Members of the Nyctaginaceae Jussieu. are distributed throughout southern Africa. Eight species of the family occur naturally in arid parts of Namibia. These species have acquired the ability to survive and reproduce in these dry conditions. They are xerophytes, which have been described as drought evaders, avoiders, and drought-tolerant. In the Nyctaginaceae, Boerhavia deserticola, B. hereroensis, Commicarpus helenae and C. squarrosus are thought to be drought avoiders. In this study we investigated their stem, leaf and anthocarp anatomy for adaptations to arid environments. The results indicated that the four species are avoiders, with modifications of the trichomes, secretions, crystals, secondary growth, Kranz mesophyll, water storage cells, tannins, mucilage, inner and outer stomatal ledges, large-diameter xylem vessels, and the presence of sclerenchyma in their stems, leaves and anthocarps. These adaptations enable the plants to tolerate arid conditions, conserve water and maintain a high photosynthetic rate, and aid seed dispersal.
Adaptive locomotion over difficult or irregular terrain is considered as a superiority feature of walking robots over wheeled or tracked machines. However, safe foot positioning, body posture and stability, correct leg trajectory, and efficient path planning are a necessity for legged robots to overcome a variety of possible terrains and obstacles.Without these properties, anywalking machine becomes useless. Energy consumption is one of the major problems for robots with a large number of Degrees of Freedom (DoF). When considering a path plan ormovement parameters such as speed, step length or step height, it is important to choose the most suitable variables to sustain long battery life and to reach the objective or complete the task successfully.We change the settings of a hexapod robot leg trajectory for overcoming small terrain irregularities by optimizing consumed energy and leg trajectory during each leg transfer. The trajectory settings are implemented as a part of hexapod robot simulation model and tested through series of experiments with various terrains of differing complexity and obstacles of various sizes. Our results show that the proposed energy-efficient trajectory transformation is an effective method for minimizing energy consumption and improving overall performance of a walking robot.