Assessing the energy trap of industrial agriculture in North America and Europe: 82 balances from 1830 to 2012.

Early energy analyses of agriculture revealed that behind higher labor and land productivity of industrial farming, there was a decrease in energy returns on energy (EROI) invested, in comparison to more traditional organic agricultural systems. Studies on recent trends show that efficiency gains in production and use of inputs have again somewhat improved energy returns. However, most of these agricultural energy studies have focused only on external inputs at the crop level, concealing the important role of internal biomass flows that livestock and forestry recirculate within agroecosystems. Here, we synthesize the results of 82 farm systems in North America and Europe from 1830 to 2012 that for the first time show the changing energy profiles of agroecosystems, including livestock and forestry, with a multi-EROI approach that accounts for the energy returns on external inputs, on internal biomass reuses, and on all inputs invested. With this historical circular bioeconomic approach, we found a general trend towards much lower external returns, little or no increases in internal returns, and almost no improvement in total returns. This "energy trap" was driven by shifts towards a growing dependence of crop production on fossil-fueled external inputs, much more intensive livestock production based on feed grains, less forestry, and a structural disintegration of agroecosystem components by increasingly linear industrial farm managements. We conclude that overcoming the energy trap requires nature-based solutions to reduce current dependence on fossil-fueled external industrial inputs and increase the circularity and complexity of agroecosystems to provide healthier diets with less animal products. Supplementary Information: The online version contains supplementary material available at 10.1007/s13593-023-00925-5.

A new meta-module design for efficient reconfiguration of modular robots.

We propose a new meta-module design for two important classes of modular robots. The new meta-modules are three-dimensional, robust and compact, improving on the previously proposed ones. One of them applies to so-called edge-hinged modular robot units, such as M-TRAN, SuperBot, SMORES, UBot, PolyBot and CKBot, while the other one applies to so-called central-point-hinged modular robot units, which include Molecubes and Roombots. The new meta-modules use the rotational degrees of freedom of these two types of robot units in order to expand and contract, as to double or halve their length in each of the two directions of its three dimensions, therefore simulating the capabilities of Crystalline and Telecube robots. Furthermore, in the edge-hinged case we prove that the novel meta-module can also perform the scrunch, relax and transfer moves that are necessary in any tunneling-based reconfiguration algorithm for expanding/contracting modular robots such as Crystalline and Telecube. This implies that the use of meta-meta-modules is unnecessary, and that currently existing efficient reconfiguration algorithms can be applied to a much larger set of modular robots than initially intended. We also prove that the size of the new meta-modules is optimal and cannot be further reduced. SUPPLEMENTARY INFORMATION: The online version supplementary material available at 10.1007/s10514-021-09977-6.