Remoras of the ray-finned fish family Echeneidae have the remarkable ability to attach to diverse marine animals using a highly modified dorsal fin that forms an adhesive disc, which enables hitchhiking on fast-swimming hosts despite high magnitudes of fluid shear. We present the design of a biologically analogous, multimaterial biomimetic remora disc based on detailed morphological and kinematic investigations of the slender sharksucker (Echeneis naucrates). We used multimaterial three-dimensional printing techniques to fabricate the main disc structure whose stiffness spans three orders of magnitude. To incorporate structures that mimic the functionality of the remora lamellae, we fabricated carbon fiber spinules (270 m base diameter) using laser machining techniques and attached them to soft actuator-controlled lamellae. Our biomimetic prototype can attach to different surfaces and generate considerable pull-off force-up to 340 times the weight of the disc prototype. The rigid spinules and soft material overlaying the lamellae engage with the surface when rotated, just like the discs of live remoras. The biomimetic kinematics result in significantly enhanced frictional forces across the disc on substrates of different roughness. Using our prototype, we have designed an underwater robot capable of strong adhesion and hitchhiking on a variety of surfaces (including smooth, rough, and compliant surfaces, as well as shark skin). Our results demonstrate that there is promise for the development of high-performance bioinspired robotic systems that may be used in a number of applications based on an understanding of the adhesive mechanisms used by remoras.

Octopuses can employ their tapered arms to catch prey of all shapes and sizes due to their dexterity, flexibility, and gripping power. Intrigued by variability in arm taper angle between different octopus species, we explored the utility of designing soft actuators exhibiting a distinctive conical geometry, compared with more traditional cylindrical forms. We find that these octopus-inspired conical-shaped actuators exhibit a wide range of bending curvatures that can be tuned by simply altering their taper angle and they also demonstrate greater flexibility compared with their cylindrical counterparts. The taper angle and bending curvature are inversely related, whereas taper angle and applied bending force are directly related. To further expand the functionality of our soft actuators, we incorporated vacuum-actuated suckers into the actuators for the production of a fully integrated octopus arm-inspired gripper. Notably, our results reveal that because of their enhanced flexibility, these tapered actuators with suckers have better gripping power than their cylindrical-shaped counterparts and require significantly larger forces to be detached from both flat and curved surfaces. Finally, we show that by choosing appropriate taper angles, our tapered actuators with suckers can grip, move, and place a remarkably wide range of objects with flat, nonplanar, smooth, or rough surfaces, as well as retrieve objects through narrow openings. The results from this study not only provide new design insights into the creation of next-generation soft actuators for gripping a wide range of morphologically diverse objects but also contribute to our understanding of the functional significance of arm taper angle variability across octopus species.

On the basis of geophysical observations, cosmochemical constraints, and high-pressure experimental data, the Earth's liquid outer core consists of mainly liquid iron alloyed with about ten per cent (by weight) of light elements. Although the concentrations of the light elements are small, they nevertheless affect the Earth's core: its rate of cooling, the growth of the inner core, the dynamics of core convection, and the evolution of the geodynamo. Several light elements-including sulphur, oxygen, silicon, carbon and hydrogen-have been suggested, but the precise identity of the light elements in the Earth's core is still unclear. Oxygen has been proposed as a major light element in the core on the basis of cosmochemical arguments and chemical reactions during accretion. Its presence in the core has direct implications for Earth accretion conditions of oxidation state, pressure and temperature. Here we report new shockwave data in the Fe-S-O system that are directly applicable to the outer core. The data include both density and sound velocity measurements, which we compare with the observed density and velocity profiles of the liquid outer core. The results show that we can rule out oxygen as a major light element in the liquid outer core because adding oxygen into liquid iron would not reproduce simultaneously the observed density and sound velocity profiles of the outer core. An oxygen-depleted core would imply a more reduced environment during early Earth accretion.

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The structural, vibrational, and electronic properties of solid nitromethane under hydrostatic pressure of up to 20 GPa have been studied using density functional theory. The changes of cell volume, the lattice constants, and the molecular geometry of solid nitromethane under hydrostatic loading are examined, and the bulk modulus B0 and its pressure derivative B0' are fitted from the volume-pressure relation. Our theoretical results are compared with available experiments. The change of electron band gap of nitromethane under high pressure is also discussed. Based on the optimized crystal structures, the vibrational frequencies for the internal and lattice modes of the nitromethane crystal at ambient and high pressures are computed, and the pressure-induced frequency shifts of these modes are discussed.

Collecting in shallow water (water depth: ~30 m) is an emerging field that requires robotics for replacing human divers. Soft robots have several promising features (e.g., safe interaction with the environments, lightweight, etc.) for performing such tasks. In this article, we developed an underwater robotic system with a three-degree-of-freedom (3-DoF) soft manipulator for spatial delicate grasping in shallow water. First, we present the design and fabrication of the soft manipulator with an opposite-bending-and-stretching structure (OBSS). Then, we proposed a simple and efficient kinematics method for controlling the spatial location and trajectory of the soft manipulator’s end effector. The inverse kinematics of the OBSS manipulator can be solved efficiently (computation time: 8.2 ms). According to this inverse kinematics method, we demonstrated that the OBSS soft manipulator could track complex two-dimensional and three-dimensional trajectories, including star, helix, etc. Further, we performed real-time closed-loop pick-and-place experiments of the manipulator with binocular and on-hand cameras in a lab aquarium. Hydrodynamic experiments showed that the OBSS soft manipulator produced little force (less than 0.459 N) and torque (less than 0.228 N·m), which suggested its low-inertia feature during the underwater operation. Finally, we demonstrated that the underwater robotic system with the OBSS soft manipulator successfully collected seafood animals at the bottom of the natural oceanic environment. The robot successfully collected eight sea echini and one sea cucumber within 20 minutes at a water depth of around 10 m.