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.     

Enhanced Compliant Adhesive Design and Fabrication with Dual-Level Hierarchical Structure

<正> Synthetic dry adhesives inspired by the nano-and micro-scale hairs found on the feet of geckos and some spiders have beendeveloped for almost a decade. Elastomeric single level micro-scale mushroom shaped fibres are currently able to function evenbetter than natural dry adhesives on smooth surfaces under normal loading. However, the adhesion of these single level syntheticdry adhesives on rough surfaces is still not optimal because of the reduced contact surface area. In nature, contact area ismaximized by hierarchically structuring different scales of fibres capable of conforming surface roughness. In this paper, weadapt the nature's solution arid propose a novel dual-level hierarchical adhesive design using Polydimethylsiloxane (PDMS),which is tested under peel loading at different orientations. A negative macro-scale mold is manufactured by using a laser cutterto define holes in a Poly(methyl methacrylate) (PMMA) plate. After casting PDMS macro-scale fibres by using the obtainedPMMA mold, a previously prepared micro-fibre adhesive is bonded to the macro-scale fibre substrate. Once the bondingpolymer is cured, the micro-fibre adhesive is cut to form macro scale mushroom caps. Each macro-fibre of the resulting hierarchicaladhesive is able to conform to loads applied in different directions. The dual-level structure enhances the peel strengthon smooth surfaces compared to a single-level dry adhesive, but also weakens the shear strength of the adhesive for a given areain contact. The adhesive appears to be very performance sensitive to the specific size of the fibre tips, and experiments indicatethat designing hierarchical structures is not as simple as placing multiple scales of fibres on top of one another, but can requiresignificant design optimization to enhance the contact mechanics and adhesion strength.     

Development of a 3D Printed Bipedal Robot:Towards Humanoid Research Platform to Study Human Musculoskeletal Biomechanics

The objective of this study is to develop a bio robot with a high degree of biomechanical fidelity to the human musculoskeletal system in order to investigate the biomechanical principles underlying human walking.The robot was designed to possess identical biomechanical characteristics to the human body in terms of body segment properties,joint configurations and 3D musculoskeletal geometries.These design parameters were acquired based on the medical images,3D musculoskeletal model and gait measurements of a healthy human subject.To satistyall the design criteria sinultaneously,metal 3D printing was used to construct the whole-body humanoid robot.Flexible artificial muscles were fabricated in accordance with the predefined 3D musculoskeletal geometries.A series of physical tests were con-ducted to demonstrate the capacity of the robot platform.The fabricated robot shows equivalent mechanical characteristics to the human body as originally designed.The results of the physical tests by systematically changing environmental conditions and body structures have successfully demonstrated the capability of the robot platform to investigate the structure-function interplay in the human musculoskeletal system and also its interaction with the environment during walking.This robot might provide a valuable and powerful physical platfornm towards studying hunan musculoskeletal biomechanics by generating new hypotheses and revealing new insights into human locomotion science.     

Seasonal changes of resistance to fenvalerate and cypermethrin in the larval parasitoid Cotesia plutellae （Hymenoptera： Braconidae）

The seasonal changes of insecticide resistance and stability in hymenopteran Cotesia plutellae, collected from Jianxin, Fuzhou-City, and Shangjie, Minhou-County, Fujian, China, were assessed by using a dry residual film method. The resistance to two insecticides in the field populations of C. plutellae was not stable under insecticide-free conditions in the insectarium. Compared with susceptible F11 progeny of C. plutellae in the insectarium, the resistance ratios （RR） in F0 parents were 18.4 for fenvalerate and 11.4 for cypermethrin based on LC50 at 9 hours, and 32.8 for fenvalerate and 28.5 for cypermethrin based on LC50 at 24 hours when the parasitoids were left in contact with the insecticides for 1 hour and mortalities were recorded at 9 and 24 hours, respectively. However, the RR in a field population of C. plutellae were 9.2 for fenvalerate and 12.7 for cypermethrin, if the parasitoids were left in contact with the insecticides for 24 hours. The resistances to the two pyrethroids in other field populations collected from Jianxin and Shangjie from November 2000 and July 2004 were also determined. Significant seasonal variations of resistance to the two insecticides in the field populations of C. plutellae were found. The RR were 3.0-18.4 for fenvalerate and 4.8-20.6 for cypermethrin in Jianxin populations from November 2000 to April 2002 based on LC50 at 9 h, and 2.3-13.6 for fenvalerate and 3.6-16.0 for cypermethrin in Shangjie populations from May 2002 to July 2004 based on LC50 at 24 hours. The resistance levels were high in spring and autumn and decreased sharply in summer. In addition, significant recovery from the knocked-down caused by the insecticides was found in the F0 and field populations of C. plutellae which were resistant to fenvalerate and cypermethrin if the parasitoids were left in contact with the pyrethroids for 1 hour. However, no recovery was found in susceptible F11 progeny.     

Binding of epithelial cells to lectin-coated surfaces

Summary Epithelial cells may relate to their basement membrane substrates via lectin-like interactions. In a model system for study of this type of interaction, lectin-coated bacteriological plastic petri dishes were presented as substrates for epithelial cell adhesion. Of 21 lectins tested by mixed agglutination against two epithelial cell types, Madin-Darby canine kidney (MDCK), and human embryonic kidney cells (HEK), nine gave less than 5% rosettes and 12 gave 5 to 50% rosettes. Wheat germ agglutinin (WGA) andGeodia cydonium lectin gave the highest percentage of rosettes. Wheat germ agglutinin was readily adsorbed to plastic surfaces and maintained specificity in binding interactions. Both MDCK and HEK cells attached as well to WGA coated petri dishes as to conventional tissue culture dishes. Furthermore, both spread over the lectin-coated surfaces. The MDCK cells grew to confluence and could be subcultured and maintained indefinitely on such surfaces, although WGA in solution was toxic to the cells in concentrations as low as 0.1 to 1.0 μg/ml. Cell attachment to WGA coated dishes was blocked by cycloheximide only if the cells had been preincubated with the inhibitor for several hours. Cell attachment was not inhibited by pretreatment of cells with neuraminidase. Precoating cells with WGA blocked binding to both WGA-coated surfaces and untreated tissue culture dishes. Cells attached to WGA-coated dishes could not be readily dislodged by trypsin-EDTA for the first 2 h after subculture. By 4 h, attachment was again trypsin sensitive, suggesting that the cells synthesized a trypsin-sensitive material that was laid down between the cell surface and the WGA-coated dish. Regeneration of trypsin sensitivity was not blocked by cycloheximide. This work was supported by Research Grant AG01986 from the National Institutes of Health, Bethesda, Maryland.     

Development of a Bionic Hexapod Robot for Walking on Unstructured Terrain

This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to equip the robot with the perception of external environment and its internal states. The structure parameters are optimized for improving the dexterity of the robot. Second, a foot-force distribution model and a compensation model are built to achieve posture control. The two models are capable of effectively improving the stability of hexapod walking on unstructured terrain. Finally, the Posture Control strategy based on Force Distribution and Compensation （PCFDC） is applied to the HITCR-II hexapod robot. The experimental results show that the robot can effectively restrain the vibration of trunk and keep stable while walking and crossing over the un- structured terrains.     

Gait Study and Pattern Generation of a Starfish-Like Soft Robot with Flexible Rays Actuated by SMAs

This paper presents the design and development of a starfish-like soft robot with flexible rays and the implementation of multi-gait locomotion using Shape Memory Alloy （SMA） actuators. The design principle was inspired by the starfish, which possesses a remarkable symmetrical structure and soft internal skeleton. A soft robot body was constructed by using 3D printing technology. A kinematic model of the SMA spring was built and developed for motion control according to displacement and force requirements. The locomotion inspired from starfish was applied to the implementation of the multi-ray robot through the flexible actuation induced multi-gait movements in various environments. By virtue of the proposed ray control patterns in gait transition, the soft robot was able to cross over an obstacle approximately twice of its body height. Results also showed that the speed of the soft robot was 6.5 times faster on sand than on a clammy rough terrain. These experiments demonstrated that the bionic soft robot with flexible rays actuated by SMAs and multi-gait locomotion in proposed patterns can perform successfully and smoothly in various terrains.     

Design and Kinematic Analysis of a Novel Humanoid Robot Eye Using Pneumatic Artificial Muscles

This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles （PAMs） and rotates with 3 Degree of Freedom （DOF）. The design of the mechanism and motion type of the robot eye are inspired by that of human eyes. The model of humanoid robot eye is established as a parallel mechanism, and the inverse-kinematic problem of this flexible tendons driving parallel system is solved by the analytical geometry method. As an extension, the simulation result for saccadic movement is presented under three conditions. The design and kinematic analysis of the prototype could be a sig- nificant step towards the goal of building an autonomous humanoid robot eye with the movement and especially the visual functions similar to that of human.     

Tribological Behavior of Gampsocleis Gratiosa Foot Pad Against Vertical Flat Surfaces

Some tribological behavior between mature Gampsocleis gratiosa foot pads and vertical flats of different materials were studied in this work. stereomicroscope （SMS） and scanning electron microscope （SEM） were used to measure the morphology of the Gampsocleis gratiosa foot pads. An atomic force microscope （AFM） was used to measure the morphologies of the surfaces of glass and a wall doped with calcium carbonate material. The attaching behavior of Gampsocleis gratiosa feet on the two vertical surfaces was observed. The attaching force （perpendicular to the vertical surface） and the static frictional force （along the direction of gravitation） of Gampsocleis gratiosa foot pads on a vertical glass were measured. It was shown that the average attaching force is 50.59 mN and the static frictional force is 259.10 mN. The physical models of the attaching interface between Gampsocleis gratiosa foot pads and the two vertical surfaces were proposed. It was observed that the foot pads are smooth in macroscale; however, the pad surface is composed by approximate hexagonal units with sizes of 3 μm to 7 μm in microscale; the adjacent units are separated by nanoscale grooves. The Observations showed that the Gampsocleis gratiosa can not climb the vertical calcium carbonate wall; in contrast, they can easily climb the vertical glass surface. Based on the features of the geometrical morphologies of the foot pads and the glass surface, we speculate that the attaching force and strong static frictional force are attributed to the interinlays between the deformable Gampsocleis gratiosa foot pads and the nanoscale sharp tips of the glass surface.     

Effect of an Artificial Caudal Fin on the Performance of a Biomimetic Fish Robot Propelled by Piezoelectric Actuators

This paper addresses the design of a biomimetic fish robot actuated by piezoeeramic actuators and the effect of artificial caudal fins on the fish robot＇s performance. The limited bending displacement produced by a lightweight piezocomposite actuator was amplified and transformed into a large tail beat motion by means of a linkage system. Caudal fins that mimic the shape of a mackerel fin were fabricated for the purpose of examining the effect of caudal fm characteristics on thrust production at an operating frequency range. The thickness distribution of a real mackerel＇s fin was measured and used to design artificial caudal fins. The thrust performance of the biomimetic fish robot propelled by fins of various thicknesses was examined in terms of the Strouhal number, the Froude number, the Reynolds number, and the power consumption. For the same fm area and aspect ratio, an artificial caudal fin with a distributed thickness shows the best forward speed and the least power consumption.     

小鼠胚胎干细胞与四倍体胚胎的嵌合

The oviducts of superovulated Kunming white females were flushed 44-46 hours after treatment with human chorionic gonadotropin to collect 1074 late two-cell-stage embryos.The embryos were placed twenty at a time between two platinum electrodes laid 1 mm apart in 0.3M mannitol in the electrode chamber.The blastomeres were fused by a short electric pulse(80V for 50μsec) applied by a pulse generator.Fusion of blastomeres was usually completed in 20-60minutes.After 25 hours of culture,most of the tetraploid embryos developed to the four-cell stage.Zonae pellucidae of 387 four-cell-stage tetraploid embryos were removed by treatment with acid Tyrode‘s buffer.The embryos were plated on an ES cell layer,After 40 hours of coculture,248 embryos aggregated with ES cells were collected and transferred into the uteri of twenty four 2.5-day pseudopregnant recipinets.Ten recipients were pregnant.but no live fetuses were born.Three pregnant recipients were routinely subject to a Caesarean section on day 18 of pregnancy and seven abnormal fetuses were obtained.The results demonstrate that ES cells derived from C57BL/6 mice are pluripotential to a certain extent.     

Factors influencing growth and toxin production by cultures of the freshwater cyanobacterium Lyngbya wollei Farlow ex Gomont

Collections of Lyngbya wollei were taken from Guntersville Reservoir, Alabama, over a period of three years. Healthy filaments were isolated and transferred to agar plates of Z-8 and LM6E media. Unialgal isolates were cultured for the study of growth and paralytic shellfish poison (PSP) production. Filaments were extracted and the toxins were detected using high performance liquid chromatography (HPLC) with post column oxidation followed by fluorescence detection. HPLC profiles show that laboratory cultures of L. wollei produced decarbamoyl gonyautoxin 2 and 3, plus several other PSP like toxins whose structures are under investigation. At 26 °C and a light intensity of 11 or 22 μmol m-2 s-1 optimum production of both biomass and toxins occurred. A decrease or increase in temperature or light flux caused a reduction in dry weight or toxicity. Compared to control levels, lower PO4-P and NO3-N and higher calcium levels gave rise to higher biomass and toxicity. Lower calcium, calcium- or PO4-P deficient medium and high NO3-N or PO4-P caused a large decrease in dry weight and toxicity. This revised version was published online in August 2006 with corrections to the Cover Date.     

Non-Smooth Morphologies of Typical Plant Leaf Surfaces and Their Anti-Adhesion Effects

The micromorphologies of surfaces of several typical plant leaves were investigated by scanning electron microscopy（SEM）. Different non-smooth surface characteristics were described and classified. The hydrophobicity and anti-adhesion of non-smooth leaf surfaces were quantitatively measured. Results show that the morphology of epidermal cells and the morphology and distribution density of epicuticular wax directly affect the hydrophobicity and anti-adhesion. The surface with uniformly distributed convex units shows the best anti-adhesion, and the surface with regularly arranged trellis units displays better anti-adhesion. In contrast, the surface with randomly distributed hair units performs relatively bad anti-adheslon. The hydrophobic models of papilla-ciliary and fold-setal non-smooth surfaces were set up to determine the impacts of geometric parameters on the hydrophobicity. This study may provide an insight into surface machine molding and apparent morphology design for biomimetics engineering.     

Research on the Swing of the Body of Two-Joint Robot Fish

The disadvantages caused by the swing of a fish body were analyzed. The coordinate system of a two-joint robot fish was built. The hydrodynamic analysis of robot fish was developed. The dynamic simulation of a two-joint robot fish was carried out with the ADAMS software. The relationship between the swing of fish body and the mass distribution of robot fish, the relationship between the swing of fish body and the swing frequency of tail, were gained. The impact of the swing of fish body on the kinematic parameters of tail fin was analyzed. Three methods to restrain the swing of fish body were presented and discussed.     

Interfacial Effects of Superhydrophobic Plant Surfaces： A Review

Nature is a huge gallery of art involving nearly perfect structures and properties over the millions of years of development. Many plants and animals show water-repellent properties with fine micro-structures, such as lotus leaf, water skipper and wings of butterfly. Inspired by these special surfaces, the artificial superhydrophobic surfaces have attracted wide attention in both basic research and industrial applications. The wetting properties of superhydrophobic surfaces in nature are affected by the chemical compositions and the surface topographies. So it is possible to realize the biomimetic superhydrophobic surfaces by tuning their surface roughness and surface free energy correspondingly. This review briefly introduces the physical-chemical basis of superhydrophobic plant surfaces in nature to explain how the superhydrophobicity of plant surfaces can be applied to different biomimetic functional materials with relevance to technological applications. Then, three classical effects of natural surfaces are classified： lotus effect, salvinia effect, and petal effect, and the promising strategies to fabricate biomimetic su- perhydrophobic materials are highlighted. Finally, the prospects and challenges of this area in the future are proposed.     

Kinematic Analysis and Experimental Verification on the Locomotion of Gecko

This paper presents a kinematic analysis of the locomotion of a gecko,and experimental verification of the kinematicmodel.Kinematic analysis is important for parameter design,dynamic analysis,and optimization in biomimetic robot research.The proposed kinematic analysis can simulate,without iteration,the locomotion of gecko satisfying the constraint conditionsthat maintain the position of the contacted feet on the surface.So the method has an advantage for analyzing the climbing motionof the quadruped mechanism in a real time application.The kinematic model of a gecko consists of four legs based on 7-degreesof freedom spherical-revolute-spherical joints and two revolute joints in the waist.The motion of the kinematic model issimulated based on measurement data of each joint.The motion of the kinematic model simulates the investigated real gecko’smotion by using the experimental results.The analysis solves the forward kinematics by considering the model as a combinationof closed and open serial mechanisms under the condition that maintains the contact positions of the attached feet on the ground.The motions of each joint are validated by comparing with the experimental results.In addition to the measured gait,three othergaits are simulated based on the kinematic model.The maximum strides of each gait are calculated by workspace analysis.Theresult can be used in biomimetic robot design and motion planning.     

Development of a Biomimetic Quadruped Robot

This paper presents the design and prototype of a small quadruped robot whose walking motion is realized by two piezocomposite actuators. In the design, biomimetic ideas are employed to obtain the agility of motions and sustainability of a heavy load. The design of the robot legs is inspired by the leg configuration of insects, two joints （hip and knee） of the leg enable two basic motions, lifting and stepping. The robot frame is designed to have a slope relative to the horizontal plane, which makes the robot move forward. In addition, the bounding locomotion of quadruped animals is implemented in the robot. Experiments show that the robot can carry an additional load of about 100 g and run with a fairly high velocity. The quadruped prototype can be an important step towards the goal of building an autonomous mobile robot actuated by piezocomposite actuators.     

Structural and Functional Damage Caused by Boron Deficiency in Sunflower Leaves

Boron deficiency induced a dramatic inhibition in sunflower plant growth, shown by a reduction in dry mass of roots and shoots of plants grown for 10 d in nutrient solution supplied with 0.02 μM B. This low B supply facilitated the appearance of brown purple pigmentation on the plant leaves over the entire growth period. Compared to B-sufficient (BS) leaves, leakage from B-deficient (BD) leaves was 20 fold higher for potassium, 38 fold for sucrose, and 6 fold for phenolic compounds. High level of membrane peroxidation was detected by measuring peroxidase activities as well as peroxidative products in BD sunflower plants. Soluble and bound peroxidase activities measured in BD thylakoid membranes were accelerated two fold compared to those detected in BS-membranes. No detectable change in soluble peroxidase activity in roots whereas a 4 fold stimulation in bound peroxidase activity was detected. Thylakoid membranes subjected to low B supply showed enhancement in lipoxygenase activity and malondialdehyde (MDA) content in parallel with 40 and 30 % decrease of linoleic and linolenic acid contents (related to total unsaturated fatty acids). A slower rate of Hill reaction activity (40 %) and a suppressed flow of electron transfer of the whole chain (30 %) were detected in BD thylakoid membranes. This reduction was accompanied with a decline in the activity of photosystem 2 shown by a diminished rate of oxygen evolution (42 %) coupled with a quenching (27.5 %) in chlorophyll a fluorescence emission spectra at 685 nm (F₆₈₅). Thus B is an important element for membrane maintenance, protection, and function by minimizing or limiting production of free oxygen radicals in thylakoid membranes of sunflower leaves. This revised version was published online in June 2006 with corrections to the Cover Date.     

Different Patterns of Changes in the Dry Season Diameter at Breast Height of Dominant and Evergreen Tree Species in a Mature Subtropical Forest in South China

Information on changes in diameter at breast height （DBH） is important for net primary production （NPP） estimates, timing of forest inventory, and forest management. In the present study, patterns of DBH change were measured under field conditions during the dry season for three dominant and native tree species in a monsoon evergreen broad-leaved forest in the Dinghushan Biosphere Reserve. For each tree species, different patterns of DBH change were observed. In the case of the fast-growing tree species Castanopsis chinensis Hance, large diurnal fluctuations occur, with a peak DBH in the early morning （around 05：00 h） that decreases to a minimum by about 14：00 h. Both Schima superba Gardn. et Chemp and Cryptocarya chinensis （Hance） Hemsh exhibited less diurnal swelling and shrinkage. Diurnal fluctuations for these species were observed on a few occasions over the period of observation. Graphical comparisons and statistical analysis of changes in DBH with meteorological variables indicate that for different trees, the different changes in DBH observed responded to different meteorological variables. Large stem changes were found to occur for Ca. chinensis trees that were associated with variations in solar radiation. However, both S. superba and Cr. chinensis were found to be less sensitive to solar radiation. Changes in the DBH of these two species were found to be controlled mainly by soil temperature and soil moisture. During the later dry season, with a lower soil temperature and soil moisture, all three tree species stopped growing and only negligible shrinkage, expansion, or fluctuation occurred, suggesting that the optimum time to measure tree growth in the Dinghushan Biosphere Reserve is the later dry season.     

Human-Like Robot Sensing Mediated by Body Heat

This paper presents a novel robotic sensor system that can monitor volatile chemicals and airflow. The system is modelled on characteristics of the human body that are thought to have a significant influence on the human odour and airflow senses. In particular, the effect of buoyant airflow due to body heat acts to gather volatile chemicals over large areas of the human body and carry them to the nose. It is postulated that this effect increases the receptive area for human olfaction. In addition, the interaction between rising air heated by the body and external airflow produces a temperature distribution about head height that can be used to infer airflow direction and magnitude. A heated sensor system was constructed to investigate these effects and the resulting sensor was mounted on a mobile robot. The design of the sensor system is described. Results are presented which demonstrate its ability to measure airflow direction and detect chemical signals over a wider receptive field compared with an unheated sensor.