Submersible robotics have improved in efficiency and versatility by incorporating features found in aquatic life, ranging from thunniform kinematics to shark skin textures. To fully realize these benefits, sensor systems must be incorporated to aid in object detection and navigation through complex flows. Again, inspiration can be taken from biology, drawing on the lateral line sensor systems and neuromast structures found on fish. To maintain a truly soft-bodied robot, a man-made flow sensor must be developed that is entirely complaint, introducing no rigidity to the artificial “skin.” We present a capacitive cupula inspired by superficial neuromasts. Fabricated via lost wax methods and vacuum injection, our 5 mm tall device exhibits a sensitivity of 0.5 pF/mm (capacitance versus tip deflection) and consists of room temperature liquid metal plates embedded in a soft silicone body. In contrast to existing capacitive examples, our sensor incorporates the transducers into the cupula itself rather than at its base. We present a kinematic theory and energy-based approach to approximate capacitance versus flow, resulting in equations that are verified with a combination of experiments and COMSOL simulations.

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Although ambient biological underwater sound was first characterized more than 60 years ago, attributing specific components of ambient sound to their creators remains a challenge. Noise produced by snapping shrimp typically dominates the ambient spectra near tropical coasts, but significant unexplained spectral variation exists. Here, evidence is presented indicating that a discernible contribution to the ambient sound field over coral reef ecosystems in the Line Islands archipelago originates from the interaction of hard-shelled benthic macro-organisms with the coral substrate. Recordings show a broad spectral peak centered between 14.30 and 14.63 kHz, incoherently added to a noise floor typically associated with relatively "white" snapping shrimp sounds. A 4.6 to 6.2 dB increase of pressure spectral density level in the 11 to 17 kHz band occurs simultaneously with an increase in benthic invertebrate activity at night, quantified through time-lapse underwater photography. Spectral-level-filtered recordings of hermit crabs Clibanarius diugeti in quiet aquarium conditions reveal that transient sounds produced by the interaction between the crustaceans' carapace, shell, and coral substrate are spectrally consistent with Line Islands recordings. Coral reef ecosystems are highly interconnected and subtle yet important ecological changes may be detected quantitatively through passive monitoring that utilizes the acoustic byproducts of biological activity.

Robotic vehicles capable of transition from aquatic to terrestrial locomotion face considerable challenges associated with propulsive efficiency and performance in each environment. Here we present a morphing amphibious robotic limb that combines the locomotor adaptations of sea turtles for swimming and tortoises for walking. The limb can transform between the streamlined morphology of a sea turtle flipper and the load-bearing geometry of a tortoise leg using a variable stiffness material coupled to a pneumatic actuator system. Herein, we describe the fabrication and characterization of the morphing limb, and quantitatively show how morphing between hydrodynamic and axial-load bearing states can enhance the locomotive performance of a single design over land and in water.