SUMMARYIn this paper, we focus on the configuration design of a reconfigurable robot that merges the functions of wheels, tracks, and legs together. A deformable rim is utilized to make the robot wheel reconfigurable to change its locomotion mode. Three rules of configuration design to achieve reconfiguration between different modes are proposed: (1) in wheel mode, the track wheel set should be hidden inside the wheel rim; (2) in track/leg mode, the folded wheel rim should be hidden inside the caterpillar loop; (3) the circumference of the wheel rim in wheel mode should be equal to the length of the track ring in track mode. According to these rules, the configuration of the deformable rim, track wheel set, and telescopic spoke are analyzed and designed. A prototype of the reconfigurable wheel is fabricated by three-dimensional printing, and its functions of locomotion in different modes, the switch between different modes, and its load-bearing ability are tested, verifying the effectiveness of the configuration design. Furthermore, a prototype of the reconfigurable robot is manufactured by computerized numerical control (CNC) machining to verify the structural design of the reconfigurable wheel. Compared to traditional hybrid robots with separate wheels, tracks, and legs, this reconfigurable design lends the multimodal robot both excellent terrain adaptability and a compact structure; thus, it can be widely used as a universal mobile platform in search and rescue missions and explosive object disposal missions.

IntroductionSmall for gestational age (SGA) infants are at a higher risk of neurodevelopmental delay than infants appropriate for gestational age (AGA). Previous studies have confirmed that gut microbiota in early life influences subsequent neurodevelopment. However, few studies have reported corresponding data in SGA populations.ObjectiveWe aimed to evaluate the characteristics of the gut microbiota of term SGA infants and the associations between the gut microbiota in SGA infants and neurodevelopmental outcomes at 6 months of age.MethodsFecal samples were collected on days 1, 3, 5, and 7 from term SGA and AGA infants born between June 2020 and June 2021 at the Peking University First Hospital. 16S ribosomal deoxyribonucleic acid amplicon sequencing was used to analyze the fecal microbiota. We followed up for 6 months and used the Ages and Stages Questionnaires-3 (ASQ-3) to evaluate the neurodevelopmental outcomes among SGA infants.ResultsA total of 162 neonates were enrolled, with 41 SGA infants (25.3%) in the study group and 121 AGA infants (74.7%) in the control group. The gut microbial diversity in the SGA group was lower than that in the AGA group on days 1, 3, 5, and 7. Non-metric multidimensional scaling and analysis of similarities showed significant differences between the two groups. The SGA group had increased relative abundances of Ralstonia (3, 5, and 7 days) and Clostridium (3 and 7 days). The dominant microorganisms of the SGA group were Ralstonia on day 1, Escherichia_Shigella on days 3 and 7, and Clostridia on day 5. We found that the gut microbial diversity of SGA infants with poor communication scores was higher than that of SGA infants with good communication scores on day 3. Fine motor scores were negatively correlated with the relative abundance of Bacteroides_fragilis on day 1. A negative correlation was observed between gross motor scores and relative abundance of Clostridium_saccharobutylicum on day 7. Bacteroidota, Bacteroidia, Bacteroides, and Bacteroides_fragilis were the dominant microorganisms in the good communication score group on day 7. Communication scores were positively correlated with the relative abundance of Bacteroidota, Bacteroides, and Bacteroides_fragilis on day 7.ConclusionThe gut microbial diversity of term SGA infants was significantly lower in the first week of life than that of term AGA infants. Certain pathogenic and conditional pathogenic bacteria, such as Escherichia_Shigella, Ralstonia and Clostridium increased or formed the dominant microbiota in SGA infants. Alpha diversity, Bacteroidota, Bacteroides, Bacteroides_fragilis, and Clostridium_saccharobutylicum found in SGA infants may be associated with neurodevelopmental outcomes at 6 months of age, indicating possible therapeutic targets for clinical intervention.

Hybrid mobile robots with multiple locomotion modes are getting more and more popular in search and rescue (SAR) and explosive object disposal (EOD) missions because of their good terrain adaptability. Present researchers devote themselves to develop efficient and reliable transition method between different locomotion modes to make the hybrid robot more compact and flexible. In this paper, we present a novel transition mechanism for a hybrid wheel-track based on foldable rims. The wheel rim is cut into four segments so that it is foldable. And the transition between wheel and track is achieved by the folding or unfolding of the foldable rim. According to its geometrical property during the transition process, a single-freedom supporting spoke is proposed to drive the foldable rim’s transformation. We analyze the length and angle varying principles of the supporting spoke by utilizing the kinematic mode based on screw theory. According to above results, five different kinds of transition mechanism of the supporting spoke is designed, performance comparison among which is conducted by dynamic simulations. Two of the five candidate transition mechanisms are picked up for their smaller driving force requirements. Their 3D printing prototypes are also fabricated and experiments show that the hybrid wheel-track can switch between wheel and track successfully. Compared to most hybrid robots which have separate wheels, tracks and legs, this transition mechanism makes the robot own both compact structure and multimodal locomotion.

A six-wheel driving system with a variable wheelbase is proposed to improve the passing ability of unmanned vehicles. As the first step, the effect of the wheelbase variation on the axle load distribution is analyzed. Next, the relationship between the wheelbase variation and rolling resistance is obtained by numerical calculation combined with the theory of terramechanics, and it shows that the traction performance of the vehicle can be optimized by adjusting the wheelbase. Considering the deformation of tires and soil, the mechanism of the effect of the change in wheelbase on the ability of the vehicle to overcome an obstacle and cross a trench is studied, and a variable-wheelbase strategy for a vehicle overcoming an obstacle and crossing a trench is then proposed on the basis of theoretical calculations. Finally, the rationality of the variable-wheelbase strategy is verified in simulation experiments.

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