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This paper presents the design and control of a ballbot drivetrain that aims to achieve high agility, minimal footprint, and high payload capacity while maintaining dynamic stability. Two hardware platforms and analytical models were developed to test design and control methodologies. The fullscale ballbot prototype (MiaPURE) was constructed using offthe- shelf components and designed to have agility, footprint, and balance similar to that of a walking human. The planar inverted pendulum testbed (PIPTB) was developed as a reduced-order testbed for quick validation of system performance. We then proposed a simple yet robust cascaded LQR-PI controller to balance and maneuver the ballbot drivetrain with a heavy payload. This is crucial because the drivetrain is often subject to high stiction due to elastomeric components in the torque transmission system. This controller was first tested in the PIPTB to compare with traditional LQR and cascaded PI-PD controllers, and then implemented in the ballbot drivetrain. The MiaPURE drivetrain was able to carry a payload of 60 kg, achieve a maximum speed of 2.3 m/s, and come to a stop from a speed of 1.4 m/s in 2 seconds in a selected translation direction. Finally, we demonstrated the omnidirectional movement of the ballbot drivetrain in an indoor environment as a payload-carrying robot and a human-riding mobility device. Our experiments demonstrated the feasibility of using the ballbot drivetrain as a universal mobility platform with agile movements, minimal footprint, and high payload capacity using our proposed design and control methodologies. 

α-RuCl3 is a layered transition metal halide that possesses a range of exotic magnetic, optical, and electronic properties including fractional excitations indicative of a proximate Kitaev quantum spin liquid (QSL). While previous reports have explored these properties on idealized single crystals or mechanically exfoliated samples, the scalable production of α-RuCl3 nanosheets has not yet been demonstrated. Here, we perform liquid-phase exfoliation (LPE) of α-RuCl3 through an electrochemically assisted approach, which yields ultrathin, electron-doped α-RuCl3 nanosheets that are then assembled into electrically conductive large-area thin films. The crystalline integrity of the α-RuCl3 nanosheets following LPE is confirmed through a wide range of structural and chemical analyses. Moreover, the physical properties of the LPE α-RuCl3 nanosheets are investigated through electrical, optical, and magnetic characterization methods, which reveal a structural phase transition at 230 K that is consistent with the onset of Kitaev paramagnetism in addition to an antiferromagnetic transition at 2.6 K. Intercalated ions from the electrochemical LPE protocol favorably alter the optical response of the α-RuCl3 nanosheets, enabling large-area Mott insulator photodetectors that operate at telecommunications-relevant infrared wavelengths near 1.55 μm. These photodetectors show a linear photocurrent response as a function of incident power, which suggests negligible trap-mediated recombination or photothermal effects, ultimately resulting in a photoresponsivity of ≈2 mA/W. 

Printed 2D materials, derived from solution‐processed inks, offer scalable and cost‐effective routes to mechanically flexible optoelectronics. With micrometer‐scale control and broad processing latitude, aerosol‐jet printing (AJP) is of particular interest for all‐printed circuits and systems. Here, AJP is utilized to achieve ultrahigh‐responsivity photodetectors consisting of well‐aligned, percolating networks of semiconducting MoS₂nanosheets and graphene electrodes on flexible polyimide substrates. Ultrathin (≈1.2 nm thick) and high‐aspect‐ratio (≈1 μm lateral size) MoS₂nanosheets are obtained by electrochemical intercalation followed by megasonic atomization during AJP, which not only aerosolizes the inks but also further exfoliates the nanosheets. The incorporation of the high‐boiling‐point solvent terpineol into the MoS₂ink is critical for achieving a highly aligned and flat thin‐film morphology following AJP as confirmed by grazing‐incidence wide‐angle X‐ray scattering and atomic force microscopy. Following AJP, curing is achieved with photonic annealing, which yields quasi‐ohmic contacts and photoactive channels with responsivities exceeding 10³ A W⁻¹that outperform previously reported all‐printed visible‐light photodetectors by over three orders of magnitude. Megasonic exfoliation coupled with properly designed AJP ink formulations enables the superlative optoelectronic properties of ultrathin MoS₂nanosheets to be preserved and exploited for the scalable additive manufacturing of mechanically flexible optoelectronics.