A multiscale tribological study of nacre : Evidence of wear nanomechanisms controlled by the frictional dissipated power

Sheet nacre is a hybrid biocomposite with a multiscale structure, including nanograins of CaCO3 (97% wt.% – 40 nm in size) and two organic matrices: (i) the “interlamellar” mainly composed of β-chitin and proteins, and (ii) the “intracrystalline” mainly composed by silk-fibroin-like proteins. This material is currently studied as small prostheses with its tribological behaviour. In this work, the latter is studied by varying the frictional dissipated power from few nW to several hundreds mW, in order to study the various responses of the different nacre’s components, independently. Results reveal various dissipative mechanisms vs. dissipated frictional power: organic thin film lubrication, tablet’s elastoplastic deformations, stick-slip phenomenon and/or multiscale wear processes, including various thermo-mechanical processes (i.e., mineral phase transformation, organics melting and friction-induced nanoshocks process on a large range). All these mechanisms are controlled by the multiscale structure of nacre – and especially by its both matrices and respective orientation vs. the sliding direction

A Bio-Inspired Two-Layer Mixed-Signal Flexible Programmable Chip for Early Vision

A bio-inspired model for an analog programmable array processor (APAP), based on studies on the vertebrate retina, has permitted the realization of complex programmable spatio-temporal dynamics in VLSI. This model mimics the way in which images are processed in the visual pathway, what renders a feasible alternative for the implementation of early vision tasks in standard technologies. A prototype chip has been designed and fabricated in 0.5 μm CMOS. It renders a computing power per silicon area and power consumption that is amongst the highest reported for a single chip. The details of the bio-inspired network model, the analog building block design challenges and trade-offs and some functional tests results are presented in this paper.Office of Naval Research (USA) N-000140210884European Commission IST-1999-19007Ministerio de Ciencia y Tecnología TIC1999-082

Body Lift and Drag for a Legged Millirobot in Compliant Beam Environment

Much current study of legged locomotion has rightly focused on foot traction forces, including on granular media. Future legged millirobots will need to go through terrain, such as brush or other vegetation, where the body contact forces significantly affect locomotion. In this work, a (previously developed) low-cost 6-axis force/torque sensing shell is used to measure the interaction forces between a hexapedal millirobot and a set of compliant beams, which act as a surrogate for a densely cluttered environment. Experiments with a VelociRoACH robotic platform are used to measure lift and drag forces on the tactile shell, where negative lift forces can increase traction, even while drag forces increase. The drag energy and specific resistance required to pass through dense terrains can be measured. Furthermore, some contact between the robot and the compliant beams can lower specific resistance of locomotion. For small, light-weight legged robots in the beam environment, the body motion depends on both leg-ground and body-beam forces. A shell-shape which reduces drag but increases negative lift, such as the half-ellipsoid used, is suggested to be advantageous for robot locomotion in this type of environment.Comment: First three authors contributed equally. Accepted to ICRA 201