The combined modeling and control task for a multi-joint sewer inspection system is described. The robot, called MAKRO1.1 is of worm-like shape and designed for pipes of 30 to 60 cm width. Since the control of more than 20 degrees of freedom is not a simple task, we need simulation of the robots kinematics before and during every run. In this case, our simulation of the robot’s motions is fast ...

In order to mimic and better understand the way an earthworm uses its many segments to navigate diverse terrain, this paper describes the design, performance, and sensing capabilities of a new modular soft robotic worm. The robot, Compliant Modular Mesh Worm (CMMWorm), utilizes a compliant mesh actuated at modular segments to create waveforms along its body. These waveforms can generate perista...

Through the descriptive and rheological characterization of worm-like micelles formed by N-hexadecyl-N-methylpyrrolidinium bromide and sodium laurate, the formation and properties of the worm-like micelles were affected by the concentrations of sodium laurate and temperature. Additionally, cryogenic transmission electron microscopy images further validated the formation of worm-like micelles.

In recent years, soft computing methods, like fuzzy logic and neural networks have been  presented and developed for the purpose of mobile robot trajectory tracking. In this paper we will present a fuzzy approach to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions an...

The worm-like chain is one of the best theoretical models of the semiflexible polymer. The structure factor, which can be obtained by scattering experiment, characterizes the density correlation in different length scales. In the present review, the numerical method to compute the static structure factor of the worm-like chain model and its general properties are demonstrated. Especially, the c...

In this study, we present a modular worm-like robot, which utilizes voice coils as a new paradigm in soft robot actuation. Drive electronics are incorporated into the actuators, providing a significant improvement in self-sufficiency when compared with existing soft robot actuation modes such as pneumatics or hydraulics. The body plan of this robot is inspired by the phylum Annelida and consist...

Internet worm means separate malware computer programs that repeated itself and in order to spread one computer to another computer. Malware includes computer viruses, worms, root kits, key loggers, Trojan horse, and dialers, adware, malicious, spyware, rogue security software and other malicious programs. It is programmed by attackers to interrupt computer process, gatherDelicate Information, ...