Supplementary Material.docx

Supplement 1</p

Video4_Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability.MP4

Earthworm-like robots have received great attention due to their prominent locomotion abilities in various environments. In this research, by exploiting the extraordinary three-dimensional (3D) deformability of the Yoshimura-origami structure, the state of the art of earthworm-like robots is significantly advanced by enhancing the locomotion capability from 2D to 3D. Specifically, by introducing into the virtual creases, kinematics of the non-rigid-foldable Yoshimura-ori structure is systematically analyzed. In addition to exhibiting large axial deformation, the Yoshimura-ori structure could also bend toward different directions, which, therefore, significantly expands the reachable workspace and makes it possible for the robot to perform turning and rising motions. Based on prototypes made of PETE film, mechanical properties of the Yoshimura-ori structure are also evaluated experimentally, which provides useful guidelines for robot design. With the Yoshimura-ori structure as the skeleton of the robot, a hybrid actuation mechanism consisting of SMA springs, pneumatic balloons, and electromagnets is then proposed and embedded into the robot: the SMA springs are used to bend the origami segments for turning and rising motion, the pneumatic balloons are employed for extending and contracting the origami segments, and the electromagnets serve as anchoring devices. Learning from the earthworm’s locomotion mechanism--retrograde peristalsis wave, locomotion gaits are designed for controlling the robot. Experimental tests indicate that the robot could achieve effective rectilinear, turning, and rising locomotion, thus demonstrating the unique 3D locomotion capability.</p

Video1_Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability.MP4

Earthworm-like robots have received great attention due to their prominent locomotion abilities in various environments. In this research, by exploiting the extraordinary three-dimensional (3D) deformability of the Yoshimura-origami structure, the state of the art of earthworm-like robots is significantly advanced by enhancing the locomotion capability from 2D to 3D. Specifically, by introducing into the virtual creases, kinematics of the non-rigid-foldable Yoshimura-ori structure is systematically analyzed. In addition to exhibiting large axial deformation, the Yoshimura-ori structure could also bend toward different directions, which, therefore, significantly expands the reachable workspace and makes it possible for the robot to perform turning and rising motions. Based on prototypes made of PETE film, mechanical properties of the Yoshimura-ori structure are also evaluated experimentally, which provides useful guidelines for robot design. With the Yoshimura-ori structure as the skeleton of the robot, a hybrid actuation mechanism consisting of SMA springs, pneumatic balloons, and electromagnets is then proposed and embedded into the robot: the SMA springs are used to bend the origami segments for turning and rising motion, the pneumatic balloons are employed for extending and contracting the origami segments, and the electromagnets serve as anchoring devices. Learning from the earthworm’s locomotion mechanism--retrograde peristalsis wave, locomotion gaits are designed for controlling the robot. Experimental tests indicate that the robot could achieve effective rectilinear, turning, and rising locomotion, thus demonstrating the unique 3D locomotion capability.</p

Video3_Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability.MP4

Earthworm-like robots have received great attention due to their prominent locomotion abilities in various environments. In this research, by exploiting the extraordinary three-dimensional (3D) deformability of the Yoshimura-origami structure, the state of the art of earthworm-like robots is significantly advanced by enhancing the locomotion capability from 2D to 3D. Specifically, by introducing into the virtual creases, kinematics of the non-rigid-foldable Yoshimura-ori structure is systematically analyzed. In addition to exhibiting large axial deformation, the Yoshimura-ori structure could also bend toward different directions, which, therefore, significantly expands the reachable workspace and makes it possible for the robot to perform turning and rising motions. Based on prototypes made of PETE film, mechanical properties of the Yoshimura-ori structure are also evaluated experimentally, which provides useful guidelines for robot design. With the Yoshimura-ori structure as the skeleton of the robot, a hybrid actuation mechanism consisting of SMA springs, pneumatic balloons, and electromagnets is then proposed and embedded into the robot: the SMA springs are used to bend the origami segments for turning and rising motion, the pneumatic balloons are employed for extending and contracting the origami segments, and the electromagnets serve as anchoring devices. Learning from the earthworm’s locomotion mechanism--retrograde peristalsis wave, locomotion gaits are designed for controlling the robot. Experimental tests indicate that the robot could achieve effective rectilinear, turning, and rising locomotion, thus demonstrating the unique 3D locomotion capability.</p

Video2_Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability.MP4

Earthworm-like robots have received great attention due to their prominent locomotion abilities in various environments. In this research, by exploiting the extraordinary three-dimensional (3D) deformability of the Yoshimura-origami structure, the state of the art of earthworm-like robots is significantly advanced by enhancing the locomotion capability from 2D to 3D. Specifically, by introducing into the virtual creases, kinematics of the non-rigid-foldable Yoshimura-ori structure is systematically analyzed. In addition to exhibiting large axial deformation, the Yoshimura-ori structure could also bend toward different directions, which, therefore, significantly expands the reachable workspace and makes it possible for the robot to perform turning and rising motions. Based on prototypes made of PETE film, mechanical properties of the Yoshimura-ori structure are also evaluated experimentally, which provides useful guidelines for robot design. With the Yoshimura-ori structure as the skeleton of the robot, a hybrid actuation mechanism consisting of SMA springs, pneumatic balloons, and electromagnets is then proposed and embedded into the robot: the SMA springs are used to bend the origami segments for turning and rising motion, the pneumatic balloons are employed for extending and contracting the origami segments, and the electromagnets serve as anchoring devices. Learning from the earthworm’s locomotion mechanism--retrograde peristalsis wave, locomotion gaits are designed for controlling the robot. Experimental tests indicate that the robot could achieve effective rectilinear, turning, and rising locomotion, thus demonstrating the unique 3D locomotion capability.</p

Analysis of O‑Acetylated Sialic Acids in Dried Blood Spots

Sialic acid is a family of N- and O-substitutions of neuraminic acid. Plasma or serum sialic acid has been established as a potential disease marker. For example, the presence of 9-O-acetyl on the sialic acid of some glycans and glycoconjugates (e.g., 9-O-acetyl GD3 ganglioside) could be related to cancer occurrence. A variety of assays are available to measure serum or plasma sialic acid; however, sample preparation and storage can alter the O-acetylation profile due to the loss of O-acetyl groups and/or the migration of O-acetyl groups. Herein, we report dried blood spot (DBS) sampling, in combination with diamino-4,5-methylenedioxybenzene derivatization, for profiling sialic acids in blood samples with minimal alteration in O-acetylation patterns. The feasibility of the method was first evaluated by analyzing sialic acids in crucian carp blood and comparing with traditional blood/plasma sample preparation procedures. A total of 19 different sialic acids were identified by using liquid chromatography–Orbitrap mass spectrometry, including four mono-O-acetylated N-acetylneuraminic acids, four mono-O-acetylated N-glycolylneuraminic acids, six di-O-acetylated N-acetylneuraminic acids, and three tri-O-acetylated N-acetylneuraminic acids. The long-term storage study indicated that DBS sampling could effectively preserve the O-acetylation information for at least 6 weeks. Thus, it is demonstrated that this method is a valuable tool for the study of sialic acid diversity, especially for the characterization of isomeric structures

Construction of Polypseudorotaxane from Low-Molecular Weight Monomers via Dual Noncovalent Interactions

The design and construction of polypseudorotaxanes via noncovalent interactions from low-molecular weight monomers (LMWMs) is playing an important role in the field of supramolecular polymers. In this work, we synthesized three low-molecular weight compounds for supramolecular polymerizations and attempted to employ the metal–ligand interaction between the pyridine nitrogen and Pd (II), for cooperating with the host–guest binding between azobenzene and β-cyclodextrin (β-CD), to complete the end-to-end connection of the polymer chains. Routes for stepwise introduction of two of the self-assembly behaviors as well as a one-pot preparation were investigated by 1H NMR and 2D nuclear Overhauser enhancement spectroscopy (NOESY) 1H NMR spectroscopy. The self-assembly strategies based on the full orthogonality of both noncovalent interactions will allow for a smart and rapid synthesis of precise structural controlled supramolecular polymeric assemblies

Typical ESI-MS spectrum and MS/MS spectrum from a derivatized glycan.

<p>(a) ESI-MS spectrum was obtained for the Hex₅HexNAc₄Sia₂Fuc₁ with m/z = 830.9769 ([M+3H]³⁺) and m/z = 836.6513 ([M+2H+NH₄]³⁺). (<b>b</b>) Positive ion MS/MS spectrum of Hex₅HexNAc₄Sia₂Fuc₁ was obtained using an automated data-dependent acquisition mode. Structural schemes are given as follows: blue square, <i>N</i>-acetylglucosamine; green circle, mannose; yellow circle, galactose; purple diamond, sialic acid; red triangle, fucose.</p

The <i>N</i>-glycans released from 10 μL of human serum were separated by HPLC.

<p>The resulting 35 peaks were divided into Group 1 (Peak 1–12), Group 2 (Peak 13–23), Group 3 (Peak 24–32) and Group 4 (Peak 33–35).</p