A Soft-Bodied Aerial Robot for Collision Resilience and Contact-Reactive Perching

Current aerial robots demonstrate limited interaction capabilities in unstructured environments when compared with their biological counterparts. Some examples include their inability to tolerate collisions and to successfully land or perch on objects of unknown shapes, sizes, and texture. Efforts to include compliance have introduced designs that incorporate external mechanical impact protection at the cost of reduced agility and flight time due to the added weight. In this work, we propose and develop a lightweight, inflatable, soft-bodied aerial robot (SoBAR) that can pneumatically vary its body stiffness to achieve intrinsic collision resilience. Unlike the conventional rigid aerial robots, SoBAR successfully demonstrates its ability to repeatedly endure and recover from collisions in various directions, not only limited to in-plane ones. Furthermore, we exploit its capabilities to demonstrate perching where the three-dimensional collision resilience helps in improving the perching success rates. We also augment SoBAR with a novel hybrid fabric-based bistable (HFB) grasper that can utilize impact energies to perform contact-reactive grasping through rapid shape conforming abilities. We exhaustively study and offer insights into the collision resilience, impact absorption, and manipulation capabilities of SoBAR with the HFB grasper. Finally, we compare the performance of conventional aerial robots with the SoBAR through collision characterizations, grasping identifications, and experimental validations of collision resilience and perching in various scenarios and on differently shaped objects.

Riskiness of Movement Lifestyle Varies Inversely with Adult Survival Probability among Species

AbstractWhy do species differ in their movement lifestyles? Animals that spend more time sitting motionless and acquire food using less conspicuous movements can be more vigilant and less obvious to predators. More active animals that use food types and sites that require more conspicuous behaviors increase vulnerability to predators. Life history theory predicts that aversiveness to mortality risk evolves inversely to adult survival probability. Consequently, we postulated that long-lived species evolved inconspicuous movement lifestyles, whereas shorter-lived species use more conspicuous movement lifestyles. We tested this hypothesis by quantifying the movement lifestyles of nine tropical songbird species. Use of conspicuous movement and foraging behaviors, such as flying and hovering, was greatest in shorter-lived species and decreased with increasing adult survival probability across species. Similarly, foraging speed decreased with increasing adult survival based on a meta-analysis of 64 songbird species. Faster and conspicuous movement lifestyles of shorter-lived species likely increase food acquisition rates, which fits with faster life history strategies that include more feeding trips for young and faster growth. Similarly, slow movement lifestyles of long-lived species fit with the reduced food needs of slower life history strategies. Movement lifestyles may have evolved as an integrated component of the slow-fast life history continuum.

Effects of feeding level and milking frequency on behavior of dairy cows before dry-off

Drying-off may challenge the welfare of especially high-yielding dairy cows. In this study, 119 loose-housed Holstein cows yielding ≥20 kg milk/d were enrolled in a 2 × 2 factorial design aiming to investigate effects of changes in diet energy density and daily milking frequency on behavior. The last 7 d before the dry-off day, cows were milked either twice or once daily, and were fed either a lactation diet or the same diet diluted with 30% barley straw, both offered in individual bins for ad libitum intake. All cows were fitted with sensors to record lying time and activity, and data from 109 of these cows were used together with behavioral observations obtained from video recordings of 52 of the cows. Data from activity sensors and video recordings were obtained during 24 h on d -6, -3, and -1 relative to the dry-off day (i.e., the day of the last milking). Across all days of observation, cows milked once daily spent more time feeding (149 vs. 130 min/d) than cows milked twice daily. Cows on the reduced diet and milked twice daily had a shorter lying time compared with cows on the normal diet and milked twice (759 vs. 837 min/d), whereas lying times of cows on the remaining 2 treatments were intermediate. Among cows on the lactation diet, reduced milking frequency increased time spent perching (from 11.1 to 28.7 min/d). Cows fed the energy-reduced diet spent more time feeding (154 vs. 124 min/d), showed more attempts to feed from unassigned feed bins (31.7 vs. 15.4 attempts daily), and spent less time using a mechanical brush (6.5 vs. 9.2 min/d) than cows fed the lactation diet. These results show that several aspects of cows' behavior, including main activities such as lying and feeding, but also behaviors of low resilience such as brush use, and to some extent more subtle and complex behaviors such as perching and attempts to feed from unassigned feed bins, are sensitive to management changes typically applied during the days before dry-off. The behavioral effects of the reduced feed energy level support earlier findings suggesting that qualitative feed restriction renders cows hungry. The effects of the reduced milking frequency on behavior were generally less pronounced, but 2 noteworthy interactions between milking frequency and diet were seen. First, cows milked twice daily and fed the energy-reduced diet spent less time lying, which is possibly related to increased energy demand and hunger. Second, cows milked once daily and fed the lactation diet spent more time perching, which may be related to udder discomfort. However, these more complex findings warrant further study. Taken together, the results of this study show that a dry-off procedure involving reduced energy supply induces behavioral changes indicating a higher degree of compromised welfare compared with reduced milking frequency.

KNEMIDOKOPTES MITES AND THEIR EFFECTS ON THE GRIPPING POSITION OF THE FEET OF STELLER'S JAYS (CYANOCITTA STELLERI)

Steller's Jays (Cyanocitta stelleri) with swollen legs and feet resembling the signs of scaly leg have been commonly seen around Arcata, California, US. The clinical signs are thought to be caused by knemidokoptic mites, a group of parasites specialized on avian hosts. Between February 2019 and March 2020, we analyzed the long-term database of Steller's Jays collected by Humboldt State University for trends in the prevalence of signs of scaly leg, compared the gripping position in the feet of Steller's Jays with variable signs of this condition as an index of their ability to perch, identified the mites using a partial sequence of the cytochrome oxidase subunit I gene, and examined genetic distances between mites collected from different host species both sequenced in this study and from GenBank. Overall, 27% of jays recorded in the long-term database had shown signs of scaly leg. Jays with signs captured in this study had greater variability in and a reduced degree of contraction in the gripping position of their feet compared to jays without signs, suggesting that infestation may have an impact on the host's ability to perch. The cytochrome oxidase subunit I sequence (578 base pairs) from mites collected from Steller's Jays was compared to sequences from Knemidokoptes jamaicensis, Knemidokoptes derooi, and to unidentified Knemidokoptes spp. collected from different hosts. The mites from Steller's Jays were most closely related to Knemidokoptes jamaicensis but had a relatively high sequence divergence, 7.8%, supporting the possibility that the form infesting these jays may be an undescribed species.

Birds land reliably on complex surfaces by adapting their foot-surface interactions upon contact

Birds land on a wide range of complex surfaces, yet it is unclear how they grasp a perch reliably. Here, we show how Pacific parrotlets exhibit stereotyped leg and wing dynamics regardless of perch diameter and texture, but foot, toe, and claw kinematics become surface-specific upon touchdown. A new dynamic grasping model, which integrates our detailed measurements, reveals how birds stabilize their grasp. They combine predictable toe pad friction with probabilistic friction from their claws, which they drag to find surface asperities-dragging further when they can squeeze less. Remarkably, parrotlet claws can undergo superfast movements, within 1-2 ms, on moderately slippery surfaces to find more secure asperities when necessary. With this strategy, they first ramp up safety margins by squeezing before relaxing their grasp. The model further shows it is advantageous to be small for stable perching when high friction relative to normal force is required because claws can find more usable surface, but this trend reverses when required friction shrinks. This explains how many animals and robots may grasp complex surfaces reliably.

Are hybrid sit-stand postures a good compromise between sitting and standing?

Potential alternatives for conventional sitting and standing postures are hybrid sit-stand postures (i.e. perching). The purposes of this study were (i) to identify where lumbopelvic and pelvic angles deviate from sitting and standing and (ii) to use these breakpoints to define three distinct postural phases: sitting, perching, and standing, in order to examine differences in muscle activations and ground reaction forces between phases. Twenty-four participants completed 19 1-min static trials, from sitting (90°) to standing (180°), sequentially in 5°trunk-thigh angle increments. The perching phase was determined to be 145-175° for males and 160-175° for females. For both sexes, knee extensor activity was lower in standing compared to perching or sitting (p < .01). Anterior-posterior forces were the highest in perching (p < .001), requiring ∼15% of body-weight. Chair designs aimed at reducing the lower limb demands within 115-170° trunk-thigh angle may improve the feasibility of sustaining the perched posture. Practitioner summary: Individuals who develop low back pain in sitting or standing may benefit from hybrid sit-stand postures (perching), yet kinematic and kinetic changes associated with these postures have not been investigated. Perching can improve lumbar posture at a cost of increased lower limb demands, suggesting potential avenues for chair design improvement. Abbreviations: A/P: anterior-posterior; M/L: medial-lateral; LBP: low back pain; EMG: electromyography; TES: thoracic erector spinae; LES: lumbar erector spinae; VMO: vastus medialis obliquus; MVC: maximum voluntary contraction; ASIS: anterior superior iliac spine; PSIS: posterior superior iliac spine; BW: body weight; RMSE: root mean square error; SD: standard deviation; ROM: range of motion.

Perches and elevated platforms in commercial broiler farms: use and effect on walking ability, incidence of tibial dyschondroplasia and bone mineral content

Modern fast-growing broilers spend excessive periods resting and their activity further decreases with age. Inactivity has been suggested to increase impaired gait and the incidence of leg disorders. Tibial dyschondroplasia (TD) is a common leg pathology in broilers. A more complex environment might facilitate more activity and improve leg health. Perches or elevated platforms bring variety to broilers' environment and could motivate more locomotion. This study examined the impact of perches and elevated platforms on walking ability, the occurrence of TD and level of bone ash and mineral contents. The investigation was performed on four commercial broiler farms throughout six consecutive batches with platforms and four to five with perches. On each farm at least two separate houses were included, enabling the comparison of furnished flocks to control flocks during each batch. Plastic slats with ramp access elevated by 30 cm or wooden perches of 10 and 30 cm height were offered in the furnished house. Farmers recorded the platform and perch usage twice a week with a five-point scale. Gait was scored before slaughter on a six-point scale according to the Welfare Quality® assessment protocol for poultry. The severity of TD was determined using a four-point scale on farm from all birds gait scored as 3 and at slaughter from 200 birds/flock. Farmers estimated 50% to 100% of the platforms to be occupied in all flocks throughout the entire growing period. Only single birds were perching, thus perch structures were constantly evaluated to be empty. Due to the low use, the perch-equipped houses were excluded when analysing bone content, walking ability and TD. On average, 30% of the tested birds exhibited gait score ⩾3. Younger scoring age resulted in a lower mean gait score and a lower percentage of scores 3 and 4 to 5. Overall, 2.3% of the birds examined at slaughter and 3.5% of the birds with gait score 3 were affected by TD. Leg health was better in birds with access to platforms: mean gait score, the percentage of birds scoring 3, and TD percentage and severity were lower in birds in platform-equipped houses. Elevated structures such as platforms, offering additional possibilities for locomotion to broilers seem to improve their leg health.