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. 2018 Jan 19;8:1181. doi: 10.1038/s41598-018-19239-8

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© The Author(s) 2018

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Characterization of the thermo-pneumatic actuation of the humidity chamber: (a) experimental setup; (b) the input power train, composed of the heater power of 1.6 W for 30 sec and 0 W for 90 sec, for the one cycle humidity chamber movement; (c) time-dependent humidity chamber position for the input power train of Fig. 4b; (d) time-dependent humidity chamber position and temperature inside the humidity chamber for the ten cycle of the operation of Fig. 4c.