Design, motions, capabilities, and applications of quadruped robots: a comprehensive review

Robots are becoming integral to society and industries due to their enormous advantages. Among the various categories of mobile robots, including wheeled robot, tracked robot, and legged robots, the latter stands out as a better choice for most field applications due to their adaptability across various terrains. The purpose of this review is to study the locomotion capabilities of quadruped robots and judge their suitability for climbing applications as most unexplored applications of automation and robotics are required to climb. This review explores the locomotion capabilities of quadruped robots. It covers different aspects of quadruped robots like types of legs, leg design, gait patterns, and their mathematical formulations, and types of motions like omnidirectional motion and body sway motion. It also emphasizes its fault-tolerant gait, adaptability, and reliability. The paper also focuses on slope and stair climbing, outlining design requirements and applications. The study includes an examination of the applicability of various gaits under different conditions and the methods for increasing stability without compromising speed. Overall, the review serves as a valuable resource for future research in this field

Topological and lattice-based AM optimization for improving the structural efficiency of robotic arms

The robotic arm is one of the vital components of robot assembly. The purpose of the robotic arm is to transmit power and conduct the desired motion, i.e., translation or rotation. Robotic limbs are designed and constructed to execute certain tasks with a high degree of speed, accuracy, and efficiency. This research focuses on to enhancing the strength-to-weight ratio of robotic arm using certain techniques of additive manufacturing, i.e., topology optimization and lattice structure. Employing the finite element analysis, the impact of weight reduction optimization on structural parameters such as stress and deformation in the current design is assessed using ANSYS R18.1 for FE analysis and Creo parametric 7.0 design software for computer-aided design modeling. Observations reveal that the 0.5 and .4 scale lattice structure designs have deformation of 0.01453mm and 0.01453 mm respectively though the generic design has 0.01043 mm deformation. Notably, the 0.5 scale lattice of the robotic arm exhibits a 31.08% higher equivalent stress than the generic design with 29.3%. reduction in mass of the robotic arm. These findings highlight the efficacy of lattice structures for optimizing the robotic arm’s performance, contributing to advancements in power-efficient robot assembly processes

Casodex treatment induces hypoxia-related gene expression in the LNCaP prostate cancer progression model

BACKGROUND: The changes in gene expression profile as prostate cancer progresses from an androgen-dependent disease to an androgen-independent disease are still largely unknown. METHODS: We examined the gene expression profile in the LNCaP prostate cancer progression model during chronic treatment with Casodex using cDNA microarrays consisting of 2305 randomly chosen genes. RESULTS: Our studies revealed a representative collection of genes whose expression was differentially regulated in LNCaP cells upon treatment with Casodex. A set of 15 genes were shown to be highly expressed in Casodex-treated LNCaP cells compared to the reference sample. This set of highly expressed genes represents a signature collection unique to prostate cancer since their expression was significantly greater than that of the collective pool of ten cancer cell lines of the reference sample. The highly expressed signature collection included the hypoxia-related genes membrane metallo-endopeptidase (MME), cyclin G2, and Bcl2/adenovirus E1B 19 kDa (BNIP3). Given the roles of these genes in angiogenesis, cell cycle regulation, and apoptosis, we further analyzed their expression and concluded that these genes may be involved in the molecular changes that lead to androgen-independence in prostate cancer. CONCLUSION: Our data indicate that one of the mechanisms of Casodex action in prostate cancer cells is induction of hypoxic gene expression

Aspects of tautomerism 9-solvolysis of normal and pseudo phthaloyl chlorides

Solvolysis of normal and pseudo phthaloyl chlorides in aqueous acetone and in aqueous dioxane has revealed that the former solvolyses about hundred-fold faster than the latter. Contrary to the accepted belief, there is no evidence for equilibrium between the normal and the pseudo forms of phthaloyl chloride, under a variety of conditions

The influence of hygrothermal aging on the hoop tensile strength of glass fiber wound polymer composites fabricated via filament winding technique

The study investigates the impact of moisture environment treatment, on the hoop tensile strength (HTS) of glass fiber-reinforced polymer (GFRP) composites, through hygrothermal aging. GFRP cylinders were fabricated with varied parameters—volume fraction, winding angle, and stacking sequences using a filament winding machine. The fabricated samples are subjected to hygrothermal aging using seawater and tap water with oil at 80 °C for 1080 h (45 days). The HTS tests were performed on unaged and aged samples. There was a reduction in HTS for aged samples which is attributed to heat, seawater contamination, and oil. The highest and lowest HTS values recorded are 402.9 MPa and 118.3 MPa for unaged and tap water with oil-aged samples respectively. HTS in aged samples is compared with unaged samples. The study opens up avenues in identifying the best-suitable combination for retaining HTS under various aging conditions