SpaceBok: A Dynamic Legged Robot for Space Exploration

This paper introduces SpaceBok, a quadrupedal robot created to investigate dynamic legged locomotion for the exploration of low-gravity celestial bodies. With a hip height of 500 mm and a mass of 20 kg, its dimensions are comparable to a medium-sized dog. The robot's leg configuration is based on an optimized parallel motion mechanism that allows the integration of parallel elastic elements to store and release energy for powerful jumping maneuvers. High-torque brushless motors in combination with customized single-stage planetary gear transmissions enable force control at the foot contact points based on motor currents. We present successful walking, trotting, and pronking experiments. Thereby, Spacebok achieved maximal jump heights in single jump experiments of up to 1.05 m (more than twice the hip height) and a walking velocity of 1 m/s. Moreover, simulation results for low gravity on the moon suggest that our robot can move with up to 1.1 m/s at an approximate cost of transport of 1 in moon gravity when using the pronking gait

Biodegradation of mixture of plastic films by tailored marine consortia

Summarization: This work sheds light on the physicochemical changes of naturally weathered polymer surfaces along with changes of polymer buoyancy due to biofilm formation and degradation processes. To support the degradation hypothesis, a microcosm experiment was conducted where a mixture of naturally weathered plastic pieces was incubated with an indigenous pelagic community. A series of analyses were employed in order to describe the alteration of the physicochemical characteristics of the polymer (FTIR, SEC and GPC, sinking velocity)as well as the biofilm community (NGS). At the end of phase II, the fraction of double bonds in the surface of microbially treated PE films increased while changes were also observed in the profile of the PS films. The molecular weight of PE pieces increased with incubation time reaching the molecular weight of the virgin pieces (230,000 g mol−1)at month 5 but the buoyancy displayed no difference throughout the experimental period. The number-average molecular weight of PS pieces decreased (33% and 27% in INDG and BIOG treatment respectively), implying chain scission; accelerated (by more than 30%)sinking velocities compared to the initial weathered pieces were also measured for PS films with biofilm on their surface. The orders Rhodobacterales, Oceanospirillales and Burkholderiales dominated the distinct platisphere communities and the genera Bacillus and Pseudonocardia discriminate these assemblages from the planktonic counterpart. The functional analysis predicts overrepresentation of adhesive cells carrying xenobiotic and hydrocarbon degradation genes. Taking these into account, we can suggest that tailored marine consortia have the ability to thrive in the presence of mixtures of plastics and participate in their degradation.Παρουσιάστηκε στο: Journal of Hazardous Material