 3D printed geometries. It can also anchor in a tube while holding suspended 50 g loads. This work demonstrates a LPBF-based strategy to program both stiffness and magnetization within a single material system, enabling remotely driven, reconfigurable, and fatigue-resistant soft actuators. The approach opens new possibilities for force controlled, multifunctional magnetic soft robots for adaptive gripping, locomotion, and minimally invasive manipulation of biomedical tools.

cs.RO↗

arXiv2025

An Open-Source User-Friendly Interface for Simulating Magnetic Soft Robots using Simulation Open Framework Architecture (SOFA)

Soft robots, particularly magnetic soft robots, require specialized simulation tools to accurately model their deformation under external magnetic fields. However, existing platforms often lack dedicated support for magnetic materials, making them difficult to use for researchers at different expertise levels. This work introduces an open-source, user-friendly simulation interface using the Simulation Open Framework Architecture (SOFA), specifically designed to model magnetic soft robots. The tool enables users to define material properties, apply magnetic fields, and observe resulting deformations in real time. By integrating intuitive controls and stress analysis capabilities, it aims to bridge the gap between theoretical modeling and practical design. Four benchmark models -- a beam, three- and four-finger grippers, and a butterfly -- demonstrate its functionality. The software's ease of use makes it accessible to both beginners and advanced researchers. Future improvements will refine accuracy through experimental validation and comparison with industry-standard finite element solvers, ensuring realistic and predictive simulations of magnetic soft robots.

cs.RO↗

arXiv2023

Magneto-active composites with locally tailored stiffness produced by laser powder bed fusion

Additive manufacturing technologies enable the production of complex and bioinspired shapes using magneto-responsive materials, which find diverse applications in soft robotics. Particularly, the development of composites with controlled gradients in mechanical properties offers new prospects for advancements in magneto-active materials. However, achieving such composites with gradients typically involves complex multi-material printing procedures. In this study, a single-step laser powder bed fusion (LPBF) process is proposed that enables precise local adjustments of the mechanical stiffness within magneto-active composites. By utilizing distinct laser parameters in specific regions of a composite containing thermoplastic polyurethane and atomized magnetic powder derived from hard magnetic Nd-Fe-B, the stiffness of the composite can be modified within the range of 2 to 22 MPa. Various magneto-responsive actuators with locally tailored stiffness are fabricated and their magnetic performance is investigated. The enhanced response exhibited by actuators with locally adjusted mechanical properties in comparison to their homogeneous counterparts with identical geometries is shown. As a demonstration of a biomedical application, a magnetically responsive stent with localized adjustment is presented with the ability to meet specific requirements in terms of geometry and local stiffness based on an individual's anatomy and disease condition. The proposed method presents an approach for creating functionally graded materials using LPBF, not only for magneto-active materials but also for several other structural and functional materials.

physics.app-ph↗

arXiv2023

Zero-photon catalysis based eight-state discrete modulated measurement-device-independent continuous-variable quantum key distribution

Zero-photon catalysis (ZPC) introduces noiseless attenuation and can be implemented by existing technologies in quantum key distribution (QKD) protocols. In this paper, we present a ZPC-based eight-state measurement-device-independent continuous-variable QKD (MDI-CV-QKD) combined with discrete modulation and reverse reconciliation. This ZPC-involved eight-state protocol shows better efficiency in terms of optimal modulation variances, secret key rates, transmission distances, tolerable excess noises, and reconciliation efficiency compared to the eight-state protocol without ZPC, the four-state protocol without ZPC, and the four-state protocol with ZPC, at a low signal-to-noise ratio (SNR).

quant-ph↗

arXiv2022

Mid- and far-infrared localized surface plasmon resonances in chalcogen-hyperdoped silicon

Plasmonic sensing in the infrared region employs the direct interaction of the vibrational fingerprints of molecules with the plasmonic resonances, creating surface-enhanced sensing platforms that are superior than the traditional spectroscopy. However, the standard noble metals used for plasmonic resonances suffer from high radiative losses as well as fabrication challenges, such as tuning the spectral resonance positions into mid- to far-infrared regions, and the compatibility issue with the existing complementary metal-oxide-semiconductor (CMOS) manufacturing platform. Here, we demonstrate the occurrence of mid-infrared localized surface plasmon resonances (LSPR) in thin Si films hyperdoped with the known deep-level impurity tellurium. We show that the mid-infrared LSPR can be further enhanced and spectrally extended to the far-infrared range by fabricating two-dimensional arrays of micrometer-sized antennas in a Te-hyperdoped Si chip. Since Te-hyperdoped Si can also work as an infrared photodetector, we believe that our results will unlock the route toward the direct integration of plasmonic sensors with the one-chip CMOS platform, greatly advancing the possibility of mass manufacturing of high-performance plasmonic sensing systems.

cond-mat.mtrl-sci↗