A Retrospective of Project Robo Raven: Developing New Capabilities for Enhancing the Performance of Flapping Wing Aerial Vehicles.

Flapping Wing Air Vehicles (FWAVs) have proven to be attractive alternatives to fixed wing and rotary air vehicles at low speeds because of their bio-inspired ability to hover and maneuver. However, in the past, they have not been able to reach their full potential due to limitations in wing control and payload capacity, which also has limited endurance. Many previous FWAVs used a single actuator that couples and synchronizes motions of the wings to flap both wings, resulting in only variable rate flapping control at a constant amplitude. Independent wing control is achieved using two servo actuators that enable wing motions for FWAVs by programming positions and velocities to achieve desired wing shapes and associated aerodynamic forces. However, having two actuators integrated into the flying platform significantly increases its weight and makes it more challenging to achieve flight than a single actuator. This article presents a retrospective overview of five different designs from the "Robo Raven" family based on our previously published work. The first FWAVs utilize two servo motors to achieve independent wing control. The basic platform is capable of successfully performing dives, flips, and button hook turns, which demonstrates the potential maneuverability afforded by the independently actuated and controlled wings. Subsequent designs in the Robo Raven family were able to use multifunctional wings to harvest solar energy to overcome limitations on endurance, use on-board decision-making capabilities to perform maneuvers autonomously, and use mixed-mode propulsion to increase payload capacity by exploiting the benefits of fixed and flapping wing flight. This article elucidates how each successive version of the Robo Raven platform built upon the findings from previous generations. The Robo Raven family collectively addresses requirements related to control autonomy, energy autonomy, and maneuverability. We conclude this article by identifying new opportunities for research in avian-scale flapping wing aerial vehicles.

Processing bulk natural wood into a high-performance structural material.

Synthetic structural materials with exceptional mechanical performance suffer from either large weight and adverse environmental impact (for example, steels and alloys) or complex manufacturing processes and thus high cost (for example, polymer-based and biomimetic composites). Natural wood is a low-cost and abundant material and has been used for millennia as a structural material for building and furniture construction. However, the mechanical performance of natural wood (its strength and toughness) is unsatisfactory for many advanced engineering structures and applications. Pre-treatment with steam, heat, ammonia or cold rolling followed by densification has led to the enhanced mechanical performance of natural wood. However, the existing methods result in incomplete densification and lack dimensional stability, particularly in response to humid environments, and wood treated in these ways can expand and weaken. Here we report a simple and effective strategy to transform bulk natural wood directly into a high-performance structural material with a more than tenfold increase in strength, toughness and ballistic resistance and with greater dimensional stability. Our two-step process involves the partial removal of lignin and hemicellulose from the natural wood via a boiling process in an aqueous mixture of NaOH and Na2SO3 followed by hot-pressing, leading to the total collapse of cell walls and the complete densification of the natural wood with highly aligned cellulose nanofibres. This strategy is shown to be universally effective for various species of wood. Our processed wood has a specific strength higher than that of most structural metals and alloys, making it a low-cost, high-performance, lightweight alternative.

Targeted Feature Recognition Using Mechanical Spatial Filtering with a Low-Cost Compliant Strain Sensor.

A tactile sensing architecture is presented for detection of surface features that have a particular target size, and the concept is demonstrated with a braille pattern. The approach is akin to an inverse of mechanical profilometry. The sensing structure is constructed by suspending a stretchable strain-sensing membrane over a cavity. The structure is moved over the surface, and a signal is generated through mechanical spatial filtering if a feature is small enough to penetrate into the cavity. This simple design is tailorable and can be realized by standard machining or 3D printing. Images of target features can be produced with even a low-cost compliant sensor. In this work a disposable elastomeric piezoresistive strain sensor was used over a cylindrical "finger" part with a groove having a width corresponding to the braille dot size. A model was developed to help understand the working principle and guide finger design, revealing amplification when the cavity matches the feature size. The new sensing concept has the advantages of being easily reconfigured for a variety of sensing problems and retrofitted to a wide range of robotic hands, as well as compatibility with many compliant sensor types.

Low-Cost Charged-Coupled Device (CCD) Based Detectors for Shiga Toxins Activity Analysis.

To improve food safety there is a need to develop simple, low-cost sensitive devices for detection of food-borne pathogens and their toxins. We describe a simple, low-cost webcam-based detector which can be used for various optical detection modalities, including fluorescence, chemiluminescence, densitometry, and colorimetric assays. The portable battery-operated CCD-based detection system consists of four modules: (1) a webcam to measure and record light emission, (2) a sample plate to perform assays, (3) a light emitting diode (LED) for illumination, and (4) a portable computer to acquire and analyze images. To demonstrate the technology, we used a cell based assay for fluorescence detection of the activity of the food borne Shiga toxin type 2 (Stx2), differentiating between biologically active toxin and inactive toxin which is not a risk. The assay is based on Shiga toxin inhibition of cell protein synthesis measured through inhibition of the green fluorescent protein (GFP). In this assay, GFP emits light at 509 nm when excited with a blue LED equipped with a filter at 486 nm. The emitted light is then detected with a green filter at 535 nm. Toxin activity is measured through a reduction in the 509 nm emission. In this system the level of detection (LOD) for Stx2 was 0.1 pg/ml, similar to the LOD of commercial fluorometers. These results demonstrate the utility and potential of low cost detectors for toxin activity. This approach could be readily adapted to the detection of other food-borne toxins.

Reversible metal-hydride phase transformation in epitaxial films.

Metal-hydride phase transformations in solids commonly proceed with hysteresis. The extrinsic component of hysteresis is the result of the dissipation of energy of internal stress due to plastic deformation and fracture. It can be mitigated on the nanoscale, where plastic deformation and fracture are suppressed and the transformation proceeds through formation and evolution of coherent phases. However, the phase coherency introduces intrinsic thermodynamic hysteresis, preventing reversible transformation. In this paper, it is shown that thermodynamic hysteresis of coherent metal-hydride transformation can be eliminated in epitaxial film due to substrate constraint. Film-substrate interaction leads to formation of heterophase polydomain nanostructure with variable phase fraction which can change reversibly by varying temperature in a closed system or chemical potential in an open system.

Formation of self-assembled nanoplates via hydrogenation of epitaxial Pd film.

Understanding the relationship between the uptake of hydrogen gas and hydride phase formation and evolution in metal solids is a phenomenon of significant technological importance due to current development of hydrogen storage devices, sensors, and membranes. The performance of these devices is degraded by structural defect formation during incoherent metal-hydride phase transformation. In this work, atomic force and scanning electron microscopy reveal formation of nanoplates along the ⟨111⟩ directions in a (111) epitaxial Pd film. These nanostructures are observed after high temperature and high pressure gas phase hydrogenation and cooling in ambient temperature. Transmission electron microsocpy (TEM) analysis of a posthydrogenated film did not show considerable plastic deformation. The size of the nanoplates increased with increasing Pd film thickness. A formation mechanism of nanoplates is proposed: cooling the sample reactor in ambient temperature after hydrogen loading induced formation of coherent or partially coherent ß-phase plates along {100} planes corresponding to minimum elastic energy of interaction between metal and hydride phases.

Charged-coupled device (CCD) detectors for Lab-on-a Chip (LOC) optical analysis.

A critical element of any Lab-on-a-Chip (LOC) is a detector; among the many detection approaches, optical detection is very widely used for biodetection. One challenge for advancing the development of LOC for biodetection has been to enhance the portability and lower the cost for Point-of-Care diagnostics, which has the potential to enhance the quality of healthcare delivery for underserved populations and for global health. We describe a simple and relatively low cost charged-coupled device (CCD)-based detector that can be integrated with a conventional microtiter plate or a portable LOC assay for various optical detection modalities including fluorescence, chemiluminescence, densitometry, and colorimetric assays. In general, the portable battery-operated CCD-based detection system consists of four modules: (1) a cooled CCD digital camera to monitor light emission, (2) a LOC or microtiter plate to perform assays, (3) a light source to illuminate the assay (such as electroluminescence (EL) or light emitting diode (LED)), and (4) a portable computer to acquire and analyze images. The configuration of the fluorescence detector presented here was designed to measure fluorogenic excitation at 490 nm and to monitor emission at 523 nm used for FITC detection.The LOC used for this detection system was fabricated with laminated object manufacturing (LOM) technology, and was designed to detection activity of botulinum neurotoxin serotype A (BoNT-A) using a fluorogenic peptide substrate (SNAP-25) for botulinum neurotoxin serotype A (BoNT-A) labeled with FITC. The limit of detection (LOD) for the CCD detector is 0.5 nM (25 ng/ml). The portable system is small and is powered by a 12 V source. The modular detector was designed with easily interchangeable LEDs, ELs, filters, lenses, and LOC, and can be used and adapted for a wide variety of densitometry, florescence and colorimetric assays.

An ELISA Lab-on-a-Chip (ELISA-LOC).

Laminated object manufacturing (LOM) technology using polymer sheets is an easy and affordable method for rapid prototyping of Lab-on-a-Chip (LOC) systems. It has recently been used to fabricate a miniature 96 sample ELISA lab-on-a-chip (ELISA-LOC) by integrating the washing step directly into an ELISA plate. LOM has been shown to be capable of creating complex 3D microfluidics through the assembly of a stack of polymer sheets with features generated by laser micromachining and by bonding the sheets together with adhesive. A six layer ELISA-LOC was fabricated with an acrylic (poly(methyl methacrylate) (PMMA)) core and five polycarbonate layers micromachined by a CO(2) laser with simple microfluidic features including a miniature 96-well sample plate. Immunological assays can be carried out in several configurations (1 × 96 wells, 2 × 48 wells, or 4 × 24 wells). The system includes three main functional elements: (1) a reagent loading fluidics module, (2) an assay and detection wells plate, and (3) a reagent removal fluidics module. The ELISA-LOC system combines several biosensing elements: (1) carbon nanotube (CNT) technology to enhance primary antibody immobilization, (2) sensitive ECL (electrochemiluminescence) detection, and (3) a charge-coupled device (CCD) detector for measuring the light signal generated by ECL. Using a sandwich ELISA assay, the system detected Staphylococcal enterotoxin B (SEB) at concentrations as low as 0.1 ng/ml, a detection level similar to that reported for conventional ELISA. ELISA-LOC can be operated by a syringe and does not require power for operation. This simple point-of-care (POC) system is useful for carrying out various immunological assays and other complex medical assays without the laboratory required for conventional ELISA, and therefore may be more useful for global healthcare delivery.

Quantifying the interfibrillar spacing and fibrillar orientation of the aortic extracellular matrix using histology image processing: toward multiscale modeling.

An essential part of understanding tissue microstructural mechanics is to establish quantitative measures of the morphological changes. Given the complex, highly localized, and interactive architecture of the extracellular matrix, developing techniques to reproducibly quantify the induced microstructural changes has been found to be challenging. In this paper, a new method for quantifying the changes in the fibrillar organization is developed using histology images. A combinatorial frequency-spatial image processing approach was developed based on the Fourier and Hough transformations of histology images to measure interfibrillar spacing and fibrillar orientation, respectively. The method was separately applied to the inner and outer wall thickness of native- and elastin-isolated aortic tissues under different loading states. Results from both methods were interpreted in a complementary manner to obtain a more complete understanding of morphological changes due to tissue deformations at the microscale. The observations were consistent in quantifying the observed morphological changes during tissue deformations and in explaining such changes in terms of tissue-scale phenomena. The findings of this study could pave the way for more rigorous modeling of structure-property relationships in soft tissues, with implications extendable to cardiovascular constitutive modeling and tissue engineering.

Multiscale mechanical and structural characterizations of Palmetto wood for bio-inspired hierarchically structured polymer composites.

There has been a great deal of effort focused on engineering polymer composites with hierarchical microstructures consisting of one or more ingredients that can be organized differently across multiple length scales. However, there are hierarchical microstructures that have evolved over eons in biological materials. These unique structure-property relationships may serve as templates for engineering hierarchically structured polymer composites with tailored properties. One such biological material is the Palmetto wood of South Carolina, which was successfully used as a protective structure during the Revolutionary and Civil Wars to absorb cannon shot. Through an assembly of microfibers into macrofibers embedded in a cellulose matrix, the Palmetto wood has optimized its ability to resist failure when subjected to extreme dynamic loading events, such as hurricanes. Understanding of the dynamic and static structure-property relationship in Palmetto wood can facilitate the development of new hierarchically structured polymer composites with increased resistance to failure. Therefore, the structure-property relationship in Palmetto wood has been studied using novel multiscale microstructural and mechanical characterization techniques. Models have been developed that indicate that the hierarchical structure of Palmetto wood obeys the linear Rule-of-Mixtures across multiple length scales. This understanding has led to the development of new polymer composite structures that exhibit properties similar to Palmetto wood using conventional laminated carbon fiber-epoxy composites and new polymer nanocomposites consisting of carbon nanofibers. The use of the nanofibers appears to enhance the interaction between the composite components in a manner similar to the interaction between fibers in the Palmetto wood that enables the laminated composite to behave more like the individual layers by resisting the tendency to delaminate and increasing the Weibull statistical parameters closer to those observed in Palmetto wood.

Gold nanoparticle-based enhanced chemiluminescence immunosensor for detection of Staphylococcal Enterotoxin B (SEB) in food.

Staphylococcal enterotoxins (SEs) are major cause of foodborne diseases, so sensitive detection (<1 ng/ml) methods are needed for SE detection in food. The surface area, geometric and physical properties of gold nanoparticles make them well-suited for enhancing interactions with biological molecules in assays. To take advantage of the properties of gold nanoparticles for immunodetection, we have developed a gold nanoparticle-based enhanced chemiluminescence (ECL) immunosensor for detection of Staphylococcal Enterotoxin B (SEB) in food. Anti-SEB primary antibodies were immobilized onto a gold nanoparticle surface through physical adsorption and then the antibody-gold nanoparticle mixture was immobilized onto a polycarbonate surface. SEB was detected by a "sandwich-type" ELISA assay on the polycarbonate surface with a secondary antibody and ECL detection. The signal from ECL was read using a point-of-care detector based on a cooled charge-coupled device (CCD) sensor or a plate reader. The system was used to test for SEB in buffer and various foods (mushrooms, tomatoes, and baby food meat). The limit of detection was found to be approximately 0.01 ng/mL, which is approximately 10 times more sensitive than traditional ELISA. The gold nanoparticles were relatively easy to use for antibody immobilization because of their physical adsorption mechanism; no other reagents were required for immobilization. The use of our simple and inexpensive detector combined with the gold nanoparticle-based ECL method described here is adaptable to simplify and increase sensitivity of any immunological assay and for point-of-care diagnostics.

Carbon nanotubes with enhanced chemiluminescence immunoassay for CCD-based detection of Staphylococcal enterotoxin B in food.

Enhanced chemiluminescence (ECL) detection can significantly enhance the sensitivity of immunoassays but often requires expensive and complex detectors. The need for these detectors limits broader use of ECL in immunoassay applications. To make ECL more practical for immunoassays, we utilize a simple cooled charge-coupled device (CCD) detector combined with carbon nanotubes (CNTs) for primary antibody immobilization to develop a simple and portable point-of-care immunosensor. This combination of ECL, CNT, and CCD detector technologies is used to improve the detection of Staphylococcal enterotoxin B (SEB) in food. Anti-SEB primary antibodies were immobilized onto the CNT surface, and the antibody-nanotube mixture was immobilized onto a polycarbonate surface. SEB was then detected by an ELISA assay on the CNT-polycarbonate surface with an ECL assay. SEB in buffer, soy milk, apple juice, and meat baby food was assayed with a LOD of 0.01 ng/mL using our CCD detector, a level similar to the detection limit obtained with a fluorometric detector when using the CNTs. This level is far more sensitive than the conventional ELISA, which has a LOD of approximately 1 ng/mL. Our simple, versatile, and inexpensive point-of-care immunosensor combined with the CNT-ECL immunoassay method described in this work can also be used to simplify and increase sensitivity for many other types of diagnostics and detection assays.

Training mechanical engineering students to utilize biological inspiration during product development.

The use of bio-inspiration for the development of new products and devices requires new educational tools for students consisting of appropriate design and manufacturing technologies, as well as curriculum. At the University of Maryland, new educational tools have been developed that introduce bio-inspired product realization to undergraduate mechanical engineering students. These tools include the development of a bio-inspired design repository, a concurrent fabrication and assembly manufacturing technology, a series of undergraduate curriculum modules and a new senior elective in the bio-inspired robotics area. This paper first presents an overview of the two new design and manufacturing technologies that enable students to realize bio-inspired products, and describes how these technologies are integrated into the undergraduate educational experience. Then, the undergraduate curriculum modules are presented, which provide students with the fundamental design and manufacturing principles needed to support bio-inspired product and device development. Finally, an elective bio-inspired robotics project course is present, which provides undergraduates with the opportunity to demonstrate the application of the knowledge acquired through the curriculum modules in their senior year using the new design and manufacturing technologies.