Design Methodology for Biomimetic Propulsion of Miniature Swimming Robots

2005 ◽  
Vol 128 (1) ◽  
pp. 36-43 ◽  
Author(s):  
Bahareh Behkam ◽  
Metin Sitti
Keyword(s):  
Energy Efficient ◽  
Silicone Oil ◽  
Design Parameters ◽  
Optimized Design ◽  
Hydrodynamic Models ◽  
Low Velocity ◽  
Propulsion Systems ◽  
New Methods ◽  
Eukaryotic Microorganisms ◽  
Pi Theorem

Miniature and energy-efficient propulsion systems hold the key to maturing the technology of swimming microrobots. In this paper, two new methods of propulsion inspired by the motility mechanism of prokaryotic and eukaryotic microorganisms are proposed. Hydrodynamic models for each of the two methods are developed, and the optimized design parameters for each of the two propulsion modes are demonstrated. To validate the theoretical result for the prokaryotic flagellar motion, a scaled-up prototype of the robot is fabricated and tested in silicone oil, using the Buckingham PI theorem for scaling. The proposed propulsion methods are appropriate for the swimming robots that are intended to swim in low-velocity fluids.

scholarly journals BIM Based Design Optimization Framework for the Energy Efficient Buildings Design in Turkey

2018 ◽  
Vol 2018 (1) ◽  
Keyword(s):  
Design Optimization ◽  
Technology Implementation ◽  
Energy Efficient ◽  
Building Design ◽  
Energy Performance ◽  
Design Stage ◽  
Design Parameters ◽  
Optimized Design ◽  
Process Technology ◽  
Design Guide

Buildings in Turkey consume a great amount of energy to supply comfort conditions. This is due to the ineffective design decisions by designers with no consideration of the environmental impact and energy efficiency. Thus, building design parameters should be studied and examined during the design stage considering the environment that is a crucial factor for the energy efficient building design, which may lead to better energy performance and fewer CO2 emission. BIM as a new way of working methodology enables energy efficient design solutions considering design parameters for the improved high building performance in Turkey. Therefore, this research aims to develop a strategic BIM framework encapsulating the optimized design process, technology implementation, building design rules considering the local values and energy performance assessment of the concept building design. Research adopts multi case studies methodology that helps to gain qualitative and quantitative insights and understand the current practices. Revit based BIM modelling is used with Design Builder for energy performance simulation in relation to the building design parameters. The outcome will be a design guide for the energy optimised building design in Turkey. This design guide will help designers to successful use of BIM for design optimization process, effective technology implementation, rules-based design development and energy assessment scheme reflecting local values for sustainable building design.

E. Coli Inspired Propulsion for Swimming Microrobots

2004 ◽  
Author(s):  
Bahareh Behkam ◽  
Metin Sitti
Keyword(s):  
Human Body ◽  
Silicone Oil ◽  
The Body ◽  
Viscous Drag ◽  
Smart Devices ◽  
Low Velocity ◽  
Drag Forces ◽  
Miniature Device ◽  
Pi Theorem ◽  
Localized Drug Delivery

Medical applications are among the most fascinating areas of microrobotics. For long, scientists have dreamed of miniature smart devices that can travel inside the human body and carry out a host of complex operations such as minimally invasive surgery (MIS), highly localized drug delivery, and screening for diseases that are in their very early stages. Still a distant dream, significant progress in micro and nanotechnology brings us closer to materializing it. For such a miniature device to be injected into the body, it has to be 800 μm or smaller in diameter. Miniature, safe and energy efficient propulsion systems hold the key to maturing this technology but they pose significant challenges. Scaling the macroscale natation mechanisms to micro/nano length scales is unfeasible. It has been estimated that a vibrating-fin driven swimming robot shorter than 6 mm can not overcome the viscous drag forces in water. In this paper, the authors propose a new type of propulsion inspired by the motility mechanism of bacteria with peritrichous flagellation, such as Escherichia coli, Salmonella typhimurium and Serratia marcescens. The perfomance of the propulsive mechanism is estimated by modeling the dynamics of the motion. The motion of the moving organelle is simulated and key parameters such as velocity, distribution of force and power requirments for different configurations of the tail are determined theoretically. In order to validate the theoretical result, a scaled up model of the swimming robot is fabricated and characterized in silicone oil using the Buckingham PI theorem for scaling. The results are compared with the theoretically computed values. These robots are intended to swim in stagnation/low velocity biofluid and reach currently inaccessible areas of the human body for disease inspection and possibly treatment. Potential target regions to use these robots include eyeball cavity, cerebrospinal fluid and the urinary system.

scholarly journals Multi-Objective Optimisation of Tyre and Suspension Parameters during Cornering for Different Road Roughness Profiles

2021 ◽  
Vol 11 (13) ◽  
pp. 5934
Author(s):  
Georgios Papaioannou ◽  
Jenny Jerrelind ◽  
Lars Drugge
Keyword(s):  
Optimal Solution ◽  
Design Parameters ◽  
Road Vehicles ◽  
Propulsion Systems ◽  
Vehicle Handling ◽  
Optimum Parameters ◽  
Trade Offs ◽  
Road Roughness ◽  
Control Technologies ◽  
Tyre Wear

Effective emission control technologies and novel propulsion systems have been developed for road vehicles, decreasing exhaust particle emissions. However, work has to be done on non-exhaust traffic related sources such as tyre–road interaction and tyre wear. Given that both are inevitable in road vehicles, efforts for assessing and minimising tyre wear should be considered. The amount of tyre wear is because of internal (tyre structure, manufacturing, etc.) and external (suspension configuration, speed, road surface, etc.) factors. In this work, the emphasis is on the optimisation of such parameters for minimising tyre wear, but also enhancing occupant’s comfort and improving vehicle handling. In addition to the search for the optimum parameters, the optimisation is also used as a tool to identify and highlight potential trade-offs between the objectives and the various design parameters. Hence, initially, the tyre design (based on some chosen tyre parameters) is optimised with regards to the above-mentioned objectives, for a vehicle while cornering over both Class A and B road roughness profiles. Afterwards, an optimal solution is sought between the Pareto alternatives provided by the two road cases, in order for the tyre wear levels to be less affected under different road profiles. Therefore, it is required that the tyre parameters are as close possible and that they provide similar tyre wear in both road cases. Then, the identified tyre design is adopted and the optimum suspension design is sought for the two road cases for both passive and semi-active suspension types. From the results, significant conclusions regarding how tyre wear behaves with regards to passenger comfort and vehicle handling are extracted, while the results illustrate where the optimum suspension and tyre parameters have converged trying to compromise among the above objectives under different road types and how suspension types, passive and semi-active, could compromise among all of them more optimally.

Low Velocity Impact Response of Composite/Sandwich Structures

2016 ◽  
Vol 725 ◽  
pp. 127-131 ◽  
Author(s):  
Kumar V. Akshaj ◽  
P. Surya ◽  
M.K. Pandit
Keyword(s):  
Sandwich Structures ◽  
Weight Ratio ◽  
Impact Response ◽  
Low Velocity Impact ◽  
Core Material ◽  
Design Parameters ◽  
Low Velocity ◽  
Velocity Impact ◽  
Composite Sandwich ◽  
Set Up

Dent resistance of structures is one of the important design parameters to consider in automotive, aerospace, packaging and transportation of fragile goods, civil engineering and marine industries. It is important to study the dynamic impact response of various combinations of skin and core materials which can provide desired fracture toughness and highest strength to weight ratio for such applications. This paper discusses the low velocity impact response of sandwich structures having unique combination of mild steel as skin material bonded to thermoplastics/PU foam as core material. HDPE, LDPE and polypropylene were the choice of thermoplastics and an optimum combination of materials for the sandwich structure was evaluated using drop-weight experimental set up. It is observed that LDPE is the best choice of core material for the sandwich structures considered.

A Study of the Anchor Effect Based on Structural Parameters of Flexible Pressurized Anchor and Pressure from Surrounding Rock

2011 ◽  
Vol 71-78 ◽  
pp. 4634-4637
Author(s):  
Tian Lin Cui ◽  
Jing Kun Pi ◽  
Yong Hui Liu ◽  
Zhen Hua He
Keyword(s):  
Structural Parameters ◽  
Structural Features ◽  
Surrounding Rock ◽  
Design Parameters ◽  
Optimized Design ◽  
Anchor Effect ◽  
The Finite Element Method ◽  
Anchor System ◽  
New Type ◽  
Stress Relation

In order to optimize the design of flexible pressurized anchor, this paper gives a further analysis on structural features of the new type of flexible pressurized anchor and carries out a contact analysis on anchor system by using the finite element method. It calculates as well as researches the contact stress relation of interactional anchor rod and surrounding rock under the circumstance of anchoring, obtaining the law of all major design parameters of anchor rod structure and pressure from surrounding rock influencing the anchoring performance and arriving at the conclusion that the anchor rod is adapted to various conditions of surrounding rock. They not only serve as important references for optimized design and application of anchor rod, but also provide a basis for the experiment of new type of anchor rod.

Theoretical Investigation of a Peristaltic Magneto-Fluid Dynamic Induction Compressor-2

1965 ◽  
Vol 9 (02) ◽  
pp. 56-65
Author(s):  
Joseph L. Neuringer ◽  
Eugene Migotsky ◽  
James H. Turner ◽  
Robert M. Haag
Keyword(s):  
Scaling Laws ◽  
Electromechanical Coupling ◽  
Constant Pressure ◽  
Fluid Dynamic ◽  
Pressure Rise ◽  
Magnetic Reynolds Number ◽  
Design Parameters ◽  
Propulsion Systems ◽  
Geometric Scaling ◽  
Axial Mass

In Part 3, the nature of the electromechanically induced motions inside the compressor both of the fluid conductor and of the pumped fluid when the electromechanical coupling is weak, i.e., in the limit of small magnetic Reynolds number, is investigated. The analysis predicts the development of a constant pressure gradient in the pumped fluid when the condition is imposed that the time-average axial mass flow across the conducting fluid annulus is zero. In Part 4, a preliminary feasibility study is made to determine whether the induction compressor has the potential to provide the pressure rise required to propel large and small undersea craft by means of jet propulsion systems for reasonable power and current-sheet inputs. Also determined here are the geometric scaling laws for the appropriate operating and design parameters.

Feasibility Study of Designing a Three Legged Walking Robot: Tribot

1991 ◽  
Author(s):  
Yueh-Jaw Lin ◽  
Aaron Tegland
Keyword(s):  
Feasibility Study ◽  
Legged Robots ◽  
Walking Robots ◽  
Design Parameters ◽  
Optimized Design ◽  
Motion Simulation ◽  
Walking Robot ◽  
Design Considerations ◽  
Simulation Based ◽  
Weight Distributions

Abstract In recent years, walking robot research has become an important robotic research topic because walking robots possess mobility, as oppose to stationary robots. However, current walking robot research has only concentrated on even numbered legged robots. Walking robots with odd numbered legs are still lack of attention. This paper presents the study on an odd numbered legged (three-legged) walking robot — Tribot. The feasibility of three-legged walking is first investigated using computer simulation based on a scaled down tribot model. The computer display of motion simulation shows that a walking robot with three legs is feasible with a periodic gait. During the course of the feasibility study, the general design of the three-legged robot is also analyzed for various weights, weight distributions, and link lengths. In addition, the optimized design parameters and limitations are found for certain knee arrangements. These design considerations and feasibility study using computer display can serve as a general guideline for designing odd numbered legged robots.

Optimization of Radiation Shielding Concrete for Radiotherapy Treatment Room at Bangabandhu Sheikh Mujib Medical University

2016 ◽  
Vol 705 ◽  
pp. 338-344
Author(s):  
Debojit Sarker ◽  
Arnab Biswas ◽  
Md. Mizanur Rahman ◽  
Muhammad Mohsin Mehedi
Keyword(s):  
Side Wall ◽  
Linear Acceleration ◽  
Radiation Shielding ◽  
Design Parameters ◽  
Slab Thickness ◽  
Optimized Design ◽  
The Public ◽  
Dose Limits ◽  
Medical University ◽  
Shield Design

The objective of this study is to recommend optimized shield design from the shielding viewpoint for installation of the Cyclotron,Cyberknife and Linear Acceleration (LINAC) facility at Bangabandhu Sheikh Mujib Medical University (BSMMU) in Dhaka, Bangladesh. The shield design for Cyclotron, Cyberknife and LINAC has been performed considering ICRP-103 (2007) recommendations for occupational and public dose limits. The optimized design parameters for Radiation Shielding Concrete (RSC) with hardened density of 2.35 gm/cm3 are: 254 cm thickness of RSC as primary barrier for LINAC on both side of the source, 198 cm and 178 cm thickness of RSC on parking side and earthen side wall for Cyclotron, a maze wall of thickness 198 cm and 122 cmRSC for Cyclotron and LINAC, 168 cm and 152 cm thickness of RSC from opposite to the maze wall, slab thickness 152 cm excluding a false ceiling of thickness 122 cm with RSC having a functional story height of 503 cm for LINAC, 122 cm and 259 cm slab thickness of RSC for Cyberknife and Cyclotron. The use of RSC in the shield design of wall and roof shows that it limits radiation exposure of staff, patients, visitors and the public to acceptable level, thus optimizing radiation protection.

Inlet Duct-Engine Exhaust Nozzle Airflow Matching for the Supersonic Transport

1968 ◽  
Vol 72 (690) ◽  
pp. 490-497
Author(s):  
J. B. Taylor
Keyword(s):  
Propulsion System ◽  
Operating Conditions ◽  
Design Parameters ◽  
Gas Generator ◽  
Propulsion Systems ◽  
Engine Exhaust ◽  
Supersonic Transport ◽  
Reliable Performance ◽  
Jet Nozzle ◽  
Secondary Air

Propulsion systems selected for commercial transports must provide efficient and reliable performance over a broad range of conditions. These aeroplanes are used over both short and long route segments, on non-standard days, and at a range of altitudes to meet air-line schedule requirements. This paper covers some of the design parameters that were considered in the integration of the induction system, secondary air system, jet nozzle and the basic turbojet gas generator for the SST. During recent years some of the most important gains in propulsion efficiency have resulted from the development of inlets, engines and exhaust nozzles which are matched over a broad range of operating conditions. An efficient propulsion system for a supersonic transport depends upon very close matching of these components. This, of course, requires a better understanding of the capabilities and limitations of each of these major components. For the supersonic transport, 50% or more of the gross weight will be comprised of propulsion system and fuel and less than 10% will be payload.

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