FWMR-II: a modular link-type rope-climbing robot with the finger-wheeled mechanism

Purpose The rope-climbing robot that can cling to a rope for locomotion has been a popular piece of equipment for some overhead applications due to its high flexibility. In view of problems left by existing rope-climbing robots, this paper aims to propose a new-style rope-climbing robot named Finger-wheeled mechanism robot (FWMR)-II to improve their performance. Design/methodology/approach FWMR-II adopts a modular and link-type mechanical structure. With the finger-wheeled mechanism (FWM) module, the robot can achieve smooth and quick locomotion and good capability of obstacle-crossing on the rope and with the link module based on a spatial parallel mechanism, the robot adaptability for rope environments is improved further. The kinematic models that can present configurations of the FWM module and link module of the robot are established and for typical states of the obstacle-crossing process, the geometric definitions and constraints that can present the robot position relative to the rope are established. The simulation is performed with the optimization calculating method to obtain the robot adaptability for rope environments and the experiment is also conducted with the developed prototype to verify the robot performance. Findings From the simulation results, the adaptability for rope environments of FWMR-II are obtained and the advantage of FWMR-II compared with FWMR-I is also proved. The experiment results give a further verification for the robot design and analysis work. Practical implications The robot proposed in this study can be used for inspection of power transmission lines, inspection and delivery in mine and some other overhead applications. Originality/value An ingenious modular link-type robot is proposed to improve existing rope-climbing robots and the method established in this study is worthy of reference for obstacle-crossing analysis of other rope-climbing robots.

The recombinant Link module of human TSG-6 suppresses cartilage damage in models of osteoarthritis: a potential disease-modifying OA drug

Objectives: To investigate the role of endogenous TSG-6 in human osteoarthritis (OA) and assess the disease-modifying potential of a TSG-6-based biological treatment in cell, explant and animal models of OA. Methods: Knee articular cartilages from OA patients were analysed for TSG-6 protein and mRNA expression using immunohistochemistry and RNAscope, respectively. The inhibitory activities of TSG-6 and its isolated Link module domain (Link_TSG6) on cytokine-induced glycosaminoglycan loss in OA cartilage explants were compared. Mesenchymal stem/stromal cell (MSC)-derived chondrocyte pellet cultures were used to determine the effects of Link_TSG6 and full-length TSG-6 on IL-1α-, IL-1β- or TNF-stimulated ADAMTS4, ADAMTS5 and MMP13 mRNA expression. Link_TSG6 was administered i.a. to the rat ACLTpMMx model and cartilage damage and tactile allodynia were assayed. Results: TSG-6 is predominantly associated with chondrocytes in regions of cartilage damage and its expression is negatively correlated with MMP13, the major collagenase implicated in OA progression. Link_TSG6 is more potent than full-length TSG-6 at dose-dependently inhibiting cytokine-mediated matrix breakdown in human OA cartilage explants; about 50% of donor cartilages, from 59 tested, were responsive to Link_TSG6 treatment. Similarly, Link_TSG6 displayed more potent effects in 3D pellet cultures, suppressing aggrecanase and collagenase gene expression. Link_TSG6 treatment reduced touch-evoked pain and dose-dependently inhibited cartilage damage in a rodent model of surgically-induced OA. Conclusions: Native TSG-6 is associated with a low catabolic chondrocyte phenotype in OA cartilage. Link_TSG6, which has enhanced chondroprotective activity compared to the full-length TSG-6 protein, demonstrates potential as a disease modifying OA drug (DMOAD) and warrants further investigation and development.

Autonomous reconfiguration of homogeneous pivoting cube modular satellite by deep reinforcement learning

Modular satellite, which has the ability of self-repairing and accomplishing different tasks, draws more and more satellite designers’ attention recently. One of the trending topics is to design the algorithm of self-reconfigurable path planning, since searching a near-optimal path is an effective way to reduce electrical energy consumption and mechanical loss of satellites. A major thrust of this article is to examine a series of algorithms based on graph theory and deep reinforcement learning. We creatively propose the concept of link module and find the link module by calculating articulation points in the undirected connected graph of configuration. We propose a compressed algorithm of state transition and the deep reinforcement learning algorithms in the domain of self-reconfigurable modular satellites. The simulation results show the feasibility and effectiveness of the proposed planning algorithms.

Optical Data Link Module for Data Transmission in Smart Catheters

We demonstrate a stand-alone optical data link module (ODLM) that fits in the limited space budget of smart imaging catheters. The module is based on an extension of the Flex-to-Rigid (F2R) technology platform for miniaturized system integration. The ODLM is a silicon-based interposer that comprises a commercially available Vertical Cavity Surface Emitting Laser (VCSEL), which has its electrical contacts and laser emitting spot on the same surface. With the flexible interconnects, the ODLM reroutes the flip-chipped VCSEL electrical contacts to the side that is perpendicular to the surface of the VCSEL. This enables the ODLM to be mounted on a flex-PCB and fit into the limited space in the distal tip of the smart catheter. An optical fiber that runs in parallel to the catheter shaft is inserted into the through-silicon hole (TSH) of the ODLM and self-aligned to the VCSEL for optical data transmission. The design of the ODLM and the F2R technology platform are introduced, and an ODLM demonstrator is fabricated and presented.

Multivariate Alexander quandles, I. The module sequence of a link

The multivariate Alexander module of a link [Formula: see text] has several subsets that admit quandle operations defined using the module operations. One of them, the fundamental multivariate Alexander quandle, determines the link module sequence of [Formula: see text].

IOT Based Wireless Safety System for Monitoring the Physiological and Environmental Variables of Mine Workers.

The coal mining is essential as well as a risky venture. The miners working here need to handle the extreme environmental condition and the physiological hazardous without specialized examination. A continuous monitoring of the environmental change and the physiological variables is needed in order to enhance the condition for people and the equipment. A Continuous monitoring of the environmental gases and the physiological variables is the major challenge and need to be followed for safety of workers working in mine. This paper present the design and the implementation of real time monitoring device to measure the physiological variables and the gases present in the mining. The proposed system consists of physiological variables, ECG signal, respiratory activity, body temperature, fall detection and also the environmental gases. The sensors will be embedded throughout the T-shirt to measure the variables. The device will monitor the real time data and wireless communication network will be provided by using Wi-Fi link module. By using IOT it is easy to upload the data on the web server and it also provides data security.