Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection

Yan, Yan; Liu, Yang; Chávez, Joseph Páez; Zonta, Florent; Yusupov, Azat

doi:10.1007/s11012-017-0801-3

Cited by 31 publications

(12 citation statements)

References 29 publications

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“…In publications [9,10], the authors studied a capsule-type vibratory robot moving in pipeline environment with non-smooth friction. The robots moved due to the operation of a vibro-impact oscillator placed inside the capsule.…”

Section: Review Of Modern Information Sources On the Subject Of The Pmentioning

confidence: 99%

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Korendiy¹

2018

Ukr. j. mech. eng. mater. sci.

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The purpose of research. Substantiation of inertial, stiffness and excitation parameters of mechanical oscillatory system of mobile vibratory robot in order to maximize its motion speed. Methodology. The technique of the research is based on fundamental concepts of engineering mechanics and theory of mechanical vibrations. In order to deduce the differential equations of motion of the mechanical system of mobile vibratory robot the Lagrange second order equations were used. The computation modelling of the system's motion caused by periodic excitation forces was carried out using MathCAD software. Results. The design diagram (model) of the two-mass mobile vibratory system with electromagnetic drive was constructed. The mathematical model of its motion was developed and the parameters of the resonance vibro-impact mode of its operation were substantiated. The steady-state and transient conditions of operation of the system under the influence of periodic excitation force of various magnitude were investigated. Scientific novelty. The structure of mobile vibratory device designed on the basis of two-mass oscillatory system with vibro-impact operation mode was substantiated. The differential equations of motion of the proposed system were set up taking into account the nonlinear stiffness characteristic of the elastic element connecting two oscillating bodies. The influence of the system's excitation parameters on its motion speed was analysed. This allows to substantiate the rational magnitude and frequency of the excitation force. Practical value. The results of the carried-out investigations can be used while designing and developing control systems of mobile vibratory transporting and robotic devices in order to ensure the possibility of changing the speed of their motion without changing the inertial and stiffness parameters of their mechanical oscillating systems. Scopes of further investigations. While carrying out further investigations it is necessary to study the possibility of changing the nonlinearity of stiffness characteristic of the elastic element in order to change the kinematic parameters of the system's motion. In addition, it is necessary to substantiate the mechanisms of changing the direction of motion of mobile vibratory robot.

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Section: Review Of Modern Information Sources On the Subject Of The Pmentioning

confidence: 99%

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Korendiy¹

2018

Ukr. j. mech. eng. mater. sci.

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“…In [17], Gu and Deng studied the dynamical response of a vibro-impact capsule system with Hertzian contact and random environmental perturbation. On the other hand, a lot of studies have focused on the prototype development of the vibroimpact capsule system for some specific practical applications, such as pipeline inspection [18][19][20], gastrointestinal capsule endoscopy [21], and ground moling [22]. The present study in this paper is to report our recent progress on scaling down the prototype design of the vibro-impact capsule system to a standard dimension for gastrointestinal capsule endoscopy, which is 26 mm in length and 11 mm in diameter.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2020

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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.

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“…Numerical studies [24,25] suggest that forward and backward progression of the capsule can be controlled under either fast progression or energy-saving modes in different frictional environments. Preliminary experimental studies [26,27] have demonstrated that the vibro-impact selfpropulsion technique could be a potential alternative modality for active CE, and in particular, the provision of both forward and backward progression can improve both the quality and the sensitivity of clinical exami-nations. It is, therefore, useful to understand how the vibro-impact self-propelled capsule can be adapted to the intestinal environment in terms of selection of system and control parameters, such as mass ratio, stiffness ratio, and frequency and amplitude of excitation for prototyping and testing.…”

Section: Introductionmentioning

confidence: 99%

Modelling of a vibro-impact self-propelled capsule in the small intestine

et al. 2019

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This paper studies the modelling of a vibroimpact self-propelled capsule system in the small intestinal tract. Our studies focus on understanding the dynamic characteristics of the capsule and its performance in terms of the average speed and energy efficiency under various system and control parameters, such as capsule's radius and length, and the frequency and magnitude of sinusoidal excitation. We find that the resistance from the small intestine will become larger once the capsule's size or its instantaneous velocity increases. From our extensive numerical calculations, it is suggested that increasing forcing magnitude or choosing forcing frequency greater than the natural frequency of the inner mass can benefit the average speed of the capsule, and the radius of the capsule should be slightly larger than the radius of the small intestine in order to generate a reasonable resistance for capsule progression. Finally, the locomotion of the capsule along an inclined intestinal tract is tested, and the best radius and forcing magnitude of the capsule are also determined.

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Proof-of-concept prototype development of the self-propelled capsule system for pipeline inspection

Cited by 31 publications

References 29 publications

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

Dynamics of two-mass mobile vibratory robot with electromagnetic drive and vibro-impact operation mode

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

Modelling of a vibro-impact self-propelled capsule in the small intestine

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