An official website of the United States government
Living systems can use a single periphery to perform a variety of tasks and adapt to a dynamic environment. This multifunctionality is achieved through the use of neural circuitry that adaptively controls the reconfigurable musculature. Current robotic systems struggle to flexibly adapt to unstructured environments. Through mimicry of the neuromechanical coupling seen in living organisms, robotic systems could potentially achieve greater autonomy. The tractable neuromechanics of the sea slug Aplysia californica’s feeding apparatus, or buccal mass, make it an ideal candidate for applying neuromechanical principles to the control of a soft robot. In this work, a robotic grasper was designed to mimic specific morphology of the Aplysia feeding apparatus. These include the use of soft actuators akin to biological muscle, a deformable grasping surface, and a similar muscular architecture. A previously developed Boolean neural controller was then adapted for the control of this soft robotic system. The robot was capable of qualitatively replicating swallowing behavior by cyclically ingesting a plastic tube. The robot’s normalized translational and rotational kinematics of the odontophore followed profiles observed in vivo despite morphological differences. This brings Aplysia-inspired control in roboto one step closer to multifunctional neural control schema in vivo and in silico. Future additions may improve SLUGBOT’s viability as a neuromechanical research platform.
more »
« less
Slug Battery: An Enzymatic Fuel Cell Tested in vitro in Aplysia californica Hemolymph
Supplying continuous power is a major challenge in the creation and deployment of sensors and small robots for marine applications. Glucose-based enzymatic fuel cells (EFCs) are a possible solution for sustainably powering such devices when mounted on or implanted in living organisms. The two main barriers to developing implantable EFCs for marine organisms are their power output and in vivo feasibility. Ideally, an in vivo EFC should be minimally invasive, remain mechanically secure, and output relatively consistent power over a predefined lifespan, ranging from weeks to months. The shape and chemistry of EFC electrodes can each contribute to or detract from the overall power production potential of the cells. This paper assesses the feasibility of EFCs using the marine sea slug, Aplysia californica’s, hemolymph as an analyte and presents methods to enhance the power produced by EFCs by altering their chemistry and form factor. We found that perfluorodecalin-soaked cathodes and spirally-rolled cells demonstrated increased power output compared to their respective control specimens. Cells tested in Aplysia saline mirrored the power output trends of cells tested in hemolymph but with higher power output. This work suggests the feasibility of creating implantable EFCs for marine sea slugs that could one day serve as sustainable biohybrid robotic platforms.
more »
« less
- Award ID(s):
- 2015317
- PAR ID:
- 10517556
- Publisher / Repository:
- Springer, Cham.
- Date Published:
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
The mechanical forces experienced during movement and the time constants of muscle activation are important determinants of the durations of behaviors, which may both be affected by size-dependent scaling. The mechanics of slow movements in small animals are dominated by elastic forces and are thus quasistatic (i.e., always near mechanical equilibrium). Muscular forces producing movement and elastic forces resisting movement should both scale identically (proportional to mass⅔), leaving the scaling of the time constant of muscle activation to play a critical role in determining behavioral duration. We tested this hypothesis by measuring the duration of feeding behaviors in the marine mollusc Aplysia californica whose body sizes spanned three orders of magnitude. The duration of muscle activation was determined by measuring the time it took for muscles to produce maximum force as Aplysia attempted to feed on tethered inedible seaweed, which provided an in vivo approximation of an isometric contraction. The timing of muscle activation scaled with mass0.3. The total duration of biting behaviors scaled identically, with mass0.3, indicating a lack of additional mechanical effects. The duration of swallowing behavior, however, exhibited a shallower scaling of mass0.17. We suggest that this was due to the allometric growth of the anterior retractor muscle during development, as measured by micro computed tomography scans (microCT) of buccal masses. Consequently, larger Aplysia did not need to activate their muscles as fully to produce equivalent forces. These results indicate that muscle activation may be an important determinant of the scaling of behavioral durations in quasistatic systems.more » « less
-
Anthropogenic climate change has increased the frequency and intensity of marine heatwaves that may broadly impact the health of marine invertebrates. Rising ocean temperatures lead to increases in disease prevalence in marine organisms; it is therefore critical to understand how marine heatwaves impact immune system devel- opment. The purple sea urchin (Strongylocentrotus purpuratus) is an ecologically important, broadcast-spawning, omnivore that primarily inhabits kelp forests in the northeastern Pacific Ocean. The S. purpuratus life cycle in- cludes a relatively long-lived (~2 months) planktotrophic larval stage. Larvae have a well-characterized cellular immune system that is mediated, in part, by a subset of mesenchymal cells known as pigment cells. To assess the role of environmental temperature on the development of larval immune cells, embryos were generated from adult sea urchins conditioned at 14 C. Embryos were then cultured in either ambient (14 C) or elevated (18 C) seawater. Results indicate that larvae raised in an elevated temperature were slightly larger and had more pigment cells than those raised at ambient temperature. Further, the larval phenotypes varied significantly among genetic crosses, which highlights the importance of genotype in structuring how the immune system develops in the context of the environment. Overall, these results indicate that larvae are phenotypically plastic in modulating their immune cells and body length in response to adverse developmental conditionsmore » « less
-
Synopsis Marine mammals exhibit some of the most dramatic physiological adaptations in their clade and offer unparalleled insights into the mechanisms driving convergent evolution on relatively short time scales. Some of these adaptations, such as extreme tolerance to hypoxia and prolonged food deprivation, are uncommon among most terrestrial mammals and challenge established metabolic principles of supply and demand balance. Non-targeted omics studies are starting to uncover the genetic foundations of such adaptations, but tools for testing functional significance in these animals are currently lacking. Cellular modeling with primary cells represents a powerful approach for elucidating the molecular etiology of physiological adaptation, a critical step in accelerating genome-to-phenome studies in organisms in which transgenesis is impossible (e.g., large-bodied, long-lived, fully aquatic, federally protected species). Gene perturbation studies in primary cells can directly evaluate whether specific mutations, gene loss, or duplication confer functional advantages such as hypoxia or stress tolerance in marine mammals. Here, we summarize how genetic and pharmacological manipulation approaches in primary cells have advanced mechanistic investigations in other non-traditional mammalian species, and highlight the need for such investigations in marine mammals. We also provide key considerations for isolating, culturing, and conducting experiments with marine mammal cells under conditions that mimic in vivo states. We propose that primary cell culture is a critical tool for conducting functional mechanistic studies (e.g., gene knockdown, over-expression, or editing) that can provide the missing link between genome- and organismal-level understanding of physiological adaptations in marine mammals.more » « less
-
Synopsis Marine organisms have complex life histories. For broadcast spawners, successful continuation of the population requires their small gametes to make contact in the water column for sufficiently long periods for fertilization to occur. Anthropogenic climate change has been shown to impact fertilization success in various marine invertebrates, including sea urchins, which are key grazers in their habitats. Gamete performance of both sexes declined when exposed to elevated temperatures and/or pCO2 levels. Examples of reduced performance included slower sperm swimming speed and thinning egg jelly coat. However, such responses to climate change stress were not uniform between individuals. Such variations could serve as the basis for selection. Fertilization kinetics have long been modeled as a particle collision process. Here, we present a modified fertilization kinetics model that incorporates individual variations in performance in a more environmentally relevant regime, and which the performance of groups with different traits can be separately tracked in a mixture. Numerical simulations highlight that fertilization outcomes are influenced by changes in gamete traits as they age in sea water and the presence of competition groups (multiple dams or sires). These results highlight the importance of considering multiple individuals and at multiple time points during in vivo assays. We also applied our model to show that interspecific variation in climate stress vulnerabilities elevates the risk of hybridization. By making a numerical model open-source, we aim to help us better understand the fate of organisms in the face of climate change by enabling the community to consider the mean and variance of the response to capture adaptive potential.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1007/978-3-031-39504-8_22
