Mechanical and elemental characterization of ant mandibles: consequences for bite mechanics

Mandible morphology has an essential role in biting performance, but the mandible cuticle can have regional differences in its mechanical properties. The effects of such a heterogeneous distribution of cuticle material properties in the mandible responses to biting loading are still poorly explored in chewing insects. Here, we tested the mechanical properties of mandibles of the ant species Formica cunicularia by nanoindentation and investigated the effects of the cuticular variation in Young's modulus (E) under bite loading with finite-element analysis (FEA). The masticatory margin of the mandible, which interacts with the food, was the hardest and stiffest region. To unravel the origins of the mechanical property gradients, we characterized the elemental composition by energy-dispersive X-ray spectroscopy. The masticatory margin possessed high proportions of Cu and Zn. When incorporated into the FEA, variation in E effectively changed mandible stress patterns, leading to a relatively higher concentration of stresses in the stiffer mandibular regions and leaving the softer mandible blade with relatively lower stress. Our results demonstrated the relevance of cuticle E heterogeneity in mandibles under bite loading, suggesting that the accumulation of transition metals such as Cu and Zn has a relevant correlation with the mechanical characteristics in F. cunicularia mandibles.

Mandible elemental composition and mechanical properties from distinct castes of the leafcutter ant Atta laevigata (Attini; Formicidae)

Leafcutter ant colonies are divided into castes with the individuals performing different tasks, based mostly on size. With the mandibles, the small minims care for the brood or the fungus, whereas the larger minors and mediae cut and transport plant material, with the ant size positively related to the material size. The mechanical properties and composition of the mandible cuticle have been previously tested in the soldiers as the largest caste, revealing that the cutting edges contained high contents of the cross-linking transition metal zinc (Zn). With regard to the smaller castes, no data are present. To study how the mandible size and function relates to its mechanical properties, we here tested the mandibles of minims, minors and mediae by nanoindentation. We found that the hardness (H) and Young's modulus (E) values increased with increasing ant size and that the mandible cutting edges in each caste have the highest H- and E-values. To gain insight into the origins of these properties, we characterized the elemental composition by energy-dispersive X-ray analysis, revealing that minors and mediae possessed higher content of Zn in the cutting edges in contrast to the minims containing significantly less Zn. This shows, that Zn content relates to higher mechanical property values. Additionally, it shows that all of these parameters can differ within a single species.

Wear patterns of radular teeth in Loligo vulgaris (Cephalopoda; Mollusca) are related to their structure and mechanical properties

Radular teeth have to cope with wear, when interacting with ingesta. In some molluscan taxa, wear-coping mechanisms, related to the incorporation of high contents of iron or silica, have been previously determined. For most species, particularly for those which possess radulae without such incorporations, wear-coping mechanisms are understudied. In the present study, we documented and characterized the wear on radular teeth in the model species Loligo vulgaris (Cephalopoda). By applying a range of methods, the elementary composition and mechanical properties of the teeth were described, to gain insight into mechanisms for coping with abrasion. It was found that the tooth regions that are prone to wear are harder and stiffer. Additionally, the surfaces interacting with the ingesta possessed a thin coating with high contents of silicon, probably reducing abrasion. The here presented data may serve as an example of systematic study of radular wear, in order to understand the relationship between the structure of radular teeth and their properties.

Tanning of the tarsal and mandibular cuticle in adult Anax imperator (Insecta: Odonata) during the emergence sequence

The arthropod cuticle offers strength, protection, and lightweight. Due to its limit in expandability, arthropods have to moult periodically to grow. While moulting is beneficial in terms of parasite or toxin control, growth and adaptation to environmental conditions, it costs energy and leaves the soft animal's body vulnerable to injuries and desiccation directly after ecdysis. To investigate the temporal change in sclerotization and pigmentation during and after ecdysis, we combined macrophotography, confocal laser scanning microscopy, scanning electron microscopy and histological sectioning. We analysed the tarsal and mandibular cuticle of the blue emperor dragonfly to compare the progress of tanning for structures that are functionally involved during emergence (tarsus/tarsal claws) with structures whose functionality is required much later (mandibles). Our results show that: (i) the tanning of the tarsal and mandibular cuticle increases during emergence; (ii) the tarsal cuticle tans faster than the mandibular cuticle; (iii) the mandibles tan faster on the aboral than on the oral side; and (iv) both the exo- and the endocuticle are tanned. The change in the cuticle composition of the tarsal and mandibular cuticle reflects the demand for higher mechanical stability of these body parts when holding on to the substrate during emergence and during first walking or hunting attempts.

Allometric Scaling Reveals Evolutionary Constraint on Odonata Wing Cellularity via Critical Crack Length

Scaling in insect wings is a complex phenomenon that seems pivotal in maintaining wing functionality. In this study, the relationship between wing size and the size, location, and shape of wing cells in dragonflies and damselflies (Odonata) is investigated, aiming to address the question of how these factors are interconnected. To this end, WingGram, the recently developed computer-vision-based software, is used to extract the geometric features of wing cells of 389 dragonflies and damselfly wings from 197 species and 16 families. It has been found that the cell length of the wings does not depend on the wing size. Despite the wide variation in wing length (8.42 to 56.5 mm) and cell length (0.1 to 8.5 mm), over 80% of the cells had a length ranging from 0.5 to 1.5 mm, which was previously identified as the critical crack length of the membrane of locust wings. An isometric scaling of cells is also observed with maximum size in each wing, which increased as the size increased. Smaller cells tended to be more circular than larger cells. The results have implications for bio-mimetics, inspiring new materials and designs for artificial wings with potential applications in aerospace engineering and robotics.

Insect attachment on waxy plant surfaces: the effect of pad contamination by different waxes

This study focuses on experimental testing of the contamination hypothesis and examines how the contamination of insect adhesive pads with three-dimensional epicuticular waxes of different plant species contributes to the reduction of insect attachment. We measured traction forces of tethered Chrysolina fastuosa male beetles having hairy adhesive pads on nine wax-bearing plant surfaces differing in both shape and dimensions of the wax structures and examined insect adhesive organs after they have contacted waxy substrates. For comparison, we performed the experiments with the same beetle individuals on a clean glass sample just before (gl1) and immediately after (gl2) the test on a plant surface. The tested insects showed a strong reduction of the maximum traction force on all waxy plant surfaces compared to the reference experiment on glass (gl1). After beetles have walked on waxy plant substrates, their adhesive pads were contaminated with wax material, however, to different extents depending on the plant species. The insects demonstrated significantly lower values of both the maximum traction force and the first peak of the traction force and needed significantly longer time to reach the maximum force value in the gl2 test than in the gl1 test. These effects were especially pronounced in cases of the plant surfaces covered with wax projections having higher aspect ratios. The data obtained clearly indicated the impact of waxy plant surfaces on the insect ability to subsequently attach to the clean smooth surface. This effect is caused by the contamination of adhesive pads and experimentally supports the contamination hypothesis.

Optimization of Enzymatic and Chemical Decellularization of Native Porcine Heart Valves for the Generation of Decellularized Xenografts

One of the most important medical interventions for individuals with heart valvular disease is heart valve replacement, which is not without substantial challenges, particularly for pediatric patients. Due to their biological properties and biocompatibility, natural tissue-originated scaffolds derived from human or animal sources are one type of scaffold that is widely used in tissue engineering. However, they are known for their high potential for immunogenicity. Being free of cells and genetic material, decellularized xenografts, consequently, have low immunogenicity and, thus, are expected to be tolerated by the recipient's immune system. The scaffold ultrastructure and ECM composition can be affected by cell removal agents. Therefore, applying an appropriate method that preserves intact the structure of the ECM plays a critical role in the final result. So far, there has not been an effective decellularization technique that preserves the integrity of the heart valve's ultrastructure while securing the least amount of genetic material left. This study demonstrates a new protocol with untraceable cells and residual DNA, thereby maximally reducing any chance of immunogenicity. The mechanical and biochemical properties of the ECM resemble those of native heart valves. Results from this study strongly indicate that different critical factors, such as ionic detergent omission, the substitution of Triton X-100 with Tergitol, and using a lower concentration of trypsin and a higher concentration of DNase and RNase, play a significant role in maintaining intact the ultrastructure and function of the ECM.

Multiple forces facilitate the aquatic acrobatics of grasshopper and bioinspired robot

Aquatic locomotion is challenging for land-dwelling creatures because of the high degree of fluidity with which the water yields to loads. We surprisingly found that the Chinese rice grasshopper Oxya chinensis, known for its terrestrial acrobatics, could swiftly launch itself off the water's surface in around 25 ms and seamlessly transition into flight. Biological observations showed that jumping grasshoppers use their front and middle legs to tilt up bodies first and then lift off by propelling the water toward the lower back with hind legs at angular speeds of up to 18°/ms, whereas the swimming grasshoppers swing their front and middle legs in nearly horizontal planes and move hind legs less violently (~8°/ms). Force measurement and model analysis indicated that the weight support could be achieved by hydrostatics which are proportionate to the mass of the grasshoppers, while the propulsions for motion are derived from the controlled limb-water interactions (i.e., the hydrodynamics). After learning the structural and behavioral strategies of the grasshoppers, a robot was created and was capable of swimming and jumping on the water surface like the insects, further demonstrating the effectiveness of decoupling the challenges of aquatic locomotion by the combined use of the static and dynamic hydro forces. This work not only uncovered the combined mechanisms responsible for facilitating aquatic acrobatics in this species but also laid a foundation for developing bioinspired robots that can locomote across multiple media.

Heartworm and seal louse: Trends in prevalence, characterisation of impact and transmission pathways in a unique parasite assembly on seals in the North and Baltic Sea

The ectoparasitic seal louse, Echinophthirius horridus infects harbour (Phoca vitulina) and grey seals (Halichoerus grypus) in the North and Baltic Sea. The endoparasitic heartworm Acanthocheilonema spirocauda parasitizes the right heart and blood vessels of harbour seals. The complete lifecycle of the heartworm is not entirely understood although the seal louse is assumed to serve as vector for its transmission. Knowledge about the impact of both parasite species on host health are scarce. In this study, necropsy data and archived parasites of harbour and grey seals in German waters were analysed to determine long-term seal louse (SLP) and heartworm prevalence (HWP) from 2014 to 2021. Histology, microbiology and scanning electron microscopy (SEM) were applied on seal louse infected and uninfected skin to investigate associated lesions and the health impact. During the study period, HWP in harbour seals was 13%, the SLP in harbour seals was 4% and in grey seals 10%. HWP of harbour seals was significantly higher during the winter months compared to the summer. SLP in adults was significantly higher in comparison to juvenile harbour seals. SLP varied significantly between grey seals from the North and Baltic Sea. Filarial nematodes were detected in the haemocoel, pharynx, and intestine of E. horridus highlighting the seal louse as vector for heartworms. Alopecia and folliculitis were associated with the attachment posture of E. horridus and microbiological investigations isolated bacteria commonly associated with folliculitis.

Streptomyces profundus sp. nov., a novel marine actinobacterium isolated from deep-sea sediment of Madeira Archipelago, Portugal

A novel strain, MA3_2.13T, was isolated from deep-sea sediment of Madeira Archipelago, Portugal, and characterized using a polyphasic approach. This strain produced dark brown soluble pigments, bronwish black substrate mycelia and an aerial mycelium with yellowish white spores, when grown on GYM 50SW agar. The main respiratory quinones were MK-10(H4), MK-10(H6) and MK-10(H8). Diphosphatidylglycerol, phosphatidylethanolamine, three unidentified phospholipids and two glycophospholipids were identified as the main phospholipids. The major cellular fatty acids were iso-C16 : 1, iso-C16 : 0, anteiso-C17 : 1 and anteiso-C17 : 0. Phylogenetic analyses based on 16S rRNA gene showed that strain MA3_2.13T is a member of the genus Streptomyces and was most closely related to Streptomyces triticirhizae NEAU-YY642T (NR_180032.1; 16S rRNA gene similarity 97.9 %), Streptomyces sedi YIM 65188T (NR_044582.1; 16S rRNA gene similarity 97.4 %), Streptomyces mimosae 3MP-10T (NR_170412.1; 16S rRNA gene similarity 97.3 %) and Streptomyces zhaozhouensis NEAU-LZS-5T (NR_133874.1; 16S rRNA gene similarity 97.0 %). Genome pairwise comparisons with closest related type strains retrieved values below the threshold for species delineation suggesting that strain MA3_2.13T represents a new branch within the genus Streptomyces. Based on these results, strain MA3_2.13T (=DSM 115980T=LMG 33094T) is proposed as the type strain of a novel species of the genus Streptomyces, for which the name Streptomyces profundus sp. nov. is proposed.

Mandible mechanical properties and composition of the larval Glossosoma boltoni (Trichoptera, Insecta)

Insect feeding structures, such as mandibles, interact with the ingesta (food or/and substrate) and can be adapted in morphology, composition of material and mechanical properties. The foraging on abrasive ingesta, as on algae covering rocks, is particularly challenging because the mandibles will be prone to wear and structural failure, thus suggesting the presence of mandibular adaptations to accompany this feeding behavior. Adaptations to this are well studied in the mouthparts of molluscs and sea urchins, but for insects there are large gaps in our knowledge. In this study, we investigated the mandibles of a grazing insect, the larvae of the trichopteran Glossosoma boltoni. Using scanning electron microscopy, wear was documented on the mandibles. The highest degree was identified on the medial surface of the sharp mandible tip. Using nanoindentation, the mechanical properties, such as hardness and Young's modulus, of the medial and lateral mandible cuticles were tested. We found, that the medial cuticle of the tip was significantly softer and more flexible than the lateral one. These findings indicate that a self-sharpening mechanism is present in the mandibles of this species, since the softer medial cuticle is probably abraded faster than the harder lateral one, leading to sharp mandible tips. To investigate the origins of these properties, we visualized the degree of tanning by confocal laser scanning microscopy. The autofluorescence signal related to the mechanical property gradients. The presence of transition and alkaline earth metals by energy dispersive X-ray spectroscopy was also tested. We found Ca, Cl, Cu, Fe, K, Mg, Mn, P, S, Si, and Zn in the cuticle, but the content was very low and did not correlate with the mechanical property values.

TriTrap: A Robotic Gripper Inspired by Insect Tarsal Chains

Gripping, holding, and moving objects are among the main functional purposes of robots. Ever since automation first took hold in society, optimizing these functions has been of high priority, and a multitude of approaches has been taken to enable cheaper, more reliable, and more versatile gripping. Attempts are ongoing to reduce grippers' weight, energy consumption, and production and maintenance costs while simultaneously improving their reliability, the range of eligible objects, working loads, and environmental independence. While the upper bounds of precision and flexibility have been pushed to an impressive level, the corresponding solutions are often dependent on support systems (e.g., sophisticated sensors and complex actuation machinery), advanced control paradigms (e.g., artificial intelligence and machine learning), and typically require more maintenance owed to their complexity, also increasing their cost. These factors make them unsuited for more modest applications, where moderate to semi-high performance is desired, but simplicity is required. In this paper, we attempt to highlight the potential of the tarsal chain principle on the example of a prototype biomimetic gripping device called the TriTrap gripper, inspired by the eponymous tarsal chain of insects. Insects possess a rigid exoskeleton that receives mobility due to several joints and internally attaching muscles. The tarsus (foot) itself does not contain any major intrinsic muscles but is moved by an extrinsically pulled tendon. Just like its biological counterpart, the TriTrap gripping device utilizes strongly underactuated digits that perform their function using morphological encoding and passive conformation, resulting in a gripper that is versatile, robust, and low cost. Its gripping performance was tested on a variety of everyday objects, each of which represented different size, weight, and shape categories. The TriTrap gripper was able to securely hold most of the tested objects in place while they were lifted, rotated, and transported without further optimization. These results show that the insect tarsus selected approach is viable and warrants further development, particularly in the direction of interface optimization. As such, the main goal of the TriTrap gripper, which was to showcase the tarsal chain principle as a viable approach to gripping in general, was achieved.

Attachment performance of the ectoparasitic seal louse Echinophthirius horridus

Marine mammals host a great variety of parasites, which usually co-evolved in evolutionary arms races. However, little is known about the biology of marine mammal insect parasites, and even less about physical aspects of their life in such a challenging environment. One of 13 insect species that manage to endure long diving periods in the open sea is the seal louse, Echinophthirius horridus, parasitising true seals. Its survival depends on its specialised adaptations for enduring extreme conditions such as hypoxia, temperature changes, hydrostatic pressure, and strong drag forces during host dives. To maintain a grip on the seal fur, the louse's leg morphology is equipped with modified snap hook claws and soft pad-like structures that enhance friction. Through techniques including CLSM, SEM, and histological staining, we have examined the attachment system's detailed structure. Remarkably, the seal louse achieves exceptional attachment forces on seal fur, with safety factors (force per body weight) reaching 4500 in average measurements and up to 18000 in peak values, indicating superior attachment performance compared to other insect attachment systems. These findings underscore the louse's remarkable adaptations for life in a challenging marine environment, shedding light on the relationship between structure and function in extreme ecological niches.

The effect of surface topography on the ball-rolling ability of Kheper lamarcki (Scarabaeidae)

The most effective way to avoid intense inter- and intra-specific competition at the dung source, and to increase the distance to the other competitors, is to follow a single straight bearing. While ball-rolling dung beetles manage to roll their dung balls along nearly perfect straight paths when traversing flat terrain, the paths that they take when traversing more complex (natural) terrain are not well understood. In this study, we investigate the effect of complex surface topographies on the ball-rolling ability of Kheper lamarcki. Our results reveal that ball-rolling trajectories are strongly influenced by the characteristic scale of the surface structure. Surfaces with an increasing similarity between the average distance of elevations and the ball radius cause progressively more difficulties during ball transportation. The most important factor causing difficulties in ball transportation appears to be the slope of the substrate. Our results show that, on surfaces with a slope of 7.5 deg, more than 60% of the dung beetles lose control of their ball. Although dung beetles still successfully roll their dung ball against the slope on such inclinations, their ability to roll the dung ball sideways diminishes. However, dung beetles do not seem to adapt their path on inclines such that they roll their ball in the direction against the slope. We conclude that dung beetles strive for a straight trajectory away from the dung pile, and that their actual path is the result of adaptations to particular surface topographies.

Producing and Testing Prototype Tissue-Engineered 3D Tri-Leaflet Valved Stents on Biodegradable Poly-ε-Caprolactone Scaffolds

Transcatheter pulmonary valve replacement is a minimally-invasive alternative treatment for right ventricular outflow tract dysfunction and has been rapidly evolving over the past years. Heart valve prostheses currently available still have major limitations. Therefore, one of the significant challenges for the future is the roll out of transcatheter tissue engineered pulmonary valve replacement to more patients. In the present study, biodegradable poly-ε-caprolactone (PCL) nanofiber scaffolds in the form of a 3D leaflet matrix were successfully seeded with human endothelial colony-forming cells (ECFCs), human induced pluripotent stem cell-derived MSCs (hMSCs), and porcine MSCs (pMSCs) for three weeks for the generation of 3D tissue-engineered tri-leaflet valved stent grafts. The cell adhesion, proliferation, and distribution of these 3D heart leaflets was analyzed using fluorescence microscopy and scanning electron microscopy (SEM). All cell lineages were able to increase the overgrown leaflet area within the three-week timeframe. While hMSCs showed a consistent growth rate over the course of three weeks, ECFSs showed almost no increase between days 7 and 14 until a growth spurt appeared between days 14 and 21. More than 90% of heart valve leaflets were covered with cells after the full three-week culturing cycle in nearly all leaflet areas, regardless of which cell type was used. This study shows that seeded biodegradable PCL nanofiber scaffolds incorporated in nitinol or biodegradable stents will offer a new therapeutic option in the future.

Attachment discs of the diving bell spider Argyroneta aquatica

To adhere their silk threads for the construction of webs and to fix the dragline, spiders produce attachment discs of piriform silk. Uniquely, the aquatic spider Argyroneta aquatica spends its entire life cycle underwater. Therefore, it has to glue its attachment discs to substrates underwater. Here we show that Argyroneta aquatica applies its thread anchors within an air layer around the spinnerets maintained by superhydrophobic setae. During spinning, symmetric movements of the spinnerets ensure retaining air in the contact area. The flat structure of the attachment discs is thought to facilitate fast curing of the piriform adhesive cement and improves the resistance against drag forces. Pull-off tests on draglines connected with attachment discs on different hydrophilic substrates point to dragline rupture as the failure mode. The Young´s modulus of the dragline (8.3 GPa) is within the range as in terrestrial spiders. The shown structural and behavioral adaptations can be the model for new artificial underwater gluing devices.

Holding in the stream: convergent evolution of suckermouth structures in Loricariidae (Siluriformes)

Suckermouth armoured catfish (Loricariidae) are a highly speciose and diverse freshwater fish family, which bear upper and lower lips forming an oral disc. Its hierarchical organisation allows the attachment to various natural surfaces. The discs can possess papillae of different shapes, which are supplemented, in many taxa, by small horny projections, i.e. unculi. Although these attachment structures and their working mechanisms, which include adhesion and interlocking, are rather well investigated in some selected species, the loricariid oral disc is unfortunately understudied in the majority of species, especially with regard to comparative aspects of the diverse oral structures and their relationship to the ecology of different species. In the present paper, we investigated the papilla and unculi morphologies in 67 loricariid species, which inhabit different currents and substrates. We determined four papilla types and eight unculi types differing by forms and sizes. Ancestral state reconstructions strongly suggest convergent evolution of traits. There is no obvious correlation between habitat shifts and the evolution of specific character states. From handling the structures and from drying artefacts we could infer some information about their material properties. This, together with their shape, enabled us to carefully propose hypotheses about mechanisms of interactions of oral disc structures with natural substrates typical for respective fish species.

Anti-Adhesive Surfaces Inspired by Bee Mandible Surfaces

Propolis, a naturally sticky substance used by bees to secure their hives and protect the colony from pathogens, presents a fascinating challenge. Despite its adhesive nature, honeybees adeptly handle propolis with their mandibles. Previous research has shown a combination of an anti-adhesive fluid layer and scale-like microstructures on the inner surface of bee mandibles. Our aim was to deepen our understanding of how surface energy and microstructure influence the reduction in adhesion for challenging substances like propolis. To achieve this, we devised surfaces inspired by the intricate microstructure of bee mandibles, employing diverse techniques including roughening steel surfaces, creating lacquer structures using Bénard cells, and moulding resin surfaces with hexagonal patterns. These approaches generated patterns that mimicked the bee mandible structure to varying degrees. Subsequently, we assessed the adhesion of propolis on these bioinspired structured substrates. Our findings revealed that on rough steel and resin surfaces structured with hexagonal dimples, propolis adhesion was significantly reduced by over 40% compared to unstructured control surfaces. However, in the case of the lacquer surface patterned with Bénard cells, we did not observe a significant reduction in adhesion.

Particle binding capacity of snail saliva

Gastropods forage with their radula, a thin chitinous membrane with embedded teeth, which scratch across the substrate to lose food particles. During this interaction, the risk of loosening particles is obvious without having a specialized mechanism holding them on the tooth surface. As mucus secretions are essential in molluscan life cycles and the locomotion and attachment gels are known to have an instant high adhesion, we have hypothesized that the saliva could support particle retention during feeding. As adhesion of snail saliva was not studied before, we present here an experimental setup to test its particle-binding capacity using a large land snail (Lissachatina fulica, Stylommatophora, Heterobranchia). This experiment was also applied to the gels produced by the snail foot for comparison and can be potentially applied to various fluids present at a small volume in the future. We found, that the saliva has high particle retention capacity that is comparable to the foot glue of the snail. To gain some insight into the properties of the saliva, we additionally studied it in the scanning electron microscope, estimated its viscosity in a de-wetting experiment, and investigated its elemental composition using energy dispersive X-ray spectroscopy reveling higher contents of Ca, Zn and other potential cross-linkers similar to those found in the glue.

Locomotory Behavior of Water Striders with Amputated Legs

The stability of the body during locomotion is a fundamental requirement for walking animals. The mechanisms that coordinate leg movement patterns are even more complex at water-air interfaces. Water striders are agile creatures on the water surface, but they can be vulnerable to leg damage, which can impair their movement. One can assume the presence of certain compensatory biomechanical factors that are involved in the maintenance of postural balance lost after an amputation. Here, we studied changes in load distribution among the legs and assessed the effects of amputation on the locomotory behavior and postural defects that may increase the risk of locomotion failure. Apparently, amputees recover a stable posture by applying leg position modifications (e.g., widening the stance) and by load redistribution to the remaining legs. Water striders showed steering failure after amputation in all cases. Amputations affected locomotion by (1) altering motion features (e.g., shorter swing duration of midlegs), (2) functional constraints on legs, (3) shorter travelled distances, and (4) stronger deviations in the locomotion path. The legs functionally interact with each other, and removal of one leg has detrimental effects on the others. This research may assist the bioinspired design of aquatic robots.

Strong attachment as an adaptation of flightless weevils on windy oceanic islands

Enhanced attachment ability is common in plants on islands to avoid potential fatal passive dispersal. However, whether island insects also have increased attachment ability remains unclear. Here we measured the attachment of a flightless weevil, Pachyrhynchus sarcitis kotoensis, from tropical islands, and compared it with documented arthropods from the mainland. We examined the morphology and material gradient of its attachment devices to identify the specific adaptive modifications for attachment. We find that the weevil has much stronger attachment force and higher safety factor than previously studied arthropods, regardless of body size and substrate roughness. This probably results from the specific flexible bases of the adhesive setae on the third footpad of the legs. This softer material on the setal base has not been reported hitherto and we suggest that it acts as a flexible hinge to form intimate contact to substrate more effectively. By contrast, no morphological difference in tarsomeres and setae between the weevil and other beetles is observed. Our results show the remarkably strong attachment of an island insect and highlights the potential adaptive benefits of strong attachment in windy island environment. The unique soft bases of the adhesive hairs may inspire the development of strong biomimetic adhesives.

The frequency of wing damage in a migrating butterfly

The ability to fly is crucial for migratory insects. Consequently, the accumulation of damage on the wings over time can affect survival, especially for species that travel long distances. We examined the frequency of irreversible wing damage in the migratory butterfly Vanessa cardui to explore the effect of wing structure on wing damage frequency, as well as the mechanisms that might mitigate wing damage. An exceptionally high migration rate driven by high precipitation levels in their larval habitats in the winter of 2018-2019 provided us with an excellent opportunity to collect data on the frequency of naturally occurring wing damage associated with long-distance flights. Digital images of 135 individuals of V. cardui were collected and analyzed in Germany. The results show that the hindwings experienced a greater frequency of damage than the forewings. Moreover, forewings experienced more severe damage on the lateral margin, whereas hindwings experienced more damage on the trailing margin. The frequency of wing margin damage was higher in the painted lady butterfly than in the migrating monarch butterfly and in the butterfly Pontia occidentalis following artificially induced wing collisions. The results of this study could be used in future comparative studies of patterns of wing damage in butterflies and other insects. Additional studies are needed to clarify whether the strategies for coping with wing damage differ between migratory and nonmigratory species.

A New Concept of Sustainable Wind Turbine Blades: Bio-Inspired Design with Engineered Adhesives

In this paper, a new concept of extra-durable and sustainable wind turbine blades is presented. The two critical materials science challenges of the development of wind energy now are the necessity to prevent the degradation of wind turbine blades for several decades, and, on the other side, to provide a solution for the recyclability and sustainability of blades. In preliminary studies by DTU Wind, it was demonstrated that practically all typical wind turbine blade degradation mechanisms (e.g., coating detachment, buckling, spar cap/shell adhesive joint degradation, trailing edge failure, etc.) have their roots in interface degradation. The concept presented in this work includes the development of bio-inspired dual-mechanism-based interface adhesives (combining mechanical interlocking of fibers and chemical adhesion), which ensures, on the one side, extra-strong attachment during the operation time, and on the other side, possible adhesive joint separation for re-use of the blade parts. The general approach and physical mechanisms of adhesive strengthening and separation are described.

Characterization of Morphologically Distinct Components in the Tarsal Secretion of Medauroidea extradentata (Phasmatodea) Using Cryo-Scanning Electron Microscopy

Attachment to the substrate is an important phenomenon that determines the survival of many organisms. Most insects utilize wet adhesion to support attachment, which is characterized by fluids that are secreted into the interface between the tarsus and the substrates. Previous research has investigated the composition and function of tarsal secretions of different insect groups, showing that the secretions are likely viscous emulsions that contribute to attachment by generating capillary and viscous adhesion, leveling surface roughness and providing self-cleaning of the adhesive systems. Details of the structural organization of these secretions are, however, largely unknown. Here, we analyzed footprints originating from the arolium and euplantulae of the stick insect Medauroidea extradentata using cryo-scanning electron microscopy (cryo-SEM) and white light interferometry (WLI). The secretion was investigated with cryo-SEM, revealing four morphologically distinguishable components. The 3D WLI measurements of the droplet shapes and volumes over time revealed distinctly different evaporation rates for different types of droplets. Our results indicate that the subfunctionalization of the tarsal secretion is facilitated by morphologically distinct components, which are likely a result of different proportions of components within the emulsion. Understanding these components and their functions may aid in gaining insights for developing adaptive and multifunctional biomimetic adhesive systems.

Elemental composition and material properties of radular teeth in the heterobranch snail Gastropteron rubrum (Mollusca, Gastropoda, Cephalaspidea) foraging on hard organisms

The molluscan feeding structure is the radula, a chitinous membrane with teeth, which are highly adapted to the food and the substrate to which the food is attached. In Polyplacophora and Patellogastropoda, the handling of hard ingesta can be facilitated by high content of chemical compounds containing Fe or Si in the tooth cusps. Other taxa, however, possess teeth that are less mineralized, even though animals have to avoid structural failure or high wear during feeding as well. Here, we investigated the gastropod Gastropteron rubrum, feeding on hard Foraminifera, diatoms and Porifera. Tooth morphologies and wear were documented by scanning electron microscopy and their mechanical properties were tested by nanoindentation. We determined that gradients of hard- and stiffness run along each tooth, decreasing from cusp to basis. We also found that inner lateral teeth were harder and stiffer than the outer ones. These findings allowed us to propose hypotheses about the radula-ingesta interaction. In search for the origins of the gradients, teeth were visualized using confocal laser scanning microscopy, to determine the degree of tanning, and analyzed with energy-dispersive X-ray spectroscopy, to test the elemental composition. We found that the mechanical gradients did not have their origins in the elemental content, as the teeth did not contain high proportions of metals or other minerals. This indicates that their origin might be the degree of tanning. However, in the tooth surfaces that interact with the ingesta high Si and Ca contents were determined, which is likely an adaptation to reduce wear.

The tight attachment achieved by the male discoidal setae is possibly a counter-adaptation to the grease layer on female integument surfaces in green dock beetles

Green dock beetles Gastrophysa viridula exhibit sexual dimorphism in tarsal attachment setae: females have only pointed, lanceolate and spatula-like setae, while males additionally possess discoidal ones. The sexual dimorphism is probably attributed to the necessity of male discoidal setae to adhere to the smooth back of the female during copulation. We aimed to understand its possible mechanism of attachment with G. viridula. Pull-off forces of both females and males were measured on (i) alive females, (ii) dead and dried females, and (iii) resin replicas of fresh females. The attachment ability tended to increase on dead and replicated female surfaces in both sexes, which indicates that the epicuticular grease layer on the integument of alive intact beetles decreases the attachment. This tendency was prominent in females. The present study clearly showed that in G. viridula discoidal setae enable the males to adhere stronger to female surfaces. The divergent performance found between the sexes differing in their setal composition is probably caused by the stiffness difference between the setae types and by the specific shape of the setal tips. A peculiar reproductive biology in G. viridula is probably attributed to this remarkable divergence of labour in their attachment pads between the sexes.

Honey bees switch mechanisms to drink deep nectar efficiently

The feeding mechanisms of animals constrain the spectrum of resources that they can exploit profitably. For floral nectar eaters, both corolla depth and nectar properties have marked influence on foraging choices. We report the multiple strategies used by honey bees to efficiently extract nectar at the range of sugar concentrations and corolla depths they face in nature. Honey bees can collect nectar by dipping their hairy tongues or capillary loading when lapping it, or they can attach the tongue to the wall of long corollas and directly suck the nectar along the tongue sides. The honey bee feeding apparatus is unveiled as a multifunctional tool that can switch between lapping and sucking nectar according to the instantaneous ingesting efficiency, which is determined by the interplay of nectar-mouth distance and sugar concentration. These versatile feeding mechanisms allow honey bees to extract nectar efficiently from a wider range of floral resources than previously appreciated and endow them with remarkable adaptability to diverse foraging environments.

Advances in Biomimetics: Combination of Various Effects at Different Scales

Biomimetics (bionics, bioinspired technology) refers to research on living systems and attempts to transfer their properties to engineering applications [...].

Change in Publication Frequency in 2023

We are pleased to announce that starting in July 2023, Biomimetics will publish 12 monthly online issues [...].

Understanding Humidity-Enhanced Adhesion of Geckos: Deep Neural Network-Assisted Multi-Scale Molecular Modeling

A higher relative humidity leads to an increased sticking power of gecko feet to surfaces. The molecular mechanism responsible for this increase, however, is not clear. Capillary forces, water mediating keratin-surface contacts and water-induced softening of the keratin are proposed as candidates. In previous work, strong evidence for water mediation is found but indirect effects via increased flexibility are not completely ruled out. This article studies the latter hypothesis by a bottom-up coarse-grained mesoscale model of an entire gecko spatula designed without explicit water particles, so that capillary action and water-mediation are excluded. The elasticity of this model is adjusted with a deep neural network to atomistic elastic constants, including water at different concentrations. Our results show clearly that on nanoscopic flat surfaces, the softening of keratin by water uptake cannot nearly account for the experimentally observed increase in gecko sticking power. Here, the dominant mechanism is the mediation of keratin-surface contacts by intervening water molecules. This mechanism remains important on nanostructured surfaces. Here, however, a water-induced increase of the keratin flexibility may enable the spatula to follow surface features smaller than itself and thereby increase the number of contacts with the surface. This leads to an appreciable but not dominant contribution to the humidity-increased adhesion. Recently, by atomistic grand-canonical molecular dynamics simulation, the room-temperature isotherm is obtained for the sorption of water into gecko keratin, to the authors' knowledge, the first such relation for any beta-keratin. In this work, it relates the equilibrium water content of the keratin to the ambient relative humidity.

Extrinsic and intrinsic musculature of the raptorial forelegs in Mantodea (Insecta) in the light of functionality and sexual dimorphism

Prehensile raptorial forelegs are prey capturing and grasping devices, best known for praying mantises (Mantodea) within insects. They show strong morphological and behavioral adaptations toward a lifestyle as generalist arthropod predators. In the past, few species of Mantodea were investigated, concerning morphological variability of the raptorial forelegs. Especially the knowledge of foreleg anatomy in the light of functional and comparative morphology is scarce. Our comparative approach is based on the, for arthropods very common, "female-biased sexual size dimorphism" (SSD) that occurs in almost every Mantodea species. Within Mantodea, this SSD is likely leading to a shift of the exploited ecological niche between male and female individuals due to changes in, for example, the possible prey size; which might be reflected in the chosen ecomorphs. In this context, we analyzed the musculature of the raptorial forelegs of female and male specimens in five different species with varying SSD, using high-resolution microcomputed tomography and dissection. We were able to confirm the presence of 15 extrinsic and 15 intrinsic muscles-including one previously undescribed muscle present in all species. Thus, presenting a detailed description and illustrative three-dimensional anatomical visualization of the musculature in Mantodea. Interestingly, almost no observable differences were found, neither between species, nor between the sexes. Furthermore, we homologized all described muscles, due to their attachment points, to the comprehensive nomenclature established by Friedrich and Beutel (2008), discussed potential functionality of the muscles and possible homologies to the neuropteran Mantispa styriaca (Büsse et al., 2021) and the newly introduced leg nomenclature by Aibekova et al. (2022). By elucidating the anatomy, particularly in the context of functionality and SSD, our results complement previous knowledge of the raptorial forelegs, and facilitate a better understanding of the underlying biomechanical system of the predatory strike, and ultimately, a future comparison to other insect taxa.

Suspension feeding in Copepoda (Crustacea) - a numerical model of setae acting in concert

Suspension feeding via setae collecting particles is common within Crustacea. Even though the mechanisms behind it and the structures themselves have been studied for decades, the interplay between the different setae types and the parameters contributing to their particle collecting capacities remain partly enigmatic. Here, we provide a numerical modeling approach to understand the relationship among the mechanical property gradients, the mechanical behavior and the adhesion of setae, and the feeding efficiency of the system. In this context, we set-up a simple dynamic numerical model that takes all of these parameters into account and describes the interaction with food particles and their delivery into the mouth opening. By altering the parameters, it was unraveled that the system performs best when the long and short setae have different mechanical properties and different degrees of adhesion since the long setae generate the feeding current and the short ones establish the contact with the particle. This protocol can be applied to any system in the future as the parameters (i.e., properties and arrangement of particles and setae) can be easily altered. This will shed light on the biomechanical adaptations of these structures to suspension feeding and provide inspiration for biomimetics in the field of filtration technologies.

Leaves that walk and eggs that stick: comparative functional morphology and evolution of the adhesive system of leaf insect eggs (Phasmatodea: Phylliidae)

Phylliidae are herbivorous insects exhibiting impressive cryptic masquerade and are colloquially called "walking leaves". They imitate angiosperm leaves and their eggs often resemble plant seeds structurally and in some cases functionally. Despite overall morphological similarity of adult Phylliidae, their eggs reveal a significant diversity in overall shape and exochorionic surface features. Previous studies have shown that the eggs of most Phylliidae possess a specialised attachment mechanism with hierarchical exochorionic fan-like structures (pinnae), which are mantled by a film of an adhesive secretion (glue). The folded pinnae and glue respond to water contact, with the fibrous pinnae expanding and the glue being capable of reversible liquefaction. In general, the eggs of phylliids appear to exhibit varying structures that were suggested to represent specific adaptations to the different environments the eggs are deposited in. Here, we investigated the diversity of phylliid eggs and the functional morphology of their exochorionic structure. Based on the examination of all phylliid taxa for which the eggs are known, we were able to characterise eleven different morphological types. We explored the adhesiveness of these different egg morphotypes and experimentally compared the attachment performance on a broad range of substrates with different surface roughness, surface chemistry and tested whether the adhesion is replicable after detachment in multiple cycles. Furthermore, we used molecular phylogenetic methods to reconstruct the evolutionary history of different egg types and their adhesive systems within this lineage, based on 53 phylliid taxa. Our results suggest that the egg morphology is congruent with the phylogenetic relationships within Phylliidae. The morphological differences are likely caused by adaptations to the specific environmental requirements for the particular clades, as the egg morphology has an influence on the performance regarding the surface roughness. Furthermore, we show that different pinnae and the adhesive glue evolved convergently in different species. While the evolution of the Phylliidae in general appears to be non-adaptive judging on the strong similarity of the adults and nymphs of most species, the eggs represent a stage with complex and rather diverse functional adaptations including mechanisms for both fixation and dispersal of the eggs.

Coping with abrasive food: diverging composition of radular teeth in two Porifera-consuming nudibranch species (Mollusca, Gastropoda)

Molluscs forage with their radula, a chitinous membrane with teeth. Adaptations to hard or abrasive ingesta were well studied in Polyplacophora and Patellogastropoda, but for other taxa there are large gaps in knowledge. Here, we investigated the nudibranch gastropods Felimare picta and Doris pseudoargus, both of which feed on Porifera. Tooth morphologies were documented by scanning electron microscopy, and mechanical properties were tested by nanoindentation. We found that these parameters are rather similar in both species, indicating that teeth are similar in their function. To study the composition, teeth were visualized using confocal laser scanning microscopy (CLSM), to determine the degree of tanning, and analysed with energy-dispersive X-ray spectroscopy, to test the elemental composition. The emitted autofluorescence signal and the inorganic content differed between the species. This was especially prominent when studying the inner and outer tooth surfaces (leading and trailing edges). In F. picta, we detected high proportions of Si, whereas teeth of D. pseudoargus contained high amounts of Ca, which influenced the autofluorescence signal in CLSM. Employing nanoindentation, we determined high Young's modulus and hardness values for the leading edges of teeth, which relate to the Si and Ca content. This highlights that teeth with a similar morphology and mechanical properties can be mechanically enhanced via different chemical pathways in Nudibranchia.

A switchable joint in the head of dragonfly larvae (Insecta: Odonata) as key to the multifunctionality of the prehensile labial mask

Dragonfly and damselfly larvae (Insecta: Odonata) capture prey by rapid protraction of a raptorial mouthpart, based on a modified labium. Yet, in insects with biting-chewing mouthparts, the labium has an essential role in food handling. These two distinct functions -prey capturing and handling-lead to a mechanical problem in Odonata larvae: while the labium is always protracted in a straight line during prey capture, food handling requires more dexterity. In this study, we investigate the role of the labium in the feeding process and analyse the mechanics of the labial joints in the dragonfly larva Anax imperator. Our results show that the labium features a multiaxial joint connecting the basal segment (postmentum) and the head. During feeding, a combination of rotations around different axes is used to handle and orient prey, which is unique among biting-chewing mouthparts. Furthermore, we identified structures at the joint which likely restrict lateral motion during the predatory strike. Our results provide a further understanding of the unique prey-capturing apparatus of odonate larvae capable of controlling a 'switchable' multiaxial to a restricted monoaxial joint. This concept highlights the evolution of a highly modified raptorial mouthpart appendage where the degrees of freedom can be actively restricted to allow for the respectively needed functionality.

The origin of black and white coloration of the Asian tiger mosquito Aedes albopictus (Diptera: Culicidae)

Micro- and nanostructures of the white and black scales on the tarsi of the mosquito Aedes albopictus are analysed using scanning electron microscopy, transmission electron microscopy, and fluorescence microscopy. Reflectance spectra of the white areas are measured. No clear difference is present in the morphology of micro- and nanostructures of black and white scales in SEM and TEM, but black scales contain a dark pigment. The white colour of the scales has a structural origin. The structural white produced by the micro- and nanostructures of the scales on the tarsi of Ae. albopictus appears bright and is angle-dependent, since the reflected light changes according to the angle detection and according to the tarsus orientation. The optical appearance of the scale system of Ae. albopictus has a complex nature and can be explained by the combination of several effects. Among them, multiple refraction and reflection on the micro- and nanostructures of the scales are mainly responsible for the white appearance. The results suggest that mosquito scales, in addition to their superhydrophobic function, produce structural white. The biological role of white and black patches in mate recognition and defensive behaviour in the mosquitoes of the genus Aedes is hypothesized.

A ballistic pollen dispersal strategy based on stylar oscillation of Hypochaeris radicata (Asteraceae)

Asteraceae, one of the largest flowering plant families, are adapted to a vast range of ecological niches. Their adaptability is partially based on their strong ability to reproduce. The initial, yet challenging, step for the reproduction of animal-pollinated plants is to transport pollen to flower-visiting pollinators. We adopted Hypochaeris radicata as a model species to investigate the functional morphology of the typical floral feature of Asteraceae, a pollen-bearing style. Using quantitative experiments and numerical simulations, here we show that the pollen-bearing style can serve as a ballistic lever for catapulting pollen grains to pollinators. This can potentially be a pollen dispersal strategy to propel pollen to safe sites on pollinators' bodies, which are beyond the physical reach of the styles. Our results suggest that the specific morphology of the floret and the pollen adhesion avoid pollen waste by catapulting pollen within a specific range equal to the size of a flowerhead. The insights into the functional floral oscillation may shed light on the superficially unremarkable, but ubiquitous functional floral design of Asteraceae.

Petals Reduce Attachment of Insect Pollinators: A Case Study of the Plant Dahlia pinnata and the Fly Eristalis tenax

In order to understand whether the petal surface in "cafeteria"-type flowers, which offer their nectar and pollen to insect pollinators in an open way, is adapted to a stronger attachment of insect pollinators, we selected the plant Dahlia pinnata and the hovering fly Eristalis tenax, both being generalist species according to their pollinator's spectrum and diet, respectively. We combined cryo scanning electron microscopy examination of leaves, petals, and flower stems with force measurements of fly attachment to surfaces of these plant organs. Our results clearly distinguished two groups among tested surfaces: (1) the smooth leaf and reference smooth glass ensured a rather high attachment force of the fly; (2) the flower stem and petal significantly reduced it. The attachment force reduction on flower stems and petals is caused by different structural effects. In the first case, it is a combination of ridged topography and three-dimensional wax projections, whereas the papillate petal surface is supplemented by cuticular folds. In our opinion, these "cafeteria"-type flowers have the petals, where the colour intensity is enhanced due to papillate epidermal cells covered by cuticular folds at the micro- and nanoscale, and exactly these latter structures mainly contribute to adhesion reduction in generalist insect pollinators.

Gripping performance in the stick insect Sungaya inexpectata in dependence on the pretarsal architecture

Insect attachment devices and capabilities have been subject to research efforts for decades, and even though during that time considerable progress has been made, numerous questions remain. Different types of attachment devices are known, alongside most of their working principles, however, some details have yet to be understood. For instance, it is not clear why insects for the most part developed pairs of claws, instead of either three or a single one. In this paper, we investigated the gripping forces generated by the stick insect Sungaya inexpectata, in dependence on the number of available claws. The gripping force experiments were carried out on multiple, standardized substrates of known roughness, and conducted in directions both perpendicular and parallel to the substrate. This was repeated two times: first with a single claw being amputated from each of the animals' legs, then with both claws removed, prior to the measurement. The adhesive pads (arolia) and frictional pads (euplantulae) remained intact. It was discovered that the removal of claws had a detractive effect on the gripping forces in both directions, and on all substrates. Notably, this also included the control of smooth surfaces on which the claws were unable to find any asperities to grip on. The results show that there is a direct connection between the adhesive performance of the distal adhesive pad (arolium) and the presence of intact claws. These observations show collective effects between different attachment devices that work in concert during locomotion, and grant insight into why most insects possess two claws.

Influence of surface free energy of the substrate and flooded water on the attachment performance of stick insects (Phasmatodea) with different adhesive surface microstructures

Stick and leaf insects (Phasmatodea) are exclusively herbivores. As they settle in a broad range of habitats, they need to attach to and walk on a wide variety of plant substrates, which can vary in their surface free energy (SFE). The adhesive microstructures (AMs) on the euplantulae of phasmids are assumed to be adapted to such substrate properties. Moreover, the natural substrates can often be covered with water as a result of high relative humidity or rain. Although considerable experimental research has been carried out on different aspects of stick insect attachment, the adaptations to cope with the influence of flooded water on attachment performance remain unclear. To elucidate the role of AMs in this context, we here measured attachment forces in three species of stick insects with different AMs. The results show that attachment forces of the three species studied were influenced by the SFE and the presence of water: they all showed higher pull-off (vertical) and traction (horizontal) forces on dry surfaces, compared with when the surfaces were covered with a water film. However, the extent to which the surface properties influenced attachment differed depending on the species and its AMs. All three species showed approximately the same attachment performance on dry surfaces with different surface free energy but maintained attachment underwater to different extents.

Louse flies holding on mammals' hair: Comparative functional morphology of specialized attachment devices of ectoparasites (Diptera: Hippoboscoidea)

Hippoboscidae and Nycteribiidae of the dipteran superfamily Hippoboscoidea are obligate ectoparasites, which feed on the blood of different mammals. Due to their limited flight capability, the attachment system on all tarsi is of great importance for a secure grasp onto their host and thus for their survival. In this study, the functional morphology of the attachment system of two hippoboscid species and two nycteribiid species was compared in their specificity to the host substrate. Based on data from scanning electron microscopy and confocal laser scanning microscopy, it was shown that the attachment systems of both Hippoboscidae and Nycteribiidae (Hippoboscoidea) differ greatly from that of other calyptrate flies and are uniform within the respective families. All studied species have an attachment system with two monodentate claws and two pulvilli. The claws and pulvilli of the Hippoboscidae are asymmetric, which is an adaptation to the fur of even-toed ungulates (Artiodactyla). The fur of these mammals possesses both, thinner woolen and thicker coat hair; thus, the asymmetry of the attachment system of the hippoboscid species enables a secure attachment to all surfaces of their hosts. The claws and pulvilli of the nyceribiid species do not show an asymmetry, since the fur of their bat (Chiroptera) hosts consists of hairs with the same thickness. The claws are important for the attachment to mammals' fur, because they enable a secure grip by mechanical interlocking of the hairs through the claws. Additionally, well-developed pulvilli are able to attach on thicker hairs of Artiodactyla or on smooth substrates such as the skin.

Frictional Anisotropic Locomotion and Adaptive Neural Control for a Soft Crawling Robot

Crawling animals with bendable soft bodies use the friction anisotropy of their asymmetric body structures to traverse various substrates efficiently. Although the effect of friction anisotropy has been investigated and applied to robot locomotion, the dynamic interactions between soft body bending at different frequencies (low and high), soft asymmetric surface structures at various aspect ratios (low, medium, and high), and different substrates (rough and smooth) have not been studied comprehensively. To address this lack, we developed a simple soft robot model with a bioinspired asymmetric structure (sawtooth) facing the ground. The robot uses only a single source of pressure for its pneumatic actuation. The frequency, teeth aspect ratio, and substrate parameters and the corresponding dynamic interactions were systematically investigated and analyzed. The study findings indicate that the anterior and posterior parts of the structure deform differently during the interaction, generating different frictional forces. In addition, these parts switched their roles dynamically from push to pull and vice versa in various states, resulting in the robot's emergent locomotion. Finally, autonomous adaptive crawling behavior of the robot was demonstrated using sensor-driven neural control with a miniature laser sensor installed in the anterior part of the robot. The robot successfully adapted its actuation frequency to reduce body bending and crawl through a narrow space, such as a tunnel. The study serves as a stepping stone for developing simple soft crawling robots capable of navigating cluttered and confined spaces autonomously.

How Does Gecko Keratin Stick to Hydrophilic and Hydrophobic Surfaces in the Presence and Absence of Water? An Atomistic Molecular Dynamics Investigation

We developed a united-atom model of gecko keratin to investigate the influence of electrostatic and van der Waals contributions to gecko adhesion in scenarios representing gecko's natural habitats. The keratin model assumes that only intrinsically disordered regions directly contact the surface. Contact angles of two generic substrate surfaces that we created match those previously used in AFM experiments on gecko adhesion. Force probe molecular dynamics simulations pulling the keratin from the surface show that the pull-off force increases with increased water content and is inversely related to the water contact angle of the surface. This matches experimental trends. We investigated the number and charge density of keratin and water at the surface, confirming a water-mediating effect and are able to show that keratin folds polar groups to the hydrophilic surface. We decomposed energetic contributions during pull-off, and our computational model shows that in contrast to popular hypotheses, long-range electrostatic interactions determine much of the pull-off process. The contribution of electrostatics to adhesion may be in the order of the van der Waals contributions.

Dry under water: air retaining properties of large-scale elastomer foils covered with mushroom-shaped surface microstructures

Superhydrophobic surfaces are well known for most different functions in plants, animals, and thus for biomimetic technical applications. Beside the Lotus Effect, one of their features with great technical, economic and ecologic potential is the Salvinia Effect, the capability to keep a stable air layer when submerged under water. Such air layers are of great importance, e.g., for drag reduction (passive air lubrication), antifouling, sensor applications or oil-water separation. Some biological models, e.g., the floating fern Salvinia or the backswimmer Notonecta, show long term stable air retention even under hydrodynamic conditions. Therefore, they are ideal models for the development of technical biomimetic air retaining surfaces. Up to now, several prototypes of such surfaces have been developed, but none provides both, stable air retention and cost effective large scale production. Meanwhile, a novel biomimetic surface is commercially available and produced on a large scale: an adhesive elastomeric film with mushroom-shaped surface microstructures that mimic the adhesion system of animals. In this study, we show that these films, which have been initially developed for a different purpose, due to their specific geometry at the microscale, are capable of stable air retention under water. We present first results concerning the capabilities of mushroom-shaped surface microstructures and show that this elastomer foil is able to stabilize a permanent air layer under water for more than two weeks. Further, the stability of the air layer under pressure was investigated and these results are compared with the predicted theoretical values for air retention of microstructured surfaces. Here, we could show that they fit to the theoretical predictions and that the biomimetic elastomer foil is a promising base for the development of an economically and efficient biomimetic air retaining surface for a broad range of technical applications.

Material gradients in gastropod radulae and their biomechanical significance: a combined approach on the paludomid Lavigeria grandis

The radula, a chitinous membrane spiked with teeth, is the molluscan autapomorphy for the gathering and processing of food. The teeth, as actual interfaces between the organism and the ingesta, act as load transmitting regions and have to withstand high stresses during foraging — without structural failure or high degrees of wear. Mechanisms contributing to this were studied previously in paludomid gastropods from Lake Tanganyika. For some species, gradients in hardness and Young’s modulus along the teeth were detected, enabling the bending and relying of teeth onto the next row, distributing the stresses more equally. The here presented study on one of them — Lavigeria grandis — aims at shedding light on the origin of these functional gradients. The mechanical properties were identified by nanoindentation technique and compared to the elemental composition, determined by elemental dispersive X-ray spectroscopy (EDX, EDS). This was done for the complete radular (mature and immature tooth rows), resulting in overall 236 EDX and 700 nanoindentation measurements. Even though teeth showed regional differences in elemental composition, we could not correlate the mechanical gradients with the elemental proportions. By applying confocal laser scanning microscopy (CLSM), we were finally able to relate the mechanical properties with the degree of tanning. CLSM is a common technique used on arthropod cuticle, but was never applied on radular teeth before. In general, we found that nanoindentation and CLSM techniques complement one another, as for example, CLSM is capable of revealing heterogeneities in material or micro-gradients, which leads to a better understanding of the functionalities of biological materials and structures.

Convergent Evolution of Adhesive Properties in Leaf Insect Eggs and Plant Seeds: Cross-Kingdom Bioinspiration

Plants and animals are often used as a source for inspiration in biomimetic engineering. However, stronger engagement of biologists is often required in the field of biomimetics. The actual strength of using biological systems as a source of inspiration for human problem solving does not lie in a perfect copy of a single system but in the extraction of core principles from similarly functioning systems that have convergently solved the same problem in their evolution. Adhesive systems are an example of such convergent traits that independently evolved in different organisms. We herein compare two analogous adhesive systems, one from plants seeds and one from insect eggs, to test their properties and functional principles for differences and similarities in order to evaluate the input that can be potentially used for biomimetics. Although strikingly similar, the eggs of the leaf insect Phyllium philippinicum and the seeds of the ivy gourd Coccinia grandis make use of different surface structures for the generation of adhesion. Both employ a water-soluble glue that is spread on the surface via reinforcing fibrous surface structures, but the morphology of these structures is different. In addition to microscopic analysis of the two adhesive systems, we mechanically measured the actual adhesion generated by both systems to quantitatively compare their functional differences on various standardized substrates. We found that seeds can generate much stronger adhesion in some cases but overall provided less reliable adherence in comparison to eggs. Furthermore, eggs performed better regarding repetitive attachment. The similarities of these systems, and their differences resulting from their different purposes and different structural/chemical features, can be informative for engineers working on technical adhesive systems.

Attachment Performance of Stick Insects (Phasmatodea) on Plant Leaves with Different Surface Characteristics

Herbivorous insects and plants exemplify a longstanding antagonistic coevolution, resulting in the development of a variety of adaptations on both sides. Some plant surfaces evolved features that negatively influence the performance of the attachment systems of insects, which adapted accordingly as a response. Stick insects (Phasmatodea) have a well-adapted attachment system with paired claws, pretarsal arolium and tarsal euplantulae. We measured the attachment ability of Medauroidea extradentata with smooth surface on the euplantulae and Sungaya inexpectata with nubby microstructures of the euplantulae on different plant substrates, and their pull-off and traction forces were determined. These species represent the two most common euplantulae microstructures, which are also the main difference between their respective attachment systems. The measurements were performed on selected plant leaves with different properties (smooth, trichome-covered, hydrophilic and covered with crystalline waxes) representing different types among the high diversity of plant surfaces. Wax-crystal-covered substrates with fine roughness revealed the lowest, whereas strongly structured substrates showed the highest attachment ability of the Phasmatodea species studied. Removal of the claws caused lower attachment due to loss of mechanical interlocking. Interestingly, the two species showed significant differences without claws on wax-crystal-covered leaves, where the individuals with nubby euplantulae revealed stronger attachment. Long-lasting effects of the leaves on the attachment ability were briefly investigated, but not confirmed.

Functional morphology of cirri in the barnacle Amphibalanus improvisus (Crustacea: Balanidae)

Barnacles rely heavily on their mobile cirri for food capture because of the sessile lifestyle. These filamentous food capturing devices are extended into the water current and perform undulating movements. Cuticular structures with corresponding musculature work together, to allow these highly repetitive movements. This paper studies the interplay between structure and function of the cirri using scanning electron microscopy (SEM), micro-computed tomography (µCT) and high-speed video recordings (HSV) in Amphibalanus improvisus. Barnacles use the external cuticle structures (denticles and setae) for efficient grooming, food capturing and providing support for the muscular system responsible for movement control. Entanglement of the cirri during extension is probably avoided through an interlocking of the serrate setae on cirri IV-VI, creating a "zipper-like" effect, which was recorded here using the HSV. We analyzed the muscular arrangement using µCT and found a new flexor muscle in both the endo- and exopod of cirrus II. Supported by the intrinsic cirral muscles, the new flexor muscles may provide variable movements of the anterior cirri (cirri I-III), which is important for further food handling. Our results provide a foundation for further comparative studies of the feeding apparatus of barnacles and for possible implications in the area of bio-inspired robotics. This article is protected by copyright. All rights reserved.