Experimental Studies of Bioinspired Shark Denticles for Drag Reduction.

Shark skin is composed of denticles, or complex scale-like features, which have been shown to reduce drag in turbulent and laminar flow. The denticle crown features undulating structures called riblets that interact with the turbulent boundary layer to reduce drag. Two mechanisms thought to contribute to the drag-reducing properties of riblets include the lifting of streamwise vortices and the hampering of spanwise vortex interactions to reduce crossflow, which could translate to similar flow mechanisms for denticles. Because of the varied morphologies of dermal denticles on different shark species, which also depend on body location, the impact of these denticle geometries on flow is of interest to the biology community, including related fields such as fluid mechanics and oceanography. This review highlights the past 15 years of manufacturing techniques and experimental measurements of drag over denticle-inspired surface structures, including real shark skin samples and engineered denticles and riblets. State-of-the-art additive manufacturing and other techniques are primarily limited to mm-length denticle scales, which have demonstrated drag reduction in lower flow speeds, under 1 m s-1. New manufacturing approaches can create sub-mm length denticles and nanotextured surface structures, which have achieved reported drag reductions of up to 31%. We synthesize results from the literature to illustrate the drag reduction properties of bioinspired denticles and riblets according to their geometry and flow conditions. Using these trends, we suggest design features and focus areas for future research, such as increasing studies of different denticle morphologies, hydrophobicity, antifouling properties, and acoustic noise reduction. Continued work on bioinspired denticles for drag reduction has wider implications in comparative biology and applications to design more energy-efficient, persistent vehicles for environmental monitoring.

Biohybrid robots: recent progress, challenges, and perspectives.

The past ten years have seen the rapid expansion of the field of biohybrid robotics. By combining engineered, synthetic components with living biological materials, new robotics solutions have been developed that harness the adaptability of living muscles, the sensitivity of living sensory cells, and even the computational abilities of living neurons. Biohybrid robotics has taken the popular and scientific media by storm with advances in the field, moving biohybrid robotics out of science fiction and into real science and engineering. So how did we get here, and where should the field of biohybrid robotics go next? In this perspective, we first provide the historical context of crucial subareas of biohybrid robotics by reviewing the past 10+ years of advances in microorganism-bots and sperm-bots, cyborgs, and tissue-based robots. We then present critical challenges facing the field and provide our perspectives on the vital future steps toward creating autonomous living machines.

Squid-inspired robots perform swimmingly.

A squid-like robot leverages resonance to match the swimming efficiency of biological animals.

Neuromechanical wave resonance in jellyfish swimming.

For organisms to have robust locomotion, their neuromuscular organization must adapt to constantly changing environments. In jellyfish, swimming robustness emerges when marginal pacemakers fire action potentials throughout the bell's motor nerve net, which signals the musculature to contract. The speed of the muscle activation wave is dictated by the passage times of the action potentials. However, passive elastic material properties also influence the emergent kinematics, with time scales independent of neuromuscular organization. In this multimodal study, we examine the interplay between these two time scales during turning. A three-dimensional computational fluid-structure interaction model of a jellyfish was developed to determine the resulting emergent kinematics, using bidirectional muscular activation waves to actuate the bell rim. Activation wave speeds near the material wave speed yielded successful turns, with a 76-fold difference in turning rate between the best and worst performers. Hyperextension of the margin occurred only at activation wave speeds near the material wave speed, suggesting resonance. This hyperextension resulted in a 34-fold asymmetry in the circulation of the vortex ring between the inside and outside of the turn. Experimental recording of the activation speed confirmed that jellyfish actuate within this range, and flow visualization using particle image velocimetry validated the corresponding fluid dynamics of the numerical model. This suggests that neuromechanical wave resonance plays an important role in the robustness of an organism's locomotory system and presents an undiscovered constraint on the evolution of flexible organisms. Understanding these dynamics is essential for developing actuators in soft body robotics and bioengineered pumps.

Developing Biohybrid Robotic Jellyfish (Aurelia aurita) for Free-swimming Tests in the Laboratory and in the Field.

Biohybrid robotics is a growing field that incorporates both live tissues and engineered materials to build robots that address current limitations in robots, including high power consumption and low damage tolerance. One approach is to use microelectronics to enhance whole organisms, which has previously been achieved to control the locomotion of insects. However, the robotic control of jellyfish swimming offers additional advantages, with the potential to become a new ocean monitoring tool in conjunction with existing technologies. Here, we delineate protocols to build a self-contained swim controller using commercially available microelectronics, embed the device into live jellyfish, and calculate vertical swimming speeds in both laboratory conditions and coastal waters. Using these methods, we previously demonstrated enhanced swimming speeds up to threefold, compared to natural jellyfish swimming, in laboratory and in situ experiments. These results offered insights into both designing low-power robots and probing the structure-function of basal organisms. Future iterations of these biohybrid robotic jellyfish could be used for practical applications in ocean monitoring.

Field Testing of Biohybrid Robotic Jellyfish to Demonstrate Enhanced Swimming Speeds.

Biohybrid robotic designs incorporating live animals and self-contained microelectronic systems can leverage the animals' own metabolism to reduce power constraints and act as natural chassis and actuators with damage tolerance. Previous work established that biohybrid robotic jellyfish can exhibit enhanced speeds up to 2.8 times their baseline behavior in laboratory environments. However, it remains unknown if the results could be applied in natural, dynamic ocean environments and what factors can contribute to large animal variability. Deploying this system in the coastal waters of Massachusetts, we validate and extend prior laboratory work by demonstrating increases in jellyfish swimming speeds up to 2.3 times greater than their baseline, with absolute swimming speeds up to 6.6 ± 0.3 cm s-1. These experimental swimming speeds are predicted using a hydrodynamic model with morphological and time-dependent input parameters obtained from field experiment videos. The theoretical model can provide a basis to choose specific jellyfish with desirable traits to maximize enhancements from robotic manipulation. With future work to increase maneuverability and incorporate sensors, biohybrid robotic jellyfish can potentially be used to track environmental changes in applications for ocean monitoring.

Low-power microelectronics embedded in live jellyfish enhance propulsion.

Artificial control of animal locomotion has the potential to simultaneously address longstanding challenges to actuation, control, and power requirements in soft robotics. Robotic manipulation of locomotion can also address previously inaccessible questions about organismal biology otherwise limited to observations of naturally occurring behaviors. Here, we present a biohybrid robot that uses onboard microelectronics to induce swimming in live jellyfish. Measurements demonstrate that propulsion can be substantially enhanced by driving body contractions at an optimal frequency range faster than natural behavior. Swimming speed can be enhanced nearly threefold, with only a twofold increase in metabolic expenditure of the animal and 10 mW of external power input to the microelectronics. Thus, this biohybrid robot uses 10 to 1000 times less external power per mass than other aquatic robots reported in literature. This capability can expand the performance envelope of biohybrid robots relative to natural animals for applications such as ocean monitoring.

Estimating the broad-sense heritability of early growth of cowpea.

Cowpea is an important tropical crop. It provides a large proportion of the food resource for the African human population and their livestock. The yield and quality of cowpea have been dramatically improved through traditional breeding strategies for the past few decades. However, reports of heritability estimates for early growth of cowpea are rare. We designed a simple experiment to estimate the broad-sense heritability of early growth. We randomly selected 15 cowpea varieties among a total of 5000 cowpea accessions maintained in the cowpea breeding facility at the University of California, Riverside to examine the genetic determination of early growth of cowpea (measured as the height at day five after seeding). The estimated broad-sense heritability on the individual plant basis is 0.2190. However, the corresponding estimate on the plant mean basis (average of four plants) is 0.5198, which is very high for a quantitative trait. The high heritability may explain why traditional breeding for cowpea growth is so effective. Since the design of experiment and method of data analysis are novel, this report can serve as an educational note for students in the area of quantitative genetics and plant breeding.