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The biosonar system of bats has many unique adaptations which allow for navigation in extremely cluttered environments. One such adaptation is the rapid motion of the pinna and noseleaf observed in certain families of old-world bats (Rhinolophidae and Hipposiderae). Little is known about the physical properties about this adaptation affects emitted pulses or incoming echoes. To explore the physical properties of biosonar systems utilizing dynamic peripheries, biomimetic sonar systems have been devised, which can be used to simulate the structural characteristics of the pinna and noseleaf geometry as well as the motor characteristics. Using this method, it was determined that the changing conformations of the biomimetic baffles were responsible for time-variant signatures in echoes. These signatures could be seen in echoes from a variety of both simple and complex target shapes. Then to further the capabilities of the device, an improved actuation system was devised using pneumatic actuation. This allowed for the baffles to make several unique motions as opposed to being restricted to one previously. It was also shown that the distinct motion profiles of the system led to distinct differences in the received acoustic signal. The features encoded by this system could lead to improvements in the development of improved sensing of smaller autonomous systems. GRANT INFORMATION: This work was supported by grants from the Office of Naval Research (ONR) and the Naval Engineering Education Consortium (NEEC). Additional support was provided by an East Asia and Pacific Summer Institutes (EAPSI) fellowship from the National Science Foundation (NSF). / Doctor of Philosophy / Bats are known for using echolocation in addition to sight for hunting and navigating at night. The capabilities of bats and their ``sonar'' systems vary widely, as each species has evolved to survive in its specific environment. Certain species of bats indigenous to Eurasia are observed to perform complex motions of the outer ear and noseleaf (a ridged structure which sits atop the nostrils and acts like a ``megaphone'' of sorts). These bats are noted to be able to live in particularly cluttered environments and could be a particularly useful model organism for improving sonar. This is because since they are able to acquire detailed information about its surroundings with only their nostrils and ears, are able to outperform complicated man-made devices with thousands more sensing elements. To be able to better understand how a fast-moving ear and noseleaf can improve the sonar capabilities of bats, robots which mimic these bats have been devised, with the main purpose being to replicate the sensing elements of the bat. There have been significant changes made to the robotic sonar head in order to allow for us to expand the capabilities of our research. Using CT-scans as reference, the design of the baffles was redesigned to become more realistic and to have more features observed in the bats. A new method was designed in order to move the ``ears'' and ``noseleaf'' of the robot, using pneumatic actuators, which allowed for better control of the system. Finally, prototype sensors were developed to aid in the development of a motion feedback system to ensure a stable system. The robotic sonar has been used in several experiments to study the effects of a fast-moving, flexible anatomy on the physical properties of echoes. This is first illustrated by studying the echoes from various targets with changes in ear and noseleaf shape. Additionally, with the use of the improved actuation system, it was shown that different motion profiles lead to different responses. The continued development of this system and the changes to the signals explored provide new opportunities for furthering the fields of adaptive sensing as they apply to robots and other platforms. Being able to use a few ``smart'' sensors will help reduce the size, power, and weight costs of traditional sensing designs and allow for more robust and efficient technology to be produced.

Underwater surveillance missions both for defense and civilian applications are continually demanding the need for unmanned underwater vehicles or UUVs. Unmanned vehicles are needed to meet the logistical requirements for operation over long distances, greater depths, long duration, and harsh conditions. In order to design UUVs that not only satisfy these needs but are also adaptive and efficient, there has been increasing interest in taking inspiration from nature. These biomimetic/bio-inspired UUVs are expected to provide significant improvement over the conventional propeller based vehicles by taking advantage of flexible bodies and smart actuation. In this thesis, jetting jellyfish were utilized as the inspiration to understand the fundamentals of this new form of propulsion and subsequently translate the understanding onto the engineered platform to validate the hypothesis and construct robust models. Jetting jellyfish species are generally smaller in dimensions than rowing jellyfish, consume lower energy for transport, and exhibit higher proficiency. In the second chapter, a bio-inspired stationary jet propulsion mechanism that utilizes an iris diaphragm actuation system was developed. Detailed discussion is provided on the design methodology and factors playing the leading role in controlling the vortex formation. The propulsion mechanism was intended to mimic the morphological and deformation features of Sarsia sp. jellyfish that measures approximately 1 cm in diameter. The performance of experimental model was analyzed and modeled to elucidate the role of structure and fluid displacement. Utilizing the results from Chapter 2, a free-swimming jellyfish-inspired robot (named JetPRo) was developed (also utilizing an iris diaphragm) in Chapter 3 and characterized for relevant propulsive metrics. A combination of theoretical modeling and experimental analysis was used to optimize the JetPRo's gait for maximum steady-state swimming velocity. Next, an attempt was made towards creating a free-swimming jetting robot (named JP2) using a guided cable mechanism to achieve the desired actuation and improve the propulsion while simplifying the drive mechanism. Using JP2 robotic model, a systematic set of experiments were conducted and the results were used to refine the theory. Based upon the comprehensive computational analysis, an optimized swimming gait was predicted and then validated. A modular robot inspired by siphonophores was developed and initial efforts were made in laying down the foundation for understanding of this complex locomotion mechanism. Siphonophores are colonial organisms consisting of several jetting bodies attached to a central stem. An experimental model was developed mimicking the multimodal swimming propulsion utilized by Siphonophores. Several swimming gaits inspired by the natural animal were replicated and the preliminary performance of the experimental model was quantified. Using these results, an analysis is presented towards further improving the design and assembly of a siphonophore-inspired robot. / Master of Science

Humanity's activities increasingly threaten Earth's richness of life, of which mankind is a part. As part of the response, the environmentally conscious attempt to engineer products, processes and systems that interact harmoniously with the living world. Current environmental design guidance draws upon a wealth of experiences with the products of engineering that damaged humanity's environment. Efforts to create such guidelines inductively attempt to tease right action from examination of past mistakes. Unfortunately, avoidance of past errors cannot guarantee environmentally sustainable designs in the future. One needs to examine and understand an example of an environmentally sustainable, complex, multi-scale system to engineer designs with similar characteristics. This dissertation benchmarks and evaluates the efficacy of guidance from one such environmentally sustainable system resting at humanity's doorstep - the biosphere. Taking a holistic view of biomimicry, emulation of and inspiration by life, this work extracts overarching principles of life from academic life science literature using a sociological technique known as constant comparative method. It translates these principles into bio-inspired sustainable engineering guidelines. During this process, it identifies physically rooted measures and metrics that link guidelines to engineering applications. Qualitative validation for principles and guidelines takes the form of review by biology experts and comparison with existing environmentally benign design and manufacturing guidelines. Three select bio-inspired guidelines at three different organizational scales of engineering interest are quantitatively validated. Physical experiments with self-cleaning surfaces quantify the potential environmental benefits generated by applying the first, sub-product scale guideline. An interpretation of a metabolically rooted guideline applied at the product / organism organizational scale is shown to correlate with existing environmental metrics and predict a sustainability threshold. Finally, design of a carpet recycling network illustrates the quantitative environmental benefits one reaps by applying the third, multi-facility scale bio-inspired sustainability guideline. Taken as a whole, this work contributes (1) a set of biologically inspired sustainability principles for engineering, (2) a translation of these principles into measures applicable to design, (3) examples demonstrating a new, holistic form of biomimicry and (4) a deductive, novel approach to environmentally benign engineering. Life, the collection of processes that tamed and maintained themselves on planet Earth's once hostile surface, long ago confronted and solved the fundamental problems facing all organisms. Through this work, it is hoped that humanity has taken one small step toward self-mastery, thus drawing closer to a solution to the latest problem facing all organisms.

published_or_final_version / abstract / Chemistry / Doctoral / Doctor of Philosophy

Flying insects face challenging conditions such as rainfall, fog, and dew. In this theoretical and experimental thesis, we investigate the survival mechanisms of the mosquito, Anopheles, through particles of various size. Large particles such as falling raindrops can weigh up to fifty times a mosquito. Mosquitoes survive such impacts by virtue of their low mass and strong exoskeleton. Smaller particle sizes, as present in fog and insecticide, pose the greatest danger. Mosquitoes cannot fly through seemingly innocuous household humidifier fog or other gases with twice the density of air. Upon landing, fog accumulates on the mosquito body and wings, which in small quantities can be shaken off in the manner of a wet dog. Large amounts of dew on the wings create a coalescence cascade ultimately folding the wings into taco shapes, which are difficult to dry. The insights gained in this study will inform the nascent field of flapping micro-aerial vehicles.

A bio-inspired robotic underwater vessel was developed to test the effect of fin morphology on the propulsive performance of caudal fin. The robotic vessel, called The Bullet Fish, features a cylindrical body with a hemisphere at the forward section and a conical body at the stern. The vessel uses an oscillating caudal fin for thrust generation. The robotic vessel was tested in a recirculating flume for seven different caudal fins that range different bio-inspired forms and aspect ratios. The experiments were performed at four different flow velocities and two flapping frequencies: 0.5 and 1.0 Hz. We found that for 1 Hz flapping frequency that in general as the aspect-ratio decreases both thrust production tends and power decrease resulting in a better propulsive efficiency for aspect ratios between 0.9 and 1.0. A less uniform trend was found for 0.5 Hz, where our data suggest multiple efficiency peaks. Additional experiments on the robotic model could help understand the propulsion aquatic locomotion and help the design of bio-inspired underwater vehicles. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2017. / FAU Electronic Theses and Dissertations Collection

This thesis is a study of the swimming locomotion of the polychaete worm, Nereis diversicolor. Previous research has shown that there are two distinct jet-like flow regions in the wake of a swimming polychaete worm (Hesselberg 2006). In the first section of this thesis, this flow pattern is studied in greater detail using a high resolution particle image velocimetry (PIV) technique. A small region close to the wave crest of the undulating worm is recorded and the fluid velocity vector fields are plotted. The close-up PIV results show how the jet-like fluid pattern is formed due to the action both of a single sweeping parapodium and to the interaction between adjacent parapodia, proving for the first time that Gray’s (1939) explanation of the propulsion mechanics is in fact correct. The second part of this thesis is focused on the pumping action of the polychaete worm, a behaviour adopted by the worms to create a flow of nutrients through their burrows. Particle image velocimetry (PIV) experiments were performed on tethered polychaete worms, Nereis diversicolor. The tethered worms moved in a gait which was different from that of freely swimming ones. They used a much smaller body wave amplitude, pumping liquid with very high efficiency by cooperative movement of their body and parapodia. In the third part of the thesis, a mechanical model was designed and built. The model consisted of a series of paddle units. Each paddle was driven by a servo motor. Breugem (2008) did a CFD simulation of the paddle model. Similar fluid patterns were generated by the physical model. Reversed flow was found at low Reynolds number (Re) and higher Re situations. The flow direction could be controlled by simply adjusting the beating frequency of paddles. The mechanical model is not sufficient to mimic the pumping locomotion of the worms due to absence of an undulatory movement. The pumping efficiency is low compared to pumping worms.

O alto índice de emissões gasosas tem impulsionado cada vez mais pesquisas com células a combustível com membrana trocadora de prótons (PEMFC), dispositivo eletroquímico capaz de produzir energia gerando apenas vapor de água como resíduo. Atualmente, entre os desafios que impossibilitam a popularização deste tipo de dispositivo estão o aperfeiçoamento da gestão da água e a diminuição dos índices de crossover de reagentes do ânodo para o cátodo. Este trabalho teve como meta utilizar a biomimética como ferramenta para criar novos designs de canais em placas de distribuição de reagentes, para melhor gestão da água e minimização do crossover do combustível em PEMFCs. Foram realizados experimentos em laboratório utilizando-se protótipos de PEMFC e experimentos computacionais de modelagem fluidodinâmica utilizando software SolidWorks. Pelos resultados constatou-se que a variação sincronizada da profundidade dos canais de fluxo em ambos os lados da placa bipolar possibilita minimizar a queda de pressão dos reagentes, sem a necessidade de aumento da espessura desta mantendo-se a densidade de potência do stack. Verificou-se que placas de distribuição de reagentes parcialmente interdigitadas são uma ferramenta eficaz no controle da umidade da célula durante a operação, evitando o uso de dispositivos periféricos para umidificação, e maior transferência de energia térmica entre placas e reagente. Numa célula a combustível alimentada com etanol sem periféricos para melhor balanço do decréscimo do crossover de etanol e remoção eficiente da água produzida no cátodo, a melhor combinação de placas de distribuição de reagentes foi obtida quando usado no ânodo uma placa com canais de distribuição de reagentes contínuos, e no cátodo uma placa com canais parcialmente interdigitados. Para melhor gestão da água, transferência de energia térmica e crossover em função do design dos canais de distribuição de reagentes nas placas bipolares, neste trabalho, foram propostas placas com canais de distribuição bioinspirados. O uso da biomimética mostrou ser uma abordagem diferenciada em busca da melhora de desempenho de PEMFCs. A biomimética possibilitou a criação de múltiplos subsistemas com características de autossimilaridade dentro de uma mesma estrutura física, e permitiu ampliar a proporção de área ativa do MEA, mantendo-se as mesmas dimensões das placas bipolares, através do uso de canais em fractais. As placas bipolares bioinspiradas propostas, tendo canais com configurações em fractais padronizadas, mostraram através de ensaios simulados serem altamente eficientes na gestão da água e do crossover. / The high gas emissions content has driving more attention on proton exchange membrane fuel cells (PEMFC), an electrochemical device that generates energy producing only water vapor as waste. Among the challenges that reduces the use of this type of device are a better water management and the fuel crossover reduction. The aim of this work is the use of biomimetics as a tool to create new flow field plate designs for improving water management and minimizing fuel crossover in a PEMFC. A serie of lab experiments were carried out in a single PEMFC prototype and others computational fluid dynamic using SolidWorks. The results have shown that a synchronized variation in the depth of the flow field channels on both sides of a bipolar plate allows minimize the reagent pressure loss without increasing the plate thickness or decreasing the stack power density. The baffle flow field plates have shown be an effective tool for controlling the cell humidification operated without periphericals or humidifiers devices and for a better transferring thermal energy between the plate and reagent. For a better balance between ethanol crossover and efficient removal of water produced in a direct ethanol proton exchange membrane fuel cell without peripherals, the best flow field plate combination obtained was a continuous channels plate at the anode side, and partially discontinuous channels plate at the cathode. For a better water management, thermal energy transfer management and crossover management in this work, flow field plates with designs bioinspired were investigated. The biomimetic was a strong tool to optimizing the performance of PEMFC. The biomimetic has enabled the creation of numerous similar self-subsystems optimizing the MEA active area by using fractals channels without changing the bipolar plate dimensions. The bipolar plate’s bioinspired having configured channels in fractal standard showed through SolidWorks simulated experiments be highly efficient in controlling water or ethanol crossover in a PEMFC.

A thin layer of calcified cartilage at the native cartilage-to-bone junction facilitates integration between deep zone articular cartilage and subchondral bone, while maintaining the integrity of the two distinct tissue regions. Regeneration of this interface remains a significant clinical challenge for long-term and functional cartilage repair. The strategy for osteochondral interface formation discussed in this thesis focuses on the design and optimization of a biomimetic scaffold for stable calcified cartilage formation. The ideal interface scaffold supports chondrocyte biosynthesis and the formation of calcified cartilage with physiologically-relevant mechanical properties. Furthermore, the interface scaffold allows for osteointegration and the maintenance of the calcified cartilage matrix. It is hypothesized that ceramic presence and zonal chondrocyte interactions regulate cell biosynthesis and mineralization, and these cell-matrix and cell-cell interactions are essential for calcified cartilage formation and maintenance. Biomimetic design parameters for an interface scaffold were determined by characterizing the native interface in terms of mineral and matrix distribution. A composite hydrogel-hydroxyapatite scaffold was then designed to support formation of a functional calcified cartilage matrix. The hydrogel phase maintains the chondrocyte phenotype and allows for incorporation of ceramic particles, while the biomimetic ceramic phase is osteointegrative and decreases the need for cell-mediated mineralization. This scaffold was optimized <italic>in vitro</italic> based on hydrogel type, chondrocyte population, and ceramic particle size. The collective findings from these cell-ceramic interaction studies determined that hypertrophic chondrocytes, cultured in the presence of micron-sized hydroxyapatite particles, exhibit enhanced hypertrophy and matrix deposition. Scaffold ceramic dose and seeding density were also optimized for promoting calcified cartilage formation <italic>in vitro</italic>. In order to implement the scaffold for integrative cartilage repair, a scaffold was designed to regenerate both uncalcified and calcified cartilage on a bilayered hydrogel scaffold. Furthermore, a polymer-ceramic nanofiber component was added to augment the original design for <italic>in vivo</italic> implementation. The hydrogel-nanofiber composite scaffold was evaluated <italic>in vivo</italic> and found to support mineralization and osteointegration within the bone region while preventing endochondral ossification within the repair tissue. Finally, inspired by the stratified organization of zonal chondrocyte populations above the calcified cartilage interface, the layered hydrogel model was used to determine the role of zonal chondrocyte organization on calcified cartilage stability. This thesis collectively explores cell-ceramic and cell-cell interactions, and their ramifications for calcified cartilage formation and maintenance. Specifically, ceramic presence promotes the deposition of a calcified cartilage matrix by hypertrophic chondrocytes in a dose-dependent manner, and furthermore, communication between surface zone and deep zone chondrocyte populations suppresses mineralization within articular cartilage above the calcified cartilage interface. It is anticipated that the scaffold design strategy developed in this thesis can also be applied to the regeneration of other complex interfaces where there are transitions from soft-to-hard tissue.