A Biomimetic Climbing Robot Based on the Gecko

1 Introduction The locomotion, sensing, navigation, and adapta- tion capabilities in animals have long inspired humans to emulate them in robots. The purpose of this study was to determine the potential of climbing robots for both ter- restrial and extra-terrestrial explorations. Robots similar to their biological counterparts require extensive sys- tems for power, locomotion, and actuation, with com- putation, sensing, and autonomy. From animal research and current technologies, the possibili…     

Multi-Scale Compliant Foot Designs and Fabrication for Use with a Spider-Inspired Climbing Robot

Climbing robots are of potential use for surveillance, inspection and exploration in different environments. In particular, the use of climbing robots for space exploration can allow scientists to explore environments too challenging for traditional wheeled designs. To adhere to surfaces, biomimetic dry adhesives based on gecko feet have been proposed. These biomimetic dry adhesives work by using multi-scale compliant mechanisms to make intimate contact with different surfaces and adhere by using Van der Waals forces. Fabrication of these adhesives has frequently been challenging however, due to the difficulty in combining macro, micro and nanoscale compliance. We present an all polymer foot design for use with a hexapod climbing robot and a fabrication method to improve reliability and yield. A high strength, low-modulus silicone, TC-5005, is used to form the foot base and microscale fibres in one piece by using a two part mold. A macroscale foot design is produced using a 3D printer to produce a base mold, while lithographic definition of microscale fibres in a thick photoresist forms the ＇hairs＇ of the polymer foot. The adhesion of the silicone fibres by themselves or attached to the macro foot is examined to determine best strategies for placement and removal of feet to maximize adhesion. Results demonstrate the successful integration of micro and macro compliant feet for use in climbing on a variety of surfaces.     

A simple, continuous-flow ultrafiltration apparatus

A continuous-flow, inverted ultrafiltration apparatus has been made, which permits protein solutions to be concentrated rapidly and has allowed the fractionation of some binary model mixtures. A major problem, which prevents such fractionations in conventional apparatus, has been identified. The design avoids shearing and overheating of labile solutions and appears to be suitable for both micro- and macro-scale applications.     

SC-CNNs for chaotic signal applications in secure communication systems

In this paper a CNNs based circuit for the generation of hyperchaotic signals is proposed. The circuit has been developed for applications in secure communication systems. An Saito oscillator has been designed by using a suitable configuration of a four-cells State-Controlled CNNs. A cryptography system based on the Saito oscillator has been implemented by using inverse system synchronization. The proposed circuit implementation and experimental results are given.     

Optimal Gait for Bioinspired Climbing Robots Using Dry Adhesion:A Quasi-Static Investigation

Legged robots relying on dry adhesives for vertical climbing are required to preload their feet against the wall to increase contact surface area and consequently maximize adhesion force. Preloading a foot causes a redistribution of forces in the entire robot, including contact forces between the other feet and the wall. An inappropriate redistribution of these forces can cause irreparable detachment of the robot from the vertical surface. This paper investigates an optimal preloading and detaching strategy that minimizes energy consumption, while retaining safety, during locomotion on vertical surfaces. The gait of a six-legged robot is planned using a quasi-static model that takes into account both the structure of the robot and the characteristics of the adhesive material. The latter was modelled from experimental data collected for this paper. A constrained optimization routine is used, and its output is a sequence of optimal posture and motor torque set-points.     

Kinetic model of laccase-catalyzed oxidation of aqueous phenol

Laccase from Trametes versicolor (EC 1.10.3.2) catalyzes the oxidation of aqueous phenol by oxygen and has demonstrated good potential for applications in various industrial and environmental processes. A kinetic model of this system has been developed to facilitate a better understanding of the mechanisms and rate-limiting steps of enzyme-catalyzed transformation and to eventually assist in the choice and design of suitable reactor systems. A kinetic model was derived based on the differential and mass balance equations that describe the interactions of various forms of the enzyme with the aromatic substrate and oxygen. This model also incorporated an expression accounting for enzyme inactivation over time due to the reaction environment. The model was validated by comparing model predictions with experimental observations of phenol transformation and oxygen consumption over time at a variety of enzyme concentrations. Excellent agreement was found between experimental data and predictions of the kinetic model. Sensitivity analyses demonstrated that the reaction between oxidized-laccase and phenol was the rate-limiting step.     

A Four-legged Wall-climbing Robot with Spines and Miniature Setae Array Inspired by Longicorn and Gecko

In industrial applications,climbing robots are widely used for climbing and detection of rough or smooth pipe surfaces.Inspired by the special claws of longicor...     

Experimental design for the identification of macrokinetic models and model discrimination

An experimental design method for the identification of macrokinetic models was developed applying an extended D-optimal design criterion. The D-optimal design criterion was modified to consider variable measurement variances as well as multivariate macrokinetic models. The macrokinetics of formate dehydrogenase (FDH) production with Candida boidinii were thus identified within 10 steady state experiments in a labscale continuous stirred tank reactor (10 model parameters). Closed loop control (nutristat) was applied to set-up the operating states suggested by this experimental design method. After each set of steady state experiments the quality of macrokinetic parameters was characterized statistically. For model discrimination a parameter discrimination algorithm based on entropy formulations was adapted. Again a multivariate criterion considering variable measurement variances was developed. This discrimination algorithm was applied to discriminate the macrokinetic model of FDH production with Candida boidinii out of 10 different macrokinetic approaches. An unequivocal discrimination result could be obtained calculating model specific probabilities. These were compared with commonly used sum of squares values. (c) 1997 John Wiley & Sons, Inc. Biotechnol Bioeng 56: 564-576, 1997.     

Bending continuous structures with SMAs: a novel robotic fish design

In this paper, we describe our research on bio-inspired locomotion systems using deformable structures and smart materials, concretely shape memory alloys (SMAs). These types of materials allow us to explore the possibility of building motor-less and gear-less robots. A swimming underwater fish-like robot has been developed whose movements are generated using SMAs. These actuators are suitable for bending the continuous backbone of the fish, which in turn causes a change in the curvature of the body. This type of structural arrangement is inspired by fish red muscles, which are mainly recruited during steady swimming for the bending of a flexible but nearly incompressible structure such as the fishbone. This paper reviews the design process of these bio-inspired structures, from the motivations and physiological inspiration to the mechatronics design, control and simulations, leading to actual experimental trials and results. The focus of this work is to present the mechanisms by which standard swimming patterns can be reproduced with the proposed design. Moreover, the performance of the SMA-based actuators' control in terms of actuation speed and position accuracy is also addressed.     

An open source lower limb model: Hip joint validation

Musculoskeletal lower limb models have been shown to be able to predict hip contact forces (HCFs) that are comparable to in vivo measurements obtained from instrumented prostheses. However, the muscle recruitment predicted by these models does not necessarily compare well to measured electromyographic (EMG) signals. In order to verify if it is possible to accurately estimate HCFs from muscle force patterns consistent with EMG measurements, a lower limb model based on a published anatomical dataset (Klein Horsman et al., 2007. Clinical Biomechanics. 22, 239-247) has been implemented in the open source software OpenSim. A cycle-to-cycle hip joint validation was conducted against HCFs recorded during gait and stair climbing trials of four arthroplasty patients (Bergmann et al., 2001. Journal of Biomechanics. 34, 859-871). Hip joint muscle tensions were estimated by minimizing a polynomial function of the muscle forces. The resulting muscle activation patterns obtained by assessing multiple powers of the objective function were compared against EMG profiles from the literature. Calculated HCFs denoted a tendency to monotonically increase their magnitude when raising the power of the objective function; the best estimation obtained from muscle forces consistent with experimental EMG profiles was found when a quadratic objective function was minimized (average overestimation at experimental peak frame: 10.1% for walking, 7.8% for stair climbing). The lower limb model can produce appropriate balanced sets of muscle forces and joint contact forces that can be used in a range of applications requiring accurate quantification of both. The developed model is available at the website https://simtk.org/home/low_limb_london.     

Closed-loop interactions between a shoal of zebrafish and a group of robotic fish in a circular corridor

Collective behavior based on self-organization has been observed in populations of animals from insects to vertebrates. These findings have motivated engineers to investigate approaches to control autonomous multi-robot systems able to reproduce collective animal behaviors, and even to collectively interact with groups of animals. In this article, we show collective decision making by a group of autonomous robots and a group of zebrafish, leading to a shared decision about swimming direction. The robots can also modulate the collective decision-making process in biased and non-biased experimental setups. These results demonstrate the possibility of creating mixed societies of vertebrates and robots in order to study or control animal behavior.     

Using insects to drive mobile robots — hybrid robots bridge the gap between biological and artificial systems

The use of mobile robots is an effective method of validating sensory–motor models of animals in a real environment. The well-identified insect sensory–motor systems have been the major targets for modeling. Furthermore, mobile robots implemented with such insect models attract engineers who aim to avail advantages from organisms. However, directly comparing the robots with real insects is still difficult, even if we successfully model the biological systems, because of the physical differences between them. We developed a hybrid robot to bridge the gap. This hybrid robot is an insect-controlled robot, in which a tethered male silkmoth (Bombyx mori) drives the robot in order to localize an odor source. This robot has the following three advantages: 1) from a biomimetic perspective, the robot enables us to evaluate the potential performance of future insect-mimetic robots; 2) from a biological perspective, the robot enables us to manipulate the closed-loop of an onboard insect for further understanding of its sensory–motor system; and 3) the robot enables comparison with insect models as a reference biological system. In this paper, we review the recent works regarding insect-controlled robots and discuss the significance for both engineering and biology.     

Computational evaluation of oxygen and shear stress distributions in 3D perfusion culture systems: macro-scale and micro-structured models

We present a combined macro-scale/micro-scale computational approach to quantify oxygen transport and flow-mediated shear stress to human chondrocytes cultured in three-dimensional scaffolds in a perfusion bioreactor system. A macro-scale model was developed to assess the influence of the bioreactor design and to identify the proper boundary conditions for the micro-scale model. The micro-scale model based on a micro-computed tomography (microCT) reconstruction of a poly(ethylene glycol terephthalate)/poly(butylene terephthalate) (PEGT/PBT) foam scaffold, was developed to assess the influence of the scaffold micro-architecture on local shear stress and oxygen levels within the scaffold pores. Experiments were performed to derive specific oxygen consumption rates for constructs perfused under flow rates of 0.3 and 0.03 ml min(-1). While macro-scale and micro-scale models predicted similar average oxygen levels at different depths within the scaffold, microCT models revealed small local oxygen variations within the scaffold micro-architecture. The combined macro-scale/micro-scale approach indicated that 0.3 ml min(-1), which subjected 95% of the cells to less than 6.3 mPa shear, would maintain the oxygen supply throughout the scaffold above anoxic levels (>1%), with 99.5% of the scaffold supplied with 8-2% O(2). Alternatively, at 0.03 ml min(-1), the macro-scale model predicted 6% of the cells would be supplied with 0.5-1% O(2), although this region of cells was confined to the periphery of the scaffold. Together with local variations predicted by the micro-scale model, the simulations underline that in the current model system, reducing the flow below 0.03 ml min(-1) would likely have dire consequences on cell viability to pronounced regions within the engineered construct. The presented approach provides a sensitive tool to aid efficient bioreactor optimization and scaffold design.     

A macro-scale perspective on within-farm management: how climate and topography alter the effect of farming practices

Organic farming has the potential to reverse biodiversity loss in farmland and benefit agriculture by enhancing ecosystem services. Although the mixed success of organic farming in enhancing biodiversity has been attributed to differences in taxa and landscape context, no studies have focused on the effect of macro-scale factors such as climate and topography. This study provides the first assessment of the impact of macro-scale factors on the effectiveness of within-farm management on biodiversity, using spiders in Japan as an example. A multilevel modelling approach revealed that reducing pesticide applications increases spider abundance, particularly in areas with high precipitation, which were also associated with high potential spider abundance. Using the model we identified areas throughout Japan that can potentially benefit from organic farming. The alteration of local habitat-abundance relations by macro-scale factors could explain the reported low spatial generality in the effects of organic farming and patterns of habitat association.     

Polysaccharide-based adhesive for biomedical applications: correlation between rheological behavior and adhesion

Adhesion to biological tissues is a challenge especially when the adhesive is in contact with physiological fluids. Abdominal hernia is a disease that often requires the implantation of a mesh within the abdominal wall. To minimize pain and postsurgical complications, gluing the mesh appears to be a convenient method. For this purpose, a bioadhesive system based on solutions of chitosan and modified starch (oxidized maltodextrin) has been developed. Mixtures of these polysaccharides form either viscoelastic solutions or hydrogels, depending on various experimental parameters (chitosan concentration, starch degree of oxidation, molar ratio between amine and aldehyde functions, pH, etc.). An adhesion test was developed to assess the adherence of such systems under conditions similar to the intended use. The rheological behavior of each formulation was correlated to its adherence, and it was found that optimum adhesion is obtained for systems exhibiting an intermediate behavior between the viscoelastic solution and the gel.     

Stigmergic algorithms for multiple minimalistic robots on an RFID floor

Stigmergy is a powerful principle in nature, which has been shown to have interesting applications to robotic systems. By leveraging the ability to store information in the environment, robots with minimal sensing, memory, and computational capabilities can solve complex problems like global path planning. In this paper, we discuss the use of stigmergy in minimalist multi-robot systems, in which robots do not need to use any internal model, long-range sensing, or position awareness. We illustrate our discussion with three case studies: building a globally optimal navigation map, building a gradient map of a sensed feature, and updating the above maps dynamically. All case studies have been implemented in a real environment with multiple ePuck robots, using a floor with 1,500 embedded radio frequency identification tags as the stigmergic medium. Results collected from tens of hours of real experiments and thousands of simulated runs demonstrate the effectiveness of our approach.     

Towards effective science cloud provisioning for a large-scale high-throughput computing

The science cloud paradigm has been actively developed and investigated, but still requires a suitable model for science cloud system in order to support increasing scientific computation needs with high performance. This paper presents an effective provisioning model of science cloud, particularly for large-scale high throughput computing applications. In this model, we utilize job traces where a statistical method is applied to pick the most influential features to improve application performance. With these features, a system determines where VM is deployed (allocation) and which instance type is proper (provisioning). An adaptive evaluation step which is subsequent to the job execution enables our model to adapt to dynamical computing environments. We show performance achievements by comparing the proposed model with other policies through experiments and expect noticeable improvements on performance as well as reduction of cost from resource consumption through our model.     

Effects of construction materials and design of lake and stream banks on climbing ability of frogs and salamanders

With the increasing development of many areas in recent years, concrete structures are often installed along water bodies in order to protect the safety of local residents. However, effects of these concrete structures on environments and mobility of amphibian species are still unknown. The construction of concrete banks along rivers associated with human development has become a serious problem in Taiwan. Most ecosystems used by amphibians are lakes and stream banks, yet no related design solutions to accommodate the needs of amphibians have been used in Taiwan. In this research, we selected eight species of amphibians and investigated their climbing abilities in an effort to improve lake and river bank designs. We evaluated their climbing abilities on five angles of bank slopes, identified relationships between an amphibian's climbing ability and different surface substrates of banks, i.e. Japanese silvergrass (Miscanthus floridulus) mixed with moss, cobblestone, wood (Philippine mahogany), clay, and concrete, under high humidity and different temperatures to simulate changes across the four seasons. The results showed that climbing ability of these amphibians is slightly decreased at low temperatures. For example, on a 45° slope in winter, the average climbing ability decreased 8% from results in summer. The upper limit of bank design slope suitable for Hynobius arisanensis on rock and wood surfaces is 45°. For amphibians from alpine areas in Taiwan, such as Bufo bankorensis, the maximum suitable slope is 15°. With concrete as the water bank material, slopes <30° are preferable. The results presented here can serve as a reference for technicians involved in future ecological engineering designs of banks throughout the world.