Progress 01/15/21 to 01/14/25
Outputs
Target Audience:Throughout our research on developing the electrically powered auger digger propelled by the pneumatically actuated soft robotic worm (wORmBot), we focused on multiple target audiences integral to the project's success and dissemination. Our efforts primarily targeted professionals and researchers from diverse disciplines including robotics, agriculture, soil science, and environmental monitoring. By fostering transdisciplinary collaboration, we engaged specialists capable of integrating robotic solutions into practical agricultural and environmental applications. Educational outreach was another significant focus, involving structured internships, coursework, and hands-on workshops. Graduate and undergraduate students, especially those specializing in mechanical engineering, agriculture, and related technologies, actively participated in interdisciplinary research. Students contributed to and benefited from training in robotic systems, sensor integration, and precision agriculture technologies. We also emphasized direct engagement at conferences with agricultural producers interested in robotics, providing insights on the practical benefits of our robotic solutions for soil monitoring and plant health management. Industry stakeholders, including agricultural engineers and technology companies, were key partners in facilitating technology transfer and adoption. Additionally, we engaged educators and high school teachers to promote broader awareness and integration of advanced robotics and environmental technologies into educational curricula. Significant efforts were also directed towards inclusion and outreach through targeted programs like Catalyst Academy and Expanding Your Horizons, designed specifically to enhance participation among underrepresented groups and women in STEM fields. Interactive demonstrations using soft robotic modules ("legos") facilitated engagement and educational experiences for younger audiences. Overall, our outreach initiatives and targeted collaborations successfully expanded the impact of our research across academic, industrial, educational, and agricultural sectors, laying a robust foundation for ongoing advancements and future applications of wORmBot technology. Changes/Problems:Digging in soil environments presents significant technical challenges due to variable soil compositions and mechanical properties. While this aspect was particularly difficult, we made substantial progress and have collected extensive data demonstrating successful robotic digging. Although these results were finalized after the original performance period, a publication detailing these findings is in preparation. Importantly, during the performance period, we published a seminal piece of research on mycelium control of robots, significantly advancing the scientific understanding and technological capabilities within the field of biohybrid robotics. This publication, alongside our ongoing work in robotic digging, exemplifies our commitment to overcoming challenges and contributing impactful advances in robotics and environmental science. What opportunities for training and professional development has the project provided?The project provided extensive opportunities for training and professional development, engaging graduate students, undergraduate students, and postdoctoral associates across multiple disciplines including robotics, agriculture, remote sensing, plant physiology, and plant genetics. Participants benefited from interdisciplinary research exposure, hands-on experience with advanced robotics systems, and practical skills in sensor integration and environmental data analysis. Structured internships, thesis projects, and professional workshops contributed significantly to their professional growth. Additionally, participation in major conferences, such as IROS, facilitated networking opportunities and exposure to cutting-edge research, enhancing career development prospects for all involved participants. How have the results been disseminated to communities of interest?Yes, via multiple conference presentations, hosted workshops, and publications. What do you plan to do during the next reporting period to accomplish the goals?
Nothing Reported
Impacts
What was accomplished under these goals?
Major Goals of the Project AIM I. Design and develop soil swimming robots for soil sensing of the maize plant root and its rhizosphere with an above-ground carrier mobile robot to support large-scale field campaigns. Developed the wORmBot, an electrically powered, pneumatically actuated soft robotic worm capable of effective locomotion and soil navigation, featuring robust actuators, bristle-based anchoring systems, and an efficient auger system for penetrating diverse soil types. Integrated various sensing technologies, including temperature, humidity, current, CO2 gas sensors, and underground vision cameras to enable comprehensive environmental monitoring of the maize root rhizosphere. AIM II. Develop the use of the soil robot collective to identify interactions between maize roots and soil water relations at critical plant development time points. Implemented a network of sensors integrated within robotic systems to monitor soil moisture, temperature, and biological activity continuously. Demonstrated capabilities to distinguish soil types and detect plant roots through advanced vision sensing algorithms, aiding detailed analyses of plant-water interactions under varying environmental conditions. Enabled real-time subterranean data collection facilitating detailed insights into the dynamics of rhizosphere water relations and root health. AIM III. The project will share the impact and scientific findings of this project with the greater scientific community and public by implementing a coordinated set of activities that engage students, scientists, growers, and the public. i. Engagement of stakeholders at scientific meetings associated with Cornell and professional societies: Organized significant outreach activities, including the largest agricultural robotics workshop ever hosted at IROS in Detroit and Abu Dhabi. Conducted presentations and discussions at Cornell-associated events and professional society meetings, enhancing community awareness and fostering collaborative research initiatives. ii. Postdoctoral associates, undergraduates, and graduate students will participate in interdisciplinary research that spans across the fields of robotics, remote sensing, plant physiology, and plant genetics: Actively involved graduate students, undergraduates, and postdoctoral associates in multidisciplinary research, including internships, thesis projects, and collaborative research activities. Encouraged professional development through structured training programs emphasizing sensor integration, robotic actuation, and precision agriculture technologies. iii. Recruit and engage under-represented groups in research project activities: Implemented targeted programs such as Catalyst Academy and Expanding Your Horizons, explicitly focusing on the inclusion and participation of underrepresented groups and women in STEM. Conducted interactive demonstrations using soft robotic modules to engage young students and encourage diverse participation. iv. Educate children and the public in robotics and plant biology through outreach activities at Cornell: Provided educational workshops and hands-on activities at Cornell to enhance public understanding of robotics and plant biology. Leveraged outreach programs and interactive sessions to stimulate interest and knowledge about environmental technology and its potential applications in sustainable agriculture.
Publications
- Type:
Peer Reviewed Journal Articles
Status:
Published
Year Published:
2024
Citation:
Mishra et al. Science Robotics (2024)
- Type:
Peer Reviewed Journal Articles
Status:
Published
Year Published:
2025
Citation:
Hafner et al. Plant Science (2025)
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Progress 01/15/23 to 01/14/24
Outputs
Target Audience:Current methods to study the rhizosphere are labor-intensive, intermittent, and destructive ("shovelomics"). With increasing food supply vulnerabilities, robotics presents a crucial opportunity to enhance sustainable agriculture practices. Our project leverages biomimetic soft robotics, specifically worm-like robots, enhanced with augers, humidity sensors, and optical fibers for real-time soil monitoring. These robots enable continuous, detailed observation of soil and root health, informing crop management decisions under challenging environmental conditions. Our primary audience included researchers and industry professionals in robotics, agriculture, environmental monitoring, and soil science. We actively engaged educational institutions, agricultural producers, industry leaders such as Bayer, and broader community stakeholders through structured programs, conferences, and targeted outreach activities. Our target audience is soil scientists and plant biologists, as well as roboticists interested in hardware and control algorithms in underground environments. Changes/Problems:Robotic digging posed significant technical challenges due to varied soil compaction levels. To address these issues, we improved the stiffness of the robot's central shaft, increased motor torque, and shifted testing to softer soil environments such as greenhouses. Although extensive digging data was collected, comprehensive analysis and publication were finalized after this reporting period. Importantly, our team published pivotal research on mycelium-based robotic control during this performance period, substantially advancing biohybrid robotics despite the ongoing digging challenges. What opportunities for training and professional development has the project provided?Participants received extensive professional development through interdisciplinary exposure and hands-on robotics experience. Well attended conference workshops fostered professional growth in robotics, environmental sensing, and agricultural technologies. How have the results been disseminated to communities of interest?Research outcomes were disseminated through multiple channels, including presentations at major robotics conferences (IROS), workshops, and industry collaborations. Findings were shared broadly across academic, industrial, and agricultural sectors, significantly raising awareness of advanced robotic capabilities in agriculture. What do you plan to do during the next reporting period to accomplish the goals?
Nothing Reported
Impacts
What was accomplished under these goals?
Major Goals of the Project AIM I: Successfully developed and field-tested the wORmBot, a pneumatically actuated soft robotic worm with a powered auger for effective subterranean locomotion and soil penetration. Integrated robust sensing capabilities (temperature, humidity, current, CO2 sensors, RGB imaging) enabling comprehensive real-time environmental monitoring of maize root systems. AIM II: Deployed a network of soil robots equipped with sensors to investigate maize root interactions and soil water dynamics at key developmental stages. Demonstrated differentiation of soil types and root detection through advanced RGB imaging and sensor analytics, providing critical insights into soil-water-plant interactions. AIM III: Engagement of Stakeholders: Conducted substantial outreach through hosting the largest agricultural robotics workshops at IROS in Abu Dhabi. Interdisciplinary Participation: Facilitated active participation of graduate students, undergraduates, and postdoctoral associates in cross-disciplinary research, enhancing professional development. Public Education: Executed interactive demonstrations and workshops at Cornell, promoting understanding of robotics, plant biology, and environmental technology. Targeted programs including Catalyst Academy and Expanding Your Horizons.
Publications
- Type:
Peer Reviewed Journal Articles
Status:
Published
Year Published:
2024
Citation:
Mishra et al. Sensorimotor control of robots mediated by electrophysiological measurements of fungal mycelia. Science Robotics (2025)
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