Biomimetics doi: 10.3390/biomimetics9030186
Authors: Abdelazim G. Hussien Adrian Pop Sumit Kumar Fatma A. Hashim Gang Hu
The Artificial Electric Field Algorithm (AEFA) stands out as a physics-inspired metaheuristic, drawing inspiration from Coulomb’s law and electrostatic force; however, while AEFA has demonstrated efficacy, it can face challenges such as convergence issues and suboptimal solutions, especially in high-dimensional problems. To overcome these challenges, this paper introduces a modified version of AEFA, named mAEFA, which leverages the capabilities of Lévy flights, simulated annealing, and the Adaptive s-best Mutation and Natural Survivor Method (NSM) mechanisms. While Lévy flights enhance exploration potential and simulated annealing improves search exploitation, the Adaptive s-best Mutation and Natural Survivor Method (NSM) mechanisms are employed to add more diversity. The integration of these mechanisms in AEFA aims to expand its search space, enhance exploration potential, avoid local optima, and achieve improved performance, robustness, and a more equitable equilibrium between local intensification and global diversification. In this study, a comprehensive assessment of mAEFA is carried out, employing a combination of quantitative and qualitative measures, on a diverse range of 29 intricate CEC’17 constraint benchmarks that exhibit different characteristics. The practical compatibility of the proposed mAEFA is evaluated on five engineering benchmark problems derived from the civil, mechanical, and industrial engineering domains. Results from the mAEFA algorithm are compared with those from seven recently introduced metaheuristic algorithms using widely adopted statistical metrics. The mAEFA algorithm outperforms the LCA algorithm in all 29 CEC’17 test functions with 100% superiority and shows better results than SAO, GOA, CHIO, PSO, GSA, and AEFA in 96.6%, 96.6%, 93.1%, 86.2%, 82.8%, and 58.6% of test cases, respectively. In three out of five engineering design problems, mAEFA outperforms all the compared algorithms, securing second place in the remaining two problems. Results across all optimization problems highlight the effectiveness and robustness of mAEFA compared to baseline metaheuristics. The suggested enhancements in AEFA have proven effective, establishing competitiveness in diverse optimization problems.
]]>Biomimetics doi: 10.3390/biomimetics9030185
Authors: Pavel Bolshakov Nikita Kharin Alexander Agathonov Evgeniy Kalinin Oskar Sachenkov
Nowadays, the interaction of additive technologies and methods for designing or optimizing porous structures has yielded good results. Construction with complex microarchitectures can be created using this approach. Varying the microarchitecture leads to changes in weight and mechanical properties. However, there are problems with geometry reconstruction when dealing with complex microarchitecture. One approach is to use Voronoi cells for geometry reconstruction. In this article, an extension of the Voronoi diagram algorithm to orthotropic space for material structural design is presented. The inputs for the method include porosity, ellipticity, and ellipticity direction fields. As an example, a beam with fixed end faces and center kinematic loading was used. To estimate robust results for different numbers of clusters, 50, 75, and 100 clusters are presented. The porosity for smoothed structures ranged from 21.5% up to 22.8%. The stress–strain state was determined for the resulting structures. The stiffness for the initial and smoothed structures was the same. However, in the case of 75 and 100 clusters, local stress factors appeared in the smoothed structure. The maximum von Mises stress decreased by 20% for all smoothed structures in the area of kinematic loading and increased by 20% for all smoothed structures in the area of end faces.
]]>Biomimetics doi: 10.3390/biomimetics9030184
Authors: Christopher Mercer Naoe Hosoda
Many insects are able to walk vertically or upside down on both hard and soft surfaces. In beetles such as the ladybird (Coccinella septempunctata), intermolecular forces between tarsal setae on the footpads of the insects make this movement possible. In prior work, adhesion structures made from polydimethylsiloxane (PDMS) that mimic the action of the tarsal setae have been developed. It is proposed that these adhesion structures could be attached to a simplified version of the leg of a ladybird and used in practical applications. For example, the leg structures could potentially be employed in small surveillance drones to enable attachment to surfaces during flights, in order to preserve battery power. Alternatively, the structures could be used in small robotic devices to enable walking on steeply inclined surfaces. In this program of work, the morphology and movement of the leg of a ladybird were closely studied using a 3D X-ray microscope and a high-speed microscope. The positions of the tendons that facilitated movement were identified. From this knowledge, a simplified leg structure using pin-joints was designed and then fabricated using 3-D printing. The PDMS adhesion structures were then attached to the leg structure. The tendons in the actual insect leg were replicated using thread. Typical detachment forces of about 4 N indicated that the simplified leg structure was, in principle, more than capable of supporting the weight of a small device and then detach successfully. Attachment/detachment movement operations were performed using a linear actuator and controlled remotely. Therefore, proof of concept has been demonstrated for the use of such a simplified ladybird leg structure for the attachment/detachment of small robotic devices to horizontal, inclined, or vertical surfaces.
]]>Biomimetics doi: 10.3390/biomimetics9030183
Authors: Yiming Li Keyu Li Fang Fu Yao Li Bing Li
Insects produce a variety of highly acrobatic maneuvers in flight owing to their ability to achieve various wing-stroke trajectories. Among them, beetles can quickly change their flight velocities and make agile turns. In this work, we report a newly discovered phasic wing-tip-folding phenomenon and its aerodynamic basis in beetles. The wings’ flapping trajectories and aerodynamic forces of the tethered flying beetles were recorded simultaneously via motion capture cameras and a force sensor, respectively. The results verified that phasic active spanwise-folding and deployment (PASFD) can exist during flapping flight. The folding of the wing-tips of beetles significantly decreased aerodynamic forces without any changes in flapping frequency. Specifically, compared with no-folding-and-deployment wings, the lift and forward thrust generated by bilateral-folding-and-deployment wings reduced by 52.2% and 63.0%, respectively. Moreover, unilateral-folding-and-deployment flapping flight was found, which produced a lateral force (8.65 mN). Therefore, a micro-flapping-wing mechanism with PASFD was then designed, fabricated, and tested in a motion capture and force measurement system to validate its phasic folding functions and aerodynamic performance under different operating frequencies. The results successfully demonstrated a significant decrease in flight forces. This work provides valuable insights for the development of flapping-wing micro-air-vehicles with high maneuverability.
]]>Biomimetics doi: 10.3390/biomimetics9030182
Authors: Fusun Ozer Zeynep Batu Eken Jessica Hao Nuray Tuloglu Markus B. Blatz
The popular immediate dentin sealing (IDS) technique is used to improve the bond strength of indirect restorations. This systematic review assessed whether bond strength is affected by the type of aging conditions, bonding agents, flowable resin composites, impression materials, temporary materials, and/or resin cement used within the IDS procedure. A comprehensive database search of PubMed, Embase, Scopus, Ovid Medline, Web of Sciences, Cochrane Library, Dentistry & Oral Sciences Source, and ProQuest was carried out up to 30 January 2024 without publication year or language limitations. Only in vitro full-texts regarding the effect of IDS on bond strength were included, and the quality of their methods was assessed via a Risk of Bias (RoB) test. In total, 1023 pertinent studies were initially found, and 60 articles were selected for review after screening for the title, abstract, and full texts. IDS application improves the bond strength of indirect restorations to dentin and reduces the negative effects of temporary materials on the bond durability of final indirect restorations. Filled dentin bonding agents or combinations with flowable resin composite are preferred to protect the IDS layer from conditioning procedures.
]]>Biomimetics doi: 10.3390/biomimetics9030181
Authors: Wenbiao Gan Zhenjie Zuo Junjie Zhuang Dawei Bie Jinwu Xiang
An aerodynamic/hydrodynamic investigation of water cross-over is performed for a bionic unmanned aquatic–aerial amphibious vehicle (bionic UAAV). According to flying fish features and UAAV flight requirements of water cross-over, the bionic conceptual design of crossing over water is described and planned in multiple stages and modes of motion. A solution procedure for the numerical simulation method, based on a modified SST turbulence model and the VOF model, is expressed, and a verification study is presented using a typical case. Longitudinal–lateral numerical simulation analysis investigates the cruise performance underwater and in the air. The numerical simulation and principal experiment verification are conducted for crossing over water and water surface acceleration. The results indicate that the bionic UAAV has an excellent aerodynamic/hydrodynamic performance and variant configuration to adapt to water cross-over. The bionic UAAV has good water and air navigation stability, and the cruise flying lift–drag ratio is greater than 15 at a low Reynolds number. Its pitching moment has the phenomenon of a “water mound” forming and breaking at the water cross-over process. The present method and the bionic variant configuration provide a feasible water cross-over design and analysis strategy for bionic UAAVs.
]]>Biomimetics doi: 10.3390/biomimetics9030180
Authors: Ricardo Cortez Marco Antonio Sandoval-Chileño Norma Lozada-Castillo Alberto Luviano-Juárez
This study presents the design and evaluation of a prototype snake-like robot that possesses an actuation system based on shape memory alloys (SMAs). The device is constructed based on a modular structure of links connected by two degrees of freedom links utilizing Cardan joints, where each degree of freedom is actuated by an agonist–antagonist mechanism using the SMA spring-shaped actuators to generate motion, which can be easily replaced once they reach a degradation point. The methodology for programming the spring shape into the SMA material is described in this work, as well as the instrumentation required for the monitoring and control of the actuators. A simplified design is presented to describe the way in which the motion is performed and the technical difficulties faced in manufacturing. Based on this information, the way in which the design is adapted to generate a feasible robotic system is described, and a mathematical model for the robot is developed to implement an independent joint controller. The feasibility of the implementation of the SMA actuators regarding the motion of the links is verified for the case of a joint, and the change in the shape of the snake robot is verified through the implementation of a set of tracking references based on a central pattern generator. The generated tracking results confirm the feasibility of the proposed mechanism in terms of performing snake gaits, as well as highlighting some of the drawbacks that should be considered in further studies.
]]>Biomimetics doi: 10.3390/biomimetics9030178
Authors: Dario Puljic Nikola Petricevic Asja Celebic Ines Kovacic Manuela Milos Dalibor Pavic Ognjen Milat
Clinical indications for the newly released Ti-Zr (Roxolid®) alloy mini-implants (MDIs) aimed for overdenture (OD) retention in subjects with narrow alveolar ridges are not fully defined. The aim of this study was to analyze peri-implant and posterior edentulous area microstrains utilizing models of the mandible mimicking a “real” mouth situation with two (splinted with a bar or as single units) or four unsplinted Ti-Zr MDIs. The models were virtually designed from a cone beam computed tomography (CBCT) scan of a convenient patient and printed. The artificial mucosa was two millimeters thick. After MDI insertion, the strain gauges were bonded on the oral and vestibular peri-implant sites, and on distal edentulous areas under a denture. After attaching the ODs to MDIs, the ODs were loaded using a metal plate positioned on the first artificial molars (posterior loadings) bilaterally and unilaterally with 50, 100, and 150 N forces, respectively. During anterior loadings, the plate was positioned on the denture’s incisors and loaded with 50 and 100 N forces. Each loading was repeated 15 times. The means with standard deviations, and the significance of the differences (two- and three-factor MANOVA) were calculated. Variations in the MDI number, location, and splinting status elicited different microstrains. Higher loading forces elicited higher microstrains. Unilateral loadings elicited higher microstrains than bilateral and anterior loadings, especially on the loading side. Peri-implant microstrains were lower in the four-MDI single-unit model than in both two-MDI models (unsplinted and splinted). Posterior implants showed higher peri-implant microstrains than anterior in the four-MDI model. The splinting of the two-MDI did not have a significant effect on peri-implant microstrains but elicited lower microstrains in the posterior edentulous area. The strains did not exceed the bone reparatory mechanisms, although precaution and additional study should be addressed when two Ti-Zr MDIs support mandibular ODs.
]]>Biomimetics doi: 10.3390/biomimetics9030179
Authors: Jaehyeong Lee Yourim Yoon Jiyoun Kim Yong-Hyuk Kim
This study explores the efficacy of metaheuristic-based feature selection in improving machine learning performance for diagnosing sarcopenia. Extraction and utilization of features significantly impacting diagnosis efficacy emerge as a critical facet when applying machine learning for sarcopenia diagnosis. Using data from the 8th Korean Longitudinal Study on Aging (KLoSA), this study examines harmony search (HS) and the genetic algorithm (GA) for feature selection. Evaluation of the resulting feature set involves a decision tree, a random forest, a support vector machine, and naïve bayes algorithms. As a result, the HS-derived feature set trained with a support vector machine yielded an accuracy of 0.785 and a weighted F1 score of 0.782, which outperformed traditional methods. These findings underscore the competitive edge of metaheuristic-based selection, demonstrating its potential in advancing sarcopenia diagnosis. This study advocates for further exploration of metaheuristic-based feature selection’s pivotal role in future sarcopenia research.
]]>Biomimetics doi: 10.3390/biomimetics9030177
Authors: Valentina Potnik Gabriele Frediani Federico Carpi
Wearable mechatronics for powered orthoses, exoskeletons and prostheses require improved soft actuation systems acting as ‘artificial muscles’ that are capable of large strains, high stresses, fast response and self-sensing and that show electrically safe operation, low specific weight and large compliance. Among the diversity of soft actuation technologies under investigation, pneumatic devices have been the focus, during the last couple of decades, of renewed interest as an intrinsically soft artificial muscle technology, due to technological advances stimulated by applications in soft robotics. As of today, quite a few solutions are available to endow a pneumatic soft device with linear actuation and self-sensing ability, while also easily achieving these features with off-the-shelf materials and low-cost fabrication processes. Here, we describe a simple process to make self-sensing pneumatic actuators, which may be used as ‘inverse artificial muscles’, as, upon pressurisation, they elongate instead of contracting. They are made of an elastomeric tube surrounded by a plastic coil, which constrains radial expansions. As a novelty relative to the state of the art, the self-sensing ability was obtained with a piezoresistive stretch sensor shaped as a conductive elastomeric body along the tube’s central axis. Moreover, we detail, also by means of video clips, a step-by-step manufacturing process, which uses off-the-shelf materials and simple procedures, so as to facilitate reproducibility.
]]>Biomimetics doi: 10.3390/biomimetics9030176
Authors: Junfei Li Simon X. Yang
In complex and dynamic environments, traditional pursuit–evasion studies may face challenges in offering effective solutions to sudden environmental changes. In this paper, a bio-inspired neural network (BINN) is proposed that approximates a pursuit–evasion game from a neurodynamic perspective instead of formulating the problem as a differential game. The BINN is topologically organized to represent the environment with only local connections. The dynamics of neural activity, characterized by the neurodynamic shunting model, enable the generation of real-time evasive trajectories with moving or sudden-change obstacles. Several simulation and experimental results indicate that the proposed approach is effective and efficient in complex and dynamic environments.
]]>Biomimetics doi: 10.3390/biomimetics9030175
Authors: Thimal Kempitiya Damminda Alahakoon Evgeny Osipov Sachin Kahawala Daswin De Silva
We propose a new nature- and neuro-science-inspired algorithm for spatiotemporal learning and prediction based on sequential recall and vector symbolic architecture. A key novelty is the learning of spatial and temporal patterns as decoupled concepts where the temporal pattern sequences are constructed using the learned spatial patterns as an alphabet of elements. The decoupling, motivated by cognitive neuroscience research, provides the flexibility for fast and adaptive learning with dynamic changes to data and concept drift and as such is better suited for real-time learning and prediction. The algorithm further addresses several key computational requirements for predicting the next occurrences based on real-life spatiotemporal data, which have been found to be challenging with current state-of-the-art algorithms. Firstly, spatial and temporal patterns are detected using unsupervised learning from unlabeled data streams in changing environments; secondly, vector symbolic architecture (VSA) is used to manage variable-length sequences; and thirdly, hyper dimensional (HD) computing-based associative memory is used to facilitate the continuous prediction of the next occurrences in sequential patterns. The algorithm has been empirically evaluated using two benchmark and three time-series datasets to demonstrate its advantages compared to the state-of-the-art in spatiotemporal unsupervised sequence learning where the proposed ST-SOM algorithm is able to achieve 45% error reduction compared to HTM algorithm.
]]>Biomimetics doi: 10.3390/biomimetics9030173
Authors: Gijoon Song Junyoung Moon Jehyeok Kim Giuk Lee
The back support exoskeletons have garnered significant attention to alleviate musculoskeletal injuries, prevalent in industrial settings. In this paper, we propose AeBS, a quasi-passive back-support exoskeleton developed to provide variable assistive torque across the entire range of hip joint motion, for tasks with frequent load changes. AeBS can adjust the assistive torque levels while minimizing energy for the torque variation without constraining the range of motion of the hip joint. To match the requisite assistance levels for back support, a compact variable gravity compensation module with reinforced elastic elements is applied to AeBS. Additionally, we devised a bio-inspired hip joint mechanism that mimics the configuration of the human hip axis to ensure the free body motion of the wearer, significantly affecting assistive torque transmission and wearing comfort. Benchtop testing showed that AeBS has a variable assistive torque range of 5.81 Nm (ranging from 1.23 to 7.04 Nm) across a targeted hip flexion range of 135°. Furthermore, a questionnaire survey revealed that the bio-inspired hip joint mechanism effectively facilitates the transmission of the intended assistive torque while enhancing wearer comfort.
]]>Biomimetics doi: 10.3390/biomimetics9030174
Authors: Ki Ha Min Dong Hyun Kim Seung Pil Pack
The metastable vaterite polymorph of calcium carbonate (CaCO3) holds significant practical importance, particularly in regenerative medicine, drug delivery, and various personal care products. Controlling the size and morphology of vaterite particles is crucial for biomedical applications. This study explored the synergistic effect of ultrasonic (US) irradiation and acidic amino acids on CaCO3 synthesis, specifically the size, dispersity, and crystallographic phase of curved-edge vaterite with chiral toroids (chiral-curved vaterite). We employed 40 kHz US irradiation and introduced L- or D-aspartic acid as an additive for the formation of spheroidal chiral-curved vaterite in an aqueous solution of CaCl2 and Na2CO3 at 20 ± 1 °C. Chiral-curved vaterites precipitated through mechanical stirring (without US irradiation) exhibited a particle size of approximately 15 μm, whereas those formed under US irradiation were approximately 6 μm in size and retained their chiral topoid morphology. When a fluorescent dye was used for the analysis of loading efficiency, the size-reduced vaterites with chiral morphology, produced through US irradiation, exhibited a larger loading efficiency than the vaterites produced without US irradiation. These results hold significant value for the preparation of biomimetic chiral-curved CaCO3, specifically size-reduced vaterites, as versatile biomaterials for material filling, drug delivery, and bone regeneration.
]]>Biomimetics doi: 10.3390/biomimetics9030172
Authors: Yechan Lee Hyung-Soon Park
The finger workspace is crucial for performing various grasping tasks. Thus, various soft rehabilitation gloves have been developed to assist individuals with paralyzed hands in activities of daily living (ADLs) or rehabilitation training. However, most soft robotic glove designs are insufficient to assist with various hand postures because most of them use an underactuated mechanism for design simplicity. Therefore, this paper presents a methodology for optimizing the design of a high-degree-of-freedom soft robotic glove while not increasing the design complexity. We defined the required functional workspace of the index finger based on ten frequently used grasping postures in ADLs. The design optimization was achieved by simulating the proposed finger–robot model to obtain a comparable workspace to the functional workspace. In particular, the moment arm length for extension was optimized to facilitate the grasping of large objects (precision disk and power sphere), whereas a torque-amplifying routing design was implemented to aid the grasping of small objects (lateral pinch and thumb–two-finger pinch). The effectiveness of the optimized design was validated through testing with a stroke survivor and comparing the assistive workspace. The observed workspace demonstrated that the optimized glove design could assist with nine out of the ten targeted grasping posture functional workspaces. Furthermore, the assessment of the grasping speed and force highlighted the glove’s usability for various rehabilitation activities. We also present and discuss a generalized methodology to optimize the design parameters of a soft robotic glove that uses an underactuated mechanism to assist the targeted workspace. Overall, the proposed design optimization methodology serves as a tool for developing advanced hand rehabilitation robots, as it offers insight regarding the importance of routing optimization in terms of the workspace.
]]>Biomimetics doi: 10.3390/biomimetics9030171
Authors: Ru Tong Zhengxing Wu Jinge Wang Yupei Huang Di Chen Junzhi Yu
Biological fish exhibit a remarkably broad-spectrum visual perception capability. Inspired by the eye arrangement of biological fish, we design a fish-like binocular vision system, thereby endowing underwater bionic robots with an exceptionally broad visual perception capacity. Firstly, based on the design principles of binocular visual field overlap and tangency to streamlined shapes, a fish-like vision system is developed for underwater robots, enabling wide-field underwater perception without a waterproof cover. Secondly, addressing the significant distortion and parallax of the vision system, a visual field stitching algorithm is proposed to merge the binocular fields of view and obtain a complete perception image. Thirdly, an orientation alignment method is proposed that draws scales for yaw and pitch angles in the stitched images to provide a reference for the orientation of objects of interest within the field of view. Finally, underwater experiments evaluate the perception capabilities of the fish-like vision system, confirming the effectiveness of the visual field stitching algorithm and the orientation alignment method. The results show that the constructed vision system, when used underwater, achieves a horizontal field of view of 306.56°. The conducted work advances the visual perception capabilities of underwater robots and presents a novel approach to and insight for fish-inspired visual systems.
]]>Biomimetics doi: 10.3390/biomimetics9030170
Authors: Yuwen Wu Zhisen Wang Yuyi Chu Renyuan Peng Haoran Peng Hongbo Yang Kai Guo Juzhong Zhang
Malignant tumors have become one of the serious public health problems in human safety and health, among which the chest and abdomen diseases account for the largest proportion. Early diagnosis and treatment can effectively improve the survival rate of patients. However, respiratory motion in the chest and abdomen can lead to uncertainty in the shape, volume, and location of the tumor, making treatment of the chest and abdomen difficult. Therefore, compensation for respiratory motion is very important in clinical treatment. The purpose of this review was to discuss the research and development of respiratory movement monitoring and prediction in thoracic and abdominal surgery, as well as introduce the current research status. The integration of modern respiratory motion compensation technology with advanced sensor detection technology, medical-image-guided therapy, and artificial intelligence technology is discussed and analyzed. The future research direction of intraoperative thoracic and abdominal respiratory motion compensation should be non-invasive, non-contact, use a low dose, and involve intelligent development. The complexity of the surgical environment, the constraints on the accuracy of existing image guidance devices, and the latency of data transmission are all present technical challenges.
]]>Biomimetics doi: 10.3390/biomimetics9030169
Authors: Marija Branković Fatima Zivic Nenad Grujovic Ivan Stojadinovic Strahinja Milenkovic Nikola Kotorcevic
This review will present the latest research related to the production and application of spider silk and silk-based materials in reconstructive and regenerative medicine and tissue engineering, with a focus on musculoskeletal tissues, and including skin regeneration and tissue repair of bone and cartilage, ligaments, muscle tissue, peripheral nerves, and artificial blood vessels. Natural spider silk synthesis is reviewed, and the further recombinant production of spider silk proteins. Research insights into possible spider silk structures, like fibers (1D), coatings (2D), and 3D constructs, including porous structures, hydrogels, and organ-on-chip designs, have been reviewed considering a design of bioactive materials for smart medical implants and drug delivery systems. Silk is one of the toughest natural materials, with high strain at failure and mechanical strength. Novel biomaterials with silk fibroin can mimic the tissue structure and promote regeneration and new tissue growth. Silk proteins are important in designing tissue-on-chip or organ-on-chip technologies and micro devices for the precise engineering of artificial tissues and organs, disease modeling, and the further selection of adequate medical treatments. Recent research indicates that silk (films, hydrogels, capsules, or liposomes coated with silk proteins) has the potential to provide controlled drug release at the target destination. However, even with clear advantages, there are still challenges that need further research, including clinical trials.
]]>Biomimetics doi: 10.3390/biomimetics9030168
Authors: Shuqi Wang Jizhuang Fan Yubin Liu
The frog-inspired jumping robot is an interesting topic in the field of biomechanics and bionics. However, due to the frog’s explosive movement and large range of joint motion, it is very difficult to make their structure completely bionic. To obtain the optimal jumping motion model, the musculoskeletal structure, jumping movement mechanism, and characteristics of frogs are first systematically analyzed, and the corresponding structural and kinematic parameters are obtained. Based on biological characteristics, a model of the articular bone structure is created, which can fully describe the features of frog movement. According to the various factors affecting the frog’s jumping movement, mass and constraints are added, and the complex biological joint structure is simplified into four different jumping structure models. The jumping ground reaction force, velocity, and displacement of the center of mass, joint torque, and other motion information of these four models are obtained through ADAMS simulation to reveal the jumping movement mechanism and the influencing factors of frogs. Finally, various motion features are analyzed and compared to determine the optimal structural model of the comprehensive index, which provides a theoretical basis for the design of the frog-inspired jumping robot.
]]>Biomimetics doi: 10.3390/biomimetics9030167
Authors: Xianglin Zhang Mingqiang Luo Simeng Guo Zhiyang Cui
In this paper, we explore a nonlinear interactive network system comprising nodalized flapping-wing micro air vehicles (FMAVs) to address the distributed H∞ state estimation problem associated with FMAVs. We enhance the model by introducing an information fusion function, leading to an information-fusionized estimator model. This model ensures both estimation accuracy and the completeness of FMAV topological information within a unified framework. To facilitate the analysis, each FMAV’s received signal is individually sampled using independent and time-varying samplers. Transforming the received signals into equivalent bounded time-varying delays through the input delay method yields a more manageable and analyzable time-varying nonlinear network error system. Subsequently, we construct a Lyapunov–Krasovskii functional (LKF) and integrate it with the refined Wirtinger and relaxed integral inequalities to derive design conditions for the FMAVs’ distributed H∞ state estimator, minimizing conservatism. Finally, we validate the effectiveness and superiority of the designed estimator through simulations.
]]>Biomimetics doi: 10.3390/biomimetics9030166
Authors: Minchae Kang Suyeon Seo Hyewon Lee Min-Woo Han
Knee osteoarthritis (OA), also known as degenerative arthritis, is a disease characterized by irreversible changes in the cartilage and bones comprising the joints, resulting in pain, impaired function, and deformity. Furthermore, independent of natural aging, the rate of change in joint cartilage has increased in recent years, which is mainly attributed to environmental factors. The rising incidence of knee-related disorders emphasizes the importance of analyzing the morphology and kinematics of knee structure. This study introduces a knee measurement system designed to replicate the motions of knee using 3D-printing technology, providing insights into knee mechanics with OA level. The research explores the stages of OA using the Kellgren–Lawrence (KL) grade scale, highlighting the variations in the force applied to the knee bone according to movement. The developed knee-simulation system, utilizing the four-bar-link theory, presents a novel approach to studying OA levels 0 to 4. As OA progresses, the cartilage deteriorates, affecting the movement of OA. The OA-based knee measurement system that incorporates soft tissues and skeletons can assist in developing a personalized diagnostic approach for knee disease. This will also help to enhance surgical effectiveness by facilitating the creation of personalized prosthetic joints for individual patients and offering a customized surgical simulation.
]]>Biomimetics doi: 10.3390/biomimetics9030165
Authors: Traian-Nicu Toader Călin G.-R. Mircea Alina M. Truta Horia Constantinescu
This article contains the results of identifying the potential of coniferous trees to act as bioinspiration for the structural design of columns in single-story warehouses subjected to high wind velocity and severe seismic action. This study starts by analyzing the biomechanics of coniferous trees, continues with an abstraction of the relevant features, and ends with the transfer of a design methodology for long reinforced and prestressed concrete columns. To verify the applicability and validity of the mathematical relationships extracted from the bibliographic study to characterize the biomechanics of coniferous trees, a study site is conducted for Norway spruce trees felled by the wind in the Bilbor area. The design methodology for long reinforced and prestressed concrete columns bioinspired by the Norway spruce trees is experimentally validated using two case studies. The first case study deals with the effect of centric prestressing on long concrete columns, and the second on the influence of the walnut shell powder on the adhesion of the reinforcement in concrete. The case studies presented aim to transfer some characteristics from trees to reinforced concrete to improve the performance of long columns under horizontal forces. The results obtained indicate a good approximation of the trees’ structural behavior for this site and for ones investigated by other researchers in different forests.
]]>Biomimetics doi: 10.3390/biomimetics9030164
Authors: Alessandro Brugnera Silva Marc Murcia Omid Mohseni Ryu Takahashi Arturo Forner-Cordero Andre Seyfarth Koh Hosoda Maziar Ahmad Sharbafi
Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating the intricacies of locomotion and control strategies. Expanding upon our prior research in electric–pneumatic actuation (EPA), we present the mechanical and electrical designs of the latest developments in the EPA robot series. These include EPA Jumper, a human-sized segmented monoped robot, and its extension EPA Walker, a human-sized bipedal robot. Both replicate the human weight and inertia distributions, featuring co-actuation through electrical motors and pneumatic artificial muscles. These low-cost modular platforms, with considerations for degrees of freedom and redundant actuation, (1) provide opportunities to study different locomotor subfunctions—stance, swing, and balance; (2) help investigate the role of actuation schemes in tasks such as hopping and walking; and (3) allow testing hypotheses regarding biological locomotors in real-world physical test benches.
]]>Biomimetics doi: 10.3390/biomimetics9030163
Authors: Ling-Wu Meng Xiao-Liang Xie Xiao-Hu Zhou Shi-Qi Liu Zeng-Guang Hou
Chronic total occlusion (CTO) is one of the most severe and sophisticated vascular stenosis because of complete blockage, greater operation difficulty, and lower procedural success rate. This study proposes a hydraulic-driven soft robot imitating the earthworm’s locomotion to assist doctors or operators in actively opening thrombi in coronary or peripheral artery vessels. Firstly, a three-actuator bionic soft robot is developed based on earthworms’ physiological structure. The soft robot’s locomotion gait inspired by the earthworm’s mechanism is designed. Secondly, the influence of structure parameters on actuator deformation, stress, and strain is explored, which can help us determine the soft actuators’ optimal structure parameters. Thirdly, the relationship between hydraulic pressure and actuator deformation is investigated by performing finite element analysis using the bidirectional fluid–structure interaction (FSI) method. The kinematic models of the soft actuators are established to provide a valuable reference for the soft actuators’ motion control.
]]>Biomimetics doi: 10.3390/biomimetics9030162
Authors: Jooa Moon Guanghao Hu Tomohiro Hayashi
Proteins in the crowded environment of human cells have often been studied regarding nonspecific interactions, misfolding, and aggregation, which may cause cellular malfunction and disease. Specifically, proteins with high abundance are more susceptible to these issues due to the law of mass action. Therefore, the surfaces of highly abundant cytoplasmic (HAC) proteins directly exposed to the environment can exhibit specific physicochemical, structural, and geometrical characteristics that reduce nonspecific interactions and adapt to the environment. However, the quantitative relationships between the overall surface descriptors still need clarification. Here, we used machine learning to identify HAC proteins using hydrophobicity, charge, roughness, secondary structures, and B-factor from the protein surfaces and quantified the contribution of each descriptor. First, several supervised learning algorithms were compared to solve binary classification problems for the surfaces of HAC and extracellular proteins. Then, logistic regression was used for the feature importance analysis of descriptors considering model performance (80.2% accuracy and 87.6% AUC) and interpretability. The HAC proteins showed positive correlations with negatively and positively charged areas but negative correlations with hydrophobicity, the B-factor, the proportion of beta structures, roughness, and the proportion of disordered regions. Finally, the details of each descriptor could be explained concerning adaptative surface strategies of HAC proteins to regulate nonspecific interactions, protein folding, flexibility, stability, and adsorption. This study presented a novel approach using various surface descriptors to identify HAC proteins and provided quantitative design rules for the surfaces well-suited to human cellular crowded environments.
]]>Biomimetics doi: 10.3390/biomimetics9030161
Authors: Truong Thi Huong Giang Young-Jae Ryoo
This paper proposes an autonomous robotic system to prune sweet pepper leaves using semantic segmentation with deep learning and an articulated manipulator. This system involves three main tasks: the perception of crop parts, the detection of pruning position, and the control of the articulated manipulator. A semantic segmentation neural network is employed to recognize the different parts of the sweet pepper plant, which is then used to create 3D point clouds for detecting the pruning position and the manipulator pose. Eventually, a manipulator robot is controlled to prune the crop part. This article provides a detailed description of the three tasks involved in building the sweet pepper pruning system and how to integrate them. In the experiments, we used a robot arm to manipulate the pruning leaf actions within a certain height range and a depth camera to obtain 3D point clouds. The control program was developed in different modules using various programming languages running on the ROS (Robot Operating System).
]]>Biomimetics doi: 10.3390/biomimetics9030160
Authors: Kelvin HoLam Heung Ting Lei Kaixin Liang Jiye Xu Joonoh Seo Heng Li
Soft robots that incorporate elastomeric matrices and flexible materials have gained attention for their unique capabilities, surpassing those of rigid robots, with increased degrees of freedom and movement. Research has highlighted the adaptability, agility, and sensitivity of soft robotic actuators in various applications, including industrial grippers, locomotive robots, wearable assistive devices, and more. It has been demonstrated that bellow-shaped actuators exhibit greater efficiency compared to uniformly shaped fiber-reinforced actuators as they require less input pressure to achieve a comparable range of motion (ROM). Nevertheless, the mathematical quantification of the performance of bellow-based soft fluidic actuators is not well established due to their inherent non-uniform and complex structure, particularly when compared to fiber-reinforced actuators. Furthermore, the design of bellow dimensions is mostly based on intuition without standardized guidance and criteria. This article presents a comprehensive description of the quasi-static analytical modeling process used to analyze bellow-based soft actuators with linear extension. The results of the models are validated through finite element method (FEM) simulations and experimental testing, considering elongation in free space under fluidic pressurization. This study facilitates the determination of optimal geometrical parameters for bellow-based actuators, allowing for effective biomimetic robot design optimization and performance prediction.
]]>Biomimetics doi: 10.3390/biomimetics9030159
Authors: Arianna De Mori Daniel Quizon Hannah Dalton Berzah Yavuzyegit Guido Cerri Milan Antonijevic Marta Roldo
Pollen grains, with their resilient sporopollenin exine and defined morphologies, have been explored as bio-templates for the synthesis of calcium phosphate minerals, particularly hydroxyapatite (HAp) and β-tricalcium phosphate (TCP). Various pollen morphologies from different plant species (black alder, dandelion, lamb’s quarters, ragweed, and stargazer lily) were evaluated. Pollen grains underwent acid washing to remove allergenic material and facilitate subsequent calcification. Ragweed and lamb’s quarter pollen grains were chosen as templates for calcium phosphate salts deposition due to their distinct morphologies. The calcification process yielded well-defined spherical hollow particles. The washing step, intended to reduce the protein content, did not significantly affect the final product; thus, justifying the removal of this low-yield step from the synthesis process. Characterisation techniques, including X-ray diffraction, scanning electron microscopy, Fourier-transform infrared spectroscopy, and thermal gravimetric analysis, confirmed the successful calcification of pollen-derived materials, revealing that calcified grains were principally composed of calcium deficient HAp. After calcination, biphasic calcium phosphate composed of HAp and TPC was obtained. This study demonstrated the feasibility of using pollen grains as green and sustainable bio-templates for synthesizing biomaterials with controlled morphology, showcasing their potential in biomedical applications such as drug delivery and bone regeneration.
]]>Biomimetics doi: 10.3390/biomimetics9030158
Authors: Kuo-Feng Hung Kang-Ping Lin
Nighttime object detection is challenging due to dim, uneven lighting. The IIHS research conducted in 2022 shows that pedestrian anti-collision systems are less effective at night. Common solutions utilize costly sensors, such as thermal imaging and LiDAR, aiming for highly accurate detection. Conversely, this study employs a low-cost 2D image approach to address the problem by drawing inspiration from biological dark adaptation mechanisms, simulating functions like pupils and photoreceptor cells. Instead of relying on extensive machine learning with day-to-night image conversions, it focuses on image fusion and gamma correction to train deep neural networks for dark adaptation. This research also involves creating a simulated environment ranging from 0 lux to high brightness, testing the limits of object detection, and offering a high dynamic range testing method. Results indicate that the dark adaptation model developed in this study improves the mean average precision (mAP) by 1.5−6% compared to traditional models. Our model is capable of functioning in both twilight and night, showcasing academic novelty. Future developments could include using virtual light in specific image areas or integrating with smart car lighting to enhance detection accuracy, thereby improving safety for pedestrians and drivers.
]]>Biomimetics doi: 10.3390/biomimetics9030157
Authors: Tae-Gyu Hwang Hamin Park Won-Ju Cho
Electrical double-layer (EDL) synaptic transistors based on organic materials exhibit low thermal and chemical stability and are thus incompatible with complementary metal oxide semiconductor (CMOS) processes involving high-temperature operations. This paper proposes organic–inorganic hybrid synaptic transistors using methyl silsesquioxane (MSQ) as the electrolyte. MSQ, derived from the combination of inorganic silsesquioxanes and the organic methyl (−CH3) group, exhibits exceptional thermal and chemical stability, thus ensuring compatibility with CMOS processes. We fabricated Al/MSQ electrolyte/Pt capacitors, exhibiting a substantial capacitance of 1.89 µF/cm2 at 10 Hz. MSQ-based EDL synaptic transistors demonstrated various synaptic behaviors, such as excitatory post-synaptic current, paired-pulse facilitation, signal pass filtering, and spike-number-dependent plasticity. Additionally, we validated synaptic functions such as information storage and synapse weight adjustment, simulating brain synaptic operations through potentiation and depression. Notably, these synaptic operations demonstrated stability over five continuous operation cycles. Lastly, we trained a multi-layer artificial deep neural network (DNN) using a handwritten Modified National Institute of Standards and Technology image dataset. The DNN achieved an impressive recognition rate of 92.28%. The prepared MSQ-based EDL synaptic transistors, with excellent thermal/chemical stability, synaptic functionality, and compatibility with CMOS processes, harbor tremendous potential as materials for next-generation artificial synapse components.
]]>Biomimetics doi: 10.3390/biomimetics9030156
Authors: Kotaro Morifusa Tomohiro Fukui
Fish swimming has attracted attention as a locomotion system with excellent propulsive efficiency. They swim by moving their body, fins, and other organs simultaneously, which developed during evolution. Among their many organs, the pectoral fin plays a crucial role in swimming, such as forward–backward movement and change of direction. In order to investigate the hydrodynamic interaction between pectoral fins and fish bodies, we examined the asymmetric flapping motion of the pectoral fin concerning the body axis and investigated the effect of the pectoral fin on the propulsive performance of the body of a small swimming object by numerical simulation. In this study, the amplitude ratio, frequency ratio, and phase of the body and pectoral fin varied. Therefore, although propulsive performance increased in tandem with the frequency ratio, the amplitude ratio change had negatively affected the propulsive performance. The results revealed that the propulsive performance of the fish was high even in low-frequency ratios when the phase difference was varied. The highest propulsion efficiency increased by a factor of about 3.7 compared to the phase difference condition of 0.
]]>Biomimetics doi: 10.3390/biomimetics9030155
Authors: Beatriz Ferreira Fernandes Neusa Silva Mariana Brito Da Cruz Gonçalo Garret Óscar Carvalho Filipe Silva António Mata Helena Francisco Joana Faria Marques
Peri-implantitis continues to be one of the major reasons for implant failure. We propose a new approach to the incorporation of MTA into zirconia implant surfaces with Nd:YAG laser and investigate the biological and the microbiological responses of peri-implant cells. Discs of zirconia stabilized with yttria and titanium were produced according to the following four study groups: Nd:YAG laser-textured zirconia coated with MTA (Zr MTA), Nd:YAG laser-textured zirconia (Zr textured), polished zirconia discs, and polished titanium discs (Zr and Ti). Surface roughness was evaluated by contact profilometry. Human osteoblasts (hFOB), gingival fibroblasts (HGF hTERT) and S. oralis were cultured on discs. Cell adhesion and morphology, cell differentiation markers and bacterial growth were evaluated. Zr textured roughness was significantly higher than all other groups. SEM images reveal cellular adhesion at 1 day in all samples in both cell lines. Osteoblasts viability was lower in the Zr MTA group, unlike fibroblasts viability, which was shown to be higher in the Zr MTA group compared with the Zr textured group at 3 and 7 days. Osteocalcin and IL-8 secretion by osteoblasts were higher in Zr MTA. The Zr textured group showed higher IL-8 values released by fibroblasts. No differences in S. oralis CFUs were observed between groups. The present study suggests that zirconia implant surfaces coated with MTA induced fibroblast proliferation and osteoblast differentiation; however, they did not present antibacterial properties.
]]>Biomimetics doi: 10.3390/biomimetics9030154
Authors: Argyrios Periferakis Aristodemos-Theodoros Periferakis Lamprini Troumpata Serban Dragosloveanu Iosif-Aliodor Timofticiuc Spyrangelos Georgatos-Garcia Andreea-Elena Scheau Konstantinos Periferakis Ana Caruntu Ioana Anca Badarau Cristian Scheau Constantin Caruntu
The incidence of microbial infections in orthopedic prosthetic surgeries is a perennial problem that increases morbidity and mortality, representing one of the major complications of such medical interventions. The emergence of novel technologies, especially 3D printing, represents a promising avenue of development for reducing the risk of such eventualities. There are already a host of biomaterials, suitable for 3D printing, that are being tested for antimicrobial properties when they are coated with bioactive compounds, such as antibiotics, or combined with hydrogels with antimicrobial and antioxidant properties, such as chitosan and metal nanoparticles, among others. The materials discussed in the context of this paper comprise beta-tricalcium phosphate (β-TCP), biphasic calcium phosphate (BCP), hydroxyapatite, lithium disilicate glass, polyetheretherketone (PEEK), poly(propylene fumarate) (PPF), poly(trimethylene carbonate) (PTMC), and zirconia. While the recent research results are promising, further development is required to address the increasing antibiotic resistance exhibited by several common pathogens, the potential for fungal infections, and the potential toxicity of some metal nanoparticles. Other solutions, like the incorporation of phytochemicals, should also be explored. Incorporating artificial intelligence (AI) in the development of certain orthopedic implants and the potential use of AI against bacterial infections might represent viable solutions to these problems. Finally, there are some legal considerations associated with the use of biomaterials and the widespread use of 3D printing, which must be taken into account.
]]>Biomimetics doi: 10.3390/biomimetics9030153
Authors: Theodoros-Filippos Valamvanos Xanthippi Dereka Hector Katifelis Maria Gazouli Nefeli Lagopati
The rehabilitation of alveolar bone defects of moderate to severe size is often challenging. Currently, the therapeutic approaches used include, among others, the guided bone regeneration technique combined with various bone grafts. Although these techniques are widely applied, several limitations and complications have been reported such as morbidity, suboptimal graft/membrane resorption rate, low structural integrity, and dimensional stability. Thus, the development of biomimetic scaffolds with tailor-made characteristics that can modulate cell and tissue interaction may be a promising tool. This article presents a critical consideration in scaffold’s design and development while also providing information on various fabrication methods of these nanosystems. Their utilization as delivery systems will also be mentioned.
]]>Biomimetics doi: 10.3390/biomimetics9030152
Authors: Mariya Spasova Nikoleta Stoyanova Olya Stoilova
Fibrous cellulose acetate (CA) materials loaded with rosmarinic acid (RA) were successfully created by one-pot electrospinning. In order to improve the water solubility of the polyphenolic acid and to facilitate its release from the fibrous materials, the non-ionic water-soluble polyethylene glycol (PEG) was added. Detailed characterization of the fabricated fibrous CA/RA and CA/PEG/RA materials was performed using scanning electron microscopy (SEM), X-ray diffraction analysis (XRD), UV-Vis spectroscopy and water contact angle analysis. The optimal ratio between CA, RA and PEG for preparation of defect-free and uniform fibers was accomplished by varying their concentrations. Furthermore, the incorporation of the PEG improved the hydrophilicity and wettability of the fibrous CA materials. Moreover, PEG facilitated the RA release and over 360 min, the amount released from fibrous CA/PEG/RA fibers was 91%, while that released from CA/RA materials was 53%. Both of the RA-containing fibrous materials, with and without PEG, manifested high antioxidant activity as determined by the DPPH free radical-scavenging method. In addition, the electrospun CA/PEG/RA materials displayed good antifungal activity against C. albicans. These features make the fibrous CA/PEG/RA materials promising candidates for treatment of wound infections.
]]>Biomimetics doi: 10.3390/biomimetics9030151
Authors: Renke Liu Huakai Zheng Maroš Hliboký Hiroki Endo Shuyao Zhang Yusuke Baba Hideyuki Sawada
This research introduces an advanced robotic finger designed for future generalist robots, closely mimicking the natural structure of the human finger. The incorporation of rarely discussed anatomical structures, including tendon sheath, ligaments, and palmar plates, combined with the usage of anatomically proven 3D models of the finger, give rise to the highly accurate replication of human-like soft mechanical fingers. Benefiting from the accurate anatomy of muscle insertions with the utilization of Shape Memory Alloy (SMA) wires’ muscle-like actuation properties, the bonding in-between the flexor tendons and extensor tendons allows for the realization of the central and lateral band of the finger anatomy. Evaluated using the computer vision method, the proposed robotic finger demonstrates a range of motion (ROM) equivalent to 113%, 87% and 88% of the human dynamic ROM for the DIP, PIP and MCP joints, respectively. The proposed finger possesses a soft nature when relaxed and becomes firm when activated, pioneering a new approach in biomimetic robot design and offering a unique contribution to the future of generalist humanoid robots.
]]>Biomimetics doi: 10.3390/biomimetics9030150
Authors: Hongyan Liu Hanwen Zhang Junghee Lee Peilong Xu Incheol Shin Jongchul Park
The current motion interaction model has the problems of insufficient motion fidelity and lack of self-adaptation to complex environments. To address this problem, this study proposed to construct a human motion control model based on the muscle force model and stage particle swarm, and based on this, this study utilized the deep deterministic gradient strategy algorithm to construct a motion interaction control model based on the muscle force model and the deep reinforcement strategy. Empirical analysis of the human motion control model proposed in this study revealed that the joint trajectory correlation and muscle activity correlation of the model were higher than those of other comparative models, and its joint trajectory correlation was up to 0.90, and its muscle activity correlation was up to 0.84. In addition, this study validated the effectiveness of the motion interaction control model using the depth reinforcement strategy and found that in the mixed-obstacle environment, the model’s desired results were obtained by training 1.1 × 103 times, and the walking distance was 423 m, which was better than other models. In summary, the proposed motor interaction control model using the muscle force model and deep reinforcement strategy has higher motion fidelity and can realize autonomous decision making and adaptive control in the face of complex environments. It can provide a theoretical reference for improving the effect of motion control and realizing intelligent motion interaction.
]]>Biomimetics doi: 10.3390/biomimetics9030149
Authors: Yanwei Liu Hao Wang Jiangchao Li Pengyang Li Shujuan Li
The gecko can achieve flexible climbing on various vertical walls and even ceilings, which is closely related to its unique foot adhesion system. In the past two decades, the mechanism of the gecko adhesion system has been studied in-depth, and a verity of gecko-inspired adhesives have been proposed. In addition to its strong adhesion, its easy detachment is also the key to achieving efficient climbing locomotion for geckos. A similar controllable adhesion characteristic is also key to the research into artificial gecko-inspired adhesives. In this paper, the structures, fabrication methods, and applications of gecko-inspired controllable adhesives are summarized for future reference in adhesive development. Firstly, the controllable adhesion mechanism of geckos is introduced. Then, the control mechanism, adhesion performance, and preparation methods of gecko-inspired controllable adhesives are described. Subsequently, various successful applications of gecko-inspired controllable adhesives are presented. Finally, future challenges and opportunities to develop gecko-inspired controllable adhesive are presented.
]]>Biomimetics doi: 10.3390/biomimetics9030148
Authors: Chuyi Lilong Yongliang Yu
Flapping-wing micro air vehicles (FWMAVs) have gained much attention from researchers due to their exceptional performance at low Reynolds numbers. However, the limited understanding of active aerodynamic modulation in flying creatures has hindered their maneuverability from reaching that of their biological counterparts. In this article, experimental investigations were conducted to examine the effect of the bilateral amplitude asymmetry of flexible flapping wings. A reduced bionic model featuring bat-like wings is built, and a dimensionless number ΔΦ* is introduced to scale the degree of bilateral amplitude asymmetry in flapping motion. The experimental results suggest that the bilateral amplitude–asymmetric flapping motion primarily induces maneuvering control forces of coupling roll moment and yaw moment. Also, roll moment and yaw moment have a good linear relationship. To achieve more efficient maneuvers based on this asymmetric motion, it is advisable to maintain ΔΦ* within the range of 0 to 0.4. The magnitude of passive pitching deformation during the downstroke is significantly greater than that during the upstroke. The phase of the peak of the passive pitching angle advances with the increase in flapping amplitude, while the valleys lag. And the proportion of pronation and supination in passive pitching motion cannot be adjusted by changing the flapping amplitude. These findings have important practical relevance for regulating turning maneuvers based on amplitude asymmetry and help to understand the active aerodynamic modulation mechanism through asymmetric wing kinematics.
]]>Biomimetics doi: 10.3390/biomimetics9030147
Authors: Zhuo Wang Wanlang Peng Bo Zhang
Longer distance water delivery culverts pose obstacles such as deposited silt, stones, and dead trees. In this paper, a crawling robot is designed to mimic the joint structure of a turtle using bionic design principles. The mechanism and gait of the robot are analyzed. The kinematics model of the robot is established using the D-H method and analytical approach, while the dynamics model is established using Lagrange’s method. Based on kinematics and dynamics analysis theory, compound cycloid and cubic polynomial motion trajectories for the robot foot are planned along with a crawling gait resembling that of a turtle’s abdomen. Simulation experiments and scale prototype experiments confirm that when gait parameters are identical, the energy consumption of compound cycloid trajectory exceeds that of cubic polynomial foot trajectory. When planning these two types of foot trajectories, it was observed that energy consumption ratio decreases with increasing step length but increases with increasing step height.
]]>Biomimetics doi: 10.3390/biomimetics9030146
Authors: Jue Wang Junfeng Liang
Gold nanoparticles (AuNPs) have been widely investigated as surface modifiers; nevertheless, most methods still require the pretreatment of surfaces and several steps to control coating efficiency and patterns for improved functionality. We developed functionalized AuNPs through borate-protected dopamine (B-AuNPs). The simple activation of B-AuNPs with a strong acid to remove the protected borate groups produces adhesive dopamine AuNPs (D-AuNPs). D-AuNP-coated surfaces with varied but controlled features and properties such as coating density and surface pattern were achieved using D-AuNPs with a precisely controlled dopamine density and coating conditions. Such adhesive and easily manipulated AuNPs provide a facile and time-saving technology to achieve sophisticated surface coatings using AuNPs.
]]>Biomimetics doi: 10.3390/biomimetics9030145
Authors: Kevin Y. Wu Adrian Tabari Éric Mazerolle Simon D. Tran
In the forefront of ophthalmic innovation, biomimetic 3D printing and bioprinting technologies are redefining patient-specific therapeutic strategies. This critical review systematically evaluates their application spectrum, spanning oculoplastic reconstruction, retinal tissue engineering, corneal transplantation, and targeted glaucoma treatments. It highlights the intricacies of these technologies, including the fundamental principles, advanced materials, and bioinks that facilitate the replication of ocular tissue architecture. The synthesis of primary studies from 2014 to 2023 provides a rigorous analysis of their evolution and current clinical implications. This review is unique in its holistic approach, juxtaposing the scientific underpinnings with clinical realities, thereby delineating the advantages over conventional modalities, and identifying translational barriers. It elucidates persistent knowledge deficits and outlines future research directions. It ultimately accentuates the imperative for multidisciplinary collaboration to enhance the clinical integration of these biotechnologies, culminating in a paradigm shift towards individualized ophthalmic care.
]]>Biomimetics doi: 10.3390/biomimetics9030144
Authors: Jingyang Li Fujie Yin Yu Tian
Under water, on land, or in the air, creatures use a variety of grasping methods to hunt, avoid predators, or carry food. Numerous studies have been conducted to construct a bionic surface for grasping tasks. This paper reviews the typical biomimetic structures and surfaces (wedge-shaped surface, suction cup surface and thorn claw surface) for grasping scenarios. Initially, progress in gecko-inspired wedge-shaped adhesive surfaces is reviewed, encompassing the underlying mechanisms that involve tuning the contact area and peeling behavior. The applications of grippers utilizing this adhesive technology are also discussed. Subsequently, the suction force mechanisms and applications of surfaces inspired by octopus and remora suction cups are outlined. Moreover, this paper introduces the applications of robots incorporating the principles of beetle-inspired and bird-inspired thorn claw structures. Lastly, inspired by remoras’ adhesive discs, a composite biomimetic adhesive surface is proposed. It integrates features from wedge-shaped, suction cup, and claw thorn surfaces, potentially surpassing the adaptability of basic bioinspired surfaces. This surface construction method offers a potential avenue to enhance adhesion capabilities with superior adaptability to surface roughness and curvature.
]]>Biomimetics doi: 10.3390/biomimetics9030143
Authors: Catarina Tavares Tânia Vieira Jorge C. Silva João P. M. R. Borges M. Carmo Lança
Open-cell foams based on hydroxyapatite (HAp) can mimic the extracellular matrix (ECM) to better replace damaged hard tissues and assist in their regeneration processes. Aerogels of HAp nanowires (NW) with barium titanate (BT) particles were produced and characterized regarding their physical and chemical properties, bioactivity, and in vitro cytotoxicity. Considering the role of piezoelectricity (mainly due to collagen) and surface charges in bone remodeling, all BT particles, of size 280 nm and 2 and 3 µm, contained BaTiO3 in their piezoelectric tetragonal phase. The synthesized nanowires were verified to be AB-type carbonated hydroxyapatite. The aerogels showed high porosity and relatively homogeneous distribution of the BT particles. Barium titanate proved to be non-cytotoxic while all the aerogels produced were cytotoxic for an extract concentration of 1 mg/mL but became non-cytotoxic at concentrations of 0.5 mg/mL and below. It is possible that these results were affected by the higher surface area and quicker dissolution rate of the aerogels. In the bioactivity assays, SEM/EDS, it was not easy to differentiate between the apatite deposition and the surface of the HAp wires. However, a quantitative EDS analysis shows a possible CaP deposition/dissolution cycle taking place.
]]>Biomimetics doi: 10.3390/biomimetics9030142
Authors: Julian Winand Thies H. Büscher Stanislav N. Gorb
Gripping, holding, and moving objects are among the main functional purposes of robots. Ever since automation first took hold in society, optimizing these functions has been of high priority, and a multitude of approaches has been taken to enable cheaper, more reliable, and more versatile gripping. Attempts are ongoing to reduce grippers’ weight, energy consumption, and production and maintenance costs while simultaneously improving their reliability, the range of eligible objects, working loads, and environmental independence. While the upper bounds of precision and flexibility have been pushed to an impressive level, the corresponding solutions are often dependent on support systems (e.g., sophisticated sensors and complex actuation machinery), advanced control paradigms (e.g., artificial intelligence and machine learning), and typically require more maintenance owed to their complexity, also increasing their cost. These factors make them unsuited for more modest applications, where moderate to semi-high performance is desired, but simplicity is required. In this paper, we attempt to highlight the potential of the tarsal chain principle on the example of a prototype biomimetic gripping device called the TriTrap gripper, inspired by the eponymous tarsal chain of insects. Insects possess a rigid exoskeleton that receives mobility due to several joints and internally attaching muscles. The tarsus (foot) itself does not contain any major intrinsic muscles but is moved by an extrinsically pulled tendon. Just like its biological counterpart, the TriTrap gripping device utilizes strongly underactuated digits that perform their function using morphological encoding and passive conformation, resulting in a gripper that is versatile, robust, and low cost. Its gripping performance was tested on a variety of everyday objects, each of which represented different size, weight, and shape categories. The TriTrap gripper was able to securely hold most of the tested objects in place while they were lifted, rotated, and transported without further optimization. These results show that the insect tarsus selected approach is viable and warrants further development, particularly in the direction of interface optimization. As such, the main goal of the TriTrap gripper, which was to showcase the tarsal chain principle as a viable approach to gripping in general, was achieved.
]]>Biomimetics doi: 10.3390/biomimetics9030141
Authors: Zhouyi Wang Yiping Feng Bingcheng Wang Jiwei Yuan Baowen Zhang Yi Song Xuan Wu Lei Li Weipeng Li Zhendong Dai
A precise measurement of animal behavior and reaction forces from their surroundings can help elucidate the fundamental principle of animal locomotion, such as landing and takeoff. Compared with stiff substrates, compliant substrates, like leaves, readily yield to loads, presenting grand challenges in measuring the reaction forces on the substrates involving compliance. To gain insight into the kinematic mechanisms and structural–functional evolution associated with arboreal animal locomotion, this study introduces an innovative device that facilitates the quantification of the reaction forces on compliant substrates, like leaves. By utilizing the stiffness–damping characteristics of servomotors and the adjustable length of a cantilever structure, the substrate compliance of the device can be accurately controlled. The substrate was further connected to a force sensor and an acceleration sensor. With the cooperation of these sensors, the measured interaction force between the animal and the compliant substrate prevented the effects of inertial force coupling. The device was calibrated under preset conditions, and its force measurement accuracy was validated, with the error between the actual measured and theoretical values being no greater than 10%. Force curves were measured, and frictional adhesion coefficients were calculated from comparative experiments on the landing/takeoff of adherent animals (tree frogs and geckos) on this device. Analysis revealed that the adhesion force limits were significantly lower than previously reported values (0.2~0.4 times those estimated in previous research). This apparatus provides mechanical evidence for elucidating structural–functional relationships exhibited by animals during locomotion and can serve as an experimental platform for optimizing the locomotion of bioinspired robots on compliant substrates.
]]>Biomimetics doi: 10.3390/biomimetics9030140
Authors: Andrej Bajic Brittmarie Andersson Alexander Ossinger Shima Tavakoli Oommen P. Varghese Nikos Schizas
Our aim was to investigate axonal outgrowth from different tissue models on soft biomaterials based on hyaluronic acid (HA). We hypothesized that HA-based hydrogels differentially promote axonal outgrowth from different neural tissues. Spinal cord sliced cultures (SCSCs) and dorsal root ganglion cultures (DRGCs) were maintained on a collagen gel, a physically crosslinked HA-based hydrogel (Healon 5®) and a novel chemically crosslinked HA-based hydrogel, with or without the presence of neurotrophic factors (NF). Time-lapse microscopy was performed after two, five and eight days, where axonal outgrowth was assessed by automated image analysis. Neuroprotection was investigated by PCR. Outgrowth was observed in all groups; however, in the collagen group, it was scarce. At the middle timepoint, outgrowth from SCSCs was superior in both HA-based groups compared to collagen, regardless of the presence of NF. In DRGCs, the outgrowth in Healon 5® with NF was significantly higher compared to the rest of the groups. PCR revealed upregulation of NeuN gene expression in the HA-based groups compared to controls after excitotoxic injury. The differences in neurite outgrowth from the two different tissue models suggest that axons differentially respond to the two types of biomaterials.
]]>Biomimetics doi: 10.3390/biomimetics9030139
Authors: Tony J. Prescott Fernando M. Montes González Kevin Gurney Mark D. Humphries Peter Redgrave
The vertebrate basal ganglia play an important role in action selection—the resolution of conflicts between alternative motor programs. The effective operation of basal ganglia circuitry is also known to rely on appropriate levels of the neurotransmitter dopamine. We investigated reducing or increasing the tonic level of simulated dopamine in a prior model of the basal ganglia integrated into a robot control architecture engaged in a foraging task inspired by animal behaviour. The main findings were that progressive reductions in the levels of simulated dopamine caused slowed behaviour and, at low levels, an inability to initiate movement. These states were partially relieved by increased salience levels (stronger sensory/motivational input). Conversely, increased simulated dopamine caused distortion of the robot’s motor acts through partially expressed motor activity relating to losing actions. This could also lead to an increased frequency of behaviour switching. Levels of simulated dopamine that were either significantly lower or higher than baseline could cause a loss of behavioural integration, sometimes leaving the robot in a ‘behavioral trap’. That some analogous traits are observed in animals and humans affected by dopamine dysregulation suggests that robotic models could prove useful in understanding the role of dopamine neurotransmission in basal ganglia function and dysfunction.
]]>Biomimetics doi: 10.3390/biomimetics9030138
Authors: Yi Zhang Yangkun Zhou
In order to cope with the problems of energy shortage and environmental pollution, carbon emissions need to be reduced and so the structure of the power grid is constantly being optimized. Traditional centralized power networks are not as capable of controlling and distributing non-renewable energy as distributed power grids. Therefore, the optimal dispatch of microgrids faces increasing challenges. This paper proposes a multi-strategy fusion slime mould algorithm (MFSMA) to tackle the microgrid optimal dispatching problem. Traditional swarm intelligence algorithms suffer from slow convergence, low efficiency, and the risk of falling into local optima. The MFSMA employs reverse learning to enlarge the search space and avoid local optima to overcome these challenges. Furthermore, adaptive parameters ensure a thorough search during the algorithm iterations. The focus is on exploring the solution space in the early stages of the algorithm, while convergence is accelerated during the later stages to ensure efficiency and accuracy. The salp swarm algorithm’s search mode is also incorporated to expedite convergence. MFSMA and other algorithms are compared on the benchmark functions, and the test showed that the effect of MFSMA is better. Simulation results demonstrate the superior performance of the MFSMA for function optimization, particularly in solving the 24 h microgrid optimal scheduling problem. This problem considers multiple energy sources such as wind turbines, photovoltaics, and energy storage. A microgrid model based on the MFSMA is established in this paper. Simulation of the proposed algorithm reveals its ability to enhance energy utilization efficiency, reduce total network costs, and minimize environmental pollution. The contributions of this paper are as follows: (1) A comprehensive microgrid dispatch model is proposed. (2) Environmental costs, operation and maintenance costs are taken into consideration. (3) Two modes of grid-tied operation and island operation are considered. (4) This paper uses a multi-strategy optimized slime mould algorithm to optimize scheduling, and the algorithm has excellent results.
]]>Biomimetics doi: 10.3390/biomimetics9030137
Authors: Marie Hubálovská Štěpán Hubálovský Pavel Trojovský
This paper introduces the Botox Optimization Algorithm (BOA), a novel metaheuristic inspired by the Botox operation mechanism. The algorithm is designed to address optimization problems, utilizing a human-based approach. Taking cues from Botox procedures, where defects are targeted and treated to enhance beauty, the BOA is formulated and mathematically modeled. Evaluation on the CEC 2017 test suite showcases the BOA’s ability to balance exploration and exploitation, delivering competitive solutions. Comparative analysis against twelve well-known metaheuristic algorithms demonstrates the BOA’s superior performance across various benchmark functions, with statistically significant advantages. Moreover, application to constrained optimization problems from the CEC 2011 test suite highlights the BOA’s effectiveness in real-world optimization tasks.
]]>Biomimetics doi: 10.3390/biomimetics9030136
Authors: Jialan Hong Xuelong Sun Jigen Peng Qinbing Fu
Bio-inspired models based on the lobula giant movement detector (LGMD) in the locust’s visual brain have received extensive attention and application for collision perception in various scenarios. These models offer advantages such as low power consumption and high computational efficiency in visual processing. However, current LGMD-based computational models, typically organized as four-layered neural networks, often encounter challenges related to noisy signals, particularly in complex dynamic environments. Biological studies have unveiled the intrinsic stochastic nature of synaptic transmission, which can aid neural computation in mitigating noise. In alignment with these biological findings, this paper introduces a probabilistic LGMD (Prob-LGMD) model that incorporates a probability into the synaptic connections between multiple layers, thereby capturing the uncertainty in signal transmission, interaction, and integration among neurons. Comparative testing of the proposed Prob-LGMD model and two conventional LGMD models was conducted using a range of visual stimuli, including indoor structured scenes and complex outdoor scenes, all subject to artificial noise. Additionally, the model’s performance was compared to standard engineering noise-filtering methods. The results clearly demonstrate that the proposed model outperforms all comparative methods, exhibiting a significant improvement in noise tolerance. This study showcases a straightforward yet effective approach to enhance collision perception in noisy environments.
]]>Biomimetics doi: 10.3390/biomimetics9030135
Authors: Joana Henriques Ana M. Amaro Ana P. Piedade
Atherosclerosis represents the etiologic source of several cardiovascular events, including myocardial infarction, cerebrovascular accidents, and peripheral artery disease, which remain the leading cause of mortality in the world. Numerous strategies are being delineated to revert the non-optimal projections of the World Health Organization, by both designing new diagnostic and therapeutic approaches or improving the interventional procedures performed by physicians. Deeply understanding the pathological process of atherosclerosis is, therefore, mandatory to accomplish improved results in these trials. Due to their availability, reproducibility, low expensiveness, and rapid production, biomimicking physical models are preferred over animal experimentation because they can overcome some limitations, mainly related to replicability and ethical issues. Their capability to represent any atherosclerotic stage and/or plaque type makes them valuable tools to investigate hemodynamical, pharmacodynamical, and biomechanical behaviors, as well as to optimize imaging systems and, thus, obtain meaningful prospects to improve the efficacy and effectiveness of treatment on a patient-specific basis. However, the broadness of possible applications in which these biomodels can be used is associated with a wide range of tissue-mimicking materials that are selected depending on the final purpose of the model and, consequently, prioritizing some materials’ properties over others. This review aims to summarize the progress in fabricating biomimicking atherosclerotic models, mainly focusing on using materials according to the intended application.
]]>Biomimetics doi: 10.3390/biomimetics9030134
Authors: Jing Lu Rui Yang Gang Hu Abdelazim G. Hussien
A method for the approximate merging of disk Wang–Ball (DWB) curves based on the modified snake optimizer (BEESO) is proposed in this paper to address the problem of difficulties in the merging of DWB curves. By extending the approximate merging problem for traditional curves to disk curves and viewing it as an optimization problem, an approximate merging model is established to minimize the merging error through an error formulation. Considering the complexity of the model built, a BEESO with better convergence accuracy and convergence speed is introduced, which combines the snake optimizer (SO) and three strategies including bi-directional search, evolutionary population dynamics, and elite opposition-based learning. The merging results and merging errors of numerical examples demonstrate that BEESO is effective in solving approximate merging models, and it provides a new method for the compression and transfer of product shape data in Computer-Aided Geometric Design.
]]>Biomimetics doi: 10.3390/biomimetics9030133
Authors: Vinay Shankar Nagi Shirakawa Daisuke Ishihara
The flapping wings of insects undergo large deformations caused by aerodynamic forces, resulting in cambering. Insect-mimetic micro wings for flapping-wing nano air vehicles mimic these characteristic deformations. In this study, a 2.5-dimensional insect-mimetic micro wing model for flapping-wing nano air vehicles is proposed to realize this type of wing. The proposed model includes a wing membrane, a leading edge, a center vein, and a root vein, all of which are modeled as shell elements. The proposed wing is a 2.5-dimensional structure and can thus be fabricated using polymer micromachining. We conducted a design window search to demonstrate the capabilities of the wing. The design windows, which are areas of desirable design solutions in the design parameter space, are iteratively searched using nonlinear finite-element analysis under quasi-steady aerodynamic modeling. Here, thickness is selected as a design parameter. The properties of real insects, polymer materials, and fabrication conditions are used to determine the other parameters. A fabricable design solution that generates sufficient camber is found from the design windows.
]]>Biomimetics doi: 10.3390/biomimetics9030132
Authors: Lei Jiang Zhongqi Xu Tinglong Zheng Xiuli Zhang Jianhua Yang
In recent years, both domestic and international research on quadruped robots has advanced towards high dynamics and agility, with a focus on high-speed locomotion as a representative motion in high-dynamic activities. Quadruped animals like cheetahs exhibit high-speed running capabilities, attributed to the indispensable role played by their flexible spines during the flight phase motion. This paper establishes dynamic models of flexible spinal quadruped robots with different degrees of simplification, providing a parameterized description of the flight phase motion for both rigid-trunk and flexible-spine quadruped robots. By setting different initial values for the spine joint and calculating the flight phase results for both types of robots at various initial velocities, the study compares and analyzes the impact of a flexible spine on the flight phase motion of quadruped robots. Through comparative experiments, the research aims to validate the influence of a flexible spine during the flight phase motion, providing insights into how spine flexibility affects the flight phase motion of quadruped robots.
]]>Biomimetics doi: 10.3390/biomimetics9030131
Authors: Nina Graupner Jörg Müssig
Bast fibre-reinforced plastics are characterised by good strength and stiffness but are often brittle due to the stiff and less ductile fibres. This study uses a biomimetic approach to improve impact strength. Based on the structure of the spicules of a deep-sea glass sponge, in which hard layers of bioglass alternate with soft layers of proteins, the toughness of kenaf/epoxy composites was significantly improved by a multilayer structure of kenaf and cellulose acetate (CA) foils as impact modifiers. Due to the alternating structure, cracks are deflected, and toughness is improved. One to five CA foils were stacked with kenaf layers and processed to composite plates with bio-based epoxy resin by compression moulding. Results have shown a significant improvement in toughness using CA foils due to increased crack propagation. The unnotched Charpy impact strength increased from 9.0 kJ/m2 of the pure kenaf/epoxy composite to 36.3 kJ/m2 for the sample containing five CA foils. The tensile and flexural strength ranged from 74 to 81 MPa and 112 to 125 MPa, respectively. The tensile modulus reached values between 9100 and 10,600 MPa, and the flexural modulus ranged between 7200 and 8100 MPa. The results demonstrate the successful implementation of an abstract transfer of biological role models to improve the toughness of brittle bast fibre-reinforced plastics.
]]>Biomimetics doi: 10.3390/biomimetics9030130
Authors: Ishaani Priyadarshini
In numerous scientific disciplines and practical applications, addressing optimization challenges is a common imperative. Nature-inspired optimization algorithms represent a highly valuable and pragmatic approach to tackling these complexities. This paper introduces Dendritic Growth Optimization (DGO), a novel algorithm inspired by natural branching patterns. DGO offers a novel solution for intricate optimization problems and demonstrates its efficiency in exploring diverse solution spaces. The algorithm has been extensively tested with a suite of machine learning algorithms, deep learning algorithms, and metaheuristic algorithms, and the results, both before and after optimization, unequivocally support the proposed algorithm’s feasibility, effectiveness, and generalizability. Through empirical validation using established datasets like diabetes and breast cancer, the algorithm consistently enhances model performance across various domains. Beyond its working and experimental analysis, DGO’s wide-ranging applications in machine learning, logistics, and engineering for solving real-world problems have been highlighted. The study also considers the challenges and practical implications of implementing DGO in multiple scenarios. As optimization remains crucial in research and industry, DGO emerges as a promising avenue for innovation and problem solving.
]]>Biomimetics doi: 10.3390/biomimetics9030129
Authors: Qiang Wang Chunjie Chen Xinxing Mu Haibin Wang Zhuo Wang Sheng Xu Weilun Guo Xinyu Wu Weimin Li
Heavy lifting operations frequently lead to upper limb muscle fatigue and injury. In order to reduce muscle fatigue, auxiliary force for upper limbs can be provided. This paper presents the development and evaluation of a wearable upper limb exoskeleton (ULE) robot system. A flexible cable transmits auxiliary torque and is connected to the upper limb by bypassing the shoulder. Based on the K-nearest neighbors (KNN) algorithm and integrated fuzzy PID control strategy, the ULE identifies the handling posture and provides accurate active auxiliary force automatically. Overall, it has the quality of being light and easy to wear. In unassisted mode, the wearer’s upper limbs minimally affect the range of movement. The KNN algorithm uses multi-dimensional motion information collected by the sensor, and the test accuracy is 94.59%. Brachioradialis muscle (BM), triceps brachii (TB), and biceps brachii (BB) electromyogram (EMG) signals were evaluated by 5 kg, 10 kg, and 15 kg weight conditions for five subjects, respectively, during lifting, holding, and squatting. Compared with the ULE without assistance and with assistance, the average peak values of EMG signals of BM, TB, and BB were reduced by 19–30% during the whole handling process, which verified that the developed ULE could provide practical assistance under different load conditions.
]]>Biomimetics doi: 10.3390/biomimetics9030128
Authors: Zhongbao Wang Yixin Chen Yuan Ma Jing Wang
Biological species can walk, swim, fly, jump, and climb with fast response speeds and motion complexity. These remarkable functions are accomplished by means of soft actuation organisms, which are commonly composed of muscle tissue systems. To achieve the creation of their biomimetic artificial counterparts, various biomimetic stimuli-responsive materials have been synthesized and developed in recent decades. They can respond to various external stimuli in the form of structural or morphological transformations by actively or passively converting input energy into mechanical energy. They are the core element of soft actuators for typical smart devices like soft robots, artificial muscles, intelligent sensors and nanogenerators. Significant progress has been made in the development of bioinspired stimuli-responsive materials. However, these materials have not been comprehensively summarized with specific actuation mechanisms in the literature. In this review, we will discuss recent advances in biomimetic stimuli-responsive materials that are instrumental for soft actuators. Firstly, different stimuli-responsive principles for soft actuators are discussed, including fluidic, electrical, thermal, magnetic, light, and chemical stimuli. We further summarize the state-of-the-art stimuli-responsive materials for soft actuators and explore the advantages and disadvantages of using electroactive polymers, magnetic soft composites, photo-thermal responsive polymers, shape memory alloys and other responsive soft materials. Finally, we provide a critical outlook on the field of stimuli-responsive soft actuators and emphasize the challenges in the process of their implementation to various industries.
]]>Biomimetics doi: 10.3390/biomimetics9030127
Authors: Jorge Francisco García-Samartín Raúl Molina-Gómez Antonio Barrientos
Soft robotics faces challenges in attaining control methods that ensure precision from hard-to-model actuators and sensors. This study focuses on closed-chain control of a segment of PAUL, a modular pneumatic soft arm, using elastomeric-based resistive sensors with negative piezoresistive behaviour irrespective of ambient temperature. PAUL’s performance relies on bladder inflation and deflation times. The control approach employs two neural networks: the first translates position references into valve inflation times, and the second acts as a state observer to estimate bladder inflation times using sensor data. Following training, the system achieves position errors of 4.59 mm, surpassing the results of other soft robots presented in the literature. The study also explores system modularity by assessing performance under external loads from non-actuated segments.
]]>Biomimetics doi: 10.3390/biomimetics9030126
Authors: Yu Wang Jian Wang Lianyi Yu Shihan Kong Junzhi Yu
Safe, underwater exploration in the ocean is a challenging task due to the complex environment, which often contains areas with dense coral reefs, uneven terrain, or many obstacles. To address this issue, an intelligent underwater exploration framework of a biomimetic robot is proposed in this paper, including an obstacle avoidance model, motion planner, and yaw controller. Firstly, with the aid of the onboard distance sensors in robotic fish, the obstacle detection model is established. On this basis, two types of obstacles, i.e., rectangular and circular, are considered, followed by the obstacle collision model’s construction. Secondly, a deep reinforcement learning method is adopted to plan the plane motion, and the performances of different training setups are investigated. Thirdly, a backstepping method is applied to derive the yaw control law, in which a sigmoid function-based transition method is employed to smooth the planning output. Finally, a series of simulations are carried out to verify the effectiveness of the proposed method. The obtained results indicate that the biomimetic robot can not only achieve intelligent motion planning but also accomplish yaw control with obstacle avoidance, offering a valuable solution for underwater operation in the ocean.
]]>Biomimetics doi: 10.3390/biomimetics9030125
Authors: Qiang Zhou Houze Feng Yueyang Liu
Compared to terrestrial transportation systems, the expansion of urban traffic into airspace can not only mitigate traffic congestion, but also foster establish eco-friendly transportation networks. Additionally, unmanned aerial vehicle (UAV) task allocation and trajectory planning are essential research topics for an Urban Air Mobility (UAM) scenario. However, heterogeneous tasks, temporary flight restriction zones, physical buildings, and environment prerequisites put forward challenges for the research. In this paper, multigene and improved anti-collision RRT* (IAC-RRT*) algorithms are proposed to address the challenge of task allocation and path planning problems in UAM scenarios by tailoring the chance of crossover and mutation. It is proved that multigene and IAC-RRT* algorithms can effectively minimize energy consumption and tasks’ completion duration of UAVs. Simulation results demonstrate that the strategy of this work surpasses traditional optimization algorithms, i.e., RRT algorithm and gene algorithm, in terms of numerical stability and convergence speed.
]]>Biomimetics doi: 10.3390/biomimetics9030124
Authors: Liangliang Shi Honghao Zhang Lintao Wu Yu Liu Kuo Cheng Yong Han Danqi Wang
With the development of intelligent vehicle technology, the probability of road traffic accidents occurring has been effectively reduced to a certain extent. However, there is still insufficient research on head injuries in human vehicle collisions, making it impossible to effectively predict pedestrian head injuries in accidents. To study the efficacy of a combined active and passive safety system on pedestrian head protection through the combined effect of the exterior airbag and the braking control systems of an intelligent vehicle, a “vehicle–pedestrian” interaction system is constructed in this study and is verified by real collision cases. On this basis, a combined active and passive system database is developed to analyze the cross-influence of the engine hood airbag and the vehicle braking curve parameters on pedestrian HIC (head injury criterion). Meanwhile, a hierarchy design strategy for a combined active and passive system is proposed, and a rapid prediction of HIC is achieved via the establishment of a fitting equation for each grading. The results show that the exterior airbag can effectively protect the pedestrian’s head, prevent the collision between the pedestrian’s head and the vehicle front structure, and reduce the HIC. The braking parameter H2 is significantly correlated with head injury, and when H2 is less than 1.8, the HIC value is less than 1000 in nearly 90% of cases. The hierarchy design strategy and HIC prediction method of the combined active and passive system proposed in this paper can provide a theoretical basis for rapid selection and parameter design.
]]>Biomimetics doi: 10.3390/biomimetics9030123
Authors: Qianshuo Hu Haijun Liu
Skeleton-based human interaction recognition is a challenging task in the field of vision and image processing. Graph Convolutional Networks (GCNs) achieved remarkable performance by modeling the human skeleton as a topology. However, existing GCN-based methods have two problems: (1) Existing frameworks cannot effectively take advantage of the complementary features of different skeletal modalities. There is no information transfer channel between various specific modalities. (2) Limited by the structure of the skeleton topology, it is hard to capture and learn the information about two-person interactions. To solve these problems, inspired by the human visual neural network, we propose a multi-modal enhancement transformer (ME-Former) network for skeleton-based human interaction recognition. ME-Former includes a multi-modal enhancement module (ME) and a context progressive fusion block (CPF). More specifically, each ME module consists of a multi-head cross-modal attention block (MH-CA) and a two-person hypergraph self-attention block (TH-SA), which are responsible for enhancing the skeleton features of a specific modality from other skeletal modalities and modeling spatial dependencies between joints using the specific modality, respectively. In addition, we propose a two-person skeleton topology and a two-person hypergraph representation. The TH-SA block can embed their structural information into the self-attention to better learn two-person interaction. The CPF block is capable of progressively transforming the features of different skeletal modalities from low-level features to higher-order global contexts, making the enhancement process more efficient. Extensive experiments on benchmark NTU-RGB+D 60 and NTU-RGB+D 120 datasets consistently verify the effectiveness of our proposed ME-Former by outperforming state-of-the-art methods.
]]>Biomimetics doi: 10.3390/biomimetics9030122
Authors: Zhibin Yan Yi Song Rui Zhou Liuwei Wang Zhiliang Wang Zhendong Dai
The facial expressions of humanoid robots play a crucial role in human–computer information interactions. However, there is a lack of quantitative evaluation methods for the anthropomorphism of robot facial expressions. In this study, we designed and manufactured a humanoid robot head that was capable of successfully realizing six basic facial expressions. The driving force behind the mechanism was efficiently transmitted to the silicone skin through a rigid linkage drive and snap button connection, which improves both the driving efficiency and the lifespan of the silicone skin. We used human facial expressions as a basis for simulating and acquiring the movement parameters. Subsequently, we designed a control system for the humanoid robot head in order to achieve these facial expressions. Moreover, we used a flexible vertical graphene sensor to measure strain on both the human face and the silicone skin of the humanoid robot head. We then proposed a method to evaluate the anthropomorphic degree of the robot’s facial expressions by using the difference rate of strain. The feasibility of this method was confirmed through experiments in facial expression recognition. The evaluation results indicated a high degree of anthropomorphism for the six basic facial expressions which were achieved by the humanoid robot head. Moreover, this study also investigates factors affecting the reproduction of expressions. Finally, the impulse was calculated based on the strain curves of the energy consumption of the humanoid robot head to complete different facial expressions. This offers a reference for fellow researchers when designing humanoid robot heads, based on energy consumption ratios. To conclude, this paper offers data references for optimizing the mechanisms and selecting the drive components of the humanoid robot head. This was realized by considering the anthropomorphic degree and energy consumption of each part. Additionally, a new method for evaluating robot facial expressions is proposed.
]]>Biomimetics doi: 10.3390/biomimetics9020121
Authors: Pier Luigi Gentili
This work highlights the relevant contribution of conformational stereoisomers to the complexity and functions of any molecular compound. Conformers have the same molecular and structural formulas but different orientations of the atoms in the three-dimensional space. Moving from one conformer to another is possible without breaking covalent bonds. The interconversion is usually feasible through the thermal energy available in ordinary conditions. The behavior of most biopolymers, such as enzymes, antibodies, RNA, and DNA, is understandable if we consider that each exists as an ensemble of conformers. Each conformational collection confers multi-functionality and adaptability to the single biopolymers. The conformational distribution of any biopolymer has the features of a fuzzy set. Hence, every compound that exists as an ensemble of conformers allows the molecular implementation of a fuzzy set. Since proteins, DNA, and RNA work as fuzzy sets, it is fair to say that life’s logic is fuzzy. The power of processing fuzzy logic makes living beings capable of swift decisions in environments dominated by uncertainty and vagueness. These performances can be implemented in chemical robots, which are confined molecular assemblies mimicking unicellular organisms: they are supposed to help humans “colonise” the molecular world to defeat diseases in living beings and fight pollution in the environment.
]]>Biomimetics doi: 10.3390/biomimetics9020120
Authors: Spyridon D. Mourtas Vasilios N. Katsikis Predrag S. Stanimirović Lev A. Kazakovtsev
Numerous people are applying for bank loans as a result of the banking industry’s expansion, but because banks only have a certain amount of assets to lend to, they can only do so to a certain number of applicants. Therefore, the banking industry is very interested in finding ways to reduce the risk factor involved in choosing the safe applicant in order to save lots of bank resources. These days, machine learning greatly reduces the amount of work needed to choose the safe applicant. Taking this into account, a novel weights and structure determination (WASD) neural network has been built to meet the aforementioned two challenges of credit approval and loan approval, as well as to handle the unique characteristics of each. Motivated by the observation that WASD neural networks outperform conventional back-propagation neural networks in terms of sluggish training speed and being stuck in local minima, we created a bio-inspired WASD algorithm for binary classification problems (BWASD) for best adapting to the credit or loan approval model by utilizing the metaheuristic beetle antennae search (BAS) algorithm to improve the learning procedure of the WASD algorithm. Theoretical and experimental study demonstrate superior performance and problem adaptability. Furthermore, we provide a complete MATLAB package to support our experiments together with full implementation and extensive installation instructions.
]]>Biomimetics doi: 10.3390/biomimetics9020118
Authors: Mustafa Servet Kiran Mehmet Beskirli
This paper presents a novel approach based on the ant system algorithm for solving discrete optimization problems. The proposed method is based on path construction, path improvement techniques, and the footprint mechanism. Some information about the optimization problem and collective intelligence is used in order to create solutions in the path construction phase. In the path improvement phase, neighborhood operations are applied to the solution, which is the best of the population and is obtained from the path construction phase. The collective intelligence in the path construction phase is based on a footprint mechanism, and more footprints on the arc improve the selection chance of this arc. A selection probability is also balanced by using information about the problem (e.g., the distance between nodes for a traveling salesman problem). The performance of the proposed method has been investigated on 25 traveling salesman problems and compared with state-of-the-art algorithms. The experimental comparisons show that the proposed method produced comparable results for the problems dealt with in this study.
]]>Biomimetics doi: 10.3390/biomimetics9020119
Authors: Pravesh Kumar Musrrat Ali
The exploration of premium and new locations is regarded as a fundamental function of every evolutionary algorithm. This is achieved using the crossover and mutation stages of the differential evolution (DE) method. A best-and-worst position-guided novel exploration approach for the DE algorithm is provided in this study. The proposed version, known as “Improved DE with Best and Worst positions (IDEBW)”, offers a more advantageous alternative for exploring new locations, either proceeding directly towards the best location or evacuating the worst location. The performance of the proposed IDEBW is investigated and compared with other DE variants and meta-heuristics algorithms based on 42 benchmark functions, including 13 classical and 29 non-traditional IEEE CEC-2017 test functions and 3 real-life applications of the IEEE CEC-2011 test suite. The results prove that the proposed approach successfully completes its task and makes the DE algorithm more efficient.
]]>Biomimetics doi: 10.3390/biomimetics9020117
Authors: Guizhen Mai Fangqing Liu Yinghan Hong Dingrong Liu Junpeng Su Xiaowei Yang Han Huang
The brain storm optimization (BSO) algorithm has received increased attention in the field of evolutionary computation. While BSO has been applied in numerous industrial scenarios due to its effectiveness and accessibility, there are few theoretical analysis results about its running time. Running-time analysis can be conducted through the estimation of the upper bounds of the expected first hitting time to evaluate the efficiency of BSO. This study estimates the upper bounds of the expected first hitting time on six single individual BSO variants (BSOs with one individual) based on the average gain model. The theoretical analysis indicates the following results. (1) The time complexity of the six BSO variants is O(n) in equal coefficient linear functions regardless of the presence or absence of the disrupting operator, where n is the number of the dimensions. Moreover, the coefficient of the upper bounds on the expected first hitting time shows that the single individual BSOs with the disrupting operator require fewer iterations to obtain the target solution than the single individual BSOs without the disrupting operator. (2) The upper bounds on the expected first hitting time of single individual BSOs with the standard normally distributed mutation operator are lower than those of BSOs with the uniformly distributed mutation operator. (3) The upper bounds on the expected first hitting time of single individual BSOs with the U−12,12 mutation operator are approximately twice those of BSOs with the U(−1,1) mutation operator. The corresponding numerical results are also consistent with the theoretical analysis results.
]]>Biomimetics doi: 10.3390/biomimetics9020116
Authors: Chunxiao Lu Lei Jin Yufei Liu Jianfeng Wang Weihua Li
Teleoperated robots have attracted significant interest in recent years, and data gloves are one of the commonly used devices for their operation. However, existing solutions still encounter two challenges: the ways in which data gloves capture human operational intentions and achieve accurate mapping. In order to address these challenges, we propose a novel teleoperation method using data gloves based on fuzzy logic controller. Firstly, the data are collected and normalized from the flex sensors on data gloves to identify human manipulation intentions. Then, a fuzzy logic controller is designed to convert finger flexion information into motion control commands for robot arms. Finally, experiments are conducted to demonstrate the effectiveness and precision of the proposed method.
]]>Biomimetics doi: 10.3390/biomimetics9020115
Authors: Nengxian Liu Jeng-Shyang Pan Genggeng Liu Mingjian Fu Yanyan Kong Pei Hu
There are a lot of multi-objective optimization problems (MOPs) in the real world, and many multi-objective evolutionary algorithms (MOEAs) have been presented to solve MOPs. However, obtaining non-dominated solutions that trade off convergence and diversity remains a major challenge for a MOEA. To solve this problem, this paper designs an efficient multi-objective sine cosine algorithm based on a competitive mechanism (CMOSCA). In the CMOSCA, the ranking relies on non-dominated sorting, and the crowding distance rank is utilized to choose the outstanding agents, which are employed to guide the evolution of the SCA. Furthermore, a competitive mechanism stemming from the shift-based density estimation approach is adopted to devise a new position updating operator for creating offspring agents. In each competition, two agents are randomly selected from the outstanding agents, and the winner of the competition is integrated into the position update scheme of the SCA. The performance of our proposed CMOSCA was first verified on three benchmark suites (i.e., DTLZ, WFG, and ZDT) with diversity characteristics and compared with several MOEAs. The experimental results indicated that the CMOSCA can obtain a Pareto-optimal front with better convergence and diversity. Finally, the CMOSCA was applied to deal with several engineering design problems taken from the literature, and the statistical results demonstrated that the CMOSCA is an efficient and effective approach for engineering design problems.
]]>Biomimetics doi: 10.3390/biomimetics9020114
Authors: Olga Speck Thomas Speck
Wildfires are unplanned conflagrations perceived as a threat by humans. However, fires are essential for the survival of fire-adapted plants. On the one hand, wildfires cause major damage worldwide, burning large areas of forests and landscapes, threatening towns and villages, and generating high levels of air pollution. On the other hand, fire-adapted plants (pyrophytes) in the fire landscapes of the Earth are able to survive exposure to heat (e.g., because of their thick bark, which protects their living tissue) and benefit from fire directly (e.g., fire initiates cone opening and seed release) or indirectly (e.g., fewer competing plants of fire-sensitive species remain, seeds germinate in the ash-fertilized soil). We present the experimental set-up and results of a fire experiment on bark samples used as a basis to assess the fire tolerance of various trees. Fire tolerance is defined as the ability of a tree to survive a surface fire (up to 200 °C and 5 min duration). The measure of the fire tolerance for a tree species is the time taken for the vascular cambium under the insulating bark to reach the critical temperature of 60 °C. Within an educational module, we provide worksheets for teachers and students enabling them to analyze the fire tolerance of various tree barks.
]]>Biomimetics doi: 10.3390/biomimetics9020113
Authors: Jeongyeol Park Tuan Luong Hyungpil Moon
Pipelines are embedded in industrial sites and residential environments, and maintaining these pipes is crucial to prevent leakage. Given that most pipelines are buried, the development of robots capable of exploring their interiors is essential. In this work, we introduce a novel in-pipe robot utilizing Continuously Variable Transmission (CVT) mechanisms for navigating various pipes, including vertical and curved pipes. The robot comprises one air motor, three CVT mechanisms, and six wheels at the end of six slider-crank mechanisms, including three active and three idler ones. The slider crank and spring mechanism generate a wall press force through the wheel to prevent slipping inside the pipe. This capability allows the robot to climb vertical pipes and adapt to various pipe diameters. Moreover, by combining CVT mechanisms, whose speed ratios between the driver and driven pulleys are passively adjusted by the position of the slider, the robot achieves independent and continuous speed control for each wheel. This enables it to navigate pipes with various geometries, such as straight–curved–straight pipes, using only one motor. Since active control of each wheel is not needed, the complexities of the robot controller can be significantly reduced. To validate the proposed mechanism, MATLAB simulations were conducted, and in-pipe driving experiments were executed. Both simulation and experimental results have shown that the robot can effectively navigate curved pipes with a maximum speed of 17.5 mm/s and a maximum traction force of 56.84 N.
]]>Biomimetics doi: 10.3390/biomimetics9020112
Authors: Ahmad Nazir Taleb Alashkar Koichiro Hayashi Kunio Ishikawa
Generally, ceramics are brittle, and porosity is inversely correlated with strength, which is one of the challenges of ceramic scaffolds. Here, we demonstrate that lamellar septum-like carbonate apatite scaffolds have the potential to overcome these challenges. They were fabricated by exploiting the cellular structure of the cuttlebone, removing the organic components from the cuttlebone, and performing hydrothermal treatment. Scanning electron microscopy revealed that the scaffolds had a cellular structure with walls between lamellar septa. The interwall and interseptal sizes were 80–180 and 300–500 μm, respectively. The size of the region enclosed by the walls and septa coincided with the macropore size detected by mercury intrusion porosimetry. Although the scaffold porosity was extremely high (93.2%), the scaffold could be handled without disintegration. The compressive stress–strain curve demonstrated that the scaffolds showed layer-by-layer fracture behavior, which seemed beneficial for avoiding catastrophic failure under impact. When the scaffolds were implanted into rabbit femurs, new bone and blood vessels formed within the scaffold cells at 4 weeks. At 12 weeks, the scaffolds were almost entirely replaced with new bone. Thus, the lamellar septum-like cellular-structured carbonate apatite is a promising scaffold for achieving early bone regeneration and compression resistance.
]]>Biomimetics doi: 10.3390/biomimetics9020111
Authors: Jun Wu Yizhang Sun Honghao Yue Junyi Yang Fei Yang Yong Zhao
Aerial recovery and redeployment can effectively increase the operating radius and the endurance of unmanned aerial vehicles (UAVs). However, the challenge lies in the effect of the aerodynamic force on the recovery system, and the existing road-based and sea-based UAV recovery methods are no longer applicable. Inspired by the predatory behavior of net-casting spiders, this study introduces a cable-driven parallel robot (CDPR) for UAV aerial recovery, which utilizes an end-effector camera to detect the UAV’s flight trajectory, and the CDPR dynamically adjusts its spatial position to intercept and recover the UAV. This paper establishes a comprehensive cable model, simultaneously considering the elasticity, mass, and aerodynamic force, and the static equilibrium equation for the CDPR is derived. The effects of the aerodynamic force and cable tension on the spatial configuration of the cable are analyzed. Numerical computations yield the CDPR’s end-effector position error and cable-driven power consumption at discrete spatial points, and the results show that the position error decreases but the power consumption increases with the increase in the cable tension lower limit (CTLL). To improve the comprehensive performance of the recovery system, a multi-objective optimization method is proposed, considering the error distribution, power consumption distribution, and safety distance. The optimized CTLL and interception space position coordinates are determined through simulation, and comparative analysis with the initial condition indicates an 83% reduction in error, a 62.3% decrease in power consumption, and a 1.2 m increase in safety distance. This paper proposes a new design for a UAV aerial recovery system, and the analysis lays the groundwork for future research.
]]>Biomimetics doi: 10.3390/biomimetics9020110
Authors: Alexandre B. S. da Silva Gabriel E. P. Mendes Eduardo S. Bragato Guilherme L. Novelli Marina Monjardim Rafhael M. Andrade
Loss of an upper limb exerts a negative influence on an individual’s ability to perform their activities of daily living (ADLs), reducing quality of life and self-esteem. A prosthesis capable of performing basic ADLs functions has the capability of restoring independence and autonomy to amputees. However, current technologies present in robotic prostheses are based on rigid actuators with several drawbacks, such as high weight and low compliance. Recent advances in robotics have allowed for the development of flexible actuators and artificial muscles to overcome the limitations of rigid actuators. Dielectric elastomer actuators (DEAs) consist of a thin elastomer membrane arranged between two compliant electrodes capable of changing dimensions when stimulated with an electrical potential difference. In this work, we present the design and testing of a finger prosthesis driven by two DEAs arranged as agonist–antagonist pairs as artificial muscles. The soft actuators are designed as fiber-constrained dielectric elastomers (FCDE), enabling displacement in just one direction as natural muscles. The finger prosthesis was designed and modeled to show bend movement using just one pair of DEAs and was made of PLA in an FDM 3D printer to be lightweight. The experimental results show great agreement with the proposed model and indicate that the proposed finger prosthesis is promising in overcoming the limitations of the current rigid based actuators.
]]>Biomimetics doi: 10.3390/biomimetics9020108
Authors: Timothy Sands
Controlling robots in space with necessarily low material and structural stiffness is quite challenging at least in part due to the resulting very low structural resonant frequencies or natural vibration. The frequencies are sometimes so low that the very act of controlling the robot with medium or high bandwidth controllers leads to excitation of resonant vibrations in the robot appendages. Biomimetics or biomimicry emulates models, systems, and elements of nature for solving such complex problems. Recent seminal publications have re-introduced the viability of optimal command shaping, and one recent instantiation mimics baseball pitching to propose control of highly flexible space robots. The readership will find a perhaps dizzying array of thirteen decently performing alternatives in the literature but could be left bereft selecting a method(s) deemed to be best suited for a particular application. Bio-inspired control of space robotics is presented in a quite substantial (perhaps not comprehensive) comparison, and the conclusions of this study indicate the three top performing methods based on minimizing control effort (i.e., fuel) usage, tracking error mean, and tracking error deviation, where 96%, 119%, and 80% performance improvement, respectively, are achieved.
]]>Biomimetics doi: 10.3390/biomimetics9020109
Authors: Musavir Bashir Mir Hossein Negahban Ruxandra Mihaela Botez Tony Wong
An integrated approach to active flow control is proposed by finding both the drooping leading edge and the morphing trailing edge for flow management. This strategy aims to manage flow separation control by utilizing the synergistic effects of both control mechanisms, which we call the combined morphing leading edge and trailing edge (CoMpLETE) technique. This design is inspired by a bionic porpoise nose and the flap movements of the cetacean species. The motion of this mechanism achieves a continuous, wave-like, variable airfoil camber. The dynamic motion of the airfoil’s upper and lower surface coordinates in response to unsteady conditions is achieved by combining the thickness-to-chord (t/c) distribution with the time-dependent camber line equation. A parameterization model was constructed to mimic the motion around the morphing airfoil at various deflection amplitudes at the stall angle of attack and morphing actuation start times. The mean properties and qualitative trends of the flow phenomena are captured by the transition SST (shear stress transport) model. The effectiveness of the dynamically morphing airfoil as a flow control approach is evaluated by obtaining flow field data, such as velocity streamlines, vorticity contours, and aerodynamic forces. Different cases are investigated for the CoMpLETE morphing airfoil, which evaluates the airfoil’s parameters, such as its morphing location, deflection amplitude, and morphing starting time. The morphing airfoil’s performance is analyzed to provide further insights into the dynamic lift and drag force variations at pre-defined deflection frequencies of 0.5 Hz, 1 Hz, and 2 Hz. The findings demonstrate that adjusting the airfoil camber reduces streamwise adverse pressure gradients, thus preventing significant flow separation. Although the trailing-edge deflection and its location along the chord influence the generation and separation of the leading-edge vortex (LEV), these results show that the combined effect of the morphing leading edge and trailing edge has the potential to mitigate flow separation. The morphing airfoil successfully contributes to the flow reattachment and significantly increases the maximum lift coefficient (cl,max)). This work also broadens its focus to investigate the aerodynamic effects of a dynamically morphing leading and trailing edge, which seamlessly transitions along the side edges. The aerodynamic performance analysis is investigated across varying morphing frequencies, amplitudes, and actuation times.
]]>Biomimetics doi: 10.3390/biomimetics9020107
Authors: Jiafeng Song Guoyu Li Yansong Liu Meng Zou
Node-containing straws exhibit superior mechanical properties compared to node-free straw plants, particularly in terms of shear resistance and compression resistance. We explore the relationship between the structure and mechanical properties of straw materials, providing deeper insights for the field of biomechanics. In this study, we focused on two node-containing straw plants, namely sorghum and reed. The main characteristics of sorghum and reed stalks were compared using macroscopic observation, stereomicroscopy, scanning electron microscopy, infrared spectroscopy, and EDS analysis. This study revealed numerous similarities and differences in the macro- and microstructures as well as the elemental composition of sorghum and reed stalks. The functional groups in sorghum and reed stalks were largely similar, with the primary elements being C and O. Distinguishing features included a higher tapering and a slightly larger reduction in wall thickness in sorghum stalks compared to reed stalks. The cross-section of sorghum stalks was filled with pith structures, while reed stalks exhibited a hollow structure. The vascular bundles in sorghum typically showed a paired arrangement, whereas those in reeds were arranged in odd numbers. Furthermore, sorghum straws contained more Cl and no Br, while the parenchyma of reed straws contained higher Br. The C and O proportions of sorghum straws and reed straws are 50–53% (50–51%) and 45–46% (48–49%), respectively. These variations in elemental composition are believed to be correlated with the mechanical properties of the materials. By conducting a detailed study of the micro/macrostructures and material composition of sorghum and reed straw, this paper provides valuable insights for the field of biomechanics.
]]>Biomimetics doi: 10.3390/biomimetics9020106
Authors: Se-Yun Jeong Han-Bok Seo Myung-Hyun Seo Jin-Woo Cho Seho Kwon Gihun Son Seung-Yop Lee
Polypodium aureum, a fern, possesses a specialized spore-releasing mechanism like a catapult induced by the quick expansion of vaporized bubbles. This study introduces lipid-coated perfluorocarbon droplets to enable repeatable vaporization–condensation cycles, inspired by the repeatable vaporization of Polypodium aureum. Lipid-perfluorocarbon droplets have been considered not to exhibit repeatable oscillations due to bubble collapse of the low surface tension of lipid layers. However, a single lipid-dodecafluoropentane droplet with a diameter of 9.17 µm shows expansion–contraction oscillations over 4000 cycles by changing lipid composition and applying a low-power 1.7 MHz ultrasound to induce the partial vaporization of the droplets. The optimal combinations of shell composition, droplet fabrication, and acoustic conditions can minimize the damage on shell structure and promote a quick recovery of damaged shell layers. The highly expanding oscillatory microbubbles provide a new direction for fuel-free micro- or nanobots, as well as biomedical applications of contrast agents and drug delivery.
]]>Biomimetics doi: 10.3390/biomimetics9020105
Authors: Yajun Li Qingchun Feng Yifan Zhang Chuanlang Peng Chunjiang Zhao
Intermittent stop–move motion planning is essential for optimizing the efficiency of harvesting robots in greenhouse settings. Addressing issues like frequent stops, missed targets, and uneven task allocation, this study introduced a novel intermittent motion planning model using deep reinforcement learning for a dual-arm harvesting robot vehicle. Initially, the model gathered real-time coordinate data of target fruits on both sides of the robot, and projected these coordinates onto a two-dimensional map. Subsequently, the DDPG (Deep Deterministic Policy Gradient) algorithm was employed to generate parking node sequences for the robotic vehicle. A dynamic simulation environment, designed to mimic industrial greenhouse conditions, was developed to enhance the DDPG to generalize to real-world scenarios. Simulation results have indicated that the convergence performance of the DDPG model was improved by 19.82% and 33.66% compared to the SAC and TD3 models, respectively. In tomato greenhouse experiments, the model reduced vehicle parking frequency by 46.5% and 36.1% and decreased arm idleness by 42.9% and 33.9%, compared to grid-based and area division algorithms, without missing any targets. The average time required to generate planned paths was 6.9 ms. These findings demonstrate that the parking planning method proposed in this paper can effectively improve the overall harvesting efficiency and allocate tasks for a dual-arm harvesting robot in a more rational manner.
]]>Biomimetics doi: 10.3390/biomimetics9020104
Authors: Weihua Li Pengpeng Li Lei Jin Rongrong Xu Junlong Guo Jianfeng Wang
In this paper, a new approach involving the use of a mobile manipulator to assist humans with mobility impairments to walk is proposed. First, in order to achieve flexible interaction between humans and mobile manipulators, we propose a variable admittance controller that can adaptively regulate the virtual mass and damping parameters based on the interaction forces and the human motion intention predicted using the fuzzy theory. Moreover, a feedforward velocity compensator based on a designed state observer is proposed to decrease the inertia resistance of the manipulator, effectively enhancing the compliance of the human–robot interaction. Then, the configuration of the mobile manipulator is optimized based on a null-space approach by considering the singularity, force capacity, and deformation induced by gravity. Finally, the proposed assisted walking approach for the mobile manipulator is implemented using the human–robot interaction controller and the null-space controller. The validity of the proposed controllers and the feasibility of assisted human walking are verified by conducting a set of tests involving different human volunteers.
]]>Biomimetics doi: 10.3390/biomimetics9020103
Authors: Yuzhong Zhang Zhenyi Zhao Xinglong Feng Tianyi Zhao Qiao Hu
Stable communication technologies in complex waters are a prerequisite for underwater operations. Underwater acoustic communication is susceptible to multipath interference, while underwater optical communication is susceptible to environmental impact. The underwater electric field communication established based on the weak electric fish perception mechanism is not susceptible to environmental interference, and the communication is stable. It is a new type of underwater communication technology. To address issues like short communication distances and high bit error rates in existing underwater electric field communication systems, this study focuses on underwater electric field communication systems based on direct sequence spread spectrum (DSSS) and binary phase shift keying (BPSK) modulation techniques. To verify the feasibility of the established spread spectrum electric field communication system, static communication experiments were carried out in a swimming pool using the DSSS-based system. The experimental results show that in fresh water with a conductivity of 739 μS/cm, the system can achieve underwater current electric field communication within a 11.2 m range with 10−6 bit errors. This paper validates the feasibility of DSSS BPSK in short-range underwater communication, and compact communication devices are expected to be deployed on underwater robots for underwater operations.
]]>Biomimetics doi: 10.3390/biomimetics9020102
Authors: Fenglin Chen Ziyang Cheng Lei Jiang Zhichao Dong
Liquid spontaneously spreads on rough lyophilic surfaces, and this is driven by capillarity and defined as capillary wicking. Extensive studies on microtextured surfaces have been applied to microfluidics and their corresponding manufacturing. However, the imbibition at mesoscale roughness has seldom been studied due to lacking fabrication techniques. Inspired by the South American pitcher plant Heliamphora minor, which wicks water on its pubescent inside wall for lubrication and drainage, we implemented 3D printing to fabricate a mimetic mesoscopic trichomes array and investigated the high-flux capillary wicking process. Unlike a uniformly thick climbing film on a microtextured surface, the interval filling of millimeter-long and submillimeter-pitched trichomes creates a film of non-uniform thickness. Different from the viscous dissipation that dominated the spreading on microtextured surfaces, we unveiled an inertia-dominated transition regime with mesoscopic wicking dynamics and constructed a scaling law such that the height grows to 2/3 the power of time for various conditions. Finally, we examined the mass transportation inside the non-uniformly thick film, mimicking a plant nutrition supply method, and realized an open system siphon in the film, with the flux saturation condition experimentally determined. This work explores capillary wicking in mesoscopic structures and has potential applications in the design of low-cost high-flux open fluidics.
]]>Biomimetics doi: 10.3390/biomimetics9020101
Authors: Luis Irastorza-Valera José María Benítez Francisco J. Montáns Luis Saucedo-Mora
The human brain is arguably the most complex “machine” to ever exist. Its detailed functioning is yet to be fully understood, let alone modelled. Neurological processes have logical signal-processing and biophysical aspects, and both affect the brain’s structure, functioning and adaptation. Mathematical approaches based on both information and graph theory have been extensively used in an attempt to approximate its biological functioning, along with Artificial Intelligence frameworks inspired by its logical functioning. In this article, an approach to model some aspects of the brain learning and signal processing is presented, mimicking the metastability and backpropagation found in the real brain while also accounting for neuroplasticity. Several simulations are carried out with this model to demonstrate how dynamic neuroplasticity, neural inhibition and neuron migration can reshape the brain’s logical connectivity to synchronise signal processing and obtain certain target latencies. This work showcases the importance of dynamic logical and biophysical remodelling in brain plasticity. Combining mathematical (agents, graph theory, topology and backpropagation) and biomedical ingredients (metastability, neuroplasticity and migration), these preliminary results prove complex brain phenomena can be reproduced—under pertinent simplifications—via affordable computations, which can be construed as a starting point for more ambitiously accurate simulations.
]]>Biomimetics doi: 10.3390/biomimetics9020100
Authors: Elisabeth Menendez Santiago Martínez Fernando Díaz-de-María Carlos Balaguer
This paper introduces a novel method that enables robots to identify objects based on user gaze, tracked via eye-tracking glasses. This is achieved without prior knowledge of the objects’ categories or their locations and without external markers. The method integrates a two-part system: a category-agnostic object shape and pose estimator using superquadrics and Siamese networks. The superquadrics-based component estimates the shapes and poses of all objects, while the Siamese network matches the object targeted by the user’s gaze with the robot’s viewpoint. Both components are effectively designed to function in scenarios with partial occlusions. A key feature of the system is the user’s ability to move freely around the scenario, allowing dynamic object selection via gaze from any position. The system is capable of handling significant viewpoint differences between the user and the robot and adapts easily to new objects. In tests under partial occlusion conditions, the Siamese networks demonstrated an 85.2% accuracy in aligning the user-selected object with the robot’s viewpoint. This gaze-based Human–Robot Interaction approach demonstrates its practicality and adaptability in real-world scenarios.
]]>Biomimetics doi: 10.3390/biomimetics9020099
Authors: Ryszard Uklejewski Mariusz Winiecki Mikołaj Dąbrowski Piotr Rogala
This paper presents advances in designs of resurfacing arthroplasty endoprostheses that occurred through their historical generations. The critical characteristics of contemporary generation hip resurfacing arthroplasty endoprostheses are given and the failures resulting from the specific generation cemented and short stem fixation of the femoral component are reviewed. On the background of these failures, the critical need arises for an alternative approach to the fixation of components of resurfacing arthroplasty leading towards the first generation of biomimetic fixation for resurfacing arthroplasty endoprostheses. The state of the art of the completed bioengineering research on the first biomimetic fixation for resurfacing arthroplasty endoprostheses is presented. This new design type of completely cementless and stemless resurfacing arthroplasty endoprostheses of the hip joint (and other joints), where endoprosthesis components are embedded in the surrounding bone via the prototype biomimetic multi-spiked connecting scaffold (MSC-Scaffold), initiates the first at all generations of biomimetic endoprostheses of diarthrodial joints.
]]>Biomimetics doi: 10.3390/biomimetics9020098
Authors: Kun Liu Shuo Ji Yong Liu Shizhong Zhang Lei Dai
In this paper, an adaptive knee joint orthosis with a variable rotation center for biomimetic motion rehabilitation assistance suitable for patients with knee joint movement dysfunction is designed. Based on the kinematic information of knee joint motion obtained by a motion capture system, a Revolute-Prismatic-Revolute (RPR) model is established to simulate the biomimetic motion of the knee joint, then a corresponding implementation for repetitively driving the flexion–extension motion of the knee joint, mainly assembled by a double-cam meshing mechanism, is designed. The pitch curve of each cam is calculated based on the screw theory. During the design process, size optimization is used to reduce the weight of the equipment, resulting in a reduction from 1.96 kg to 1.16 kg, achieving the goal of lightweight equipment. Finally, a prototype of the designed orthosis with the desired biomimetic rotation function is prepared and verified. The result shows that the rotation center of the prototype can achieve biomimetic motion coincident with the rotation center of an active knee joint, which can successfully provide rehabilitation assistance for the knee joint flexion–extension motion.
]]>Biomimetics doi: 10.3390/biomimetics9020097
Authors: Jean-Marc Behr Yee Shan Wong Subbu Venkatraman
Small-dimeter blood vessels (<6 mm) are required in coronary bypass and peripheral bypass surgery to circumvent blocked arteries. However, they have poor patency rates due to thrombus formation, intimal hyperplasia at the distal anastomosis, and compliance mismatch between the native artery and the graft. This review covers the state-of-the-art technologies for improving graft patency with a focus on reducing compliance mismatch between the prosthesis and the native artery. The focus of this article is on biomimetic design strategies to match the compliance over a wide pressure range.
]]>Biomimetics doi: 10.3390/biomimetics9020096
Authors: Hussam Georges Diego García Solera Carlos Aguilar Borasteros Mohmad Metar Gyeongseob Song Rahul Mandava Wilfried Becker Christian Mittelstedt
The design of graded and multifunctional lattice cores is driven by the increasing demand for high-performance components in lightweight engineering. This trend benefits from significant achievements in additive manufacturing, where the lattice core and the face sheets are fabricated simultaneously in a single print job. This work systematically compares the mechanical performance of sandwich panels comprising various graded lattice cores subjected to concentrated loads. In addition to graded lattice cores, uniform lattices and conventional honeycomb cores are analyzed. To obtain an optimized graded lattice core, a fully stressed design method is applied. Stresses and displacements are determined using a linear elastic analytical model that allows grading the core properties in a layerwise manner through the core thickness. The analysis indicates the superior performance of graded lattice cores compared to homogeneous lattice cores. However, conventional honeycombs outperform graded lattice cores in terms of load-to-weight ratio and stiffness-to-weight ratio. This study provides valuable insights for the design of lattice core sandwich panels and the advantages of several design approaches.
]]>Biomimetics doi: 10.3390/biomimetics9020094
Authors: Roland M. Klar James Cox Naren Raja Stefan Lohfeld
Microspheres, synthesized from diverse natural or synthetic polymers, are readily utilized in biomedical tissue engineering to improve the healing of various tissues. Their ability to encapsulate growth factors, therapeutics, and natural biomolecules, which can aid tissue regeneration, makes microspheres invaluable for future clinical therapies. While microsphere-supplemented scaffolds have been investigated, a pure microsphere scaffold with an optimized architecture has been challenging to create via 3D printing methods due to issues that prevent consistent deposition of microsphere-based materials and their ability to maintain the shape of the 3D-printed structure. Utilizing the extrusion printing process, we established a methodology that not only allows the creation of large microsphere scaffolds but also multicomposite matrices into which cells, growth factors, and therapeutics encapsulated in microspheres can be directly deposited during the printing process. Our 3D-McMap method provides some critical guidelines for issues with scaffold shape fidelity during and after printing. Carefully timed breaks, minuscule drying steps, and adjustments to extrusion parameters generated an evenly layered large microsphere scaffold that retained its internal architecture. Such scaffolds are superior to other microsphere-containing scaffolds, as they can release biomolecules in a highly controlled spatiotemporal manner. This capability permits us to study cell responses to the delivered signals to develop scaffolds that precisely modulate new tissue formation.
]]>Biomimetics doi: 10.3390/biomimetics9020095
Authors: Nelli Tolmacheva Amitava Bhattacharyya Insup Noh
Three-dimensional bioprinting is a promising technology for bone tissue engineering. However, most hydrogel bioinks lack the mechanical and post-printing fidelity properties suitable for such hard tissue regeneration. To overcome these weak properties, calcium phosphates can be employed in a bioink to compensate for the lack of certain characteristics. Further, the extracellular matrix of natural bone contains this mineral, resulting in its structural robustness. Thus, calcium phosphates are necessary components of bioink for bone tissue engineering. This review paper examines different recently explored calcium phosphates, as a component of potential bioinks, for the biological, mechanical and structural properties required of 3D bioprinted scaffolds, exploring their distinctive properties that render them favorable biomaterials for bone tissue engineering. The discussion encompasses recent applications and adaptations of 3D-printed scaffolds built with calcium phosphates, delving into the scientific reasons behind the prevalence of certain types of calcium phosphates over others. Additionally, this paper elucidates their interactions with polymer hydrogels for 3D bioprinting applications. Overall, the current status of calcium phosphate/hydrogel bioinks for 3D bioprinting in bone tissue engineering has been investigated.
]]>Biomimetics doi: 10.3390/biomimetics9020093
Authors: Tiago Quinaz Tânia F. Freire Andrea Olmos Marcos Martins Fernando B. N. Ferreira Marcelo F. S. M. de Moura Andrea Zille Quyền Nguyễn José Xavier Nuno Dourado
Composites of poly(vinyl alcohol) (PVA) in the shape of braids, in combination with crystals of hydroxyapatite (HAp), were analyzed to perceive the influence of this bioceramic on both the quasi-static and viscoelastic behavior under tensile loading. Analyses involving energy-dispersive X-ray spectroscopy (EDS) and scanning electron microscopy (SEM) allowed us to conclude that the production of a homogeneous layer of HAp on the braiding surface and the calcium/phosphate atomic ratio were comparable to those of natural bone. The maximum degradation temperature established by thermogravimetric analysis (TGA) showed a modest decrease with the addition of HAp. By adding HAp to PVA braids, an increase in the glass transition temperature (Tg) is noticed, as demonstrated by dynamic mechanical analysis (DMA) and differential thermal analysis (DTA). The PVA/HAp composite braids’ peaks were validated by Fourier transform infrared (FTIR) spectroscopy to be in good agreement with common PVA and HAp patterns. PVA/HAp braids, a solution often used in the textile industry, showed superior overall mechanical characteristics in monotonic tensile tests. Creep and relaxation testing showed that adding HAp to the eight and six-braided yarn architectures was beneficial. By exhibiting good mechanical performance and most likely increased biological qualities that accompany conventional care for bone applications in the fracture healing field, particularly multifragmentary ones, these arrangements can be applied as a fibrous fixation system.
]]>Biomimetics doi: 10.3390/biomimetics9020092
Authors: Yongfeng Dong Jiawei Li Zhen Wang Wenyu Jia
Inspired by the biological nervous system, deep neural networks (DNNs) are able to achieve remarkable performance in various tasks. However, they struggle to handle label noise, which can poison the memorization effects of DNNs. Co-teaching-based methods are popular in learning with noisy labels. These methods cross-train two DNNs based on the small-loss criterion and employ a strategy using either “disagreement” or “consistency” to obtain the divergence of the two networks. However, these methods are sample-inefficient for generalization in noisy scenarios. In this paper, we propose CoDC, a novel Co-teaching-basedmethod for accurate learning with label noise via both Disagreement and Consistency strategies. Specifically, CoDC maintains disagreement at the feature level and consistency at the prediction level using a balanced loss function. Additionally, a weighted cross-entropy loss is proposed based on information derived from the historical training process. Moreover, the valuable knowledge involved in “large-loss” samples is further developed and utilized by assigning pseudo-labels. Comprehensive experiments were conducted on both synthetic and real-world noise and under various noise types. CoDC achieved 72.81% accuracy on the Clothing1M dataset and 76.96% (Top1) accuracy on the WebVision1.0 dataset. These superior results demonstrate the effectiveness and robustness of learning with noisy labels.
]]>Biomimetics doi: 10.3390/biomimetics9020091
Authors: Mahdi Valikhan Anaraki Saeed Farzin
The present study introduces a novel nature-inspired optimizer called the Pine Cone Optimization algorithm (PCOA) for solving science and engineering problems. PCOA is designed based on the different mechanisms of pine tree reproduction, including pollination and pine cone dispersal by gravity and animals. It employs new and powerful operators to simulate the mentioned mechanisms. The performance of PCOA is analyzed using classic benchmark functions, CEC017 and CEC2019 as mathematical problems and CEC2006 and CEC2011 as engineering design problems. In terms of accuracy, the results show the superiority of PCOA to well-known algorithms (PSO, DE, and WOA) and new algorithms (AVOA, RW_GWO, HHO, and GBO). The results of PCOA are competitive with state-of-the-art algorithms (LSHADE and EBOwithCMAR). In terms of convergence speed and time complexity, the results of PCOA are reasonable. According to the Friedman test, PCOA’s rank is 1.68 and 9.42 percent better than EBOwithCMAR (second-best algorithm) and LSHADE (third-best algorithm), respectively. The authors recommend PCOA for science, engineering, and industrial societies for solving complex optimization problems.
]]>Biomimetics doi: 10.3390/biomimetics9020090
Authors: Farzaneh Omidvarnia Ali Sarhadi
The field of wind energy stands at the forefront of sustainable and renewable energy solutions, playing a pivotal role in mitigating environmental concerns and addressing global energy demands. For many years, the convergence of nature-inspired solutions and wind energy has emerged as a promising avenue for advancing the efficiency and sustainability of wind energy systems. While several research endeavors have explored biomimetic principles in the context of wind turbine design and optimization, a comprehensive review encompassing this interdisciplinary field is notably absent. This review paper seeks to rectify this gap by cataloging and analyzing the multifaceted body of research that has harnessed biomimetic approaches within the realm of wind energy technology. By conducting an extensive survey of the existing literature, we consolidate and scrutinize the insights garnered from diverse biomimetic strategies into design and optimization in the wind energy domain.
]]>Biomimetics doi: 10.3390/biomimetics9020089
Authors: Marcelo Becerra-Rozas Broderick Crawford Ricardo Soto El-Ghazali Talbi Jose M. Gómez-Pulido
In this study, we introduce an innovative policy in the field of reinforcement learning, specifically designed as an action selection mechanism, and applied herein as a selector for binarization schemes. These schemes enable continuous metaheuristics to be applied to binary problems, thereby paving new paths in combinatorial optimization. To evaluate its efficacy, we implemented this policy within our BSS framework, which integrates a variety of reinforcement learning and metaheuristic techniques. Upon resolving 45 instances of the Set Covering Problem, our results demonstrate that reinforcement learning can play a crucial role in enhancing the binarization techniques employed. This policy not only significantly outperformed traditional methods in terms of precision and efficiency, but also proved to be extensible and adaptable to other techniques and similar problems. The approach proposed in this article is capable of significantly surpassing traditional methods in precision and efficiency, which could have important implications for a wide range of real-world applications. This study underscores the philosophy behind our approach: utilizing reinforcement learning not as an end in itself, but as a powerful tool for solving binary combinatorial problems, emphasizing its practical applicability and potential to transform the way we address complex challenges across various fields.
]]>Biomimetics doi: 10.3390/biomimetics9020088
Authors: Lin Xie Xiangyin Zhang
In recent years, an increasing number of studies have focused on exploring the principles and mechanisms underlying the emergence of collective intelligence in biological populations, aiming to provide insights for human society and the engineering field. Pigeon flock behavior garners significant attention as a subject of study. Collective homing flight is a commonly observed behavioral pattern in pigeon flocks. The study analyzes GPS data during the homing process and utilizes acceleration information, which better reflects the flock’s movement tendencies during turns, to describe the leadership relationships within the group. By examining the evolution of acceleration during turning, the study unveils a dynamic leadership mechanism before and after turns, employing a more intricate dynamic model to depict the flock’s motion. Specifically, during stable flight, pigeon flocks tend to rely on fixed leaders to guide homing flight, whereas during turns, individuals positioned in the direction of the flock’s turn experience a notable increase in their leadership status. These findings suggest the existence of a dynamic leadership mechanism within pigeon flocks, enabling adaptability and stability under diverse flight conditions. From an engineering perspective, this leadership mechanism may offer novel insights for coordinating industrial multi-robot systems and controlling drone formations.
]]>Biomimetics doi: 10.3390/biomimetics9020086
Authors: Amit Prigozin Amir Degani
With the increasing demand for robotic manipulators to operate in complex environments, it is important to develop designs that work in obstacle-rich environments and can navigate around obstacles. This paper aims to demonstrate the capabilities of a bio-inspired, underactuated multilink manipulator in environments with fixed and/or movable obstacles. To simplify the system design, a single rotational actuator is used at the base of the manipulator. We present a modeling method for flexible, multilink underactuated manipulators, including their interaction with obstacles. We also demonstrate how to plan a trajectory for the manipulator in environments with fixed obstacles. The robustness of the manipulator is examined by analyzing the effects of uncertainty in its initial state and the position of obstacles. Next, we demonstrate the performance of the manipulator in environments with movable obstacles and show the advantages of controlling the obstacles’ radii and positions. Lastly, we showcase the process of picking up an object in workspaces with obstacles. All the findings are supported by simulations as well as hardware experiments.
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