Anisotropic body compliance facilitates robotic sidewinding in complex environments

Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reconstructed by limbless robotic systems for effective movement across diverse terrestrial terrains. However, the integration of compliant mechanisms into sidewinding limbless robots remains less explored, posing challenges for navigation in complex, rheologically diverse environments. Inspired by a notable control simplification via mechanical intelligence in lateral undulation, which offloads feedback control to passive body mechanics and interactions with the environment, we present an innovative design of a mechanically intelligent limbless robot for sidewinding. This robot features a decentralized bilateral cable actuation system that resembles organismal muscle actuation mechanisms. We develop a feedforward controller that incorporates programmable body compliance into the sidewinding gait template. Our experimental results highlight the emergence of mechanical intelligence when the robot is equipped with an appropriate level of body compliance. This allows the robot to 1) locomote more energetically efficiently, as evidenced by a reduced cost of transport, and 2) navigate through terrain heterogeneities, all achieved in an open-loop manner, without the need for environmental awareness

Robust self-propulsion in sand using simply controlled vibrating cubes

Much of the Earth and many surfaces of extraterrestrial bodies are composed of in-cohesive particle matter. Locomoting on granular terrain is challenging for common robotic devices, either wheeled or legged. In this work, we discover a robust alternative locomotion mechanism on granular media -- generating movement via self-vibration. To demonstrate the effectiveness of this locomotion mechanism, we develop a cube-shaped robot with an embedded vibratory motor and conduct systematic experiments on diverse granular terrains of various particle properties. We investigate how locomotion changes as a function of vibration frequency/intensity on granular terrains. Compared to hard surfaces, we find such a vibratory locomotion mechanism enables the robot to move faster, and more stable on granular surfaces, facilitated by the interaction between the body and surrounding granules. The simplicity in structural design and controls of this robotic system indicates that vibratory locomotion can be a valuable alternative way to produce robust locomotion on granular terrains. We further demonstrate that such cube-shape robots can be used as modular units for morphologically structured vibratory robots with capabilities of maneuverable forward and turning motions, showing potential practical scenarios for robotic systems

Application of Diamond Detectors in Tracking of Heavy Ion Slowed Down Radioactive Beams

Results of irradiation of thin Chemical Vapor Deposition (CVD) diamond detectors with low energy: p,α and 7Li beams are presented. Energy resolution: ΔE/E<1% of a single crystal detector was achieved. A coincident measurement with two diamond detectors showed time resolution of 100 ps and efficiency above 70%. Despite a high beam flux reaching 109 particles/s cm2 the tested detectors showed low dead-time and satisfactory radiation hardness. Perspectives of applying thin CVD diamond detectors in monitoring of a slowed down radioactive beam (RIB) are discussed.Spanish Ministry of Education and Science (MEC) FFPA2003-05958 and PA-2005-0446

Performance of HPGe Detectors in High Magnetic Fields

A new generation of high-resolution hypernuclear gamma$-spectroscopy experiments with high-purity germanium detectors (HPGe) are presently designed at the FINUDA spectrometer at DAPhiNE, the Frascati phi-factory, and at PANDA, the antiproton proton hadron spectrometer at the future FAIR facility. Both, the FINUDA and PANDA spectrometers are built around the target region covering a large solid angle. To maximise the detection efficiency the HPGe detectors have to be located near the target, and therefore they have to be operated in strong magnetic fields B ~ 1 T. The performance of HPGe detectors in such an environment has not been well investigated so far. In the present work VEGA and EUROBALL Cluster HPGe detectors were tested in the field provided by the ALADiN magnet at GSI. No significant degradation of the energy resolution was found, and a change in the rise time distribution of the pulses from preamplifiers was observed. A correlation between rise time and pulse height was observed and is used to correct the measured energy, recovering the energy resolution almost completely. Moreover, no problems in the electronics due to the magnetic field were observed.Comment: submitted to Nucl. Instrum. Meth. Phys. Res. A, LaTeX, 19 pages, 9 figure