Table of contents

More than three quarters of all animal species on Earth are insects, successfully inhabiting most ecosystems on the planet. Due to their opulence, insects provide the backbone of many biological processes, but also inflict adverse impacts on agricultural and stored products, buildings and human health. To countermeasure insect pests, the interactions of these animals with their surroundings have to be fully understood. This review focuses on the various forms of insect attachment, natural surfaces that have evolved to counter insect adhesion, and particularly features recently developed synthetic bio-inspired solutions. These bio-inspired solutions often enhance the variety of applicable mechanisms observed in nature and open paths for improved technological solutions that are needed in a changing global society.

Nature has evolved a vast array of strategies for propulsion at the air-fluid interface. Inspired by a survival mechanism initiated by the honeybee (Apis mellifera) trapped on the surface of water, we here present the SurferBot: a centimeter-scale vibrating robotic device that self-propels on a fluid surface using analogous hydrodynamic mechanisms as the stricken honeybee. This low-cost and easily assembled device is capable of rectilinear motion thanks to forces arising from a wave-generated, unbalanced momentum flux, achieving speeds on the order of centimeters per second. Owing to the dimensions of the SurferBot and amplitude of the capillary wave field, we find that the magnitude of the propulsive force is similar to that of the honeybee. In addition to a detailed description of the fluid mechanics underpinning the SurferBot propulsion, other modes of SurferBot locomotion are discussed. More broadly, we propose that the SurferBot can be used to explore fundamental aspects of active and driven particles at fluid interfaces, as well as in robotics and fluid mechanics pedagogy.

Animal societies exhibit complex dynamics that require multi-level descriptions. They are difficult to model, as they encompass information at different levels of description, such as individual physiology, individual behaviour, group behaviour and features of the environment. The collective behaviour of a group of animals can be modelled as a dynamical system. Typically, models of behaviour are either macroscopic (differential equations of population dynamics) or microscopic (such as Markov chains, explicitly specifying the spatio-temporal state of each individual). These two kind of models offer distinct and complementary descriptions of the observed behaviour. Macroscopic models offer mean field description of the collective dynamics, where collective choices are considered as the stable steady states of a nonlinear system governed by control parameters leading to bifurcation diagrams. Microscopic models can be used to perform computer simulations or as building blocks for robot controllers, at the individual level, of the observed spatial behaviour of animals. Here, we present a methodology to translate a macroscopic model into different microscopic models. We automatically calibrate the microscopic models so that the resulting simulated collective dynamics fit the solutions of the reference macroscopic model for a set of parameter values corresponding to a bifurcation diagram leading to multiple steady states. We apply evolutionary algorithms to simultaneously optimize the parameters of the models at different levels of description. This methodology is applied, in simulation, to an experimentally validated shelter-selection problem solved by gregarious insects and robots. Our framework can be used for multi-level modelling of collective behaviour in animals and robots.

It is of interest to investigate how a swimming animal performs in a density-stratified fluid. This paper studies a simplified swimmer, a pitching NACA0015 airfoil, considering its locomotion in both homogeneous, or unstratified, and stratified fluid flows. A direct comparison is made between these two conditions through two-dimensional numerical simulations. Our numerical results show that the stratification modifies the dynamics of the pitching foil in both its wake structures and the drag force, or thrust, as well as its propulsive performance. We suggest that the effects of stratification on flapping performance or propulsive efficiency can be categorized according to the Froude number, or the level of stratification. First, in the range of high Froude numbers, notable modification of the flow structure can be observed, which however does not greatly affect the propulsive performance. Second, at a very low Froude number, i.e., Fr = 1, the propulsive efficiency drops markedly compared to its homogeneous counterpart, attributed to the pronounced internal waves induced by the strong stratification. Moreover, at a moderate Froude number Fr = 2, we find an increase in the propulsive efficiency, which can be explained by the unique variation in the wake structure. At A_D = 2.50, the propulsive efficiency peaks at Fr = 2, with its efficiency 18.3% higher than its homogeneous counterpart, exhibiting a favourable influence of the stratification on a swimmer.

Crustacean and insect antennal scanning movements have been postulated to increase odorant capture but the exact mechanisms as well as measures of efficiency are wanting. The aim of this work is to test the hypothesis that an increase in oscillation frequency of a simplified insect antenna model translates to an increase of odorant capture, and to quantify by how much and through which mechanism. We approximate the antennal movements of bumblebees, quantified in a previous study, by a vertical oscillatory movement of a cylinder in a homogeneous horizontal flow with odorants. We test our multiphysics flow and mass transfer numerical model with dedicated experiments using particle image velocimetry. A new entire translating experimental measurement setup containing an oil tank enables us to work at appropriate Strouhal and Reynolds numbers. Increasing antennal oscillating frequency does increase the odorant capture rate, up to 200%, proving this behavior being active sensing. This result holds however only up to a critical frequency. A decrease of efficiency characterizes higher frequencies, due to molecules depletion within oversampled regions, themselves defined by overlaying boundary layers. Despite decades of work on thermal and mass transfer studies on oscillating cylinders, no analogy with published cases was found. This is due to the unique flow regimes studied here, resulting from the combination of organ small size and low frequencies of oscillations. A theory for such flow regimes is thus to be developed, with applications to fundamental research on animal perception up to bioinspired olfaction.

Underwater robot sensing is challenging due to the complex and noisy nature of the environment. The lateral line system in fish allows them to robustly sense their surroundings, even in turbid and turbulent environments, allowing them to perform tasks such as shoaling or foraging. Taking inspiration from the lateral line system in fish to design robot sensors could help to power underwater robots in inspection, exploration, or environmental monitoring tasks. Previous studies have designed systems that mimic both the design and the configuration of the lateral line and neuromasts, but at high cost or using complex procedures. Here, we present a simple, low cost, bio-inspired sensor, that can detect passing vortices shed from surrounding obstacles or upstream fish or robots. We demonstrate the importance of the design elements used, and show a minimum 20% reduction in residual error over sensors lacking these elements. Results were validated in reality using a prototype of the artificial lateral line sensor. These results mark an important step in providing alternate methods of control in underwater vehicles that are simultaneously inexpensive and simple to manufacture.

Soft robots have attracted increasing attention due to their excellent versatility and broad applications. In this article, we present a minimally designed soft crawling robot (SCR) capable of robust locomotion in unstructured pipes with various geometric/material properties and surface topology. In particular, the SCR can squeeze through narrow pipes smaller than its cross section and propel robustly in spiked pipes. The gait pattern and locomotion mechanism of this robot are experimentally investigated and analysed by the finite element analysis, revealing that the resultant forward frictional force is generated due to the asymmetric mechanical properties along the length direction of the robot. The proposed simple yet working SCR could inspire novel designs and applications of soft robots in unstructured narrow canals such as large intestines or industrial pipelines.

Cellular alignment is important for the proper functioning of different tissues such as muscles or blood vessel walls. Hence, in tissue engineering, sufficient effort has been made to control cellular orientation and alignment. It has been shown that micro-and nanoscale anisotropic topological features on cell culture substrates can control cellular orientation. Such substrates are fabricated using various lithography techniques such as photolithography and soft lithography. Although such techniques are suitable for creating patterns in small areas to establish a proof-of-concept, patterning large areas with intricate features is an unsolved problem. In this work, we report that a replica of the groove-like anisotropic patterns of the abaxial side of a Dracaena sanderiana (bamboo) leaf can be used for large-area patterning of cells. We imprinted the leaf on polydimethylsiloxane (PDMS) and characterised its surface topography using scanning electron microscopy. We further cultured bone marrow human mesenchymal cells (BM-hMSCs), skeletal muscle cells (C2C12), and neuroblastoma cells (SHSY5Y) on the patterned PDMS on which the cells orient along the direction of the grooved pattern. Further, we observed enhanced neuronal differentiation of SHSY5Y cells on biomimicked pattern compared to flat PDMS as measured by percentage of cells with neurites, neurite length and the expression of neuronal differentiation marker beta-III tubulin (TUJ1). This process is simple, frugal, and can be adopted by laboratories with resource constraints. This one-step technique to fabricate large-area anisotropic surface patterns from bamboo leaves can be used as a platform to study cellular alignment and its effect on various cellular functions, including differentiation.

Wind-induced stress is the primary mechanical cause of tree failures. Among different factors, the branching mechanism plays a central role in the stress distribution and stability of trees in windstorms. A recent study showed that Leonardo da Vinci's original observation, stating that the total cross section of branches conserved across branching nodes is the optimal configuration for resisting wind-induced damage in rigid trees, is correct. However, the breaking risk and the optimal branching pattern of trees are also a function of their reconfiguration capabilities and the processes they employ to mitigate high wind-induced stress hotspots. In this study, using a numerical model of rigid and flexible branched trees, we explore the role of flexibility and branching patterns of trees in their reconfiguration and stress mitigation capabilities. We identify the robust optimal branching mechanism for an extensive range of tree flexibility. Our results show that the probability of a tree breaking at each branching level from the stem to terminal foliage strongly depends on the cross section changes in the branching nodes, the overall tree geometry, and the level of tree flexibility. Three response categories have been identified: the stress concentration in the main trunk, the uniform stress level through the tree's height, and substantial stress localization in the terminal branches. The reconfigurability of the tree determines the dominant response mode. The results suggest a very similar optimal branching law for both flexible and rigid trees wherein uniform stress distribution occurs throughout the tree's height. An exception is the very flexible branched plants in which the optimal branching pattern deviates from this prediction and is strongly affected by the reconfigurability of the tree.

The study of natural cellular materials offers valuable insights into the superior properties and functions underlying their unique structure and benefits the design and fabrication of advanced biomimetic materials. In this study, we present a systematic investigation of the mechanical behavior of fresh and oven-dried pomelo peels. Density measurements revealed the gradient structure of the pomelo peel, which contributed to its mechanical properties. Step-by-step drying revealed two types of water in the peel. Both uniaxial compression and low-strain hysteresis tests were conducted, and the results showed that fresh pomelo peel exhibits soft elastomer-like behavior, while dried pomelo peel behaves more like conventional synthetic polymer foam. Compared to fresh pomelo peel, dried peel samples showed higher compressive modulus and energy loss in 6, 8 and 10% strain hysteresis tests. The rehydration process was studied using hysteresis tests at three different strains. In addition, multilayer gradient EO/EO and LDPE/LDPE film/foams with 16 alternating layers were produced using the microlayer coextrusion technique. The morphology and mechanical properties were examined and indicated great potential for biomimicking the structure and properties of pomelo peel.

Due to the challenging communication and control systems, few underwater multi-robot coordination systems are currently developed. In nature, weakly electric fish can organize their collective activities using electrocommunication in turbid water. Inspired by this communication mechanism, we developed an artificial electrocommunication system for underwater robots in our previous work. In this study, we coordinate a group of underwater robots using this bio-inspired electrocommunication. We first design a time division multiple access (TDMA) network protocol for electrocommunication to avoid communication conflicts during multi-robot coordination. Then, we revise a distributed controller to coordinate a group of underwater robots. The distributed controller on each robot generates the required controls based on adjacent states obtained through electrocommunication. A central pattern generator (CPG) controller is designed to adjust the speed of individuals according to distributed control law. Simulations and experimental results show that a group of underwater robots is able to achieve coordination with the developed electrocommunication and control systems.

This paper presents the principle of motion, mechanical modeling and key characteristics of the propulsive force of a new flexible-fin traveling wave propulsion mechanism used in an amphibious robot. Firstly, the form of motion and the basic propulsion principle of traveling wave propulsion of flexible fins on the ground are described. During fluctuation of the flexible fins, the relative motion between the outermost contact line on the fin surface and the ground generates the propulsive force of forward motion and the lateral force along the fin surface. Based on the laws of flexible-fin fluctuation kinematics and the basic principles of friction mechanics, the propulsion mechanics model of flexible fins during traveling wave propulsion on the ground is established. By numerically solving the propulsive force equation, the relationship between the propulsive force of the flexible fin and the motion parameters of the fin surface can be obtained. Numerical calculations combined with the results of experimental tests reveal that the flexible-fin propulsive force shows periodic variations within one fluctuation period of the fin surface, and the variation period is related to the number of waves present on the fin surface. The wavenumber on the fin surface has a large impact on the fluctuation amplitude of the propulsive force. In the range of 1.6–1.9 waves on the fin surface, the average propulsive force is the most ideal, while in the range of fin-surface inclinations less than 50° and fluctuation amplitudes greater than 30°, the propulsive force of the flexible fin is the ideal parameter range. This research provides theoretical support for the design of a flexible-fin traveling wave propulsion mechanism.

The evolutionary success of plesiosaurs has led to much attention regarding the dynamics of their locomotion. They exhibit identical tandem flippers, which is unique among all living and extinct species. However, these tandem flippers have been a source of debate regarding plesiosaurs' locomotion and behavior. Here we propose a new approach to studying plesiosaur locomotion based on universal scaling laws in fluid dynamics, which were used to estimate reduced frequency to characterize unsteadiness of an airfoil. It was found that, while the reduced frequency of plesiosaurs with high-aspect ratio flippers is similar to that of sea turtles, the most commonly used living analog, lower aspect ratio plesiosaurs were more similar in reduced frequency to penguins. This implies that plesiosaurs may have had large variations in agility among themselves, depending in particular on the specimen's flipper aspect ratio. While our results are consistent with the previous literature indicating a relationship between plesiosaur neck length and agility, our work supports broad and diverse analogies to living animals. Moreover, based on our results, cruising reduced frequency has some predictive value into manoeuvring behavior, rather than simply cruising behavior.

While most insect-inspired robots come with a simple tarsus, such as a hemispherical foot tip, insect legs have complex tarsal structures and claws, which enable them to walk on complex terrain. Their sharp claws can smoothly attach and detach on plant surfaces by actuating a single muscle. Thus, installing an insect-inspired tarsus on legged robots would improve their locomotion on complex terrain. This paper shows that the tendon-driven ball–socket structure provides the tarsus with both flexibility and rigidity, which is necessary for the beetle to walk on a complex substrate such as a mesh surface. Disabling the tarsus' rigidity by removing the socket and elastic membrane of a tarsal joint, means that the claws could not attach to the mesh securely. Meanwhile, the beetle struggled to draw the claws out of the substrate when we turned the tarsus rigid by tubing. We then developed a cable-driven bio-inspired tarsus structure to validate the function of the tarsus as well as to show its potential application in the legged robot. With the tarsus, the robotic leg was able to attach and retract smoothly from the mesh substrate when performing a walking cycle.

The ability of certain bat species to navigate in dense vegetation based on trains of short biosonar echoes could provide for an alternative parsimonious approach to obtaining the sensory information that is needed to achieve autonomy in complex natural environments. Although bat biosonar has much lower data rates and spatial (angular) resolution than commonly used human-made sensing systems such as LiDAR or stereo cameras, bat species that live in dense habitats have the ability to reliably detect narrow passageways in foliage. To study the sensory information that the animals may have available to accomplish this, we have used a biomimetic sonar system that was combined with a camera to record echoes and synchronized images from 10 different field sites that featured narrow passageways in foliage. The synchronized camera and sonar data allowed us to create a large data set (130 000 samples) of labeled echoes using a teacher–student approach that used class labels derived from the images to provide training data for echo-based classifiers. The performance achieved in detecting passageways based on the field data closely matched previous results obtained for gaps in an artificial foliage setup in the laboratory. With a deep feature extraction neural network (VGG16) a foliage-versus-passageway classification accuracy of 96.64% was obtained. A transparent artificial intelligence approach (class-activation mapping) indicated that the classifier network relied heavily on the initial rising flank of the echoes. This finding could be exploited with a neuromorphic echo representation that consisted of times where the echo envelope crossed a certain amplitude threshold in a given frequency channel. Whereas a single amplitude threshold was sufficient for this in the previous laboratory study, multiple thresholds were needed to achieve an accuracy of 92.23%. These findings indicate that despite many sources of variability that shape clutter echoes from natural environments, these signals contain sufficient sensory information to enable the detection of passageways in foliage.

The bodies of penguins, which swim underwater to forage, are densely covered with feathers, in which the barbs are oriented in the longitudinal direction. We hypothesize that these barbs act as riblets and reduce friction drag during swimming. Considering various real-world swim conditions, the drag reduction effect is expected to be robust against changes in the flow speed and yaw angle relative to the flow. To test this hypothesis, we created trapezoidal riblets based on the morphology of these barbs and measured the drag of flat plates with these fabricated riblets in a water tunnel. The spacing, width, and height of the barbs were found to be approximately 100, 60, and 30 μm, respectively. This spacing resulted in a nondimensional spacing s⁺ of 5.5 for a typical penguin swimming speed of 1.4 m s⁻¹. We fabricated four types of riblets on polyimide films by ultraviolet laser ablation. The first was a small-scale riblet for which the spacing was decreased to 41 μm to simulate the surface flow condition of the usual and slower swim behaviors in our water tunnel. The other three were manufactured to the actual scale of real barbs (spacing of 100 μm) with three different rib ridge widths: 10, 25, and 50 μm. Yaw angles of 0°, 15°, 30°, and 45° were also tested with the actual-scale riblets. The drag reduction rate of the small-scale riblet was maximized to 1.97% by the smallest s⁺ of 1.59. For all three actual-scale riblets, increasing the yaw angle from zero to 15° enhanced the drag reduction rate for the full range of s⁺ up to 13.5. The narrow-ridge riblet reduced drag at an even higher yaw angle of 45°, but the drag increased with zero yaw angle. Overall, the medium-ridge riblet, which was representative of the barbs, was well-balanced.