We present the design and deployment of a capsule endoscope via external electromagnets for locomotion in large volumes alongside its digital twin implementation based on interval type-2 fuzzy logic systems (IT2-FLSs). To perform locomotion, we developed an external mechanism comprising five external electromagnets on a two-dimensional translational platform that is to be placed underneath the patients’ bed and integrated multiple Neodymium magnets into the capsule. The interaction between the central bottom external electromagnet and the internal magnet forms a fixed body frame at the capsule center, allowing rotation. The interaction between the external electromagnets and the two internal magnets results in rotation. The elevation of the capsule is accomplished due to the interaction between the upper external electromagnet and the internal magnets. Through simulations, we model the capsule rotation as a function of torque and drive voltages. We validated the proposed locomotion approach experimentally and observed that the results are highly nonlinear and uncertain. Thus, we define a regression problem in which IT2-FLSs, capable of representing nonlinearity and uncertainty, are learned. To verify the proposed locomotion approach and test the IT2-FLS, we leverage our experimental effort to a stomach phantom and finally to an ex vivo bovine stomach. The experimental results validate the locomotion capability and show that the IT2-FLS can capture uncertainties while resulting in satisfactory prediction performance. To showcase the benefit in a clinical scenario, we present a digital twin implementation of the proposed approach in a virtual environment that can link physical and virtual worlds in real time.

Developed in this paper is a theoretical description of the fluid flow involved in contactless transport systems that operate using squeeze-film levitation. Regular perturbation methods are employed to solve the appropriate Reynolds equation that governs the viscous, compressible flow of air in the slender film separating the oscillator and the levitated object. The resulting reduced formulation allows efficient computation of the time-averaged levitation force and moment induced by fluid pressure, as well as the accompanying quasistatic thrust force that accounts additionally for shear stresses. Investigated, in particular, is the possibility of combining two distinct methods of thrust generation that have been experimentally demonstrated in previous studies – (i) inclination of the levitated body and (ii) generation of asymmetrical flexural deformations, such as travelling waves, on the oscillator surface – the latter of which is shown to allow a transition from the typically repulsive levitation force to one that is attractive. Computations reveal that systematic control of the inclination angle can provide significant performance benefits for squeeze-film transport systems. In the case of attractive levitation, the amount of improvement that can be obtained appears to correlate closely with the degree of lateral asymmetry exhibited by the flexural oscillations.

Guidelines for the housing of dairy cows do not address the provision of supplementary lighting in passageways, other than for inspection of the animals. Two experiments were conducted to investigate whether lighting passageways to various intensities influenced the locomotion of dairy cows. The first experiment compared the locomotion of dairy cows in a dark or lighted passageway as they walked back to their accommodation from milking. When the passageway was dark, the cows took shorter but more rapid steps - which probably increased their stability. In the second experiment, cows walked down a cubicle passageway to receive a food reward, with the light intensity in the building varying from 0-250 lux. Step length and stepping rate were recorded, as well as the angles of the cows’ leg joints (which were measured from video recordings). Once again, the cows increased their stepping rate in the dark, and this resulted in an increased walking rate, perhaps because they wished to return more rapidly to other members of their group and found the darkness aversive. In addition, the arcs of travel of the metacarpophalangeal joint and of the fore- and hindfeet angles to the floor were reduced in the dark, probably increasing the cows’ stability, and were greatest at 119 lux. The slowest walking rate was observed at 39 lux. Hence, the optimum illumination for dairy cow locomotion may lie approximately between 39 and 119 lux, as measured by our technique.

We conclude that during locomotion in dark passageways cows have to modify their walking behaviour significantly, so that the provision of at least a low level of lighting is desirable at night.

We investigated the temporal associations between the severity of foot lesions caused by footrot (FR) and the severity of lameness in sheep. Sixty sheep from one farm were monitored for five weeks. The locomotion of each sheep was scored once each week using a validated numerical rating scale of 0-6. All feet were then examined, FR was the only foot lesion observed; the severity of FR lesions was recorded on a scale from 0 to 4. Sheep had a locomotion score > 0 on 144/298 observations. FR lesions were present on at least one foot on 83% of observations of lame sheep but also present on 27% of observations where sheep were not lame; 95% of these sheep with a lesion but not lame had FR score 1. The results from a linear mixed model with locomotion score as the outcome were that the mean (95% CI) locomotion score of 0.28 (0.02, 0.53) in sheep with no lesions increased by 0.35 (0.05, 0.65) in sheep with FR score 1 or 2 and by 1.55 (1.13, 1.96) in sheep with FR score > 2 at the time of the observation; indicating that as the severity of the lesion increased, the severity of lameness increased. One week before an FR score > 2 was clinically apparent, sheep had a locomotion score 0.81 (0.37, 1.24) higher than sheep that did not have an FR score > 2 in the subsequent week. One week after treatment with intramuscular antibacterials the locomotion score of lame sheep reduced by 1.00 (0.50, 1.49). Our results indicate a positive association between severity of FR lesions and locomotion score and indicate that some non-lame and mildly lame sheep have footrot lesions. Treatment of even those mildly lame will facilitate healing and probably reduce the spread of infection to other sheep in the same group.

Soft magnetic robots have attracted tremendous interest owning to their controllability and manoeuvrability, demonstrating great prospects in a number of industrial areas. However, further explorations on the locomotion and corresponding deformation of magnetic robots with complex configurations are still challenging. In the present study, we analyse a series of soft magnetic robots with various geometric shapes under the action of the magnetic field. First, we prepared the matrix material for the robot, that is, the mixture of silicone and magnetic particles. Next, we fabricated a triangular robot whose locomotion speed and warping speed are approximately 1.5 and 9 mm/s, respectively. We then surveyed the generalised types of robots with other shapes, where the movement, grabbing, closure and flipping behaviours were fully demonstrated. The experiments show that the arching speed and grabbing speed of the cross-shaped robot are around 4.8 and 3.5 mm/s, the crawling speed of the pentagram-shaped robot is 3.5 mm/s, the pentahedron-shaped robot can finish its closure motion in 1 s and the arch-shaped robot can flip forward and backward in 0.5 s. The numerical simulation based on the finite element method has been compared with the experimental results, and they are in excellent agreement. The results are beneficial to engineer soft robots under the multi-fields, which can broaden the eyes on inventing intellectual devices and equipment.

The fossil record is scarce and incomplete by nature. Animals and ecological processes devour soft tissue and important bony details over time and, when the dust settles, we are faced with a patchy record full of variation. Fossil taxa are usually defined by craniodental characteristics, so unless postcranial bones are found associated with a skull, assignment to taxon is unstable. Naming a locomotor category based on fossil bone morphology by analogy to living hominoids is not uncommon, and when no single locomotor label fits, postcrania are often described as exhibiting a ‘mosaic’ of traits. Here, we contend that the unavoidable variation that characterises the fossil record can be described far more rigorously based on extensive work in human neurobiology and neuroanatomy, movement sciences and motor control and biomechanics research. In neurobiology, degeneracy is a natural mechanism of adaptation allowing system elements that are structurally different to perform the same function. This concept differs from redundancy as understood in engineering, where the same function is performed by identical elements. Assuming degeneracy, structurally different elements are able to produce different outputs in a range of environmental contexts, favouring ecological robusticity by enabling adaptations. Furthermore, as degeneracy extends to genome level, genetic variation is sustained, so that genes which might benefit an organism in a different environment remain part of the genome, favouring species’ evolvability.

The study reported in this research communication aimed to assess the influence of maternal contact on calves' activity, fearfulness, and social competence. Calves were either dam-reared for their first 14 d of age (Maternal Contact, n = 12) or were separated from their dams within 12 h after birth (Motherless, n = 12). Calves of both treatments and the dams of Maternal Contact calves were group-housed and suckling was prevented with udder nets. The general activity (lying, locomotion, swapping between lying and standing) was measured using pedometers in eight Maternal Contact and eight Motherless calves within a 24-d period. Since general activity might be affected by calves' age or the separation of Maternal Contact calves from the dams the 24-d period was additionally divided into two groups (period A: 3rd–13th day of age, period B: 14th–27th day of age). Emotionality and social competence were assessed in the open field, novel object, and confrontation test with an unknown cow at 14, 21, and 28 d of age, respectively. Mann–Whitney-U-tests were performed for statistical analysis. Locomotion was greater in Motherless calves than Maternal Contact calves during the 24-d period (A + B combined, P < 0.001) and period B (14th to 27th day of age, P < 0.001). There was no treatment difference in duration of lying or in the amount of swapping in any of the periods. After a Bonferroni correction, which we used due to the exploratory character of the study, there were no treatment differences in behaviours indicating emotionality. Compared to Motherless calves, Maternal Contact calves showed increased vigilance (P < 0.01) during the confrontation test. The results of this study indicate that mother-reared calves likely searched less for social contact and developed greater social skills than calves that were separated from their mothers soon after birth.

Moulting is essential for crustacean growth, but is one of the causes of mortality, because a crustacean cannot move during and just after its ecdysis. In the cases of ectosymbiotic crabs, escape from the host's hostile response may also be a problem during its own ecdysis. In this study, Sestrostoma sp. (Varunidae), an ectosymbiotic crab which clings to the ventral abdomen of upogebiid shrimps with legs that can walk, was studied to clarify how the crab moults and maintains association with the host. Five cases of crab ecdysis were observed, where the crab moulted with its legs clinging to the host abdomen, without detaching from the host body. Time required for moulting was 14–21 min. Shedding of the old exoskeleton (active phase) took only 40–59 s. Sestrostoma sp. detached from the host abdomen and waited in the burrow tube during shrimp ecdysis. The crab then reattached at the same location on the host when shrimp moulting was complete. Our results suggest that Sestrostoma sp. are able to maintain a symbiotic relationship with the same shrimp host after its own ecdysis as well after ecdysis of its host.

Soft robots can perform effectively inspecting than rigid robots in some special environments such as nuclear pipelines and high-voltage cables. This article presents a versatile quadruped soft rod-climbing robot (SR-CR) that consists of four bending actuators and a telescopic actuator. The bending actuator is composed of flexible bellows with multiple folding air chambers, elastic telescopic layer (ETL), and strain-limiting layer (SLL). The telescopic actuator provides the energy for the robot to climb forward. The SR-CR is activated by a control strategy that alternates the body deformation and feet pneumatic clenched for stable climbing. The robot can climb rods at 90°, with the maximum speed of up to 2.33 mm/s (0.018 body length/s). At 0.83 HZ, the maximum moving speed of the robot in climbing horizontally parallel rods can reach 18.43 mm/s. In addition, the SR-CR can also achieve multiple impressive functions, including turning around a corner at a rate of 7 mm/s (0.054 body length/s), carrying a payload of 3.7 times its self-weight on horizontal rods at a speed of 9 mm/s (0.069 body length/s).

Trematode transmission in aquatic habitats from molluscan intermediate host to vertebrate or invertebrate target host is typically undertaken by a free-living stage known as cercariae. Active locomotion by cercariae is a key aspect of the transmission process with the swimming speed potentially contributing to infection success. Individual cercarial species swim at different speeds but the significance of this to infection potential has not been determined. This study, using data from the scientific literature, investigates the role of swimming speed in relation to cercarial morphology, host-searching strategies and target host species. Larger cercariae swim faster than smaller ones with tail length being the principal factor controlling locomotion rates. Different cercarial morphotypes swim at different speeds, in particular, furcocercariae, with the exception of the schistosomes, being faster swimmers than mono-tailed cercariae. Host-searching behaviour has a significant influence on swimming speeds with ‘active-searching’ strategies swimming slower than those adopting ‘active-waiting’ or ‘prey mimcry’ strategies. Vertebrate-infecting cercariae swim faster than those infecting invertebrates with species targeting fish demonstrating the highest locomotion rates and those targeting arthropods the slowest speeds. The adaptions of individual cercarial swimming speeds to biological variables and their interactions with the physical processes of aquatic habitats are discussed.

This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot’s model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance.