Locomotion as manipulation with ReachBot.

Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To support the exploration of these sites, we present ReachBot, a robot that uses extendable booms as appendages to manipulate itself with respect to irregular rock surfaces. The booms terminate in grippers equipped with microspines and provide ReachBot with a large workspace, allowing it to achieve force closure in enclosed spaces, such as the walls of a lava tube. To propel ReachBot, we present a contact-before-motion planner for nongaited legged locomotion that uses internal force control, similar to a multifingered hand, to keep its long, slender booms in tension. Motion planning also depends on finding and executing secure grips on rock features. We used a Monte Carlo simulation to inform gripper design and predict grasp strength and variability. In addition, we used a two-step perception system to identify possible grasp locations. To validate our approach and mechanisms under realistic conditions, we deployed a single ReachBot arm and gripper in a lava tube in the Mojave Desert. The field test confirmed that ReachBot will find many targets for secure grasps with the proposed kinematic design.

Urinary flow through urethras with a rough lumen.

AIMS: This study investigates how lumen roughness and urethral length influence urinary flow speed. METHODS: We used micro-computed tomography scans to measure the lumen roughness and dimensions for rabbits, cats, and pigs. We designed and fabricated three-dimensional-printed urethra mimics of varying roughness and length to perform flow experiments. We also developed a corresponding mathematical model to rationalize the observed flow speed. RESULTS: We update the previously reported relationship between body mass and urethra length and diameter, now including 41 measurements for urethra length and 10 measurements for diameter. We report the relationship between lumen diameter and roughness as a function of position down the urethra for rabbits, cats, and pigs. The time course of urinary speed from our mimics is reported, as well as the average speed as a function of urethra length. CONCLUSIONS: Based on the behavior of our mimics, we conclude that the lumen roughness in mammals reduces flow speed by up to 25% compared to smooth urethras. Urine flows fastest when the urethra length exceeds 25 times its diameter. Longer urethras do not drain faster due to viscous effects counteracting the additional gravitational head. However, flows with our urethra mimics are still 6 times faster than those observed in nature, suggesting that further work is needed to understand flow resistance in the urethra.