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This research aims to study the parameters that contribute to the crawling performance of the snake robot inside an inclined pipe. The shape and motion propagation of the snake robot directly affect the forward crawling speed of the robot inside a pipe. Motion shape code is proposed as the simplified method for describing shape of a modular snake robot. The motion propagation can be created by shifting...
This paper presents the issues encountered in the development of a robot based on the biometric influence of a bear. One of the main aims of this research was to explore the possibilities of a robot, which could move between the different styles of motion. The bear offers a unique example of an animal with high mass and bulk, which can move between being a quadruped and a biped. Our earlier research...
There are many commercially available robots that display biomimetic influences. Sony's Aibo and DasaRobot's Genibo are two examples where robot dog designs have drawn from nature. Aldebaran's Nao and Hanson Robotics' Zeno are examples of humanoids robots that have drawn influences from the human body. This paper presents the design of an autonomous 21 degree of freedom (DOF) robot bear, named HyKim...
In this paper, a new method based on multi-layered dynamic neural group network for analyzing event series is introduced. By the embedded multiple parallel structures, the new method can identify the character patterns contained in the event series. Then, a selective evaluation strategy is applied to integrate the different pattern clusters and predict the event in the next step. The aim is to generate...
Serpentine Locomotion is the most common and simplest locomotion form of a snake-like robot; its main characteristic is the wave-like undulation of the snake's body. In order to realize the noticeable features of the snake-like robot's serpentine locomotion in water, we have developed an amphibious snake-like robot which can adapt to terrestrial and underwater environments. After we derived the dynamic...
The fruit fly Drosophila is one of the most important model organisms in genetics and developmental biology research. To better understand the biomechanical properties involved in Drosophila embryo research, this work presents a mechanical characterization of living Drosophila embryos through the stages of embryogenesis. Measurements of the mechanical forces of Drosophila embryos are implemented using...
AFM based nanomanipulation is still hindered by large spatial uncertainties encountered in tip positioning caused by PZT nonlinearity and thermal drift. In this paper, a landmark based positioning method is proposed to solve these problems. Its pivotal idea is that the tip position is described in a feature based landmark coordinate instead of length based Descartes coordinate. During manipulation,...
In this paper, we proposed two types of spiral microrobot that can move in human organs such like intestines, even blood vessels as an assumption has a great potential application for microsurgery. We begin with a mechanical study of the fish-like microrobot made by magnetic actuator. And then, based on the previous researches, the structures of the developed microrobot have been designed. By applying...
This paper describes the production of an artificial hair cell receptor based on aligned micro/nano polyvinylidene fluoride (PVDF) fibers. Suspended aligned micro/nano fiber arrays were successfully produced on an insulator film by a novel method called thermo-direct drawing procedure. Using this method, aligned micro/nano-size PVDF fibers are obtained. Some key problems such as the fabrication of...
We performed in-situ measurements of mechanical properties of individual W303 wild-type yeast cells by using a soft nanoneedle inside an integrated environmental scanning electron microscope (ESEM) - nanomanipulator system. Two different spring constants of soft nanoneedles which can buckle from certain applied compression force were used to measure a general local stiffness, i.e. stiffness property...
Microinjection is an effective technique to introduce foreign materials into a biological cell. Although great developments have been achieved, a full understanding of the mechanical response of biological cells to injection operation remains deficient. In this paper, a mechanical model based on membrane theory is proposed. This model utilizes the Mooney-Rivlin material to model the deformation of...
A new dynamical model of the shoulder has been developed. It consisted of eleven muscles. The glenohumeral joint is modeled as a spherical joint, allowing for three rotations. Muscle wrapping around a spherical humeral head is calculated analytically. The problem of indeterminated muscle forces is solved in two steps. First, an intermediate solution is calculated using the pseudo-inverse of the moment...
The excessively long reviewing times for diagnosis of capsule endoscopy present a clinical problem. A new method, ldquoadaptive speedrdquo, which automatically controls display rates of the video capsule endoscopy images, was proposed to address the problem. In this paper, we investigate the effectiveness of this method versus a standard-view using the existing system. The main activities of examining...
This paper builds on previous work on the biologically inspired microtexturing of next-generation neurosurgical probes [3]. It reports on the outcome of a feasibility study, where a biomimetic robotic actuator was used to demonstrate effective soft tissue traversal (i.e. motion along the surface of a soft tissue) through the reciprocating motion of custombuilt anisotropic surface textures, without...
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