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Self-contained capsubot propulsion mechanism

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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.

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Authors and Affiliations

  1. Faculty of Computing, Engineering and Technology, Staffordshire University, Stafford, ST18 0AD, UK

    M. Nazmul Huda, Hong-Nian Yu & Samuel Oliver Wane

Authors
  1. M. Nazmul Huda
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  2. Hong-Nian Yu
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  3. Samuel Oliver Wane
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Corresponding author

Correspondence to M. Nazmul Huda.

Additional information

This work was supported by EPSRC funded UK-Japan Network on Human Adaptive Mechatronics Project (No. EP/E025250/1) and EU Erasmus Mundus Project-eLINK (No.EM ECW-ref.149674-EM-1-2008-1-UK-ERAMUNDUS)

M. Nazmul Huda received the B. Sc. degree in electrical and electronic engineering from Bangladesh University of Engineering and Technology, Bangladesh in 2008 and MRes in robotics and control systems from Staffordshire University, UK in 2011. He is currently a Ph.D. candidate in robotics and control systems at Staffordshire University. He worked as a lecturer in the Department of Electrical and Electronic Engineering at Ahsanullah University of Science and Technology (AUST) in Bangladesh.

His research interests include robotics for medical applications, nanorobotics, and biomedical signal processing.

Hong-Nian Yu is currently a professor of computer science at Staffordshire University, UK. He has held several research grants worth about three million pounds from EPSRC, the Royal Society, and the EU, AWM, as well as from the industry. He has successfully completed an EU funded Asia-Link project (Euro-Asia Collaborations and Networking in Information Engineering System Technology) and currently is supervising two EU projects (East-west Link for Innovation, Networking and Knowledge exchange, 5.5 million Euro) and (Sustainable E-Tourism, 2.5 million Euro). He was the general chair of International Conference on Software Knowledge Information Management and Applications (SKIMA) in 2006, and is serving on various other conferences and academic societies.

His researches interests include wireless networked control systems, radio frequency identification (RFID) and its applications, mobile computing, modelling, scheduling, planning, and simulations of large discrete event dynamic systems with applications to manufacturing systems, supply chains, transportation networks, and computer networks.

Samuel Oliver Wane received the master degree in electronic engineering from the University of Hull, UK in 1996. He went on to develop software for the “Handy-1”, a rehabilitation robot to aid people with no arms to feed themselves. His improvements to the robot allowed it to shave, wash, brush teeth, and play games. He then spent two years designing and developing biscuit packing robots for the food industry. Since 2000, he has been working as a senior lecturer in robotics and control at Staffordshire University, UK and a part-time Ph.D. candidate where he is developing a wirelessly controlled robot propulsion mechanism as part of the Mobile Computing and Distributed Systems (MCDS) Team.

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Huda, M.N., Yu, HN. & Wane, S.O. Self-contained capsubot propulsion mechanism. Int. J. Autom. Comput. 8, 348–356 (2011). https://doi.org/10.1007/s11633-011-0591-3

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  • DOI: https://doi.org/10.1007/s11633-011-0591-3

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