Search for: All records

A diversity of organisms live within underground environments. However, visualizing subterranean behavior is challenging because of the opacity of most substrates. We demonstrate that laser speckle imaging, a non-invasive technique resolving nanometer-scale movements, facilitates quantifying biological activity in a granular medium. We monitored fire ants (Solenopsis invicta) at different developmental stages, burial depths (1–5 cm) and moisture fractions (0 and 0.1 by volume) in a container of 0.7 mm glass particles. Although the speckle pattern from the backscattered light precludes direct imaging of animal kinematics, analysis of integrated image differences revealed that spiking during ant movement increased with the developmental phase. Greater burial depth and saturation resulted in fewer and lower magnitude spikes. We verified that spiking correlated with movement via quasi-2D experiments. This straightforward method, involving a laser and digital camera, can be applied to laboratory and potentially field situations to gain insight into subterranean organism activities. 

Skins with asymmetric kirigami scales and soft spikes are integrated to the surface of a base self‐burrowing robot, which consists of a soft one‐segment extending actuator. Friction anisotropy is observed at the interfaces between the burrowing robots and different granular materials. Its effects on the pulling resistance and burrowing characteristics are studied. The results demonstrate that the development of friction and friction anisotropy is affected by the characteristics of the granular material, the asymmetric skins, and the relative size of the asymmetric features to the granular particles. Robots with scales or spikes aligned along the upward direction burrow faster than those aligned against the upward direction, especially in relatively coarser granular materials. Particle image velocimetry analysis on the particle displacement fields around the actuator reveals the complexity of dry granular material interactions with soft robots, implying that aligned scales or spikes can impact the distribution of friction preferentially, opening up many possibilities for thoughtful material and geometry‐based manipulation of friction in the design and optimization of future soft burrowing robots for more versatile locomotion capabilities.