SunimaryMoment approximation for the non-normal sampling distribution of the ratio of mean squares in the balanced one-way Model I1 is found close to that of the Snedecor's F-distribution. The confidence limits for heritability of paternal half-sib correlations, derived employing F-distribution, are, in general, remarkably nerrow for platykurtic and wide for leptokurtic sire effecta than the normal limits. The effect of kurtosis of environmental deviations on t h w limits is of no consequence whereae the effect of skewness is invisible.K e y Words: Heritability ; Narrow and wide confidence intervals; Power of the test; Skewness and kurtosis.

BummaryMathematical expressions, to irvebtigate the effects cf mcderate departure from ncrmality assumption on the point estimate and an the prcbabilitg of getting a negative estimate of genetic heritability, in a balanced situation, have been derived. The numerical results show thatthepoint estimate is over sensitive whereas t h e probability of a negative cbtimate is inEensitive to this violation.

Over the years, efforts in bioinspired soft robotics have led to mobile systems that emulate features of natural animal locomotion. This includes combining mechanisms from multiple organisms to further improve movement. In this work, we seek to improve locomotion in soft, amphibious robots by combining two independent mechanisms: sea star locomotion gait and gecko adhesion. Specifically, we present a sea star-inspired robot with a gecko-inspired adhesive surface that is able to crawl on a variety of surfaces. It is composed of soft and stretchable elastomer and has five limbs that are powered with pneumatic actuation. The gecko-inspired adhesion provides additional grip on wet and dry surfaces, thus enabling the robot to climb on 25° slopes and hold on statically to 51° slopes.

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