Asymmetric fin shape changes swimming dynamics of ancient marine reptiles' soft robophysical models.

Animals have evolved highly effective locomotion capabilities in terrestrial, aerial, and aquatic environments. Over life's history, mass extinctions have wiped out unique animal species with specialized adaptations, leaving paleontologists to reconstruct their locomotion through fossil analysis. Despite advancements, little is known about how extinct megafauna, such as the Ichthyosauria one of the most successful lineages of marine reptiles, utilized their varied morphologies for swimming. Traditional robotics struggle to mimic extinct locomotion effectively, but the emerging soft robotics field offers a promising alternative to overcome this challenge. This paper aims to bridge this gap by studyingMixosauruslocomotion with soft robotics, combining material modeling and biomechanics in physical experimental validation. Combining a soft body with soft pneumatic actuators, the soft robotic platform described in this study investigates the correlation between asymmetrical fins and buoyancy by recreating the pitch torque generated by extinct swimming animals. We performed a comparative analysis of thrust and torque generated byCarthorhyncus,Utatsusaurus,Mixosaurus,Guizhouichthyosaurus, andOphthalmosaurustail fins in a flow tank. Experimental results suggest that the pitch torque on the torso generated by hypocercal fin shapes such as found in model systems ofGuizhouichthyosaurus,MixosaurusandUtatsusaurusproduce distinct ventral body pitch effects able to mitigate the animal's non-neutral buoyancy. This body pitch control effect is particularly pronounced inGuizhouichthyosaurus, which results suggest would have been able to generate high ventral pitch torque on the torso to compensate for its positive buoyancy. By contrast, homocercal fin shapes may not have been conducive for such buoyancy compensation, leaving torso pitch control to pectoral fins, for example. Across the range of the actuation frequencies of the caudal fins tested, resulted in oscillatory modes arising, which in turn can affect the for-aft thrust generated.

Infection risk in cable cars and other enclosed spaces.

As virus-laden aerosols can accumulate and remain suspended for hours in insufficiently ventilated enclosed spaces, indoor environments can heavily contribute to the spreading of airborne infections. In the COVID-19 pandemics, the role possibly played by cable cars has attracted media attention following several outbreaks in ski resort. To assess the real risk of infection, we experimentally characterize the natural ventilation in cable cars and develop a general stochastic model of infection in an arbitrary indoor space that accounts for the epidemiological situation, the virological parameters, and the indoor characteristics (ventilation rate and occupant number density). As a results of the high air exchange rate (we measured up to 180 air changes per hour) and the relatively short duration of the journey, the infection probability in cable cars traveling with open windows is remarkably lower than in other enclosed spaces such as aircraft cabins, train cars, offices, classrooms, and dining rooms. Accounting for the typical duration of the stay, the probability of infection during a cable-car ride is lower by two to three orders of magnitude than in the other examples considered (the highest risk being estimated in case of a private gathering in a poorly ventilated room). For most practical purposes, the infection probability can be approximated by the inhaled viral dose, which provides an upper bound and allows a simple comparison between different indoor situations once the air exchange rate and the occupant number density are known. Our approach and findings are applicable to any indoor space in which the viral transmission is predominately airborne and the air is well mixed.

Undulatory Swimming Performance Explored With a Biorobotic Fish and Measured by Soft Sensors and Particle Image Velocimetry.

Due to the difficulty of manipulating muscle activation in live, freely swimming fish, a thorough examination of the body kinematics, propulsive performance, and muscle activity patterns in fish during undulatory swimming motion has not been conducted. We propose to use soft robotic model animals as experimental platforms to address biomechanics questions and acquire understanding into subcarangiform fish swimming behavior. We extend previous research on a bio-inspired soft robotic fish equipped with two pneumatic actuators and soft strain sensors to investigate swimming performance in undulation frequencies between 0.3 and 0.7 Hz and flow rates ranging from 0 to 20 c m s in a recirculating flow tank. We demonstrate the potential of eutectic gallium-indium (eGaIn) sensors to measure the lateral deflection of a robotic fish in real time, a controller that is able to keep a constant undulatory amplitude in varying flow conditions, as well as using Particle Image Velocimetry (PIV) to characterizing swimming performance across a range of flow speeds and give a qualitative measurement of thrust force exerted by the physical platform without the need of externally attached force sensors. A detailed wake structure was then analyzed with Dynamic Mode Decomposition (DMD) to highlight different wave modes present in the robot's swimming motion and provide insights into the efficiency of the robotic swimmer. In the future, we anticipate 3D-PIV with DMD serving as a global framework for comparing the performance of diverse bio-inspired swimming robots against a variety of swimming animals.