The Experts below are selected from a list of 1713 Experts worldwide ranked by ideXlab platform

Tasawar Hayat - One of the best experts on this subject based on the ideXlab platform.

  • mhd Peristaltic Motion of johnson segalman fluid in an inclined channel subject to radiative flux and convective boundary conditions
    Computer Methods and Programs in Biomedicine, 2019
    Co-Authors: Tasawar Hayat, Naseema Aslam, Ijaz M Khan, A. Alsaedi
    Abstract:

    Abstract Background: In abundant of a digestive tract like smooth muscle tissue, human gastrointestinal tract contracts in sequence to generate a Peristaltic wave, which pushes a food along the tract. The Peristaltic Motion contains circular relaxation smooth muscles, then their shrinkage (contraction) behind the chewed material to keep it from moving backward, then longitudinal contraction to shove it ahead. Therefore, we have conducted a theoretical investigation on Peristaltic transport in flow of Johnson-Segalman liquid subject to inclined magnetic field. The energy equation is developed with extra heat transport assumptions like thermal radiative flux and dissipation. The channel walls are heated convectively. Methods: Dimensionless problems subject to small Reynolds number and long wavelength are tackled. Perturbation technique is implemented for small Weissenberg number. Results: The physical importance of involved parameters that directly affect the heat transfer rate temperature and velocity. The pertinent variables are amplitude ratio, wave number, Reynolds number, Hartman number, Prandtl number, Weissenberg number, thermal radiative heat flux, Biot number, elasticity variables and Froude number are graphically discussed. The obtained outcome shows that the velocity field increases against higher values of elasticity variables but velocity the material decays through higher fluid parameter. Temperature field declines through higher Hartman number. Furthermore, it is also examined that the heat transfer rate decays against rising Hartman number. Conclusions: The impact of complaint walls on radiative Peristaltic transport of Johnson–Segalman liquid in symmetric channel subject to inclined angle. The influence of Johnson–Segalman variable on the velocity field shows decreasing behavior. Velocity also declines against larger Hartman number. Temperature and heat transfer rate boosts through rising values of E1 E2 while decays versus larger E3. Furthermore, reduction in heat transfer coefficient is observed when the values of α and Br are increased.

  • effects of hall current and ion slip on the Peristaltic Motion of couple stress fluid with thermal deposition
    Neural Computing and Applications, 2019
    Co-Authors: Tasawar Hayat, S Asghar, Anum Tanveer, Ahmed Alsaedi
    Abstract:

    This paper explores the Peristaltic Motion of couple stress fluid in an inclined asymmetric channel relevant to blood arteries. Mathematical modeling is developed under the Hall and ion-slip aspects. Further to explore heat and mass transfer mechanism thermal deposition, Joule heating, and chemical reaction effects are also outlined. In addition channel boundaries are set to convective conditions. After invoking long wavelength and low Reynolds number, the resulting non-linear system has been approximated numerically. Thus graphical illustrations subject to axial velocity, temperature, concentration, and heat transfer rate have been sketched and physical interpretation for emerging variables of interest is made. The significant feature of this study reveals the activation of velocity and reduction of temperature with larger Hall and ion-slip parameters. The heat and mass transfer Biot numbers show opposite behavior towards temperature.

  • chemical reaction in Peristaltic Motion of mhd couple stress fluid in channel with soret and dufour effects
    Results in physics, 2018
    Co-Authors: Tasawar Hayat, S Asghar, Anum Tanveer, Ahmed Alsaedi
    Abstract:

    Abstract This paper looks at the Peristaltic Motion of MHD couple stress fluid in an inclined asymmetric channel. Simultaneous effects of heat and mass transfer are considered. Soret and Dufour features lead to the coupled differential systems. Channel walls satisfy the convective conditions of heat and mass transfer. Exact solutions for the stream function and pressure gradient are derived. Temperature and concentration are obtained numerically. Graphical illustrations for axial velocity, temperature, concentration and streamline patterns are developed. Physical interpretation of obtained results has been presented. It can be seen that both Soret and Dufour numbers reduce the concentration field while reverse effect is seen towards temperature for both numbers. It is also observed that concentration reduces towards destructive chemical reaction and enhances for constructive chemical reaction. The heat transfer Biot number gives rise to fluid temperature. Further more the mass transfer Biot number decreases the concentration.

  • Chemical reaction in Peristaltic Motion of MHD couple stress fluid in channel with Soret and Dufour effects
    Elsevier, 2018
    Co-Authors: Tasawar Hayat, S Asghar, Anum Tanveer, Ahmed Alsaedi
    Abstract:

    This paper looks at the Peristaltic Motion of MHD couple stress fluid in an inclined asymmetric channel. Simultaneous effects of heat and mass transfer are considered. Soret and Dufour features lead to the coupled differential systems. Channel walls satisfy the convective conditions of heat and mass transfer. Exact solutions for the stream function and pressure gradient are derived. Temperature and concentration are obtained numerically. Graphical illustrations for axial velocity, temperature, concentration and streamline patterns are developed. Physical interpretation of obtained results has been presented. It can be seen that both Soret and Dufour numbers reduce the concentration field while reverse effect is seen towards temperature for both numbers. It is also observed that concentration reduces towards destructive chemical reaction and enhances for constructive chemical reaction. The heat transfer Biot number gives rise to fluid temperature. Further more the mass transfer Biot number decreases the concentration. Keywords: Couple stress fluid, Joule heating, Convective conditions, Inclined asymmetric channel, Soret and Dufour effects, Chemical reactio

  • on Peristaltic Motion of pseudoplastic fluid in a curved channel with heat mass transfer and wall properties
    Applied Mathematics and Computation, 2015
    Co-Authors: S. Hina, Tasawar Hayat, Meraj Mustafa, Naif D Alotaibi
    Abstract:

    Peristaltic Motion of shear-thinning and shear-thickening fluids through a curved channel.Elastic properties of the channel walls are considered.A regular perturbation method is used for the analytical analysis.Symmetry of the profiles in the upper and lower halves of the channel is destroyed in curved channel.Present model has importance in the blood flow through micro-circulatory system. This work addresses the combined effect of wall properties and heat/mass transfer on the Peristaltic Motion of pseudoplastic (shear-thinning/shear-thickening) fluid in a curved channel. The mathematical model is simplified through the assumption of long wavelength of the Peristaltic wave compared to the mean half-width of the channel. Series solutions for stream function, temperature and concentration of species are derived. In contrast to the case of planar channel, the profiles are not symmetric about the central line of the curved channel. The size of the trapped bolus is different in the upper and lower halves of the curved channel. Moreover the number of circulations increase/decrease in the upper/lower half of the channel when the case of planar channel is approached.

Roger D Quinn - One of the best experts on this subject based on the ideXlab platform.

  • continuous wave Peristaltic Motion in a robot
    The International Journal of Robotics Research, 2012
    Co-Authors: Alexander S Boxerbaum, Hillel J Chiel, Kendrick M Shaw, Roger D Quinn
    Abstract:

    We have developed several innovative designs for a new kind of robot that uses a continuous wave of peristalsis for locoMotion, the same method that earthworms use, and report on the first completed prototypes. This form of locoMotion is particularly effective in constrained spaces, and although the Motion has been understood for some time, it has rarely been effectively or accurately implemented in a robotic platform. As an alternative to robots with long segments, we present a technique using a braided mesh exterior to produce smooth waves of Motion along the body of a worm-like robot. We also present a new analytical model of this Motion and compare predicted robot velocity to a 2D simulation and a working prototype. Because constant-velocity Peristaltic waves form due to accelerating and decelerating segments, it has been often assumed that this Motion requires strong anisotropic ground friction. However, our analysis shows that with smooth, constant velocity waves, the forces that cause accelerations within the body sum to zero. Instead, transition timing between aerial and ground phases plays a critical role in the amount of slippage, and the final robot speed. The concept is highly scalable, and we present methods of construction at two different scales.

  • a new theory and methods for creating Peristaltic Motion in a robotic platform
    International Conference on Robotics and Automation, 2010
    Co-Authors: Alexander S Boxerbaum, Hillel J Chiel, Roger D Quinn
    Abstract:

    We have developed several innovative designs for a new kind of robot that uses peristalsis for locoMotion, the same method that earthworms use, and report on the first completed prototype (Fig. 1). This form of locoMotion is particularly effective in constrained spaces, and although the Motion has been understood for some time, it has rarely been effectively or accurately implemented in a robotic platform. We address some reasons for this, including some common misconceptions within the field. We present a technique using a braided mesh exterior to produce fluid waves of Motion along the body of a worm-like robot. We also present a new analytical model of this Motion and compare predicted robot velocity to a 2-D simulation. Unlike previous mathematical models of Peristaltic Motion, our model suggests that friction is not a limiting factor in robot speed, but only in acceleration. The concept is highly scalable, and we present methods of construction at two different scales.

  • ICRA - A new theory and methods for creating Peristaltic Motion in a robotic platform
    2010 IEEE International Conference on Robotics and Automation, 2010
    Co-Authors: Alexander S Boxerbaum, Hillel J Chiel, Roger D Quinn
    Abstract:

    We have developed several innovative designs for a new kind of robot that uses peristalsis for locoMotion, the same method that earthworms use, and report on the first completed prototype (Fig. 1). This form of locoMotion is particularly effective in constrained spaces, and although the Motion has been understood for some time, it has rarely been effectively or accurately implemented in a robotic platform. We address some reasons for this, including some common misconceptions within the field. We present a technique using a braided mesh exterior to produce fluid waves of Motion along the body of a worm-like robot. We also present a new analytical model of this Motion and compare predicted robot velocity to a 2-D simulation. Unlike previous mathematical models of Peristaltic Motion, our model suggests that friction is not a limiting factor in robot speed, but only in acceleration. The concept is highly scalable, and we present methods of construction at two different scales.

Alexander S Boxerbaum - One of the best experts on this subject based on the ideXlab platform.

  • continuous wave Peristaltic Motion in a robot
    The International Journal of Robotics Research, 2012
    Co-Authors: Alexander S Boxerbaum, Hillel J Chiel, Kendrick M Shaw, Roger D Quinn
    Abstract:

    We have developed several innovative designs for a new kind of robot that uses a continuous wave of peristalsis for locoMotion, the same method that earthworms use, and report on the first completed prototypes. This form of locoMotion is particularly effective in constrained spaces, and although the Motion has been understood for some time, it has rarely been effectively or accurately implemented in a robotic platform. As an alternative to robots with long segments, we present a technique using a braided mesh exterior to produce smooth waves of Motion along the body of a worm-like robot. We also present a new analytical model of this Motion and compare predicted robot velocity to a 2D simulation and a working prototype. Because constant-velocity Peristaltic waves form due to accelerating and decelerating segments, it has been often assumed that this Motion requires strong anisotropic ground friction. However, our analysis shows that with smooth, constant velocity waves, the forces that cause accelerations within the body sum to zero. Instead, transition timing between aerial and ground phases plays a critical role in the amount of slippage, and the final robot speed. The concept is highly scalable, and we present methods of construction at two different scales.

  • a new theory and methods for creating Peristaltic Motion in a robotic platform
    International Conference on Robotics and Automation, 2010
    Co-Authors: Alexander S Boxerbaum, Hillel J Chiel, Roger D Quinn
    Abstract:

    We have developed several innovative designs for a new kind of robot that uses peristalsis for locoMotion, the same method that earthworms use, and report on the first completed prototype (Fig. 1). This form of locoMotion is particularly effective in constrained spaces, and although the Motion has been understood for some time, it has rarely been effectively or accurately implemented in a robotic platform. We address some reasons for this, including some common misconceptions within the field. We present a technique using a braided mesh exterior to produce fluid waves of Motion along the body of a worm-like robot. We also present a new analytical model of this Motion and compare predicted robot velocity to a 2-D simulation. Unlike previous mathematical models of Peristaltic Motion, our model suggests that friction is not a limiting factor in robot speed, but only in acceleration. The concept is highly scalable, and we present methods of construction at two different scales.

  • ICRA - A new theory and methods for creating Peristaltic Motion in a robotic platform
    2010 IEEE International Conference on Robotics and Automation, 2010
    Co-Authors: Alexander S Boxerbaum, Hillel J Chiel, Roger D Quinn
    Abstract:

    We have developed several innovative designs for a new kind of robot that uses peristalsis for locoMotion, the same method that earthworms use, and report on the first completed prototype (Fig. 1). This form of locoMotion is particularly effective in constrained spaces, and although the Motion has been understood for some time, it has rarely been effectively or accurately implemented in a robotic platform. We address some reasons for this, including some common misconceptions within the field. We present a technique using a braided mesh exterior to produce fluid waves of Motion along the body of a worm-like robot. We also present a new analytical model of this Motion and compare predicted robot velocity to a 2-D simulation. Unlike previous mathematical models of Peristaltic Motion, our model suggests that friction is not a limiting factor in robot speed, but only in acceleration. The concept is highly scalable, and we present methods of construction at two different scales.

T. Nakamura - One of the best experts on this subject based on the ideXlab platform.

  • proposal for pipeline shape measurement method based on highly accurate pipeline length measurement by imu sensor using Peristaltic Motion characteristics
    International Conference on Advanced Intelligent Mechatronics, 2020
    Co-Authors: Hiroto Sato, Fumio Ito, Yuki Mano, Takumi Yasui, Manabu Okui, Rie Nishihama, T. Nakamura
    Abstract:

    In order to prevent accidents caused by the aging of sewer pipes, it is necessary to identify the state of the pipe as well as the damage position. A pipeline diagram is required to specify the location of the damage, but pipeline diagrams are often lost. Therefore, it is necessary to measure the pipeline shape and create a pipeline diagram. We developed a robot for sewage pipe inspection that mimics the movement method of earthworms. In this paper, we propose a method for estimating the pipe shape from an inertial measurement unit (IMU) sensor mounted on the developed robot with Peristaltic Motion. The pipe shape is realized by a combination of distance measurement using acceleration and changes in angular velocity, and bending pipe discrimination using changes in the attitude angle of the sensor. To solve the problem in which a cumulative error occurs when the acceleration is second-order integrated in the distance measurement, the cumulative error was corrected in consideration of the periodicity of the progression and stops during the Peristaltic Motion; this is a unique movement method of this robot. In bending pipe discrimination, a bending pipe and a straight pipe were distinguished based on changes in the angular velocity, and the angle of the bending pipe was judged from the attitude angle of the sensor. The developed robot with an IMU was crawl on a pipe composed of multiple bending pipe and inclined pipe for pipe rise, and the pipe shape was estimated using the proposed method. In the experiments, it was possible to measure the length of the pipeline with an error of 1.42 % relative to the actual length, and it was possible to express the approximate shape of the pipeline.

  • Grasp efficient powder transport performance of Peristaltic Motion type conveyor based on soft actuation
    2020 IEEE SICE International Symposium on System Integration (SII), 2020
    Co-Authors: D. Hagiwara, K. Wakamatsu, K. Ashigaki, K. Negishi, S. Yoshihama, K. Kato, Y. Yamada, T. Nakamura
    Abstract:

    Powders are used in various devices, including printing presses. To prevent agglomeration, the powder in a printing press must be conveyed by a technique with low shear force and no temperature rise. The present study introduces a powder-conveyance robot based on Peristaltic movements of the human intestinal tract, and evaluates it on the powder used in printing presses. The human intestinal tract is non-skeletal, soft and plays an important role as soft actuation. In our previous study, the Peristaltic-Motion type conveyor transported the powder at high speed (81.5g/s) without aggregation. However, the behavior of the inner tube after changing the characteristics and wavelength of the unit is unknown. This research investigates the conveyance amount and the inner-tube movement of a Peristaltic-Motion type conveyor unit operated at different wavelengths and operation intervals. By simultaneously mapping each parameter, we aim to increase the speed conveyance in future work.

  • SII - Grasp efficient powder transport performance of Peristaltic Motion type conveyor based on soft actuation
    2020 IEEE SICE International Symposium on System Integration (SII), 2020
    Co-Authors: D. Hagiwara, K. Wakamatsu, K. Ashigaki, K. Negishi, S. Yoshihama, K. Kato, Y. Yamada, T. Nakamura
    Abstract:

    Powders are used in various devices, including printing presses. To prevent agglomeration, the powder in a printing press must be conveyed by a technique with low shear force and no temperature rise. The present study introduces a powder-conveyance robot based on Peristaltic movements of the human intestinal tract, and evaluates it on the powder used in printing presses. The human intestinal tract is non-skeletal, soft and plays an important role as soft actuation. In our previous study, the Peristaltic-Motion type conveyor transported the powder at high speed (81.5g/s) without aggregation. However, the behavior of the inner tube after changing the characteristics and wavelength of the unit is unknown. This research investigates the conveyance amount and the inner-tube movement of a Peristaltic-Motion type conveyor unit operated at different wavelengths and operation intervals. By simultaneously mapping each parameter, we aim to increase the speed conveyance in future work.

  • AIM - Proposal for Pipeline-Shape Measurement Method Based on Highly Accurate Pipeline Length Measurement by IMU Sensor Using Peristaltic Motion Characteristics
    2020 IEEE ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2020
    Co-Authors: Hiroto Sato, Fumio Ito, Yuki Mano, Takumi Yasui, Manabu Okui, Rie Nishihama, T. Nakamura
    Abstract:

    In order to prevent accidents caused by the aging of sewer pipes, it is necessary to identify the state of the pipe as well as the damage position. A pipeline diagram is required to specify the location of the damage, but pipeline diagrams are often lost. Therefore, it is necessary to measure the pipeline shape and create a pipeline diagram. We developed a robot for sewage pipe inspection that mimics the movement method of earthworms. In this paper, we propose a method for estimating the pipe shape from an inertial measurement unit (IMU) sensor mounted on the developed robot with Peristaltic Motion. The pipe shape is realized by a combination of distance measurement using acceleration and changes in angular velocity, and bending pipe discrimination using changes in the attitude angle of the sensor. To solve the problem in which a cumulative error occurs when the acceleration is second-order integrated in the distance measurement, the cumulative error was corrected in consideration of the periodicity of the progression and stops during the Peristaltic Motion; this is a unique movement method of this robot. In bending pipe discrimination, a bending pipe and a straight pipe were distinguished based on changes in the angular velocity, and the angle of the bending pipe was judged from the attitude angle of the sensor. The developed robot with an IMU was crawl on a pipe composed of multiple bending pipe and inclined pipe for pipe rise, and the pipe shape was estimated using the proposed method. In the experiments, it was possible to measure the length of the pipeline with an error of 1.42 % relative to the actual length, and it was possible to express the approximate shape of the pipeline.

  • proposal of a Peristaltic Motion type duct cleaning robot for traveling in a flexible pipe
    Intelligent Robots and Systems, 2019
    Co-Authors: Fumio Ito, Y. Yamada, T Kawaguchi, M Kamata, T. Nakamura
    Abstract:

    The cleaning of residential ventilation ducts is necessary to prevent damage to health. However, since residential ventilation ducts are usually thin and curved, cleaning them is difficult. It is also difficult to obtain thrust within the duct using a wheel or a snake type robot because it is hard to obtain an appropriate reaction force in a deformed pipe. Therefore, the pipe must be gripped stably even if it is flexible so that thrust can be generated to run the cleaning robot through the pipe. In this paper, we modeled a cleaning robot that uses Peristaltic Motion running through a flexible duct with an inner diameter of 50 mm. Then, the validity of the model was verified by experiment. Finally, a cleaning experiment was conducted and the cleaning rate was 98.7 %.

Hillel J Chiel - One of the best experts on this subject based on the ideXlab platform.

  • continuous wave Peristaltic Motion in a robot
    The International Journal of Robotics Research, 2012
    Co-Authors: Alexander S Boxerbaum, Hillel J Chiel, Kendrick M Shaw, Roger D Quinn
    Abstract:

    We have developed several innovative designs for a new kind of robot that uses a continuous wave of peristalsis for locoMotion, the same method that earthworms use, and report on the first completed prototypes. This form of locoMotion is particularly effective in constrained spaces, and although the Motion has been understood for some time, it has rarely been effectively or accurately implemented in a robotic platform. As an alternative to robots with long segments, we present a technique using a braided mesh exterior to produce smooth waves of Motion along the body of a worm-like robot. We also present a new analytical model of this Motion and compare predicted robot velocity to a 2D simulation and a working prototype. Because constant-velocity Peristaltic waves form due to accelerating and decelerating segments, it has been often assumed that this Motion requires strong anisotropic ground friction. However, our analysis shows that with smooth, constant velocity waves, the forces that cause accelerations within the body sum to zero. Instead, transition timing between aerial and ground phases plays a critical role in the amount of slippage, and the final robot speed. The concept is highly scalable, and we present methods of construction at two different scales.

  • a new theory and methods for creating Peristaltic Motion in a robotic platform
    International Conference on Robotics and Automation, 2010
    Co-Authors: Alexander S Boxerbaum, Hillel J Chiel, Roger D Quinn
    Abstract:

    We have developed several innovative designs for a new kind of robot that uses peristalsis for locoMotion, the same method that earthworms use, and report on the first completed prototype (Fig. 1). This form of locoMotion is particularly effective in constrained spaces, and although the Motion has been understood for some time, it has rarely been effectively or accurately implemented in a robotic platform. We address some reasons for this, including some common misconceptions within the field. We present a technique using a braided mesh exterior to produce fluid waves of Motion along the body of a worm-like robot. We also present a new analytical model of this Motion and compare predicted robot velocity to a 2-D simulation. Unlike previous mathematical models of Peristaltic Motion, our model suggests that friction is not a limiting factor in robot speed, but only in acceleration. The concept is highly scalable, and we present methods of construction at two different scales.

  • ICRA - A new theory and methods for creating Peristaltic Motion in a robotic platform
    2010 IEEE International Conference on Robotics and Automation, 2010
    Co-Authors: Alexander S Boxerbaum, Hillel J Chiel, Roger D Quinn
    Abstract:

    We have developed several innovative designs for a new kind of robot that uses peristalsis for locoMotion, the same method that earthworms use, and report on the first completed prototype (Fig. 1). This form of locoMotion is particularly effective in constrained spaces, and although the Motion has been understood for some time, it has rarely been effectively or accurately implemented in a robotic platform. We address some reasons for this, including some common misconceptions within the field. We present a technique using a braided mesh exterior to produce fluid waves of Motion along the body of a worm-like robot. We also present a new analytical model of this Motion and compare predicted robot velocity to a 2-D simulation. Unlike previous mathematical models of Peristaltic Motion, our model suggests that friction is not a limiting factor in robot speed, but only in acceleration. The concept is highly scalable, and we present methods of construction at two different scales.