Locomotion over granular terrain poses significant challenges for autonomous robotic systems, particularly in coastal regions characterized by loose, shifting sands. To optimize the locomotion on these challenging terrains, a simulation-aided design approach was used to develop a soft, shape-adapting, wheeled locomotion system. A co-simulation framework combining the discrete element method (DEM) and multibody dynamics (MBD) is employed to simulate the locomotion of a wheeled robot on varying sandy soils, covering both dry and wet sandy soil conditions. A shape-adapting wheel design is proposed, incorporating soft, inflatable elements that enable the wheel to transform between lugged and circular configurations. A discretized flexbody approach is adopted to model the interactions between the sandy soil and the soft, flexible bodies of the shape-adapting wheel design. Simulation results demonstrate improved performance of the shape-adapting wheels across a variety of sandy terrains, including slopes and obstacles. Integrating softness into the wheel improves obstacle climbing performance, while a lugged wheel configuration performs particularly well on loose, dry sandy slopes. This DEM-MBD co-simulation further enables efficient evaluation of locomotion strategies without the need for extensive physical prototyping.

Our study aims to enhance process understanding of the long-term (decadal and longer) cyclic marsh dynamics by identifying the mechanisms that translate large-scale physical forcing in the system into vegetation change, in particular (i) the initiation of lateral erosion on an expanding marsh, and (ii) the control of seedling establishment in front of an eroding marsh-cliff. Short-term sediment dynamics (i.e., seasonal and shorter changes in sediment elevation) at the mudflat causes variation in mudflat elevation over time (δz_TF). The resulting difference in elevation between the tidal flat and adjacent marsh (ΔZ) initiates lateral marsh erosion. Marsh erosion rate was found to depend on sediment type and to increase with increasing ΔZ and hydrodynamic exposure. Laboratory and field experiments revealed that seedling establishment was negatively impacted by an increasing δz_TF. As the amplitude of δz_TF increases towards the channel, expanding marshes become more prone to lateral erosion the further they extend on a tidal flat, and the chance for seedlings to establish increases with the distance that marsh has eroded back towards the land. This process-based understanding, showing the role of sediment dynamics as explanatory factor for marsh cyclicity, is important for protecting and restoring valuable marsh ecosystems. Overall, our experiments emphasize the need for understanding the connections between neighbouring ecosystems such as mudflat and salt marsh.

Successful management and restoration of coastal vegetation requires a quantitative process-based understanding of thresholds hampering (re-)establishment of pioneer vegetation. We expected scouring to be important in explaining the disappearance of seedlings and/or small propagules of intertidal plant species, and therefore quantified the dependence of scouring on plant traits (flexibility, size) and physical forcing by current velocity. Flume studies with unidirectional flow revealed that scouring around seedlings increased exponentially with current velocity and according to a power relationship with plant size. Basal stem diameter rather than shoot length controlled scouring volume. Flexible shoots caused far less scouring than stiff shoots, provided that the bending occurred near the sediment surface as was the case for Zostera, and not on top of a solid tussock base as we observed for Puccinellia. Therefore, shoot stiffness is likely to strongly affect the chances for initial establishment in hydrodynamically exposed areas. Plant traits such as shoot stiffness are subject to a trade-off between advantages and disadvantages, the outcome of which depends on the physical settings.