Towards a methodical approach to implement biomimetic paradigms in the design of robotic systems for space applications

Biomimetic design is considered a promising source of novel solutions to problems in space engineering and robotics in particular. With the maturing of this discipline, however, a need is identified: a more systematic approach to its application to reduce the element of chance in the design of biomimetic systems. A methodology is proposed to address this concern and provide a basis for further development of biomimetic design procedures. The application of this process is illustrated through case studies of ongoing biomimetics research with relevance to space robotics in the form of climbing robots utilising synthetic dry adhesives

Parametric Study of Strain Rate Effects on Nanoparticle-Reinforced Polymer Composites

Crashworthiness, energy absorption capacity, and safety are important factors in the design of lightweight vehicles made of fiber-reinforced polymer composite (FRP) components. The relatively recent emergence of the nanotechnology industry has presented a novel means to augment the mechanical properties of various materials. As a result, recent attempts have contemplated the use of nanoparticles to further improve the resiliency of resins, especially when resins are used for mating FRP components. Therefore, a comprehensive understanding of the response of nanoreinforced polymer composites, subjected to various rates of loading, is of paramount importance for developing reliable structures. In this paper, the effects of nanoreinforcement on the mechanical response of a commonly used epoxy resin subjected to four different strain rates, are systematically investigated. The results are then compared to those of the neat resin. To characterize the mechanical properties of the nanocomposite, a combination of the strain rate-dependent mechanical (SRDM) model of Goldberg and his coworkers and Halpin-Tsai’s micromechanical approach is employed. Subsequently, a parametric study is conducted to ascertain the influences of particle type and their weight percentage. Finally, the numerical results are compared to the experimental data obtained from testing of the neat and the nanoreinforced epoxy resin

Three-dimensional modeling of acoustic backscattering from fluid-like zooplankton

Author Posting. © Acoustical Society of America, 2002. This article is posted here by permission of Acoustical Society of America for personal use, not for redistribution. The definitive version was published in Journal of the Acoustical Society of America 111 (2002): 1197-1210, doi:10.1121/1.1433813.Scattering models that correctly incorporate organism size and shape are a critical component for the remote detection and classification of many marine organisms. In this work, an acoustic scattering model has been developed for fluid-like zooplankton that is based on the distorted wave Born approximation (DWBA) and that makes use of high-resolution three-dimensional measurements of the animal's outer boundary shape. High-resolution computerized tomography (CT) was used to determine the three-dimensional digitizations of animal shape. This study focuses on developing the methodology for incorporating high-resolution CT scans into a scattering model that is generally valid for any body with fluid-like material properties. The model predictions are compared to controlled laboratory measurements of the acoustic backscattering from live individual decapod shrimp. The frequency range used was 50 kHz to 1 MHz and the angular characteristics of the backscattering were investigated with up to a 1° angular resolution. The practical conditions under which it is necessary to make use of high-resolution digitizations of shape are assessed.This work was supported in part by the Woods Hole Oceanographic Institution Education Office

Robust thermal control for CMOS-based lab-on-chip systems

The need for precise temperature control at small scales has provided a formidable challenge to the lab-on-chip community. It requires, at once, good thermal conductivity for high speed operation, good thermal isolation for low power consumption and the ability to have small (mm-scale) thermally independent regions on the same substrate. Most importantly, and, in addition to these conflicting requirements, there is a need to accurately measure the temperature of the active region without the need for device-to-device calibrations. We have developed and tested a design that enables thermal control of lab-on-chip devices atop silicon substrates in a way that could be integrated with the standard methods of mass-manufacture used in the electronics industry (i.e. CMOS). This is a significant step towards a single-chip lab-on-chip solution, one in which the microfluidics, high voltage electronics, optoelectronics, instrumentation electronics, and the world-chip interface are all integrated on a single substrate with multiple, independent, thermally-controlled regions based on active heating and passive cooling.Natural Sciences and Engineering Research Canada (NSERC)Teledyne-DALSA Semiconducto

Feeding behavior of the ctenophore Thalassocalyce inconstans : revision of anatomy of the order Thalassocalycida

© 2009 The Authors. This article is distributed under the terms of the Creative Commons Attribution Noncommercial License. The definitive version was published in Marine Biology 156 (2009): 1049-1056, doi:10.1007/s00227-009-1149-6.Behavioral observations using a remotely operated vehicle (ROV) in the Gulf of California in March, 2003, provided insights into the vertical distribution, feeding and anatomy of the rare and delicate ctenophore Thalassocalyce inconstans. Additional archived ROV video records from the Monterey Bay Aquarium Research Institute of 288 sightings of T. inconstans and 2,437 individual observations of euphausiids in the Gulf of California and Monterey Canyon between 1989 and 2005 were examined to determine ctenophore and euphausiid prey depth distributions with respect to temperature and dissolved oxygen concentration [dO]. In the Gulf of California most ctenophores (96.9%) were above 350 m, the top of the oxygen minimum layer. In Monterey Canyon the ctenophores were more widely distributed throughout the water column, including the hypoxic zone, to depths as great as 3,500 m. Computer-aided behavioral analysis of two video records of the capture of euphausiids by T. inconstans showed that the ctenophore contracted its bell almost instantly (0.5 s), transforming its flattened, hemispherical resting shape into a closed bi-lobed globe in which seawater and prey were engulfed. Euphausiids entrapped within the globe displayed a previously undescribed escape response for krill (‘probing behavior’), in which they hovered and gently probed the inner surfaces of the globe with antennae without stimulating further contraction by the ctenophore. Such rapid bell contraction could be effected only by a peripheral sphincter muscle even though the presence of circumferential ring musculature was unknown for the Phylum Ctenophora. Thereafter, several live T. inconstans were collected by hand off Barbados and microscopic observations confirmed that assumption.Supported by the David and Lucile Packard Foundation and NOAA Grant #NA06OAR4600091

Vertical distribution of fish larvae in the Canaries-African coastal transition zone, in summer

13 pages, 6 figures, 2 tables.-- Printed version published Jul 2006.This study reports the vertical distribution of fish larvae during the 1999 summer upwelling season in the Canaries-African Coastal Transition Zone (the Canaries-ACTZ). The transition between the African coastal upwelling and the typical subtropical offshore conditions is a region of intense mesoscale activity that supports a larval fish population dominated by African neritic species. During the study, the thermal stratification extended almost to the surface everywhere, and the surface mixed layer was typically shallow or non-existent. Upwelling occurred on the African shelf in a limited coastal sub-area of our sampling. The vertical distributions of the entire larval fish population, as well as of individual species, were independent of the seasonal thermocline. Fish larvae and mesozooplankton were concentrated at intermediate depths regardless of the thermocline position, probably because of its weak signature and spatial and temporal variability. Day/night vertical distributions suggest that some species did not perform diel vertical migration (DVM), whereas others showed either type I DVM or type II DVM. The opposing DVM patterns of different species compensate for each other resulting in no net DVM for the larval fish population as a whole.Fieldwork was carried out as part of the CANIGO project, funded by the EU, and of the "Pelagic (EU-CICYT 1FD97-1084)" project from the Spanish Ministry of Education and the European Union

Meso- and macrozooplankton communities in the Weddell Sea, Antarctica

The present paper describes composition and abundance of meso- and macrozooplankton in the epipelagic zone of the Weddell Sea and gives a systematic review of encountered species regarding results of earlier expeditions. Material was sampled from 6 February to 10 March 1983 from RV Polarstern with a RMT 1+8 m (320 and 4500 μm mesh size). In agreement with topography and water mass distribution three distinct communities were defined, clearly separated by cluster analysis: The Southern Shelf Community has lowest abundances (approx. 9000 ind./1000 m3). Euphausia crystallorophias and Metridia gerlachei are predominating. Compared with the low overall abundance the number of regularly occurring species is high (55) due to many neritic forms. Herbivores and omnivores are dominating (58% and 35%). The North-eastern Shelf Community has highest abundances (about 31 000 ind./1000 m3). It is predominated by copepodites I–III of Calanus propinquus and Calanoides acutus (61%). The faunal composition is characterized by both oceanic and neritic species (64). Fine-filter feeders are prevailing (65%). The Oceanic Community has a mean abundance of approximately 23 000 ind./1000 m3, consisting of 61 species. Dominances are not as pronounced as in the shelf communities. Apart from abundant species like Calanus propinquus, Calanoides acutus, Metridia gerlachei, Oithona spp. and Oncaea spp. many typical inhabitants of the Eastwind Drift are encountered. All feeding types have about the same importance in the Oceanic Community