Design of a Legged and Clamper-Based Capsule Robot with Active Locomotion Function

2020 ◽  
Author(s):  
Fan Zhang ◽  
Dongxu Ye ◽  
Shuang Song
Keyword(s):  
Large Intestine ◽  
Kinematic Analysis ◽  
Intestinal Tract ◽  
Intestinal Wall ◽  
Structure Design ◽  
Experimental Results ◽  
Force Analysis ◽  
Capsule Robot ◽  
Transparent Tube ◽  
Active Locomotion

Abstract This paper presents a legged and clamper-based capsule robot with active locomotion function. The capsule robot (CR) utilizes the extension and contraction of the anchoring legs to expand the collapsed intestinal wall, crawl in the intestinal tract, and stand in large spaces such as the stomach and large intestine organs. The mechanical structure design, kinematic analysis, principle of locomotion and force analysis of the CR are presented. The design concept and locomotion principles of the proposed CR are verified by a prototype with the diameter of 13 mm and length of 39 mm. Three experiments were conducted to test the locomotion performance of the proposed CR. In the experiments, the prototype successfully expands the collapsed phantom intestine, stands on the plane and moves forward in transparent tube at a promising speed. Experimental results indicate that the CR has good locomotion capabilities.

Simulation and experimentation of a magnetorheological brake with adjustable gap

2016 ◽  
Vol 28 (12) ◽  
pp. 1614-1626 ◽  
Author(s):  
Wan-Li Song ◽  
Dong-Heng Li ◽  
Yan Tao ◽  
Na Wang ◽  
Shi-Chao Xiu
Keyword(s):  
Magnetorheological Fluid ◽  
Structure Design ◽  
Experimental Results ◽  
Wear Property ◽  
Braking Performance ◽  
Braking Torque ◽  
The Difference ◽  
The Impact ◽  
Theoretical Analyses ◽  
Magnetostatic Simulation

The aim of this work is to investigate the effect of the small magnetorheological fluid gap on the braking performance of the magnetorheological brake. In this article, theoretical analyses of the output torque are given first, and then the operating principle and design details of the magnetorheological brake whose magnetorheological fluid gap can be altered are presented and discussed. Next, the magnetic circuit of the proposed magnetorheological brake is conducted and further followed by a magnetostatic simulation of the magnetorheological brakes with different sizes of fluid gap. A prototype of the magnetorheological brake is fabricated and a series of tests are carried out to evaluate the braking performance and torque stability, as well as the verification of the simulation results. Experimental results show that the braking torque increases with the increase in the current, and the difference for the impact of the fluid gap on braking performance is huge under different currents. The rules, which the experimental results show, have an important significance on both the improvement of structure design for magnetorheological brake and the investigation of the wear property under different fluid gaps.

scholarly journals STUDY OF GIT RELATED KOSHTHANGA W.S.R. TO PAKWASHAYA

2021 ◽  
Vol 9 (7) ◽  
pp. 1466-1468
Author(s):  
Pallavi Gupta ◽  
Divya Nidhi
Keyword(s):  
Small Intestine ◽  
Large Intestine ◽  
Human Body ◽  
Alimentary Canal ◽  
Intestinal Tract ◽  
Human Anatomy ◽  
Specific Function ◽  
Partial Digestion ◽  
Complete Digestion ◽  
Absolute Knowledge

Human anatomy is the science where human body structures are designed to enable complete physiological action thus establishing homeostasis of the human body. Acharya Sushruta had a keen observation about the human body reflecting that without the absolute knowledge of Rachana Sharir. Chikitsak cannot be considered an expert. In Ayurveda, the part of G.I.T. is mentioned in Koshthanga by various Acharya. These Koshthanga are Aamashaya, Pakwashaya, Purishdhara, Uttarguda, Adharguda, Kshudrantra etc. which are situated within the koshtha. In modern anatomy, G.I.T. or Alimentary canal includes all the structures between the mouth and anus, forming a continuous passageway that includes the main organ of digestion, namely the stomach small intestine and large intestine, each part of the Gastric intestinal tract is adapted to its specific function. The 'oesophagus' function primarily to conduct food rapidly from the pharynx to the stomach mixing along with the digestive juic- es, carrying out partial digestion and then propelling the food into the duodenum is the function of the stomach small intestine is designed for complete digestion and absorption of nutrients. Absorption of water and electrolyte from the chyme to form solid faeces is the function of the large intestine. Pakwashaya is the main organ related to the site of Vata Dosha, Purishvaha srotas, Purishdhara kala, Koshthanga and Aashaya. Pakwashaya plays an important role in formation of urine and digestion of food. Keywords: Pakwashaya, Purish

Structure Design and Kinematic Analysis of Stacking Mechanical Arm of Aluminium Ingot

2013 ◽  
Vol 834-836 ◽  
pp. 1414-1417
Author(s):  
Jia Cheng Cai ◽  
Hai Tao Wu ◽  
Tian Chang Yao ◽  
Da Wei Xu
Keyword(s):  
Trajectory Planning ◽  
Kinematic Analysis ◽  
Structure Design ◽  
Motion System ◽  
Dynamics And Control ◽  
Set Up ◽  
And Control ◽  
Important Significance ◽  
Reliable Basis

In view of the existing problem of the traditional aluminium ingot stacking practices, it was important significance to research and develop a stack-manipulator that includes various functions to do portage and stack. According to the demand of stacking, the motion system of the Stack-manipulator based on four degrees was finished. The kinematics equation of the manipulator was set up using the D-H theory, On this base, Some of the kinematics problems of this stack-manipulator were discussed and these reliable basis were provided for the research of the manipulators dynamics and control and trajectory planning.

Non-Linear Dynamic Magneto Electric Effects in Ferromagnetic-Ferroelectric Layered Composites

2013 ◽  
Author(s):  
Satenik Harutyunyan ◽  
Davresh Hasanyan
Keyword(s):  
Vibration Frequency ◽  
Strain Distribution ◽  
Longitudinal Vibration ◽  
Three Dimensional ◽  
Low Frequency ◽  
Structure Design ◽  
Experimental Results ◽  
Physical Parameters ◽  
Wide Range ◽  
Non Linear

A non-linear theoretical model including bending and longitudinal vibration effects was developed for predicting the magneto electric (ME) effects in a laminate bar composite structure consisting of magnetostrictive and piezoelectric multi-layers. If the magnitude of the applied field increases, the deflection rapidly increases and the difference between experimental results and linear predictions becomes large. However, the nonlinear predictions based on the present model well agree with the experimental results within a wide range of applied electric field. The results of the analysis are believed to be useful for materials selection and actuator structure design of actuator in actuator fabrication. It is shown that the problem for bars of symmetrical structure is not divided into a plane problem and a bending problem. A way of simplifying the solution of the problem is found by an asymptotic method. After solving the problem for a laminated bar, formula that enable one to change from one-dimensional required quantities to three dimensional quantities are obtained. The derived analytical expression for ME coefficients depend on vibration frequency and other geometrical and physical parameters of laminated composites. Parametric studies are presented to evaluate the influences of material properties and geometries on strain distribution and the ME coefficient. Analytical expressions indicate that the vibration frequency strongly influences the strain distribution in the laminates, and that these effects strongly influence the ME coefficients. It is shown that for certain values of vibration frequency (resonance frequency), the ME coefficient becomes infinity; as a particular case, low frequency ME coefficient were derived as well.

Analysis of physical properties and structure design of weft-knitted spacer fabric with high porosity

2016 ◽  
Vol 88 (1) ◽  
pp. 59-68 ◽  
Author(s):  
Chaoyu Chen ◽  
Zhaoqun Du ◽  
Weidong Yu ◽  
Tilak Dias
Keyword(s):  
Three Dimensional ◽  
Middle Layer ◽  
Air Permeability ◽  
Structure Design ◽  
Experimental Results ◽  
Knitted Fabric ◽  
High Porosity ◽  
Compression Properties ◽  
Plain Knitted Fabric ◽  
Spacer Fabric

The main content dealt with in the paper is to present a kind of weft-knitted spacer fabric with high porosity. It is a kind of three-dimensional textile fabric with a sandwich structure that consists of a middle layer of multifilament and two outer layers of plain-knitted fabric. Compared with traditional warp-knitted spacer fabric as cushion mats, weft-knitted spacer fabric is well used as apparel for good softness, thermal/moisture comfort, and air permeability. Therefore, three structures were designed and nine samples were prepared by choosing plain-knitted fabric as the outer layers and selecting soft and thin multifilament as a middle layer. Experimental results show that this kind of weft-knitted spacer fabrics has high porosity, greater than 86%, and also demonstrate that the weft-knitted spacer fabric is suitable for comfortable apparel based on experimental results of air permeability, compression properties, stiffness, and thermal insulation properties.

scholarly journals Magnesium Sensing Regulates Intestinal Colonization of Enterohemorrhagic Escherichia coli O157:H7

mBio ◽  
2020 ◽  
Vol 11 (6) ◽  
Author(s):  
Yutao Liu ◽  
Runhua Han ◽  
Junyue Wang ◽  
Pan Yang ◽  
Fang Wang ◽  
...  
Keyword(s):  
Escherichia Coli ◽  
Large Intestine ◽  
Intestinal Tract ◽  
Regulatory System ◽  
Regulatory Pathway ◽  
Content Type ◽  
E Coli ◽  
Low Magnesium ◽  
Enterocyte Effacement

ABSTRACT The large intestinal pathogen enterohemorrhagic Escherichia coli (EHEC) O157:H7 detects host cues to regulate virulence gene expression during colonization and infection. However, virulence regulatory mechanisms of EHEC O157:H7 in the human large intestine are not fully understood. Herein, we identified a virulence-regulating pathway where the PhoQ/PhoP two-component regulatory system senses low magnesium levels and signals to the O island 119-encoded Z4267 (LmiA; low magnesium-induced regulator A), directly activating loci of enterocyte effacement genes to promote EHEC O157:H7 adherence in the large intestine. Disruption of this pathway significantly decreased EHEC O157:H7 adherence in the mouse intestinal tract. Moreover, feeding mice a magnesium-rich diet significantly reduced EHEC O157:H7 adherence in vivo. This LmiA-mediated virulence regulatory pathway is also conserved among several EHEC and enteropathogenic E. coli serotypes; therefore, our findings support the use of magnesium as a dietary supplement and provide greater insights into the dietary cues that can prevent enteric infections. IMPORTANCE Sensing specific gut metabolites is an important strategy for inducing crucial virulence programs by enterohemorrhagic Escherichia coli (EHEC) O157:H7 during colonization and infection. Here, we identified a virulence-regulating pathway wherein the PhoQ/PhoP two-component regulatory system signals to the O island 119-encoded low magnesium-induced regulator A (LmiA), which, in turn, activates locus of enterocyte effacement (LEE) genes to promote EHEC O157:H7 adherence in the low-magnesium conditions of the large intestine. This regulatory pathway is widely present in a range of EHEC and enteropathogenic E. coli (EPEC) serotypes. Disruption of this pathway significantly decreased EHEC O157:H7 adherence in the mouse intestinal tract. Moreover, mice fed a magnesium-rich diet showed significantly reduced EHEC O157:H7 adherence in vivo, indicating that magnesium may help in preventing EHEC and EPEC infection in humans.

Development and Validation of the Kinematic Analysis of a Low Low-Cost 4-Link Robot

2015 ◽  
Vol 789-790 ◽  
pp. 626-635
Author(s):  
O. Olatunbosun Ajayi ◽  
E. Okafor Onyemaechi ◽  
Onwudiwe Obumneme
Keyword(s):  
Kinematic Analysis ◽  
Robot Control ◽  
Third World ◽  
Experimental Validation ◽  
System Development ◽  
Low Cost ◽  
Experimental Results ◽  
Computer Interface ◽  
Robot System ◽  
Development And Validation

In this paper, we describe the development and validation of the kinematic analysis of a low low-cost 4-link robot the first of its kind in Nigeria. This study comprises the following key tasks which describe the methodology for the robot development: design and kinematic analysis of the robot mechanism, construction/fabrication and assembly of the robot, system development (computer interface with the robot) and experimental validation of the robot control. The goal of this robot is to pick an object and drop the object in a specified position. The algorithm to control the robot on the computer was coded in Java and simulated in MATLAB/Simulink platform. The robot was experimentally verified and the results are presented in this paper. The experimental results show that robot development is feasible in Nigeria. The contribution of this study will enhance and promote robot control and development in Nigeria and developing third world countries.

scholarly journals Endolimax kueneni n.sp., Parasitic in the Intestinal Tract of the Monkey Macacus cynomolgus

Parasitology ◽  
1920 ◽  
Vol 12 (4) ◽  
pp. 378-379 ◽  
Author(s):  
S. L. Brug
Keyword(s):  
Large Intestine ◽  
Microscopic Examination ◽  
Intestinal Tract ◽  
Pathological Lesions ◽  
Intestinal Contents

This amoeba was found in the large intestine of a Macacus cynomolgus, that was killed because it suffered from paralysis of the hind legs and emaciation. The autopsy showed these symptoms to be dependent on a general tuberculosis, in which, besides many other organs, the spinal matter was involved. Microscopic examination of the intestinal contents revealed the presence of motile amoebae and cysts. Except some small tubercular foci in the serosa no pathological lesions could be detected in the intestine. Close examination of the mucosa failed to reveal any ulceration; blood and mucus were totally absent.

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