Foot Impact and Dynamic Analyses of Piezoelectrically-Actuated Walking Micro-Robots.

It is difficult to model the dynamics of batch-fabricated walking micro-robots since foot-terrain contact interaction is very complicated due to continuous mechanical structure and comparably large influence of various small-scale contact forces. However, a dynamic model with a good level of accuracy is strongly desirable for design of control inputs and mechanical structures to increase energy efficiency and operation reliability. For piezoelectrically-operated walking micro-robots in this work, the foot contact/impact behavior is so complicated that no contact/impact models previously introduced in various fields of study provide adequate estimation in time/frequency-domain responses. Thus, this work proposes a dynamic modeling procedure for such walking micro-robotic systems under repetitive single foot-terrain interaction and, three individual tasks were conducted to accomplish this objective. The first task is to analyze a simple micro-cantilever test structure that mimics the foot-terrain interaction of the walking micro-robots. This task proposes a modeling and identification procedure for contact dynamics without knowledge of geometric profile or material of the ground surface. Since this modeling method does not assume to know the contact surface geometries, it can be applied to dynamic modeling of the mobile walking robots for which ground condition can be changeable and unknown. The second task is to characterize impact behavior with two robotic structures operated by “bulk” PZT ceramics. This was done because it is experimentally observed that even single impact between a foot and the ground largely affects the whole system response of micro-scale robot prototypes. Since the impact models in other fields did not provide a sufficient approximation for the micro-robotic impact response, this task proposes a theoretical impact model using a modal coordinate system. The final task is to apply an empirical modeling procedure to one of the thin-film walking micro-robot prototypes, a millipede robot, and to conduct example simulation studies with the obtained dynamic model. Additionally, simulation studies using the obtained dynamic model are conducted to analyze the influence of various ground conditions on the walking dynamics by perturbing short-range forces and characteristics that were previously defined to represent such ground condition.PHDMechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/99880/1/jhryou_1.pd

Model identification for impact dynamics of a piezoelectric microactuator

A parameterized model for the impact dynamics of a piezoelectric microactuator is proposed, and a system-identification procedure for quantifying model parameters is presented. The proposed model incorporates squeeze-film damping, adhesion and coefficient-of-restitution effects. Following parameter quantification from sample data of bouncing impacts and progressive ramped-square-wave inputs, the model is found to be effective in predicting the time response of the actuator to a range of square-wave and sinusoidal inputs. The main contributions of this paper are to show that the dynamic response to micro-scale contact can be predicted using simple lumped-parameter modeling after a proposed system-identification procedure is performed and that certain small-scale forces can be quantified. For example, for motions where bounce of the cantilever tip may occur, the range of adhesion is found to be time dependent and vary between approximately 20 and 520 nN, while the range of squeeze-film damping is estimated to be between 50 and 130 nN, depending on the input signal frequency and amplitude. The presence, absence and quantity of bounces upon impact are predicted very accurately, while oscillation amplitudes and contact durations are predicted to be between 1% and 30% error for the majority of many test cases of periodic inputs between 5 and 100 Hz.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/98611/1/0960-1317_22_11_115002.pd

AP-1-Targeting Anti-Inflammatory Activity of the Methanolic Extract of Persicaria chinensis

In traditional Chinese medicine, Persicaria chinensis L. has been prescribed to cure numerous inflammatory disorders. We previously analyzed the bioactivity of the methanol extract of this plant (Pc-ME) against LPS-induced NO and PGE2 in RAW264.7 macrophages and found that it prevented HCl/EtOH-induced gastric ulcers in mice. The purpose of the current study was to explore the molecular mechanism by which Pc-ME inhibits activator protein- (AP-) 1 activation pathway and mediates its hepatoprotective activity. To investigate the putative therapeutic properties of Pc-ME against AP-1-mediated inflammation and hepatotoxicity, lipopolysaccharide- (LPS-) stimulated RAW264.7 and U937 cells, a monocyte-like human cell line, and an LPS/D-galactosamine- (D-GalN-) induced acute hepatitis mouse model were employed. The expression of LPS-induced proinflammatory cytokines including interleukin- (IL-) 1β, IL-6, and tumor necrosis factor-α (TNF-α) was significantly diminished by Pc-ME. Moreover, Pc-ME reduced AP-1 activation and mitogen-activated protein kinase (MAPK) phosphorylation in both LPS-stimulated RAW264.7 cells and differentiated U937 cells. Additionally, we highlighted the hepatoprotective and curative effects of Pc-ME pretreated orally in a mouse model of LPS/D-GalN-intoxicated acute liver injury by demonstrating the significant reduction in elevated serum AST and ALT levels and histological damage. Therefore, these results strongly suggest that Pc-ME could function as an antihepatitis remedy suppressing MAPK/AP-1-mediated inflammatory events

Synergistic Effect of a Dual-Salt Liquid Electrolyte with a LiNO3 Functional Additive toward Stabilizing Thin-Film Li Metal Electrodes for Li Secondary Batteries

Li metal thickness has been considered a key factor in determining the electrochemical performance of Li metal anodes. The use of thin Li metal anodes is a prerequisite for increasing the energy density of Li secondary batteries intended for emerging large-scale electrical applications, such as electric vehicles and energy storage systems. To utilize thin (20 mu m thick) Li metal anodes in Li metal secondary batteries, we investigated the synergistic effect of a functional additive (Li nitrate, LiNO3) and a dual-salt electrolyte (DSE) system composed of Li bis(fluorosulfonyl)imide (LiTFSI) and Li bis(oxalate)borate (LiBOB). By controlling the amount of LiNO3 in DSE, we found that DSE containing 0.05 M LiNO3 (DSE-0.05 M LiNO3) significantly improved the electrochemical performance of Li metal anodes. DSE-0.05 M LiNO3 increased the cycling performance by 146.3% [under the conditions of a 1C rate (2.0 mA cm(-2)), DSE alone maintained 80% of the initial discharge capacity up to the 205th cycle, whereas DSE-0.05 M LiNO3 maintained 80% up to the 300th cycle] and increased the rate capability by 128.2% compared with DSE alone [the rate capability of DSE-0.05 M LiNO3 = 50.4 mAh g(-1), and DSE = 39.3 mAh g(-1) under 7C rate conditions (14.0 mA cm(-2))]. After analyzing the Li metal surface using scanning electron microscopy and Xray photoelectron spectroscopy, we were able to infer that the stabilized solid electrolyte interphase layer formed by the combination of LiNO3 and the dual salt resulted in a uniform Li deposition during repeated Li plating/stripping processes.FALS

Four cases of gastric submucosal mass suspected as anisakiasis

Anisakiasis is a parasitic disease caused by ingestion of raw fish infected with anisakid larvae. Endoscopic changing patterns of submucosal lesions in chronic gastric anisakiasis have not been known yet. Here we report 4 cases of suspected gastric anisakiasis which were improved during follow-up periods without surgical treatment. The patients presented with abdominal pain, nausea and vomiting after consuming raw marine fish, and visited our gastroenterology outpatient department. Their endoscopic findings showed firm and yellowish submucosal masses accompanied with eccentric erosions. Histologic findings showed severe eosinophilic infiltrations. In blood tests, peripheral eosinophil counts and total IgE levels were elevated. We believed that all cases were caused by larval anisakid infections. The submucosal mass lesions disappeared during the follow-up periods of 2 to 4 mo