The Biomechanics of the Locust Ovipositor Valves: a Unique Digging Apparatus

The female locust has a unique mechanism for digging in order to deposit its eggs deep in the ground. It utilizes two pairs of sclerotized valves to displace the granular matter, while extending its abdomen as it propagates underground. This ensures optimal conditions for the eggs to incubate, and provides them with protection from predators. Here, two major axes of operation of the digging valves are identified, one in parallel to the propagation direction of the ovipositor, and one perpendicular to it. The direction-dependent biomechanics of the locust major, dorsal digging valves are quantified and analyzed, under forces in the physiological range and beyond, considering hydration level, as well as the females age, or sexual maturation state. Our findings reveal that the responses of the valves to compression forces in the specific directions change upon sexual maturation to follow their function, and depend on environmental conditions. Namely, in the physiological force range, the valves are resistant to mechanical failure. In addition, mature females, which lay eggs, have stiffer valves, up to roughly nineteen times the stiffness of the pre-mature locusts. The valves are stiffer in the major working direction, corresponding to soil shuffling and compression, compared to the direction of propagation. Hydration of the valves reduces their stiffness but increases their resilience against failure. These findings provide mechanical and materials guidelines for the design of novel non-drilling excavating tools, including 3D-printed anisotropic materials based on composites.

Report on the AFRIMETS.M. F-S1 supplementary force comparison for 10 kN and 100 kN

Main text This bilateral comparison of Force Standard Machines (FSM) named AFRIMETS.M. F-S1 was carried out in the force range from 1 kN to 100 kN between Physikalisch-Technische Bundesanstalt (PTB) of Germany as the pilot laboratory and Kenya Bureau of Standards (KEBS) of Kenya as the participant laboratory. KEBS had already participated in the APMP.M. F-K2 key comparison where measurements were made only at 50 kN and 100 kN force steps. Therefore, this bilateral comparison was planned to thoroughly compare the KEBS FSM and the PTB Deadweight Machines in wider force steps than those of the APMP.M. F-K2 key comparison and thus it had no corresponding key-comparisons values to be linked to at that time. PTB provided two force transducers for the supplementary comparison with 10 kN and 100 kN nominal capacities. The comparison method called "DKD" procedure was used. This procedure has already been used in several comparisons in Germany and other countries. The purpose to this comparison is to give support to the uncertainty claims for KEBS and will be used to determine the Calibration and Measurement Capability (CMC). In addition, this comparison will provide metrological proof of the application for a CMC entry in the BIPM Key Comparison Database (KCDB). This report describes the scheme and results of the comparison. To reach the main text of this paper, click on Final Report. Note that this text is that which appears in Appendix B of the BIPM key comparison database https://www.bipm.org/kcdb/. The final report has been peer-reviewed and approved for publication by the CCM, according to the provisions of the CIPM Mutual Recognition Arrangement (CIPM MRA).

Shape optimization of magnetorheological damper piston based on parametric curve for damping force augmentation

Making full use of the magnetically controllable rheological properties of magnetorheological (MR) fluid, MR actuators have been applied in many engineering fields. To adapt to different application scenarios, parameters of MR actuators often need to be optimized. Previous MR actuator optimization was focused on finding optimal combinations of geometric dimensions and physical parameters that meet certain requirements. The parts with optimized dimensions were still in regular shape, which might not bring optimal damping performance. Therefore, in this paper, shape optimization of MR damper piston based on parametric curve is performed for the first time. First, the regional magnetic saturation problem in the previous prototype is stated. Then, the MR damper with normal piston is simulated as a reference. Later, Bezier curve, one of the typical parametric curves, is used to form the piston with optimized parameters, and the MR damper with optimized piston is also simulated. Finally, prototypes of the MR dampers with normal and optimized pistons are fabricated and tested. Compared with the MR damper with normal piston, the one with optimized piston has larger field dependent force and total damping force under relatively large current, with about 52% and 24% maximum increasing percentage, respectively. The controllable force range of the MR damper with optimized piston is also larger than that with normal piston.

Rigid DNA nanotube tethers suppress high frequency noise in dual-trap optical tweezers systems

Dual trap optical tweezers are a powerful tool to trap and characterize the biophysical properties of single biomolecules such as the folding pathways of proteins and nucleic acids, and the chemomechanical activity of molecular motors. Despite its vastly successful application, noise from drift and fluctuation of the optics, and Brownian motion of the trapped beads still hinder the technique's ability to directly visualize folding of small biomolecules or the single nucleotide stepping of polymerases, especially at low forces (<10 pN) and sub-millisecond timescales. Rigid DNA nanotubes have been used to replace the conventional dsDNA linker to reduce optical tweezers noise in the low force range. However, optical tweezers are used to study a wide range of biophysical events, with timescales ranging from microseconds to seconds, and length changes ranging from sub nanometers to tens of nanometers. In this study, we systematically evaluate how noise is distributed across different frequencies in dual trap optical tweezers systems and show that rigid DNA nanotube tethers suppress only high frequency noise (kHz), while the low frequency noise remains the same when compared to that of dsDNA tethers.

Two energy barriers and a transient intermediate state determine the unfolding and folding dynamics of cold shock protein

Cold shock protein (Csp) is a typical two-state folding model protein which has been widely studied by biochemistry and single molecule techniques. Recently two-state property of Csp was confirmed by atomic force microscopy (AFM) through direct pulling measurement, while several long-lifetime intermediate states were found by force-clamp AFM. We systematically studied force-dependent folding and unfolding dynamics of Csp using magnetic tweezers with intrinsic constant force capability. Here we report that Csp mostly folds and unfolds with a single step over force range from 5 pN to 50 pN, and the unfolding rates show different force sensitivities at forces below and above ~8 pN, which determines a free energy landscape with two barriers and a transient intermediate state between them along one transition pathway. Our results provide a new insight on protein folding mechanism of two-state proteins.

Design, modeling and evaluation of a millimeter-scale SMA bending actuator with variable length

Millimeter-scale continuum bending actuators are useful in minimally invasive surgery to allow distal visualization and manipulation outside the line of sight. This paper presents a new continuum bending actuator based on shape memory alloy (SMA) with variable bending length. It consists of two SMA wires antagonistically configured to produce bidirectional bending under Joule heating. A linearly actuated rigid tube along the longitudinal axis enables continuous bending length adjustment, thus enhancing its workspace and force range. The proposed fabrication method tackles the challenging assembly tasks of maintaining the antagonistic configuration of long SMA wires, and robust electrical and mechanical connection during actuation. A quasi-static model of the actuator based on beam model and SMA constitutive model is presented and verified. The bending actuator was evaluated comprehensively for its workspace, blocked force, and trajectory tracking capability at different bending lengths and under different cooling conditions. It is the first work that demonstrates real-time continuous bending length adjustment in SMA-based bending actuator, leading to the potential development of compact and compliant robotic end effectors with improved distal workspace and force.

Inverse Kinematics of Concentric Tube Robots in the Presence of Environmental Constraints

Inverse kinematics (IK) of concentric tube continuum robots (CTRs) is associated with two main problems. First, the robot model (e.g., the relationship between the configuration space parameters and the robot end-effector) is not linear. Second, multiple solutions for the IK are available. This paper presents a general approach to solve the IK of CTRs in the presence of constrained environments. It is assumed that the distal tube of the CTR is inserted into a cavity while its proximal end is placed inside a tube resembling the vessel enabling the entry to the organ cavity. The robot-tissue interaction at the beginning of the organ-cavity imposed displacement and force constraints to the IK problem to secure a safe interaction between the robot and tissue. The IK in CTRs has been carried out by treating the problem as an optimization problem. To find the optimized IK of the CTR, the cost function is defined to be the minimization of input force into the body cavity and the occupied area by the robot shaft body. The optimization results show that CTRs can keep the safe force range in interaction with tissue for the specified trajectories of the distal tube. Various simulation scenarios are conducted to validate the approach. Using the IK obtained from the presented approach, the tracking accuracy is achieved as 0.01 mm which is acceptable for the application.

Flexible Facile Tactile Sensor for Smart Vessel Phantoms

Smart medical phantoms for training and evaluation of endovascular procedures ought to measure impact forces on the vessel walls worth protecting to provide feedback to clinicians and articulated soft robots. Recent commercial smart phantoms are expensive, usually not customizable to different applications and lack accessibility for integrated development. This work investigates piezoresistive films as highly integratable flexible sensors to be used in arbitrary soft vessel phantom anatomies over large surfaces and curved shapes providing quantitative measurement in the force range up to 1 N with 0.1 N resolution. First results show promising performance at the point of calibration and in a 5 mm range around it, with absolute measuring error of 28 mN and a standard deviation of ±10 mN and response times <500 ms. Future work shall address the optimization of response time and sensor shapes as well as the evaluation with experienced clinicians.

Vibration absorption of parallel-coupled nonlinear energy sink under shock and harmonic excitations

Nonlinear energy sink (NES) can passively absorb broadband energy from primary oscillators. Proper multiple NESs connected in parallel exhibit superior performance to single-degree-of-freedom (SDOF) NESs. In this work, a linear coupling spring is installed between two parallel NESs so as to expand the application scope of such vibration absorbers. The vibration absorption of the parallel and parallel-coupled NESs and the system response induced by the coupling spring are studied. The results show that the responses of the system exhibit a significant difference when the heavier cubic oscillators in the NESs have lower stiffness and the lighter cubic oscillators have higher stiffness. Moreover, the e±ciency of the parallel-coupled NES is higher for medium shocks but lower for small and large shocks than that of the parallel NESs. The parallel-coupled NES also shows superior performance for medium harmonic excitations until higher response branches are induced. The performance of the parallel-coupled NES and the SDOF NES is compared. It is found that, regardless of the chosen SDOF NES parameters, the performance of the parallel-coupled NES is similar or superior to that of the SDOF NES in the entire force range.

Internal Tibial Forces and Moments During Graded Running

The stress experienced by the tibia has contributions from the forces and moments acting on the tibia. We sought to quantify the influence of running grade on internal tibial forces and moments. Seventeen participants ran at 3.33 m/s on an instrumented treadmill at 0&#176;, &#177;5&#176;, and &#177;10&#176; while motion data were captured. Ankle joint contact force was estimated from an anthropometrically-scaled musculoskeletal model using inverse dynamics-based static optimization. Internal tibial forces and moments were quantified at the distal 1/3rd of the tibia, by ensuring static equilibrium with all applied forces and moments. Downhill running conditions resulted in lower peak internal axial force (range of mean differences: -9 to -16%, p&lt;0.001), lower peak internal anteroposterior force (-14 to -21%, p&lt;0.001), and lower peak internal mediolateral force (-14 to -15%, p&lt;0.001), compared to 0&#176; and +5&#176;. Furthermore, downhill conditions resulted in lower peak internal mediolateral moment (-11 to -21%, p&lt;0.001), lower peak internal anteroposterior moment (-13 to -14%, p&lt;0.001), and lower peak internal torsional moment (-9 to -21%, p&lt;0.001), compared to 0&#176;, +5&#176;, and +10&#176;. The +10&#176; condition resulted in lower peak internal axial force (-7 to -9%, p&lt;0.001) and lower peak internal mediolateral force (-9%, p=0.004), compared to 0&#176; and +5&#176;. These findings suggest that downhill running may be associated with lower tibial stresses than either level or uphill running.