A rapid-response soft end effector inspired by the hummingbird beak

This is the final version. Available on open access from the Royal Society via the DOI in this recordData accessibility: Data (including the videos about the experiment) are available from Dryad: https://doi.org/10.5061/dryad.3bk3j9ktvSupplementary material is available online at https://doi.org/10.6084/m9.figshare.c.7402652Biology is a wellspring of inspiration in engineering design. This paper delves into the application of elastic instabilities—commonly used in biological systems to facilitate swift movement—as a power-amplification mechanism for soft robots. Specifically, inspired by the nonlinear mechanics of the hummingbird beak—and shedding further light on it—we design, build and test a novel, rapid-response, soft end effector. The hummingbird beak embodies the capacity for swift movement, achieving closure in less than 10ms . Previous work demonstrated that rapid movement is achieved through snap-through deformations, induced by muscular actuation of the beak’s root. Using nonlinear finite element simulations coupled with continuation algorithms, we unveil a representative portion of the equilibrium manifold of the beak-inspired structure. The exploration involves the application of a sequence of rotations as exerted by the hummingbird muscles. Specific emphasis is placed on pinpointing and tailoring the position along the manifold of the saddle-node bifurcation at which the onset of elastic instability triggers dynamic snap-through. We show the critical importance of the intermediate rotation input in the sequence, as it results in the accumulation of elastic energy that is then explosively released as kinetic energy upon snap-through. Informed by our numerical studies, we conduct experimental testing on a prototype end effector fabricated using a compliant material (thermoplastic polyurethane). The experimental results support the trends observed in the numerical simulations and demonstrate the effectiveness of the bio-inspired design. Specifically, we measure the energy transferred by the soft end effector to a pendulum, varying the input levels in the sequence of prescribed rotations. Additionally, we demonstrate a potential robotic application in scenarios demanding explosive action. From a mechanics perspective, our work sheds light on how pre-stress fields can enable swift movement in soft robotic systems with the potential to facilitate high input-to-output energy efficiency.University of BristolLeverhulme TrustRoyal Academy of Engineering (RAE

Quantifying efficient shape-shifting: Energy barrier measurement in multi-stable lattice metamaterials

This is the final version. Available on open access from Elsevier via the DOI in this recordData availability: Data are available at the University of Bristol data repository, data.bris, at https://doi.org/10.5523/bris.1n7g692ynrlht214cxm7yk77qiShape-shifting between multiple stable deformation states offers attractive pathways to design adaptive structures. Ideas have been conceptualised in diverse fields, including soft robotics and aerospace engineering. The success of shape-shifting relies on overcoming the energy barrier separating adjacent stable configurations, which necessitates efficient actuation strategies. Recently, multistable mechanical metamaterials have been designed with shape-shifting controlled by an actuator at the local scale, i.e with embedded actuation. This local, embedded actuation creates challenges for quantifying the energy barriers required for shape-shifting. Specifically, the local actuation requires a pair of forces with opposite directions and the direction of the forces must remain constant throughout the entire loading process. Moreover, the loading points must move freely in a direction perpendicular to the loading direction. We present a novel bi-axial test rig for a typical multi-stable lattice metamaterial that accurately determines the energy barrier between stable states by using an embedded actuator and inducing shape-shifting. Our experimental design features two independent actuation systems operating at different length scales: a primary one for a globally applied axial compression of the metamaterial, and a secondary local system for triggering shape-shifting between different stable configurations. Experimental data obtained using this bespoke test rig unveil the metamaterial’s response to local, embedded actuation. Excellent agreement with finite element simulations is observed, demonstrating the effectiveness of the test setup in providing measurements of the energy barrier. This work provides a valuable benchmark for measuring energy barriers in multi-stable metamaterials and paves the way for rigorous validation and verification of novel functional metamaterial and structures that leverage shape-shifting mechanisms.Leverhulme TrustRoyal Academy of Engineering (RAE)Exeter Technologies Group, University of ExeterSwansea UniversityEuropean Research Council (ERC

Offshore Code Comparison Collaboration Continuation (OC4), Phase I – Results of Coupled Simulations of an Offshore Wind Turbine with Jacket Support Structure

Heike von Waaden (REpower Systems SE) To be presented at the 22 nd International Society of Offshore and Polar Engineers Conference Rhodes, Greec

Characterization and performance of nucleic acid nanoparticles combined with protamine and gold

Macromolecular nucleic acids such as DNA vaccines, siRNA, and splice-site switching oligomers (SSO) have vast chemotherapeutic potential. Nanoparticulate biomaterials hold promise for DNA and RNA delivery when a means for binding is identified that retains structure-function and provides stabilization by the nanoparticles. In order to provide these benefits of binding, we combined DNA and RNA with protamine— demonstrating association to gold microparticles by electrophoretic, gel shot, fluorescence, and dynamic laser light spectroscopy (DLLS). A pivotal finding in these studies is that the Au-protamine-DNA conjugates greatly stabilize the DNA; and DNA structure and vaccine activity are maintained even after exposure to physical, chemical, and temperature-accelerated degradation. Specifically, protamine formed nanoparticles when complexed to RNA. These complexes could be detected by gel shift and were probed by high throughput absorbance difference spectroscopy (HTADS). Biological activity of these RNA nanoparticles (RNPs) was demonstrated also by a human tumor cell splice-site switching assay and by siRNA delivery against B-Raf—a key cancer target. Finally, RNA:protamine particles inhibited growth of cultured human tumor cells and bacteria. These data provide new insights into DNA and RNA nanoparticles and prospects for their delivery and chemotherapeutic activity

Correlation of magnetic field intensities and solar wind speeds of events observed by ACE

The relationship between the magnetic field intensity and speed of solar wind events is examined using ∼3 years of data from the ACE spacecraft. No preselection of coronal mass ejections (CMEs) or magnetic clouds is carried out. The correlation between the field intensity and maximum speed is shown to increase significantly when |B| > 18 nT for 3 hours or more. Of the 24 events satisfying this criterion, 50% are magnetic clouds, the remaining half having no ordered field structure. A weaker correlation also exists between southward magnetic field and speed. Sixteen of the events are associated with halo CMEs leaving the Sun 2 to 4 days prior to the leading edge of the events arriving at ACE. Events selected by speed thresholds show no significant correlation, suggesting different relations between field intensity and speed for fast solar wind streams and ICMEs

Disability in young adults following major trauma: 5 year follow up of survivors

BACKGROUND: Injuries are a major cause of mortality and morbidity in young people. Despite this, the long-term consequences for young survivors of severe injury are relatively unexplored. METHODS: Population based cohort study involving 5 year post injury structured interview of all cases of major trauma (Injury Severity Score > 15) identified retrospectively for 12 month period (1988 to 1989) within former Yorkshire Health Authority area of the United Kingdom. RESULTS: 125 individuals aged 11–24 years at time of injury were identified. Of these, 109 (87%) were interviewed. Only 20% (95% CI 14–29%) of those interviewed reported no disability. Mean Office of Population Census and Surveys (OPCS) disability score of the remainder was 7.5 (median 5.8, range 0.5 to 19.4). The most commonly encountered areas of disability were behaviour (54%, 95% CI 45–63%), intellectual functioning (39%, 95% CI 31–49%) and locomotion (29%, 95% CI 22–39%). Many respondents reported that their daily lives were adversely affected by their health problems for example, causing problems with work, 54% (95% CI 45–63%), or looking after the home, 28% (95% CI 21–38%). Higher OPCS scores were usually but not always associated with greater impact on daily activities. The burden of caring responsibilities fell largely on informal carers. 51% (95% CI 42–61%) of those interviewed would have liked additional help to cope with their injury and disability. CONCLUSION: The study has revealed significant disability amongst a cohort of young people 5 years post severe injury. Whilst many of these young people were coping well with the consequences of their injuries, others reported continuing problems with the activities of daily life. The factors underpinning the young people's differing experiences and social outcome should be explored