A novel explosion-proof walking system: Twin dual-motor drive tracked units for coal mine rescue robots

A new explosion-proof walking system was designed for the coal mine rescue robot(CMRR) by optimizing the mechanical structure and control algorithm. The mechanical structure innovation lies mainly in the dual-motor drive tracked unit used, which showed high dynamic performance compared with the conventional tracked unit. The control algorithm, developed based on decision trees and neural networking, facilitates autonomous switching between "Velocity-driven Mode" and "Torquedriven Mode". To verify the feasibility and effectiveness of the control strategy, we built a self-designed test platform and used it to debug the control program; we then made a robot prototype and conducted further experiments on single-step, ramp, and rubble terrains. The results show that the proposed walking system has excellent dynamic performance and the control strategy is very efficient, suggesting that a robot with this type of explosion-proof walking system can be successfully applied in Chinese coal mines.

Novel electrospun poly(ε-caprolactone)/type Ⅰ collagen nanofiber conduits for repair of peripheral nerve injury

Recent studies have shown the potential of artificially synthesized conduits in the repair of peripheral nerve injury. Natural biopolymers have received much attention because of their biocompatibility. To investigate the effects of novel electrospun absorbable poly(ε-caprolactone)/type Ⅰ collagen nanofiber conduits(biopolymer nanofiber conduits) on the repair of peripheral nerve injury, we bridged 10-mm-long sciatic nerve defects with electrospun absorbable biopolymer nanofiber conduits, poly(ε-caprolactone) or silicone conduits in Sprague-Dawley rats. Rat neurologica1 function was weekly evaluated using sciatic function index within8 weeks after repair. Eight weeks after repair, sciatic nerve myelin sheaths and axon morphology were observed by osmium tetroxide staining, hematoxylin-eosin staining, and transmission electron microscopy.S-100(Schwann cell marker) and CD4(inflammatory marker) immunoreactivities in sciatic nerve were detected by immunohistochemistry. In rats subjected to repair with electrospun absorbable biopolymer nanofiber conduits, no serious inflammatory reactions were observed in rat hind limbs, the morphology of myelin sheaths in the injured sciatic nerve was close to normal. CD4 immunoreactivity was obviously weaker in rats subjected to repair with electrospun absorbable biopolymer nanofiber conduits than in those subjected to repair with poly(ε-caprolactone) or silicone. Rats subjected to repair with electrospun absorbable biopolymer nanofiber conduits tended to have greater sciatic nerve function recovery than those receiving poly(ε-caprolactone) or silicone repair. These results suggest that electrospun absorbable poly(ε-caprolactone)/type Ⅰ collagen nanofiber conduits have the potential of repairing sciatic nerve defects and exhibit good biocompatibility. All experimental procedures were approved by Institutional Animal Care and Use Committee of Taichung Veteran General Hospital, Taiwan, China(La-1031218) on October 2, 2014.