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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. 

Fluorescence microscopy is one of the most indispensable and informative driving forces for biological research, but the extent of observable biological phenomena is essentially determined by the content and quality of the acquired images. To address the different noise sources that can degrade these images, we introduce an algorithm for multiscale image restoration through optimally sparse representation (MIRO). MIRO is a deterministic framework that models the acquisition process and uses pixelwise noise correction to improve image quality. Our study demonstrates that this approach yields a remarkable restoration of the fluorescence signal for a wide range of microscopy systems, regardless of the detector used (e.g., electron-multiplying charge-coupled device, scientific complementary metal-oxide semiconductor, or photomultiplier tube). MIRO improves current imaging capabilities, enabling fast, low-light optical microscopy, accurate image analysis, and robust machine intelligence when integrated with deep neural networks. This expands the range of biological knowledge that can be obtained from fluorescence microscopy.