BioinspiredLLM: Conversational Large Language Model for the Mechanics of Biological and Bio-Inspired Materials

The study of biological materials and bio-inspired materials science is well established; however, surprisingly little knowledge is systematically translated to engineering solutions. To accelerate discovery and guide insights, an open-source autoregressive transformer large language model (LLM), BioinspiredLLM, is reported. The model is finetuned with a corpus of over a thousand peer-reviewed articles in the field of structural biological and bio-inspired materials and can be prompted to recall information, assist with research tasks, and function as an engine for creativity. The model has proven that it is able to accurately recall information about biological materials and is further strengthened with enhanced reasoning ability, as well as with Retrieval-Augmented Generation (RAG) to incorporate new data during generation that can also help to traceback sources, update the knowledge base, and connect knowledge domains. BioinspiredLLM also has shown to develop sound hypotheses regarding biological materials design and remarkably so for materials that have never been explicitly studied before. Lastly, the model shows impressive promise in collaborating with other generative artificial intelligence models in a workflow that can reshape the traditional materials design process. This collaborative generative artificial intelligence method can stimulate and enhance bio-inspired materials design workflows. Biological materials are at a critical intersection of multiple scientific fields and models like BioinspiredLLM help to connect knowledge domains.

Gustation-Inspired Dual-Responsive Hydrogels for Taste Sensing Enabled by Machine Learning

Human gustatory system recognizes salty/sour or sweet tastants based on their different ionic or nonionic natures using two different signaling pathways. This suggests that evolution has selected this detection dualism favorably. Analogically, this work constructs herein bioinspired stimulus-responsive hydrogels to recognize model salty/sour or sweet tastes based on two different responses, that is, electrical and volumetric responsivities. Different compositions of zwitter-ionic sulfobetainic N-(3-sulfopropyl)-N-(methacryloxyethyl)-N,N-dimethylammonium betaine (DMAPS) and nonionic 2-hydroxyethyl methacrylate (HEMA) are co-polymerized to explore conditions for gelation. The hydrogel responses upon adding model tastant molecules are explored using electrical and visual de-swelling observations. Beyond challenging electrochemical impedance spectroscopy measurements, naive multimeter electrical characterizations are performed, toward facile applicability. Ionic model molecules, for example, sodium chloride and acetic acid, interact electrostatically with DMAPS groups, whereas nonionic molecules, for example, D(-)fructose, interact by hydrogen bonding with HEMA. The model tastants induce complex combinations of electrical and volumetric responses, which are then introduced as inputs for machine learning algorithms. The fidelity of such a trained dual response approach is tested for a more general taste identification. This work envisages that the facile dual electric/volumetric hydrogel responses combined with machine learning proposes a generic bioinspired avenue for future bionic designs of artificial taste recognition, amply needed in applications.

Organic and Biogenic Nanocarriers as Bio-Friendly Systems for Bioactive Compounds' Delivery: State-of-the Art and Challenges

"Green" strategies to build up novel organic nanocarriers with bioperformance are modern trends in nanotechnology. In this way, the valorization of bio-wastes and the use of living systems to develop multifunctional organic and biogenic nanocarriers (OBNs) have revolutionized the nanotechnological and biomedical fields. This paper is a comprehensive review related to OBNs for bioactives' delivery, providing an overview of the reports on the past two decades. In the first part, several classes of bioactive compounds and their therapeutic role are briefly presented. A broad section is dedicated to the main categories of organic and biogenic nanocarriers. The major challenges regarding the eco-design and the fate of OBNs are suggested to overcome some toxicity-related drawbacks. Future directions and opportunities, and finding "green" solutions for solving the problems related to nanocarriers, are outlined in the final of this paper. We believe that through this review, we will capture the attention of the readers and will open new perspectives for new solutions/ideas for the discovery of more efficient and "green" ways in developing novel bioperformant nanocarriers for transporting bioactive agents.

Recent Advances in Sources of Bio-Inspiration and Materials for Robotics and Actuators

Bionic robotics and actuators have made dramatic advancements in structural design, material preparation, and application owing to the richness of nature and innovative material design. Appropriate and ingenious sources of bio-inspiration can stimulate a large number of different bionic systems. After millennia of survival and evolutionary exploration, the mere existence of life confirms that nature is constantly moving in an evolutionary direction of optimization and improvement. To this end, bio-inspired robots and actuators can be constructed for the completion of a variety of artificial design instructions and requirements. In this article, the advances in bio-inspired materials for robotics and actuators with the sources of bio-inspiration are reviewed. The specific sources of inspiration in bionic systems and corresponding bio-inspired applications are summarized first. Then the basic functions of materials in bio-inspired robots and actuators is discussed. Moreover, a principle of matching biomaterials is creatively suggested. Furthermore, the implementation of biological information extraction is discussed, and the preparation methods of bionic materials are reclassified. Finally, the challenges and potential opportunities involved in finding sources of bio-inspiration and materials for robotics and actuators in the future is discussed.

Biomimetic polymer fibers-function by design

Biomimicry applies the fundamental principles of natural materials, processes, and structures to technological applications. This review presents the two strategies of biomimicry-bottom-up and top-down approaches, using biomimetic polymer fibers and suitable spinning techniques as examples. The bottom-up biomimicry approach helps to acquire fundamental knowledge on biological systems, which can then be leveraged for technological advancements. Within this context, we discuss the spinning of silk and collagen fibers due to their unique natural mechanical properties. To achieve successful biomimicry, it is imperative to carefully adjust the spinning solution and processing parameters. On the other hand, top-down biomimicry aims to solve technological problems by seeking solutions from natural role models. This approach will be illustrated using examples such as spider webs, animal hair, and tissue structures. To contextualize biomimicking approaches in practical applications, this review will give an overview of biomimetic filter technologies, textiles, and tissue engineering.

Bioinspired medical needles: a review of the scientific literature

Needles are commonly used in medical procedures. However, current needle designs have some disadvantages. Therefore, a new generation of hypodermic needles and microneedle patches drawing inspiration from mechanisms found in nature (i.e. bioinspiration) is being developed. In this systematic review, 80 articles were retrieved from Scopus, Web of Science, and PubMed and classified based on the strategies for needle-tissue interaction and propulsion of the needle. The needle-tissue interaction was modified to reduce grip for smooth needle insertion or enlarge grip to resist needle retraction. The reduction of grip can be achieved passively through form modification and actively through translation and rotation of the needle. To enlarge grip, interlocking with the tissue, sucking the tissue, and adhering to the tissue were identified as strategies. Needle propelling was modified to ensure stable needle insertion, either through external (i.e. applied to the prepuncturing movement of the needle) or internal (i.e. applied to the postpuncturing movement of the needle) strategies. External strategies include free-hand and guided needle insertion, while friction manipulation of the tissue was found to be an internal strategy. Most needles appear to be using friction reduction strategies and are inserted using a free-hand technique. Furthermore, most needle designs were inspired by insects, specifically parasitoid wasps, honeybees, and mosquitoes. The presented overview and description of the different bioinspired interaction and propulsion strategies provide insight into the current state of bioinspired needles and offer opportunities for medical instrument designers to create a new generation of bioinspired needles.

Maneuvering on non-Newtonian fluidic terrain: a survey of animal and bio-inspired robot locomotion techniques on soft yielding grounds

Frictionally yielding media are a particular type of non-Newtonian fluids that significantly deform under stress and do not recover their original shape. For example, mud, snow, soil, leaf litters, or sand are such substrates because they flow when stress is applied but do not bounce back when released. Some robots have been designed to move on those substrates. However, compared to moving on solid ground, significantly fewer prototypes have been developed and only a few prototypes have been demonstrated outside of the research laboratory. This paper surveys the existing biology and robotics literature to analyze principles of physics facilitating motion on yielding substrates. We categorize animal and robot locomotion based on the mechanical principles and then further on the nature of the contact: discrete contact, continuous contact above the material, or through the medium. Then, we extract different hardware solutions and motion strategies enabling different robots and animals to progress. The result reveals which design principles are more widely used and which may represent research gaps for robotics. We also discuss that higher level of abstraction helps transferring the solutions to the robotics domain also when the robot is not explicitly meant to be bio-inspired. The contribution of this paper is a review of the biology and robotics literature for identifying locomotion principles that can be applied for future robot design in yielding environments, as well as a catalog of existing solutions either in nature or man-made, to enable locomotion on yielding grounds.

A bio-inspired expandable soft suction gripper for minimal invasive surgery-an explorative design study

Gripping slippery and flexible tissues during minimal invasive surgery (MIS) is often challenging using a conventional tissue gripper. A force grip has to compensate for the low friction coefficient between the gripper's jaws and the tissue surface. This study focuses on the development of a suction gripper. This device applies a pressure difference to grip the target tissue without the need to enclose it. Inspiration is taken from biological suction discs, as these are able to attach to a wide variety of substrates, varying from soft and slimy surfaces to rigid and rough rocks. Our bio-inspired suction gripper is divided into two main parts: (1) the suction chamber inside the handle where vacuum pressure is generated, and (2) the suction tip that attaches to the target tissue. The suction gripper fits through a∅10 mm trocar and unfolds in a larger suction surface when being extracted. The suction tip is structured in a layered manner. The tip integrates five functions in separate layers to allow for safe and effective tissue handling: (1) foldability, (2) air-tightness, (3) slideability, (4) friction magnification and (5) seal generation. The contact surface of the tip creates an air-tight seal with the tissue and enhances frictional support. The suction tip's shape grip allows for the gripping of small tissue pieces and enhances its resistance against shear forces. The experiments illustrated that our suction gripper outperforms man-made suction discs, as well as currently described suction grippers in literature in terms of attachment force (5.95±0.52 N on muscle tissue) and substrate versatility. Our bio-inspired suction gripper offers the opportunity for a safer alternative to the conventional tissue gripper in MIS.

Energy considerations and flow fields over whiffling-inspired wings

Some bird species fly inverted, or whiffle, to lose altitude. Inverted flight twists the primary flight feathers, creating gaps along the wing's trailing edge and decreasing lift. It is speculated that feather rotation-inspired gaps could be used as control surfaces on uncrewed aerial vehicles (UAVs). When implemented on one semi-span of a UAV wing, the gaps produce roll due to the asymmetric lift distribution. However, the understanding of the fluid mechanics and actuation requirements of this novel gapped wing were rudimentary. Here, we use a commercial computational fluid dynamics solver to model a gapped wing, compare its analytically estimated work requirements to an aileron, and identify the impacts of key aerodynamic mechanisms. An experimental validation shows that the results agree well with previous findings. We also find that the gaps re-energize the boundary layer over the suction side of the trailing edge, delaying stall of the gapped wing. Further, the gaps produce vortices distributed along the wingspan. This vortex behavior creates a beneficial lift distribution that produces comparable roll and less yaw than the aileron. The gap vortices also inform the change in the control surface's roll effectiveness across angle of attack. Finally, the flow within a gap recirculates and creates negative pressure coefficients on the majority of the gap face. The result is a suction force on the gap face that increases with angle of attack and requires work to hold the gaps open. Overall, the gapped wing requires higher actuation work than the aileron at low rolling moment coefficients. However, above rolling moment coefficients of 0.0182, the gapped wing requires less work and ultimately produces a higher maximum rolling moment coefficient. Despite the variable control effectiveness, the data suggest that the gapped wing could be a useful roll control surface for energy-constrained UAVs at high lift coefficients.

Design and Biomimicry: A Review of Interconnections and Creative Potentials

The study and application of biological knowledge favor the creation of innovative projects in several areas, so it is necessary to better understand the use of these resources specifically in the field of design. Thus, a systematic review was undertaken to identify, describe, and analyze the contributions of biomimicry to design. For this purpose, the integrative systematic review model, called the Theory of Consolidated Meta-Analytical Approach, was used, carrying out a search on the Web of Science with the descriptors "design" and "biomimicry". For the period from 1991 to 2021, 196 publications were retrieved. The results were organized according to areas of knowledge, countries, journals, institutions, authors, and years. Citation, co-citation, and bibliographic coupling analyses were also performed. The investigation highlighted the following research emphases: the conception of products, buildings, and environments; the exploration of natural structures and systems to create materials and technologies; the use of biomimetic creative tools in product design; and projects focused on saving resources and implementing sustainability. It was noted that there was a tendency for authors to adopt a problem-based approach. It was concluded that the study of biomimicry can stimulate the development of multiple skills in design, improving creativity, and enhancing the potential integration of sustainability into production cycles.

Early career scientists converse on the future of soft robotics

During the recent decade, we have witnessed an extraordinary flourishing of soft robotics. Rekindled interest in soft robots is partially associated with the advances in manufacturing techniques that enable the fabrication of sophisticated multi-material robotic bodies with dimensions ranging across multiple length scales. In recent manuscripts, a reader might find peculiar-looking soft robots capable of grasping, walking, or swimming. However, the growth in publication numbers does not always reflect the real progress in the field since many manuscripts employ very similar ideas and just tweak soft body geometries. Therefore, we unreservedly agree with the sentiment that future research must move beyond "soft for soft's sake." Soft robotics is an undoubtedly fascinating field, but it requires a critical assessment of the limitations and challenges, enabling us to spotlight the areas and directions where soft robots will have the best leverage over their traditional counterparts. In this perspective paper, we discuss the current state of robotic research related to such important aspects as energy autonomy, electronic-free logic, and sustainability. The goal is to critically look at perspectives of soft robotics from two opposite points of view provided by early career researchers and highlight the most promising future direction, that is, in our opinion, the employment of soft robotic technologies for soft bio-inspired artificial organs.

Erratum: Transient bio-inspired gliders with embodied humidity responsive actuators for environmental sensing

[This corrects the article DOI: 10.3389/frobt.2022.1011793.].

Bio-Inspired Transparent Soft Jellyfish Robot

Jellyfish are among the widely distributed nature creatures that can effectively control the fluidic flow around their transparent soft body, thus achieving movements in the water and camouflage in the surrounding environments. Till now, it remains a challenge to replicate both transparent appearance and functionalities of nature jellyfish in synthetic systems due to the lack of transparent actuators. In this work, a fully transparent soft jellyfish robot is developed to possess both transparency and bio-inspired omni motions in water. This robot is driven by transparent dielectric elastomer actuators (DEAs) using hybrid silver nanowire networks and conductive polymer poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate)/waterborne polyurethane as compliant electrodes. The electrode exhibits large stretchability, low stiffness, high transmittance, and excellent conductivity at large strains. Consequently, the highly transparent DEA based on this hybrid electrode, with Very-High-Bond membranes as dielectric layers and polydimethylsiloxane as top coating, can achieve a maximum area strain of 146% with only 3% hysteresis loss. Driven by this transparent DEA, the soft jellyfish robot can achieve vertical and horizontal movements in water, by mimicking the actual pulsating rhythm of an Aurelia aurita. The bio-inspired robot can serve multiple functions as an underwater soft robot. The hybrid electrodes and bio-inspired design approach are potentially useful in a variety of soft robots and flexible devices.

Deformation and mechanics of a pulvinus-inspired material

Mimosa pudicarapidly folds leaves when touched. Motion is created by pulvini, 'the plant muscles' that allow plants to produce various complex motions. Plants rely on local control of the turgor pressure to create on-demand motion. In this paper, the mechanics of a cellular material inspired from pulvinus ofM. pudicais studied. First, the manufacturing process of a cell-controllable material is described. Its deformation behaviour when pressured is tested, focusing on three pressure patterns of reference. The deformations are modelled based on the minimisation of elastic energy framework. Depending on pressurisation pattern and magnitude, reversible buckling-induced motion may occur.

Constructive adaptation of 3D-printable polymers in response to typically destructive aquatic environments

In response to environmental stressors, biological systems exhibit extraordinary adaptive capacity by turning destructive environmental stressors into constructive factors; however, the traditional engineering materials weaken and fail. Take the response of polymers to an aquatic environment as an example: Water molecules typically compromise the mechanical properties of the polymer network in the bulk and on the interface through swelling and lubrication, respectively. Here, we report a class of 3D-printable synthetic polymers that constructively strengthen their bulk and interfacial mechanical properties in response to the aquatic environment. The mechanism relies on a water-assisted additional cross-linking reaction in the polymer matrix and on the interface. As such, the typically destructive water can constructively enhance the polymer's bulk mechanical properties such as stiffness, tensile strength, and fracture toughness by factors of 746% to 790%, and the interfacial bonding by a factor of 1,000%. We show that the invented polymers can be used for soft robotics that self-strengthen matrix and self-heal cracks after training in water and water-healable packaging materials for flexible electronics. This work opens the door for the design of synthetic materials to imitate the constructive adaptation of biological systems in response to environmental stressors, for applications such as artificial muscles, soft robotics, and flexible electronics.

Avian whiffling-inspired gaps provide an alternative method for roll control

Some bird species exhibit a flight behavior known as whiffling, in which the bird flies upside-down during landing, predator evasion, or courtship displays. Flying inverted causes the flight feathers to twist, creating gaps in the wing's trailing edge. It has been suggested that these gaps decrease lift at a potentially lower energy cost, enabling the bird to maneuver and rapidly descend. Thus, avian whiffling has parallels to an uncrewed aerial vehicle (UAV) using spoilers for rapid descent and ailerons for roll control. However, while whiffling has been previously described in the biological literature, it has yet to directly inspire aerodynamic design. In the current research, we investigated if gaps in a wing's trailing edge, similar to those caused by feather rotation during whiffling, could provide an effective mechanism for UAV control, particularly rapid descent and banking. To address this question, we performed a wind tunnel test of 3D printed wings with a varying amount of trailing edge gaps and compared the lift and rolling moment coefficients generated by the gapped wings to a traditional spoiler and aileron. Next, we used an analytical analysis to estimate the force and work required to actuate gaps, spoiler, and aileron. Our results showed that gapped wings did not reduce lift as much as a spoiler and required more work. However, we found that at high angles of attack, the gapped wings produced rolling moment coefficients equivalent to upwards aileron deflections of up to 32.7° while requiring substantially less actuation force and work. Thus, while the gapped wings did not provide a noticeable benefit over spoilers for rapid descent, a whiffling-inspired control surface could provide an effective alternative to ailerons for roll control. These findings suggest a novel control mechanism that may be advantageous for small fixed-wing UAVs, particularly energy-constrained aircraft.

A fluid-driven soft robotic fish inspired by fish muscle architecture

Artificial fish-like robots developed to date often focus on the external morphology of fish and have rarely addressed the contribution of the structure and morphology of biological muscle. However, biological studies have proven that fish utilize the contraction of muscle fibers to drive the protective flexible connective tissue to swim. This paper introduces a pneumatic silicone structure prototype inspired by the red muscle system of fish and applies it to the fish-like robot named Flexi-Tuna. The key innovation is to make the fluid-driven units simulate the red muscle fiber bundles of fish and embed them into a flexible tuna-like matrix. The driving units act as muscle fibers to generate active contraction force, and the flexible matrix as connective tissue to generate passive deformation. Applying alternant pressure to the driving units can produce a bending moment, causing the tail to swing. As a result, the structural design of Flexi-Tuna has excellent bearing capacity compared with the traditional cavity-type and keeps the body smooth. On this basis, a general method is proposed for modeling the fish-like robot based on the independent analysis of the active and passive body, providing a foundation for Flexi-Tuna's size design. Followed by the robot's static and underwater dynamic tests, we used finite element static analysis and fluid numerical simulation to compare the results. The experimental results showed that the maximum swing angle of the tuna-like robot reached 20°, and the maximum thrust reached 0.185 N at the optimum frequency of 3.5 Hz. In this study, we designed a unique system that matches the functional level of biological muscles. As a result, we realized the application of fluid-driven artificial muscle to bionic fish and expanded new ideas for the structural design of flexible bionic fish.

Transient bio-inspired gliders with embodied humidity responsive actuators for environmental sensing

Collecting temporal and spatial high-resolution environmental data can guide studies in environmental sciences to gain insights in ecological processes. The utilization of automated robotic systems to collect these types of data can maximize accuracy, resilience, and deployment rate. Furthermore, it reduces the risk to researchers deploying sensors in inaccessible environments and can significantly increase the cost-effectiveness of such studies. The introduction of transient robotic systems featuring embodied environmental sensors pushes towards building a digital ecology, while introducing only minimal disturbance to the environment. Transient robots made from fully biodegradable and non-fossil based materials, do not develop into hazardous e-waste at the end of their lifetime and can thus enable a broader adoption for environmental sensing in the real world. In this work, our approach towards the design of transient robots includes the integration of humidity-responsive materials in a glider, which is inspired by the Alsomitra macrocarpa seed. The design space of these gliders is explored and their behavior studied numerically, which allows us to make predictions on their flight characteristics. Results are validated against experiments, which show two different gliding behaviors, that can help improve the spread of the sensors. By tailoring the Cellulose-Gelatin composition of the humidity actuator, self-folding systems for selective rainwater exposure can be designed. The pH sensing layer, protected by the actuator, provides visual feedback on the pH of the rainwater. The presented methods can guide further concepts developing transient aerial robotic systems for sustainable, environmental monitoring.

Suspension feeders: diversity, principles of particle separation and biomimetic potential

Suspension feeders (SFs) evolved a high diversity of mechanisms, sometimes with remarkably convergent morphologies, to retain plankton, detritus and man-made particles with particle sizes ranging from less than 1 µm to several centimetres. Based on an extensive literature review, also including the physical and technical principles of solid-liquid separation, we developed a set of 18 ecological and technical parameters to review 35 taxa of suspension-feeding Metazoa covering the diversity of morphological and functional principles. This includes passive SFs, such as gorgonians or crinoids that use the ambient flow to encounter particles, and sponges, bivalves or baleen whales, which actively create a feeding current. Separation media can be flat or funnel-shaped, built externally such as the filter houses in larvaceans, or internally, like the pleated gills in bivalves. Most SFs feed in the intermediate flow region of Reynolds number 1-50 and have cleaning mechanisms that allow for continuous feeding. Comparison of structure-function patterns in SFs to current filtration technologies highlights potential solutions to common technical design challenges, such as mucus nets which increase particle adhesion in ascidians, vanes which reduce pressure losses in whale sharks and changing mesh sizes in the flamingo beak which allow quick adaptation to particle sizes.

Bio-inspired evaporation from shaped interfaces: an experimental study

Evaporative interfaces help process heat and substances in a variety of technical realms, from electronic to architectural applications. Because geometry affects the hydraulics, thermal properties and aerodynamics of evaporative devices, their performance can be tuned through design. While non-smooth interfaces are widely exploited to enhance transfer passively, surface area extension in packed volumes is a predominant line of research. This leaves aerodynamic structure-transfer relations and the impact of geometry itself unclear. Meanwhile, protrusions in leaves such as lobes and toothed margins have been associated with enhanced vapor dissipation. This experimental study explores the design space of leaf-inspired structures with evaporating protrusions. Three sets of water-absorbing models with fixed evaporating surface area and unlimited hydraulic supply were tested: (1) paper strips with dimension-equivalent protrusions of varied shape and degree of elongation; (2) cellulose sponges with the same designs as their cross-sectional profile, extruded three-dimensionally; (3) ceramic tiles with grooves of varied cross-section, conceived as building elements for evaporative cooling. Overall, results demonstrate that protrusions affect mass transfer rate and surface temperatures and can be integrated in the design of evaporative exchangers with non-smooth geometries. For the paper models, evaporation rate correlated with protrusion aspect ratio, supporting a functional interpretation of leaf design and its utilization in low-wind plate-fin exchangers. However, the same transfer enhancement was not regained from simply extruding an effective design into three-dimensions. For the ceramic tiles, geometry-driven differences in evaporation depended on the aerodynamic roughness and size of the grooved pattern, and on ventilation. Their outdoor thermal behavior was complex due to a multifaceted interaction with the environment and geometry-related factors such as self-shading and thermal mass. Ultimately, this design effort illustrates the potential of structured interfaces for evaporative exchange and thermoregulating the built environment.

Autonomous Flying With Neuromorphic Sensing

Autonomous flight for large aircraft appears to be within our reach. However, launching autonomous systems for everyday missions still requires an immense interdisciplinary research effort supported by pointed policies and funding. We believe that concerted endeavors in the fields of neuroscience, mathematics, sensor physics, robotics, and computer science are needed to address remaining crucial scientific challenges. In this paper, we argue for a bio-inspired approach to solve autonomous flying challenges, outline the frontier of sensing, data processing, and flight control within a neuromorphic paradigm, and chart directions of research needed to achieve operational capabilities comparable to those we observe in nature. One central problem of neuromorphic computing is learning. In biological systems, learning is achieved by adaptive and relativistic information acquisition characterized by near-continuous information retrieval with variable rates and sparsity. This results in both energy and computational resource savings being an inspiration for autonomous systems. We consider pertinent features of insect, bat and bird flight behavior as examples to address various vital aspects of autonomous flight. Insects exhibit sophisticated flight dynamics with comparatively reduced complexity of the brain. They represent excellent objects for the study of navigation and flight control. Bats and birds enable more complex models of attention and point to the importance of active sensing for conducting more complex missions. The implementation of neuromorphic paradigms for autonomous flight will require fundamental changes in both traditional hardware and software. We provide recommendations for sensor hardware and processing algorithm development to enable energy efficient and computationally effective flight control.

Locomotion of Miniature Soft Robots

Miniature soft robots are mobile devices, which are made of smart materials that can be actuated by external stimuli to realize their desired functionalities. Here, the key advancements and challenges of the locomotion producible by miniature soft robots in micro- to centimeter length scales are highlighted. It is highly desirable to endow these small machines with dexterous locomotive gaits as it enables them to easily access highly confined and enclosed spaces via a noninvasive manner. If miniature soft robots are able to capitalize this unique ability, they will have the potential to transform a vast range of applications, including but not limited to, minimally invasive medical treatments, lab-on-chip applications, and search-and-rescue missions. The gaits of miniature soft robots are categorized into terrestrial, aquatic, and aerial locomotion. Except for the centimeter-scale robots that can perform aerial locomotion, the discussions in this report are centered around soft robots that are in the micro- to millimeter length scales. Under each category of locomotion, prospective methods and strategies that can improve their gait performances are also discussed. This report provides critical analyses and discussions that can inspire future strategies to make miniature soft robots significantly more agile.

Energy Absorption and Mechanical Performance of Functionally Graded Soft-Hard Lattice Structures

Today, the rational combination of materials and design has enabled the development of bio-inspired lattice structures with unprecedented properties to mimic biological features. The present study aims to investigate the mechanical performance and energy absorption capacity of such sophisticated hybrid soft–hard structures with gradient lattices. The structures are designed based on the diversity of materials and graded size of the unit cells. By changing the unit cell size and arrangement, five different graded lattice structures with various relative densities made of soft and hard materials are numerically investigated. The simulations are implemented using ANSYS finite element modeling (FEM) (2020 R1, 2020, ANSYS Inc., Canonsburg, PA, USA) considering elastic-plastic and the hardening behavior of the materials and geometrical non-linearity. The numerical results are validated against experimental data on three-dimensional (3D)-printed lattices revealing the high accuracy of the FEM. Then, by combination of the dissimilar soft and hard polymeric materials in a homogenous hexagonal lattice structure, two dual-material mechanical lattice statures are designed, and their mechanical performance and energy absorption are studied. The results reveal that not only gradual changes in the unit cell size provide more energy absorption and improve mechanical performance, but also the rational combination of soft and hard materials make the lattice structure with the maximum energy absorption and stiffness, in comparison to those structures with a single material, interesting for multi-functional applications.

Designing Flexible but Tough Slippery Track for Underwater Gas Manipulation

Lubricant-infused slippery surface exhibits a series of superior properties such as pressure tolerance, self-healing, oil-repellence, etc. Especially when being applied in an aqueous environment, the reliable bubble manipulating ability of slippery surface offers great opportunities to develop advanced systems in the field of gas transport, water splitting, etc. To improve the strength and the functionality of slippery surfaces, a sliced lubricant-infused slippery (SLIS) track is presented here, possessing both flexibility and toughness for underwater bubble manipulation. The rigid slippery slices with hydrophobic porous structure are linked by the liquid bridge of silicone oil, resulting in a continuous lubricant layer for bubble transfer. Taking advantage of this unique assembled structure, the in situ bubble controlling process, that is, pinning and moving, is achieved via the stretching/releasing of an elastic SLIS track. Besides, on the basis of the integrated design, a hypothesis of underwater gas mining is proved in the all-in-one process including the micro-bubble generation, bubble collection, and gas transport. The current design paves an avenue to reinforce the structure of slippery surfaces, and should promote the function of underwater bubble manipulation toward real-world applications.

Emerging Inter-Swarm Collaboration for Surveillance Using Pheromones and Evolutionary Techniques

In this article, we propose a new mobility model, called Attractor Based Inter-Swarm collaborationS (ABISS), for improving the surveillance of restricted areas performed by unmanned autonomous vehicles. This approach uses different types of vehicles which explore an area of interest following unpredictable trajectories based on chaotic solutions of dynamic systems. Collaborations between vehicles are meant to cover some regions of the area which are unreachable by members of one swarm, e.g., unmanned ground vehicles on water surface, by using members of another swarm, e.g., unmanned aerial vehicles. Experimental results demonstrate that collaboration is not only possible but also emerges as part of the configurations calculated by a specially designed and parameterised evolutionary algorithm. Experiments were conducted on 12 different case studies including 30 scenarios each, observing an improvement in the total covered area up to 11%, when comparing ABISS with a non-collaborative approach.

Marine-Derived Polymeric Materials and Biomimetics: An Overview

The review covers recent literature on the ocean as both a source of biotechnological tools and as a source of bio-inspired materials. The emphasis is on marine biomacromolecules namely hyaluronic acid, chitin and chitosan, peptides, collagen, enzymes, polysaccharides from algae, and secondary metabolites like mycosporines. Their specific biological, physicochemical and structural properties together with relevant applications in biocomposite materials have been included. Additionally, it refers to the marine organisms as source of inspiration for the design and development of sustainable and functional (bio)materials. Marine biological functions that mimic reef fish mucus, marine adhesives and structural colouration are explained.

Studio One: A New Teaching Model for Exploring Bio-Inspired Design and Fabrication

The increasing specialization in architecture has clearly left its marks not only on the general profession but also on architectural education. Many universities around the world react to this development by offering primarily conventional and overly discipline-specific courses that often lack bold new concepts. To remedy this situation, the authors propose an alternative teaching model called Studio One, which seeks to facilitate new dynamic links between architecture and other disciplines based on the interplay between fundamental research, design exploration, and practical application. The goal is to develop an interdisciplinary, collaborative design training that encompasses the best that nature has to teach us, realized through the technology that humans have achieved. At the core of this class is the study of biological structures and the development of bio-inspired construction principles for architectural design. Both aspects are rich sources of innovation and can play an important role in the training of future architects and engineers. This paper seeks to provide a coherent progress report. After a brief introduction to the general objectives of Studio One, the authors will specify the methods and 21st century skills that students learned during this class. Relying on four student capstone projects as examples, the paper will then go into more detail on how natural structures can inspire a new design process, in which students abstract basic biomimetic principles and transfer them into the construction of architectural prototypes and pavilions. Finally, the authors conclude by discussing the particular successes and challenges facing this teaching model and identify the key improvements that may give this program an even bigger impact in the future.

Bubble-Propelled Jellyfish-like Micromotors for DNA Sensing

A chemically powered jellyfish-like micromotor was proposed by using a multimetallic shell and a DNA assembly with catalase decorations modified on the concave surface to simulate the umbrella-shaped body and the muscle fibers on the inner umbrella of jellyfish. Relying on the catalytic generation of oxygen gas by catalase in H₂O₂ fuel, the jellyfish-like micromotor showed good bubble-propelled motion in different biomedia with speed exceeding 209 μm s^-1 in 1.5% H₂O₂. The jellyfish-like micromotors could also be applied for motion detection of DNA based on a displacement hybridization-triggered catalase release. The proposed jellyfish-like micromotors showed advantages of easy fabrication, good motion ability, sensitive motion detection of DNA, and good stability and reproducibility, indicating considerable promise for biological application.

Polarized skylight-based heading measurements: a bio-inspired approach

Many insects such as desert ants, crickets, locusts, dung beetles, bees and monarch butterflies have been found to extract their navigation cues from the regular pattern of the linearly polarized skylight. These species are equipped with ommatidia in the dorsal rim area of their compound eyes, which are sensitive to the angle of polarization of the skylight. In the polarization-based robotic vision, most of the sensors used so far comprise high-definition CCD or CMOS cameras topped with linear polarizers. Here, we present a 2-pixel polarization-sensitive visual sensor, which was strongly inspired by the dorsal rim area of desert ants' compound eyes, designed to determine the direction of polarization of the skylight. The spectral sensitivity of this minimalistic sensor, which requires no lenses, is in the ultraviolet range. Five different methods of computing the direction of polarization were implemented and tested here. Our own methods, the extended and AntBot method, outperformed the other three, giving a mean angular error of only 0.62° ± 0.40° (median: 0.24°) and 0.69° ± 0.52° (median: 0.39°), respectively (mean ± standard deviation). The results obtained in outdoor field studies show that our celestial compass gives excellent results at a very low computational cost, which makes it highly suitable for autonomous outdoor navigation purposes.

Body and tail-assisted pitch control facilitates bipedal locomotion in Australian agamid lizards

Certain lizards are known to run bipedally. Modelling studies suggest bipedalism in lizards may be a consequence of a caudal shift in the body centre of mass, combined with quick bursts of acceleration, causing a torque moment at the hip lifting the front of the body. However, some lizards appear to run bipedally sooner and for longer than expected from these models, suggesting positive selection for bipedal locomotion. While differences in morphology may contribute to bipedal locomotion, changes in kinematic variables may also contribute to extended bipedal sequences, such as changes to the body orientation, tail lifting and changes to the ground reaction force profile. We examined these mechanisms among eight Australian agamid lizards. Our analysis revealed that angular acceleration of the trunk about the hip, and of the tail about the hip were both important predictors of extended bipedal running, along with increased temporal asymmetry of the ground reaction force profile. These results highlight important dynamic movements during locomotion, which may not only stabilize bipedal strides, but also to de-stabilize quadrupedal strides in agamid lizards, in order to temporarily switch to, and extend a bipedal sequence.

A Review of Natural Joint Systems and Numerical Investigation of Bio-Inspired GFRP-to-Steel Joints

There are a great variety of joint types used in nature which can inspire engineering joints. In order to design such biomimetic joints, it is at first important to understand how biological joints work. A comprehensive literature review, considering natural joints from a mechanical point of view, was undertaken. This was used to develop a taxonomy based on the different methods/functions that nature successfully uses to attach dissimilar tissues. One of the key methods that nature uses to join dissimilar materials is a transitional zone of stiffness at the insertion site. This method was used to propose bio-inspired solutions with a transitional zone of stiffness at the joint site for several glass fibre reinforced plastic (GFRP) to steel adhesively bonded joint configurations. The transition zone was used to reduce the material stiffness mismatch of the joint parts. A numerical finite element model was used to identify the optimum variation in material stiffness that minimises potential failure of the joint. The best bio-inspired joints showed a 118% increase of joint strength compared to the standard joints.

Robot cognitive control with a neurophysiologically inspired reinforcement learning model

A major challenge in modern robotics is to liberate robots from controlled industrial settings, and allow them to interact with humans and changing environments in the real-world. The current research attempts to determine if a neurophysiologically motivated model of cortical function in the primate can help to address this challenge. Primates are endowed with cognitive systems that allow them to maximize the feedback from their environment by learning the values of actions in diverse situations and by adjusting their behavioral parameters (i.e., cognitive control) to accommodate unexpected events. In such contexts uncertainty can arise from at least two distinct sources – expected uncertainty resulting from noise during sensory-motor interaction in a known context, and unexpected uncertainty resulting from the changing probabilistic structure of the environment. However, it is not clear how neurophysiological mechanisms of reinforcement learning and cognitive control integrate in the brain to produce efficient behavior. Based on primate neuroanatomy and neurophysiology, we propose a novel computational model for the interaction between lateral prefrontal and anterior cingulate cortex reconciling previous models dedicated to these two functions. We deployed the model in two robots and demonstrate that, based on adaptive regulation of a meta-parameter β that controls the exploration rate, the model can robustly deal with the two kinds of uncertainties in the real-world. In addition the model could reproduce monkey behavioral performance and neurophysiological data in two problem-solving tasks. A last experiment extends this to human–robot interaction with the iCub humanoid, and novel sources of uncertainty corresponding to “cheating” by the human. The combined results provide concrete evidence for the ability of neurophysiologically inspired cognitive systems to control advanced robots in the real-world.