The evolution of two distinct strategies of moth flight

Across insects, wing shape and size have undergone dramatic divergence even in closely related sister groups. However, we do not know how morphology changes in tandem with kinematics to support body weight within available power and how the specific force production patterns are linked to differences in behaviour. Hawkmoths and wild silkmoths are diverse sister families with divergent wing morphology. Using three-dimensional kinematics and quasi-steady aerodynamic modelling, we compare the aerodynamics and the contributions of wing shape, size and kinematics in 10 moth species. We find that wing movement also diverges between the clades and underlies two distinct strategies for flight. Hawkmoths use wing kinematics, especially high frequencies, to enhance force and wing morphologies that reduce power. Silkmoths use wing morphology to enhance force, and slow, high-amplitude wingstrokes to reduce power. Both strategies converge on similar aerodynamic power and can support similar body weight ranges. However, inter-clade within-wingstroke force profiles are quite different and linked to the hovering flight of hawkmoths and the bobbing flight of silkmoths. These two moth groups fly more like other, distantly related insects than they do each other, demonstrating the diversity of flapping flight evolution and a rich bioinspired design space for robotic flappers.

Effects of plate wear on bar forces and fiber properties in a mill scale LC-refiner

A set of piezo electric force sensors is implemented in a 52-inch mill-scale low consistency refiner to explore the effect of refiner plate wear on bar force sensor measurements. The sensor replaces a short length of a stator bar and measures normal and shear forces applied during the passage of each rotor bar. In previous work with this type of force sensor, force profiles for individual bar passing events (BPE) were investigated. In the work presented here, force profiles for individual BPEs are identified based on key features in the time domain force data. The individual bar force profiles are classified as single peak events which feature one peak corresponding to the fiber compression force and as dual peak events corresponding to fiber compression force and the corner force. The bar passing events are then analysed, based on dual peak ratio and time to peak of the early peak in the dual peak events. Force measurements are evaluated over the full run time of a set of refiner plates. Findings are compared with refiner plate wear measurements and discharge fiber analysis. It is shown that the decrease in the prevalence of the corner force correlates with the wear of the leading edge of the refiner bars or bar rounding of the run time of the refiner plate. This is accompanied by a decrease in plate performance which is represented by a decrease in fiber length and freeness reduction for the same refiner load.

Application of a Customized Optical Force Sensor to a Cable-Driven Leg Exoskeleton

In this paper, a customized optical force sensor is developed for an application with a cable-driven leg exoskeleton. Sensors are vital components of cable-driven, exoskeletal robotic systems, which require real-time and accurate measurement of cable tensions. While these systems’ accuracy is a consideration, the added weight, volume, and complexity of the system must is an essential part of widespread adoption for wearable applications. These sensors can also be costly, which is undesirable. An optical force sensor has the advantages of being lightweight, lower in manufacturing cost, and easy to incorporate within the exoskeleton architecture. We designed a sensor to accommodate the expected force profiles and magnitudes during gait while wearing the Cable-Driven Active Leg Exoskeleton (C-ALEX) during a walking task. We carried out four different calibration tests with dynamic loading of the sensors from 10N to 40N. Once a sensor calibration was established, the optical sensor’s performance was compared to a traditional load cell in validation tests. Both components were used in an assist-as-needed force controller in a walking task with a user, with the optical force sensor incorporated into the C-ALEX exoskeleton arms. Comparing the sensor responses to the command tension forces, the results show a root-mean-square error (RMSE) of 0.9595N ± 0.5360N.

Development of a Caramel-Based Viscoelastic Reference Material for Cutting Tests at Different Rates

Cutting speed plays a crucial role for the behavior during and the final quality of viscoelastic foods after cutting and is, in industrial applications, usually adjusted on an empirical basis. Although previous studies investigated the interplay between the time-dependent properties and cutting behavior of model systems on an elastomer basis, there is still a need to elaborate such cause-effect relations for real foods. The aim of this study was to establish a reproducible manufacture of model caramels on a laboratory scale and to investigate the influence of the compositional parameters, moisture, and solid fat content, as well as cutting speed, on cutting behavior. It was possible to visualize ductile-brittle transitions in cutting force profiles, with an increase in cutting speed resulting in effects similar to that induced by a decreasing moisture content or an increasing solid fat content. Quantitatively, the progression of both maximum force and cutting energy reversed when cutting speed increased and composition changed in favor of a more brittle behavior. This work provides the basis for further research on distinct loading phenomena observed during the cutting of foods and for numerical modeling of the cutting process.

Making Sense of Complex Sensor Data Streams

This concept paper draws from our previous research on individual grip force data collected from biosensors placed on specific anatomical locations in the dominant and non-dominant hand of operators performing a robot-assisted precision grip task for minimally invasive endoscopic surgery. The specificity of the robotic system on the one hand, and that of the 2D image-guided task performed in a real-world 3D space on the other, constrain the individual hand and finger movements during task performance in a unique way. Our previous work showed task-specific characteristics of operator expertise in terms of specific grip force profiles, which we were able to detect in thousands of highly variable individual data. This concept paper is focused on two complementary data analysis strategies that allow achieving such a goal. In contrast with other sensor data analysis strategies aimed at minimizing variance in the data, it is necessary to decipher the meaning of intra- and inter-individual variance in the sensor data on the basis of appropriate statistical analyses, as shown in the first part of this paper. Then, it is explained how the computation of individual spatio-temporal grip force profiles allows detecting expertise-specific differences between individual users. It is concluded that both analytic strategies are complementary and enable drawing meaning from thousands of biosensor data reflecting human performance measures while fully taking into account their considerable inter- and intra-individual variability.

Are the Kinetics and Kinematics of the Surf Pop-Up Related to the Anthropometric Characteristics of the Surfer?

The surf pop-up is a unique and challenging skill, critical to successful surfing. Hypothesizing that anthropometric characteristics of surfers influence the pop-up performance, we aimed to measure kinematics and ground-reaction forces (GRF) during a simulated pop-up motion, and to relate these variables with anthropometric characteristics. Twenty-three male surfers (age: 28.4 ± 10.1 years old; body mass: 68.3 ± 10.8 kg; height: 1.73 ± 0.07 m; time of practice: 12.4 ± 8.9 years; arm-span: 1.75 ± 8.9 m) perform a simulated pop-up in the laboratory, while GRF and 3D motion-capture data were acquired. The duration of the pop-up was 1.20 ± 0.19 s (60% push-up and 40% reaching/landing phase). During the push-up, the hands were placed 0.46 ± 0.05 m apart and generated a relative total peak-force of 0.99 ± 0.10 N/Weight, with symmetrical impulse of 0.30 ± 0.05 N·s/Weight for the dominant and 0.29 ± 0.07 N·s/Weight for the nondominant hand. Elbow angles were not different during the peak force application (110 ± 18° vs. 112 ± 18°, respectively) of the push-up phase. During the landing phase, the feet were placed 0.63 ± 0.10 m apart and generated a relative peak force of 1.63 ± 0.18 N/Weight. The impact force during landing was applied unevenly between the rear foot (28%) and the front foot (72%). In conclusion, most anthropometric-related variables showed no relationship with performance variables, with the exception of an inverse relationship between muscle mass and pop-up total duration. We also observed no differences in upper- and lower-body kinematics between the dominant vs. nondominant hands and among surfers who preferred a regular vs. “goofy-foot” stance. Finally, the force profiles between hands were similar and symmetric, while the lower extremities during the reaching phase were different, with the front foot applying greater force than that of the rear foot.

Mandibular force profiles and tooth morphology in growth series of Albertosaurus sarcophagus and Gorgosaurus libratus (Tyrannosauridae: Albertosaurinae) provide evidence for an ontogenetic dietary shift in tyrannosaurids

The albertosaurines Albertosaurus sarcophagus and Gorgosaurus libratus are among the best represented tyrannosaurids, known from nearly complete growth series. These specimens provide an opportunity to study mandibular biomechanical properties and tooth morphology in order to infer changes in feeding behavior and bite force through ontogeny in tyrannosaurids. Mandibular force profiles reveal that the symphyseal region of albertosaurines is consistently stronger in bending than the middentary region, indicating that the anterior extremity of the jaws played an important role in prey capture and handling through ontogeny. The symphyseal region was better adapted to withstand torsional stresses than in most non-avian theropods, but not to the extent seen in Tyrannosaurus rex, suggesting that albertosaurine feeding behavior may have involved less bone crushing or perhaps relatively smaller prey than in T. rex. The constancy of these biomechanical properties at all known growth stages indicates that although albertosaurines maintained a similar feeding strategy through ontogeny, prey size/type had to change between juvenile and mature individuals. This ontogenetic dietary shift likely happened when individuals reached a mandibular length of ~58 cm, a size at which teeth shift from ziphodont to incrassate in shape and bite force begins to increase exponentially. The fact that large albertosaurines were capable of generating bite forces equivalent to similar-sized tyrannosaurines suggests that no significant differences in jaw closing musculature existed between the two clades and that the powerful bite of T. rex is the result of its large body size rather than of unique adaptations related to a specialized ecology.

Untangling superposed double layer and structural forces across confined nanoparticle suspensions

Complete interaction force profiles of charged surfaces across confined suspensions were successfully described using a superposition of double layer and structural forces.