Research on the Kinematic Properties of a Sperm-Like Swimming Micro Robot

Nowadays, it has been one of the hottest topics for scientists to research the interventional micro robots operating in human lumen. In this paper, a novel sperm-like interventional swimming robot with single tail is presented. The kinematic models of the sperm-like helical swimming modes are built, and the motion principles are analyzed numerically. Positions and orientations are displayed graphically during the single-tail micro robot swims in liquid. Also, the displacements and the swimming velocities of the robot in x, y, z directions are plotted. It is shown that, when the single flexible tail screws in liquid environment, it generates both axial and radial propulsion forces, thus to cause the axial and the radial movements. In order to make the swimming micro robot more controllable, an improved sperm-like swimming intervention micro robot with four flexible tails is fabricated and characterized in pipes filled with silicone oil. Experimental results show that the sperm-like micro robot can swim efficiently. With different combinations of the tails' rotation directions, the robot can gain excellent controlled performance.     

Initial Development of a Novel Amphibious Robot with Transformable Fin-Leg Composite Propulsion Mechanisms

Amphibious robots are very attractive for their broad applications in resource exploration, disaster rescue, and recon- naissance. However, it is very challenging to develop the robots for their complex, amphibious working environments. In the complex amphibious environment, amphibious robots should possess multi-capabilities to walk on rough ground, maneuver underwater, and pass through transitional zones such as sandy and muddy terrain. These capabilities require a high-performance propulsion mechanism for the robots. To tackle a complex task, a novel amphibious robot （AmphiHex-I） with,transformable fin-leg composite propulsion mechanisms is developed. With the fin-leg composite propulsions, AmphiHex-I can walk on rough and soft substrates and swim in water with many maneuvers. This paper presents the structural design of the transformable fin-leg propulsion mechanism and its driving module. A hybrid model is used to explore the dynamics between the trans- formable legs and transitional environment such as granular medium. The locomotion performances of legs with various ellip- tical shapes are analyzed, which is verified by the coincidence between the model predictions and the simulation results. Further, an orthogonal experiment is conducted to study the locomotion performance of a two-legged platform walking with an asyn- chronous gait in the sandy and muddy terrain. Finally, initial experiments of AmphiHex-I walking on various lands and swimming in water are implemented. These results verify that the transformable fin-leg mechanisms enable the amphibious robot to pass through a complex, amphibious working environment.     

Swimming Behavior Analysis Based on Bacterial Chemotaxis in Solution

Microrobots is playing more and more important roles for medical applications,such as targeting tumoral lesions for therapeutic purposes,Minimally Invasive Surgery (MIS) and highly localized drug delivery.However,energy efficient propulsion system poses significant challenges for the implementation of such mobile robots.Flagellated chemotactic bacteria can be used as an effective integrated propulsion system for microrobots.In this paper,we proposed a new type of propulsion method that is inspired by the motility mechanism of flagellated chemotactic bacteria in different pH gradients.The pH gradient field was established in solution through electrolysis method.The distribution of the pH values in solution was measured with pH indicator and analyzed with image processing technology,and the mechanism by which the pH values changed was also discussed.The swimming speed and direction of the bacteria were studied experimentally.Through analyzing the key parameters,such as stabilization time and electrode voltage,the optimal design of propulsion mechanism based on bacteria motion in the pH gradient field was proven.     

A Bio-Inspired Biped Water Running Robot Incorporating the Watt-I Planar Linkage Mechanism

In this paper, a biped water running robot is developed by mimicking the water-running pattern of basilisk lizards. The dynamic mechanism of the robot was studied based on Watt-I planar linkages, and the movement trajectory of the double bar Assur Group was deduced to simulate the water-running foot trajectories of the basilisk lizard. A Central Pattern Generator （CPG）-based fuzzy control method was proposed to control the robot for realizing balance control and gait adjustment. The effectiveness of the proposed control method was verified on the prototype of a water running robot （weight： 320 g）. When the biped robot is running on water, the average force generated by the propulsion mechanism is 1.3 N, and the robot body tilt angle is 5~. The experiment results show that the propulsion mechanism is effective in realizing the basilisk lizards-like water running patterns, and the CPG-based fuzzy control method is effective in keeping the balance of the robot.     

Maneuvering and stability performance of a robotic tuna

The Draper Laboratory Vorticity Control Unmanned Undersea Vehicle(VCUUV) is the first mission-scale, autonomous underwater vehiclethat uses vorticity control propulsion and maneuvering. Builtas a research platform with which to study the energetics andmaneuvering performance of fish-swimming propulsion, the VCUUVis a self-contained free swimming research vehicle which followsthe morphology and kinematics of a yellowfin tuna. The forwardhalf of the vehicle is comprised of a rigid hull which housesbatteries, electronics, ballast and hydraulic power unit. Theaft section is a freely flooded articulated robot tail whichis terminated with a lunate caudal fin. Utilizing experimentallyoptimized body and tail kinematics from the MIT RoboTuna, theVCUUV has demonstrated stable steady swimming speeds up to 1.2m/sec and aggressive maneuvering trajectories with turning ratesup to 75 degrees per second. This paper summarizes the vehiclemaneuvering and stability performance observed in field trialsand compares the results to predicted performance using theoreticaland empirical techniques.     

Toward Fast and Efficient Mobility in Aquatic Environment: A Robot with Compliant Swimming Appendages Inspired by a Water Beetle

Water beetles are proficient drag-powered swimmers,with oar-like legs.Inspired by this mechamsm,here we propose a miniature robot,with mobility provided by a pair of legs with swimming appendages.The robot has optimized linkage structure to maximize the stroke angle,which is actuated by a single DC motor with a series of gears and a spring.A simplified swimming appendage model is proposed to calculate the deflection due to the applied drag force,and is compared with simulated data using COMSOL Multiphysics.Also,the swimming appendages are optimized by considering their locations on the legs using two fitness functions,and six different configurations are selected.We investigate the performance of the robot with various types of appendage using a high-speed camera,and motion capture cameras.The robot with the proposed configuration exhibits fast and efficient movement compared with other robots.In addition,the locomotion of the robot is analyzed by considering its dynamics,and compared with that of a water boatman (Corixidae).     

Regulation of Sperm Motility in Starfish. I. Initiation of Movement

Starfish seminal plasma has such characteristics as higher concentration of potassium ions, higher osmolality, and lower pH compared with those of sea water. These factors independently inhibited the movement of spermatozoa. Sperm movement was recorded by taking photographs of the swimming paths under a dark field microscope. Spermatozoa either did not move or swam with decreased beat frequency in isolated seminal plasma or in the presence of certain fractions of seminal plasma obtained by gel-filtration or by partitions. In normal sea water (containing calcium ions), a low pH of less than 6 resulted in a decrease in the number (%) of swimming spermatozoa, though the speed of propulsion and the beat frequency was not affected. On the other hand, in a calcium-free sea water, a large proportion of spermatozoa moved in both low and high pH conditions, but in low pH the speed of propulsion was reduced and many spermatozoa (31 %) swam in smaller circles.     

Supervised Neural Q_learning based Motion Control for Bionic Underwater Robots

Bionic underwater robots have been a hot research area in recent years. The motion control methods for a kind of bionic underwater robot with two undulating fins are discussed in this paper. The equations of motion for the bionic underwater robot are described. To apply the reinforcement learning to the actual robot control, a Supervised Neural Q_learning (SNQL) algorithm is put forward. This algorithm is based on conventional Q_learning algorithm, but has three remarkable distinctions: (1) using a feedforward neural network to approximate the Q_function table; (2) adopting a learning sample database to speed up learning and improve the stability of learning system; (3) introducing a supervised control in the earlier stage of learning for safety and to speed up learning again. Experiments of swimming straightforward are carried out with SNQL algorithm. Results indicate that the SNQL algorithm is more effective than pure neural Q_learning or supervised control. It is a feasible approach to figure out the motion control for bionic underwater robots.     

Quantification and identification of sperm subpopulations using computer-aided sperm analysis and species-specific cut-off values for swimming speed

Abstract

Motility is an essential characteristic of all flagellated spermatozoa and assessment of this parameter is one criterion for most semen or sperm evaluations. Computer-aided sperm analysis (CASA) can be used to measure sperm motility more objectively and accurately than manual methods, provided that analysis techniques are standardized. Previous studies have shown that evaluation of sperm subpopulations is more important than analyzing the total motile sperm population alone. We developed a quantitative method to determine cut-off values for swimming speed to identify three sperm subpopulations. We used the Sperm Class Analyzer^® (SCA) CASA system to assess the total percentage of motile spermatozoa in a sperm preparation as well as the percentages of rapid, medium and slow swimming spermatozoa for six mammalian species. Curvilinear velocity (VCL) cut-off values were adjusted manually for each species to include 80% rapid, 15% medium and 5% slow swimming spermatozoa. Our results indicate that the same VCL intervals cannot be used for all species to classify spermatozoa according to swimming speed. After VCL intervals were adjusted for each species, three unique sperm subpopulations could be identified. The effects of medical treatments on sperm motility become apparent in changes in the distribution of spermatozoa among the three swimming speed classes.     

Parametric Study of an Underwater Finned Propulsor Inspired by Bluespotted Ray

The performance of bluespotted rays was emulated in the design of a bioinspired underwater propulsor in the present work.First,the movement of a live bluespotted ray was captured for the swimming mode and useful information to the biomimetic mechanism design.By virtue of the modular and reeonfigurable design concept,an undulatory fin propulsion prototype was developed.With a proper experimental set-up,orthogonal experiments were conducted to investigate the effect of various fin design parameters on the propulsion speed,thrust,and power of the fish robot.The controllable fin parameters include frequency,amplitude,wavelength,fm shape,and undulatory mode.The significance of these parameters was also determined by using the variance analysis.The results demonstrate that the designed propulsor,imitating bluespotted rays with large expanded undulatory fins,is able to propel itself by changing various kinematic parameters.     

Dynamics of filaments: modelling the dynamics of driven microfilaments

We describe a method for simulating the inertialess dynamics of a flexible filament immersed in a fluid. Typically, this regime is appropriate for filaments a few micrometres or less in size (flagella that propel micro-organisms for example). We apply the model to two systems; a filament that is wiggled at one end and planar swimming motion characteristic of simple spermatozoa. For the former we find qualitative agreement with theory. The shape is determined by a balance between bending and viscous forces and there is an optimal balance that maximizes the propulsion generated by this mechanism. Quantitatively we find less satisfactory agreement. For the spermatozoa, assuming a relatively naive bending mechanism in the form of a travelling force quadrupole wave, the model generates waveforms in very good agreement with experiment. This is only true, however, if the bending forces acting on the filament are large compared with the viscous forces. Experimental measurements of the tail stiffness imply this should not be the case. We discuss the implications of this observation in the context of the sperm's swimming mechanism.     

An Efficient Gait-generating Method for Electrical Quadruped Robot Based on Humanoid Power Planning Approach

The research field of legged robots has always relied on the bionic robotic research,especially in locomotion regulating approaches,such as foot trajectory planning,body stability regulating and energy efficiency prompting.Minimizing energy consumption and keeping the stability of body are considered as two main characteristics of human walking.This work devotes to develop an energy-efficient gait control method for electrical quadruped robots with the inspiration of human walking pattern.Based on the mechanical power distribution trend,an efficient humanoid power redistribution approach is established for the electrical quadruped robot.Through studying the walking behavior acted by mankind,such as the foot trajectory and change of mechanical power,we believe that the proposed controller which includes the bionic foot movement trajectory and humanoid power redistribution method can be implemented on the electrical quadruped robot prototype.The stability and energy efficiency of the proposed controller are tested by the simulation and the single-leg prototype experi-ment.The results verify that the humanoid power planning approach can improve the energy efficiency of the electrical quadruped robots.     

Bending continuous structures with SMAs: a novel robotic fish design

In this paper, we describe our research on bio-inspired locomotion systems using deformable structures and smart materials, concretely shape memory alloys (SMAs). These types of materials allow us to explore the possibility of building motor-less and gear-less robots. A swimming underwater fish-like robot has been developed whose movements are generated using SMAs. These actuators are suitable for bending the continuous backbone of the fish, which in turn causes a change in the curvature of the body. This type of structural arrangement is inspired by fish red muscles, which are mainly recruited during steady swimming for the bending of a flexible but nearly incompressible structure such as the fishbone. This paper reviews the design process of these bio-inspired structures, from the motivations and physiological inspiration to the mechatronics design, control and simulations, leading to actual experimental trials and results. The focus of this work is to present the mechanisms by which standard swimming patterns can be reproduced with the proposed design. Moreover, the performance of the SMA-based actuators' control in terms of actuation speed and position accuracy is also addressed.     

Parametric study of the swimming performance of a fish robot propelled by a flexible caudal fin

In this paper, we aim to study the swimming performance of fish robots by using a statistical approach. A fish robot employing a carangiform swimming mode had been used as an experimental platform for the performance study. The experiments conducted aim to investigate the effect of various design parameters on the thrust capability of the fish robot with a flexible caudal fin. The controllable parameters associated with the fin include frequency, amplitude of oscillation, aspect ratio and the rigidity of the caudal fin. The significance of these parameters was determined in the first set of experiments by using a statistical approach. A more detailed parametric experimental study was then conducted with only those significant parameters. As a result, the parametric study could be completed with a reduced number of experiments and time spent. With the obtained experimental result, we were able to understand the relationship between various parameters and a possible adjustment of parameters to obtain a higher thrust. The proposed statistical method for experimentation provides an objective and thorough analysis of the effects of individual or combinations of parameters on the swimming performance. Such an efficient experimental design helps to optimize the process and determine factors that influence variability.     

INHIBITION OF RESPIRATION IN SEA URCHIN SPERMATOZOA FOLLOWING INTERACTION WITH FIXED UNFERTILIZED EGGS

The respiration of spermatozoa of the sea urchin, Hemicentrotus pulcherrimus , was found to be sensitive to rotenone, antimycin A, and cyanide. This suggests that sperm respiration results from electron transport which spans the whole mitochondrial respiratory chain. The sperm respiration was inhibited by oligomycin and this inhibition was released by 2, 4-dinitrophenol (DNP). DNP did not stimulate the respiration of spermatozoa in a diluted suspension (2 × 10⁸/ml), where they were swimming vigorously. The ADP level of spermatozoa in the diluted suspension was markedly higher than that in dry sperm. The spermatozoa, which had reacted with unfertilized eggs fixed with glutaraldehyde, were immotile with a quite low respiratory rate. The respiratory rate of the immotile spermatozoa was enhanced by DNP. In the immotile spermatozoa, ADP level was markedly low and the ATP level was as high as that in dry sperm. From these findings, it is concluded that in the swimming spermatozoa respiration coupled with oxidative phosphorylation occurs at the maximum rate. State 3 respiration probably occurs in the swimming spermatozoa. The low respiratory rate of the immotile spermatozoa is assumed to be due to a shortage of ADP and is practically regarded as state 4 respiration.     

Effects of osmolality, morphology perturbations and intracellular nucleotide content during the movement of sea bass (Dicentrarchus labrax) spermatozoa.

Sea bass spermatozoa are maintained immotile in the seminal fluid, but initiate swimming for 45 s at 20 degrees C, immediately after dispersion in a hyperosmotic medium (1100 mOsm kg-1). The duration of this motile period could be extended by a reduction of the amplitude of the hyperosmotic shock. Five seconds after the initiation of motility, 94.4 +/- 1.8% of spermatozoa were motile with a swimming velocity of 141.8 +/- 1.2 microns s-1, a flagellar beat frequency of 60 Hz and a symmetric type of flagellar swimming, resulting in linear tracks. Velocity, flagellar beat frequency, percentage of motile cells and trajectory diameter decreased concomitantly throughout the swimming phase. After 30 s of motility, the flagellar beat became asymmetric, leading to circular trajectories. Ca2+ modulated the swimming pattern of demembranated spermatozoa, suggesting that the asymmetric waves produced by intact spermatozoa after 30 s of motility were induced by an accumulation of intracellular Ca2+. Moreover, increased ionic strength in the reactivation medium induced a dampening of waves in the distal portion of the flagellum and, at high values, resulted in an arrest of wave generation in demembranated spermatozoa. In non-demembranated cells, the intracellular ATP concentration fell immediately after transfer to sea water. In contrast, the AMP content increased during the same period, while the ADP content increased slightly. In addition, several morphological changes affected the mitochondria, chromatin and midpiece. These results indicate that the short swimming period of sea bass spermatozoa is controlled by energetic and cytoplasmic ionic conditions and that it is limited by osmotic stress, which induces marked changes in cell morphology.     

Study on Decentralization of Spherical Amphibious Multi-robot Control System Based on Smart Contract and Blockchain

With the development of intelligent bionic robots and the improvement of military application,a single robot cannot meet the requirements of the tasks of the current era.The more complex tasks require not only that the robot be able to pass through the field barriers and the amphibious environment,but also that the robot be able to collaborate in a multi-robot system.Consequently,research on the multi-robot control system of spherical amphibious robots is very important.Pres-ently,the main research on amphibious robots is to improve the functions of a single robot,in the absence of the study of the multi-robot control system.Existing systems primarily use a centralized control methodology.Although the transfer of central node can be achieved,there is still a problem of Byzantine fault tolerance in military applications,that is,when the amphibious multi-robot system is invaded by the enemy.The central node may not only fail to accomplish the task,but also lose control of other robots,with severe consequences.To solve the above problems,this paper proposed a decentralized method of spherical amphibious multi-robot control system based on blockchain technology.First,the point-to-point informa-tion network based on long range radio technology of low power wide area network was set up,we designed the blockchain system for embedded application environment and the decentralized hardware and software architecture of multi-robot control system.On this basis,the consensus plugin,smart contract and decentralized multi-robot control algorithm were designed to achieve decentralization.The experimental results of consensus of spherical amphibious multi-robot showed the effectiveness of the decentralization.     

Design and Experiments of a Robotic Fish Imitating Cow-Nosed Ray

<正> The cow-nosed ray is studied as natural sample of a flapping-foil robotic fish.Body structure, motion discipline, and dynamicfoil deformation of cow-nosed ray are analyzed.Based on the analysis results, a robotic fish imitating cow-nosed ray,named Robo-ray Ⅱ, mainly composed of soft body, flexible ribs and pneumatic artificial muscles, is developed.Structure andswimming morphology of the robotic prototype are as that of a normal cow-nosed ray in nature.Key propulsion parameters ofRobo-ray Ⅱ at normal conditions, including the St Number at linear swimming, thrust coefficient at towing are studied throughexperiments.The suitable driving parameters are confirmed considering the efficiency and swimming velocity.Swimmingvelocity of 0.16 m·s~(-1)'and thrust coefficient of 0.56 in maximum are achieved in experiments.     

Transitions from Drag-based to Lift-based Propulsion in Mammalian Swimming

The evolution of fully aquatic mammals from quadrupedal, terrestrialmammals was associated with changes in morphology and swimmingmode. Drag is minimized by streamlining body shape and appendages.Improvement in speed, thrust production and efficiency is accomplishedby a change of swimming mode. Terrestrial and semiaquatic mammalsemploy drag-based propulsion with paddling appendages, whereasfully aquatic mammals use lift-based propulsion with oscillatinghydrofoils. Aerobic efficiencies are low for drag-based swimming,but reach a maximum of 30% for lift-based propulsion. Propulsiveefficiency is over 80% for lift-based swimming while only 33%for paddling. In addition to swimming mode, the transition tohigh performance propulsion was associated with a shift fromsurface to submerged swimming providing a reduction in transportcosts. The evolution of aquatic mammals from terrestrial ancestorsrequired increased swimming performance with minimal compromiseto terrestrial movement. Examination of modern analogs to transitionalswimming stages suggests that only slight modification to theneuromotor pattern used for terrestrial locomotion is requiredto allow for a change to lift-based propulsion.     

Robots with Display Screens: A Robot with a More Humanlike Face Display Is Perceived To Have More Mind and a Better Personality

It is important for robot designers to know how to make robots that interact effectively with humans. One key dimension is robot appearance and in particular how humanlike the robot should be. Uncanny Valley theory suggests that robots look uncanny when their appearance approaches, but is not absolutely, human. An underlying mechanism may be that appearance affects users’ perceptions of the robot’s personality and mind. This study aimed to investigate how robot facial appearance affected perceptions of the robot’s mind, personality and eeriness. A repeated measures experiment was conducted. 30 participants (14 females and 16 males, mean age 22.5 years) interacted with a Peoplebot healthcare robot under three conditions in a randomized order: the robot had either a humanlike face, silver face, or no-face on its display screen. Each time, the robot assisted the participant to take his/her blood pressure. Participants rated the robot’s mind, personality, and eeriness in each condition. The robot with the humanlike face display was most preferred, rated as having most mind, being most humanlike, alive, sociable and amiable. The robot with the silver face display was least preferred, rated most eerie, moderate in mind, humanlikeness and amiability. The robot with the no-face display was rated least sociable and amiable. There was no difference in blood pressure readings between the robots with different face displays. Higher ratings of eeriness were related to impressions of the robot with the humanlike face display being less amiable, less sociable and less trustworthy. These results suggest that the more humanlike a healthcare robot’s face display is, the more people attribute mind and positive personality characteristics to it. Eeriness was related to negative impressions of the robot’s personality. Designers should be aware that the face on a robot’s display screen can affect both the perceived mind and personality of the robot.