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Qi Q, Li Z, Yin H, Feng Y, Zhou Z, Rong D. Analysis of Transient Thermoacoustic Characteristics and Performance in Carbon Nanotube Sponge Underwater Transducers. NANOMATERIALS (BASEL, SWITZERLAND) 2024; 14:817. [PMID: 38786774 PMCID: PMC11123856 DOI: 10.3390/nano14100817] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/26/2024] [Revised: 04/26/2024] [Accepted: 05/05/2024] [Indexed: 05/25/2024]
Abstract
Recent advancements in marine technology have highlighted the urgent need for enhanced underwater acoustic applications, from sonar detection to communication and noise cancellation, driving the pursuit of innovative transducer technologies. In this paper, a new underwater thermoacoustic (TA) transducer made from carbon nanotube (CNT) sponge is designed to achieve wide bandwidth, high energy conversion efficiency, simple structure, good transient response, and stable sound response, utilizing the TA effect through electro-thermal modulation. The transducer has potential application in underwater acoustic communication. An electro-thermal-acoustic coupled simulation for the open model, sandwich model, and encapsulated model is presented to analyze the transient behaviors of CNT sponge TA transducers in liquid environments. The effects of key design parameters on the acoustic performances of both systems are revealed. The results demonstrate that a short pulse excitation with a low duty cycle could greatly improve the heat dissipation of the encapsulated transducer, especially when the thermoacoustic response time becomes comparable to thermal relaxation time.
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Affiliation(s)
- Qianshou Qi
- State Key Laboratory of Structure Analysis of Industrial Equipment, Department of Engineering Mechanics, International Research Center for Computational Mechanics, Dalian University of Technology, Dalian 116024, China; (Q.Q.); (Z.L.); (H.Y.); (Z.Z.)
| | - Zhe Li
- State Key Laboratory of Structure Analysis of Industrial Equipment, Department of Engineering Mechanics, International Research Center for Computational Mechanics, Dalian University of Technology, Dalian 116024, China; (Q.Q.); (Z.L.); (H.Y.); (Z.Z.)
| | - Huilin Yin
- State Key Laboratory of Structure Analysis of Industrial Equipment, Department of Engineering Mechanics, International Research Center for Computational Mechanics, Dalian University of Technology, Dalian 116024, China; (Q.Q.); (Z.L.); (H.Y.); (Z.Z.)
| | - Yanxia Feng
- Jiangxi Copper Technology Institute Co., Ltd., Nanchang 330096, China;
| | - Zhenhuan Zhou
- State Key Laboratory of Structure Analysis of Industrial Equipment, Department of Engineering Mechanics, International Research Center for Computational Mechanics, Dalian University of Technology, Dalian 116024, China; (Q.Q.); (Z.L.); (H.Y.); (Z.Z.)
| | - Dalun Rong
- School of Aeronautics and Astronautics, Shenzhen Campus of Sun Yat-sen University, Shenzhen 518107, China
- School of Civil Engineering, Hunan University of Technology, Zhuzhou 412007, China
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2
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Liu N, Saure LM, Sriramdas R, Schütt F, Wang K, Nozariasbmarz A, Zhang Y, Adelung R, Baughman RH, Priya S, Li W, Poudel B. Underwater Thermoacoustic Generation by a Hierarchical Tetrapodal Carbon Nanotube Network. ACS NANO 2024; 18:8988-8995. [PMID: 38478913 DOI: 10.1021/acsnano.3c12726] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 03/27/2024]
Abstract
Solid-state fabricated carbon nanotube (CNT) sheets have shown promise as thermoacoustic (TA) sound generators, emitting tunable sound waves across a broad frequency spectrum (1-105 Hz) due to their ultralow specific heat capacity. However, their applications as underwater TA sound generators are limited by the reduced mechanical strength of CNT sheets in aqueous environments. In this study, we present a mechanically robust underwater TA device constructed from a three-dimensional (3D) tetrapodal assembly of carbon nanotubes (t-CNTs). These structures feature a high porosity (>99.9%) and a double-hollowed network of well-interconnected CNTs. We systematically explore the impact of different dimensions of t-CNTs and various annealing procedures on sound generation performance. Furnace-annealed t-CNTs, in contrast to directly resistive Joule heating annealing, provide superior, continuous, and homogeneous hydrophobicity across the surface of bulk t-CNTs. As a result, the t-CNTs-based underwater TA device demonstrates stable, smooth, and broad-spectrum sound generation within the frequency range of 1 × 102 to 1 × 104 Hz, along with a weak resonance response. Furthermore, these devices exhibit enhanced and more stable sound generation performance at nonresonance frequencies compared to regular CNT-based devices. This study contributes to advancing the development of underwater TA devices with characteristics such as being nonresonant, high-performing, flexible, elastically compressible, and reliable, enabling operation across a broad frequency range.
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Affiliation(s)
- Na Liu
- Department of Materials Science and Engineering, Pennsylvania State University, University Park, Pennsylvania 16802, United States
| | - Lena Marie Saure
- Functional Nanomaterials, Institute for Materials Science, Kiel University, Kaiserstrasse 2, 24143 Kiel, Germany
| | - Rammohan Sriramdas
- Department of Materials Science and Engineering, Pennsylvania State University, University Park, Pennsylvania 16802, United States
- Department of Mechanical Engineering, Amrita Vishwa Vidyapeetham, Coimbatore Campus, Coimbatore 641112, India
| | - Fabian Schütt
- Functional Nanomaterials, Institute for Materials Science, Kiel University, Kaiserstrasse 2, 24143 Kiel, Germany
| | - Kai Wang
- Department of Materials Science and Engineering, Pennsylvania State University, University Park, Pennsylvania 16802, United States
| | - Amin Nozariasbmarz
- Department of Materials Science and Engineering, Pennsylvania State University, University Park, Pennsylvania 16802, United States
| | - Yu Zhang
- Department of Materials Science and Engineering, Pennsylvania State University, University Park, Pennsylvania 16802, United States
| | - Rainer Adelung
- Functional Nanomaterials, Institute for Materials Science, Kiel University, Kaiserstrasse 2, 24143 Kiel, Germany
| | - Ray H Baughman
- Alan G. MacDiarmid NanoTech Institute, University of Texas at Dallas, Richardson, Texas 75083, United States
| | - Shashank Priya
- Department of Materials Science and Engineering, Pennsylvania State University, University Park, Pennsylvania 16802, United States
| | - Wenjie Li
- Department of Materials Science and Engineering, Pennsylvania State University, University Park, Pennsylvania 16802, United States
| | - Bed Poudel
- Department of Materials Science and Engineering, Pennsylvania State University, University Park, Pennsylvania 16802, United States
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3
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Lin D, Futaba DN, Kobashi K, Zhang M, Muroga S, Chen G, Tsuji T, Hata K. A Microwave-Assisted, Solvent-Free Approach for the Versatile Functionalization of Carbon Nanotubes. ACS NANO 2023; 17:3976-3983. [PMID: 36752763 DOI: 10.1021/acsnano.2c12789] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
While the functionalization of carbon nanotubes (CNTs) has attracted extensive interest for a wide range of applications, a facial and versatile strategy remains in demand. Here, we report a microwave-assisted, solvent-free approach to directly functionalize CNTs both in raw form and in arbitrary macroscopic assemblies. Rapid microwave irradiation was applied to generate active sites on the CNTs while not inducing excessive damage to the graphitic network, and a gas-phase deposition afforded controllable grafting for thorough or regioselective functionalization. Using methyl methacrylate (MMA) as a model functional group and a CNT sponge as a model assembly, homogeneous grafting was exhibited by the increased robust hydrophobicity (contact angle increase from 30 to 140°) and improved structural stability (compressive modulus increased by 135%). Therefore, when our MMA-functionalized CNTs served as a solar absorber for saline distillation, high operating stability with a superior water evaporation rate of ∼2.6 kg m-2 h-1 was observed. Finally, to highlight the efficacy and versatility of this functionalization approach, we fabricated asymmetrically hydrophobic CNT sponges by regioselective functionalization to serve as a moisture-driven generator, which demonstrated a stable open-circuit voltage of 0.6 mV. This versatile, solvent-free approach can complement conventional solution-based techniques in the design and fabrication of multifunctional nanocarbon-based materials.
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Affiliation(s)
- Dewu Lin
- Nano Carbon Device Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 5, 1-1-1 Higashi, Tsukuba, Ibaraki 305-8565, Japan
| | - Don N Futaba
- Nano Carbon Device Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 5, 1-1-1 Higashi, Tsukuba, Ibaraki 305-8565, Japan
| | - Kazufumi Kobashi
- Nano Carbon Device Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 5, 1-1-1 Higashi, Tsukuba, Ibaraki 305-8565, Japan
| | - Minfang Zhang
- Nano Carbon Device Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 5, 1-1-1 Higashi, Tsukuba, Ibaraki 305-8565, Japan
| | - Shun Muroga
- Nano Carbon Device Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 5, 1-1-1 Higashi, Tsukuba, Ibaraki 305-8565, Japan
| | - Guohai Chen
- Nano Carbon Device Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 5, 1-1-1 Higashi, Tsukuba, Ibaraki 305-8565, Japan
| | - Takashi Tsuji
- Nano Carbon Device Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 5, 1-1-1 Higashi, Tsukuba, Ibaraki 305-8565, Japan
| | - Kenji Hata
- Nano Carbon Device Research Center, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba Central 5, 1-1-1 Higashi, Tsukuba, Ibaraki 305-8565, Japan
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Hatta MHM, Matmin J, Malek NANN, Kamisan FH, Badruzzaman A, Batumalaie K, Ling Lee S, Abdul Wahab R. COVID‐19: Prevention, Detection, and Treatment by Using Carbon Nanotubes‐Based Materials. ChemistrySelect 2023. [DOI: 10.1002/slct.202204615] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/18/2023]
Affiliation(s)
- Mohd Hayrie Mohd Hatta
- Centre for Research and Development Asia Metropolitan University 81750 Johor Bahru Johor Malaysia
| | - Juan Matmin
- Department of Chemistry Faculty of Science Universiti Teknologi Malaysia 81310 UTM Johor Bahru Johor Malaysia
- Centre for Sustainable Nanomaterials Ibnu Sina Institute for Scientific and Industrial Research Universiti Teknologi Malaysia 81310 UTM Johor Bahru Johor Malaysia
| | - Nik Ahmad Nizam Nik Malek
- Centre for Sustainable Nanomaterials Ibnu Sina Institute for Scientific and Industrial Research Universiti Teknologi Malaysia 81310 UTM Johor Bahru Johor Malaysia
- Department of Biosciences, Faculty of Science Universiti Teknologi Malaysia 81310 UTM Johor Bahru Johor Malaysia
| | - Farah Hidayah Kamisan
- Department of Biomedical Sciences Faculty of Health Sciences Asia Metropolitan University 81750 Johor Bahru Johor Malaysia
| | - Aishah Badruzzaman
- Centre for Foundation, Language and General Studies Asia Metropolitan University 81750 Johor Bahru Johor Malaysia
| | - Kalaivani Batumalaie
- Department of Biomedical Sciences Faculty of Health Sciences Asia Metropolitan University 81750 Johor Bahru Johor Malaysia
| | - Siew Ling Lee
- Department of Chemistry Faculty of Science Universiti Teknologi Malaysia 81310 UTM Johor Bahru Johor Malaysia
- Centre for Sustainable Nanomaterials Ibnu Sina Institute for Scientific and Industrial Research Universiti Teknologi Malaysia 81310 UTM Johor Bahru Johor Malaysia
| | - Roswanira Abdul Wahab
- Department of Chemistry Faculty of Science Universiti Teknologi Malaysia 81310 UTM Johor Bahru Johor Malaysia
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5
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Cao JJ, Jiang Y, Zhan H, Zhang Y, Wang JN. Carbon dioxide-boosted growth of high-density and vertically aligned carbon nanotube arrays on a stainless steel mesh. RSC Adv 2022; 12:34740-34745. [PMID: 36545595 PMCID: PMC9720505 DOI: 10.1039/d2ra04822a] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/02/2022] [Accepted: 11/22/2022] [Indexed: 12/12/2022] Open
Abstract
Vertically aligned carbon nanotubes (VACNTs), a unique group of highly aligned CNTs normal to a substrate, have been extensively studied during the past decades. However, it is a long-standing challenge to improve the height of VACNTs due to the incidental deactivation of catalysts during growth. Herein, we demonstrate a facile strategy toward synthesizing high-density and well-aligned CNT arrays from in situ formed Fe-based catalysts on a stainless steel (SS) mesh. These catalysts were generated by direct oxidation-reduction treatment to the SS, which had excellent adhesion on the mesh substrate, and thus suppressed catalyst aggregation and promoted CNT growth under the flow of C2H2. In particular, by feeding additional CO2 at an optimal rate, the height of CNT arrays could be boosted from ca. 15 μm to ca. 80.0 μm, one of the highest heights observed for VACNTs on SS-based substrates so far. This is attributed to the prolonged activity of the catalysts by CO2 induced removal of extra carbon. Our study might provide an insight into the development of efficient strategies for VACNT growth on conductive substrates.
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Affiliation(s)
- Jun Jie Cao
- School of Mechanical and Power Engineering, East China University of Science and Technology130 Meilong RoadShanghai 200237China+86-21-64252360
| | - Yu Jiang
- School of Mechanical and Power Engineering, East China University of Science and Technology130 Meilong RoadShanghai 200237China+86-21-64252360
| | - Hang Zhan
- School of Mechanical and Power Engineering, East China University of Science and Technology130 Meilong RoadShanghai 200237China+86-21-64252360
| | - Yu Zhang
- School of Mechanical and Power Engineering, East China University of Science and Technology130 Meilong RoadShanghai 200237China+86-21-64252360
| | - Jian Nong Wang
- School of Mechanical and Power Engineering, East China University of Science and Technology130 Meilong RoadShanghai 200237China+86-21-64252360
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6
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Qian L, Xie Y, Zou M, Zhang J. Building a Bridge for Carbon Nanotubes from Nanoscale Structure to Macroscopic Application. J Am Chem Soc 2021; 143:18805-18819. [PMID: 34714049 DOI: 10.1021/jacs.1c08554] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/30/2022]
Abstract
Through 30 years of research, researchers have gained a deep understanding of the synthesis, characteristics, and applications of carbon nanotubes (CNTs). However, up to now, there are still few industries using CNT as the leading material. The difficulty of CNTs to be applied in industry is the gap between the properties of CNT-based aggregates and those of a single carbon nanotube. Therefore, how to maintain the intrinsic properties of CNTs when they are assembled into aggregates is of great significance. Herein, we summarize and analyze the research status of CNT materials applied in different fields from proven techniques to potential industries, including energy storage, electronics, mechanical and other applications. For each application, the intrinsic properties of CNTs and the real performances of their aggregates are compared to figure out the key problems in CNT synthesis. Finally, we give an outlook for building a bridge for CNTs from nanoscale structure to macroscopic application, giving inspiration to researchers making efforts toward the real application of carbon nanotubes.
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Affiliation(s)
- Liu Qian
- Center for Nanochemistry, Beijing Science and Engineering Center for Nanocarbons, Beijing National Laboratory for Molecular Sciences, College of Chemistry and Molecular Engineering, Peking University, Beijing 100871, People's Republic of China
| | - Ying Xie
- Center for Nanochemistry, Beijing Science and Engineering Center for Nanocarbons, Beijing National Laboratory for Molecular Sciences, College of Chemistry and Molecular Engineering, Peking University, Beijing 100871, People's Republic of China
| | - Mingzhi Zou
- Center for Nanochemistry, Beijing Science and Engineering Center for Nanocarbons, Beijing National Laboratory for Molecular Sciences, College of Chemistry and Molecular Engineering, Peking University, Beijing 100871, People's Republic of China
| | - Jin Zhang
- Center for Nanochemistry, Beijing Science and Engineering Center for Nanocarbons, Beijing National Laboratory for Molecular Sciences, College of Chemistry and Molecular Engineering, Peking University, Beijing 100871, People's Republic of China
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7
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Wu Y, Zhao X, Shang Y, Chang S, Dai L, Cao A. Application-Driven Carbon Nanotube Functional Materials. ACS NANO 2021; 15:7946-7974. [PMID: 33988980 DOI: 10.1021/acsnano.0c10662] [Citation(s) in RCA: 41] [Impact Index Per Article: 13.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/18/2023]
Abstract
Carbon nanotube functional materials (CNTFMs) represent an important research field in transforming nanoscience and nanotechnology into practical applications, with potential impact in a wide realm of science, technology, and engineering. In this review, we combine the state-of-the-art research activities of CNTFMs with the application prospect, to highlight critical issues and identify future challenges. We focus on macroscopic long fibers, thin films, and bulk sponges which are typical CNTFMs in different dimensions with distinct characteristics, and also cover a variety of derived composite/hierarchical materials. Critical issues related to their structures, properties, and applications as robust conductive skeletons or high-performance flexible electrodes in mechanical and electronic devices, advanced energy conversion and storage systems, and environmental areas have been discussed specifically. Finally, possible solutions and directions are proposed for overcoming current obstacles and promoting future efforts in the field.
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Affiliation(s)
- Yizeng Wu
- School of Materials Science and Engineering, Peking University, Beijing 100871, People's Republic of China
| | - Xuewei Zhao
- School of Materials Science and Engineering, Peking University, Beijing 100871, People's Republic of China
| | - Yuanyuan Shang
- School of Physics and Microelectronics, Zhengzhou University, Zhengzhou, Henan 450001, People's Republic of China
| | - Shulong Chang
- School of Physics and Microelectronics, Zhengzhou University, Zhengzhou, Henan 450001, People's Republic of China
| | - Linxiu Dai
- School of Materials Science and Engineering, Peking University, Beijing 100871, People's Republic of China
| | - Anyuan Cao
- School of Materials Science and Engineering, Peking University, Beijing 100871, People's Republic of China
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8
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Lou R, Li G, Wang X, Zhang W, Wang Y, Zhang G, Wang J, Cheng G. Antireflective and Superhydrophilic Structure on Graphite Written by Femtosecond Laser. MICROMACHINES 2021; 12:236. [PMID: 33652965 PMCID: PMC7996749 DOI: 10.3390/mi12030236] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/31/2021] [Revised: 02/23/2021] [Accepted: 02/23/2021] [Indexed: 01/15/2023]
Abstract
Antireflection and superhydrophilicity performance are desirable for improving the properties of electronic devices. Here, we experimentally provide a strategy of femtosecond laser preparation to create micro-nanostructures on the graphite surface in an air environment. The modified graphite surface is covered with abundant micro-nano structures, and its average reflectance is measured to be 2.7% in the ultraviolet, visible and near-infrared regions (250 to 2250 nm). The wettability transformation of the surface from hydrophilicity to superhydrophilicity is realized. Besides, graphene oxide (GO) and graphene are proved to be formed on the sample surface. This micro-nanostructuring method, which demonstrates features of high efficiency, high controllability, and hazardous substances zero discharge, exhibits the application for functional surface.
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Affiliation(s)
- Rui Lou
- State Key Laboratory of Transient Optics and Photonics, Xi’an Institute of Optics and Precision Mechanics of CAS, Xi’an 710119, China; (R.L.); (G.L.); (X.W.); (W.Z.); (Y.W.)
- School of Future Technology, University of Chinese Academy of Sciences, Beijing 100049, China
| | - Guangying Li
- State Key Laboratory of Transient Optics and Photonics, Xi’an Institute of Optics and Precision Mechanics of CAS, Xi’an 710119, China; (R.L.); (G.L.); (X.W.); (W.Z.); (Y.W.)
- School of Future Technology, University of Chinese Academy of Sciences, Beijing 100049, China
| | - Xu Wang
- State Key Laboratory of Transient Optics and Photonics, Xi’an Institute of Optics and Precision Mechanics of CAS, Xi’an 710119, China; (R.L.); (G.L.); (X.W.); (W.Z.); (Y.W.)
| | - Wenfu Zhang
- State Key Laboratory of Transient Optics and Photonics, Xi’an Institute of Optics and Precision Mechanics of CAS, Xi’an 710119, China; (R.L.); (G.L.); (X.W.); (W.Z.); (Y.W.)
| | - Yishan Wang
- State Key Laboratory of Transient Optics and Photonics, Xi’an Institute of Optics and Precision Mechanics of CAS, Xi’an 710119, China; (R.L.); (G.L.); (X.W.); (W.Z.); (Y.W.)
| | - Guodong Zhang
- Electronic Information College, Northwestern Polytechnical University, Xi’an 710072, China; (G.Z.); (J.W.)
| | - Jiang Wang
- Electronic Information College, Northwestern Polytechnical University, Xi’an 710072, China; (G.Z.); (J.W.)
| | - Guanghua Cheng
- Electronic Information College, Northwestern Polytechnical University, Xi’an 710072, China; (G.Z.); (J.W.)
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Chen T, Wang W, Tao T, Pan A, Mei X. Broad-Band Ultra-Low-Reflectivity Multiscale Micro-Nano Structures by the Combination of Femtosecond Laser Ablation and In Situ Deposition. ACS APPLIED MATERIALS & INTERFACES 2020; 12:49265-49274. [PMID: 33064460 DOI: 10.1021/acsami.0c16894] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Functional surfaces with broad-band ultralow optical reflection have many potential applications in areas like national defense and energy conversion. For efficient, high-quality manufacturing of material surfaces with antireflection features, a novel machining method for multiscale micro-nano structures is proposed. This method can enable the collaborative manufacturing of both microstructures via laser ablation and micro-nano structures with high porosity via in situ deposition, and it can simplify the fabrication process of multiscale micro-nano structures. As a result, substantially improved antireflection properties of the treated material surface can be realized by optimizing light trapping of the microstructures and enhancing the effective medium effect for the micro-nano structures with high porosity. In ultraviolet-visible-near-infrared regions, average reflectances, as low as 2.21 and 3.33%, are achieved for Si and Cu surfaces, respectively. Furthermore, the antireflection effect of the treated surface can also be extended to the mid-infrared wavelength range, where the average reflectances for the Si and Cu surfaces decrease to 5.28 and 5.18%, respectively. This novel collaborative manufacturing method is both simple and adaptable for different materials, which opens new doors for the preparation of broad-band ultra-low-reflectivity materials.
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Affiliation(s)
- Tong Chen
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi 710054, China
- Shaanxi Key Laboratory of Intelligent Robotics, Xi'an, Shaanxi 710054, China
| | - Wenjun Wang
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi 710054, China
- Shaanxi Key Laboratory of Intelligent Robotics, Xi'an, Shaanxi 710054, China
| | - Tao Tao
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi 710054, China
- Shaanxi Key Laboratory of Intelligent Robotics, Xi'an, Shaanxi 710054, China
| | - Aifei Pan
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi 710054, China
- Shaanxi Key Laboratory of Intelligent Robotics, Xi'an, Shaanxi 710054, China
| | - Xuesong Mei
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, Shaanxi 710054, China
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