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

Yaoyao Yang; Yang Liu; Luigi Manfredi; Prasad Shyam

doi:10.1007/s11071-019-04779-z

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

Yaoyao Yang, Yang Liu (Lead / Corresponding author), Luigi Manfredi, Prasad Shyam

Research output: Contribution to journal › Article › peer-review

53 Citations (Scopus)

190 Downloads (Pure)

Abstract

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.

Original language	English
Pages (from-to)	123-144
Number of pages	22
Journal	Nonlinear Dynamics
Volume	96
Issue number	1
Early online date	12 Feb 2019
DOIs	https://doi.org/10.1007/s11071-019-04779-z
Publication status	Published - Apr 2019

Keywords

Capsule endoscope
Capsule robot
Non-smooth dynamical system
Self-propulsion
Vibro-impact

ASJC Scopus subject areas

Control and Systems Engineering
Aerospace Engineering
Ocean Engineering
Mechanical Engineering
Applied Mathematics
Electrical and Electronic Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1007/s11071-019-04779-zLicence: CC BY

Final Published VersionFinal published version, 3.97 MBLicence: CC BY

Cite this

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title = "Modelling of a vibro-impact self-propelled capsule in the small intestine",

abstract = "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{\textquoteright}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{\textquoteright}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.",

keywords = "Capsule endoscope, Capsule robot, Non-smooth dynamical system, Self-propulsion, Vibro-impact",

author = "Yaoyao Yang and Yang Liu and Luigi Manfredi and Prasad Shyam",

note = "This work has been supported by EPSRC under Grant No. EP/P023983/1, and was partially supported by the National Natural Science Foundation of China (Grant No. 11672257). Dr Yao Yan{\textquoteright}s work has been supported by the National Natural Science Foundation of China (Grant No. 11872147) and the R&D Program for International S&T Cooperation and Exchanges of Sichuan province (Grant No. 2018HH0101).",

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doi = "10.1007/s11071-019-04779-z",

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AU - Manfredi, Luigi

AU - Shyam, Prasad

N1 - This work has been supported by EPSRC under Grant No. EP/P023983/1, and was partially supported by the National Natural Science Foundation of China (Grant No. 11672257). Dr Yao Yan’s work has been supported by the National Natural Science Foundation of China (Grant No. 11872147) and the R&D Program for International S&T Cooperation and Exchanges of Sichuan province (Grant No. 2018HH0101).

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

Abstract

Keywords

ASJC Scopus subject areas

UN SDGs

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Manfredi, Luigi

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

Abstract

Keywords

ASJC Scopus subject areas

UN SDGs

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Manfredi, Luigi

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