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Sun M, Wu Y, Zhang J, Zhang H, Liu Z, Li M, Wang C, Sitti M. Versatile, modular, and customizable magnetic solid-droplet systems. Proc Natl Acad Sci U S A 2024; 121:e2405095121. [PMID: 39088393 DOI: 10.1073/pnas.2405095121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/12/2024] [Accepted: 06/21/2024] [Indexed: 08/03/2024] Open
Abstract
Magnetic miniature robotic systems have attracted broad research interest because of their precise maneuverability in confined spaces and adaptability to diverse environments, holding significant promise for applications in both industrial infrastructures and biomedical fields. However, the predominant construction methodology involves the preprogramming of magnetic components into the system's structure. While this approach allows for intricate shape transformations, it exhibits limited flexibility in terms of reconfiguration and presents challenges when adapting to diverse materials, combining, and decoupling multiple functionalities. Here, we propose a construction strategy that facilitates the on-demand assembly of magnetic components, integrating ferrofluid droplets with the system's structural body. This approach enables the creation of complex solid-droplet robotic systems across a spectrum of length scales, ranging from 0.8 mm to 1.5 cm. It offers a diverse selection of materials and structural configurations, akin to assembling components like building blocks, thus allowing for the seamless integration of various functionalities. Moreover, it incorporates decoupling mechanisms to enable selective control over multiple functions, leveraging the fluidity, fission/fusion, and magneto-responsiveness properties inherent in the ferrofluid. Various solid-droplet systems have validated the feasibility of this strategy. This study advances the complexity and functionality achievable in small-scale magnetic robots, augmenting their potential for future biomedical and other applications.
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Affiliation(s)
- Mengmeng Sun
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Yingdan Wu
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China
| | - Jianhua Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Hongchuan Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Zemin Liu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Türkiye
| | - Mingtong Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Chunxiang Wang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Türkiye
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
- School of Medicine and College of Engineering, Koç University, Istanbul 34450, Türkiye
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2
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Zhao J, Xia N, Zhang L. A review of bioinspired dry adhesives: from achieving strong adhesion to realizing switchable adhesion. BIOINSPIRATION & BIOMIMETICS 2024; 19:051003. [PMID: 38996419 DOI: 10.1088/1748-3190/ad62cf] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/09/2024] [Accepted: 07/12/2024] [Indexed: 07/14/2024]
Abstract
In the early twenty-first century, extensive research has been conducted on geckos' ability to climb vertical walls with the advancement of microscopy technology. Unprecedented studies and developments have focused on the adhesion mechanism, structural design, preparation methods, and applications of bioinspired dry adhesives. Notably, strong adhesion that adheres to both the principles of contact splitting and stress uniform distribution has been discovered and proposed. The increasing popularity of flexible electronic skins, soft crawling robots, and smart assembly systems has made switchable adhesion properties essential for smart adhesives. These adhesives are designed to be programmable and switchable in response to external stimuli such as magnetic fields, thermal changes, electrical signals, light exposure as well as mechanical processes. This paper provides a comprehensive review of the development history of bioinspired dry adhesives from achieving strong adhesion to realizing switchable adhesion.
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Affiliation(s)
- Jinsheng Zhao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong Special Administrative Region of China 999077, People's Republic of China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong Special Administrative Region of China 999077, People's Republic of China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin NT, Hong Kong Special Administrative Region of China 999077, People's Republic of China
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3
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Sun M, Sun B, Park M, Yang S, Wu Y, Zhang M, Kang W, Yoon J, Zhang L, Sitti M. Individual and collective manipulation of multifunctional bimodal droplets in three dimensions. SCIENCE ADVANCES 2024; 10:eadp1439. [PMID: 39018413 PMCID: PMC466956 DOI: 10.1126/sciadv.adp1439] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/11/2024] [Accepted: 06/14/2024] [Indexed: 07/19/2024]
Abstract
Spatiotemporally controllable droplet manipulation is vital across numerous applications, particularly in miniature droplet robots known for their exceptional deformability. Despite notable advancements, current droplet control methods are predominantly limited to two-dimensional (2D) deformation and motion of an individual droplet, with minimal exploration of 3D manipulation and collective droplet behaviors. Here, we introduce a bimodal actuation strategy, merging magnetic and optical fields, for remote and programmable 3D guidance of individual ferrofluidic droplets and droplet collectives. The magnetic field induces a magnetic dipole force, prompting the formation of droplet collectives. Simultaneously, the optical field triggers isothermal changes in interfacial tension through Marangoni flows, enhancing buoyancy and facilitating 3D movements of individual and collective droplets. Moreover, these droplets can function autonomously as soft robots, capable of transporting objects. Alternatively, when combined with a hydrogel shell, they assemble into jellyfish-like robots, driven by sunlight. These findings present an efficient strategy for droplet manipulation, broadening the capabilities of droplet-based robotics.
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Affiliation(s)
- Mengmeng Sun
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Bonan Sun
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Myungjin Park
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Integrated Technology, Gwangju Institute of Science and Technology, Gwangju, Korea
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Yingdan Wu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Mingchao Zhang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Wenbin Kang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Jungwon Yoon
- School of Integrated Technology, Gwangju Institute of Science and Technology, Gwangju, Korea
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
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4
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Zhao J, Xin C, Zhu J, Xia N, Hao B, Liu X, Tan Y, Yang S, Wang X, Xue J, Wang Q, Lu H, Zhang L. Insect-Scale Biped Robots Based on Asymmetrical Friction Effect Induced by Magnetic Torque. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2312655. [PMID: 38465794 DOI: 10.1002/adma.202312655] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/24/2023] [Revised: 03/04/2024] [Indexed: 03/12/2024]
Abstract
Multimodal and controllable locomotion in complex terrain is of great importance for practical applications of insect-scale robots. Robust locomotion plays a particularly critical role. In this study, a locomotion mechanism for magnetic robots based on asymmetrical friction effect induced by magnetic torque is revealed and defined. The defined mechanism overcomes the design constraints imposed by both robot and substrate structures, enabling the realization of multimodal locomotion on complex terrains. Drawing inspiration from human walking and running locomotion, a biped robot based on the mechanism is proposed, which not only exhibits rapid locomotion across substrates with varying friction coefficients but also achieves precise locomotion along patterned trajectories through programmed controlling. Furthermore, apart from its exceptional locomotive capabilities, the biped robot demonstrates remarkable robustness in terms of load-carrying and weight-bearing performance. The presented locomotion and mechanism herein introduce a novel concept for designing magnetic robots while offering extensive possibilities for practical applications in insect-scale robotics.
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Affiliation(s)
- Jinsheng Zhao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Chen Xin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Jiaqi Zhu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Bo Hao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Xurui Liu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Yu Tan
- College of Environment and Civil Engineering, Chengdu University of Technology, Chengdu, 610059, China
| | - Shihao Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Junnan Xue
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Qinglong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Haojian Lu
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou, 310027, China
- Institute of Cyber-Systems and Control, Department of Control Science and Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
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Luan H, Wang M, Zhang Q, You Z, Jiao Z. Variable Stiffness Fibers Enabled Universal and Programmable Re-Foldability Strategy for Modular Soft Robotics. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2307350. [PMID: 38155496 PMCID: PMC10933646 DOI: 10.1002/advs.202307350] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/03/2023] [Revised: 11/26/2023] [Indexed: 12/30/2023]
Abstract
Origami is a rich source of inspiration for creating soft actuators with complex deformations. However, implementing the re-foldability of origami on soft actuators remains a significant challenge. Herein, a universal and programmable re-foldability strategy is reported to integrate multiple origami patterns into a single soft origami actuator, thereby enabling multimode morphing capability. This strategy can selectively activate and deactivate origami creases through variable stiffness fibers. The utilization of these fibers enables the programmability of crease pattern quantity and types within a single actuator, which expands the morphing modes and deformation ranges without increasing their physical size and chamber number. The universality of this approach is demonstrated by developing a series of re-foldable soft origami actuators. Moreover, these soft origami actuators are utilized to construct a bidirectional crawling robot and a multimode soft gripper capable of adapting to object size, grasping orientation, and placing orientation. This work represents a significant step forward in the design of multifunctional soft actuators and holds great potential for the advancement of agile and versatile soft robots.
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Affiliation(s)
- Hengxuan Luan
- College of Mechanical and Electronic EngineeringShandong University of Science and TechnologyQingdao266590China
| | - Meng Wang
- Shandong University of Science and TechnologyTaian271019China
| | - Qiang Zhang
- College of Mechanical and Electronic EngineeringShandong University of Science and TechnologyQingdao266590China
| | - Zhong You
- College of Mechanical and Electronic EngineeringShandong University of Science and TechnologyQingdao266590China
- Department of Engineering ScienceUniversity of OxfordParks RoadOxfordOX1 3PJUK
| | - Zhongdong Jiao
- State Key Laboratory of Fluid Power and Mechatronic SystemsZhejiang UniversityHangzhou310058China
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6
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Zhang Z, Shi Z, Ahmed D. SonoTransformers: Transformable acoustically activated wireless microscale machines. Proc Natl Acad Sci U S A 2024; 121:e2314661121. [PMID: 38289954 PMCID: PMC10861920 DOI: 10.1073/pnas.2314661121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/26/2023] [Accepted: 12/22/2023] [Indexed: 02/01/2024] Open
Abstract
Shape transformation, a key mechanism for organismal survival and adaptation, has gained importance in developing synthetic shape-shifting systems with diverse applications ranging from robotics to bioengineering. However, designing and controlling microscale shape-shifting materials remains a fundamental challenge in various actuation modalities. As materials and structures are scaled down to the microscale, they often exhibit size-dependent characteristics, and the underlying physical mechanisms can be significantly affected or rendered ineffective. Additionally, surface forces such as van der Waals forces and electrostatic forces become dominant at the microscale, resulting in stiction and adhesion between small structures, making them fracture and more difficult to deform. Furthermore, despite various actuation approaches, acoustics have received limited attention despite their potential advantages. Here, we introduce "SonoTransformer," the acoustically activated micromachine that delivers shape transformability using preprogrammed soft hinges with different stiffnesses. When exposed to an acoustic field, these hinges concentrate sound energy through intensified oscillation and provide the necessary force and torque for the transformation of the entire micromachine within milliseconds. We have created machine designs to predetermine the folding state, enabling precise programming and customization of the acoustic transformation. Additionally, we have shown selective shape transformable microrobots by adjusting acoustic power, realizing high degrees of control and functional versatility. Our findings open new research avenues in acoustics, physics, and soft matter, offering new design paradigms and development opportunities in robotics, metamaterials, adaptive optics, flexible electronics, and microtechnology.
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Affiliation(s)
- Zhiyuan Zhang
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, ZurichCH-8803, Switzerland
| | - Zhan Shi
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, ZurichCH-8803, Switzerland
| | - Daniel Ahmed
- Acoustic Robotics Systems Lab, Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH Zurich, ZurichCH-8803, Switzerland
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Su L, Jin D, Wang Y, Wang Q, Pan C, Jiang S, Yang H, Yang Z, Wang X, Xia N, Chan KF, Chiu PWY, Sung JJY, Zhang L. Modularized microrobot with lock-and-detachable modules for targeted cell delivery in bile duct. SCIENCE ADVANCES 2023; 9:eadj0883. [PMID: 38100592 PMCID: PMC10848723 DOI: 10.1126/sciadv.adj0883] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/06/2023] [Accepted: 11/16/2023] [Indexed: 12/17/2023]
Abstract
The magnetic microrobots promise benefits in minimally invasive cell-based therapy. However, they generally suffer from an inevitable compromise between their magnetic responsiveness and biomedical functions. Herein, we report a modularized microrobot consisting of magnetic actuation (MA) and cell scaffold (CS) modules. The MA module with strong magnetism and pH-responsive deformability and the CS module with cell loading-release capabilities were fabricated by three-dimensional printing technique. Subsequently, assembly of modules was performed by designing a shaft-hole structure and customizing their relative dimensions, which enabled magnetic navigation in complex environments, while not deteriorating the cellular functionalities. On-demand disassembly at targeted lesion was then realized to facilitate CS module delivery and retrieval of the MA module. Furthermore, the feasibility of proposed system was validated in an in vivo rabbit bile duct. Therefore, this work presents a modular design-based strategy that enables uncompromised fabrication of multifunctional microrobots and stimulates their development for future cell-based therapy.
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Affiliation(s)
- Lin Su
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Dongdong Jin
- School of Materials Science and Engineering, Harbin Institute of Technology (Shenzhen), Shenzhen, Guangdong 518055, China
| | - Yuqiong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Qinglong Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Chengfeng Pan
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Shuai Jiang
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Haojin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Zhengxin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Neng Xia
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Kai Fung Chan
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Philip Wai Yan Chiu
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Joseph Jao-Yiu Sung
- Lee Kong Chian School of Medicine, Nanyang Technological University, Singapore, Singapore
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Hong Kong SAR, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR, China
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Atinafu DG, Kim YU, Kim S, Kang Y, Kim S. Advances in Biocarbon and Soft Material Assembly for Enthalpy Storage: Fundamentals, Mechanisms, and Multimodal Applications. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023:e2305418. [PMID: 37967349 DOI: 10.1002/smll.202305418] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/29/2023] [Revised: 09/24/2023] [Indexed: 11/17/2023]
Abstract
High-value-added biomass materials like biocarbon are being actively pursued integrating them with soft materials in a broad range of advanced renewable energy technologies owing to their advantages, such as lightweight, relatively low-cost, diverse structural engineering applications, and high energy storage potential. Consequently, the hybrid integration of soft and biomass-derived materials shall store energy to mitigate intermittency issues, primarily through enthalpy storage during phase change. This paper introduces the recent advances in the development of natural biomaterial-derived carbon materials in soft material assembly and its applications in multidirectional renewable energy storage. Various emerging biocarbon materials (biochar, carbon fiber, graphene, nanoporous carbon nanosheets (2D), and carbon aerogel) with intrinsic structures and engineered designs for enhanced enthalpy storage and multimodal applications are discussed. The fundamental design approaches, working mechanisms, and feature applications, such as including thermal management and electromagnetic interference shielding, sensors, flexible electronics and transparent nanopaper, and environmental applications of biocarbon-based soft material composites are highlighted. Furthermore, the challenges and potential opportunities of biocarbon-based composites are identified, and prospects in biomaterial-based soft materials composites are presented.
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Affiliation(s)
- Dimberu G Atinafu
- Department of Architecture and Architectural Engineering, Yonsei University, Seoul, 03722, Republic of Korea
| | - Young Uk Kim
- Department of Architecture and Architectural Engineering, Yonsei University, Seoul, 03722, Republic of Korea
| | - Sungeun Kim
- Department of Architecture and Architectural Engineering, Yonsei University, Seoul, 03722, Republic of Korea
| | - Yujin Kang
- Department of Architecture and Architectural Engineering, Yonsei University, Seoul, 03722, Republic of Korea
| | - Sumin Kim
- Department of Architecture and Architectural Engineering, Yonsei University, Seoul, 03722, Republic of Korea
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