Aerial-aquatic robots capable of crossing the air-water boundary and hitchhiking on surfaces.

Many real-world applications for robots-such as long-term aerial and underwater observation, cross-medium operations, and marine life surveys-require robots with the ability to move between the air-water boundary. Here, we describe an aerial-aquatic hitchhiking robot that is self-contained for flying, swimming, and attaching to surfaces in both air and water and that can seamlessly move between the two. We describe this robot's redundant, hydrostatically enhanced hitchhiking device, inspired by the morphology of a remora (Echeneis naucrates) disc, which works in both air and water. As with the biological remora disc, this device has separate lamellar compartments for redundant sealing, which enables the robot to achieve adhesion and hitchhike with only partial disc attachment. The self-contained, rotor-based aerial-aquatic robot, which has passively morphing propellers that unfold in the air and fold underwater, can cross the air-water boundary in 0.35 second. The robot can perform rapid attachment and detachment on challenging surfaces both in air and under water, including curved, rough, incomplete, and biofouling surfaces, and achieve long-duration adhesion with minimal oscillation. We also show that the robot can attach to and hitchhike on moving surfaces. In field tests, we show that the robot can record video in both media and move objects across the air/water boundary in a mountain stream and the ocean. We envision that this study can pave the way for future robots with autonomous biological detection, monitoring, and tracking capabilities in a wide variety of aerial-aquatic environments

Morphology of powerful suction organs from blepharicerid larvae living in raging torrents

AbstractBackgroundSuction organs provide powerful yet dynamic attachments for many aquatic animals, including octopus, squid, remora, and clingfish. While the functional morphology of suction organs from some cephalopods and fishes has been investigated in detail, there are only few studies on such attachment devices in insects. Here we characterise the morphology and ultrastructure of the suction attachment organs of net-winged midge larvae (genusLiponeura; Diptera: Blephariceridae) – aquatic insects that live on rocks in rapid alpine waterways where flow speeds can reach 3 m s− 1– using scanning electron microscopy, confocal laser scanning microscopy, and X-ray computed micro-tomography (micro-CT). Furthermore, we study the function of these organs in vivo using interference reflection microscopy.ResultsWe identified structural adaptations important for the function of the suction attachment organs inL. cinerascensandL. cordata. First, a dense array of spine-like microtrichia covering each suction disc comes into contact with the substrate upon attachment, analogous to hairy structures on suction organs from octopus, clingfish, and remora fish. These spine-like microtrichia may contribute to the seal and provide increased shear force resistance in high-drag environments. Second, specialised rim microtrichia at the suction disc periphery were found to form a continuous ring in close contact and may serve as a seal on a variety of surfaces. Third, a V-shaped cut on the suction disc (“V-notch“) is actively opened via two cuticular apodemes inserting on its flanks. The apodemes are attached to dedicated V-notch opening muscles, thereby providing a unique detachment mechanism. The complex cuticular design of the suction organs, along with specialised muscles that attach to them, allows blepharicerid larvae to generate powerful attachments which can withstand strong hydrodynamic forces and quickly detach for locomotion.ConclusionThe suction organs fromLiponeuraare underwater attachment devices specialised for resisting extremely fast flows. Structural adaptations from these suction organs could translate into future bioinspired attachment systems that perform well on a wide range of surfaces.</jats:sec

Morphology of powerful suction organs from blepharicerid larvae living in raging torrents

Background: Suction organs provide powerful yet dynamic attachments for many aquatic animals, including octopus, squid, remora, and clingfish. While the functional morphology of suction organs from some cephalopods and fishes has been investigated in detail, there are only few studies on such attachment devices in insects. Here we characterise the morphology and ultrastructure of the suction attachment organs of net-winged midge larvae (genus Liponeura; Diptera: Blephariceridae) – aquatic insects that live on rocks in rapid alpine waterways where flow speeds can reach 3ms⁻¹– using scanning electron microscopy, confocal laser scanning microscopy, and X-ray computed micro-tomography (micro-CT). Furthermore, we study the function of these organs in vivo using interference reflection microscopy. Results: We identified structural adaptations important for the function of the suction attachment organs in L. cinerascens and L. cordata. First, a dense array of spine-like microtrichia covering each suction disc comes into contact with the substrate upon attachment, analogous to hairy structures on suction organs from octopus, clingfish, and remora fish. These spine-like microtrichia may contribute to the seal and provide increased shear force resistance in high-drag environments. Second, specialised rim microtrichia at the suction disc periphery were found to form a continuous ring in close contact and may serve as a seal on a variety of surfaces. Third, a V-shaped cut on the suction disc (“V-notch“) is actively opened via two cuticular apodemes inserting on its flanks. The apodemes are attached to dedicated V-notch opening muscles, thereby providing a unique detachment mechanism. The complex cuticular design of the suction organs, along with specialized muscles that attach to them, allows blepharicerid larvae to generate powerful attachments which can withstand strong hydrodynamic forces and quickly detach for locomotion. Conclusion: The suction organs from Liponeura are underwater attachment devices specialised for resisting extremely fast flows. Structural adaptations from these suction organs could translate into future bioinspired attachment systems that perform well on a wide range of surfaces

Morphology of powerful suction organs from blepharicerid larvae living in raging torrents

BackgroundSuction organs provide powerful yet dynamic attachments for many aquatic animals, including octopus, squid, remora, and clingfish. While the functional morphology of suction organs from some cephalopods and fishes has been investigated in detail, there are only few studies on such attachment devices in insects. Here we characterise the morphology and ultrastructure of the suction attachment organs of net-winged midge larvae (genus Liponeura; Diptera: Blephariceridae) – aquatic insects that live on rocks in rapid alpine waterways where flow speeds can reach 3 m s− 1 – using scanning electron microscopy, confocal laser scanning microscopy, and X-ray computed micro-tomography (micro-CT). Furthermore, we study the function of these organs in vivo using interference reflection microscopy.ResultsWe identified structural adaptations important for the function of the suction attachment organs in L. cinerascens and L. cordata. First, a dense array of spine-like microtrichia covering each suction disc comes into contact with the substrate upon attachment, analogous to hairy structures on suction organs from octopus, clingfish, and remora fish. These spine-like microtrichia may contribute to the seal and provide increased shear force resistance in high-drag environments. Second, specialised rim microtrichia at the suction disc periphery were found to form a continuous ring in close contact and may serve as a seal on a variety of surfaces. Third, a V-shaped cut on the suction disc (“V-notch“) is actively opened via two cuticular apodemes inserting on its flanks. The apodemes are attached to dedicated V-notch opening muscles, thereby providing a unique detachment mechanism. The complex cuticular design of the suction organs, along with specialised muscles that attach to them, allows blepharicerid larvae to generate powerful attachments which can withstand strong hydrodynamic forces and quickly detach for locomotion.ConclusionThe suction organs from Liponeura are underwater attachment devices specialised for resisting extremely fast flows. Structural adaptations from these suction organs could translate into future bioinspired attachment systems that perform well on a wide range of surfaces

The role of hairs in the adhesion of octopus suckers: a hierarchical peeling approach.

Organisms like the octopus or the clingfish are a precious source of inspiration for the design of innovative adhesive systems based on suction cups, but a complete mechanical description of their attachment process is still lacking. In this paper, we exploit the recent discovery of the presence of hairs in the acetabulum roof of octopus suction cups to revise the current model for its adhesion to the acetabulum wall. We show how this additional feature, which can be considered an example of a hierarchical structure, can lead to an increase of adhesive strength, based on the analysis of the cases of a simple tape and an axisymmetrical membrane adhering to a substrate. Using peeling theory, we discuss in both cases the influence of hierarchical structure and the resulting variation of geometry on the adhesive energy, highlighting how an increase in number of hierarchical levels contributes to its increment, with a corresponding improvement in functionality for the octopus suckers

Advanced Bionic Attachment Equipment Inspired by the Attachment Performance of Aquatic Organisms: A Review

In nature, aquatic organisms have evolved various attachment systems, and their attachment ability has become a specific and mysterious survival skill for them. Therefore, it is significant to study and use their unique attachment surfaces and outstanding attachment characteristics for reference and develop new attachment equipment with excellent performance. Based on this, in this review, the unique non-smooth surface morphologies of their suction cups are classified and the key roles of these special surface morphologies in the attachment process are introduced in detail. The recent research on the attachment capacity of aquatic suction cups and other related attachment studies are described. Emphatically, the research progress of advanced bionic attachment equipment and technology in recent years, including attachment robots, flexible grasping manipulators, suction cup accessories, micro-suction cup patches, etc., is summarized. Finally, the existing problems and challenges in the field of biomimetic attachment are analyzed, and the focus and direction of biomimetic attachment research in the future are pointed out

Morphology of powerful suction organs from blepharicerid larvae living in raging torrents

Abstract: Background: Suction organs provide powerful yet dynamic attachments for many aquatic animals, including octopus, squid, remora, and clingfish. While the functional morphology of suction organs from some cephalopods and fishes has been investigated in detail, there are only few studies on such attachment devices in insects. Here we characterise the morphology and ultrastructure of the suction attachment organs of net-winged midge larvae (genus Liponeura; Diptera: Blephariceridae) – aquatic insects that live on rocks in rapid alpine waterways where flow speeds can reach 3 m s− 1 – using scanning electron microscopy, confocal laser scanning microscopy, and X-ray computed micro-tomography (micro-CT). Furthermore, we study the function of these organs in vivo using interference reflection microscopy. Results: We identified structural adaptations important for the function of the suction attachment organs in L. cinerascens and L. cordata. First, a dense array of spine-like microtrichia covering each suction disc comes into contact with the substrate upon attachment, analogous to hairy structures on suction organs from octopus, clingfish, and remora fish. These spine-like microtrichia may contribute to the seal and provide increased shear force resistance in high-drag environments. Second, specialised rim microtrichia at the suction disc periphery were found to form a continuous ring in close contact and may serve as a seal on a variety of surfaces. Third, a V-shaped cut on the suction disc (“V-notch“) is actively opened via two cuticular apodemes inserting on its flanks. The apodemes are attached to dedicated V-notch opening muscles, thereby providing a unique detachment mechanism. The complex cuticular design of the suction organs, along with specialised muscles that attach to them, allows blepharicerid larvae to generate powerful attachments which can withstand strong hydrodynamic forces and quickly detach for locomotion. Conclusion: The suction organs from Liponeura are underwater attachment devices specialised for resisting extremely fast flows. Structural adaptations from these suction organs could translate into future bioinspired attachment systems that perform well on a wide range of surfaces

Extreme suction attachment performance from specialised insects living in mountain streams (Diptera: Blephariceridae).

Suction is widely used by animals for strong controllable underwater adhesion but is less well understood than adhesion of terrestrial climbing animals. Here we investigate the attachment of aquatic insect larvae (Blephariceridae), which cling to rocks in torrential streams using the only known muscle-actuated suction organs in insects. We measured their attachment forces on well-defined rough substrates and found that their adhesion was less reduced by micro-roughness than that of terrestrial climbing insects. In vivo visualisation of the suction organs in contact with microstructured substrates revealed that they can mould around large asperities to form a seal. We have shown that the ventral surface of the suction disc is covered by dense arrays of microtrichia, which are stiff spine-like cuticular structures that only make tip contact. Our results demonstrate the impressive performance and versatility of blepharicerid suction organs and highlight their potential as a study system to explore biological suction mechanisms

Water as a "glue" : Elasticity-enhanced wet attachment of biomimetic microcup structures

Octopus, clingfish, and larva use soft cups to attach to surfaces under water. Recently, various bioinspired cups have been engineered. However, the mechanisms of their attachment and detachment remain elusive. Using a novel microcup, fabricated by two-photon lithography, coupled with in situ pressure sensor and observation cameras, we reveal the detailed nature of its attachment/detachment under water. It involves elasticity-enhanced hydrodynamics generating “self-sealing” and high suction at the cup-substrate interface, converting water into “glue.” Detachment is mediated by seal breaking. Three distinct mechanisms of breaking are identified, including elastic buckling of the cup rim. A mathematical model describes the interplay between the attachment/detachment process, geometry, elasto-hydrodynamics, and cup retraction speed. If the speed is too slow, then the octopus cannot attach; if the tide is too gentle for the larva, then water cannot serve as a glue. The concept of “water glue” can innovate underwater transport and manufacturing strategies

Applications of Bioinspired Reversible Dry and Wet Adhesives: A Review

&lt;jats:p&gt;Bioinspired adhesives that emulate the unique dry and wet adhesion mechanisms of living systems have been actively explored over the past two decades. Synthetic bioinspired adhesives that have recently been developed exhibit versatile smart adhesion capabilities, including controllable adhesion strength, active adhesion control, no residue remaining on the surface, and robust and reversible adhesion to diverse dry and wet surfaces. Owing to these advantages, bioinspired adhesives have been applied to various engineering domains. This review summarizes recent efforts that have been undertaken in the application of synthetic dry and wet adhesives, mainly focusing on grippers, robots, and wearable sensors. Moreover, future directions and challenges toward the next generation of bioinspired adhesives for advanced industrial applications are described.&lt;/jats:p&gt