Tiny Amphibious Insects Use Tripod Gait for Traversal on Land, Water, and Duckweed.

Insects exhibit remarkable adaptability in their locomotive strategies in diverse environments, a crucial trait for foraging, survival, and predator avoidance. Microvelia americana, tiny 2-3 mm insects that adeptly walk on water surfaces, exemplify this adaptability by using the alternating tripod gait in both aquatic and terrestrial terrains. These insects commonly inhabit low-flow ponds and streams cluttered with natural debris like leaves, twigs, and duckweed. Using high-speed imaging and pose-estimation software, we analyze M. americana movement on water, sandpaper (simulating land), and varying duckweed densities (10%, 25%, and 50% coverage). Our results reveal M. americana maintain consistent joint angles and strides of their upper and hind legs across all duckweed coverages, mirroring those seen on sandpaper. Microvelia americana adjust the stride length of their middle legs based on the amount of duckweed present, decreasing with increased duckweed coverage and at 50% duckweed coverage, their middle legs' strides closely mimic their strides on sandpaper. Notably, M. americana achieve speeds up to 56 body lengths per second on the deformable surface of water, nearly double those observed on sandpaper and duckweed, which are rough, heterogeneous surfaces. This study highlights M. americana's ecological adaptability, setting the stage for advancements in amphibious robotics that emulate their unique tripod gait for navigating complex terrains.

Limb Loss and Specialized Leg Dynamics in Tiny Water-Walking Insects.

The air-water interface of the planet's water bodies, such as ponds, lakes, and streams, presents an uncertain ecological niche with predatory threats from above and below. As Microvelia americana move across the water surface in small ponds, they face potential injury from attacks by birds, fish, and underwater invertebrates. Thus, our study investigates the effects of losing individual or pairs of tarsi on M. americana's ability to walk on water. Removal of both hind tarsi causes M. americana to rock their bodies (yaw) while running across the water surface at $\pm 19^{\circ }$, compared to $\pm 7^{\circ }$ in nonablated specimens. This increase in yaw, resulting from the removal of hind tarsi, indicates that M. americana use their hind legs as "rudders" to regulate yaw, originating from the contralateral middle legs' strokes on the water's surface through an alternating tripod gait. Ablation of the ipsilateral middle and hind tarsi disrupts directionality, making M. americana turn in the direction of their intact limbs. This loss of directionality does not occur with the removal of contralateral middle and hind tarsi. However, M. americana lose their ability to use the alternating tripod gait to walk on water on the day of contralateral ablation. Remarkably, by the next day, M. americana adapt and regain the ability to walk on water using the alternating tripod gait. Our findings elucidate the specialized leg dynamics within the alternating tripod gait of M. americana, and their adaptability to tarsal loss. This research could guide the development and design strategies of small, adaptive, and resilient micro-robots that can adapt to controller malfunction or actuator damage for walking on water and terrestrial surfaces.

Tiny amphibious insects use tripod gait for seamless transition across land, water, and duckweed.

Insects exhibit remarkable adaptability in their locomotive strategies across diverse environments, a crucial trait for foraging, survival, and predator avoidance. Microvelia, tiny 2-3 mm insects that adeptly walk on water surfaces, exemplify this adaptability by using the alternating tripod gait in both aquatic and terrestrial terrains. These insects commonly inhabit low-flow ponds and streams cluttered with natural debris like leaves, twigs, and duckweed. Using high-speed imaging and pose-estimation software, we analyze Microvelia spp.'s movement across water, sandpaper (simulating land), and varying duckweed densities (10%, 25%, and 50% coverage). Our results reveal Microvelia maintain consistent joint angles and strides of their upper and hind legs across all duckweed coverages, mirroring those seen on sandpaper. Microvelia adjust the stride length of their middle legs based on the amount of duckweed present, decreasing with increased duckweed coverage and at 50% duckweed coverage, their middle legs' strides closely mimic their strides on sandpaper. Notably, Microvelia achieve speeds up to 56 body lengths per second on water, nearly double those observed on sandpaper and duckweed (both rough, frictional surfaces), highlighting their higher speeds on low friction surfaces such as the water's surface. This study highlights Microvelia's ecological adaptability, setting the stage for advancements in amphibious robotics that emulate their unique tripod gait for navigating complex terrains.

Limb loss and specialized leg dynamics in tiny water-walking insects.

The air-water of the planet's water bodies, such as ponds, lakes and streams, presents an uncertain ecological niche with predatory threats from above and below. As Microvelia move across the water surface in small ponds, they face potential injury from attacks by birds, fish, and underwater invertebrates. Thus, our study investigates the effects of losing individual or pairs of tarsi on the Microvelia's ability to walk on water. Removal of both hind tarsi causes Microvelia spp. to rock their bodies (yaw) while running across the water surface at ±19°, compared to ±7° in non-ablated specimens. This increase in yaw, resulting from the removal of hind tarsi, indicates that Microvelia use their hind legs as 'rudders' to regulate yaw, originating from the contralateral middle legs' strokes on the water's surface through an alternating tripod gait. Ablation of the ipsilateral middle and hind tarsi disrupts directionality, making Microvelia turn in the direction of their intact limbs. This loss of directionality does not occur with the removal of contralateral middle and hind tarsi. However, Microvelia lose their ability to use the alternating tripod gait to walk for water walking on the day of contralateral ablation. Remarkably, by the next day Microvelia adapt and regain the ability to walk on water using the alternating tripod gait. Our findings elucidate the specialized leg dynamics within the alternating tripod gait of Microvelia spp., and their adaptability to tarsal loss. This research could guide the development and design strategies of small, adaptive, and resilient micro-robots that can adapt to controller malfunction or actuator damage for walking on water and terrestrial surfaces.

Carboxylated Poly(thiophene) Binders for High-Performance Magnetite Anodes: Impact of Cation Structure.

While the focus of research related to the design of robust, high-performance Li-ion batteries relates primarily to the synthesis of active particles, the binder plays a crucial role in stability and ensures electrode integrity during volume changes that occur with cycling. Conventional polymeric binders such as poly(vinylidene difluoride) generally do not interact with active particle surfaces and fail to accommodate large changes in particle spacing during cycling. Thus, attention is now turning toward the exploration of interfacial interactions between composite electrode constituents as a key element in ensuring electrode stability. Recently, a poly[3-(potassium-4-butanoate)thiophene] (PPBT) binder component, coupled with a polyethylene glycol (PEG) surface coating for the active material was demonstrated to enhance both electron and ion transport in magnetite-based anodes, and it was established that the PEG/PPBT approach aids in overall battery electrode performance. Herein, the PEG/PPBT system is used as a model polymeric binder for understanding cation effects in anode systems. As such, the potassium ion was replaced with sodium, lithium, hydrogen, and ammonium through ion exchange. The potassium salt exhibited the most stable electrochemical performance, which is attributed to the cation size and resultant electrode morphology that facilitates ion transport. The lithium analogue demonstrated an initial increase in capacity but was unable to maintain this performance over 100 cycles; while the sodium-based system exhibited initially lower capacity as a result of slow reaction kinetics, which increased as cycling progressed. The parent carboxylic acid polymer and its ammonium salt were notably inferior. The results exploring the effect of ion exchange creates a framework for understanding how cations associated directly with the polymer impact electrochemical performance and aid in the overall design of binders for composite Li-ion battery anodes.