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Abstract Soft and miniaturized robots possess the capability to operate inside narrow, confined environments. However, powering soft robots inside these environments with on-board batteries or wired connections to external power supplies can significantly restrain their mobility. Similarly, wireless actuation approaches are constrained by near-field actuation, line-of-sight operation, or indiscriminate actuation of many actuators. To provide higher mobility for wireless soft robot to operate inside non-line-of-sight scenarios, we present a radio-frequency system that introduces frequency-selective actuation of liquid crystal elastomer actuators. We create liquid crystalline elastomer actuators with a low actuation temperature and embed them with conductive traces that resonate and heat by selected frequencies of radio-frequency excitation in the 2.40 GHz range. We further develop a wireless actuation platform that infers the wireless channel and beamforms towards the actuator to achieve efficient beamforming. Demonstrations show our system is capable of selectively actuating different actuators while the robot is in motion and obstructed by occlusions. 

Abstract Developing efficient catalysts is of paramount importance to oxygen evolution, a sluggish anodic reaction that provides essential electrons and protons for various electrochemical processes, such as hydrogen generation. Here, we report that the oxygen evolution reaction (OER) can be efficiently catalyzed by cobalt tetrahedra, which are stabilized over the surface of a Swedenborgite-type YBCo 4 O 7 material. We reveal that the surface of YBaCo 4 O 7 possesses strong resilience towards structural amorphization during OER, which originates from its distinctive structural evolution toward electrochemical oxidation. The bulk of YBaCo 4 O 7 composes of corner-sharing only CoO 4 tetrahedra, which can flexibly alter their positions to accommodate the insertion of interstitial oxygen ions and mediate the stress during the electrochemical oxidation. The density functional theory calculations demonstrate that the OER is efficiently catalyzed by a binuclear active site of dual corner-shared cobalt tetrahedra, which have a coordination number switching between 3 and 4 during the reaction. We expect that the reported active structural motif of dual corner-shared cobalt tetrahedra in this study could enable further development of compounds for catalyzing the OER.