Within the bodies of living organisms are multitudes of sustainable design solutions that engineers have yet to master. Through the use of tailored sustainable bioinspired design (BID) tools and methodologies, engineers could access and apply this body of biological knowledge to reduce the environmental impact of engineering designs. However, the underlying theory of BID must be more thoroughly fleshed out – and a clearer understanding of the types of sustainability solutions present in biology must be achieved – before such tools and methodologies can be developed. The goal of this thesis is to tackle both issues and, consequently, lay the foundation for environmentally sustainable BID. The first section of this work critically examines thirteen of the most frequently-cited benefits of BID, using academic literature from both biology and engineering design. This analysis presents a nuanced explanation of the ways BID could improve designs and the conditions in which these improvements are expected. Hence, it provides the theoretical foundation necessary to develop tools and methodologies that capitalize on the design opportunities found in biological organisms. The second section focuses on identifying sustainability-related trends in a pool of existing, sustainable BIDs. The type of environmental impact reduction conferred by the bioinspired feature is delineated using a set of 65 green design guidelines (GDGs) to compare the impact of the BID and a functionally-equivalent comparison product. Additionally, the general design features that impart an environmental impact reduction to the sustainable BIDs are identified, analyzed, and discussed. These results provide insight into the types of sustainability solutions that can be found using biological analogies. / text

Sonar is an important sensory modality for engineers as well as in nature. In engineering, sonar is the dominating modality for underwater sensing. In biology, it is likely to have been a central factor behind the unprecedented evolutionary success of bats, a highly diverse group that accounts for over 20% of all mammal species. However, it remains unclear to what extent engineered and biosonar follow similar design and operational principles. In the current work, the key sonar design characteristic of beamwidth is examined in technical and biosonar. To this end, beamwidth data has been obtained for 23 engineered sonar systems and from numerical beampattern predictions for 151 emission and reception elements (noseleaves and pinnae) from bat biosonar. Beamwidth data from these sources is compared to the beamwidth of a planar ellipsoidal transducer as a reference. The results show that engineered and biological both obey the basic physical limit on beamwidth as a function of the ratio of aperture size and wavelength. However, beyond that, the beamwidth data revealed very different behaviors between the engineered and the biological sonar systems. Whereas the beamwidths of the technical sonar systems were very close to the planar transducer limit, the biological samples showed a very wide scatter away from this limit. This scatter was as large – if not wider – than what was seen in a small reference data set obtained with random aluminum cones. A possible interpretation of these differences in the variability could be that whereas sonar engineers try to minimize beamwidth subject to constraints on device size, the evolutionary optimization of bat biosonar beampatterns has been directed at other factors that have left beamwidth as a byproduct. Alternatively, the biosonar systems may require beamwidth values that are larger than the physical limit and differ between species and their sensory ecological niches. / Master of Science / Sonar is an important method of sensing for engineers in undersea environments, but it is also used by several species of animals for for everyday use. The most prominent species that uses sonar, or echolocation, are bats, one of the most diverse groups of mammals. The study of bat biosonar systems serves as a counterpoint to many of the concepts in technical sonar. In technical sonar, arrays are made to be larger in size, with more elements, and operate at higher frequencies in order to decrease their beamwidth which increases their resolution. Unlike technical sonars bats must rely on smaller sized systems that they can carry around and they operate in air which has worse qualities for propagating sound waves. Even with these disadvantages, bats are able to operate in complex environments, such as dense vegetation, with ease. This work compared 151 emission and reception elements of bat biosonar systems with 23 engineered sonars to find that the biosonar had very different behavior from the engineered sonars. The engineered sonars, as well as a set of experimental baffles, closely followed the curve for the beamwidth limit of planar transducers but the biosonar samples had a large scatter from the curve. These results could be interpreted to show that while the engineered sonars attempt to minimize the beamwidth in order to maximize the resolution, the biosonar did not place much importance on having low beamwidths and high resolutions during its evolution. Alternatively, the results could indicate that it is preferable for biosonar to have larger beamwidths, a contrast to standard sonar design.

"Learning lessons from nature is the key element in the design of tough and light composites."

This work lays out the development of a reconfigurable electronic system, which is composed of biologically relevant circuits. This system has been termed a Field-Programmable Neuron Array (FPNA) and is analogous to the more familiar Field-Programmable Gate Array (FPGA) and Field-Programmable Analog Array (FPAA). At the core of the system is an array of output somas based on previously developed bio-physically based channel models. Linking them together is a complex 2D dendrite matrix, FPAA-like floating-gate routing, and associated support circuitry. Several levels of generality give this system unprecedented re-configurability. The dendrite matrix can be arbitrarily configured so that many different topologies of dendrites can be investigated. Different soma circuits can be connected / disconnected to / from the dendrite matrix. Outputs from the somas can be arbitrarily routed to input synapses that exist at each dendrite node as well as the soma nodes. Lastly, the dynamics of each node consist of a mixture of individually tunable parts and global biases. All of this can be configured in concert to investigate neural circuits that exist in biological systems. This chip will have a significant impact on research in many fields including neuroscience, neuromorphic engineering, and robotics. This chip will allow for rapid prototyping of spinal circuits. Since the fundamental circuits of the system are chosen to be biologically relevant, outputs from the various nodes should also be relevant, thus yielding itself to use by neuroscientists. This system also provides a tool by where biological systems can be emulated in real-world electronic systems. Solutions to many problems faced by roboticists (such as bi-pedal standing / walking / running / jumping / climbing and the transitions between states) are present in biology. By providing a chip that can duplicate the same neural circuits that are responsible for these processes in the biology, the hypothesis is that researchers can begin to solve some of the same types of problems in artificial systems.

Taking inspiration from a variety of creatures found in nature, this thesis demonstrates a new class of materials designed for light capture and guidance. Through the facile method of waveguide self-inscription developed herein, the arrangement of these self-generated light channels can be influenced to produce complex architectures. Inspired by the arrangement of ommatidia found in arthropodal eyes, this was first demonstrated through the fabrication of a radial arrangement of waveguides. This resulted in a thin, polymer film which demonstrated a continuous, panoramic field of view (FOV) able to successfully control the light of a light emitting diode (LED). Moving to more complex architecture, waveguides self-generated in a conical geometry were fabricated. More closely reminiscent of the geometry seen in arthropodal eyes, this waveguide architecture demonstrated a seamless omnidirectional FOV and enhanced imaging capabilities in conjunction with a CMOS camera chip. Lastly, using the method of waveguide self-inscription with an electroactive hydrogel precursor, remote controllable light guiding architectures, as inspired by deep sea creatures, are designed and fabricated. The application of an electric field, in conjunction with the stimuli-responsive waveguides, allows for precise control of the waveguide structures and therefore control over the waveguided light. / Thesis / Doctor of Philosophy (PhD)

No description available.

Tactile sensors are the last frontier to robots that can handle everyday objects and interact with humans through contact. Robots are expected to recognize the properties of objects in order to handle them safely and efficiently in a variety of applications, such as health- and elder care, manufacturing, or high-risk environments. To be effective, such sensors have to sense the geometry of touched surfaces and objects, as well as any other relevant information for their tasks, such as forces, vibrations, and temperature, that allow them to safely and securely interact within an environment. Given the capability of humans to easily capture and interpret tactile data, one promising direction in order to produce enhanced robotic tactile sensors is to explore and imitate human tactile sensing capabilities. In this context, this thesis presents the design and hardware implementation issues related to the construction of a novel multimodal bio-inspired skin module for dynamic and static tactile surface characterization. Drawing inspiration from the type, functionality, and organization of cutaneous tactile elements in the human skin, the proposed solution determines the placement of two shallow sensors (a tactile array and a nine DOF magnetic, angular rate, and gravity system) and a deep pressure sensor within a flexible compliant structure, similar to the receptive field of the Pacinian mechanoreceptor. The benefit of using a compliant structure is tri-folded. First, the module has the capability of performing touch tasks on unknown surfaces, tackling the tactile inversion problem. The compliant structure guides deforming forces from its surface to the deep pressure sensor, while keeping track of the deformation of the structure using advantageously placed shallow sensors. Second, the module’s compliant structure and its embedded sensor placement provide useful data to overcome the problem of estimating non-normal forces, a significant challenge for the current generation of tactile sensing technologies. This capability allows accommodating sensing modalities essential for acquiring tactile images and classifying surfaces by vibrations and accelerations. Third, the compliant structure of the module also contributes to the relaxation of orientation constraints of end-effectors or other robotic parts carrying the module to contact surfaces of unknown objects. Issues related to the module calibration, its sensing capabilities and possible real-world applications are also presented.

Gram-negative bacterial cells are surrounded by a cell membrane which protects the cell and controls the transport of nutrients and waste products in and out of the cells at a fast rate. This rapid transport of nutrients and wastes through the cell membrane is made possible by channel proteins called porins. Various types of porins present in the cell membrane have specific functions depending on their selectivity towards different nutrients, and channel proteins selective towards water are called aquaporins. These proteins restrict the passage of all entities except water molecules and they provide a fast transport rate of water molecules at 109 molecules/second per channel. The high selectivity of porins has led to their incorporation into synthetic systems, and one example is the addition of porins to separations membranes in order to enhance their performance in terms of selectivity and permeability, in a field called biomimetics. The concept of incorporating aquaporins into synthetic membranes has been studied for the last 10 years in order to enhance the water permeability and selectivity of membranes for water purification; however, there are still limitations such as high costs, difficulties in fabrication of aquaporins, their alignment into synthetic membrane assembly, low stability, and limitations on number of aquaporin molecules that can be introduced into synthetic membranes limit their applicability. In recent years, concurrent with the work on aquaporin-based biomimetic membranes, there has been an increase in the study of synthesizing molecules with similar structure-function relationships of aquaporins. These artificial channels attempt to mimic the high-water permeability and selectivity of aquaporins, while being synthesized using simple chemistry, being solvent compatible, and requiring less space on the membrane surface which helps to incorporate more channels into the membrane assembly. The objectives of this study were to first incorporate aquaporins into synthetic nanofiltration membranes without chemical alteration them to prevent flattening or denaturing of aquaporins; then, the second objective was to install functional groups on aquaporins and align them in the direction of water flow; lastly, the third objective was to synthesize artificial channels in order to overcome the issues with aquaporin stability, alignment, and efficient packing of water channels onto the membrane surface. For the first objective, aquaporins were treated with a polysaccharide, gum Arabic, and incorporated into an amphiphilic polymer, polyvinyl alcohol with alkyl side chains (PVA-alkyl), in order to simulate the natural housing of lipid bilayer for aquaporins and to protect them from denaturing. Long alkyl chains provided the hydrophobic component, while PVA provided the hydrophilic component of the amphiphilic polymer. Membranes modified with aquaporins displayed lower flux declines and higher flux recoveries after reverse flow filtration, along with improved rejection values for both protein and salt solutions as compared to PBI and PBI-PVA-alkyl membranes. However, there was leakage of ions between channels. Therefore, in order to improve the rejection of protons, ions and other impurities, the channels were aligned with the direction of water flow. Functional groups were installed on Aquaporins using site-directed mutagenesis for covalent attachment to the polymer matrix so that the proteins could be immobilized to the membranes and aligned in the direction of the flow. Aquaporin constructs were modified to bear affinity tags or unique amino acids at the N-terminus of the aquaporin molecule, which was used to facilitate directional immobilization. Each aquaporin monomer was modified with a unique amino acid Cys group at the N-terminus right after the first Met, and due to the aquaporin tetrameric nature, these Cys groups became four anchors for attachment. The presence of these four Cys anchors per aquaporin tetramer was used to attach on the membrane surface in alignment with the feed water flow direction. Membranes modified with mutated aquaporins showed consistently higher salt rejection values of ~70% irrespective of feed concentration, along with higher flux recoveries and lower flux declines. Commercial NF-270 membranes provide a monovalent salt (NaCl) rejection of ~50% and divalent salt (MgCl2) rejection of 97%. Also, approximate coverage of membrane surface with attached aquaporins was calculated using simulation studies. Simulation studies showed that immobilized aquaporins with PVA-alkyl provided a diffusion rate equivalent to 64% coverage on the membrane surface. This showed that aquaporins didn’t cover the entire surface area of the membrane. However, immobilized aquaporins were responsible for the rejection of a portion of ions passing through the membrane. In order to overcome the limitations of aquaporin incorporation into polymer membranes, artificial organic frameworks were added as surface modification on PBI membranes. Organic frameworks were synthesized as derivatives of hybrid bisamides. The series of bisamides 1-4 consist of 6-amino-pyridine-2-dicarboxylic acid, 6-hydroxymethyl-pyridine-2-carboxylic acid and ethylenediamine, trimethylenediamine, putrescine, and cadaverine depending on the length of carbon chain. These frameworks are amphiphilic in nature and have strong chemical attachment due to the presence of amines and carboxylic acids into each building block. These molecules were introduced into the membrane matrix using carbodiimide chemistry. FTIR results showed the attachment of these bisamide molecules onto the surface of a modified PBI membrane. Also, modified membranes showed a reduced molecular weight cut off (MWCO) for neutral organic molecules. Overall, membranes modified with aquaporins have shown a potential to provide consistently high salt rejections with increasing feed solutions. Also, preliminary results have shown that bisamide molecules can be attached onto the membrane surface as organic frameworks and have a potential to be an alternative for aquaporins based biomimetic membranes.

L'activació d'oxigen que té lloc en els éssers vius constitueix una font d'inspiració pel desenvolupament d'alternatives als oxidants tradicionals, considerats altament tòxics i nocius. En aquesta treball s'utilitzen compostos sintètics com a models del centre actiu de proteïnes dinuclears de coure i mononuclears de ferro de tipus no-hemo que participen en l'activació d'oxigen en els éssers vius. Els sistemes dinuclears de coure mostren un centre de tipus coure(III) bis(oxo) que és capaç de dur a terme l'ortho-hidroxilació de fenols de manera similar a la reacció que catalitza la proteïna tirosinasa. Per altra banda, els sistemes de ferro desenvolupats en aquest treball actuen com a models de les dioxigenases de Rieske i poden dur a terme l'hidroxilació estereoespecífica d'alcans i l'epoxidació i cis-dihidroxilació d'olefines utilitzant peròxid d'hidrogen com a agent oxidant. Tot plegat demostra que el desenvolupament de sistemes model constitueix una bona estratègia per l'estudi dels sistemes naturals. / Oxygen activation in biological systems serves as inspiration for the development of alternatives to traditional oxidants which are considered highly toxic and environmentally harmful. In this work, synthetic compounds are used as models of the active site of dinuclear copper proteins and mononuclear non-heme iron systems involved in oxygen activation in natural systems. The prepared dinuclear copper complexes show the formation of copper(III)-bis(oxo) species capable of performing the ortho-hydroxylation of phenols analogously to the reaction performed by tyrosinase. On the other hand, the synthesized iron systems can be considered as models of Rieske dioxygenases and they can perform the estereospecific hydroxylation of alkanes and the epoxidation and cis-dihydroxylation of olefins using hydrogen peroxide as the oxidant. Overall, the work presented here demonstrates that the development of model systems constitutes a good approach for the study of natural systems.

Bioinspired design uses biological systems to inspire engineering designs. One of bioinspired design’s challenges is identifying relevant information sources in biology for an engineering design task. Currently information can be retrieved by searching biology texts or journals using biology-focused keywords that map to engineering functions. However, this search technique can overwhelm designers with unusable results. This work explores the use of text classification tools to identify relevant biology passages for design. Further, this research examines the effects of using biology passages as stimuli during idea generation. Four human-subjects studies are examined in this work. Two surveys are performed in which participants evaluate sentences from a biology corpus and indicate whether each sentence prompts an idea for solving a specific design problem. The surveys are used to develop and evaluate text classification tools. Two idea generation studies are performed in which participants generate and record solutions for designing a corn shucker using either different sets of biology passages as design stimuli, or no stimuli. Based 286 sentences from the surveys, a k Nearest Neighbor classifier is developed that is able to identify helpful sentences relating to the function “separate” with a precision of 0.62 and recall of 0.48. This classifier could potentially double the number of helpful results found using a keyword search. The developed classifier is specific to the function “separate” and performs poorly when used for another function. Classifiers developed using all sentences and participant responses from the surveys are not able to reliably identify helpful sentences. From the idea generation studies, we determine that using any biology passages as design stimuli increases the quantity and variety of participant solutions. Solution quantity and variety are also significantly increased when biology passages are presented one at a time instead of all at once. Quality and variety are not significantly affected by the presence of design stimuli. Biological stimuli are also found to lead designers to types of solution that are not typically produced otherwise. This work develops a means for designers to find more useful information when searching biology and demonstrates several ways that biology passages can improve ideation.