Transit Mechanics of the Adaptive Matrix Worm: Compliant-Walled Liquid-Filled Regime

摘要

The Adaptive Matrix Worm (AMW) operates in a transit regime that has no published bench-loop validation: a sub-30 mm diameter everting soft agent advancing through a compliant-walled liquid-filled host at gauge pressure differentials of at most 15 kPa. Adjacent rigs exist — colonoscopy phantoms in air-insufflated tissue, capsule-endoscope friction studies in biological intestine, pneumatic vine-robot rigs in open or granular environments — but none combines all four regime conditions, and a systematic literature search confirmed the gap. We treat this as the paper's contribution rather than a research deficit. We specify the AMW agent architecture (egg-shaped body; dual-cable layout with a yellow Distributed Fibre-Optic Sensing tether to the sensor tip and a blue Bio-Grip supply hose to the rear that doubles as retrieval tether; rear-actuation concave/convex mode that engages and releases the push-bar function) and locate the paper inside the Mission Lifecycle Canonical (v1.0) that governs the entire AMW arc. We extend the Paper 4B force budget into a unified family covering all six AMW feasibility-stack capabilities, with II.1 as the canonical home for the extended budget. We map the four AMW operating modes to mode-specific failure-mode catalogues. The biomimetic framing is honest: eversion-as-locomotion is rare-to-absent in the published natural-history literature, the closest biological reference is geometric (tip-localised extension as in fungal hyphae, pollen tubes, and root tips, with no transferable hydraulics), and the engineered precedent is the soft everting vine-robot family of Hawkes (2017), Blumenschein (2020), and AlHarthy (2025). Hydraulic water-driven eversion is confirmed rare in that family. We propose Bench Loop E, the first explicitly designed rig for the AMW transit regime, drawing instrumentation choices from each adjacent rig and justifying point-by-point why each adjacent rig is individually inadequate, and we map its five tests to Stages 1–3 of the canonical five-stage staged-validation pathway. Bench Loop E will either confirm Paper 4B's quasi-static force budget at sub-15 kPa operating pressures or identify the specific operating-envelope boundary at which the framework fails. Three architectural alternatives we considered but did not adopt are named in the research-directions section. The triad-gate compliance verification closes the paper.