arXiv subjects

Shaoxing Qu

Publications and source records attributed to Shaoxing Qu.

3 recordsLinked to original sources

arXiv2026

A Foldable and Agile Soft Electromagnetic Robot for Multimodal Navigation in Confined and Unstructured Environments

Multimodal locomotion is crucial for an animal's adaptability in unstructured wild environments. Similarly, in the human gastrointestinal tract, characterized by viscoelastic mucus, complex rugae, and narrow sphincters like the cardia, multimodal locomotion is also essential for a small-scale soft robot to conduct tasks. Here, we introduce a small-scale compact, foldable, and robust soft electromagnetic robot (M-SEMR) with more than nine locomotion modes designed for such a scenario. Featuring a six-spoke elastomer body embedded with liquid metal channels and driven by Laplace forces under a static magnetic field, the M-SEMR is capable of rapid transitions (< 0.35 s) among different locomotion modes. It achieves exceptional agility, including high-speed rolling (818 mm/s, 26 BL/s), omnidirectional crawling, jumping, and swimming. Notably, the robot can fold to reduce its volume by 79%, enabling it to traverse confined spaces. We further validate its navigation capabilities on complex terrains, including discrete obstacles, viscoelastic gelatin surfaces, viscous fluids, and simulated biological tissues. This system offers a versatile strategy for developing high-mobility soft robots for future biomedical applications.

cs.RO↗

arXiv2025

A statistical theory for polymer elasticity: from molecular kinematics to continuum behavior

Predicting the macroscopic mechanical behavior of polymeric materials from the micro-structural features has remained a challenge for decades. Existing theoretical models often fail to accurately capture the experimental data, due to non-physical assumptions that link the molecule kinematics with the macroscopic deformation. In this work, we construct a novel Hamiltonian for chain segments enabling a unified statistical description of both individual macromolecular chains and continuum polymer networks. The chain kinematics, including the stretch and orientation properties, are retrieved by the thermodynamic observables without phenomenological assumptions. The theory shows that the chain stretch is specified by a simple relation via its current spatial direction and the continuum Eulerian logarithmic strain, while the probability of a chain in this spatial direction is governed by the new Hamiltonian of a single segment. The model shows a significantly improved prediction on the hyperelastic response of elastomers, relying on minimal, physically-grounded parameters.

cond-mat.soft↗

arXiv2015

Two-dimensional electron gas at the PbTiO$_3$/SrTiO$_3$ interface: an ab initio study

In the polar catastrophe scenario, polar discontinuity accounts for the driving force of the formation of a two-dimensional electron gas (2DEG) at the interface between polar and non-polar insulators. In this paper, we substitute the usual, non-ferroelectric, polar material with a ferroelectric thin film and use the ferroelectric polarization as the source for polar discontinuity. We use ab initio simulations to systematically investigate the stability, formation and properties of the two-dimensional free-carrier gases formed in PbTiO$_3$/SrTiO$_3$ heterostructures under realistic mechanical and electrical boundary conditions. Above a critical thickness, the ferroelectric layers can be stabilized in the out-of-plane monodomain configuration due to the electrostatic screening provided by the free-carriers. Our simulations also predict that the system can be switched between three stable configurations (polarization up, down or zero), allowing the non-volatile manipulation of the free charge density and sign at the interface. Furthermore, the link between ferroelectric polarization and free charge density demonstrated by our analysis constitutes compelling support for the polar catastrophe model that is used to rationalize the formation of 2DEG at oxide interfaces.

cond-mat.mes-hall↗