scholarly journals Design and Modelling of an Amphibious Spherical Robot Attached with Assistant Fins

2021 ◽  
Vol 11 (9) ◽  
pp. 3739
Author(s):  
Xing Chi ◽  
Qiang Zhan
Keyword(s):  
Spherical Shell ◽  
Aquatic Environment ◽  
Adaptive Design ◽  
Rolling Motion ◽  
Spherical Robot ◽  
Terrestrial Environment ◽  
Aquatic Locomotion ◽  
Innovative Solution ◽  
Novel Concept ◽  
Security Surveillance

Mobile robots that can survive in unstructured wildernesses is essential in many applications such as environment detecting and security surveillance. In many of these applications, it is highly desirable that the robot can adapt robustly to both terrestrial environment and aquatic environment, and translocate swiftly between various environments. A novel concept of amphibious spherical robot with fins is proposed in this paper, capable of both terrestrial locomotion and aquatic locomotion. Unlike the traditional amphibious robots, whose motions are commonly induced by propellers, legs or snake-like tandem joints, the proposed amphibious spherical robot utilizes the rolling motion of a spherical shell as the principal locomotion mode in the aquatic environment. Moreover, spinning motion of the spherical shell is used to steer the spherical robot efficiently and agilely; several fins are attached to the outer spherical shell as an assistance to the rolling motion. These two motion modes, rolling and spinning, can be used unchangeably in the terrestrial environment, leading to a compact and highly adaptive design of the robot. The work introduced in this paper brings in an innovative solution for the design of an amphibious robot.

scholarly journals The Transformative Potential of Ruins: A Tool for a Nonlinear Design Perspective in Adaptive Reuse

2021 ◽  
Vol 13 (10) ◽  
pp. 5660
Author(s):  
Elena Guidetti ◽  
Matteo Robiglio
Keyword(s):  
Adaptive Design ◽  
Future Research ◽  
Existing Buildings ◽  
Quantitative And Qualitative Research ◽  
Transformative Potential ◽  
Nonlinear Design ◽  
Mental Construct ◽  
Design Perspective ◽  
Novel Concept ◽  
The Relationship

In recent years, the heritage preservation debate has seen a growing interest in emerging theories in which the concept of potential plays an essential role. Starting from the assumption that memory is an evolving mental construct, the present paper introduces the concept of “transformative potential” in existing buildings. This novel concept regards the inevitability of loss and the self-destructive potential as part of the transformation of each building. The “transformative potential” is defined here as the relationship between spatial settings and material consistency. This research hypothesizes five “transformative potential” types by analyzing five best-practices adapted ruins in the last 15 years. The analysis integrates quantitative and qualitative research methods: morphological analysis (dimensional variations, critical redrawing, configuration patterns) and decay stages evaluation (shearing layers analysis, adaptation approaches). The goal is to test the “transformative potential” effectiveness in outlining patterns between specific stages of decay and adaptive design projects. Adaptation projects may actualize this potential in a specific time through incremental and decremental phases, outlining a nonlinear relationship between decay and memory. The study provides insights for future research on adapting existing buildings in a particular decay stage.

Control of the Rolling Motion of a Spherical Robot on an Inclined Plane

2018 ◽  
Vol 63 (10) ◽  
pp. 435-440
Author(s):  
T. B. Ivanova ◽  
A. A. Kilin ◽  
E. N. Pivovarova
Keyword(s):  
Rolling Motion ◽  
Spherical Robot ◽  
Inclined Plane

scholarly journals AMR Escherichia coli and its temporal and spatial variability within the aquatic environment

2020 ◽  
Vol 2 (7A) ◽  
Author(s):  
Amelia Odell ◽  
Paul Eady ◽  
Ronald Dixon
Keyword(s):  
Escherichia Coli ◽  
Aquatic Environment ◽  
Spatial Dynamics ◽  
Pcr Analysis ◽  
Terrestrial Environment ◽  
E Coli ◽  
Wwtp Effluent ◽  
Temporal And Spatial Variability ◽  
Temporal And Spatial ◽  
Genotypic Identification

Phenotypic and genotypic identification methods have been used to determine the temporal and spatial dynamics of AMR-Escherichia coli in a mainly rural watercourse that receives WWTP-effluent compared to a parallel river which does not. We aimed to investigate the incidence of plasmid-mediated mcr-1and β-lactamase-genes in E. coli recovered from both water and Asellus aquaticus samples throughout two-calendar-years. Samples of the water and A. aquaticus were recovered from the relevant locations each month. CHROMagar ESBL agar was used throughout to isolate and identify ESBL-E. coli. The presence of AMR-genes was confirmed using the ‘BSAC’ antibiotic-disk-synergy method and PCR analysis to confirm the presence of mcr-1and ESBL-genes. The CHROMagar ESBL agar was found to be 99.7% (n=578) accurate when confirmed with a PCR analysis of the ESBL-genes. Seventy-six-point-six percent (n=449) of the isolated ESBL-E. coli were correctly identified as ESBL-producing organisms using the ‘BSAC’ method. Interestingly 61.9% (n=358) of the ESBL-E. coli were also found to carry the mcr-1 gene. Our data shows that AMR levels were highest at the WWTP-effluent throughout the two-years for both water and A. aquaticus samples. The incidence of AMR-E. coli 1km downstream of the effluent discharge was equivalent to the parallel river sites, suggesting that the dispersal of AMR from the WWTP-effluent is limited, although AMR-E. coli were found in relatively high numbers at the WWTP-effluent. We argue that the presence of AMR in the freshwater invertebrate A. aquaticus could represent an important route by which AMR can spread from the aquatic environment to the terrestrial environment.

scholarly journals Improving functional and motor capacity through means/resources and methods specific to acvatic activities

2021 ◽  
Vol 12 (Vol.12, no.1) ◽  
pp. 27-30
Author(s):  
Iustina CONDURACHE ◽  
Marius TURNEA ◽  
Mariana ROTARIU
Keyword(s):  
Physical Exercise ◽  
Aquatic Environment ◽  
High Amplitude ◽  
The Body ◽  
Entire Body ◽  
Terrestrial Environment ◽  
Precise Control ◽  
Beneficial Effects ◽  
Muscle Groups ◽  
General Physical

Introduction. Exercise programs in the aquatic environment have as their main objective the improvement and maintenance of physical capacity/ capability, these being in continuous development and diversification. Water exercise amplifies the effects of general physical exercise, by allowing a more precise control over the movement of each body segment and of the body as a whole. The aquatic environment offers a number of beneficial effects compared to ones offered by the terrestrial environment. The benefits obtained through the aquatic activities are fundamental and are reflected throughout the entire body including both motor, functional and aesthetic level. Material and method. The objective of this study is represented by the identification of new forms of physical exercise that will increase the effort’s capacity. In order to achieve this goal, several methodological requirements were met, such as: successive engagement of the joints and muscle groups in effort (starting with the neck’s muscles, shoulders, arms, torso and legs, simultaneously with scapular-humeral joints, spine and coxo-femoral joints and legs), the gradually usage of exercises, starting with the most basic and then increasing the complexity of the exercises, the usage of the accessible exercises in the beginning of the training, executed with high amplitude and reduced speed, focusing on the correctness of the execution, the selection and the adequate/ appropriately usage of the initial positions according to the subject’s particularities and the shape/form of the exercise, the optimal control of the effort, achieved through a number of iterations, optimal execution time and breaks, the sets of general physical exercises will consist of sets of 8-12 exercises/reps, the principle of symmetry in the execution of the exercises has to be respected, the continuity of practicing a set of exercises for 6 to 8 consecutive lessons, the recommended work method is fragmented-imitative, efficiently combining the explication with the demonstration, the number of repetitions and the movement’s correction. Results and discussions. Analyzing results obtained after the evaluation, we have noticed significant growth in the functional and motor capacities. Conclusions. The systematization of water activities on objective criteria effectively contributes to their knowledge, while allowing them to be included in the spectrum of recreational, sporting, relaxing or therapeutic activities. Keywords: acvatic activities, physical exercise, evaluations,

scholarly journals Improving functional and motor capacity through means/resources and methods specific to acvatic activities

2021 ◽  
pp. 314-317
Author(s):  
Iustina CONDURECHE ◽  
Luminița CONFEDERAT ◽  
Mariana ROTARIU ◽  
Marius TURNEA
Keyword(s):  
Physical Exercise ◽  
Aquatic Environment ◽  
High Amplitude ◽  
The Body ◽  
Entire Body ◽  
Terrestrial Environment ◽  
Precise Control ◽  
Beneficial Effects ◽  
Muscle Groups ◽  
General Physical

Introduction. Exercise programs in the aquatic environment have as their main objective the improvement and maintenance of physical capacity/ capability, these being in continuous development and diversification. Water exercise amplifies the effects of general physical exercise, by allowing a more precise control over the movement of each body segment and of the body as a whole. The aquatic environment offers a number of beneficial effects compared to ones offered by the terrestrial environment. The benefits obtained through the aquatic activities are fundamental and are reflected throughout the entire body including both motor, functional and aesthetic level. Material and method. The objective of this study is represented by the identification of new forms of physical exercise that will increase the motor’s capacity. In order to achieve this goal, several methodological requirements were met, such as: successive engagement of the joints and muscle groups in effort (starting with the neck’s muscles, shoulders, arms, torso and legs, simultaneously with scapular-humeral joints, spine and coxo-femoral joints and legs), the gradually usage of exercises, starting with the most basic and then increasing the complexity of the exercises, the usage of the accessible exercises in the beginning of the training, executed with high amplitude and reduced speed, focusing on the correctness of the execution, the selection and the adequate/ appropriately usage of the initial positions according to the subject’s particularities and the shape/form of the exercise, the optimal control of the effort, achieved through a number of iterations, optimal execution time and breaks, the sets of general physical exercises will consist of sets of 8-12 exercises/reps, the principle of symmetry in the execution of the exercises has to be respected, the continuity of practicing a set of exercises for 6 to 8 consecutive lessons, the recommended work method is fragmented-imitative, efficiently combining the explication with the demonstration, the number of repetitions and the movement’s correction. Results and discussions. Analyzing results obtained after the evaluation, we have noticed significant growth in the functional and motor capacities. Conclusions. The systematization of water activities on objective criteria effectively contributes to their knowledge, while allowing them to be included in the spectrum of recreational, sporting, relaxing or therapeutic activities. Keywords: acvatic activities, physical exercise, evaluations,

Shock Absorber Design and Analysis of a Catapult-Spherical Reconnaissance Robot

2013 ◽  
Vol 662 ◽  
pp. 694-697
Author(s):  
Liang Lu ◽  
Ming Chu
Keyword(s):  
Spherical Shell ◽  
Shock Absorber ◽  
Soft Material ◽  
Kinematics And Dynamics ◽  
Robot Design ◽  
Absorption System ◽  
Spherical Robot ◽  
Shock Absorption ◽  
Metal Bonding ◽  
Absorber Structure

Aim at the shock absorber general weak of spherical robot, design of a new shock absorber structure of the spherical detection robot, the robot have two shock absorption system include rubber with metal bonding reticulated spherical shell and telescopic shock absorber spring, at same time contact the internal parts with soft material. All these measures are to protect the internal parts in robot dropping or throwing process from bigger impact. Derivation it with kinematics and dynamics formula, simulate and experiment proved shock absorber mechanism has a good shock absorber performance. This design can effectively protect the internal parts of the spherical robot.

scholarly journals Aquatic versus terrestrial attachment: Water makes a difference

2014 ◽  
Vol 5 ◽  
pp. 2424-2439 ◽  
Author(s):  
Petra Ditsche ◽  
Adam P Summers
Keyword(s):  
Aquatic Environment ◽  
Terrestrial Environment ◽  
Viscous Forces ◽  
Dry Adhesion ◽  
Open Questions ◽  
Drag And Lift ◽  
Mode Of Attachment ◽  
Attachment Mechanism ◽  
Submerged Conditions ◽  
Contrast Flow

Animal attachment to a substrate is very different in terrestrial and aquatic environments. We discuss variations in both the forces acting to detach animals and forces of attachment. While in a terrestrial environment gravity is commonly understood as the most important detachment force, under submerged conditions gravity is nearly balanced out by buoyancy and therefore matters little. In contrast, flow forces such as drag and lift are of higher importance in an aquatic environment. Depending on the flow conditions, flow forces can reach much higher values than gravity and vary in magnitude and direction. For many of the attachment mechanisms (adhesion including glue, friction, suction and mechanical principles such as hook, lock, clamp and spacer) significant differences have to be considered under water. For example, the main principles of dry adhesion, van der Waals forces and chemical bonding, which make a gecko stick to the ceiling, are weak under submerged conditions. Capillary forces are very important for wet adhesion, e.g., in terrestrial beetles or flies, but usually do not occur under water. Viscous forces are likely an important contributor to adhesion under water in some mobile animals such as torrent frogs and mayflies, but there are still many open questions to be answered. Glue is the dominant attachment mechanism of sessile aquatic animals and the aquatic realm presents many challenges to this mode of attachment. Viscous forces and the lack of surface tension under submerged conditions also affect frictional interactions in the aquatic environment. Moreover, the limitation of suction to the pressure difference at vacuum conditions can be ameliorated under water, due to the increasing pressure with water depth.

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