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1. Invited: Can Wi-R enable perpetual IoB nodes?

   https://doi.org/10.1109/BioCAS58349.2023.10388539  

   Datta, Arunashish; Sen, Shreyas (October 2023, IEEE)

   While the number of wearables is steadily growing, the wearables/person wearing them faces a limitation due to the need for charging all of them every day. To unlock the true power of IoB, we need to make these IoB nodes perpetual. However, that is not possible with today’s technology. In this paper, we will debate, whether with the advent of Wi-R protocol that uses the body to communicate at 100X lower energy that BTLE/Wi-Fi, is it going to be possible to enable the long-standing desire of perpetual sensing/actuation nodes for the Internet of Bodies. 

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2. Towards Functional Mobile Microrobotic Systems

   https://doi.org/10.3390/robotics8030069  

   Adam, Georges; Chowdhury, Sagar; Guix, Maria; Johnson, Benjamin V.; Bi, Chenghao; Cappelleri, David (September 2019, Robotics)

   This paper presents our work over the last decade in developing functional microrobotic systems, which include wireless actuation of microrobots to traverse complex surfaces, addition of sensing capabilities, and independent actuation of swarms of microrobots. We will discuss our work on the design, fabrication, and testing of a number of different mobile microrobots that are able to achieve these goals. These microrobots include the microscale magnetorestrictive asymmetric bimorph microrobot ( μ MAB), our first attempt at magnetic actuation in the microscale; the microscale tumbling microrobot ( μ TUM), our microrobot capable of traversing complex surfaces in both wet and dry conditions; and the micro-force sensing magnetic microrobot ( μ FSMM), which is capable of real-time micro-force sensing feedback to the user as well as intuitive wireless actuation. Additionally, we will present our latest results on using local magnetic field actuation for independent control of multiple microrobots in the same workspace for microassembly tasks. 

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3. How to Stick the Landing: Kangaroo Rats Use Their Tails to Reorient during Evasive Jumps Away from Predators

   https://doi.org/10.1093/icb/icab043  

   Schwaner, M Janneke; Freymiller, Grace A; Clark, Rulon W; McGowan, Craig P (May 2021, Integrative and Comparative Biology)

   Synopsis Tails are widespread in the animal world and play important roles in locomotor tasks, such as propulsion, maneuvering, stability, and manipulation of objects. Kangaroo rats, bipedal hopping rodents, use their tail for balancing during hopping, but the role of their tail during the vertical evasive escape jumps they perform when attacked by predators is yet to be determined. Because we observed kangaroo rats swinging their tails around their bodies while airborne following escape jumps, we hypothesized that kangaroo rats use their tails to not only stabilize their bodies while airborne, but also to perform aerial re-orientations. We collected video data from free-ranging desert kangaroo rats (Dipodomys deserti) performing escape jumps in response to a simulated predator attack and analyzed the rotation of their bodies and tails in the yaw plane (about the vertical-axis). Kangaroo rat escape responses were highly variable. The magnitude of body re-orientation in yaw was independent of jump height, jump distance, and aerial time. Kangaroo rats exhibited a stepwise re-orientation while airborne, in which slower turning periods corresponded with the tail center of mass being aligned close to the vertical rotation axis of the body. To examine the effect of tail motion on body re-orientation during a jump, we compared average rate of change in angular momentum. Rate of change in tail angular momentum was nearly proportional to that of the body, indicating that the tail reorients the body in the yaw plane during aerial escape leaps by kangaroo rats. Although kangaroo rats make dynamic 3D movements during their escape leaps, our data suggest that kangaroo rats use their tails to control orientation in the yaw plane. Additionally, we show that kangaroo rats rarely use their tail length at full potential in yaw, suggesting the importance of tail movement through multiple planes simultaneously. 

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4. Sense–Analyze–Respond–Actuate (SARA) Paradigm: Proof of Concept System Spanning Nanoscale and Macroscale Actuation for Detection of Escherichia coli in Aqueous Media

   https://doi.org/10.3390/act10010002  

   Giacobassi, Cassie A.; Oliveira, Daniela A.; Pola, Cicero C.; Xiang, Dong; Tang, Yifan; Datta, Shoumen Palit; McLamore, Eric S.; Gomes, Carmen L. (January 2021, Actuators)

   Foodborne pathogens are a major concern for public health. We demonstrate for the first time a partially automated sensing system for rapid (~17 min), label-free impedimetric detection of Escherichia coli spp. in food samples (vegetable broth) and hydroponic media (aeroponic lettuce system) based on temperature-responsive poly(N-isopropylacrylamide) (PNIPAAm) nanobrushes. This proof of concept (PoC) for the Sense-Analyze-Respond-Actuate (SARA) paradigm uses a biomimetic nanostructure that is analyzed and actuated with a smartphone. The bio-inspired soft material and sensing mechanism is inspired by binary symbiotic systems found in nature, where low concentrations of bacteria are captured from complex matrices by brush actuation driven by concentration gradients at the tissue surface. To mimic this natural actuation system, carbon-metal nanohybrid sensors were fabricated as the transducer layer, and coated with PNIPAAm nanobrushes. The most effective coating and actuation protocol for E. coli detection at various temperatures above/below the critical solution temperature of PNIPAAm was determined using a series of electrochemical experiments. After analyzing nanobrush actuation in stagnant media, we developed a flow through system using a series of pumps that are triggered by electrochemical events at the surface of the biosensor. SARA PoC may be viewed as a cyber-physical system that actuates nanomaterials using smartphone-based electroanalytical testing of samples. This study demonstrates thermal actuation of polymer nanobrushes to detect (sense) bacteria using a cyber-physical systems (CPS) approach. This PoC may catalyze the development of smart sensors capable of actuation at the nanoscale (stimulus-response polymer) and macroscale (non-microfluidic pumping). 

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5. High-efficiency electro-optic lens for radio-frequency beam wavefront modulation for mode mismatch sensing

   https://doi.org/10.1364/AO.546199  

   Tao, Liu; Diaz-Ortiz, Mauricio; Fulda, Paul (February 2025, Applied Optics)

   Active mode mismatch sensing and control can facilitate optimal coupling in optical cavity experiments such as interferometric gravitational wave detectors. In this paper, we demonstrate a radio-frequency (RF) beam wavefront curvature modulation-based mode mismatch sensing scheme inspired by the previously proposed RF beam jitter alignment sensing scheme. The proposed mode mismatch sensing scheme uses an electro-optic lens (EOL) device that is designed to provide the required beam wavefront curvature actuation, as well as a mode converting telescope that rephases the RF second-order modes and generates a non-vanishing mode mismatch sensing signal. We carefully investigate the total second-order mode generation from the wavefront actuation both analytically and numerically, taking the effects of Gaussian beam size evolution and the second-order mode phase mismatch cancellation into consideration. We demonstrate the second-order mode generation as a function of the incident beam waist size and the electro-optic crystal size which, along with a “trade-off” consideration of the beam size at the edges of the crystal and the clipping loss, provides us with guidance for designing the beam profile that interacts with the crystal to improve the EOL modulation efficiency. 

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