Click chemistry stereolithography for soft robots that self-heal.

Although soft robotics promises a new generation of robust, versatile machines capable of complex functions and seamless integration with biology, the fabrication of such soft, three dimensional (3D) hierarchical structures remains a significant challenge. Stereolithography (SLA) is an additive manufacturing technique that can rapidly fabricate the complex device architectures required for the next generation of these systems. Current SLA materials and processes are prohibitively expensive, display little elastic deformation at room temperature, or exhibit Young's moduli exceeding most natural tissues, all of which limit use in soft robotics. Herein, we report a low-cost build window substrate that enables the rapid fabrication of high resolution (∼50 µm) silicone (polydimethylsiloxane) based elastomeric devices using an open source SLA printer. Our thiol-ene click chemistry permits photopolymerization using low energy (He < 20 mJ cm-2) optical wavelengths (405 nm < λ < 1 mm) available on many low-cost SLA machines. This chemistry is easily tuned to achieve storage moduli, 6 < E < 283 kPa at engineering strains, γ = 0.02; similarly, a large range of ultimate strains, 0.5 < γult < 4 is achievable through appropriate selection of the two primary chemical constituents (mercaptosiloxane, M.S., and vinylsiloxane, V.S.). Using this chemo-mechanical system, we directly fabricated compliant machines, including an antagonistic pair of fluidic elastomer actuators (a primary component in most soft robots). During printing, we retained unreacted pockets of M.S. and V.S. that permit autonomic self-healing, via sunlight, upon puncture of the elastomeric membranes of the soft actuators.

The Mars oxidant experiment (MOx) for Mars '96.

The MOx instrument was developed to characterize the reactive nature of the martian soil. The objectives of MOx were: (1) to measure the rate of degradation of organics in the martian environment; (2) to determine if the reactions seen by the Viking biology experiments were caused by a soil oxidant and measure the reactivity of the soil and atmosphere: (3) to monitor the degradation, when exposed to the martian environment, of materials of potential use in future missions; and, finally, (4) to develop technologies and approaches that can be part of future soil analysis instrumentation. The basic approach taken in the MOx instrument was to place a variety of materials composed as thin films in contact with the soil and monitor the physical and chemical changes that result. The optical reflectance of the thin films was the primary sensing-mode. Thin films of organic materials, metals, and semiconductors were prepared. Laboratory simulations demonstrated the response of thin films to active oxidants.

Correlations between Dermal Torque Meter®, Cutometer®, and Dermal Phase Meter® measurements of human skin.

BACKGROUND/AIMS: The Dermal Torque Meter® (DTM) and the Cutometer® are instruments that measure mechanical properties of skin. The NOVA(tm) Dermal Phase Meter® (DPM) measures the stratum corneum (SC) hydration level. The objectives of this study were to determine which parameters of the DTM data curves were most sensitive to changes in SC hydration level, which of the two instruments (Cutometer or DTM) was most sensitive, and what correlations existed between the Cutometer and DTM data. METHODS: Dry leg skin was created on nine subjects by washing with soap and using no moisturizers for one week. The skin was then treated with moisturizing lotions for two weeks. Measurements were made with the Cutometer, DTM, and DPM pre- and post-treatment. RESULTS: Significant changes in DPM, DTM, and Cutometer measurements were found after the moisturizer treatment. However, correlations were not found between mechanical property data and DPM data. The DTM had the two parameters with the highest sensitivity of all of the DTM and Cutometer parameters. Finally, correlations between the two instruments existed for only three of the ten parameters investigated. CONCLUSIONS: While measurements with all three instruments significantly changed in response to skin hydration, neither the DTM nor Cutometer data tended to correlate with DPM data, perhaps due to the differences in the depths into the skin which each instrument measures. Furthermore, the mechanical properties measured by the two instruments do not correlate well between the instruments. Finally, the DTM was found to have the most sensitive parameters.

Sensitivity of cutometer data to stratum corneum hydration level: A preliminary study.

BACKGROUND/AIMS: The cutometer is an instrument that measures mechanical properties of skin. The NOVA dermal phase meter (DPM) measures the stratum corneum (SC) hydration level. The objectives of this study were to determine which parameters of the cutometer data curves were most sensitive to changes in SC hydration level, and to determine if lowering the skin stress applied by the cutometer would increase the instrument's sensitivity to SC hydration. METHODS: In two studies, the volar forearms of ten and six subjects, respectively, were hydrated with wet paper towels for ten min. Measurements were made with the cutometer at various vacuum levels, and with the DPM. In another study, leg skin of nine subjects was hydrated by applying moisturizing lotions for 2 weeks. Measurements were made with the cutometer and DPM. RESULTS/CONCLUSION: Significant changes in DPM and cutometer measurements were found after hydrating skin in each study. However, only three correlations were found between cutometer data and DPM data. The lack of correlation was perhaps due to the differences in the depth into the skin which the two instruments measure. It is not clear which cutometer data parameters are generally most sensitive to hydration level, since different parameters were found to be most sensitive in each of the three studies. Finally, lowering the cutometer vacuum level generally did not increase the sensitivity of the measurements to changes in hydration levels.

Mercury's Surface: Preliminary Description and Interpretation from Mariner 10 Pictures.

The surface morphology and optical properties of Mercury resemble those of the moon in remarkable detail and record a very similar sequence of events. Chemical and mineralogical similarity of the outer layers of Mercury and the moon is implied; Mercury is probably a differentiated planet with a large iron-rich core. Differentiation is inferred to have occurred very early. No evidence of atmospheric modification of landforms has been found. Large-scale scarps and ridges unlike lunar or martian features may reflect a unique period of planetary compression near the end of heavy bombardment by small planetesimals.

Mariner 10 pictures of mercury: first results.

Mercury has a heavily cratered surface cotntaining basins up to at least 1300 kilometers diameter flooded with mare-like material. Many features are closely similar to those on the moon, but significant structural differences exist. Major chemical differentiation before termination of accretion is implied.

Venus: atmospheric motion and structure from mariner 10 pictures.

The Mariner 10 television camieras imaged the planet Venus in the visible and near ultraviolet for a period of 8 days at resolutions ranging from 100 meters to 130 kilometers. Tle general pattern of the atmospheric circulation in the upper tropospheric/lower stratospheric region is displayed in the pictures. Atmospheric flow is symmetrical between north and south hemispheres. The equatorial motions are zonal (east-west) at approxiimnately 100 meters per second, consistent with the previously inferred 4-day retrograde rotation. Angular velocity increases with latitude. The subsolar region, and the region downwind from it, show evidence of large-scale convection that persists in spite of the main zonal motion. Dynamical interaction between the zonal motion and the relatively stationary region of convection is evidenced by bowlike waves.

Polar Volatiles on Mars--Theory versus Observation: Excess solid carbon dioxide is probably present in the north residual cap.

The residual frost caps of Mars are probably water-ice. They may be the source of the water vapor associated with seasonal polar hoods. A permanent reservoir of solid CO(2) is also probably present within the north residual cap and may comprise a mass of CO(2) some two to five times that of the present atmosphere of Mars. The martian atmospheric pressure is probably regulated by the temperature of the reservoir and not by the annual heat balance of exposed solid CO(2) (37). The present reservoir temperature presumably reflects a long-term average of the polar heat balance. The question of a large permanent north polar cap is reexamined in light of the Mariner 9 data. The lower general elevation of the north polar region compared to the south and the resulting occurrence in the north of a permanent CO(2) deposit are probably responsible for the differences in size and shape of the two residual caps. The details of the processes involved are less apparent, however. It might be argued that the stability of water-ice deposits depends on both insolation and altitude. The present north and south residual caps should be symmetrically located with respect to such a hypothetical stability field. However, the offset of the south cap from the geometrical pole, the non-symmetrical outline of the north cap, and the apparently uniform thickness of the thin, widespread water-ice all argue against control by simple solid-vapor equilibrium of water under present environmental conditions. We think that the present location of the water-ice may reflect, in part, the past location of the permanent CO(2) reservoir. The extreme stability of polar water-ice deposits increases the likelihood that past environmental conditions may be recorded there. Detailed information on elevations in the vicinity of the residual caps is needed before we can further elucidate the nature and history of the residual caps. This, along with measurements of polar infrared emission, should be given high priority in future missions to Mars. Two conclusions follow from the limitation of the mass of solid CO(2) on Mars at present to two to five times the mass of CO(2) in the atmosphere. If all of this CO(2) was entirely sublimated into the atmosphere as a result of hypothetical astronomical or geophysical effects, the average surface pressure would increase to 15 to 30 mbar. Although such a change would have considerable significance for eolian erosion and transportation, there seems to be little possibility that a sufficiently earthlike atmosphere could result for liquid water to become an active erosional agent, as postulated by Milton (38). The pressure broadening required for a green-house effect requires at least 10 to 20 times more pressure (39). If liquid water was ever active in modifying the martian surface, it must have been at an earlier epoch, before the present, very stable CO(2)/H(2)O system developed. There can be no intermittent earthlike episodes now. Furthermore, the present abundance of CO(2) on Mars may be an indicator of the cumulative evolution of volatiles to the surface of the planet (40). Thus, even the possibility of an earlier earth-like episode is dimmed. On Mars, the total CO(2) definitely outgassed has evidently been about 60 +/- 20 g/cm(2). On the earth, about 70 +/- 30 kg/cm(2) of CO(2) have been released to the surface (41). Hence, the total CO(2) devolved by Mars per unit area is about 0.1 percent of that evolved by the earth. Thus, the observational limits we place on solid CO(2) presently located under the north residual cap also may constitute considerable constraints on the total differentiation and devolatilization of the planet. If they are valid, it would seem unlikely that Mars has devolatilized at all like the earth, or ever experienced an earthlike environment on its surface.

Periodic insolation variations on Mars.

Previously unrecognized insolation variations on Mars are a consequence of periodic variations in eccentricity, first established by the theory of Brouwer and Van Woerkom (1950). Such annual insolation variations, characterized by both 95,000-year and 2,000,000-year periodicities, may actually be recorded in newly discovered layered deposits in the polar regions of Mars. An additional north-south variation in seasonal insolation, but not average annual insolation, exists with 51,000-year and 2,000,000-year periodicities.

Polar wandering on Mars?

Polar wandering during the past 10(8) years may be recorded by unique quasi-circular structures in the polar regions of Mars. Polar wandering on Mars is likely if deep convection is involved in the origin of the very large constructional volcanic features located near the equator. The magnitude of the nonhydrostatic low order components of the gravity field and their correlation with the equatorial volcanic features may be additional evidence of deep convection and associated polar wandering.

Mariner 9 television reconnaissance of Mars and its satellites: preliminary results.

At orbit insertion on 14 November 1971 the Martian surface was largely obscured by a dust haze with an extinction optical depth that ranged from near unity in the south polar region to probably greater than 2 over most of the planet. The only features clearly visible were the south polar cap, one dark, spot in Nix Olympica, and three dark spots in the Tharsis region. During the third week the atmosphere began to clear and surface visibility improved, but contrasts remained a fraction of their normal value. Each of the dark spots that apparently protrude through most of the dust-filled atmosphere has a crater or crater complex in its center. The craters are rimless and have featureless floors that, in the crater complexes, are at different levels. The largest crater within the southernmost spot is approximately 100 kilometers wide. The craters apparently were formed by subsidence and resemble terrestrial calderas. The south polar cap has a regular margin, suggsting very flat topography. Two craters outside the cap have frost on their floors; an apparent crater rim within the cap is frost free, indicating preferentia loss of frost from elevated ground. If this is so then the curvilinear streaks, which were frost covered in 1969 and are now clear of frost, may be low-relief ridges. Closeup pictures of Phobos and Deimos show that Phobos is about 25 +/-5 by 21 +/-1 kilometers and Deimos is about 13.5 +/- 2 by 12.0 +/-0.5 kilometers. Both have irregular shapes and are highly cratered, with some craters showing raised rims. The satellites are dark objects with geometric albedos of 0.05.

Space photography and the exploration of Mars.

A general exposition of the scientific potentialities and analytic framework of space photography is presented using the photography of Mars from flybys and orbiters as the principal example. Space photography is treated here as a communication process in which planetary scene information is communicated to the eye-brain receiver of earth-based interpreters. The salient parameters of this process are: (1) total information returned, (2) surface resolution, and (3) a priori knowledge regarding the planetary surface observed.

Planetary Contamination II: Soviet and U.S. Practices and Policies.

The accompanying article of Horo witz et al. concluded with the view that the COSPAR recommendations re garding Mars should be adjusted to re flect new environmental information. Specifically, it was concluded that viable terrestrial microorganisms which are transported to Mars inside solid components in sealed spaces have a low probability of being released to the sur face or atmosphere, and that, if any are released, they are not likely to in fect the planet. We suggest, in addition, that both the COSPAR recommenda tions and U.S. planetary quarantine policy should be altered to take into account past and continuing Soviet prac tice regarding the. exploration of Mars and Venus. No amount of analysis by COSPAR, or of costly, self-imposed restrictions by the U.S. on its own planetary exploration program, can reduce the probability of contamination of either Venus or Mars below what the Soviets have already made it, or will make it as they continue their large planetary effort. All that U.S. policy can accomplish is to insure that U.S. efforts do not significantly increase the probability above that level. Any rec ommended policy which would require the U.S. to apply significantly more stringent restrictions is illogical in that, in effect, the U.S. would be asked to increase greatly the cost and complexity of its planetary program without achieving any significant reduction in the probability of actual contamination. There exists some parallelism be tween the problem of planetary quaran tine and that of radioactive fallout from atmospheric nuclear testing, al though the desirable solution to the quarantine problem is not merely to stop all activity. Both are multilateral problems, and individual national policy necessarily must reflect the policy of other nations. Thus, the real questions that must be faced by COSPAR, and by the U.S., are, (i) What is the prob able number of viable terrestrial micro organisms alreadyr transported to Venus and to Mars? and (ii) What is the to tal number to be expected in the next decade or so from foreseeable Soviet efforts alone? Then COSPAR can rec ommend, and the U.S. can decide, that the total U.S. contribution should be equal to some specified fraction of the total present and future Soviet contribu tion. This approach in turn suggests that every effort should be made to induce the Soviets to supply additional de tails on the Zond 2 and Venus 3 mis sion and trajectory and, particularly, on the procedure used for sterilizing the components and assembly of both space craft. With such information, the proba ble number of viable terrestrial microor ganisms deposited on Venus and Mars could be estimated well enough to per mit a. realistic quantitative analysis of what U.S. policy and practice should be. However, if more complete informa tion on Soviet practice cannot be ob tained, then, it seems to us, the U.S. has no logical alternative but to per mit greater engineering freedom in lander delivery technique and to ac cept gaseous and other nonthermal sterilization procedures, where neces sary, in its own program. By relying on the demonstrated U.S. spacecraft reliability to insure that the U.S. con tribution to planetary contamination will remain significantly less than the Soviet contribution, we could reduce significantly the cost and time required to carry out serious scientific investiga tions of the surfaces of Venus and Mars.

Behavior of carbon dioxide and other volatiles on Mars.

We have found that a rather simple thermal model of the Martian surface, in combination with current observations of the atmospheric composition, points strongly toward the conclusion that the polar caps of Mars consist almost entirely of frozen CO(2). This study was based upon the following principal assumptions. 1) Carbon dioxide is a major constituent of the Martian atmosphere. 2) The blanketing effect of the atmosphere is small, and due principally to the absorption band of CO(2) near 15 microns. 3) Lateral and convective heat transfer by the atmosphere is negligible. 4) The far-infrared emissivity of the Martian soil and of solid CO(2) are near unity. 5) The reflectivities of the soil and of solid CO(2) in the visible part of the spectrum are about 0.15 and 0.65, respectively. 6) Values for soil conductivity, density, and specific heat are those characteristic of powdered minerals at low gas pressure. 7) Water is a minor constituent of the Martian atmosphere, the maximum total amount in the atmosphere being 10 to 30 X 1O(-4) g cm(-2). In addition, several simplifications were made, which might have significant effects but should not alter our principal conclusions. Among these are the following. 1) Local blanketing or snowfall effects due to clouds or polar haze were ignored. 2) Dark and light areas were not differentiated in this study, although Sinton and Strong (6) have observed temperature differences between such areas. 3) The effects of local topography and microrelief were neglected. We believe that these must have quite significant effects at the higher latitudes, especially in connection with the evaporation of the remanent south polar cap. 4) Variation of reflectivity with angle of incidence of the sunlight was neglected. 5) Temperature dependence of soil conductivity and specific heat was ignored. 6) Effects of saturation of the soil by ice upon the thermal properties of the soil were neglected. Although in our main investigation we used certain specific values for the various relevant parameters, we also tested the effects of moderate changes in these quantities. Specifically, the soil conductivity was varied by a factor of 3, the albedo and emissivity of the surface were changed by 15 to 20 percent, and the effects of a gross amount of atmospheric blanketing were studied, as described. Only the last of these variations had any significant effect on the model, and other results of the atmospheric blanketing were in disagreement with other physical observations of the planet. Consequently, we find it difficult to avoid the conclusion that CO(2) must condense in large amounts relative to H(2)0. The main conclusions indicated by this study are the following. 1) The atmosphere and frost caps of Mars represent a single system with CO(2) as the only active phase. 2) The appearance and disappearance of the polar caps are adequately explained on the presumption that they are composed almost entirely of solid CO(2) with perhaps an occasional thin coating of water ice. 3) If the currently reported water-vapor observations are correct, water-ice permafrost probably exists under large regions of the planet at polar and temperate latitudes. 4) The geochemically anomalous enrichment of CO(2) relative to N(2) in the present Martian atmosphere may be a result of selective trapping of CO(2) in the solid phase at and under the surface. 5) If the basic evaporation and condensation mechanisms for CO(2) and H(2)O discussed in this article are correct, the possible migration of volatile organic compounds away from the warm temperate regions of the planet and their possible accumulation in the polar regions need to be carefully considered.