In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...

The viscoelastic properties of worm-like micelles formed by mixing the cationic surfactant N-hexadecyl-N-methylpiperidinium bromide (C16MDB) with the anionic surfactant sodium laurate (SL) in aqueous solutions were investigated using rheological measurements. The effects of sodium laurate and temperature on the worm-like micelles and the mechanism of the observed shear thinning phenomenon and p...

The full-length mouse prion protein, moPrP, is shown to form worm-like amyloid fibrils at pH 2 in the presence of 0.15 M NaCl, in a slow process that is accelerated at higher temperatures. Upon reduction in pH to 2, native moPrP transforms into a mixture of soluble beta-rich oligomers and alpha-rich monomers, which exist in a slow, concentration-dependent equilibrium with each other. It is show...

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 implement...

In the present study, we examine a worm-like micelle consisting of a nonionic surfactant system of polyoxyethylene phytosterol (PhyEO(m))/glycerin fatty acid monoester (GFA-C(n))/Water (m=10, 20, 30; n=8, 10, 12) using rheological measurements looking towards potential application of the system as a gel base. Phase diagrams in the dilute region of the PhyEO(m)/GFA-C(n)/Water systems show the fo...

A three-member family from Tehran referred with variety of nasopharyngeal symptoms including sneezing, coughing and nasal discharge following consumption of barbecued liver (Kabab).  Thirteen worm-like nymphs of Linguatula serrata were separated from larynx, nose and gum of these patients. The adult parasites live in the nose and paranasal sinuses of dogs and other carnivores.  Although this in...

the problem of navigation among movable obstacles (namo) is to find a collision free path for a robot while the robot is able to manipulate and transfer some objects (if possible or needed) to clear its path toward the goal. namo is a np-complete problem and is in a class of motion planning problems that have dynamic environments. in this domain, an optimal plan for the robot can be defined wit...

Vibration-driven locomotion systems are widely used in various industries, particularly, the form of capsule-type robots, wheeled platforms, worm-like units, etc. Because changeable operating conditions, such require continuous control their kinematic and dynamic characteristics. The main purpose present paper is to define optimal excitation conditions (forced frequencies phase shifts) a two-mo...