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Abstract Crawling insects, when starved, tend to have fewer head wavings and travel in straighter tracks in search of food. We used theDrosophila melanogasterlarva to investigate whether this flexibility in the insect’s navigation strategy arises during early olfactory processing and, if so, how. We demonstrate a critical role for Keystone-LN, an inhibitory local neuron in the antennal lobe, in implementing head-sweep behavior. Keystone-LN responds to odor stimuli, and its inhibitory output is required for a larva to successfully navigate attractive and aversive odor gradients. We show that insulin signaling in Keystone-LN likely mediates the starvation-dependent changes in head-sweep magnitude, shaping the larva’s odor-guided movement. Our findings demonstrate how flexibility in an insect’s navigation strategy can arise from context-dependent modulation of inhibitory neurons in an early sensory processing center. They raise new questions about modulating a circuit’s inhibitory output to implement changes in a goal-directed movement. 

The locomotion of snakes is unique as it allows snakes to efficiently navigate complex and uneven terrains without articulated limbs. This movement pattern is attractive in the field of robotics exactly for its hyper redundancy, versatility, and lack of requirement for relatively complex locomotive systems. Snake-like robots that imitate these movement patterns are uniquely suited for use in extreme and hostile environments like deep sea exploration and outer space. Controlling robots in environments like these requires lots of training and intense concentration during operation. Voice User Interfaces (VUIs) can be used to bypass much of the need for this training and attention to operation by abstracting the direct control of a robotic system into the domain of speech. The design and implementation of a VUI demonstrating this idea is discussed here. The basic structure of a VUI is described and the implementation of a VUI in conjunction with a snake robot is shown. In experimentation the performance of the VUIs components were evaluated and the navigation of an obstacle course via the developed VUI and a remote controller were compared. The command recognition capability of the VUI was found to be 96% and the ability of the VUI to enable navigation of the obstacle course was found to be comparable considering the differences of the control formats. 

Cold spray additive manufacturing (CSAM) has gained significant attention for its rapid solid deposition capabilities. However, the presence of defects such as pores and voids limits its performance, particularly in electrochemical environments. In this study, a novel post-surface treatment, plasma electrolytic oxidation (PEO), was applied and investigated as a feasible solution to overcome these defects. Results demonstrated a successful PEO deposition on cold-sprayed 316L stainless steel (SS) due to the rapid formation and discharge of aluminate electrolytes along the surface. However, due to the severely strained and highly crystalline surface, the electric field that allows for the deposition of Al(OH)42 anions was reduced. As consequence, an uneven and rough deposition took place. Nonetheless, a successful Al2O3 film of 12.30 lm thickness was formed. Experimental tests were further conducted in simulated aqueous and biologicalbased solutions to test the electrochemical resistance of the deposit. Results reveal a noticeable enhancement in corrosion resistance for both solutions. This enhancement can be attributed to the ‘‘postponing’’ and ‘‘blocking’’ effect enabled by the Al2O3 film, which prevented the electrolyte solution from penetrating the CS surface. Collectively, these findings suggest that PEO is indeed a promising technique to mitigate the chemical degradation of CSAM’d 316L SS. 

While numerous studies have been conducted, developing a compliant robotic gripper capable of replicating human hand grasping and manipulation capabilities is still challenging. This paper presents the design, fabrication, and preliminary testing of an anthropomorphic soft robotic gripper driven by twisted string actuators (TSAs). Termed as STAR–2, it is a second generation TSA-driven soft gripper from the Smart Robotics Laboratory at the University of Nevada, Reno. The novel design facilitated a monolithic structure comprising of a 3-degrees-of-freedom (DOF) thumb and four fingers each with 2-DOFs. On account of using tendon-based actuation and the large footprint required for the thumb, the design employed meticulously planned tendon routing within the monolithic structure. Preliminary results showed STAR–2’s enhanced ability to demonstrate grasp taxonomies and dexterity over STAR–1. 

Currently soft robots primarily rely on pneumatics and geometrical asymmetry to achieve locomotion, which limits their working range, versatility, and other untethered functionalities. In this paper, we introduce a novel approach to achieve locomotion for soft robots through dynamically tunable friction to address these challenges, which is achieved by subsurface stiffness modulation (SSM) of a stimuli-responsive component within composite structures. To demonstrate this, we design and fabricate an elastomeric pad made of polydimethylsiloxane (PDMS), which is embedded with a spiral channel filled with a low melting point alloy (LMPA). Once the LMPA strip is melted upon Joule heating, the compliance of the composite structure increases and the friction between the composite surface and the opposing surface increases. A series of experiments and finite element analysis (FEA) have been performed to characterize the frictional behavior of these composite pads and elucidate the underlying physics dominating the tunable friction. We also demonstrate that when these composite structures are properly integrated into soft crawling robots inspired by inchworms and earthworms, the differences in friction of the two ends of these robots through SSM can potentially be used to generate translational locomotion for untethered crawling robots. 

Abstract 3D printing in the textile and fashion industry is a new emerging technology. Applications of 3D printing for designing clothes and other wearable accessories require tribological and biological understanding of 3D printing plastics against the complex human skin to mitigate skin-friction related ailments such as calluses and blisters. This study provides tribological insight in search of an optimal 3D printable material that has minimal friction against the skin. Two low friction 3D printable materials, thermoplastic polyurethane (TPU) and polyamide (TPA) were chosen and tribological testing was carried out against a water responsive skin model. The skin model was synthesized using a gelatine based model made with cotton and crosslinked with glutaraldehyde. Tribological testing of TPU/TPA against the skin model in dry and wet conditions were made. The higher coefficient of friction (COF) was observed in the wet condition compared to the dry condition. To overcome the higher friction, TPA/TPU-sodium polyacrylate composites were prepared by heat pressing that significantly reduced COF of TPU and TPA by ∼ 40% and 75%, respectively, in wet conditions. 

Specific features of visual objects innately draw approach responses in animals, and provide natural signals of potential reward. However, visual sampling behaviours and the detection of salient, rewarding stimuli are context and behavioural state-dependent and it remains unclear how visual perception and orienting responses change with specific expectations. To start to address this question, we employed a virtual stimulus orienting paradigm based on prey capture to quantify the conditional expression of visual stimulus-evoked innate approaches in freely moving mice. We found that specific combinations of stimulus features selectively evoked innate approach or freezing responses when stimuli were unexpected. We discovered that prey capture experience, and therefore the expectation of prey in the environment, selectively modified approach frequency, as well as altered those visual features that evoked approach. Thus, we found that mice exhibit robust and selective orienting responses to parameterized visual stimuli that can be robustly and specifically modified via natural experience. This work provides critical insight into how natural appetitive behaviours are driven by both specific features of visual motion and internal states that alter stimulus salience.