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Abstract Optical spectrometers are essential tools for analysing light‒matter interactions, but conventional spectrometers can be complicated and bulky. Recently, efforts have been made to develop miniaturized spectrometers. However, it is challenging to overcome the trade-off between miniaturizing size and retaining performance. Here, we present a complementary metal oxide semiconductor image sensor-based miniature computational spectrometer using a plasmonic nanoparticles-in-cavity microfilter array. Size-controlled silver nanoparticles are directly printed into cavity-length-varying Fabry‒Pérot microcavities, which leverage strong coupling between the localized surface plasmon resonance of the silver nanoparticles and the Fabry‒Pérot microcavity to regulate the transmission spectra and realize large-scale arrayed spectrum-disparate microfilters. Supported by a machine learning-based training process, the miniature computational spectrometer uses artificial intelligence and was demonstrated to measure visible-light spectra at subnanometre resolution. The high scalability of the technological approaches shown here may facilitate the development of high-performance miniature optical spectrometers for extensive applications. 

The capability of effectively moving on complex terrains such as sand and gravel can empower our robots to robustly operate in outdoor environments, and assist with critical tasks such as environment monitoring, search-and-rescue, and supply delivery. Inspired by the Mount Lyell salamander’s ability to curl its body into a loop and effectively roll across sand and gravel, in this study we develop a sand-rolling robot and investigate how its locomotion performance is governed by the shape of its body. We experimentally tested three different body shapes: Hexagon, Quadrilateral, and Triangle. We found that Hexagon and Triangle can achieve a faster rolling speed on sand, but also exhibited more frequent failures of getting stuck in sand. Analysis of the interaction between robot and sand revealed the failure mechanism: the deformation of the sand produced a local “sand incline” underneath robot contact segments, increasing the effective region of supporting polygon (ERSP) and preventing the robot from shifting its center of mass (CoM) outside the ERSP to produce sustainable rolling. Based on this mechanism, a highly-simplified model successfully captured the critical body pitch for each rolling shape to produce sustained rolling on sand, and informed design adaptations that mitigated the locomotion failures and improved robot speed by more than 200%. Our results provide insights into how locomotors can utilize different morphological features to achieve robust rolling motion across deformable substrates.