Search for: All records

Soft actuators are a new generation of robotic actuators designed for safer and more adaptable physical human-robot interaction, that can be triggered by various stimulating mechanisms, including pneumatic, electric, electromagnetic, light, magnetic, and thermal sources. Among the different types of soft actuators, thermoresponsive ones that utilize heat as the stimulus show great potential due to their ability to deliver a relatively high force-to-size ratio without the need for external air pumps, tethers, high voltage sources, or complex designs. However, a major drawback of such actuators is their limited bandwidth. Traditional methods rely on Joule heating for actuation, with the actuator deflating when the heat source is turned off and ambient temperature takes over. Recently, the Peltier mechanism has been introduced as an alternative approach for active heating and cooling. This research paper presents a comparative analysis of the Peltier and flexible heater mechanisms in terms of the bandwidth and energy consumption of phase-change thermo-active soft actuators. The study aims to assess the potential of Peltier-based actuation in addressing the bandwidth limitations observed in traditional soft actuators. The findings reveal that Peltier-based actuation can significantly improve actuation speed in thermoresponsive soft actuators. However, it is important to note that the performance of Peltier-based actuators decreases after a few cycles unless additional measures, such as the use of an external fan, are implemented. This increase in performance comes at the cost of higher energy consumption, which should be carefully considered in practical applications. 

Abstract The evolution of modern academic practices, analogous to the evolution of biological systems, reflects the influence of both contingency and determinism. From a theoretical perspective, how then could academic practices differ from those that were inherited? Would any alternative outcomes be more just, equitable, diverse, or inclusive? Here we present 14 alternative academic practices that might be attained upon replaying the tape of academia and evaluate their benefits and drawbacks. Oriented primarily around the physical sciences within the United States, these alternative practices reconsider common activities within the broad categories of the graduate student experience, faculty careers, evaluation methods, peer review and publication, and conference norms. Consideration of these alternative practices can guide within‐system change and large‐scale restructuring of academia to address the myriad challenges facing researchers and students. Conversely, alternative practices may introduce new issues or exacerbate existing problems. These alternative practices are meant to be imaginative, not prescriptive, and we hope their underlying ideas spur reflection and conversation on the existing practices embedded within academic culture. Readers are encouraged to complete a brief survey regarding their impressions of the alternative practices, available at the following link:rebrand.ly/AlternativePractices2024. 

Forests are integral to the global land carbon sink, which has sequestered ~30% of anthropogenic carbon emissions over recent decades. The persistence of this sink depends on the balance of positive drivers that increase ecosystem carbon storage—e.g., CO₂fertilization—and negative drivers that decrease it—e.g., intensifying disturbances. The net response of forest productivity to these drivers is uncertain due to the challenge of separating their effects from background disturbance–regrowth dynamics. We fit non-linear models to US forest inventory data (113,806 plot remeasurements in non-plantation forests from ~1999 to 2020) to quantify productivity trends while accounting for stand age, tree mortality, and harvest. Productivity trends were generally positive in the eastern United States, where climate change has been mild, and negative in the western United States, where climate change has been more severe. Productivity declines in the western United States cannot be explained by increased mortality or harvest; these declines likely reflect adverse climate-change impacts on tree growth. In the eastern United States, where data were available to partition biomass change into age-dependent and age-independent components, forest maturation and increasing productivity (likely due, at least in part, to CO₂fertilization) contributed roughly equally to biomass carbon sinks. Thus, adverse effects of climate change appear to overwhelm any positive drivers in the water-limited forests of the western United States, whereas forest maturation and positive responses to age-independent drivers contribute to eastern US carbon sinks. The future land carbon balance of forests will likely depend on the geographic extent of drought and heat stress. 

Abstract The field of soft actuation methods in robotics is rapidly advancing and holds promise for physical interactions between humans and robots due to the adaptability of materials and compliant structures. Among these methods, thermally-responsive soft actuators are particularly unique, ensuring portability as they do not require stationary pumps, or high voltage sources, or remote magnetic field. However, since working principles of these actuators are based on Joule heating, the systems are inefficient and dramatically slow, especially due to their passive cooling process. This paper proposes using the Peltier effect as a reversible heating/cooling mechanism for thermo-active soft actuators to enable faster deformations, more efficient heat transfer, and active cooling. The proposed actuator is composed of a thin elastic membrane filled with phase-change fluid that can vaporize when heated to produce large deformations. This membrane is placed in a braided mesh to create a McKibben muscle that can lift 5 N after 60 s of heating, and is further formed into a gripper capable of manipulating objects within the environment. The effectiveness of the proposed actuator is demonstrated, and its potential applications in various fields are discussed. 

Abstract When plants die, neighbours escape competition. Living conspecifics could disproportionately benefit because they are freed from negative intraspecific processes; however, if the negative effects of past conspecific neighbours persist, other species might be advantaged, and diversity might be maintained through legacy effects. We examined legacy effects in a mapped forest by modelling the survival of 37,212 trees of 23 species using four neighbourhood properties: living conspecific, living heterospecific, legacy conspecific (dead conspecifics) and legacy heterospecific densities. Legacy conspecific effects proved nearly four times stronger than living conspecific effects; changes in annual survival associated with legacy conspecific density were 1.5% greater than living conspecific effects. Over 90% of species were negatively impacted by legacy conspecific density, compared to 47% by living conspecific density. Our results emphasize that legacies of trees alter community dynamics, revealing that prior research may have underestimated the strength of density dependent interactions by not considering legacy effects.