The study aimed to assess the gait adjustment techniques of limbs on different slopes and investigate the relationship between forelimb and hindlimb kinetics and the center of mass (COM) during the uphill movement of a specific Boer goat using a pressure-sensitive walkway (PSW). During the uphill and downhill movements at a comfortable walking speed, we measured the ground reaction force (GRF) of the forelimbs and hindlimbs on the slope, the change in the included angle of the propulsive force direction of the forelimbs and hindlimbs, and the impulse relationship between GRF and propulsive force. According to the study, since the forelimbs of the goat were nearer the COM, they were primarily adjusted during the movement on the slope. By lowering the initial included angle of the propulsive force and the angle variation range, the forelimbs and hindlimbs could walk steadily. The forelimbs and hindlimbs exhibited completely different adjustment strategies during uphill and downhill movements. In particular, the forelimbs performed braking and the hindlimbs performed driving. In addition, we discovered that the goat altered its adjustment strategy when climbing the steep slope. All findings of this study indicate the need to understand the gait adjustment mode of the Boer goat during movement on the slope to thoroughly comprehend the driving strategy of quadrupeds with the ability to walk on specialized terrains. Full article

Optimizing the biological identity of nanoparticles (NPs) for efficient tumor uptake remains challenging. The controlled formation of a protein corona on NPs through protein absorption from biofluids could favor a biological identity that enables tumor accumulation. To increase the diversity of proteins absorbed by NPs, sera derived from Influenza A virus (IAV)-infected mice were used to pre-coat NPs formed using a hyperbranched polyester polymer (HBPE-NPs). HBPE-NPs, encapsulating a tracking dye or cancer drug, were treated with sera from days 3–6 of IAV infection (VS3-6), and uptake of HBPE-NPs by breast cancer cells was examined. Cancer cells demonstrated better uptake of HBPE-NPs pre-treated with VS3-6 over polyethylene glycol (PEG)-HBPE-NPs, a standard NP surface modification. The uptake of VS5 pre-treated HBPE-NPs by monocytic cells (THP-1) was decreased over PEG-HBPE-NPs. VS5-treated HBPE-NPs delivered a cancer drug more efficiently and displayed better in vivo distribution over controls, remaining stable even after interacting with endothelial cells. Using a proteomics approach, proteins absorbed from sera-treated HBPE-NPs were identified, such as thrombospondin-1 (TSP-1), that could bind multiple cancer cell receptors. Our findings indicate that serum collected during an immune response to infection is a rich source of macromolecules that are absorbed by NPs and modulate their biological identity, achieving rationally designed uptake by targeted cell types. Full article

Nonunion bone fractures can impact the quality of life and represent a major economic burden. Scaffold-based tissue engineering has shown promise as an alternative to bone grafting. Achieving desirable bone reconstruction requires appropriate surface properties, together with optimizing the internal architecture of 3D scaffolds. This study presents the surface modification of poly(lactic-co-glycolic acid) (PLGA), collagen, and PLGA-collagen via an argon plasma treatment. Argon plasma can modify the surface chemistry and topography of biomaterials and improve in vivo integration. Solvent-cast films were prepared using 1,1,1,3,3,3-hexafluoro-2-propanol and characterized via differential scanning calorimetry, thermogravimetric analysis, contact angle measurement, and critical surface tension analysis. For PLGA films, the water contact angle dropped from 70° to 42°, whereas the diiodomethane contact angle reduced from 53° to 32° after the plasma treatment. A set of PLGA-collagen formulations were loaded with nanohydroxyapatite (nHA) and polyethylene glycol (PEG) to enhance their osteoconductivity and hydrophilicity. Then, 3D scaffolds were fabricated using a 3D Bioplotter and characterized via Fourier-transform infrared (FTIR) spectroscopy. A bicinchoninic acid assay (BCA) was used to compare the protein release from the untreated and plasma-treated scaffolds into phosphate-buffered saline (PBS). The plasma-treated scaffolds had a lower protein release, and the difference compared to the untreated scaffolds was statistically significant. Full article

With industry development, the separation of oily wastewater is becoming more critical. Inspired by organisms such as lotus leaves, biomimetic superhydrophobic surfaces with micro-nano structures have shown great potential in this regard. In this work, PDMS/PVDF oil–water separation membranes with designed microstructures were prepared by electrospinning technology. The membrane-forming effect of electrospinning with different ratios of PDMS and PVDF was studied. The study found that membranes with high PDMS content were more likely to form microspheres, and PDMS tended to concentrate on the microspheres. The results also showed that the microspheres would bring better hydrophobicity to the membrane. When the ratio of PDMS to PVDF is 1:2, the membrane has a water contact angle of up to 150° and an oil contact angle of 0°. At this ratio, the separation efficiency of the membrane for the water-in-oil emulsion is 98.7%, and it can still maintain more than 98% after ten separation cycles, which is a good candidate for oil–water separation. Furthermore, microspheres enable the membrane to achieve macroscopic uniformity and microscopic phase separation so that the membranes have both good elongation and fracture strength. In addition, the PDMS/PVDF membranes also exhibit excellent UV resistance, and their UV protection factor is greater than 185, making them a potential UV protective material. Full article

In this study, we investigate the contact electrification properties of glycine, cysteine, and dimethyl siloxane on silicon dioxide (SiO₂) surfaces using density functional theory calculations. Molecule contacting through the sulfhydryl group has stronger adhesion to the SiO₂-O and SiO₂-OH surfaces. The SiOH/SiO₂-Si system has the largest adhesion energy in all molecule/SiO₂-Si contact systems and charge transfers from the molecule to the SiO₂-O and SiO₂-Si surfaces. The molecule/SiO₂-OH systems have a reverse charge transfer direction. Molecules with their sulfhydryl and hydroxyl groups facing the SiO₂-O and SiO₂-OH surfaces have more transferred charges. The NH₂/SiO₂-Si system has a larger transferred charge than other molecule/SiO₂-Si systems. The direction of charge transfer is determined by the Bader charge of the isolated surface atoms. The respective energy difference in the lowest unoccupied occupied molecular orbitals between contacting atoms influences the charge transfer. The respective energy difference in the highest occupied molecular orbitals reflects the electron attraction and affects charge transfer. Finally, the quantitative relationship between the transferred charge and energy gaps is established to evaluate the charge transfer. The findings propose a new perspective and in-depth understanding of contact electrification and shed light on the bio-inspired adhesive materials design and fabrication for engineering applications. Full article

The paper describes a bioinspired propulsion system for a robotic fish model. The system is based on a combination of an elastic chord with a tail fin fixed on it. The tail fin is connected to a servomotor by two symmetric movable thrusts simulating muscle contractions. The propulsion system provides the oscillatory tail movement with controllable amplitude and frequency. Tail oscillations translate into the movement of the robotic fish implementing the thunniform principle of locomotion. The shape of the body and the tail fin of the robotic fish were designed using a computational model simulating a virtual body in an aquatic medium. A prototype of a robotic fish was constructed and tested in experimental conditions. Dependencies of fish velocity on the dynamic characteristics of tail oscillations were analyzed. In particular, it was found that the robot’s speed increased as the frequency of tail fin oscillations grew. We also found that for fixed frequencies, an increase in the oscillation amplitude lead to an increase in the swimming speed only up to a certain threshold. Further growth of the oscillation amplitude lead to a weak increase in speed at higher energy costs. Full article

For the sake of accomplishing the rapidity, safety and consistency of obstacle avoidance for a large-scale unmanned aerial vehicle (UAV) swarm in a dynamic and unknown 3D environment, this paper proposes a flocking control algorithm that mimics the behavior of starlings. By analyzing the orderly and rapid obstacle avoidance behavior of a starling flock, a motion model inspired by a flock of starlings is built, which contains three kinds of motion patterns, including the collective pattern, evasion pattern and local-following pattern. Then, the behavior patterns of the flock of starlings are mapped on a fixed-wing UAV swarm to improve the ability of obstacle avoidance. The key contribution of this paper is collective and collision-free motion planning for UAV swarms in unknown 3D environments with dynamic obstacles. Numerous simulations are conducted in different scenarios and the results demonstrate that the proposed algorithm improves the speed, order and safety of the UAV swarm when avoiding obstacles. Full article

Milkfish (Chanos chanos) is an abundant fish commodity in the Philippines that generates a large number of wastes such as skin, scales, viscera, and bones, which, upon disposal, cause environmental pollution. The abundance of these wastes, such as fish skin, rich in bioactive natural products such as collagen, elicits interest in their conversion into high-market-value products. The decellularization of milkfish skin waste can extract its extracellular matrix (ECM), a potential raw material for biomedical applications such as the repair of damaged skin tissues. In particular, this study characterized the developed decellularized ECM with different concentrations (0.1%, 1.0%) of the decellularizing agents (Triton X-100, SDS) and temperature (4 °C, room temperature) using milkfish skin. The decellularized ECM structure was better preserved using Triton X-100, while SDS was more effective in cell component removal, especially at 1% concentration and 4 °C temperature. There were significant effects of varying the temperatures and concentrations on the physical and mechanical properties of the decellularized ECM. Future studies could explore more variables to further establish protocols and more analyses to better characterize the decellularized milkfish skin. Full article

Biomimicry is a growing field of developing environmental innovations for materials, facade systems, buildings, and urban planning. In France, we observe an extensive diversity of initiatives in biomimicry for the development of regenerative cities. These initiatives blossom in a large range of areas, from education to urban policies, to achieve a major environmental, social and economic paradigm shift. To provide a comprehensive understanding of this development at the national scale, this paper presents and discusses the diversity of the developed initiatives over the last 10 years in six main fields-education, urban policies, fundamental and applied research, design demonstrators, arts, and communication. This research is an opportunistic study based on the analysis of these initiatives enriched by the feedback of the stakeholders collected by the authors working in the field of biomimicry over the last seven years. We identify that biomimicry in France has mainly extended through individual initiatives of teachers, territorial authorities, architectural studios, or researchers rather than through the support of public policies. Putting into perspective developments in biomimicry by other countries, this cross-discipline analysis provides recommendations for the extensive development of regenerative architecture and urbanism at the national scale. Full article

Recently, biomimetic bioactive biomaterials have been introduced to the market for dental pulp capping. This systematic review and meta-analysis aimed to determine any variation between the effect of using TheraCal LC and other bioactive biomaterials for pulp capping is different, as measured by dentin increment and clinical success. The risk of bias was assessed using the Risk of Bias 2 and Newcastle–Ottawa tools for randomized clinical trials and observational studies. A search for relevant articles was performed on five databases. Additionally, the quality of the included studies was assessed using the Grading of Recommendations Assessment, Development, and Evaluation (GRADE) criteria. A summary of individual studies and a meta-analysis were performed. The odds ratio of data from clinical success was combined using a random-effects meta-analysis. The meta-analysis results showed homogeneity between the studies (I² = 0%). They revealed that the clinical success showed no differences between the patients who received TheraCal LC, light-cured calcium silicate-based biomimetic biomaterial, for dental pulp capping or the comparator biomaterials (p > 0.5). However, the certainty of the evidence was low to moderate due to the risk of bias in the included studies. Full article

Robotic systems frequently need to plan consecutive similar manipulation in some scenarios (e.g., pick-and-place tasks), leading to similar motion plans. Moreover, the workspace of a robot changes with the difference in operation actions, which affects subsequent tasks. Therefore, it is significant to reuse information from previous solutions for new motion planning instances to adapt to workplace changes. This paper proposes the Lazy Demonstration Graph (LDG) planner, a novel motion planner that exploits successful and high-quality planning cases as prior knowledge. In addition, a Gaussian Mixture Model (GMM) is established by learning the distribution of samples in the planning cases. Through the trained GMM, more samples are placed in a promising location related to the planning tasks for achieving the purpose of adaptive sampling. This adaptive sampling strategy is combined with the Lazy Probabilistic Roadmap (LazyPRM) algorithm; in the subsequent planning tasks, this paper uses the multi-query property of a road map to solve motion planning problems without planning from scratch. The lazy collision detection of the LazyPRM algorithm helps overcome changes in the workplace by searching candidate paths. Our method also improves the quality and success rate of the path planning of LazyPRM. Compared with other state-of-the-art motion planning algorithms, our method achieved better performance in the planning time and path quality. In the repetitive motion planning experiment of the manipulator for pick-and-place tasks, we designed two different experimental scenarios in the simulation environment. The physical experiments are also carried out in AUBO−i5 robot arm. Accordingly, the experimental results verified our method’s validity and robustness. Full article

The strong adhesion on dry and wet surfaces and the durability of bioinspired hierarchical fibrillar adhesives are critical for their applications. However, the critical design for the strong adhesion normally depends on fine sub-micron structures which could be damaged during repeat usage. Here, we develop a tree frog-inspired gradient composite micropillars array (GP), which not only realizes a 2.3-times dry adhesion and a 5.6-times wet adhesion as compared to the pure polydimethylsiloxane (PDMS) micropillars array (PP), but also shows excellent durability over 200 repeating cycles of attachment/detachment and self-cleaning ability. A GP consists of stiffer tips and softer roots by incorporating gradient dispersed CaCO₃ nanoparticles in PDMS micropillar stalks. The modulus gradient along the micropillar height facilitates the contact formation and enhances the maximum stress during the detaching. The study here provides a new design strategy for robust adhesives for practical applications in the fields of robotics, electronics, medical engineering, etc. Full article

Insect RoboFlyers are interesting and active focuses of study but producing high-quality flapping robots that replicate insect flight is challenging., due to the dual requirement of both a sophisticated transmission mechanism with light weight and minimal intervening connections. This innovative mechanism was created to address the need for a producible structure that is small in size, small in mass, and has reduced design linkages. The proposed Single Crank-Slotted Dual Lever (SC-SDL) mechanism transforms rotational motion into specific angular motion at different velocities for each of its two strokes, i.e., the forward stroke and the return stroke. The discovery of a lag between the left and right lever motions in our design mechanism-I leads us to the conclusion that the flapping is asymmetric. To eliminate the position lag, the design has been altered, and a new design mechanism-II has been developed. Comparative kinematic analysis of both design systems is performed using simulations. Two-dimensional analysis of the base ornithopter configuration using ANSYS FLUENT yielded deeper insights regarding the influence of varying flapping frequency on critical flow metrics regarding adequate lift and thrust. For a flapping frequency of 24 Hz, adequate lift generation was achieved with minimal flow disturbances and wake interactions. Averaged dual wing estimations were made as part of the CFD study, which showed similar agreements. To validate the estimations, experimental tests were performed over the design mechanism-II configuration. Full article

Small-scale flapping-wing micro air vehicles (FWMAVs) are an emerging robotic technology with many applications in areas including infrastructure monitoring and remote sensing. However, challenges such as inefficient energetics and decreased payload capacity preclude the useful implementation of FWMAVs. Insects serve as inspiration to FWMAV design owing to their energy efficiency, maneuverability, and capacity to hover. Still, the biomechanics of insects remain challenging to model, thereby limiting the translational design insights we can gather from their flight. In particular, it is not well-understood how wing flexibility impacts the energy requirements of flapping flight. In this work, we developed a simple model of an insect drive train consisting of a compliant thorax coupled to a flexible wing flapping with single-degree-of-freedom rotation in a fluid environment. We applied this model to quantify the energy required to actuate a flapping wing system with parameters based off a hawkmoth Manduca sexta. Despite its simplifications, the model predicts thorax displacement, wingtip deflection and peak aerodynamic force in proximity to what has been measured experimentally in flying moths. We found a flapping system with flexible wings requires 20% less energy than a flapping system with rigid wings while maintaining similar aerodynamic performance. Passive wing deformation increases the effective angle of rotation of the flexible wing, thereby reducing the maximum rotation angle at the base of the wing. We investigated the sensitivity of these results to parameter deviations and found that the energetic savings conferred by the flexible wing are robust over a wide range of parameters. Full article

Onychomycosis is a nail infection caused by a fungus, Trichophyton mentagrophytes, that is responsible for major nail infections. The best method suited for treating such infections generally includes a topical remedy. However, conventional oral or topical formulations are associated with various limitations. Therefore, a more efficient and compatible formulation is developed in this study. The primary objective of the current study is to formulate and evaluate chitosan nanoparticle-based hydrogel for ameliorating onychomycosis. The sole purpose of this research was to increase the permeation of the lipophilic drug itraconazole and difluorinated curcumin, and its synergistic antifungal activity was also evaluated for the first time. Both in vitro and ex vivo drug release evaluations confirmed the sustained release of both drugs from the hydrogel, which is a prerequisite for treating onychomycosis. The results overall highlighted the promising activity of a synergistic approach that could be implemented for the treatment of onychomycosis. The hydrogel-based formulation serves as an effective method of delivery of drugs across the layers of the skin, resulting from its hydrating characteristics. Full article