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At least 793 records · Page 44
All sourcesNASA NTRSDOE OSTI
DOE OSTI2014

ARIES Oxide Production Program Monthly Report – April 2014

A summary of the accomplishments, milestones, financial summary, project performance and issues facing the Oxide Production Program for the end of April 2014 is presented in this Executive Summary. PF-4 and ARIES operations remain paused in order to resolve issues and perform an extent-of-condition review for Criticality Safety and Conduct of Operations. On April 28th, Jeff Yarbrough issued a memorandum updating status on the “pause” of PF-4 programmatic operations. He reported that 150 of the procedures that control programmatic operations in PF-4 have successfully resumed. These 150 procedures represent about ½ of the total that will enable us to meet FY14 programmatic commitments. No formal letter of direction will be provided to LANS via the NNSA Field Office contracting officer to address the direction relative to shipments, analytical chemistry sampling and guidance for financial adjustments in FY14 and FY15. LANS will provide a revised plan based on the funding profile included in the President’s Budget Request for the remainder of FY14 and FY15 to include revised FY14 milestones and proposed FY15 milestones. The ARIES Pit Cutter project met the NNSA milestone (Complete Design of Simple Pit Disassembly Equipment [ARIES Pit Cutter] – Due 8/15/14) by completing the fabrication design on 4/3/14, well in advance of the 8/15/14 due date. The project team has started procurement of long-lead items in preparation of the prototype fabrication and cold testing. The fabrication is scheduled to complete in FY14 and the cold testing will begin in FY14 and complete in early FY15. LANL and PNNL met on April 14 to discuss the path forward for PNNL criticality support to the program. The consensus was that PNNL resources can be effectively applied to the generation of detailed CSEs to support the program independent of the current ESS strategy. FY15 program planning is underway. The team is working on planning/drafting the work packages and developing the schedule under the assumption that operations will begin October 1, 2014. A planning schedule has been finalized and the team is meeting regularly to discuss details at the work package and WBS levels. The FY15 PMP is also in the process of being updated. The goal is to have all the drafts reviewed/approved and finalized prior to the start of the FY. MQ personnel have completed ADPSM Management Assessment: Evaluate Quality Roles and Responsibility Agreements between ADPSM and LANL Technical Support Organizations (PFITS 2011-1943). Two findings and four opportunities for improvement were reported. The robotic lathe controller upgrade has entered the construction phase of the project. The controller cabling IWD pre-job meeting was completed. The initial robotic lathe functional test was completed. The existing controller power supply disconnect is scheduled for early May. The NDA Cage project team received notification on 3/28/14 to restart the NDA cage project. Since then the team have been busy with activities that include assigning a planner, getting the construction work package ready for construction and getting the USQ completed. The electrical services installation for the new welding skid for the Inner Can Welder was completed. A gas bottle rack, used to support welding operations, will be installed in early May. The Outer Can Welder design is complete and the IWD is in development to execute construction. Installation materials have been ordered. Work continues on the MD-2 preliminary design. The project engineer is performing a technical evaluation of the Project Management Plan that was submitted by the design agent in response to the LANL Request for Proposal. If all requirements have been captured, LANL procurement will develop a contract and give the design agent notice to proceed on the preliminary design. Estimated completion is scheduled for September 2014. The design for the TA-55 Bldg. 314 warehouse was issued at 90% complete and has begun the last review process. A constructability review is scheduled for early May. The Project Manager has been working with the LANL estimating group to get the class 3 estimate for review. The Oxide Production Cage Upgrade project has kicked-off efforts on the 30% design. Requirements documentation has been drafted. The floor space was walked-down with other project managers and stakeholders and the boundaries were agreed upon.

ARIES↗
DOE OSTI2012

Bethune-Cookman University STEM Research Lab. DOE Renovation Project

DOE funding was used to renovate 4,500 square feet of aging laboratories and classrooms that support science, engineering, and mathematics disciplines (specifically environmental science, and computer engineering). The expansion of the labs was needed to support robotics and environmental science research, and to better accommodate a wide variety of teaching situations. The renovated space includes a robotics laboratory, two multi-use labs, safe spaces for the storage of instrumentation, modern ventilation equipment, and other “smart” learning venues. The renovated areas feature technologies that are environmentally friendly with reduced energy costs. A campus showcase, the laboratories are a reflection of the University’s commitment to the environment and research as a tool for teaching. As anticipated, the labs facilitate the exploration of emerging technologies that are compatible with local and regional economic plans.

42 ENGINEERING↗
DOE OSTI2017

Radiation Hardened Telerobotic Dismantling System Development Final Report CRADA No. TC-1340-96

This project was a collaborative effort between the University of California, LLNL and RedZone Robotics, Inc. for the development of radiation-hardened telerobotic dismantling systems for use in applications such as nuclear facility remediation, nuclear accident response, and Chemobyltype remediation. The project supported the design, development, fabrication and testing of a Ukrainian robotic systems. The project was completed on time and within budget. All deliverables were completed. The final project deliverables were consistent with the plans developed in the original project with the exception that the fabricated systems remained in Ukraine.

42 ENGINEERING↗
DOE OSTI2018

Friction Stir Scribe Joining of Carbon Fiber Reinforced Polymer (CFRP) to Aluminum

The purpose of this project was to develop the critical process technology, models, and tools necessary to advance the Friction Stir Scribe, FSS, joining method through experimentation, validation at the laboratory scale, and integration into a production-like robotic environment. Implementation of FSS technology for joining polymer composites to metals will enable greater use of lightweight materials by providing technology capable of joining linear configurations without the use of adhesives or other third-body fasteners by creating an in-situ joint from the parent materials. As FSS technology provides the capability to join multi-material structures on robotic platforms using linear configurations, the development of this technology for use on the BIW will impact a great diversity of CFRP joints within the vehicle; thus, allowing a greater reduction in vehicle mass through more specifically designed structures. The FSS process has been developed to include integration of the FSS tool with a stationary shoulder, which has been shown to be required to achieve the desired surface quality (i.e., crown flash level). However, the targeted joint strength has not been achieved because the resulting stirred CFRP microstructure does not provide similar performance as the as-molded composite leading to low fracture strengths despite our efforts investigating various unique alternative approaches. In support of the experimental work, a process-structure model was developed and validated for the FSS joining (FSSJ) process using surrogate materials (steel and Al). The cyclic corrosion testing of the FSS joints and self-piercing riveted (SPR) joints revealed different modes of galvanic corrosion in the two types of joints. The SPR samples exhibited a greater amount of corrosion on the external surfaces. The presence of steel rivets in these joints exacerbated the situation, with the rivets getting preferentially corroded. The FSSJ samples despite exhibiting less surface corrosion, exhibited severe corrosion under the joint overlap area.

36 MATERIALS SCIENCE↗
DOE OSTI2020

GEMINI Case Study

Sandia's GEMINI-Scout Mine Rescue Robot is an unmanned ground vehicle designed to enter potentially hazardous environments to explore, assess, and evaluate dangerous situations first responders may face when conducting a rescue mission. GEMINI is approximately four feet long and two feet tall, which enables the robot to maneuver through small locations on rough terrains caused by earthquakes, fires, or radiological incidents. GEMINI uses track propulsion to climb stairs, travel through gravel and sand pits, pivot in place, and traverse 45-degree climbs with few problems. Furthermore, the vehicle's dual tracked-chassis design allows it to operate in hostile, dark, muddy, high-temperature, and explosive debris-strewn environments, while maintaining efficient ground mobility. The mobility and modularity of the vehicle allow for easy integration of sensors to conduct gas and temperature sensing and offers pan/tilt, zoom color, and thermal camera video streaming capabilities. The vehicle is also able to carry a payload of about 50 pounds of batteries and can handle an additional 200 pounds of payload, whether for additional diagnostics, supplies, or clothing for those trapped in an effected area. GEMINI is remotely operated through a wireless connection and an onboard computer running a customized embedded control application, which directly communicates to all onboard components except for the audio and video systems. When line of sight is not possible, operators use a shockresistant fiber optic cable to ensure continuous functionality of the vehicle. This allows for direct local control of the vehicle, which streams collected data back to the operator for enhanced situational awareness. In addition, the vehicle incorporates safety features such as explosion proof housing to ensure safe electronic operations in hazardous gas or flooded environments; a four-channel video link and two-way audio to ensure located survivors can communicate with operators; and an MSHA-approved multi-gas sensor to monitor air quality.

42 ENGINEERING↗
DOE OSTI2020

VersaBuild: A Novel, Multi-scale, Versatile 3d Printer Concept

Our team has identified and attempted to solve a major challenge limiting the increased deployment of additive manufacturing in full-scale production environments. As engineers desire for greater flexibility of design grows, and as the diversity of properties achievable and materials usable in additive manufacturing increases, additive manufacturing becomes increasingly valuable and useful. However, the machines used to produce AM parts have largely stagnated in terms of configurability, technology, and design. We have conceptualized a system which enables a single machine to provide the functionality of multiple machines, with minimal operator changes. The gap that was identified by the team was the lack of a system that could accept user-configurable changes to the print resolution and printbed size. This would enable manufacturers flexibility in the size, quality, and quantity of parts produced in a facility of a given size. Significant floorspace savings could be achieved in a facility deploying our proposed solution due to the flexibility of the machine, lowering operational cost. Our envisioned design is similar in concept to a standard Delta robot, which is a three-armed robot that is used in many industrial applications. However, we intend for our design to have extensible delta arms that include position sensing, allowing for a greater range of motion and thus print volume while maintaining precise control over the printhead position. Some of the key risks associated with are system are caused by the novelty of the concept. Our system must undergo significant R&D and requires a fully integrated software, electrical, and mechanical system to be developed.

42 ENGINEERING↗
DOE OSTI2018

Wire Arc Additive Manufacturing Final Report for the Wire-Based AM Focused Exchange

This feasibility study demonstrates the ability to additively manufacture 3D parts from reactive metal alloys using robotically controlled wire arc additive manufacturing (WAAM). Experiments consisted of developing WAAM welding parameters and performing robotic welding inside a controlled atmosphere purge box that was specifically built for this project. Purge atmospheres with varying levels of oxygen were created to determine minimum purge requirements for WAAM builds in order to build components without significant uptake of oxygen or nitrogen. Weld parameters were successfully developed for a titanium alloy (Ti-6-4) and tantalum, both being very sensitive to atmospheric contamination during welding. WAAM builds were made from Ti-6-4, Ta, and also 308L stainless steel to relate back to previous results for 308L WAAM studies performed in air. Oxygen purge levels varied from 1000 ppm to 1 ppm, and were further compared to builds made at atmospheric levels of O 2 (21%). Results showed significant uptake of oxygen and nitrogen for all three metals for WAAM parts built outside the inert atmosphere box, where only shielding gas from the welding torch was used as protection. However, considerable reduction of oxygen and nitrogen uptake, in all three metals, was observed even for moderate purge levels of 1000 ppm O 2 in the box. Additional purging reduced oxygen and nitrogen uptake further and was shown to be metal dependent where Ta and Ti-6-4 were more sensitive to nitrogen uptake than oxygen uptake. Guidelines for the measured O 2 content of WAAM purge atmospheres were created as follows: 900 ppm for 308L SS, 130 ppm for Ti-6-4, and 40 ppm for Ta. These purge levels produced nitrogen and oxygen contents of the build similar to the wire composition and within the allowable specifications for these metals.

36 MATERIALS SCIENCE↗
DOE OSTI2022

Removable, Sequestration Coatings for Mitigating Hazardous Contaminants Related to Deactivation and Decommissioning Activities

This project is a collaborative effort between InnoSense LLC (ISL) and Oak Ridge National Laboratory (ORNL) aimed at mitigating the mercury (Hg) contamination problem at the Y-12 National Security Complex (NSC). The report summarizes the research and technology development work of the Phase IIB Project, led by Dr. Uma Sampathkumaran at ISL for the period of July 31, 2017–October 31, 2021. The Y-12 site cleanup includes technologies for safe and cost-effective facility demolition, soil remediation, and on-site treatment and disposal of mercury bearing wastes. One of the technology demonstration goals was a reactive strippable coating for targeted pre-demolition and de-contamination to limit Hg mobilization and the volume of debris requiring treatment for disposal. Toward this, ISL has developed a water-based reactive strippable coating (Trap & See-Hg™) to sequester elemental Hg(0) and mercuric Hg(II) species in the coating. The coating provides multiple benefits including (1) Hg vapor suppression, (2) sealing in the hazardous contaminants, (3) visually locating the contaminant through color changes, and (4) remediating the contaminated surfaces upon coating removal. Through collaboration between ORNL and ISL in Phase II work, the team successfully demonstrated the Trap & See-Hg technology to (1) visually locate the presence of Hg on concrete, soil and drywall surfaces, (2) effectively sequester all mercury species (elemental, soluble and insoluble Hg) from lab-generated and ex-situ soil and brick/rubble samples collected from the Y 12 site with 80 to 95% efficiency to capture/reduce Hg vapor concentration, (3) be applied by manual and robotic spray applicators and cure at room ambient, (4) remain a cohesive and peelable coating upon drying, and (5) sequester Hg0 from walls in the alpha-2 building basement at Y-12 during a small scale in-situ field trial. In Phase IIB, ISL’s effort was focused on refining the coating formulations with additives containing passive and reactive sorbents, colorimetric indicator, and thixotropic agents to achieve the desired performance. The paints were then evaluated at ORNL for applicability to metal and concrete surfaces of different sizes and shapes, and soil rubble, Hg-sorption capacity and achieving sag-free coating on surfaces when applied by a manual spray applicator. Ambient cure of the coating resulted in a dry thickness of 16–20 mil. The coatings were removed from smooth or rough surfaces with low to moderate force. Both lab-generated Hg-contaminated samples and soil and brick/rubble samples containing a range of Hg concentrations (collected from the Y-12 site by UCOR) were used in this project. Optimized formulations were applied to these samples and evaluated for ability to suppress Hg vapors, sequester Hg 0 and Hg(II) species and color mapping of mercury species on the test surface. The ORNL team initially identified three to four potential sites at Y-12 and ORNL for potential demonstration. However, the pandemic closed any possible avenues for on-site demonstration of the robotic spray applicator. The metal and concrete samples with low to high Hg content provided by UCOR from an ongoing demolition were subsequently used for ex-situ sample characterization and analysis at ORNL over a period of 25 days. The coatings suppressed Hg vapors with an efficiency of 95–99% from heavily contaminated metal and 60% from concrete substrate. Analysis of total Hg in the peeled paints indicates sorption capacities ranging from 12 µg Hg/g of paint from concrete to 1.2 mg Hg/g of paint from the metal substrates while peeled paints from soil samples could capture a total Hg from 2.3 mg Hg/g to 66 mg/g paint. Toxicity characteristic leaching procedure (TCLP) tests recovered total mercury leached at 0.15±0.0008 µg/L for concrete to 126.81±0.67 µg/L and 377.25±5.67 µg/L for the two metal substrates, to allow for informed decisions on downstream disposal considerations. Together, this Phase IIB demonstrated the potential value of the Trap & See-Hg for Hg uptake, vapor suppression, and color mapping, and may thus be used to enhance worker safety during site cleanup, facility demolition, and downstream waste disposal at Y-12 NSC.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2023

Friction Stir Scribe Joining of CFRP to Aluminum (Abstract)

The objective of this project is to develop and demonstrate friction stir scribe (FSS) joining of carbon fiber reinforced polymer (CFRP) to aluminum on light-duty vehicle body-in-white (BIW) joints. The project will also overcome the major obstacles of implementing FSS technology in a fully 3-D production robotic work cell and demonstrate the required CFRP-aluminum joint strengths in industrially relevant light-duty, BIW components. Specifically the project will develop the critical process technology, models and tools necessary to advance the FSS method through experimentation, validation at the laboratory scale, and integration into a production-like robotic environment. The ultimate goal is to demonstrate the technology on industrially relevant components based on process development and numerical simulation performed at scale.

42 ENGINEERING↗
DOE OSTI2024

Assembly of CMS Endcap MIP Timing Detector Module at FNAL

The High-Luminosity LHC (HL-LHC) will enable a more detailed exploration of new phenomena thanks to an anticipated increase in collisions where pileup is expected to reach approximately 200 simultaneous interactions. Many CMS systems will be significantly upgraded to prepare for this new era, including the MIP Timing Detector (MTD) project. The MTD is designed to mitigate the effect of pileup and is set to provide a timestamp accurate to 30 ~ 40 picoseconds for every event, ensuring sustained detector performance at HL-LHC. The MTD is divided into two sections, Barrel Timing Layer (BTL) and Endcap Timing Layer (ETL) which utilize different sensor and ASIC technologies due to the difference in active surfaces, irradiation conditions, and installation schedules. The ETL, composed of two double-sided disks, employs the Low Gain Avalanche Detector (LGAD) sensor and the Endcap Timing Readout Chip (ETROC). More than 8,000 modules, each consisting of four LGAD sensors and ETROCs are required for the ETL detector. These modules will be assembled using an automated robotic gantry that guarantees precise placement at a level of 10 micrometers. In addition, the full assembly of ETL modules includes film application with the jig, wire-bonding, encapsulation with the automated dispensing robot for protecting the wire-bonding, and film curing with a vacuum oven. This talk reports on the successfully completed throughput test with mockup components using the gantry and the successful assembly of real functional modules for beam tests at CERN and FNAL, including the first official ETL module.

Apresyan, Artur↗
DOE OSTI2022

Cold Spray Additive Manufacturing For New Pipeline Fabrication In Live, Natural Gas Distribution Mains

ULC Technologies (ULC) and the Penn State University Applied Research Lab (PSU ARL) developed a process and approach for rehabilitating live, natural gas distribution pipelines using Cold Spray Additive Manufacturing (CSAM). Robotic inline fabrication of a new pipe will be performed inside a natural gas main without disrupting customers. The material studied was blended with stainless steel which offers corrosion resistance, high strength and compatibility with hydrogen to enable a robust pipeline system that is future proofed. Stainless steel coatings sprayed and tested in the lab showed excellent strength, ductility, and porosity values. ULC initially sought to use methane as the process gas for compatibility with the host pipe, but after evaluating the field and lab challenges, nitrogen was deemed to be more suitable. Early robotic concepts have been developed that indicate technical feasibility. While the technology development originally targeted natural gas distribution mains, market research showed a broader need. Spot repairs performed in natural gas transmission mains may be a more economical approach for reinforcing distribution and transmission mains compared with full pipe-in-pipe rehabilitation. Additive manufacturing offers custom programming, as well as high accuracy and precision. This means custom contours can be manufactured in situ, offering flexibility in the repair solution, such as fabricating internal full circumferential sleeves. The value of the repair can be high at difficult-to-reach locations and in pipes that need reinforcement before the injection of methane-hydrogen blends.

03 NATURAL GAS↗
DOE OSTI2025

Pose Estimation for the Inspecta Project

In this addendum report we take the lessons learned from our initial generic object pose estimation research described in (Smartt, et al., 2025) and apply it to metal cup seals, which are attached to items after an international nuclear safeguards inspection (i.e., metal cup seals may be attached to containers of spent nuclear fuel after an inspector has measured and verified the material). We have also refined our software pipeline and training techniques since the final Inspecta report and will describe that process here. The objective of this task is to allow a robot to acquire images of the engraved seal characters to confirm that the correct seal is attached to the correct container. However, the seal may be attached in any orientation and therefore the robot manipulator arm with a camera needs to align with the normal face of the seal.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2026

Autonomous Radiation Cartographer (ARC) System Training Manual

This training manual is designed to provide end users with a comprehensive knowledge base for the safe and effective use of the Autonomous Radiation Cartographer (ARC) System. The ARC is a fully autonomous radiation detection robot based on the Spot Robot platform manufactured by Boston Dynamics.

42 ENGINEERING↗
DOE OSTI2025

Multiplexing core & sheath extrusion system development for additive manufacturing for inner-bead multi-material capability

Single-feed polymer extruders are widely used in large-format additive manufacturing (AM) systems; however, the increasing demand for multi-material functionality within a single part has driven significant innovation in this field. One approach involves robotic pick-and-place operations, while another explores mechanical switching of feed lines during extrusion. Although robotic pick-and-drop systems offer flexibility, they introduce longer layer times during material changes, which can negatively affect the structural integrity of the part. On the other hand, mechanical feed switching causes delays in material transitions, as the existing material must be flushed before the new material emerges from the nozzle. This poses particular challenges for smaller or more intricate parts. In this study we are developing a unique multiplexing extrusion system with core & sheath nozzle that combines two extruders via co-extrusion. This allows for a unique inside and outside inner-bead (i.e., within the same bead) multi-material capability. We believe that this technology will allow for combining neat and filled materials, ductile and stronger materials, and many other combinations to address the problems aforementioned above and disrupt the AM technology creating new opportunities and opening application areas.

Tekinalp, Halil [ORNL]↗
DOE OSTI2024

Automated Manufacturing of Grid Stiffened Panels with Radically Reduced Tooling

Grid stiffened continuous fiber reinforced composite panels are an attractive option for creating lightweight structures due to the tailorability for various applications and the resulting high specific properties. However, the panel stiffeners and stiffener intersections result in high tooling complexity and correspondingly high cost of implementation. These factors have limited the impact of such structures in the composites industry. Previous research has demonstrated the ability to produce high quality, high aspect ratio beams, representative of individual grid stiffeners, using E-glass/PET comingled tow via direct digital manufacturing. Further, prior preliminary efforts have demonstrated the potential to use the same approach to manufacture grid intersections that have continuous fiber in both directions. To expand on the previous efforts in grid stiffeners produced by direct digital manufacture with radically reduced tooling requirements, this effort compares two methods of providing positioning and consolidation, nozzle vs. roller. Both processes are based on a commingled yarn feedstock. The extrusion through a nozzle has been shown to enable grid intersection control through local variations in applied consolidation and serves as the baseline process. However, this approach requires a continuous placement path to create the complete grid stiffened panel as no mechanism for cutting and restarting has been implemented. Alternatively, a newly developed placement head incorporating cut and refeed, mounted to a 6-axis robot, offers the potential of improved path placement efficiency. The two techniques are used to produce similar grid composite stiffeners to evaluate the effectiveness of producing the grid intersections. Rate of deposition of the two end effectors are compared and the quality of the associated grid stiffeners, and intersections, are determined through measurement of geometry, fiber volume fraction and void fraction.

Engineering↗
DOE OSTI2022

Communication Requirements in 5G-Enabled Healthcare Applications: Review and Considerations

Fifth generation (5G) mobile communication technology can enable novel healthcare applications and augment existing ones. However, 5G-enabled healthcare applications demand diverse technical requirements for radio communication. Knowledge of these requirements is important for developers, network providers, and regulatory authorities in the healthcare sector to facilitate safe and effective healthcare. In this paper, we review, identify, describe, and compare the requirements for communication key performance indicators in relevant healthcare use cases, including remote robotic-assisted surgery, connected ambulance, wearable and implantable devices, and service robotics for assisted living, with a focus on quantitative requirements. We also compare 5G-healthcare requirements with the current state of 5G capabilities. Finally, we identify gaps in the existing literature and highlight considerations for this space.

5G networks↗
DOE OSTI2017

Soft Ionic Electroactive Polymer Actuators with Tunable Non-Linear Angular Deformation

The most rational approach to fabricate soft robotics is the implementation of soft actuators. Conventional soft electromechanical actuators exhibit linear or circular deformation, based on their design. This study presents the use of conjugated polymers, Poly(3,4- ethylenedioxythiophene)-poly(styrenesulfonate) (PEDOT:PSS) to locally vary ion permeability of the ionic electroactive polymer actuators and manipulate ion motion through means of structural design to realize intrinsic angular deformation. Such angular deformations are closer to biomimetic systems and have potential applications in bio-robotics. Electrochemical studies reveal that the mechanism of actuation is mainly associated with the charging of electric double layer (EDL) capacitors by ion accumulation and the PEDOT:PSS layer’s expansion by ion interchange and penetration. Dependence of actuator deformation on structural design is studied experimentally and conclusions are verified by analytical and finite element method modeling. The results suggest that the ion-material interactions are considerably dominated by the design of the drop-cast PEDOT:PSS on Nafion.

36 MATERIALS SCIENCE↗
DOE OSTI2021

Recent Trends and Innovation in Additive Manufacturing of Soft Functional Materials

The growing demand for wearable devices, soft robotics, and tissue engineering in recent years has led to an increased effort in the field of soft materials. With the advent of personalized devices, the one-shape-fits-all manufacturing methods may soon no longer be the standard for the rapidly increasing market of soft devices. Recent findings have pushed technology and materials in the area of additive manufacturing (AM) as an alternative fabrication method for soft functional devices, taking geometrical designs and functionality to greater heights. For this reason, this review aims to highlights recent development and advances in AM processable soft materials with self-healing, shape memory, electronic, chromic or any combination of these functional properties. Furthermore, the influence of AM on the mechanical and physical properties on the functionality of these materials is expanded upon. Additionally, advances in soft devices in the fields of soft robotics, biomaterials, sensors, energy harvesters, and optoelectronics are discussed. Lastly, current challenges in AM for soft functional materials and future trends are discussed.

36 MATERIALS SCIENCE↗