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1. Synthetic Muscle Electroactive Polymer (EAP) pressure sensing and controlled shape-morphing for robotic grippers

   https://doi.org/10.1117/12.2583295  

   Briggs, Calum; Cheng, Tianyu; Meredith, Margot; Vicars, Peter N.; Rasmussen, Lenore; Zhong, Alexander (March 2021, Proc. SPIE 11587, Electroactive Polymer Actuators and Devices (EAPAD) XXIII,)

   Madden, John D.; Anderson, Iain A.; Shea, Herbert R. (Ed.)

   Ras Labs makes Synthetic Muscle™, which is a class of electroactive polymer (EAP) based materials and actuators that sense pressure (gentle touch to high impact), controllably contract and expand at low voltage (1.5 V to 50 V, including use of batteries), and attenuate force. We are in the robotics era, but robots do have their challenges. Currently, robotic sensing is mainly visual, which is useful up until the point of contact. To understand how an object is being gripped, tactile feedback is needed. For handling fragile objects, if the grip is too tight, breakage occurs, and if the grip is too loose, the object will slip out of the grasp, also leading to breakage. Rigid robotic grippers using a visual feedback loop can struggle to determine the exact point and quality of contact. Robotic grippers can also get a stuttering effect in the visual feedback loop. By using soft Synthetic Muscle™ based EAP pads as the sensors, immediate feedback was generated at the first point of contact. Because these pads provided a soft, compliant interface, the first point of contact did not apply excessive force, allowing the force applied to the object to be controlled. The EAP sensor could also detect a change in pressure location on its surface, making it possible to detect and prevent slippage by then adjusting the grip strength. In other words, directional glide provided feedback for the presence of possible slippage to then be able to control a slightly tighter grip, without stutter, due to both the feedback and the soft gentleness of the fingertip-like EAP pads themselves. The soft nature of the EAP fingertip pad also naturally held the gripped object, improving the gripping quality over rigid grippers without an increase in applied force. Analogous to finger-like tactile touch, the EAPs with appropriate coatings and electronics were positioned as pressure sensors in the fingertip or end effector regions of robotic grippers. This development of using Synthetic Muscle™ based EAPs as soft sensors provided for sensors that feel like the pads of human fingertips. Basic pressure position and magnitude tests have been successful, with pressure sensitivity down to 0.05 N. Most automation and robots are very strong, very fast, and usually need to be partitioned away from humans for safety reasons. For many repetitive tasks that humans do with delicate or fragile objects, it would be beneficial to use robotics; whether it is for agriculture, medical surgery, therapeutic or personal care, or in extreme environments where humans cannot enter, including with contagions that have no cure. Synthetic Muscle™ was also retrofitted as actuator systems into off-the-shelf robotic grippers and is being considered in novel biomimetic gripper designs, operating at low voltages (less than 50 V). This offers biomimetic movement by contracting like human muscles, but also exceeds natural biological capabilities by expanding under reversed electric polarity. Human grasp is gentle yet firm, with tactile touch feedback. In conjunction with shape-morphing abilities, these EAPs also are being explored to intrinsically sense pressure due to the correlation between mechanical force applied to the EAP and its electronic signature. The robotic field is experiencing phenomenal growth in this fourth phase of the industrial revolution, the robotics era. The combination of Ras Labs’ EAP shape-morphing and sensing features promises the potential for robotic grippers with human hand-like control and tactile sensing. This work is expected to advance both robotics and prosthetics, particularly for collaborative robotics to allow humans and robots to intuitively work safely and effectively together. 

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2. Convergent developmental patterns underlie the repeated evolution of adhesive toe pads among lizards

   https://doi.org/10.1093/biolinnean/blab164  

   Griffing, Aaron H; Gamble, Tony; Cohn, Martin J; Sanger, Thomas J (January 2022, Biological Journal of the Linnean Society)

   Abstract How developmental modifications produce key innovations, which subsequently allow for rapid diversification of a clade into new adaptive zones, has received much attention. However, few studies have used a robust comparative framework to investigate the influence of evolutionary and developmental constraints on the origin of key innovations, such as the adhesive toe pad of lizards. Adhesive toe pads evolved independently at least 16 times in lizards, allowing us to examine whether the patterns observed are general evolutionary phenomena or unique, lineage-specific events. We performed a high-resolution comparison of plantar scale development in 14 lizard species in Anolis and geckos, encompassing five independent origins of toe pads (one in Anolis, four in geckos). Despite substantial evolutionary divergence between Anolis and geckos, we find that these clades have undergone similar developmental modifications to generate their adhesive toe pads. Relative to the ancestral plantar scale development, in which scale ridges form synchronously along the digit, both padded geckos and Anolis exhibit scansor formation in a distal-to-proximal direction. Both clades have undergone developmental repatterning and, following their origin, modifications in toe pad morphology occurred through relatively minor developmental modifications, suggesting that developmental constraints governed the diversification of the adhesive toe pad in lizards. 

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3. Species delimitation with limited sampling: An example from rare trapdoor spider genus Cyclocosmia (Mygalomorphae, Halonoproctidae)

   https://doi.org/10.1111/1755-0998.13894  

   Opatova, Vera; Bourguignon, Kellie; Bond, Jason E. (November 2023, Molecular Ecology Resources)

   Abstract The outcome of species delimitation depends on many factors, including conceptual framework, study design, data availability, methodology employed and subjective decision making. Obtaining sufficient taxon sampling in endangered or rare taxa might be difficult, particularly when non‐lethal tissue collection cannot be utilized. The need to avoid overexploitation of the natural populations may thus limit methodological framework available for downstream data analyses and bias the results. We test species boundaries in rare North American trapdoor spider genusCyclocosmiaAusserer (1871) inhabiting the Southern Coastal Plain biodiversity hotspot with the use of genomic data and two multispecies coalescent model methods. We evaluate the performance of each methodology within a limited sampling framework.To mitigate the risk of species over splitting, common in taxa with highly structured populations, we subsequently implement a species validation step via genealogical diversification index (gdi), which accounts for both genetic isolation and gene flow. We delimited eight geographically restricted lineages within sampled North AmericanCyclocosmia,suggesting that major river drainages in the region are likely barriers to dispersal. Our results suggest that utilizing BPP in the species discovery step might be a good option for datasets comprising hundreds of loci, but fewer individuals, which may be a common scenario for rare taxa. However, we also show that such results should be validated viagdi, in order to avoid over splitting. 

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4. Extraordinary grip strength and specialized myology in the hyper‐derived hand of Perodicticus potto ?

   https://doi.org/10.1111/joa.13051  

   Boettcher, Marissa L; Leonard, Kaitlyn C; Dickinson, Edwin; Herrel, Anthony; Hartstone‐Rose, Adam (November 2019, Journal of Anatomy)

   Abstract Previous behavioral reports of the African lorisid,Perodicticus potto, have speculated that these animals have an extraordinary grip strength. This ability is hypothesized to be facilitated by a range of anatomical features within the forelimb, ranging from the presence of a retia mirabilia in its wrist to the hyper‐abduction of its pollex. Despite numerous behavioral reports, however, this claim of extraordinary grip strength has not been empirically substantiated. This study quantifies the physiological cross‐sectional area of the digital flexor muscles withinP. potto. These data are compared with a broad primate sample, including several similarly sized strepsirrhines. Contrary to expectation, we found thatP. pottoactually has relativelybelow‐average digital flexorPCSA. However, we identified other myological characteristics in the upper limb ofP. pottothat were unexpected, including the largest brachioradialis muscle (an elbow flexor) among our primate sample, and – despiteP. pottohaving only a vestigial second digit – an independent digital extensor indicis that is absent in almost a quarter of our primate sample. 

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5. A database of in situ water temperatures for large inland lakes across the coterminous United States

   https://doi.org/10.1038/s41597-024-03103-8  

   Sorensen, Troy; Espey, Eamon; Kelley, John_G W; Kessler, James; Gronewold, Andrew D (December 2024, Scientific Data)

   Abstract Water temperature dynamics in large inland lakes are interrelated with internal lake physics, ecosystem function, and adjacent land surface meteorology and climatology. Models for simulating and forecasting lake temperatures often rely on remote sensing andin situdata for validation.In situmonitoring platforms have the benefit of providing relatively precise measurements at multiple lake depths, but are often sparser (temporally and spatially) than remote sensing data. Here, we address the challenge of synthesizingin situlake temperature data by creating a standardized database of near-surface and subsurface measurements from 134 sites across 29 large North American lakes, with the primary goal of supporting an ongoing lake model validation study. We utilize data sources ranging from federal agency repositories to local monitoring group samples, with a collective historical record spanning January 1, 2000 through December 31, 2022. Our database has direct utility for validating simulations and forecasts from operational numerical weather prediction systems in large lakes whose extensive surface area may significantly influence nearby weather and climate patterns. 

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