Octopuses,due to their flexible arms,marvelous adaptability,and powerful suckers,are able to effortlessly grasp and disengage various objects in the marine surrounding without causing devastation.However,manipulating ...Octopuses,due to their flexible arms,marvelous adaptability,and powerful suckers,are able to effortlessly grasp and disengage various objects in the marine surrounding without causing devastation.However,manipulating delicate objects such as soft and fragile foods underwater require gentle contact and stable adhesion,which poses a serious challenge to now available soft grippers.Inspired by the sucker infundibulum structure and flexible tentacles of octopus,herein we developed a hydraulically actuated hydrogel soft gripper with adaptive maneuverability by coupling multiple hydrogen bond-mediated supramolecular hydrogels and vat polymerization three-dimensional printing,in which hydrogel bionic sucker is composed of a tunable curvature membrane,a negative pressure cavity,and a pneumatic chamber.The design of the sucker structure with the alterable curvature membrane is conducive to realize the reliable and gentle switchable adhesion of the hydrogel soft gripper.As a proof-of-concept,the adaptive hydrogel soft gripper is capable of implement diversified underwater tasks,including gingerly grasping fragile foods like egg yolks and tofu,as well as underwater robots and vehicles that station-keeping and crawling based on switchable adhesion.This study therefore provides a transformative strategy for the design of novel soft grippers that will render promising utilities for underwater exploration soft robotics.展开更多
Octopus minor is widely distributed along the northern coast of China. To date, there is little information on the prey selection process of this species. To understand this process, several experiments were carried o...Octopus minor is widely distributed along the northern coast of China. To date, there is little information on the prey selection process of this species. To understand this process, several experiments were carried out. Three types of bivalves, namely, Ruditapes philippinarum , Mactra chinensis , and Mytilus galloprovincialis , were used to observe the prey selection of O . minor and to analyze the potential causes of prey selection from three aspects: prey profi tability, adductor muscle tension and handling time. Under single-prey conditions, we found that the average (±SD) predation rates of O . minor on R . philippinarum , M . chinensis , and M . galloprovincialis were 1.73±0.50, 1.27±0.42, and 0.8±0.2/d, respectively. Under diff erent prey combinations, octopods actively selected one type of prey over the other(s), and the order of prey preference was R . philippinarum , followed by M . chinensis and lastly M. galloprovincialis . Furthermore, the shells of the consumed prey showed that O . minor only consumed bivalves by pulling them apart since there was no evidence of drill holes on the shells. The prey selection of O . minor was related to the prey profi tability and handling time;O . minor appeared to select preys with a higher profi tability and a shorter handling time. However, the diffi culty in opening the bivalve was not consistent with the prey preference of the octopods. These results suggest that O . minor prefers to consume R . philippinarum possibly due to a high profi tability and a short handling time that supports the optimum Foraging Theory.展开更多
Inspired by the simple yet amazing morphology of the Octopus, we propose the design, fabrication, and characterization of multi-material bio-inspired soft Octopus robot (Octobot). 3D printed molds for tentacles and he...Inspired by the simple yet amazing morphology of the Octopus, we propose the design, fabrication, and characterization of multi-material bio-inspired soft Octopus robot (Octobot). 3D printed molds for tentacles and head were used. The tentacles of the Octobot were casted using Ecoflex-0030 while head was fabricated using relatively flexible material, i.e., OOMOO-25. The head is attached to the functionally responsive tentacles (each tentacle is of 79.12 mm length and 7 void space diameter), whereas Shape Memory Alloy (SMA) muscle wires of 0.5 mm thickness are used in Octobot tentacles for dual thrust generation and actuation of Octobot. The tentacles were separated in two groups and were synchronously actuated. Each tentacle of the developed Octobot contains a pair of SMA muscles (SMA-α and SMA-β). SMA-α muscles being the main actuator, was powered by 9 V, 350 mA power supply, whereas SMA-β was used to provide back thrust and thus helps to increase the actuation frequency. Simulation work of the proposed model was performed in the SolidWorks environment to verify the vertical velocity using the octopus tentacle actuation. The design morphology of Octobot was optimized using simulation and TRACKER software by analyzing the experimental data of angle, displacement, and velocity of real octopus. The as-developed Octobot can swim at variable frequencies (0.5–2 Hz) with the average speed of 25 mm/s (0.5 BLS). Therefore, the proposed soft Octopus robot showed an excellent capability of mimicking the gait pattern of its natural counterpart.展开更多
Set-nets are common alongshore fishing gear used in Haizhou Bay, which rely on flow to catch fish. The catch per unit effort(CPUE) of set-net is affected by spatial-temporal and environmental factors but no research h...Set-nets are common alongshore fishing gear used in Haizhou Bay, which rely on flow to catch fish. The catch per unit effort(CPUE) of set-net is affected by spatial-temporal and environmental factors but no research has been conducted on this subject. In this study, we used generalized additive models(GAMs) to explore the influence of spatial-temporal and environmental factors on CPUEs of species aggregated, small yellow croaker(Larimichthys polyactis), and octopus(Octopus variabilis) based on logbooks investigations conducted at 4 stations in an alongshore area of Haizhou Bay from 2011 to 2012. The results showed that all CPUEs exhibited significant spatial-temporal differences at various scales. Aggregated CPUE was high when the sea surface temperature(SST) was 15-18℃ and 20-23℃, which was mainly determined by life history traits of the octopus and small yellow croaker(optimal SSTs 14-17℃ and 19-24℃, respectively). Chlorophyll-a concentration had significant influences on the aggregated, small yellow croaker and octopus CPUEs at optimal ranges of 3.8-6.2 mg m^(-3), 4.2-4.8 mg m^(-3) and 4.5-5.5 mg m^(-3), respectively. Flow through the net had positive relationships with CPUEs. The approximate logarithmic trends in regression curves had a critical point of 2.5 Mm^3 d^(-1), which was the dividing point that differentiated whether the major factor affecting CPUEs was the flow velocity or the fishery resource. Our results from this study will help guide fishery production and improve catch rate of set-net fishing in Haizhou Bay.展开更多
Octopus skin samples were tested under quasi-static and scissor cutting conditions to measure the in-plane material prop- erties and fracture toughness. Samples from all eight arms of one octopus were tested staticall...Octopus skin samples were tested under quasi-static and scissor cutting conditions to measure the in-plane material prop- erties and fracture toughness. Samples from all eight arms of one octopus were tested statically to investigate how properties vary from arm to arm. Another nine octopus skins were measured to study the influence of body mass on skin properties. In- fluence of specimen location on skin mechanical properties was also studied. Material properties of skin, i.e. the Young＇s modulus, ultimate stress, failure strain and fracture toughness have been plotted against the position of skin along the length of arm or body. Statistical studies were carried out to help analyzing experimental data obtained. Results of this work will be used as guidelines for the design and development of artificial skins for an octopus-inspired robot.展开更多
In order to develop skin artefact for an octopus-inspired robot arm, which is designed to be able to elongate 60% of its original length, silicone nlbber and knitted nylon sheet were selected to manufacture an artific...In order to develop skin artefact for an octopus-inspired robot arm, which is designed to be able to elongate 60% of its original length, silicone nlbber and knitted nylon sheet were selected to manufacture an artificial skin, due to their higher elastic strain and high flexibility. Tensile and scissors cutting tests were conducted to characterise the matrix and reinforcing materials and the skin artefact. Material properties of the individual and the composite materials were compared with the measured properties of real octopus skin presented ill Part I. The Young＇s modulus of the skin should be below 20 MPa and the elastic strain range should be over 60%. The fracture toughness should be at least 0.9 kJ.m 2. Tubes made of the skin artefact filled with liquid were tested to study volume change under deformation. Finite element analysis model was developed to simulate the material and arm structure under tensile loading. Results show that the skin artefact developed has similar mechanical properties as the real octopus skin and satisfies all the design specifications of the OCTOPUS robot.展开更多
Cephalopods play key roles in global marine ecosystems as both predators and preys.Regressive estimation of original size and weight of cephalopod from beak measurements is a powerful tool of interrogating the feeding...Cephalopods play key roles in global marine ecosystems as both predators and preys.Regressive estimation of original size and weight of cephalopod from beak measurements is a powerful tool of interrogating the feeding ecology of predators at higher trophic levels.In this study,regressive relationships among beak measurements and body length and weight were determined for an octopus species(Octopus variabilis),an important endemic cephalopod species in the northwest Pacific Ocean.A total of 193 individuals(63 males and 130 females) were collected at a monthly interval from Jiaozhou Bay,China.Regressive relationships among 6 beak measurements(upper hood length,UHL;upper crest length,UCL;lower hood length,LHL;lower crest length,LCL;and upper and lower beak weights) and mantle length(ML),total length(TL) and body weight(W) were determined.Results showed that the relationships between beak size and TL and beak size and ML were linearly regressive,while those between beak size and W fitted a power function model.LHL and UCL were the most useful measurements for estimating the size and biomass of O.variabilis.The relationships among beak measurements and body length(either ML or TL) were not significantly different between two sexes;while those among several beak measurements(UHL,LHL and LBW) and body weight(W) were sexually different.Since male individuals of this species have a slightly greater body weight distribution than female individuals,the body weight was not an appropriate measurement for estimating size and biomass,especially when the sex of individuals in the stomachs of predators was unknown.These relationships provided essential information for future use in size and biomass estimation of O.variabilis,as well as the estimation of predator/prey size ratios in the diet of top predators.展开更多
Interleukin-17(IL-17),a prototype member of IL-17 family,plays an important role in defending against extracellular pathogens as a pro-inflammatory cytokine.The function and distribution of IL-17 have been extensively...Interleukin-17(IL-17),a prototype member of IL-17 family,plays an important role in defending against extracellular pathogens as a pro-inflammatory cytokine.The function and distribution of IL-17 have been extensively studied in many vertebrates.However,few study has focused on the role of IL-17 in invertebrates,especially in mollusks.In this study,an IL-17 homolog was identified in Octopus ocellatus,which was designated as OoIL-17.The phylogenetic analysis showed that OoIL-17 is clustered well with other invertebrate IL-17,indicating it is highly similar with the IL-17 of other invertebrates.The expression of OoIL-17 gene was analyzed with qRT-PCR in a variety of healthy tissues and the hemocytes infected with Vibro anguillarum or Micrococcus luteus.The mRNA of OoIL-17 gene is constitutively expressed at different levels in all examined tissues of healthy O.ocellatus,including mantle,stomach,hemocytes,muscle,gonad,hepatopancreas,systemic heart and gill.The lowest expression was observed in mantle while the highest was observed in hepatopancreas.The expression level of OoIL-17 gene is significantly up-regulated in O.ocellatus hemocytes upon infection with V.anguillarum and M.luteus,indicating its active involvement in the host immune response against bacterial pathogens.The results laid the foundation for further understanding the innate immune mechanisms of IL-17 in O.ocellatus and mollusks.展开更多
基金the financial support from the Strategic Priority Research Program of the Chinese Academy of Sciences (XDB0470303)the National Key Research and Development Program of China (2022YFB4600101)+5 种基金the National Natural Science Foundation of China (52175201)the Research Program of Science and Technology Department of Gansu Province (24JRRA059, 24JRRA044, and 24YFFA014)the Science Fund of Shandong Laboratory of Advanced Materials and Green Manufacturing at Yantai (AMGM2024F12)the Major Program (ZYFZFX-2) of the Lanzhou Institute of Chemical Physics, CASthe Special Research Assistant Project of the Chinese Academy of Sciencesthe Oasis Scholar of Shihezi University
文摘Octopuses,due to their flexible arms,marvelous adaptability,and powerful suckers,are able to effortlessly grasp and disengage various objects in the marine surrounding without causing devastation.However,manipulating delicate objects such as soft and fragile foods underwater require gentle contact and stable adhesion,which poses a serious challenge to now available soft grippers.Inspired by the sucker infundibulum structure and flexible tentacles of octopus,herein we developed a hydraulically actuated hydrogel soft gripper with adaptive maneuverability by coupling multiple hydrogen bond-mediated supramolecular hydrogels and vat polymerization three-dimensional printing,in which hydrogel bionic sucker is composed of a tunable curvature membrane,a negative pressure cavity,and a pneumatic chamber.The design of the sucker structure with the alterable curvature membrane is conducive to realize the reliable and gentle switchable adhesion of the hydrogel soft gripper.As a proof-of-concept,the adaptive hydrogel soft gripper is capable of implement diversified underwater tasks,including gingerly grasping fragile foods like egg yolks and tofu,as well as underwater robots and vehicles that station-keeping and crawling based on switchable adhesion.This study therefore provides a transformative strategy for the design of novel soft grippers that will render promising utilities for underwater exploration soft robotics.
基金Supported by the Fundamental Research Funds for the Central Universities(No.201822022)the Key Development Plan of Shandong Province(No.2016GSF115014)
文摘Octopus minor is widely distributed along the northern coast of China. To date, there is little information on the prey selection process of this species. To understand this process, several experiments were carried out. Three types of bivalves, namely, Ruditapes philippinarum , Mactra chinensis , and Mytilus galloprovincialis , were used to observe the prey selection of O . minor and to analyze the potential causes of prey selection from three aspects: prey profi tability, adductor muscle tension and handling time. Under single-prey conditions, we found that the average (±SD) predation rates of O . minor on R . philippinarum , M . chinensis , and M . galloprovincialis were 1.73±0.50, 1.27±0.42, and 0.8±0.2/d, respectively. Under diff erent prey combinations, octopods actively selected one type of prey over the other(s), and the order of prey preference was R . philippinarum , followed by M . chinensis and lastly M. galloprovincialis . Furthermore, the shells of the consumed prey showed that O . minor only consumed bivalves by pulling them apart since there was no evidence of drill holes on the shells. The prey selection of O . minor was related to the prey profi tability and handling time;O . minor appeared to select preys with a higher profi tability and a shorter handling time. However, the diffi culty in opening the bivalve was not consistent with the prey preference of the octopods. These results suggest that O . minor prefers to consume R . philippinarum possibly due to a high profi tability and a short handling time that supports the optimum Foraging Theory.
基金This work was supported by the National Research Foundation of Korea(NRF)Grant funded by the Korea government(MSIT)(NRF-2022R1A2C2004771)Internal Research Grant by ORIC,SukkurIBA University 2022.
文摘Inspired by the simple yet amazing morphology of the Octopus, we propose the design, fabrication, and characterization of multi-material bio-inspired soft Octopus robot (Octobot). 3D printed molds for tentacles and head were used. The tentacles of the Octobot were casted using Ecoflex-0030 while head was fabricated using relatively flexible material, i.e., OOMOO-25. The head is attached to the functionally responsive tentacles (each tentacle is of 79.12 mm length and 7 void space diameter), whereas Shape Memory Alloy (SMA) muscle wires of 0.5 mm thickness are used in Octobot tentacles for dual thrust generation and actuation of Octobot. The tentacles were separated in two groups and were synchronously actuated. Each tentacle of the developed Octobot contains a pair of SMA muscles (SMA-α and SMA-β). SMA-α muscles being the main actuator, was powered by 9 V, 350 mA power supply, whereas SMA-β was used to provide back thrust and thus helps to increase the actuation frequency. Simulation work of the proposed model was performed in the SolidWorks environment to verify the vertical velocity using the octopus tentacle actuation. The design morphology of Octobot was optimized using simulation and TRACKER software by analyzing the experimental data of angle, displacement, and velocity of real octopus. The as-developed Octobot can swim at variable frequencies (0.5–2 Hz) with the average speed of 25 mm/s (0.5 BLS). Therefore, the proposed soft Octopus robot showed an excellent capability of mimicking the gait pattern of its natural counterpart.
基金funded through the Special Fund for Agro-Scientific Research in the Public Interestthe Special Public Welfare Industry (agriculture) Research-Research and Demonstration of Fisheries Fishing Technology and Fishing Gear (No. 201203018)the National Natural Science Foundation of China (No. 31402350)
文摘Set-nets are common alongshore fishing gear used in Haizhou Bay, which rely on flow to catch fish. The catch per unit effort(CPUE) of set-net is affected by spatial-temporal and environmental factors but no research has been conducted on this subject. In this study, we used generalized additive models(GAMs) to explore the influence of spatial-temporal and environmental factors on CPUEs of species aggregated, small yellow croaker(Larimichthys polyactis), and octopus(Octopus variabilis) based on logbooks investigations conducted at 4 stations in an alongshore area of Haizhou Bay from 2011 to 2012. The results showed that all CPUEs exhibited significant spatial-temporal differences at various scales. Aggregated CPUE was high when the sea surface temperature(SST) was 15-18℃ and 20-23℃, which was mainly determined by life history traits of the octopus and small yellow croaker(optimal SSTs 14-17℃ and 19-24℃, respectively). Chlorophyll-a concentration had significant influences on the aggregated, small yellow croaker and octopus CPUEs at optimal ranges of 3.8-6.2 mg m^(-3), 4.2-4.8 mg m^(-3) and 4.5-5.5 mg m^(-3), respectively. Flow through the net had positive relationships with CPUEs. The approximate logarithmic trends in regression curves had a critical point of 2.5 Mm^3 d^(-1), which was the dividing point that differentiated whether the major factor affecting CPUEs was the flow velocity or the fishery resource. Our results from this study will help guide fishery production and improve catch rate of set-net fishing in Haizhou Bay.
文摘Octopus skin samples were tested under quasi-static and scissor cutting conditions to measure the in-plane material prop- erties and fracture toughness. Samples from all eight arms of one octopus were tested statically to investigate how properties vary from arm to arm. Another nine octopus skins were measured to study the influence of body mass on skin properties. In- fluence of specimen location on skin mechanical properties was also studied. Material properties of skin, i.e. the Young＇s modulus, ultimate stress, failure strain and fracture toughness have been plotted against the position of skin along the length of arm or body. Statistical studies were carried out to help analyzing experimental data obtained. Results of this work will be used as guidelines for the design and development of artificial skins for an octopus-inspired robot.
文摘In order to develop skin artefact for an octopus-inspired robot arm, which is designed to be able to elongate 60% of its original length, silicone nlbber and knitted nylon sheet were selected to manufacture an artificial skin, due to their higher elastic strain and high flexibility. Tensile and scissors cutting tests were conducted to characterise the matrix and reinforcing materials and the skin artefact. Material properties of the individual and the composite materials were compared with the measured properties of real octopus skin presented ill Part I. The Young＇s modulus of the skin should be below 20 MPa and the elastic strain range should be over 60%. The fracture toughness should be at least 0.9 kJ.m 2. Tubes made of the skin artefact filled with liquid were tested to study volume change under deformation. Finite element analysis model was developed to simulate the material and arm structure under tensile loading. Results show that the skin artefact developed has similar mechanical properties as the real octopus skin and satisfies all the design specifications of the OCTOPUS robot.
基金funded by The National Natural Science Foundation of China(41006083)The Shandong Provincial Natural Science Foundation,China(ZR2010DQ026)+1 种基金The Fundamental Research Funds for the Central Universities(201022001,201262004)The Specialized Research Program for Marine Public Welfare Industry from the State Oceanic Administration,P.R.China(200805066)
文摘Cephalopods play key roles in global marine ecosystems as both predators and preys.Regressive estimation of original size and weight of cephalopod from beak measurements is a powerful tool of interrogating the feeding ecology of predators at higher trophic levels.In this study,regressive relationships among beak measurements and body length and weight were determined for an octopus species(Octopus variabilis),an important endemic cephalopod species in the northwest Pacific Ocean.A total of 193 individuals(63 males and 130 females) were collected at a monthly interval from Jiaozhou Bay,China.Regressive relationships among 6 beak measurements(upper hood length,UHL;upper crest length,UCL;lower hood length,LHL;lower crest length,LCL;and upper and lower beak weights) and mantle length(ML),total length(TL) and body weight(W) were determined.Results showed that the relationships between beak size and TL and beak size and ML were linearly regressive,while those between beak size and W fitted a power function model.LHL and UCL were the most useful measurements for estimating the size and biomass of O.variabilis.The relationships among beak measurements and body length(either ML or TL) were not significantly different between two sexes;while those among several beak measurements(UHL,LHL and LBW) and body weight(W) were sexually different.Since male individuals of this species have a slightly greater body weight distribution than female individuals,the body weight was not an appropriate measurement for estimating size and biomass,especially when the sex of individuals in the stomachs of predators was unknown.These relationships provided essential information for future use in size and biomass estimation of O.variabilis,as well as the estimation of predator/prey size ratios in the diet of top predators.
基金supported by the earmarked fund for the Modern Agro-Industry Technology Research System (No. CARS-49)the Natural Science Foundation of Shandong Province (No. ZR2019BC052)the Marine and Fisheries Science and Technology Innovation Program of Shan-dong Province (No. 2017YY04)
文摘Interleukin-17(IL-17),a prototype member of IL-17 family,plays an important role in defending against extracellular pathogens as a pro-inflammatory cytokine.The function and distribution of IL-17 have been extensively studied in many vertebrates.However,few study has focused on the role of IL-17 in invertebrates,especially in mollusks.In this study,an IL-17 homolog was identified in Octopus ocellatus,which was designated as OoIL-17.The phylogenetic analysis showed that OoIL-17 is clustered well with other invertebrate IL-17,indicating it is highly similar with the IL-17 of other invertebrates.The expression of OoIL-17 gene was analyzed with qRT-PCR in a variety of healthy tissues and the hemocytes infected with Vibro anguillarum or Micrococcus luteus.The mRNA of OoIL-17 gene is constitutively expressed at different levels in all examined tissues of healthy O.ocellatus,including mantle,stomach,hemocytes,muscle,gonad,hepatopancreas,systemic heart and gill.The lowest expression was observed in mantle while the highest was observed in hepatopancreas.The expression level of OoIL-17 gene is significantly up-regulated in O.ocellatus hemocytes upon infection with V.anguillarum and M.luteus,indicating its active involvement in the host immune response against bacterial pathogens.The results laid the foundation for further understanding the innate immune mechanisms of IL-17 in O.ocellatus and mollusks.
