Exquisite air sac histological traces in a hyperpneumatized nanoid sauropod dinosaur from South America

This study reports the occurrence of pneumosteum (osteohistological structure related to an avian-like air sac system) in a nanoid (5.7-m-long) saltasaurid titanosaur from Upper Cretaceous Brazil. We corroborate the hypothesis of the presence of an air sac system in titanosaurians based upon vertebral features identified through external observation and computed tomography. This is the fifth non-avian dinosaur taxon in which histological traces of air sacs have been found. We provided a detailed description of pneumatic structures from external osteology and CT scan data as a parameter for comparison with other taxa. The camellate pattern found in the vertebral centrum (ce) of this taxon and other titanosaurs shows distinct architectures. This might indicate whether cervical or lung diverticula pneumatized different elements. A cotylar internal plate of bone tissue sustains radial camellae (rad) in a condition similar to Alamosaurus and Saltasaurus. Moreover, circumferential chambers (cc) near the cotyle might be an example of convergence between diplodocoids and titanosaurs. Finally, we also register for the first time pneumatic foramina (fo) and fossae connecting camellate structures inside the neural canal in Titanosauria and the second published case in non-avian dinosaurs. The extreme pneumaticity observed in this nanoid titanosaur contrasts with previous assumptions that this feature correlates with the evolution of gigantic sizes in sauropodomorphs. This study reinforces that even small-bodied sauropod clades could present a hyperpneumatized postcranial skeleton, a character inherited from their large-bodied ancestors.

Soft robotic fabric design, fabrication, and thermoregulation evaluation

Usually, traditional insulation materials have a constant thermal resistance value that cannot change within the ambient temperature and will decrease as ambient humidity or external stress increases. Humans heavily rely on heating, ventilation, and air conditioning (HVAC) systems to meet the thermal comfort requirements of their bodies, giving rise to energy waste and global warming. As an infinitely available natural resource, air is one of the most efficient thermal retaining substances known to science. Inspired by soft pneumatic robotics, we propose an architecture for air-driven thermoregulation fabrics called soft robotic fabrics (SRF). By changing the thickness of trapped air layer in fabric system through SRF, wearers could modify garments’ thermal insulation performance. A fabrication method is introduced to rapidly manufacture low-cost pneumatic structures using various types of construction and dimensions. With excellent ductility, elasticity, and compression resistance, the thickness of SRF increases by 12 times or more after inflation, and the fabric even can lift an object 270 times heavier than its weight. The excellent deformability can effectively increase stable air layer between clothing and skin. Based on the Predicted Mean Vote–Predicted Percentage of Dissatisfied model, the thermoregulation capability of SRF helps HVAC expand the temperature setpoint range by 3–8 times when compared with traditional fabrics, and has far-reaching significance in saving energy.

Developing of transport airship for delivery oversized cargo to vostochny cosmodrome

An overview of existing methods of delivering oversized cargo using water, rail, road, air and airship transport, an analysis of the world experience in creating lighter-than-air aircraft and identified the most urgent tasks for this type of vehicles in the field of rocket and space technology, in particular, transportation of oversized elements of super-heavy launch vehicles from manufacturers to the Vostochny cosmodrome, search and rescue of astronauts, evacuation of spent stages from fall fields to disposal points and transportation of oversized trusses. The goals and objectives of this work are defined: review of existing projects of transport airships and study of their designs, development of the layout of a transport airship for delivering stages of superheavy launch vehicles from manufacturers to the Vostochny cosmodrome, calculation of the characteristics of the main systems and detailing the design of the vehicle. As exceptional design solutions, we tested the power scheme of gas shells based on supercharged spiral pneumatic structures that allow you to thermostat the carrier gas and fold the shell for storage, as well as a tangential system for blowing the aerodynamic shell, which allows you to reduce the drag of the device. Based on the developed layout, a simplified mathematical model of the device was created, which allows determining the optimal design parameters. These parameters were used for detailed development of each of the systems, then iterative calculation was performed. As a result, the design of a transport airship for the delivery of oversized elements from manufacturers to the Vostochny cosmodrome was developed and its main technical parameters were determined: load capacity-100 tons, cruising speed-126 km / h, flight range-10 thousand km.

Shape Programming Using Triangular and Rectangular Soft Robot Primitives

This paper presents fabric-based soft robotic modules with primitive morphologies, which are analogous to basic geometrical polygons—trilateral and quadrilateral. The two modules are the inflatable beam (IB) and fabric-based rotary actuator (FRA). The FRA module is designed with origami-inspired V-shaped pleats, which creates a trilateral outline. Upon pressurization, the pleats unfold, which enables propagation of angular displacement of the FRA module. This allows the FRA module to be implemented as a mobility unit in the larger assembly of pneumatic structures. In the following, we examine various ways by which FRA modules can be connected to IB modules. We studied how different ranges of motion can be achieved by varying the design of the rotary joint of the assemblies. Using a state transition-based position control system, movement of the assembled modules could be controlled by regulating the pneumatic pressurization of the FRA module at the joint. These basic modules allow us to build different types of pneumatic structures. In this paper, using IB and FRA modules of various dimensions, we constructed a soft robotic limb with an end effector, which can be attached to wheelchairs to provide assistive grasping functions for users with disabilities.