Fibrillar adhesion, observed in animals like beetles, spiders, and geckos, relies on nanoscopic or microscopic fibrils to enhance surface adhesion via 'contact splitting.' This concept has inspired engineering applications across robotics, transportation, and medicine. Recent studies suggest that functional grading of fibril properties can improve adhesion, but this is a complex design challenge that has only been explored in simplified geometries. While machine learning (ML) has gained traction in adhesive design, no previous attempts have targeted fibril-array scale optimization. In this study, we propose an ML-based tool that optimizes the distribution of fibril compliance to maximize adhesive strength. Our tool, featuring two deep neural networks (DNNs), recovers previous design results for simple geometries and introduces novel solutions for complex configurations. The Predictor DNN estimates adhesive strength based on random compliance distributions, while the Designer DNN optimizes compliance for maximum strength using gradient-based optimization. Our method significantly reduces test error and accelerates the optimization process, offering a high-performance solution for designing fibrillar adhesives and micro-architected materials aimed at fracture resistance by achieving equal load sharing (ELS).

Airships, best recognized for their unique quality of payload/energy ratio, present a fascinating challenge for the field of engineering. Their construction and operation require a delicate balance of materials and rules, making them a compelling object of study. They embody a distinct intersection of physics, design, and innovation, offering a wide array of possibilities for future transportation and exploration. Thanks to their long-flight endurance, they are suited for long-term missions. To operate in complex environments such as indoor cluttered spaces, their membrane and mechatronics need to be protected from impacts. This paper presents a new indoor airship design inspired by origami and the Kresling pattern. The airship structure combines a carbon fiber exoskeleton and UV resin micro-lattices for shock absorption. Our design strengthens the robot while granting the ability to access narrow spaces by folding the structure - up to a volume expansion ratio of 19.8. To optimize the numerous parameters of the airship, we present a pipeline for design, manufacture, and assembly. It takes into account manufacturing constraints, dimensions of the target deployment area, and aerostatics, allowing for easy and quick testing of new configurations. We also present unique features made possible by combining origami with airship design, which reduces the chances of mission-compromising failures. We demonstrate the potential of the design with a complete simulation including an effective control strategy leveraging lightweight mechatronics to optimize flight autonomy in exploration missions of unstructured environments.

Estimating the Most Important Person (MIP) in any social event setup is a challenging problem mainly due to contextual complexity and scarcity of labeled data. Moreover, the causality aspects of MIP estimation are quite subjective and diverse. To this end, we aim to address the problem by annotating a large-scale `in-the-wild' dataset for identifying human perceptions about the `Most Important Person (MIP)' in an image. The paper provides a thorough description of our proposed Multimodal Large Language Model (MLLM) based data annotation strategy, and a thorough data quality analysis. Further, we perform a comprehensive benchmarking of the proposed dataset utilizing state-of-the-art MIP localization methods, indicating a significant drop in performance compared to existing datasets. The performance drop shows that the existing MIP localization algorithms must be more robust with respect to `in-the-wild' situations. We believe the proposed dataset will play a vital role in building the next-generation social situation understanding methods. The code and data is available at https://github.com/surbhimadan92/MIP-GAF.

Materials design often relies on human-generated hypotheses, a process inherently limited by cognitive constraints such as knowledge gaps and limited ability to integrate and extract knowledge implications, particularly when multidisciplinary expertise is required. This work demonstrates that large language models (LLMs), coupled with prompt engineering, can effectively generate non-trivial materials hypotheses by integrating scientific principles from diverse sources without explicit design guidance by human experts. These include design ideas for high-entropy alloys with superior cryogenic properties and halide solid electrolytes with enhanced ionic conductivity and formability. These design ideas have been experimentally validated in high-impact publications in 2023 not available in the LLM training data, demonstrating the LLM's ability to generate highly valuable and realizable innovative ideas not established in the literature. Our approach primarily leverages materials system charts encoding processing-structure-property relationships, enabling more effective data integration by condensing key information from numerous papers, and evaluation and categorization of numerous hypotheses for human cognition, both through the LLM. This LLM-driven approach opens the door to new avenues of artificial intelligence-driven materials discovery by accelerating design, democratizing innovation, and expanding capabilities beyond the designer's direct knowledge.

A key challenge in artificial intelligence is the creation of systems capable of autonomously advancing scientific understanding by exploring novel domains, identifying complex patterns, and uncovering previously unseen connections in vast scientific data. In this work, we present SciAgents, an approach that leverages three core concepts: (1) the use of large-scale ontological knowledge graphs to organize and interconnect diverse scientific concepts, (2) a suite of large language models (LLMs) and data retrieval tools, and (3) multi-agent systems with in-situ learning capabilities. Applied to biologically inspired materials, SciAgents reveals hidden interdisciplinary relationships that were previously considered unrelated, achieving a scale, precision, and exploratory power that surpasses traditional human-driven research methods. The framework autonomously generates and refines research hypotheses, elucidating underlying mechanisms, design principles, and unexpected material properties. By integrating these capabilities in a modular fashion, the intelligent system yields material discoveries, critique and improve existing hypotheses, retrieve up-to-date data about existing research, and highlights their strengths and limitations. Our case studies demonstrate scalable capabilities to combine generative AI, ontological representations, and multi-agent modeling, harnessing a `swarm of intelligence' similar to biological systems. This provides new avenues for materials discovery and accelerates the development of advanced materials by unlocking Nature's design principles.

The present paper is concerned with deep learning techniques applied to detection and localization of damage in a thin aluminum plate. We used data generated on a tabletop apparatus by mounting to the plate four piezoelectric transducers, each of which took turn to generate a Lamb wave that then traversed the region of interest before being received by the remaining three sensors. On training a neural network to analyze time-series data of the material response, which displayed damage-reflective features whenever the plate guided waves interacted with a contact load, we achieved a model that detected with greater than 99% accuracy in addition to a model that localized with $3.14 \pm 0.21$ mm mean distance error and captured more than 60% of test examples within the diffraction limit. For each task, the best-performing model was designed according to the inductive bias that our transducers were both similar and arranged in a square pattern on a nearly uniform plate.

Tensegrity robots excel in tasks requiring extreme levels of deformability and robustness. However, there are challenges in state estimation and payload versatility due to their high number of degrees of freedom and unconventional shape. This paper introduces a modular three-bar tensegrity robot featuring a customizable payload design. Our tensegrity robot employs a novel Quasi-Direct Drive (QDD) cable actuator paired with low-stretch polymer cables to achieve accurate proprioception without the need for external force or torque sensors. The design allows for on-the-fly stiffness tuning for better environment and payload adaptability. In this paper, we present the design, fabrication, assembly, and experimental results of the robot. Experimental data demonstrates the high accuracy cable length estimation (<1% error relative to bar length) and variable stiffness control of the cable actuator up to 7 times the minimum stiffness for self support. The presented tensegrity robot serves as a platform for future advancements in autonomous operation and open-source module design.

Crystallisation is an important phenomenon which facilitates the purification as well as structural and bulk phase material characterisation using crystallographic methods. However, different conditions can lead to a vast set of different crystal structure polymorphs and these often exhibit different physical properties, allowing materials to be tailored to specific purposes. This means the high dimensionality that can result from variations in the conditions which affect crystallisation, and the interaction between them, means that exhaustive exploration is difficult, time-consuming, and costly to explore. Herein we present a robotic crystal search engine for the automated and efficient high-throughput approach to the exploration of crystallisation conditions. The system comprises a closed-loop computer crystal-vision system that uses machine learning to both identify crystals and classify their identity in a multiplexed robotic platform. By exploring the formation of a well-known polymorph, we were able to show how a robotic system could be used to efficiently search experimental space as a function of relative polymorph amount and efficiently create a high dimensionality phase diagram with minimal experimental budget and without expensive analytical techniques such as crystallography. In this way, we identify the set of polymorphs possible within a set of experimental conditions, as well as the optimal values of these conditions to grow each polymorph.

Information sharing is critical in time-sensitive and realistic multi-robot exploration, especially for smaller robotic teams in large-scale environments where connectivity may be sparse and intermittent. Existing methods often overlook such communication constraints by assuming unrealistic global connectivity. Other works account for communication constraints (by maintaining close proximity or line of sight during information exchange), but are often inefficient. For instance, preplanned rendezvous approaches typically involve unnecessary detours resulting from poorly timed rendezvous, while pursuit-based approaches often result in short-sighted decisions due to their greedy nature. We present IR2, a deep reinforcement learning approach to information sharing for multi-robot exploration. Leveraging attention-based neural networks trained via reinforcement and curriculum learning, IR2 allows robots to effectively reason about the longer-term trade-offs between disconnecting for solo exploration and reconnecting for information sharing. In addition, we propose a hierarchical graph formulation to maintain a sparse yet informative graph, enabling our approach to scale to large-scale environments. We present simulation results in three large-scale Gazebo environments, which show that our approach yields 6.6-34.1% shorter exploration paths and significantly improved mapped area consistency among robots when compared to state-of-the-art baselines. Our simulation training and testing code is available at https://github.com/marmotlab/IR2.

Application of artificial intelligence (AI) has been ubiquitous in the growth of research in the areas of basic sciences. Frequent use of machine learning (ML) and deep learning (DL) based methodologies by researchers has resulted in significant advancements in the last decade. These techniques led to notable performance enhancements in different tasks such as protein structure prediction, drug-target binding affinity prediction, and molecular property prediction. In material science literature, it is well-known that crystalline materials exhibit topological structures. Such topological structures may be represented as graphs and utilization of graph neural network (GNN) based approaches could help encoding them into an augmented representation space. Primarily, such frameworks adopt supervised learning techniques targeted towards downstream property prediction tasks on the basis of electronic properties (formation energy, bandgap, total energy, etc.) and crystalline structures. Generally, such type of frameworks rely highly on the handcrafted atom feature representations along with the structural representations. In this paper, we propose an unsupervised framework namely, CrysAtom, using untagged crystal data to generate dense vector representation of atoms, which can be utilized in existing GNN-based property predictor models to accurately predict important properties of crystals. Empirical results show that our dense representation embeds chemical properties of atoms and enhance the performance of the baseline property predictor models significantly.