This paper reports on the use of a new actuator, called Pleated Pneumatic Artificial Muscle, in a one dimensional set-up, it is build as a footless leg with only the knee powered by a pair of Pleated Pneumatic Artificial Muscles. The main goal of this study is the evaluation of the adaptable passive behaviour of these Artificial Muscles in a leg, which can be exploited for an energy efficient way of walking for legged robots.The new actuator and its specific advantages for the use in legged robots will be discussed as well as the concept of the one dimensional set-up. It will be shown that a large amount of energy during a jump can be recuperated and continuous jumping can easily be achieved with low gauge pressures.

It has been suggested that dust storms efficiently transport water vapor from the near‐surface to the middle atmosphere on Mars. Knowledge of the water vapor vertical profile during dust storms is important to understand water escape. During Martian Year 34, two dust storms occurred on Mars: a global dust storm (June to mid‐September 2018) and a regional storm (January 2019). Here we present water vapor vertical profiles in the periods of the two dust storms (Ls = 162–260° and Ls = 298–345°) from the solar occultation measurements by Nadir and Occultation for Mars Discovery (NOMAD) onboard ExoMars Trace Gas Orbiter (TGO). We show a significant increase of water vapor abundance in the middle atmosphere (40–100 km) during the global dust storm. The water enhancement rapidly occurs following the onset of the storm (Ls~190°) and has a peak at the most active period (Ls~200°). Water vapor reaches very high altitudes (up to 100 km) with a volume mixing ratio of ~50 ppm. The water vapor abundance in the middle atmosphere shows high values consistently at 60°S‐60°N at the growth phase of the dust storm (Ls = 195°–220°), and peaks at latitudes greater than 60°S at the decay phase (Ls = 220°–260°). This is explained by the seasonal change of meridional circulation: from equinoctial Hadley circulation (two cells) to the solstitial one (a single pole‐to‐pole cell). We also find a conspicuous increase of water vapor density in the middle atmosphere at the period of the regional dust storm (Ls = 322–327°), in particular at latitudes greater than 60°S.

This paper describes the design of a new type of Pneumatic Artificial Muscle (PAM), namely the Pleated Pneumatic Artificial Muscle (PPAM). It was developed as an improvement with regard to existing types of PAM, e.g. the McKibben muscle. Its principle characteristic is its pleated membrane. It can inflate without material stretching and friction and has practically no stress in the direction perpendicular to its axis of symmetry. Besides these it is extremely strong and yet very lightweight and it has a large stroke compared to other designs. A general introduction on PAMs is given together with a short discussion and motivation for this new design. The concept of the PPAM is explained and a mathematical model is derived. This model proves its principle of operation. From the model, several characteristics, such as developed force, maximum contraction, diameter, volume and membrane tensile stress, are obtained. Material choices and dimensions of a typical PPAM are next discussed and its measured values of static force and diameter are compared to the model predicted values. The agreement between both is found to be very good.

The NOMAD ("Nadir and Occultation for MArs Discovery") spectrometer suite on board the ExoMars Trace Gas Orbiter (TGO) has been designed to investigate the comThis paper is dedicated to the memory of M. Allen, V. Formisano, and J. McConnell. position of Mars' atmosphere, with a particular focus on trace gases, clouds and dust. The detection sensitivity for trace gases is considerably improved compared to previous Mars missions, compliant with the science objectives of the TGO mission. This will allow for a major leap in our knowledge and understanding of the Martian atmospheric composition and the related physical and chemical processes. The instrument is a combination of three spectrometers, covering a spectral range from the UV to the mid-IR, and can perform solar occultation, nadir and limb observations. In this paper, we present the science objectives of the instrument and explain the technical principles of the three spectrometers. We also discuss the expected performance of the instrument in terms of spatial and temporal coverage and detection sensitivity.

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