scholarly journals Cartilage Increases Swimming Efficiency of Underwater Robots

2021 ◽  
Author(s):  
Masaki Yurugi ◽  
Toshiaki Nagai ◽  
Jun Shintake ◽  
Yusuke Ikemoto
Keyword(s):  
Soft Tissue ◽  
Traveling Waves ◽  
High Performance ◽  
Swimming Performance ◽  
Point Of View ◽  
The Body ◽  
Underwater Robots ◽  
Marine Life ◽  
Anatomical Point ◽  
Swimming Efficiency

Abstract Underwater robots are useful for exploring valuable resources and marine life. Traditional underwater robots use screw propellers, which may be harmful to marine life. In contrast, robots that incorporate the swimming principles, morphologies, and softness of aquatic animals are expected to be more adaptable to the surrounding environment. Rajiform is one of the swimming forms observed in nature, which swims by generating the traveling waves on flat large pectoral fins. From an anatomical point of view, Rajiform fins consist of cartilages encapsulated in soft tissue, thereby realizing anisotropic stiffness. We hypothesized that such anisotropy is responsible for the generation of traveling waves that enable a highly efficient swimming. We validate our hypothesis through the development of a stingray robot made of silicone-based cartilages and soft tissue. For comparison, we fabricate a robot without cartilages, as well as the one combining soft tissue and cartilage materials. The fabricated robots are tested to clarify their stiffness and swimming performance. The results show that inclusion of cartilages in the robot fins increases the swimming efficiency. It is suggested that arrangement and distribution of soft and hard areas inside the body structure is a key factor to realize high-performance soft underwater robots.

scholarly journals Cartilage structure increases swimming efficiency of underwater robots

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Masaki Yurugi ◽  
Makoto Shimanokami ◽  
Toshiaki Nagai ◽  
Jun Shintake ◽  
Yusuke Ikemoto
Keyword(s):  
Soft Tissue ◽  
Traveling Waves ◽  
High Performance ◽  
Swimming Performance ◽  
Point Of View ◽  
The Body ◽  
Underwater Robots ◽  
Marine Life ◽  
Anatomical Point ◽  
Swimming Efficiency

AbstractUnderwater robots are useful for exploring valuable resources and marine life. Traditional underwater robots use screw propellers, which may be harmful to marine life. In contrast, robots that incorporate the swimming principles, morphologies, and softness of aquatic animals are expected to be more adaptable to the surrounding environment. Rajiform is one of the swimming forms observed in nature, which swims by generating the traveling waves on flat large pectoral fins. From an anatomical point of view, Rajiform fins consist of cartilage structures encapsulated in soft tissue, thereby realizing anisotropic stiffness. We hypothesized that such anisotropy is responsible for the generation of traveling waves that enable a highly efficient swimming. We validate our hypothesis through the development of a stingray robot made of silicone-based cartilages and soft tissue. For comparison, we fabricate a robot without cartilages, as well as the one combining soft tissue and cartilage materials. The fabricated robots are tested to clarify their stiffness and swimming performance. The results show that inclusion of cartilage structure in the robot fins increases the swimming efficiency. It is suggested that arrangement and distribution of soft and hard areas inside the body structure is a key factor to realize high-performance soft underwater robots.

HISTORY OF DEVELOPMENT OF SQUID-LIKE BIOMIMETIC UNDERWATER ROBOTS WITH UNDULATING SIDE FINS

2015 ◽  
Vol 74 (9) ◽  
Author(s):  
Md. Mahbubar Rahman ◽  
W. B. Wan Nik ◽  
Yasuyuki Toda
Keyword(s):  
High Performance ◽  
Underwater Vehicle ◽  
The Body ◽  
Vehicle Design ◽  
Underwater Robot ◽  
Basic Tool ◽  
Underwater Robots ◽  
Fifth Generation ◽  
History Of Development ◽  
History Of

The underwater robot is a basic tool to explore the unknown territories in the underwater region of the coastal areas and oceans, both from the scientific and industrial perspectives. With the aim of developing an efficient and environmentally friendly underwater robot, a Squid-like robot with two undulating side fins has been developing for many years by the authors' group in Osaka University, Japan. The high ambitious project started in 2002; from then different models have been developed to reach the goal of achieving a high-performance underwater vehicle. The body and propulsion system of the robot have been developed by following the swimming mechanism of flat-fishes that use undulating side fins, e.g. Squid, Stingray Cuttlefish and Manta. The Squid-robot is now in its fifth generation of development. In the present paper, the review of the development of models of the Squid-robot is presented. The development of the mechanical system and the control system of each model is described in brief. Some CFD computations and motion simulations of Model-4 are also discussed. The background of developing a new model and the updated features are stated for each model respectively. The future target of development of the robot is also pointed out. The objective of this paper is to provide relevant and useful information to the engineers involved in underwater vehicle design, and for those with an interest in the fast-growing area of biomimetic swimming robots.

Topology Optimization of the Caudal Fin of the Three-Dimensional Self-Propelled Swimming Fish

2014 ◽  
Vol 6 (06) ◽  
pp. 732-763 ◽  
Author(s):  
Zhiqiang Xin ◽  
Chuijie Wu
Keyword(s):  
Topology Optimization ◽  
Swimming Speed ◽  
Moving Boundary ◽  
Swimming Performance ◽  
Three Dimensional ◽  
The Body ◽  
Caudal Fin ◽  
Swimming Efficiency ◽  
Vorticity Flux ◽  
3D Topology

AbstractBased on the boundary vorticity-flux theory, topology optimization of the caudal fin of the three-dimensional self-propelled swimming fish is investigated by combining unsteady computational fluid dynamics with moving boundary and topology optimization algorithms in this study. The objective functional of topology optimization is the function of swimming efficiency, swimming speed and motion direction control. The optimal caudal fin, whose topology is different from that of the natural fish caudal fin, make the 3D bionic fish achieve higher swimming efficiency, faster swimming speed and better maneuverability. The boundary vorticity-flux on the body surface of the 3D fish before and after optimization reveals the mechanism of high performance swimming of the topology optimization bionic fish. The comparative analysis between the swimming performance of the 3D topology optimization bionic fish and the 3D lunate tail bionic fish is also carried out, and the wake structures of two types of bionic fish show the physical nature that the swimming performance of the 3D topology optimization bionic fish is significantly better than the 3D lunate tail bionic fish.

scholarly journals Developing an Adaptive 3D Vertebrae Model of Scoliosis Patients for Customize Garment Design

2021 ◽  
Vol 11 (7) ◽  
pp. 3171
Author(s):  
Sara Mosleh ◽  
Mulat Alubel Abtew ◽  
Pascal Bruniaux ◽  
Guillaume Tartare ◽  
Yan Chen
Keyword(s):  
High Performance ◽  
Point Of View ◽  
The Body ◽  
Design System ◽  
Skeleton Model ◽  
Shape Models ◽  
Statistical Shape ◽  
Body Shapes ◽  
Garment Design ◽  
3D Digitization

Scoliosis is one of the most frequently occurring morphological problems in people. People with such an abnormal curve of the spine face a huge problem, not only from the medical point of view but also from that of garment design and production processes. The current paper brings a novel designing technique to develop an adaptive 3D model of the complicated anatomical shape of the human vertebrae using 3D digitization technologies. Even though it is not as accurate as scanning approaches, it is accurate enough for several applications, including visualization and constructing statistical shape models. Thus, the adaptive model will further integrate with the full skeleton and then to the body shapes of scoliosis patients, not only for an easy garment design process but also to produce comfortable and high-performance garments. The model has also the benefit of adjusting for each tissue to all kinds of spine parameters, such as the height and the angles of the bones and disks (especially the three characteristic planes: sagittal, coronal, and transverse). Thus, the full adaptive skeleton model and later its garment design system, considering the current adaptive vertebrae model for fitted, comfortable and well-performing scoliosis patients garment products, could be developed.

scholarly journals Anatomical, Histological and Histochemical Features of the Guinea Pig (Cavia porcellus) Caecum

2021 ◽  
Vol 78 (1) ◽  
pp. 57
Author(s):  
Adriana CHENDE ◽  
Cristian MARTONOS ◽  
Adrian Florin GAL ◽  
Vasile RUS ◽  
Viorel MICLĂUȘ ◽  
...  
Keyword(s):  
Guinea Pigs ◽  
Simple Structure ◽  
Abdominal Cavity ◽  
Goblet Cells ◽  
Point Of View ◽  
The Body ◽  
Anatomical Point ◽  
Intestinal Segments ◽  
Mucosal Glands ◽  
Caudal Segment

In this study, the caecum of five guinea pigs was anatomically, histologically, and histochemically analyzed. From an anatomical point of view, it has been proved that the caecum in guinea pigs occupies the caudal segment of the abdominal cavity and consists of three parts: the ampullary portion, the body of the caecum, and the apex of the caecum, without a caecal appendix. In our histological analysis, we observed that the caecum has a simple structure, and the cecal mucosal glands are rare and contain, in addition to enterocytes, a small number of goblet cells, which are better represented in the deep part of the glands. Histochemically it has been observed that goblet cells are PAS and Alcian blue positive, which shows that they secrete both neutral and acidic mucins. The intensity of these two histochemical reactions is similar to that of goblet cells from other intestinal segments, proving that they are typical goblet cells. The large volume of the caecum suggests that this is an important section for the digestion process, although the relatively simple structure of the caecal mucosa suggests that the digestion here is not preponderant, but only complements the intestinal one.

scholarly journals THE CHOICE OF THE OPTIMAL LEVEL OF INTERSECTION OF THE PANCREAS TAKING INTO ACCOUNT VARIANTS OF THE TOPOGRAPHY OF ARTERIAL VESSELS AND PANCREATIC DUCT

2021 ◽  
Vol 29 (2) ◽  
pp. 175-182
Author(s):  
S.V. Tarasenko ◽  
◽  
P.V. Tarakanov ◽  
A.A. Natalskiy ◽  
A.V. Pavlov ◽  
...  
Keyword(s):  
Pancreatic Duct ◽  
Superior Mesenteric Vein ◽  
Abdominal Cavity ◽  
Optimal Level ◽  
Vessel Diameter ◽  
Pancreatic Tissue ◽  
Point Of View ◽  
The Body ◽  
Mesenteric Vein ◽  
Anatomical Point

Objective. To determine the optimal level of intersection of the pancreas based on the features of the topography of the arterial vessels and the pancreatic duct of the isthmus and the body of the pancreas. Methods. 44 complexes of the upper floor of the abdominal cavity were studied. An injection mass with the subsequent fixation complexes in a formalin solution was introduced into the arterial vessels. The pancreatic tissue was crossed over the superior mesenteric vein along vertical lines drawn on one, two, three, four, and five cm to the left of the superior mesenteric vein. Depending on the diameter, the arteries were divided into the following types: 1 type (diameter - 0.5 - 1.0 mm); 2 type (diameter - 1.1 - 1.5 mm); 3 type (diameter more than 1.6 mm). The sections were used to assess the topography of the main tubular structures, the number and diameter of arterial vessels greater than 0.5 mm, the number of vessels of a certain type and the mean vessel diameter of this type. Results. On the cross - section above the superior mesenteric vein, as well as on the section made 1 cm to the left of it, vessels of type 1 (0.5-1.0 mm) prevailed. At the same time, two more pronounced arterial vessels were noted. These arteries were located, as a rule, extra-organically and had a relatively constant topography. The location of the pancreatic duct corresponded to the central part of the section. On transverse sections of the pancreas made along lines located from 2 cm to 5 cm to the left of the superior mesenteric vein; up to 5 arterial vessels were recorded.The location of the arterial vessels was inconsistent and did not have limited topographic zones. On sections from 2 to 5 cm to the left of the superior mesenteric vein, damage to the dorsal pancreatic artery was noted, and on sections 4 and 5 cm to the left of the superior mesenteric vein, a peripheral location of the pancreatic duct was found. Conclusion. The optimal level of intersection of the pancreas is the area above the superior mesenteric vein and 1 cm left of the superior mesenteric vein. What this paper adds It was revealed that the region of the pancreas from the superior mesenteric vein to 1 cm left of the superior mesenteric vein is considered to be the most optimal for transection of the pancreatic tissue from the anatomical point of view. Here, as a rule, two arterial vessels meet. It was found that the topography of these arteries is relatively constant, which makes it possible to suture them selectively.

Integrating Focusing and Differentiation: A Therapeutic Path for Couples in Intimate Relationships

2018 ◽  
Vol 3 ◽  
Author(s):  
Evi Zohar
Keyword(s):  
Couples Therapy ◽  
Therapeutic Potential ◽  
Well Being ◽  
Point Of View ◽  
The Body ◽  
Self Awareness ◽  
Emotional Healing ◽  
Felt Sense ◽  
Inner World

Continuing the workshop I've given in the WPC Paris (2017), this article elaborates my discussion of the way I interlace Focusing with Differentiation Based Couples Therapy (Megged, 2017) under the systemic view, in order to facilitate processes of change and healing in working with intimate couples. This article presents the theory and rationale of integrating Differentiation (Bowen, 1978; Schnarch, 2009; Megged, 2017) and Focusing (Gendlin, 1981) approaches, and its therapeutic potential in couple's therapy. It is written from the point of view of a practicing professional in order to illustrate the experiential nature and dynamics of the suggested therapeutic path. Differentiation is a key to mutuality. It offers a solution to the central struggle of any long term intimate relationship: balancing two basic life forces - the drive for individuality and the drive for togetherness (Schnarch, 2009). Focusing is a body-oriented process of self-awareness and emotional healing, in which one learns to pay attention to the body and the ‘Felt Sense’, in order to unfold the implicit, keep it in motion at the precise pace it needs for carrying the next step forward (Gendlin, 1996). Combining Focusing and Differentiation perspectives can cultivate the kind of relationship where a conflict can be constructively and successfully held in the inner world of each partner, while taking into consideration the others' well-being. This creates the possibility for two people to build a mutual emotional field, open to changes, permeable and resilient.

Evaluation of New 99mTc(CO)3 + Radiolabeled Glycylglycine In Vivo

2019 ◽  
Vol 19 (11) ◽  
pp. 1382-1387
Author(s):  
Ahmet M. Şenışık ◽  
Çiğdem İçhedef ◽  
Ayfer Y. Kılçar ◽  
Eser Uçar ◽  
Kadir Arı ◽  
...  
Keyword(s):  
High Performance ◽  
The Body ◽  
Biological Behavior ◽  
In Vivo Evaluation ◽  
Radiolabeled Peptides ◽  
Tumor Bearing ◽  
Biodistribution Data ◽  
Good Accordance ◽  
Rapid Clearance

Background: Peptide-based agents are used in molecular imaging due to their unique properties, such as rapid clearance from the circulation, high affinity and target selectivity. Many of the radiolabeled peptides have been clinically experienced with diagnostic accuracy. The aim of this study was to investigate in vivo biological behavior of [99mTc(CO)3(H2O)3]+ radiolabeled glycylglycine (GlyGly). Methods: Glycylglycine was radiolabeled with a high radiolabeling yield of 94.69±2%, and quality control of the radiolabeling process was performed by thin layer radiochromatography (TLRC) and High-Performance Liquid Radiochromatography (HPLRC). Lipophilicity study for radiolabeled complex (99mTc(CO)3-Gly-Gly) was carried out using solvent extraction. The in vivo evaluation was performed by both biodistribution and SPECT imaging. Results: The high radiolabelling yield of 99mTc(CO)3-GlyGly was obtained and verified by TLRC and HPLRC as well. According to the in vivo results, SPECT images and biodistribution data are in good accordance. The excretion route from the body was both hepatobiliary and renal. Conclusion: This study shows that 99mTc(CO)3-GlyGly has the potential to be used as a peptide-based imaging agent. Further studies, 99mTc(CO)3-GlyGly can be performed on tumor-bearing animals.

Presentation

2014 ◽  
Vol 2 (3) ◽  
Author(s):  
Redacción CEIICH
Keyword(s):  
Cultural History ◽  
Social Reality ◽  
Point Of View ◽  
The Body ◽  
Literary Studies ◽  
The Third ◽  
The Social ◽  
Feminist Theories ◽  
History Of

<p class="p1">The third number of <span class="s1"><strong>INTER</strong></span><span class="s2"><strong>disciplina </strong></span>underscores this generic reference of <em>Bodies </em>as an approach to a key issue in the understanding of social reality from a humanistic perspective, and to understand, from the social point of view, the contributions of the research in philosophy of the body, cultural history of the anatomy, as well as the approximations queer, feminist theories and the psychoanalytical, and literary studies.</p>

Micro-Thermal Field-Flow Fractionation

2002 ◽  
Vol 67 (11) ◽  
pp. 1596-1608 ◽  
Author(s):  
Josef Janča
Keyword(s):  
High Performance ◽  
Thermal Field ◽  
Temperature Drop ◽  
Point Of View ◽  
Constant Field ◽  
Field Flow Fractionation ◽  
Operational Mode ◽  
Experimental Conditions ◽  
Standard Size ◽  
Flow Fractionation

The effect of miniaturization of the separation channel on the performance of thermal field-flow fractionation (TFFF) is substantiated theoretically. The experiments carried out under carefully chosen experimental conditions proved the high performance of the separation of polymers within an extended range of molar masses from relatively low up to ultrahigh-molar-mass (UHMM) samples. The new micro-TFFF allows to achieve high resolution when applying constant field force operation, it makes easy the programming of the temperature drop which is an advantageous operational mode from the point of view of the time of analysis, and it extends considerably the range of perfectly controlled temperature of the cold wall due to a substantial decrease in the heat energy flux compared with standard size channels.

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