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Experimental Study on frog-inspired Swimming Robot Based on Articulated Pneumatic Soft Actuator

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Journal of Bionic Engineering 2020年第2期17卷 270-280页

作者： Jizhuang Fan Shuqi Wang Qingguo Yu Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This paper presents a frog-inspired swimming robot based on articulated pneumatic soft *** realize the miniaturization of the robot and enhance its environmental adaptability,combined with the advantages and characteristics of soft materials,an articulated pneumatic soft actuator is designed based on analysis of a frog's propulsion characteristics.A structural model is established to analyse the mechanical properties of the soft *** the goal of making full use of the driving torque of the actuator and enhancing the propulsion efficiency of the robot,the motion trajectories of each joint of the robot are *** on the trajectory planning,the control strategy of the soft actuator is determined to realize the frog-like swimming of the *** torso size after assembly is 0.175 m×0.100 m×0.060 m,which realizes the miniaturization of the frog-inspired *** the movement of the robot,the torso moves stably and flexibly,and can realize continuous linear and turning *** rationality of the structure and trajectory planning are verified by prototype experiments.

关键词： bionic robotic frog articulated pneumatic soft actuator trajectory planning prototype experiment

Bioinspired Multi-material Polyjet-printed frog Robot for Synchronous and Asynchronous Swimming

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Journal of Bionic Engineering 2023年第3期20卷 923-933页

作者： Afaque Manzoor Soomro Jae-Wook Lee Fida Hussain Memon Faheem Ahmed Kashif Hussain Kyung Hyun Choi Department of Mechatronics Engineering Jeju National UniversityJeju63243South Korea Department of Electrical Engineering Sukkur IBA UniversitySukkur65200Pakistan

This paper proposes the bioinspired soft frog robot. All printing technology was used for the fabrication of the robot. Polyjet printing was used to print the front and back limbs, while ultrathin filament was used to print the body of the robot, which makes it a complete soft swimming robot. Dual thrust generation approach has been proposed by embedding the main muscle and antagonistic muscle in all the limbs, which enables it to attain high speed (18 mm/s), significant control to swim in dual mode (synchronous and asynchronous modes). To achieve the swimming motion of frog, four SMA (BMF 300) muscle wires were used. The frog robot is named as (FROBOT). The hind limbs are 60 mm long and 10 mm thick on average, while the front limbs are 35 mm long and 7 mm thick. Model-based design and rigorous analysis of the dynamics of real frogs have allowed FROBOT to be developed to swim at a level that is remarkably consistent with real frogs. Electrical and mechanical characteristics have been performed. In addition, the test data were further processed using TRACKER to analyze angle, displacement and velocity. FROBOT (weighs 65 g) can swim at different controllable frequencies (0.5–2 Hz), can rotate in any direction on command from custom built LabVIEW software allowing it to swim with speed up to 18 mm/s on deep water surface (100 cm) with excellent weight balance.

关键词： Bioinspired Soft robotics frog FROBOT Asynchronous swimming

Effects of landscape heterogeneity and breeding habitat diversity on rice frog abundance and body condition in agricultural landscapes of Yangtze River Delta,China

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Current Zoology 2020年第6期66卷 615-623页

作者： Ben Li Wei Zhang Zhenghuan Wang Hanbin Xie Xiao YUAN Enle PEI Tianhou Wang School of Life Science East China Normal UniversityShanghai200062China Shanghai Key Lab for Urban Ecological Processes and Eco-Restoration Shanghai200241China Natural History Research Centre of Shanghai Natural History Museum Shanghai Science&Technology MuseumShanghai200041China Shanghai Landscaping&City Appearance Administrative Bureau Shanghai200040China Institute of Eco-Chongming Shanghai202162China

Amphibia ns play a key role in structuring biological assemblages of agricultural landscapes,but they are threatened by global agricultural *** structure is an important variable in flue ncing biodiversity in agricultural la ***,in the Yangtze River Delta,where a"farmland-orchard-fishpond"agricultural pattern is common,the effects of landscape construction on anuran populations are *** this study,we examined the effects of agricultural landscape parameters on the abundance and body condition of the rice frog(Fejervarya multistriata),which is a dominant anuran species in farmland in *** a visual encounter method,we surveyed rice frog abundance for 3years across 20 agricultural *** also calculated the body condition index(BCD of 188 male frog individuals from these agricultural *** variables,comprising landscape compositional heterogeneity(using the Shannon diversity in dex of all land cover types except buildings and roads),Ian dscape con figurational heterogeneity(using landscape edge density),breeding habitat diversity(using the number of 5 waterbody types available as breeding habitats),and areas of forest were also measured for each 1-km radius *** found that the amount of forest in each agricultural Iandscape had a sign讦icant positive relationship with rice frog abundance,and breeding habitat diversity was positively related to the BCI of male rice ***,body condition was negatively impacted by landscape configurational *** results suggested the importance of nonagricultural habitats in agricultural landscapes,such as waterbodies and forest,to benefit rice frog population persistenee.

关键词： agriculture amphibian conservation edge density frog waterbody type diversity

Behavior and Approximate Entropy of Right-eye Lateralization During Predation in the Music frog

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Asian Herpetological Research 2020年第2期11卷 115-123页

作者： Yansu LIU Jiangyan SHEN Ke FANG Jinjin SONG Yanzhu FAN Jing YANG Di SHEN Fang LU Guangzhan FANG Sichuan Nursing Vocational College Chengdu 610100SichuanChina Chengdu Institute of Biology Chinese Academy of SciencesChengdu 610041SichuanChina School of Life Science Anhui UniversityHefei 230601AnhuiChina Department of Ophthalmology West China HospitalSichuan UniversityChengdu 610041SichuanChina

Brain asymmetry for processing visual information is widespread in ***,it is still unknown how the complexity of the underlying neural network activities represents this asymmetrical pattern in the *** the present study,we investigated this complexity using the approximate entropy(ApEn)protocol for electroencephalogram(EEG)recordings from the forebrain and midbrain while the music frogs(Nidirana daunchina)attacked prey *** results showed that(1)more significant prey responses were evoked by the prey stimulus presented in the right visual field than that in the left visual field,consistent with the idea that right-eye preferences for predatory behaviors exist in animals including anurans;(2)in general,the ApEn value of the left hemisphere(especially the left mesencephalon)was greatest under various stimulus conditions,suggesting that visual lateralization could be reflected by the dynamics of underlying neural network activities and that the stable left-hemisphere dominance of EEG ApEn may play an important role in maintaining this brain asymmetry.

关键词： approximate entropy(ApEn) complexity electroencephalogram(EEG) frog lateralization predatory behavior right-eye preference

SYNTHESIS AND BIOLOGICAL ACTIVITY OF A NEW frog SKIN PEPTIDE, RANAMARGARIN

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Science China Chemistry 1990年第2期33卷 170-177页

作者：陆一安彭金林朱应麒吴时祥唐易全田盛海邹冈 Shanghai Centre of Biotechnology Academia Sinica Shanghai 200233 PRC Shanghai Institute of Materia Medica Academia Sinica Shanghai 200031 PRC

A new frog skin peptide, ranamargarin depicted as H-Asp-Asp-Ala-Ser-Asp-Arg-Ala-Lys-Lys-Phe-Tyr-Gly-Leu-Met-NH_(2′), was synthesized by the conventionalmethod. Comparisons of chemical and biological properties of both the synthetic and natural ranamargarins indicated that they were identical, so the chemical structure of ranamargarin was confirmed. Preliminary pharmacological study showed that ranamargarin was highly selective towards the SP-P subtype receptor.

关键词： new frog skin tachykinin ranamargarin synthesis SP-P subtype receptor.

Adaptive changes of gastro-entero-pancreatic system endocrine cells in the black-spotted pond frog Rana nigromaculata after fasting

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Current Zoology 2009年第4期55卷 301-308页

作者： Hongzhen PAN Honghong CHEN Lianjiu ZHU Yang LI Changchun LI Shengzhou ZHANG College of Life Sciences Anhui Normal University Wuhu 241000 Anhui China

Changes in distribution density,morphology and secretory content of endocrine cells in the gastro-entero-pancreatic system of black-spotted frogs Rana nigromaculata before and after fasting were investigated using immunohistochemistry and antisera to six gut *** types of endocrine cells were detected in the digestive tract of Rana nigromaculata,including 5-hydroxytryptamine(5-HT),gastrin(GAS),somatostatin(SOM),glucagon(GLU),pancreatic polypeptide(PP)and vasoactive intestinal polypeptide(VIP)*** fasting,the density of 5-HT cells in the esophagus,cardia and fundus,GAS cells in the fundus and pylorus,PP cells in the fundus decreased significantly(P0.05),while SOM,GAS,GLU and PP cells increased significantly(P<0.01).Furthermore,the secretory content of GLU cells increased *** their functionalities,our results indicate that the changes of GEP endocrine cells in Rana nigromaculata responded adaptively to starvation-induced stress.

关键词： frog Rana nigromaculata Gastro-entero-pancreatic system Endocrine cells Immunohistochemistry Fasting

A Novel Insulinotropic Peptide from the Skin Secretions of Amolops loloensis frog

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Natural Products and Bioprospecting 2014年第5期4卷 309-313页

作者： Guo-Xiang Mo Xue-Wei Bai Zong-Jie Li Xiu-Wen Yan Xiao-Qing He Ming-Qiang Rong School of Biological Sciences Nanjing Agriculture UniversityNanjing 210095JiangshuChina Kunming Institue of Zoology Chinese Academy of SciencesKunming 650223YunnanChina

Various kinds of biologically active peptides have previously been isolated from the skin secretions of Amolops loloensis frog,such as antimicrobial peptides,bradykinin-like peptides and algesic peptides.A novel insulinotropic peptide named amolopin was identified in *** frog’s skin *** primary structure sequence was determined by Edman degradation as:*** search indicates that the amino acid sequence of amolopin is quite different from other known insulin secretagogues,including mastoparan,exendins and a-latrotoxin,nor does it like incretins(*** like peptide-1 and glucose-dependent insulinotropic ploypeptide)***,amolopin shows certain structural similarity with amphibian antimicrobial temporins and vespid chemotactic peptides isolated from Vespa *** can stimulate insulin release in INS-1 cells in a dose-dependent *** investigation on its action mechanisms reveals that amolopin does not increase the influx of Ca2?.In conclusion,a novel 16-amino acid peptide with insulin-releasing activity is initially discovered from the skin secretion of *** *** work is necessary to evaluate its potential as novel anti-diabetic candidate.

关键词： Insulinotropic peptide Amolops loloensis Skin secretion Insulin-releasing frog

Intracellular and current source density analysis of pretectal input to the optic tectum of the frog

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Neuroscience Bulletin 2010年第5期26卷 371-380页

作者：李晓红康宏建徐茂林松本修文日本九州工业大学生命体大学院脑科学研究中心淄博市第一医院耳鼻喉科淄博255200 淄博市第一医院神经外科淄博255200

Objective Electrophysiological examination of the ipsilateral pretectotectal projection has proved that pretectal cells elicit strong suppressive responses to the ipsilateral ***,the neural mechanisms underlying the contralateral pretectotectal prejection are still *** present study aimed to examine the synaptic nature of pretectal nuclei and contralateral tectal cells,and to demonstrate the spatiotemporal pattern of neuronal activity in the 2 main brain structures. Methods Intracellular recording and current source density（CSD）analysis were used to test the complexity of neuronal mechanism of pretectotectal information *** The pretectal stimulation elicited only one type of response on the contralateral tectum,the inhibitory postsynaptic potential（IPSP）.The majority of contra-induced IPSPs were assumed to be polysynaptically *** the CSD analysis,only one sink with short latency was observed in each *** ipsilateral projection produced a prominent monosynaptic sink in layer 8 of *** neurons were located in layers 6 and 7 of *** result confirmed former findings from ipsilateral intracellular *** These results suggest the following neuronal circuit：afferents from the pretectal nuclei broadly inhibit both tectal neuron,and since no second sink occurs in tectal layers,the pretectotectal excitatory afferents probably do not extend over the whole tectum,but are within limited *** results of intracellular recording and CSD analysis further provide evidence of how pretectal afferent activity flows within the tectal laminae.

关键词： intracellular recording current source density analysis optic tectum frog

Splash Formation Due to a frog Diving into Water

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World Journal of Mechanics 2015年第7期5卷 129-137页

作者： Yoshihiro Kubota Osamu Mochizuki Faculty of Science and Engineering Toyo University Saitama Japan Department of Biomedical Engineering Toyo University Saitama Japan

Herein, we present the results of our experimental investigation of splashes formed by a frog diving into water from the ground or from a leaf and the accompanying sound generated by the impact of the frog on the water. The experiments are performed by visualizing the flow with a high-speed camera. In addition, we used physical models comprising hydrophilic bodies made from hydrogel or acrylic resin to experimentally study how hydrophilicity affects the splash. In these experiments, we use the degree of swelling to define the hydrophilicity degree. The results show that different splashes are caused by the increase in water-film velocity upon an increase in hydrophilicity. For a body with strong hydrophilicity, at a relatively high film velocity, the water film forms when the body impacts the water surface separates from the body surface. In addition, an aircavity forms when the film separates from the body. We empirically examine the relation between the hydrophilicity degree and film velocity. The results indicate that increased hydrophilicity does not reduce the splash. Therefore, we conclude that reducing of the formation of water from the biomimetic point of view is related to the shape of body.

关键词： frog Dive Splash Formation Flow Visualization