Virtual Constraint Based Control of Bounding Gait of Quadruped Robots

This paper presents a control approach for bounding gait of quadruped robots by applying the concept of Virtual Constraints (VCs).A VC is a relative motion relation between two related joints imposed to the robots in terms of a specified gait,which can drive the robot to run with desired gait.To determine VCs for highly dynamic bounding gait,the limit cycle motions of the passive dynamic model of bounding gait are analyzed.The leg length and hip/shoulder angle trajectories corresponding to the limit cycles are parameterized by leg angles using 4 th-order polynomials.In order to track the calculated periodic motions,the polynomials are imposed on the robot as virtual motion constraints by a high-level state machine controller.A bounding speed feedback strategy is introduced to stabilize the robot running speed and enhance the stability.The control approach was applied to a newly designed lightweight bioinspired quadruped robot,AgiDog.The experimental results demonstrate that the robot can bound at a frequency up to 5 Hz and bound at a maximum speed of 1.2 m·s-1 in sagittal plane with a Froude number approximating to 1.     

Enhance Stability and in vitro Cell Response to a Bioinspired Coating on Zr Alloy with Increasing Chitosan Content

The aim of the present paper is to characterize bioinspired chitosan (CS) + hydroxyapatite (HA) coatings with various components ratio on a zirconium alloy with titanium.The coatings were characterized by FT-IR,SEM,hydrophilic/hydrophobic balance,adherence,roughness,electrochemical stability and in vitro cell response.Electrochemical tests,including potentiodynamic polarization curves and electrochemical impedance spectroscopy,were performed in normal saline physiological solution.Cell viability of MC3T3-E1 osteoblasts,lactate dehydrogenase,nitric oxide,and Reactive Oxygen Species (ROS) levels,as well as actin cytoskeleton morphology,were evaluated as biological in vitro tests.The results on in vitro cell response indicated good cell membrane integrity and viability for all samples,but an increased cell number,a decreased ROS level and a better cytoskeleton organization were noticed for the sample with a higher CS content.The coating with highest CS concentration indicated the best performance based on the experimental data.The highest hydrophilic character,highest resistance to corrosion and best biocompatibility as well recommend this coating for bioapplications in tissue engineering.     

生物启发的细菌表面人造矿物壳:通过仿生矿化保护活细胞

【目的】生物启发的细菌表面仿生矿化人造矿物壳被用于保护活细胞。【方法】将细菌限制在坚固而完整的矿物壳中,有限的物理空间和物质交换使其暂时进行休眠,降低长期保存期间的活力损失以及提高在各种极端环境中的生存能力,并且能够通过酸去除矿物壳而重新激活细菌。【结果】相较于未仿生矿化的细菌(EcN),矿化细菌(EcN@CaCO₃)在32 d的储存实验中活力最高提升262倍;在pH 2.5的强酸环境中存活率提高837倍;在pH 12.0的强碱环境中存活率提高171倍;在80 ℃的高温条件下存活率提高59.1倍;甚至在抗生素溶液中,EcN@CaCO₃中细菌的存活率是EcN的729.7倍。【结论】本研究利用仿生矿化提高了细菌的保存稳定性,使其能在酸刺激下去除涂层恢复活性,也能在极端环境下保留细菌的活力,为微生物在环境生态、食品制造和生物医药等领域的应用提供研究基础。     

Honeycomb Structure Inspired Triboelectric Nanogenerator for Highly Effective Vibration Energy Harvesting and Self‐Powered Engine Condition Monitoring

Vibration in mechanical equipment can serve as a sustainable energy source to power sensors and devices if it can be effectively collected. In this work, a honeycomb structure inspired triboelectric nanogenerator (HSI‐TENG) consisting of two copper electrode layers with sponge bases and one honeycomb frame filled with polytetrafluoroethylene (PTFE) balls is proposed to harvest vibration energy. The application of a compact honeycomb structure increases the maximum power density of HSI‐TENG by 43.2% compared to the square grid structure and provides superior advantages in large‐scale manufacturing. More importantly, the nonspring‐assisted HSI‐TENG can generate electricity once the PTFE balls obtain sufficient kinetic energy to separate from the bottom electrode layer regardless of the vibration frequency and direction. This is fundamentally different from the spring‐assisted harvesters that can only work around their natural frequencies. The vibration model and working criteria of the HSI‐TENG are established. Furthermore, the HSI‐TENG is successfully used to serve as a self‐powered sensor to monitor engine conditions by analyzing the electrical output of the HSI‐TENG installed on a diesel engine. Therefore, the nonspring‐assisted HSI‐TENG provides a novel strategy for highly effective vibration energy harvesting and self‐powered machinery monitoring.     

Sensitivity Analysis of a Bioinspired Refractive Index Based Gas Sensor

It was found out that the change of refractive index of ambient gas can lead to obvious change of the color of Morpho butterfly's wing. Such phenomenon has been employed as a sensing principle for detecting gas. In the present study, Rigorous Coupled-Wave Analysis (RCWA) was described briefly, and the partial derivative of optical reflection efficiency with respect to the refractive index of ambient gas, i.e., sensitivity of the sensor, was derived based on RCWA. A bioinspired grating model was constructed by mimicking the nanostructure on the ground scale of Morpho didius butterfly's wing. The analytical sensitivity was verified and the effect of the grating shape on the reflection spectra and its sensitivity were discussed. The results show that by tuning shape parameters of the grating, we can obtain desired reflection spectra and sensitivity, which can be applied to the design of the bioinspired refractive index based gas sensor.     

Bioinspired 4D Trajectory Generation for a UAS Rapid Point-to-Point Movement

A bioinspired trajectory generation approach for Unmanned Aerial System （UAS） rapid Point-to-Point （PTP） movement was presented. The approach was based on general tau theory developed by biologists from observing and studying the behavior of birds and some other animals. We applied the bioinspired approach to the rapid PTP movement problem of a rotary UAS and derived two different trajectory planning strategies, namely, the tau coupling strategy and the intrinsic tau gravity guidance strategy. Based on general tau theory, according to the dynamic model of UAS, we presented a new strategy named intrinsic tau jerk guidance which can fit the movement that the initial acceleration of the UAS is zero. With new strategies, flight trajectory generation examples with a UAS were presented. The kinematics and dynamics analyses of the UAS for rapid PTP movement were presented with simulation results which show that the generated trajectories were feasible.     

Application of Bioinspired Superhydrophobic Surfaces in Two-phase Heat Transfer Experiments

This paper addresses the potential to use Lotus leaf bioinspired surfaces in applications involving heat transfer with phase change,namely pool boiling and spray impingement.Besides describing the role of bioinspired topographical features,using an innovative technique combining high-speed visualization and time-resolved infrared thermography,surface durability is also addressed.Water is used for pool boiling and for spray impingement systems (simplified as single droplet impact),while HFE7000 is used in a pool boiling cooler for electronic components.Results show that surface durability is quickly compromised for water pool boiling applications,as the chemical treatment does not withstand high temperatures (T ＞ 100 ℃) during long time intervals (3 h-4 h).For HFE7000 pool boiling (depicting lower saturation temperature-34 ℃),heat transfer enhancement is governed by the topography.The regular hierarchical pattern of the bioinspired surfaces promotes the heat transfer coefficient to increase up to 22.2％,when compared to smooth surfaces,while allowing good control of the interaction mechanisms until a distance between micro-structures of 300 μm-400 μm.Droplet impingement was studied for surface temperatures ranging between 60 ℃-100 ℃.The results do not support the use of superhydrophobic surfaces for cooling applications,but reveal great potential for other applications involving droplet impact on heated surfaces (e.g.metallurgy industry).     

Biomechanics and biomimetics in insect-inspired flight systems

Insect- and bird-size drones—micro air vehicles (MAV) that can perform autonomous flight in natural and man-made environments are now an active and well-integrated research area. MAVs normally operate at a low speed in a Reynolds number regime of 10⁴–10⁵ or lower, in which most flying animals of insects, birds and bats fly, and encounter unconventional challenges in generating sufficient aerodynamic forces to stay airborne and in controlling flight autonomy to achieve complex manoeuvres. Flying insects that power and control flight by flapping wings are capable of sophisticated aerodynamic force production and precise, agile manoeuvring, through an integrated system consisting of wings to generate aerodynamic force, muscles to move the wings and a control system to modulate power output from the muscles. In this article, we give a selective review on the state of the art of biomechanics in bioinspired flight systems in terms of flapping and flexible wing aerodynamics, flight dynamics and stability, passive and active mechanisms in stabilization and control, as well as flapping flight in unsteady environments. We further highlight recent advances in biomimetics of flapping-wing MAVs with a specific focus on insect-inspired wing design and fabrication, as well as sensing systems.This article is part of the themed issue ‘Moving in a moving medium: new perspectives on flight’.     

Biosynthesis of copper nanoparticles and its effect on actively dividing cells of mitosis in Allium cepa

Nanobiotechnological application of copper nanoparticles has paved the way for advancement in agriculture owing to its bactericidal and fungicidal activities. Recently, researchers have focussed on bioinspired synthesis of copper nanoparticles as a viable alternative to existing physicochemical techniques. For the commercialization of nanocopper, the toxicity evaluation is a major issue. In this context, Citrus medica (L.) fruit extract‐mediated copper nanoparticles were synthesized and its different concentrations (10, 20, 40, 60, 80, and 100 µg mL^?1) were evaluated for its effect on actively dividing cells of Allium cepa. The study clearly revealed that copper nanoparticles increased mitotic index up to the concentration of 20 µg mL^?1. In addition, a gradual decline in mitotic index and increase in abnormality index was observed as the concentration of copper nanoparticles and treatment duration were increased. Aberrations in chromosomal behavior such as sticky and disturbed chromosomes in metaphase and anaphase, c‐metaphase, bridges, laggard, disturbed telophase, and vacuolated nucleus were also observed. © 2015 American Institute of Chemical Engineers Biotechnol. Prog., 31:557–565, 2015     

DEM Numerical Simulation of Abrasive Wear Characteristics of a Bioinspired Ridged Surface

<正> This paper presents numerical investigations into a ridged surface whose design is inspired by the geometry of a Farrer'sscallop.The objective of the performed research is to assess if the proposed Bioinspired Ridged Surface (BRS) can potentiallyimprove wear resistance of soil-engaging components used in agricultural machinery and to validate numerical simulationsperformed using software based on the Discrete Element Method (DEM).The wear performance of the BRS is experimentallydetermined and also compared with a conventional flat surface.Different size of soil particles and relative velocities between theabrasive sand and the testing surfaces are used.Comparative results show that the numerical simulations are in agreement withthe experimental results and support the hypothesis that abrasive wear is greatly reduced by substituting a conventional flatsurface with the BRS.     

3D-printed PLA/Gel hybrid in liver tissue engineering: Effects of architecture on biological functions

The liver is one of the vital organs in the body, and the gold standard of treatment for liver function impairment is liver transplantation, which poses many challenges. The specific three-dimensional (3D) structure of liver, which significantly impacts the growth and function of its cells, has made biofabrication with the 3D printing of scaffolds suitable for this approach. In this study, to investigate the effect of scaffold geometry on the performance of HepG2 cells, poly-lactic acid (PLA) polymer was used as the input of the fused deposition modeling (FDM) 3D-printing machine. Samples with simple square and bioinspired hexagonal cross-sectional designs were printed. One percent and 2% of gelatin coating were applied to the 3D printed PLA to improve the wettability and surface properties of the scaffold. Scanning electron microscopy pictures were used to analyze the structural properties of PLA–Gel hybrid scaffolds, energy dispersive spectroscopy to investigate the presence of gelatin, water contact angle measurement for wettability, and weight loss for degradation. In vitro tests were performed by culturing HepG2 cells on the scaffold to evaluate the cell adhesion, viability, cytotoxicity, and specific liver functions. Then, high-precision scaffolds were printed and the presence of gelatin was detected. Also, the effect of geometry on cell function was confirmed in viability, adhesion, and functional tests. The albumin and urea production of the Hexagonal PLA scaffold was about 1.22 ± 0.02-fold higher than the square design in 3 days. This study will hopefully advance our understanding of liver tissue engineering toward a promising perspective for liver regeneration.     

Regulating Pore Structure of Hierarchical Porous Waste Cork‐Derived Hard Carbon Anode for Enhanced Na Storage Performance

Porous structure design is generally considered to be a reliable strategy to boost ion transport and provide active sites for disordered carbon anodes of Na‐ion batteries (NIBs). Herein, a type of waste cork‐derived hard carbon material (CC) is reported for efficient Na storage via tuning the pore species. Benefiting from the natural holey texture of this renewable precursor, CCs deliver a novel hierarchical porous structure. The effective skeletal density test combined with small angle X‐ray scattering analysis (SAXS) is used to obtain the closed pore information. Based on a detailed correlation analysis between pore information and the electrochemical performance of CCs, improving pyrolysis temperature to reduce open pores (related to initial capacity loss) and increase closed pores (related to plateau capacity) endows an optimal CC with a high specific capacity of ≈360 mAh g^?1 in half‐cells and a high energy density of 230 Wh kg^?1 in full‐cells with a capacity retention of 71% after 2000 cycles at 2C rate. The bioinspired high temperature pore‐closing strategy and the new insights about the pore structure–performance relationship provide a rational guide for designing porous carbon anode of NIBs with tailored pore species and high Na storage capacity.     

Automated Kinematics Measurement and Aerodynamics of a Bioinspired Flapping Rotary Wing

A physical model for a micro air vehicle with Flapping Rotary Wings (FRW) is investigated by measuring the wing kinematics in trim conditions and computing the corresponding aerodynamic force using computational fluid dynamics.In order to capture the motion image and reconstruct the positions and orientations of the wing,the photogrammetric method is adopted and a method for automated recognition of the marked points is developed.The characteristics of the realistic wing kinematics are presented.The results show that the non-dimensional rotating speed is a linear function of non-dimensional flapping frequency regardless of the initial angles of attack.Moreover,the effects of wing kinematics on aerodynamic force production and the underlying mechanism are analyzed.The results show that the wing passive pitching caused by elastic deformation can significantly enhance lift production.The Strouhal number of the FRW is much higher than that of general flapping wings,indicating the stronger unsteadiness of flows in FRW.