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The search for simple principles that underlie the spatial structure and dynamics of plant communities is a long-standing challenge in ecology. In particular, the relationship between species coexistence and the spatial distribution of plants is challenging to resolve in species-rich communities. Here we present a comprehensive analysis of the spatial patterns of 720 tree species in 21 large forest plots and their consequences for species coexistence. We show that species with low abundance tend to be more spatially aggregated than more abundant species. Moreover, there is a latitudinal gradient in the strength of this negative aggregation–abundance relationship that increases from tropical to temperate forests. We suggest, in line with recent work, that latitudinal gradients in animal seed dispersal and mycorrhizal associations may jointly generate this pattern. By integrating the observed spatial patterns into population models8, we derive the conditions under which species can invade from low abundance in terms of spatial patterns, demography, niche overlap and immigration. Evaluation of the spatial-invasion condition for the 720 tree species analysed suggests that temperate and tropical forests both meet the invasion criterion to a similar extent but through contrasting strategies conditioned by their spatial patterns. Our approach opens up new avenues for the integration of observed spatial patterns into ecological theory and underscores the need to understand the interaction among spatial patterns at the neighbourhood scale and multiple ecological processes in greater detail. 

A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first experiment investigates the need for rich tactile sensing in the rewards of RL-based grasp refinement algorithms for multi-fingered robotic hands. We systematically integrate different levels of tactile data into the rewards using analytic grasp stability metrics. We find that combining information on contact positions, normals, and forces in the reward yields the highest average success rates of 95.4% for cuboids, 93.1% for cylinders, and 62.3% for spheres across wrist position errors between 0 and 7 centimeters and rotational errors between 0 and 14 degrees. This contact-based reward outperforms a non-tactile binary-reward baseline by 42.9%. Our follow-up experiment shows that when training with tactile-enabled rewards, the use of tactile information in the control policy’s state vector is drastically reducible at only a slight performance decrease of at most 6.6% for no tactile sensing in the state. Since policies do not require access to the reward signal at test time, our work implies that models trained on tactile-enabled hands are deployable to robotic hands with a smaller sensor suite, potentially reducing cost dramatically. 

Populations of forest trees exhibit large temporal fluctuations, but little is known about the synchrony of these fluctuations across space, including their sign, magnitude, causes and characteristic scales. These have important implications for metapopulation persistence and theoretical community ecology. Using data from permanent forest plots spanning local, regional and global spatial scales, we measured spatial synchrony in tree population growth rates over sub-decadal and decadal timescales and explored the relationship of synchrony to geographical distance. Synchrony was high at local scales of less than 1 km, with estimated Pearson correlations of approximately 0.6–0.8 between species’ population growth rates across pairs of quadrats. Synchrony decayed by approximately 17–44% with each order of magnitude increase in distance but was still detectably positive at distances of 100 km and beyond. Dispersal cannot explain observed large-scale synchrony because typical seed dispersal distances (<100 m) are far too short to couple the dynamics of distant forests on decadal timescales. We attribute the observed synchrony in forest dynamics primarily to the effect of spatially synchronous environmental drivers (the Moran effect), in particular climate, although pests, pathogens and anthropogenic drivers may play a role for some species. 

The future trajectory of global forests is closely intertwined with tree demography, and a major fundamental goal in ecology is to understand the key mechanisms governing spatio‐temporal patterns in tree population dynamics. While previous research has made substantial progress in identifying the mechanisms individually, their relative importance among forests remains unclear mainly due to practical limitations. One approach to overcome these limitations is to group mechanisms according to their shared effects on the variability of tree vital rates and quantify patterns therein. We developed a conceptual and statistical framework (variance partitioning of Bayesian multilevel models) that attributes the variability in tree growth, mortality, and recruitment to variation in species, space, and time, and their interactions – categories we refer to asorganising principles(OPs). We applied the framework to data from 21 forest plots covering more than 2.9 million trees of approximately 6500 species. We found that differences among species, thespeciesOP, proved a major source of variability in tree vital rates, explaining 28–33% of demographic variance alone, and 14–17% in interaction withspace, totalling 40–43%. Our results support the hypothesis that the range of vital rates is similar across global forests. However, the average variability among species declined with species richness, indicating that diverse forests featured smaller interspecific differences in vital rates. Moreover, decomposing the variance in vital rates into the proposed OPs showed the importance of unexplained variability, which includes individual variation, in tree demography. A focus on how demographic variance is organized in forests can facilitate the construction of more targeted models with clearer expectations of which covariates might drive a vital rate. This study therefore highlights the most promising avenues for future research, both in terms of understanding the relative contributions of groups of mechanisms to forest demography and diversity, and for improving projections of forest ecosystems. 

Jamming is a phenomenon in which a collectionof compliant elements is encased in an airtight envelope, anda vacuum-induced pressure enhances frictional and kinematiccoupling, resulting in dramatic changes in stiffness. This paperintroduces the jamming of square cross-sectioned fibers, whichallow for tunable and programmable anisotropic stiffness. Atheoretical model captures the effect of major geometric designparameters on the direction-variant bending stiffness of theselong and slender jamming elements. The model is experimen-tally validated, and a 13-fold stiffening in one direction anda 22-fold stiffening in the orthogonal direction is achievedwith a single jamming element. The performance of a square-fiber-jamming continuum robot structure is demonstrated in asteering task, with an average reduction of 74% in the measuredinsertion force when unjammed, and a direction-variant 53%or 100% increase in the measured tip stiffness when jammed. 

Abstract Numerous studies have shown reduced performance in plants that are surrounded by neighbours of the same species^1,2, a phenomenon known as conspecific negative density dependence (CNDD)³. A long-held ecological hypothesis posits that CNDD is more pronounced in tropical than in temperate forests^4,5, which increases community stabilization, species coexistence and the diversity of local tree species^6,7. Previous analyses supporting such a latitudinal gradient in CNDD^8,9have suffered from methodological limitations related to the use of static data^10–12. Here we present a comprehensive assessment of latitudinal CNDD patterns using dynamic mortality data to estimate species-site-specific CNDD across 23 sites. Averaged across species, we found that stabilizing CNDD was present at all except one site, but that average stabilizing CNDD was not stronger toward the tropics. However, in tropical tree communities, rare and intermediate abundant species experienced stronger stabilizing CNDD than did common species. This pattern was absent in temperate forests, which suggests that CNDD influences species abundances more strongly in tropical forests than it does in temperate ones¹³. We also found that interspecific variation in CNDD, which might attenuate its stabilizing effect on species diversity^14,15, was high but not significantly different across latitudes. Although the consequences of these patterns for latitudinal diversity gradients are difficult to evaluate, we speculate that a more effective regulation of population abundances could translate into greater stabilization of tropical tree communities and thus contribute to the high local diversity of tropical forests. 

Flexures provide precise motion control without friction or wear. Variable impedance mechanisms enable adapt- able and robust interactions with the environment. This paper combines the advantages of both approaches through layer jamming. Thin sheets of complaint material are encased in an airtight envelope, and when connected to a vacuum, the bending stiffness and damping increase dramatically. Using layer jamming structures as flexure elements leads to mechan- ical systems that can actively vary stiffness and damping. This results in flexure mechanisms with the versatility to transition between degrees of freedom and degrees of constraint and to tune impact response. This approach is used to create a 2-DOF, jamming-based, tunable impedance robotic wrist that enables passive hybrid force/position control for contact tasks. 

Materials capable of dramatically changing their stiffness along specific directions in response to an external stimulus can enable the design of novel robots that can quickly switch between soft/highly–deformable and rigid/load–bearing states. While the jamming transition in discrete media has recently been demonstrated to be a powerful mechanism to achieve such variable stiffness, the lack of numerical tools capable of predicting the mechanical response of jammed media subjected to arbitrary loading conditions has limited the advancement of jamming-based robots. To overcome this limitation, we introduce a 3D finite–element-based numerical tool that predicts the mechanical response of pressurized, infinitely–extending discrete media subjected to arbitrary loading conditions. We demonstrate the capabilities of our numerical tool by investigating the response of periodic laminar and fibrous media subjected to various types of loadings. We expect this work to foster further numerical studies on jamming–based soft robots and structures by facilitating their design, as well as providing a foundation for combining various types of jamming media to create a new generation of tunable composites.