We develop a solenoid actuator with a ferromagnetic plunger to generate both rectilinear and turning motions of a multi-segmented robot. Each segment of the miniaturized robot is actuated by a pair of solenoids, and in-phase and out-of-phase actuations of the solenoid pair cause the linear and turning motions. The theoretical analysis on the actuation force by the solenoid with the magnetic plunger is implemented based on the Biot-Savart law. The optimal design parameters of the solenoid are determined to actuate a segmented body. We manufacture the miniaturized robot consisting of two segments and a pair of solenoids. Experiments are performed to measure the linear and angular displacements of the two-segmented robot for various frictional conditions.

Structure-dependent colour is caused by the interaction of light with photonic crystal structures rather than pigments. The elytra of longhorn beetles Tmesisternus isabellae appear to be iridescent green in a dry state and turn to red when exposed to humidity. Based on the hygroscopic colouration of the longhorn beetle, we have developed centimeter-scale colorimetric opal films using a novel self-assembly method. The micro-channel assisted assembly technique adopts both natural evaporation and rotational forced drying, enhancing the surface binding of silica particles and the packing density by reducing the lattice constant and structural defects. The fabricated large-scale photonic film changes its structural colour from green to red when exposed to water vapour, similarly to the colorimetric feature of the longhorn beetle. The humidity-dependent colour change of the opal film is shown to be reversible and durable over five-hundred cycles of wetting and drying.

This work proposes a two-dimensional (2-D) laser scanning mirror with a novel actuating structure composed of one magnet and two coils. The mirror-actuating device generates decoupled scanning motions about two orthogonal axes by combining two electromagnetic actuators of the conventional moving-coil and the moving-magnet types. We implement a finite element analysis to calculate magnetic flux in the electromagnetic system and experiments using a prototype with the overall size of 22 mm (W) × 20 mm (D) × 15 mm (H) for the mirror size of 8 mm × 8 mm. The upper moving-coil type actuator to rotate only the mirror part has the optical reflection angle of 15.7° at 10 Hz, 90° at the resonance frequency of 60 Hz at ±3 V (±70 mA) and the bandwidth of 91 Hz. The lower moving-magnet type actuator has the optical reflection angle of 16.20° at 10 Hz and 50° at the resonance frequency of 60 Hz at ±5 V (±34 mA) and the bandwidth of 88 Hz. The proposed compact and simple 2-D scanning mirror has advantages of large 2-D angular deflections, wide frequency bandwidth and low manufacturing cost.