Optimization of the Vibro-Impact Capsule System

Liu, Yang; Islam, Sheikh Zahidul; Pavlovskaia, Ekaterina; Wiercigroch, Marian

doi:10.5545/sv-jme.2016.3754

Cited by 26 publications

(14 citation statements)

References 18 publications

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“…The vibro-impact capsule system is a self-propelled mechanism moving rectilinearly under internal harmonic excitation when overcoming environmental resistance, which has practical applications in gastrointestinal endoscopy [23,24] and engineering pipeline inspection [25,26]. A previous study of a simpler version of the capsule model was carried out in [27,28], where the authors investigated the response of the model in various dynamical scenarios.…”

Section: Introductionmentioning

confidence: 99%

Controlling multistability in a vibro-impact capsule system

Liu

Chávez

2017

Nonlinear Dyn

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This work concerns the control of multistability in a vibro-impact capsule system driven by a harmonic excitation. The capsule is able to move forward and backward in a rectilinear direction, and the main objective of this work is to control such motion in the presence of multiple coexisting periodic solutions. A position feedback controller is employed in this study, and our numerical investigation demonstrates that the proposed control method gives rise to a dynamical scenario with two coexisting solutions, corresponding to forward and backward progression. Therefore, the motion direction of the system can be controlled by suitably perturbing its initial conditions, without altering the system parameters. To study the robustness of this control method, we apply numerical continuation methods in order to identify a region in the parameter space in which the proposed controller can be applied. For this purpose, we employ the MATLAB-based numerical platform COCO, which

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Section: Introductionmentioning

confidence: 99%

Controlling multistability in a vibro-impact capsule system

Liu

Chávez

2017

Nonlinear Dyn

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“…The dynamics of the vibro-impact capsule system, which consists of a capsule main body interacting with a harmonically driven internal mass, has been studied extensively by Liu et al [8][9][10][17][18][19][20]. In [8], the model of the vibro-impact capsule system was firstly studied to provide a fundamental understanding of its dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…The conducted bifurcation analyses indicated that a fine tuning of the control parameters, such as the stiffness of the support spring, and the frequency and the amplitude of excitation, can significantly improve the average rate of progression. In [18], optimisation of the vibro-impact capsule system for the best progression in fluid environment was studied, focusing on the choice of the excitation parameters and the shape of the capsule. This paper will further study the optimisation of the vibro-impact capsule system regarding to its physical dimension and energy consumption through bifurcation analysis.…”

Section: Introductionmentioning

confidence: 99%

A comparative study of the vibro-impact capsule systems with one-sided and two-sided constraints

2017

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This paper studies the dynamics of the vibro-impact capsule systems with one-sided and twosided soft constraints under variations of various system and control parameters, including mass ratio, stiffness ratio, gap of contact, and amplitude and frequency of external excitation. The aim of this study is to optimise the progression speed and energy consumption of the capsule and minimise the required cabin length for prototype design used for engineering pipeline inspection. Our studies focus on three systems: the capsule with a right constraint, the capsule with a right and a weak left constraints, and the capsule with a right and a strong left constraints. Bifurcation analyses show that the behaviour of the capsule with onesided constraint is mainly periodic, and the dynamic responses of the other two capsules with two-sided constraints become complex when the stiffness of the left constraint increases. Based on our extensive comparisons, the following optimisation strategies are recommended. When the capsule speed is paramount, one can employ the two-sided capsule with a weak left constraint under large amplitude of excitation. When energy consumption is taken into account, the onesided capsule is preferable. When a miniaturized prototype is needed, the two-sided capsule with a strong left constraint is the best choice.

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“…Those models are inspired by a vibro-impact drifting oscillator studied by Pavlovskaia et al [18]. Experimental verification [19][20][21] and dynamic response analysis of such systems [22][23] have been investigated in order to carry out the best performance conditions, including the system stability and maximum progression rate. For capsule endoscopy applications, the system abilities for moving forwards and backwards are required.…”

Section: Introductionmentioning

confidence: 99%

A new autogenous mobile system driven by vibration without impacts, excited by an impulse periodic force

Duong

Nguyen

2018

MATEC Web Conf.

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Abstract. This report describes a new proposed design for autogenous mobile systems which can move without any external mechanisms such as legs or wheels. A Duffing oscillator with a cubic spring, which is excited by an impulse periodic force, is utilized to drive the whole system. The rectilinear motion of the system is performed employing the periodically oscillation of the internal mass interacting without collisions with the main body. Utilizing the nonlinear restoring force of the cubic spring, the system can move in desired directions. When the ratio between the excitation force and the friction force is smaller than 2.5, backward or forward motion can be easily achieved by applying an excitation force in the same desired direction. Different from other vibro-impact drifting devices, no impact needed to drive the new proposed system. This novel structure allows to miniaturize the device as well as to simplify the control algorithm thus can significantly expand applicability of the proposed system.

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Optimization of the Vibro-Impact Capsule System

Cited by 26 publications

References 18 publications

Controlling multistability in a vibro-impact capsule system

Controlling multistability in a vibro-impact capsule system

A comparative study of the vibro-impact capsule systems with one-sided and two-sided constraints

A new autogenous mobile system driven by vibration without impacts, excited by an impulse periodic force

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