M. Nazmul Huda
Self-contained capsubot propulsion mechanism
Huda, M. Nazmul; Yu, Hong-Nian; Wane, Samuel Oliver
Abstract
In this paper, a self contained capsubot (capsule robot) propulsion mechanism is investigated. The proposed capsubot works on the principle of internal force-static friction. A modified linear DC motor is used to drive the capsubot. A novel acceleration profile is proposed for the moving part (linear cylinder) based on the principle. A significant feature of the proposed capsubot is that it is legless, wheelless, and trackless. The developed capsubot with a proposed propulsion mechanism demonstrates a very good average velocity. The propulsion mechanism has the potential to be used for the propulsion of a wireless-controlled self-propelling capsule endoscope. Simulation and experimental results demonstrate the performance of the self-contained capsubot with the proposed acceleration profile.
Citation
Huda, M. N., Yu, H.-N., & Wane, S. O. (2011). Self-contained capsubot propulsion mechanism. International Journal of Automation and Computing, 8(3), 348-356. https://doi.org/10.1007/s11633-011-0591-3
Journal Article Type | Article |
---|---|
Online Publication Date | Aug 12, 2011 |
Publication Date | 2011-08 |
Deposit Date | Jun 18, 2022 |
Journal | International Journal of Automation and Computing |
Print ISSN | 1476-8186 |
Electronic ISSN | 1751-8520 |
Publisher | Springer |
Peer Reviewed | Peer Reviewed |
Volume | 8 |
Issue | 3 |
Pages | 348-356 |
DOI | https://doi.org/10.1007/s11633-011-0591-3 |
Keywords | Capsubot, internal force and static friction, linear DC motor, propulsion, capsule endoscopy |
Public URL | http://researchrepository.napier.ac.uk/Output/2880441 |
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