Significance: Autonomy separates robots from machines. Incorporating autonomy into soft robots is an outstanding challenge due to the mismatch between rigid electronics and the compliant bodies. In this work, we demonstrate origami as a platform for compliant mechanical logic, containing mechanical bits, logic gates, and signal transmission mechanisms that can supplement conventional electronic controls. Furthermore, these processes can be responsive to and programmed by the environment via the integration of adaptive materials. Thus, origami provides a framework in which sensing, computation, and reflexes can be seamlessly integrated into the compliant bodies of soft robotics.

In this paper, a systematic method is presented for developing microstructure-statistics-property relations of anisotropic polydisperse particulate composites using microcomputer tomography (micro-CT). Micro-CT is used to obtain a detailed three-dimensional representation of polydisperse microstructures, and an image processing pipeline is developed for identifying particles. In this work, particles are modeled as idealized shapes in order to guide the image processing steps and to provide a description of the discrete micro-CT data set in continuous Euclidean space. $n$-point probability functions used to describe the morphology of mixtures are calculated directly from real microstructures. The statistical descriptors are employed in the Hashin-Shtrikman variational principle to compute overall anisotropic bounds and self-consistent estimates of the thermal-conductivity tensor. We make no assumptions of statistical isotropy nor ellipsoidal symmetry, and the statistical description is obtained directly from micro-CT data. Various mixtures consisting of polydisperse ellipsoidal and spherical particles are prepared and studied to show how the morphology impacts the overall anisotropic thermal-conductivity tensor.