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   https://doi.org/10.1115/1.4054615  

   Singh, Gaurav; Nawroj, Ahsan; Dollar, Aaron M. (April 2023, Journal of Mechanisms and Robotics)

   Abstract Modular active cell robots (MACROs) are a design paradigm for modular robotic hardware that uses only two components, namely actuators and passive compliant joints. Under the MACRO approach, a large number of actuators and joints are connected to create mesh-like cellular robotic structures that can be actuated to achieve large deformation and shape change. In this two-part paper, we study the importance of different possible mesh topologies within the MACRO framework. Regular and semi-regular tilings of the plane are used as the candidate mesh topologies and simulated using finite element analysis (FEA). In Part 1, we use FEA to evaluate their passive stiffness characteristics. Using a strain-energy method, the homogenized material properties (Young's modulus, shear modulus, and Poisson's ratio) of the different mesh topologies are computed and compared. The results show that the stiffnesses increase with increasing nodal connectivity and that stretching-dominated topologies have higher stiffness compared to bending-dominated ones. We also investigate the role of relative actuator-node stiffness on the overall mesh characteristics. This analysis shows that the stiffness of stretching-dominated topologies scales directly with their cross-section area whereas bending-dominated ones do not have such a direct relationship. 

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   https://doi.org/10.1103/PhysRevLett.132.208402  

   Falcucci, Giacomo; Amati, Giorgio; Bella, Gino; Facci, Andrea Luigi; Krastev, Vesselin K; Polverino, Giovanni; Succi, Sauro; Porfiri, Maurizio (May 2024, Physical Review Letters)

   We analyze the flow physics inside the body cavity and downstream the deep-sea glass sponge Euplectella aspergillum. We provide evidence that the helical skeletal motifs of the sponge give rise to a rich fluid dynamic field, allowing the organism to scavenge flow from the bottom of the sea and promoting a spontaneous, organized vertical flow within its body cavity toward the osculum. Our analysis points at a functional adaptation of the organism, which can passively divert flow through the osculum in unfavorable, low ambient currents, with no need for active pumping, with potential repercussions in functional ecology, as well as the design of chemical reactors, air-treatment units, and civil and aeronaval structures. 

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