发表机构
Johns Hopkins University（约翰斯·霍普金斯大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文针对水陆界面泥浆环境中动物与机器人运动研究的未知问题，开发了可控屈服强度泥浆的制备及表征方法，明确了泥浆相较于其他可流动基底更不利于运动的特性。
AI 中文摘要
动物和机器人在水陆界面会遇到泥浆。与沙子类似，泥浆可保持固体状态或像流体一样流动；但与沙子不同，泥浆发生固流转变的屈服强度不仅取决于固体相对于流体的量（泥浆中的流体是水，干沙中的流体是空气），还取决于固体中粗颗粒和细黏土的含量。尽管人们对在以具有排斥法向力和摩擦力的粗颗粒为主的干沙上/内的运动已有了解，但对以具有强内聚力的细黏土为主的泥浆的运动却知之甚少。本文中，我们开发了制备具有可控、可变屈服强度的均匀泥浆的方法，并对其因水分蒸发产生的漂移进行表征和追踪。与其他可流动基底相比，通过穿透时的向上力测量的泥浆强度更弱且变化更大，泥浆在提取过程中更易向下粘附，这使得泥浆环境中的运动更具挑战性。
英文摘要
Animals and robots encounter mud at the water-land interface. Like sand, mud can stay solid or flow like a fluid. Unlike sand, the yield strength of mud at which solid-fluid transitions occur depends on not only the amount of solid relative to fluid (water in mud, air in dry sand), but also how much coarse grains and fine clay are within the solid. Despite understanding of locomotion on/within dry sand dominated by coarse grains with repulsive normal forces and friction, little is known for mud dominated by fine clay with strong cohesion. Here, we developed methods to prepare uniform mud of controlled, variable yield strength and characterize and track its drift from water evaporation. Compared to other flowable substrates, mud strength measured by upward force during penetration is weaker and can vary more, and mud sticks more during extraction to pull downward, making it more challenging for locomotion.
CommentsJournal of Experimental Biology, in review
