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This demo will showcase updates made to the ‘robot-ready spoken dialogue system’ built on the Retico framework. Updates include new modules, logging and real-time monitoring tools, integrations with the Coppelia Sim virtual robot platfrom, integrations with a benchmark, improved documentation, and pypi environment usage. 

ABSTRACT Multiarticular muscle systems are widespread across vertebrates, including in their necks, digits, tails and trunks. In secondarily limbless tetrapods, the multiarticular trunk muscles power nearly all behaviors. Using snakes as a study system, we previously used anatomical measurements and mathematical modeling to derive an equation relating multiarticular trunk muscle shortening to postural change. However, some snake trunk muscles have long, thin tendinous connections, raising the possibility of elastic energy storage, which could lead to a decoupling of muscle length change from joint angle change. The next step, therefore, is to determine whether in vivo muscle shortening produces the postural changes predicted by mathematical modeling. A departure from predictions would implicate elastic energy storage. To test the relationship between muscle strain and posture in vivo, we implanted radio-opaque metal beads in three muscles of interest in four corn snakes (Pantherophis guttatus), then recorded X-ray videos to directly measure muscle shortening and vertebral column curvature during locomotion. Our in vivo results produced evidence that elastic energy storage does not play a substantial role in corn snake lateral undulation or tunnel concertina locomotion. The ability to predict muscle shortening directly from observed posture will facilitate future work. Moreover, the generality of our equation, which uses anatomical values that can be measured in many types of animals, means that our framework for understanding multiarticular muscle function can be applied in numerous study systems to provide a stronger mechanistic understanding of organismal function. 

Abstract The majority of low-mass ( ${\log }_{10}{M}_{*}/M_{\odot }=9–10$) galaxies at high redshift (z > 1) appear elongated in projection. We use JWST-CEERS observations to explore the role of gravitational lensing in this puzzle. The typical galaxy–galaxy lensing shearγ ∼ 1% is too low to explain the predominance of elongated early galaxies with an ellipticitye ≈ 0.6. However, nonparametric quantile regression with Bayesian Additive Regression Trees (or BART) reveals hints of an excess of tangentially aligned source–lens pairs withγ > 10%. On larger scales, we also find evidence for weak-lensing shear. We rule out the null hypothesis of randomly oriented galaxies at ≳99% significance in multiple NIRCam chips, modules, and pointings. The number of such regions is small and attributable to chance, but coherent alignment patterns suggest otherwise. On the chip scale, the average complex ellipticity 〈e〉 ∼ 10% is nonnegligible and beyond the level of our point-spread function (PSF) uncertainties. The shear variance $〈{\overline{\gamma }}^2〉\sim 10^{-3}$is an order of magnitude above the conventional weak-lensing regime but is more sensitive to PSF systematics, intrinsic alignments, cosmic variance, and other biases. Taking it as an upper limit, the maximum implied “cosmic shear” is only a few percent and cannot explain the elongated shapes of early galaxies. The alignments themselves may arise from lensing by a protocluster or filament atz ∼ 0.75 where we find an overabundance of massive lens galaxies. We recommend a weak-lensing search for overdensities in “blank” deep fields with the James Webb Space Telescope and the Roman Space Telescope. 

Molecules undergo a structural change to minimize the energy of excited states generated via external stimuli such as light. This is particularly problematic for Cu(I) coordination complexes which are an intriguing alternative to the rare and expensive transition metal containing complexes (e.g., Pt, Ir, Ru, etc.) but suffer from short excited state lifetimes due to D2d to D2 distortion and solvent coordination. Here we investigate strategic surface binding as an approach to hinder this distortion and increase the excited state lifetime of Cu(I) polypyridyl complexes. Using transient absorption spectroscopy, we observe a more than 20-fold increase in excited state lifetime, relative to solution, for a Cu(I) complex that can coordinate to the ZrO2 via both carboxylated ligands. In contrast, the Cu(I) complex that coordinates via only one ligand has a less pronounced enhancement upon surface binding and exhibits greater sensitivity to coordinating solvents. A combination of ATR-IR and polarized visible ATR measurements as well as theoretical calculations suggest that the increased lifetime is due to surface binding which decreases the degrees of freedom for molecular distortion (e.g., D2d to D2), with the doubly bound complex exhibiting the most pronounced enhancement. 

ABSTRACT Escape responses are vital for the survival of prey. The high speeds and accelerations needed to evade predators successfully require exerting forces on the environment. Unlike water, terrestrial habitats can vary in ways that constrain the forces applied, requiring animals to adjust their behavior in response to variable conditions. We evaluated the terrestrial jumping of an amphibious fish, the blackspotted rockskipper (Entomacrodus striatus), to determine if substrate roughness and wetness influence jumping performance. We predicted that rockskippers would produce a greater force output as substrate roughness increased and wetness decreased. Using a novel waterproof force plate capable of detecting millinewton loads, we collected ground reaction forces from rockskippers jumping on wet and dry sandpapers of varying grits. We also used micro‐CT scans to quantify muscle mass as a relative fraction of body mass to determine if these jumps could be performed without power amplification. Mixed‐model analysis of jumps revealed significantly higher maximum horizontal forces, jump duration, and maximum power on dry versus wet substrates, but no effect of substrate roughness. However, the final jump outcomes (takeoff speed and angle) were unaffected. Peak jump power was within the range of typical fish muscle. Thus, these fish display a jumping behavior which is robust to substrate property variation. 

Topological materials are of great interest because they can support metallic edge or surface states that are robust against perturbations, with the potential for technological applications. Here, we experimentally explore the light-induced non-equilibrium properties of two distinct topological phases in NaCd4As3: a topological crystalline insulator (TCI) phase and a topological insulator (TI) phase. This material has surface states that are protected by mirror symmetry in the TCI phase at room temperature, while it undergoes a structural phase transition to a TI phase below 200 K. After exciting the TI phase by an ultrafast laser pulse, we observe a leading band edge shift of >150 meV that slowly builds up and reaches a maximum after ∼0.6 ps and that persists for ∼8 ps. The slow rise time of the excited electron population and electron temperature suggests that the electronic and structural orders are strongly coupled in this TI phase. It also suggests that the directly excited electronic states and the probed electronic states are weakly coupled. Both couplings are likely due to a partial relaxation of the lattice distortion, which is known to be associated with the TI phase. In contrast, no distinct excited state is observed in the TCI phase immediately or after photoexcitation, which we attribute to the low density of states and phase space available near the Fermi level. Our results show how ultrafast laser excitation can reveal the distinct excited states and interactions in phase-rich topological materials. 

Mesoscale eddies cause deviations from the background physical and biogeochemical states of the oligotrophic oceans, but how these perturbations manifest in microbial ecosystem functioning, such as community macromolecular composition or carbon export, remains poorly characterized. We present comparative lipidomes from communities entrained in two eddies of opposite polarities (cyclone–anticyclone) in the North Pacific Subtropical Gyre (NPSG). A previous work on this two-eddy system has shown differences in particulate inorganic carbon (PIC) and biogenic silica sinking fluxes between the two eddies despite comparable total organic carbon fluxes. We measured the striking differences between the lipidomes of suspended and sinking particles that indicate taxon-specific responses to mesoscale perturbations. Specifically, cyanobacteria did not appear to respond to increased concentrations of phosphorus in the subsurface of the cyclonic eddy, while eukaryotic microbes exhibit P-stress relief as reflected in their lipid signatures. Furthermore, we found that two classes of lipids drive differences between suspended and sinking material: sinking particles are comparatively enriched in phosphatidylcholine (PC, a membrane-associated lipid) and triacylglycerol (TAG, an energy storage lipid). We observed significantly greater export of TAGs from the cyclonic eddy as compared to the anticyclone and found that this flux is strongly correlated with the concentration of ballast minerals (PIC and biogenic silica). This increased export of TAGs from the cyclone, but not the anticyclone, suggests that cyclonic eddy perturbations may be a mechanism for the delivery of energy-rich organic material below the euphotic zone. 

Abstract Organismal solutions to natural challenges can spark creative engineering applications. However, most engineers are not experts in organismal biology, creating a potential barrier to maximally effective bioinspired design. In this review, we aim to reduce that barrier with respect to a group of organisms that hold particular promise for a variety of applications: snakes. Representing >10% of tetrapod vertebrates, snakes inhabit nearly every imaginable terrestrial environment, moving with ease under many conditions that would thwart other animals. To do so, they employ over a dozen different types of locomotion (perhaps well over). Lacking limbs, they have evolved axial musculoskeletal features that enable their vast functional diversity, which can vary across species. Different species also have various skin features that provide numerous functional benefits, including frictional anisotropy or isotropy (as their locomotor habits demand), waterproofing, dirt shedding, antimicrobial properties, structural colors, and wear resistance. Snakes clearly have much to offer to the fields of robotics and materials science. We aim for this review to increase knowledge of snake functional diversity by facilitating access to the relevant literature.