Environmental force sensing helps robots traverse cluttered large obstacles

Robots can traverse sparse obstacles by sensing environmental geometry and avoiding contact with obstacles. However, for search and rescue in rubble, environmental monitoring through dense vegetation, and planetary exploration over Martian and lunar rocks, robots must traverse cluttered obstacles as large as themselves by physically interacting with them. Previous work discovered that the forest floor-dwelling discoid cockroach and a sensor-less minimalistic robot can traverse cluttered grass-like beam obstacles of various stiffness by transitioning across different locomotor modes. Yet the animal was better at traversal than the sensor-less robot, likely by sensing forces during obstacle interaction to control its locomotor transitions. Inspired by this, here we demonstrated in simulation that environmental force sensing helps robots traverse cluttered large obstacles. First, we developed a multi-body dynamics simulation and a physics model of the minimalistic robot interacting with beams to estimate beam stiffness from the sensed contact forces. Then, we developed a force feedback strategy for the robot to use the sensed beam stiffness to choose the locomotor mode with a lower mechanical energy cost. With feedforward pushing, the robot was stuck in front of stiff beams if it has a limited force capacity; without force limit, it traversed but suffered a high energy cost. Using obstacle avoidance, the robot traversed beams by avoiding beam contact regardless of beam stiffness, resulting in a high energy cost for flimsy beams. With force feedback, the robot determined beam stiffness, then traversed flimsy beams by pushing them over and stiff beams by rolling through the gap between them with a low energy cost. Stiffness estimation based on force sensing was accurate across varied body oscillation amplitude and frequency and position sensing uncertainty. Mechanical energy cost of traversal increased with sensorimotor delay. Future work should demonstrate cluttered large obstacle traversal using force feedback in a physical robot.

Johari-Goldstein β relaxation in glassy dynamics originates from two-scale energy landscape

Supercooled liquids undergo complicated structural relaxation processes, which have been a long-standing problem in both experimental and theoretical aspects of condensed matter physics. In particular, past experiments widely observed for many types of molecular liquids that relaxation dynamics separated into two distinct processes at low temperatures. One of the possible interpretations is that this separation originates from the two-scale hierarchical topography of the potential energy landscape; however, it has never been verified. Molecular dynamics simulations are a promising approach to tackle this issue, but we must overcome laborious difficulties. First, we must handle a model of molecular liquids that is computationally demanding compared to simple spherical models, which have been intensively studied but show only a slower process: α relaxation. Second, we must reach a sufficiently low-temperature regime where the two processes become well-separated. Here, we handle an asymmetric dimer system that exhibits a faster process: Johari-Goldstein β relaxation. Then, we employ the parallel tempering method to access the low-temperature regime. These laborious efforts enable us to investigate the potential energy landscape in detail and unveil the first direct evidence of the topographic hierarchy that induces the β relaxation. We also successfully characterize the microscopic motions of particles during each relaxation process. Finally, we study the correlation between low-frequency modes and two relaxation processes. Our results establish a fundamental and comprehensive understanding of experimentally observed relaxation dynamics in supercooled liquids.

Pressure Adaptations in Deep-Sea Moritella Dihydrofolate Reductases: Compressibility versus Stability

Simple Summary

Deep-sea organisms must have proteins that function under high hydrostatic pressure to survive. Adaptations used in proteins from “pressure-loving” piezophiles may include greater compressibility or greater stability against pressure-induced destabilization. However, while greater compressibility can be accomplished by greater void volume, larger cavities in a protein have been associated with greater destabilization and even unfolding as pressure is increased. Here, computer simulations of dihydrofolate reductase from a moderate piezophile and a hyperpiezophile were performed to understand the balance between adaptations for greater compressibility and those against pressure destabilization and unfolding. The results indicate that while compressibility appears to be important for deep-sea microbes, adaptation for the greatest depths may be to prevent water penetration into the interior.

Abstract

Proteins from “pressure-loving” piezophiles appear to adapt by greater compressibility via larger total cavity volume. However, larger cavities in proteins have been associated with lower unfolding pressures. Here, dihydrofolate reductase (DHFR) from a moderate piezophile Moritella profunda (Mp) isolated at ~2.9 km in depth and from a hyperpiezophile Moritella yayanosii (My) isolated at ~11 km in depth were compared using molecular dynamics simulations. Although previous simulations indicate that MpDHFR is more compressible than a mesophile DHFR, here the average properties and a quasiharmonic analysis indicate that MpDHFR and MyDHFR have similar compressibilities. A cavity analysis also indicates that the three unique mutations in MyDHFR are near cavities, although the cavities are generally similar in size in both. However, while a cleft overlaps an internal cavity, thus forming a pathway from the surface to the interior in MpDHFR, the unique residue Tyr103 found in MyDHFR forms a hydrogen bond with Leu78, and the sidechain separates the cleft from the cavity. Thus, while Moritella DHFR may generally be well suited to high-pressure environments because of their greater compressibility, adaptation for greater depths may be to prevent water entry into the interior cavities.

Propelling and perturbing appendages together facilitate strenuous ground self-righting

Terrestrial animals must self-right when overturned on the ground, but this locomotor task is strenuous. To do so, the discoid cockroach often pushes its wings against the ground to begin a somersault which rarely succeeds. As it repeatedly attempts this, the animal probabilistically rolls to the side to self-right. During winged self-righting, the animal flails its legs vigorously. Here, we studied whether wing opening and leg flailing together facilitate strenuous ground self-righting. Adding mass to increase hind leg flailing kinetic energy increased the animal's self-righting probability. We then developed a robot with similar strenuous self-righting behavior and used it as a physical model for systematic experiments. The robot's self-righting probability increased with wing opening and leg flailing amplitudes. A potential energy landscape model revealed that, although wing opening did not generate sufficient kinetic energy to overcome the high pitch potential energy barrier to somersault, it reduced the barrier for rolling, facilitating the small kinetic energy from leg flailing to probabilistically overcome it to self-right. The model also revealed that the stereotyped body motion during self-righting emerged from physical interaction of the body and appendages with the ground. Our work demonstrated the usefulness of potential energy landscape for modeling self-righting transitions.

Application of Optimization Algorithms in Clusters

The structural characterization of clusters or nanoparticles is essential to rationalize their size and composition-dependent properties. As experiments alone could not provide complete picture of cluster structures, so independent theoretical investigations are needed to find out a detail description of the geometric arrangement and corresponding properties of the clusters. The potential energy surfaces (PES) are explored to find several minima with an ultimate goal of locating the global minima (GM) for the clusters. Optimization algorithms, such as genetic algorithm (GA), basin hopping method and its variants, self-consistent basin-to-deformed-basin mapping, heuristic algorithm combined with the surface and interior operators (HA-SIO), fast annealing evolutionary algorithm (FAEA), random tunneling algorithm (RTA), and dynamic lattice searching (DLS) have been developed to solve the geometrical isomers in pure elemental clusters. Various model or empirical potentials (EPs) as Lennard-Jones (LJ), Born-Mayer, Gupta, Sutton-Chen, and Murrell-Mottram potentials are used to describe the bonding in different type of clusters. Due to existence of a large number of homotops in nanoalloys, genetic algorithm, basin-hopping algorithm, modified adaptive immune optimization algorithm (AIOA), evolutionary algorithm (EA), kick method and Knowledge Led Master Code (KLMC) are also used. In this review the optimization algorithms, computational techniques and accuracy of results obtained by using these mechanisms for different types of clusters will be discussed.

Non-Markovian Methods in Glass Transition

A model for the heterogeneity of local dynamics in polymer and other glass-forming materials is provided here. The fundamental characteristics of the glass transition phenomenology emerge when simulating a condensed matter open cluster that has a strong interaction with its heterogeneous environment. General glass transition features, such as non-exponential structural relaxations, the slowing down of relaxation times with temperature and specific off-equilibrium glassy dynamics can be reproduced by non-Markovian dynamics simulations with the minimum computer resources. Non-Markovian models are shown to be useful tools for obtaining insights into the complex dynamics involved in the glass transition phenomenon, including whether or not there is a need for a growing correlation length or the relationship between the non-exponentiality of structural relaxations and dynamic heterogeneity.

Local mechanical properties of an ultrastable metallic glass

Recently, ultrastable glasses gained growing attention due to the revelation of the mechanism leading towards the understanding of glasses and glass transition in general. We report the adaptation of vapor deposition techniques to create ultrastable amorphous phases of Cu50Zr50with different mechanical properties. Investigations using atomic force acoustic microscopy reveal a connection between an enhanced elastic modulus, its low potential energy and its homogeneity throughout the sample. Here, higher stability is always accompanied by high homogeneity. We relate the preparation conditions to the resulting mechanical properties, potentially opening a path to systematically engineer ultrastability in metallic glasses. Furthermore, we give a qualitative explanation for our results in the framework of the potential energy landscape, providing insights to the origin of ultrastability in metallic glasses in general.

On the experimental identification of unstable static equilibria

This paper shows how the presence of unstable equilibrium configurations of elastic continua is reflected in the behaviour of transients induced by large perturbations. A beam that is axially loaded beyond its critical state typically exhibits two buckled stable equilibrium configurations, separated by one or more unstable equilibria. If the beam is then loaded laterally (effectively like a shallow arch) it may snap-through between these states, including the case in which the loading is applied dynamically and of short duration, i.e. an impact. Such impacts, if applied at random locations and of random strength, will generate an ensemble of transient trajectories that explore the phase space. Given sufficient variety, some of these trajectories will possess initial energy that is close to (just less than or just greater than) the energy required to cause snap-through and will have a tendency to slowdown as they pass close to an unstable configuration: a saddle point in a potential energy surface, for example. Although this close-encounter is relatively straightforward in a system characterized by a single degree of freedom, it is more challenging to identify in a higher order or continuous system, especially in a (necessarily) noisy experimental system. This paper will show how the identification of unstable equilibrium configurations can be achieved using transient dynamics.

Manipulation of Superparamagnetic Beads on Patterned Exchange-Bias Layer Systems for Biosensing Applications

A technology platform based on a remotely controlled and stepwise transport of an array arrangement of superparamagnetic beads (SPB) for efficient molecular uptake, delivery and accumulation in the context of highly specific and sensitive analyte molecule detection for the application in lab-on-a-chip devices is presented. The near-surface transport of SPBs is realized via the dynamic transformation of the SPBs’ magnetic potential energy landscape above a magnetically stripe patterned Exchange-Bias (EB) thin film layer systems due to the application of sub-mT external magnetic field pulses. In this concept, the SPB velocity is dramatically influenced by the magnitude and gradient of the magnetic field landscape (MFL) above the magnetically stripe patterned EB substrate, the SPB to substrate distance, the magnetic properties of both the SPBs and the EB layer system, respectively, as well as by the properties of the external magnetic field pulses and the surrounding fluid. The focus of this review is laid on the specific MFL design in EB layer systems via light-ion bombardment induced magnetic patterning (IBMP). A numerical approach is introduced for the theoretical description of the MFL in comparison to experimental characterization via scanning Hall probe microscopy. The SPB transport mechanism will be outlined in terms of the dynamic interplay between the EB substrate’s MFL and the pulse scheme of the external magnetic field.

Directed Magnetic Particle Transport above Artificial Magnetic Domains Due to Dynamic Magnetic Potential Energy Landscape Transformation

An approach for a remotely controllable transport of magnetic micro- and/or nanoparticles above a topographically flat exchange-bias (EB) thin film system, magnetically patterned into parallel stripe domains, is presented where the particle manipulation is achieved by sub-mT external magnetic field pulses. Superparamagnetic core-shell particles are moved stepwise by the dynamic transformation of the particles' magnetic potential energy landscape due to the external magnetic field pulses without affecting the magnetic state of the thin film system. The magnetic particle velocity is adjustable in the range of 1-100 μm/s by the design of the substrate's magnetic field landscape (MFL), the particle-substrate distance, and the magnitude of the applied external magnetic field pulses. The agglomeration of magnetic particles is avoided by the intrinsic magnetostatic repulsion of particles due to the parallel alignment of the particles' magnetic moments perpendicular to the transport direction and parallel to the surface normal of the substrate during the particle motion. The transport mechanism is modeled by a quantitative theory based on the precise knowledge of the sample's MFL and the particle-substrate distance.

Ultrastable metallic glass

A new metallic glass, which was created by vapour deposition at an appropriately high substrate temperature, shows exceptional thermal stability, and enhanced glass transition temperature and elastic modulus. Comparing this new material with other organic glasses prepared by similar routes and known as ultrastable glasses demonstrates the formation of ultrastable glassy materials correlates to the important concept of fragility.