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Analysis and Design of asymmetric oscillation for Caterpillar-Like Locomotion

Journal of Bionic Engineering 2015年第2期12卷 190-203页

作者： Guoyuan Li Wei Li Jianwei Zhang Houxiang Zhang Faculty of Maritime Technology and Operations Aalesund University College Aalesund 6009 Norway Department of Computer Science University of Hamburg Hamburg 22527 Germany

Caterpillar crawling is distinct from that of other limbless animals. It is simple but efficient. This paper presents a novel mechanism to duplicate the movement to a modular caterpillar-like robot. First, how caterpillars move in nature is investigated and analyzed systematically. Two key locomotive properties are abstracted from the body shape of caterpillars during crawling. Then, based on a morphological mapping, a hypothesis of asymmetric oscillation with a ratio of two is proposed, followed by a thorough analysis of the kinematics of the caterpillar-like robot. The asymmetric oscillating mechanism is proved capable of generating stable caterpillar-like locomotion. Next, taking advantage of the two locomotive properties and the hypothesis, a new Central Pattern Generator （CPG） model is designed as the controller of the robot. The model can not only generate the signal as expected, but also provide explicit control parameters for online modulation. Finally, simulation and on-site experiments are carried out. The results confirm that the proposed method is effective for caterpillar-like locomotion.

关键词： asymmetric oscillation kinematic analysis central pattern generator caterpillar-like locomotion

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Constrained oscillation of a bubble subjected to shock wave in microvessel

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Progress in Natural Science:Materials International 2009年第9期19卷 1109-1117页

作者： Farong Gao, Caihua Xiong *, Youlun Xiong Institute of Rehabilitation and Medical Robotics, State Key Lab of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China Institute of Rehabilitation and Medical Robotics State Key Lab of Digital Manufacturing Equipment and Technology School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

A three-phase coupled model of the gasliquid-solid oscillation system is established to analyze the oscillation characteristics of a bubble inside a micro blood vessel with various radii and its shape changes with different interface boundaries. The results show that unlike the spherical symmetric oscillation in an unbounded fluid, the oscillating bubble has significant asymmetric characteristics under the constraint of a fiexible microvessel, especially while its radius reduces to the same order of magnitude as that of the bubble. Moreover, the variation of microbubble motion, whether the geometric shape or oscillation feature, exhibits obvious differences in the micro blood vessel compared with the rigid wall. The reasons behind these phenomena are analyzed in this paper. The conclusions have significant importance in the understanding of the mechanism of microvessel injury in ultrasound therapy.

关键词： asymmetric oscillation Microbubble Shock wave Micro blood vessel Boundary effects

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