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During the teleoperated robot assisted catheter interventional neurosurgery, to improve the transparency between the patient side (slave side) and the remote control side (mast side) have been obtained plenty of attention. In this research we hypothesized that the slave catheter interventional robot fully complied with the dynamics command which comes from the master site. This paper is concerned...
Capsule endoscopy is becoming an important tool for diagnosis in the digestive system. In certain parts of the gastrointestinal tract, such as the stomach, the capsule should be self-propelled. This study examines the swimming mechanism for a miniature gastric pill endoscope. Our method is based on a constant external magnetic field, such as the B0 field of an MRI (Magnetic Resonance Imaging), that...
In this paper, the problem of a class of hyperredundant arms with continuum elements that performs the grasping function by coiling is discussed. This function is often met in the animal world as the elephant's trunk or octopus tentacle. First, the dynamic model in 3D-space is developed. The equations that describe the motion of the arm that carries a load by coiling are inferred. The stability of...
In order to reduce the wave excitation forces on structures, the partial porous cylinder, which is composed of a porous part located near free surface and a rigid part bounded top and bottom by impermeable end caps, is newly suggested. The fluid domain is thus divided into three regions: a single exterior region, N inner regions and N beneath regions to calculate the wave force on the partial porous...
In order to research the actuator principle of work, enhance its anti-vibration performance, the inertia channel semi-active suspension actuator is designed. The mechanical control model is established, the mathematical model is derived, seeks out the expression of dynamic stiffness? dynamic damping and force transmission rate. Carries on the dynamic characteristic simulation through the change inertia...
Stationkeeping system of deep-water drilling device is essential for offshore drilling; the choice of positioning methods is related to the security, stability and engineering costs of the drilling. Mooring positioning system is commonly used in deepwater drilling device. How to choose the positioning means of deepwater drilling device and taut-wire mooring system which is suitable for deep-water...
This paper is focussed on the modelling and control of a hydraulically-driven biologically-inspired robotic leg. The study is part of a larger project aiming at the development of an autonomous quadruped robot (hyQ) for outdoor operations. The leg has two hydraulically-actuated degrees of freedom (DOF), the hip and knee joints. The actuation system is composed of proportional valves and asymmetric...
This paper presents a novel method for cell image segmentation. The approach is based on the application of dynamic force estimation on a static vane (DFESV) to medical image processing problems. The other processes in the approach include smoothing filter using anisotropic diffusion, thresholding using Otsu's algorithm, morphology operation, marking boundary segment, angle image operator, and angle...
Since the propulsion mechanism in fluid using an elastic fin, such as the caudal fin or the pectoral fin of fish, is effective. However, the optimum elasticity of the fin is not constant and changes with the movement task and environment. It is very difficult to exchange fins of different stiffness while the robot is swimming. Thus, we attempt to develop a variable-stiffness fin with a variable-effective-length...
In 3D computer graphics, it has been an important issue to describe a virtual object realistically and show it in a physically correct manner. Unlike the virtual reality(VR), the augmented reality (AR) is an environment containing virtual and real objects simultaneously. However, the difference in motion between the virtual and real objects is obvious, which makes it hard for AR to be realistic and...
This paper gives a review of acoustic and ultrasonic optical fiber sensors (OFSs). The review covers optical fiber sensing methods for detecting dynamic strain signals, including general sound and acoustic signals, high-frequency signals, i.e., ultrasonic/ultrasound, and other signals such as acoustic emissions, and impact induced dynamic strain. Several optical fiber sensing methods are included,...
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