The vibro-impact capsule system in millimetre scale: numerical optimisation and experimental verification

The vibro-impact capsule system has been studied extensively in the past decade because of its research challenges as a piecewise-smooth dynamical system and broad applications in engineering and healthcare technologies. This paper reports our team’s first attempt to scale down the prototype of the vibro-impact capsule to millimetre size, which is 26 mm in length and 11 mm in diameter, aiming for small-bowel endoscopy. Firstly, an existing mathematical model of the prototype and its mathematical formulation as a piecewise-smooth dynamical system are reviewed in order to carry out numerical optimisation for the prototype by means of path-following techniques. Our numerical analysis shows that the prototype can achieve a high progression speed up to 14.4 mm/s while avoiding the collision between the inner mass and the capsule which could lead to less propulsive force on the capsule so causing less discomfort on the patient. Secondly, the experimental rig and procedure for testing the prototype are introduced, and some preliminary experimental results are presented. Finally, experimental results are compared with the numerical results to validate the optimisation as well as the feasibility of the vibro-impact technique for the potential of a controllable endoscopic procedure.

Persistence of small noise and random initial conditions

The effect of small noise in a smooth dynamical system is negligible on any finite time interval; in this paper we study situations where the effect persists on intervals increasing to ∞. Such an asymptotic regime occurs when the system starts from an initial condition that is sufficiently close to an unstable fixed point. In this case, under appropriate scaling, the trajectory converges to a solution of the unperturbed system started from a certainrandominitial condition. In this paper we consider the case of one-dimensional diffusions on the positive half-line; this case often arises as a scaling limit in population dynamics.

Circle maps with gaps: Understanding the dynamics of the two-process model for sleep–wake regulation

For more than 30 years the ‘two-process model’ has played a central role in the understanding of sleep/wake regulation. This ostensibly simple model is an interesting example of a non-smooth dynamical system, whose rich dynamical structure has been relatively unexplored. The two-process model can be framed as a one-dimensional map of the circle, which, for some parameter regimes, has gaps. We show how border collision bifurcations that arise naturally in maps with gaps extend and supplement the Arnold tongue saddle-node bifurcation set that is a feature of continuous circle maps. The novel picture that results shows how the periodic solutions that are created by saddle-node bifurcations in continuous maps transition to periodic solutions created by period-adding bifurcations as seen in maps with gaps.