Mobile millimeter and centimeter scale robots often use smart composite manufacturing (SCM) for the construction of body components and mechanisms. The fabrication of SCM mechanisms requires laser machining and laminating flexible, adhesive, and structural materials into small-scale hinges, transmissions, and, ultimately, wings or legs. However, a fundamental limitation of SCM components is the plastic deformation and failure of flexures. In this work, we demonstrate that encasing SCM components in a soft silicone mold dramatically improves the durability of SCM flexure hinges and provides robustness to SCM components. We demonstrate this advance in the design of a flapping-wing robot that uses an underactuated compliant transmission fabricated with an inner SCM skeleton and exterior silicone mold. The transmission design is optimized to achieve desired wingstroke requirements and to allow for independent motion of each wing. We validate these design choices in bench-top tests, measuring transmission compliance, kinematics, and fatigue. We integrate the transmission with laminate wings and two types of actuation, demonstrating elastic energy exchange and limited lift-off capabilities. Lastly, we tested collision mitigation through flapping-wing experiments that obstructed the motion of a wing. These experiments demonstrate that an underactuated compliant transmission can provide resilience and robustness to flapping-wing robots.
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Flexible hybrid electronics (FHE) is emerging as a promising solution to combine the benefits of printed electronics and silicon technology. FHE has many high-impact potential areas, such as wearable applications, health monitoring, and soft robotics, due to its physical advantages, which include light weight, low cost and the ability conform to different shapes. However, physical deformations in the field can lead to significant testing and validation challenges. For example, designers must ensure that FHE devices continue to meet their specs even when the components experience stress due to bending. Hence, physical deformation, which is hard to emulate, has to be part of the test procedures for FHE devices. This paper is the first to analyze stress experience at different parts of FHE devices under different bending conditions. We develop a novel methodology to maximize the test coverage with minimum number of text vectors with the help of a mixed integer linear programming formulation. We validate the proposed approach using an FHE prototype and COMSOL Multiphysics simulations.more » « less
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Abstract Aim Revealing the role of regional species pool size in community assembly rules is essential for extending the species‐pool framework to large‐scale community ecology, and thus for more comprehensive understanding of biodiversity formation. However, little has been done to couple the regional species‐pool effect into local ecological processes in soil fungal communities, which play essential roles in ecosystems worldwide. Here, we performed large‐scale soil surveys of fungal communities to examine the linkage between regional species pool size and
D ispersal–S electionR elationships (DSRs), and their relations to community structure.Location China.
Time period July–August 2019.
Major taxa studied Fungal communities.
Methods By conducting the nationwide soil survey of ~1200 samples from various ecosystems across China, including agricultural, forest, grassland, and wetland soils, we examined the linkage between regional species pool size and DSRs, and their relationship to fungal community structure.
Results We found that selection was negatively related to dispersal, which was consistent with the general view that the strength of selection is weakened by dispersal homogenization, and that this relationship was stronger in regions with larger species pools. Moreover, an increase in community dispersion was correlated with stronger effect size of DSRs, implying greater heterogeneity among fungal communities under larger species pools.
Main conclusions Our study clearly illustrates the association of regional species pool size with local assembly rules and community formation of soil fungi across terrestrial ecosystems.
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Abstract Aim Soil‐borne pathogens severely affect crop production, but the present distribution of agricultural soil‐borne pathogens and their response to global changes are unexplored at large spatial scales. Here, we examine the nationwide‐scale distribution patterns, dominant taxa and environmental drivers of fungal soil‐borne pathogens, and their response to warming, nutrient enrichment and their interaction.
Location China.
Time period July and August 2019.
Major taxa studied Fungal plant pathogens.
Methods Through nationwide field surveys of 711 top‐ and subsoil samples in 51 cropland locations, we investigated the distribution patterns, environmental drivers and dominant taxa of fungal plant pathogens. We then conducted a mesocosm experiment with soils collected at 40 survey locations to evaluate the response patterns of fungal pathogens to global changes, including warming, nutrient enrichment and their interaction.
Results We observed that the abundance and richness of potential soil‐borne pathogens were higher in the topsoil than in the subsoil. Mean annual temperature and mean annual precipitation as the main drivers had a stronger effect on the abundance, richness and community of pathogens in the topsoil than subsoil. Two phylotypes, belonging to genus
Fusarium , were the dominant soil‐borne pathogens accounting for approximately one third of total abundance, and their abundances (e.g. relative and absolute abundance via quantitative polymerase chain reaction) were negatively correlated with precipitation and temperature. The mesocosm experiment simulating global changes further revealed that the abundance and richness distributions of soil pathogens predicted the direction of their response to global changes, with a positive response in pathogen‐poor soil and negative in pathogen‐rich soil. We further constructed spatial atlases of the dominant soil‐borne pathogens and their responses to global changes in agricultural fields.Main conclusions Our findings suggest that the current distribution of potential soil‐borne pathogens is regulated by climate, which could affect their future dynamics and is vital to agricultural practices for pathogen control and crop production.
