A Capsubot, which consists of three parts, the inner body, the capsule shell, and the driving mechanism, is a micro capsule robot with no legs and no wheels, and is driven by the interactive propulsion between the inner body and the capsule shell. The desired locomotion of the Capsubot is generated by making the inner body track a designed trajectory repeatedly. Due to the nature of repetitive ...

A capsule robot that moves utilizing the internal force between the shell and the sliding mass and the friction between the shell and the environment is named “internal force-static friction” capsubot. The new driving mode is used in the active gastrointestinal examination robot system, which is a novel and meaningful attempt. In this paper, for the operation mechanism and movement characterist...

The existing modeling methods using Petri Nets‎, ‎have been successfully applied to model and analyze dynamic systems‎. ‎However‎, ‎these methods are not capable of modeling all dynamic systems such as systems with the current sample time signals‎, ‎systems including various subsystems and multi-mode systems‎. ‎This paper proposes Hybrid Time Delay Petri Nets (HTDPN) to solve the problem‎. ‎In ...

This paper proposes a design for a mesoscale capsule robot which can be used in gaining diagnostic data and delivering medical treatment in inaccessible parts of the human body. A novel approach is presented for the capsule robot control: A PID-controlled closed-loop approach. A modified chaotic genetic algorithm will be used to optimize the coefficients of PID controller. Then, simulation will...