Multi-layer thermoelectric-temperature-mapping microbial incubator designed for geo-biochemistry applications.

We demonstrate a novel, vertical temperature-mapping incubator utilizing eight layers of thermoelectric (TE) modules mounted around a test tube. The temperature at each layer of the TE module is individually controlled to simulate the vertical temperature profile of geo-temperature variations with depth. Owing to the constraint of non-intrusion to the filled geo-samples, the temperature on the tube wall is adopted for measurement feedback.

Bio-inspired step-climbing in a hexapod robot.

Inspired by the observation that the cockroach changes from a tripod gait to a different gait for climbing high steps, we report on the design and implementation of a novel, fully autonomous step-climbing maneuver, which enables a RHex-style hexapod robot to reliably climb a step up to 230% higher than the length of its leg. Similar to the climbing strategy most used by cockroaches, the proposed maneuver is composed of two stages. The first stage is the 'rearing stage,' inclining the body so the front side of the body is raised and it is easier for the front legs to catch the top of the step, followed by the 'rising stage,' maneuvering the body's center of mass to the top of the step.