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Abstract Inspired by the ancient Japanese art of kirigami, slitted plastic sheets, termed kirigami springs, were designed, fabricated, and characterized, utilizing the quasi-mechanism behavior of various slit patterns. Quasi-static tension tests determined the spring stiffness, and experimental transient responses were analyzed to infer system damping. A system of two parallel-connected kirigami springs, attached to a mass oscillating on a smooth track, was modeled as a 1 DOF Helmholtz-Duffing oscillator with nonlinear damping. The system's free and forced responses were compared to experimental and numerical results using asymptotically valid solutions derived via the Method of Multiple Time Scales. This approach provides an unprecedented degree of programmability in the constitutive relations for nonlinear oscillators and is straightforward to implement. 

Advancing RTHS methods to readily handle multi-dimensional problems has great potential for enabling more advanced testing and synergistically using existing laboratory facilities that have the capacity for such experimentation. However, the high internal coupling between hydraulics actuators and the nonlinear kinematics escalates the complexity of actuator control and boundary condition tracking. To enable researchers in the RTHS community to develop and compare advanced control algorithms, this paper proposes a benchmark control problem for a multi-axial real-time hybrid simulation (maRTHS) and presents its definition and implementation on a steel frame excited by seismic loads at the base. The benchmark problem enables the development and validation of control techniques for tracking both translation and rotation degrees of freedom of a plant that consists of a steel frame, two hydraulic actuators, and a steel coupler with high stiffness that couples the axial displacements of the hydraulic actuators resulting in the required motion of the frame node. In this investigation, the different components of this benchmark were developed, tested, and a set of maRTHS were conducted to demonstrate its feasibility in order to provide a realistic virtual platform. To offer flexibility in the control design process, experimental data for identification purposes, finite element models for the reference structure, numerical, and physical substructure, and plant models with model uncertainties are provided. Also, a sample example of an RTHS design based on a linear quadratic Gaussian controller is included as part of a computational code package, which facilitates the exploration of the tradeoff between robustness and performance of tracking control designs. The goals of this benchmark are to: extend existing control or develop new control techniques; provide a computational tool for investigation of the challenging aspects of maRTHS; encourage a transition to multiple actuator RTHS scenarios; and make available a challenging problem for new researchers to investigate maRTHS approaches. We believe that this benchmark problem will encourage the advancing of the next-generation of controllers for more realistic RTHS methods. 

Glowing fireflies dancing in the dark are one of the most enchanting sights of a warm summer night. Their light signals are ‘love messages’ that help the insects find a mate – yet, they also warn a potential predator that these beetles have powerful chemical defenses. The light comes from a specialized organ of the firefly where a small molecule, luciferin, is broken down by the enzyme luciferase. Fireflies are an ancient group, with the common ancestor of the two main lineages originating over 100 million years ago. But fireflies are not the only insects that produce light: certain click beetles are also bioluminescent. Fireflies and click beetles are closely related, and they both use identical luciferin and similar luciferases to create light. This would suggest that bioluminescence was already present in the common ancestor of the two families. However, the specialized organs in which the chemical reactions take place are entirely different, which would indicate that the ability to produce light arose independently in each group. Here, Fallon, Lower et al. try to resolve this discrepancy and to find out how many times bioluminescence evolved in beetles. This required using cutting-edge DNA sequencing to carefully piece together the genomes of two species of fireflies (Photinus pyralis and Aquatica lateralis) and one species of click beetle (Ignelater luminosus). The genetic analysis revealed that, in all species, the genes for luciferases were very similar to the genetic sequences around them, which code for proteins that break down fat. This indicates that the ancestral luciferase arose from one of these metabolic genes getting duplicated, and then one of the copies evolving a new role. However, the genes for luciferase were very different between the fireflies and the click beetles. Further analyses suggested that bioluminescence evolved at least twice: once in an ancestor of fireflies, and once in the ancestor of the bioluminescent click beetles. More results came from the reconstituted genomes. For example, Fallon, Lower et al. identified the genes ‘turned on’ in the bioluminescent organ of the fireflies. This made it possible to list genes that may be involved in creating luciferin, and enable flies to grow brightly for long periods. In addition, the genetic information yielded sequences from bacteria that likely live inside firefly cells, and which may participate in the light-making process or the production of potent chemical defenses. Better genetic knowledge of beetle bioluminescence could bring new advances for both insects and humans. It may help researchers find and design better light-emitting molecules useful to track and quantify proteins of interest in a cell. Ultimately, it would allow a detailed understanding of firefly populations around the world, which could contribute to firefly ecotourism and help to protect these glowing insects from increasing environmental threats.