Search Results (19)

Magnetically controlled spinal growing rods, used for treating early-onset scoliosis (EOS), face a critical clinical limitation: insufficient distraction force. Compounding this issue is the inherent inability to directly monitor the mechanical output of such implants in vivo, which challenges their safety and efficacy. To overcome these limitations, optimizing the rotor’s maximum torque is essential. Furthermore, defining the “continuous rotation domain” establishes a vital safety boundary for stable operation, preventing loss of synchronization and loss of control, thus safeguarding the efficacy of future clinical control strategies. In this study, a transient finite element magnetic field simulation model of a circumferentially distributed permanent magnet–rotor system was established using ANSYS Maxwell (2024). The effects of the clamp angle between the driving magnets and the rotor, the number of pole pairs, the rotor’s outer diameter, and the rotational speed of the driving magnets on the rotor’s maximum torque were systematically analyzed, and the optimized continuous rotation domain of the rotor was determined. The results indicated that when the clamp angle was set at 120°, the number of pole pairs was one, the rotor outer diameter was 8 mm, the rotor achieved its maximum torque and exhibited the largest continuous rotation domain, while the rotational speed of the driving magnets had no effect on maximum torque. Following optimization, the maximum torque of the simulation increased by 201% compared with the pre-optimization condition, and the continuous rotation domain was significantly enlarged. To validate the simulation, a rotor torque measurement setup incorporating a torque sensor was constructed. Experimental results showed that the maximum torque improved from 30 N·mm before optimization to 90 N·mm after optimization, while the driving magnets maintained stable rotation throughout the process. Furthermore, a spinal growing rod test platform equipped with a pressure sensor was developed to evaluate actuator performance and measure the maximum distraction force. The optimized growing rod achieved a peak distraction force of 413 N, nearly double that of the commercial MAGEC system, which reached only 208 N. The simulation and experimental methodologies established in this study not only optimizes the device’s performance but also provides a viable pathway for in vivo performance prediction and monitoring, addressing a critical need in smart implantable technology. Full article

With the application of tracked mobile robots in detection and rescue, how to improve their stability and trafficability has become the research focus. In order to improve the driving ability and trafficability of tracked mobile robots in rugged terrain, this paper proposes a new type of tracked mobile robot using passive suspension. By adding a connecting rod differential mechanism between the left and right track mechanisms, the contact stability between the track and terrain is enhanced. The kinematics model and attitude relationship of the suspension are analyzed and established, and the rationality of the passive suspension scheme is verified by dynamic simulation. The simulation results show that the tracked robot with passive suspension shows good obstacle surmounting performance, but there will be a heading deflection problem. Therefore, a track drive speed of the driving state compensation control is proposed based on the driving scene, which can effectively solve the problem of slip and heading deflection. Through the field test of the robot prototype, the effectiveness of the suspension scheme and control system is verified, which provides a useful reference for the scheme design and performance improvement of the tracked mobile robot in complex field scenes. Full article

Aiming at the difficult problem of predicting the running state of the rotor of a Control Rod Drive Mechanism (CRDM) in a floating nuclear reactor, this paper proposes a Remaining Useful Life (RUL) prediction method based on Variational Mode Decomposition and Bidirectional Long Short-Term Memory (VMD-BiLSTM). Firstly, a bench experiment of the CRDM is carried out to collect the full operational cycle (full-stroke) vibration signals of the CRDM. Secondly, the collected data are decomposed based on the VMD, and the typical vibration signals at different stages of the experiment are used to verify this method and comprehensively mine the degradation characteristics. At the same time, the time-frequency domain feature analysis is carried out on the original vibration data, and the changing trends of the extracted features are carefully analyzed. Five feature quantities closely related to the degradation trend of the rotor of the CRDM are screened out, and the corresponding health indicators are constructed in combination with the stroke. Finally, the life prediction of the rotor of the CRDM is realized through the BiLSTM method. Then, the comparison experiments with other methods are carried out, and the experimental results show that the method proposed in this paper has high accuracy and reliability and can effectively solve the RUL prediction problem of CRDM, which provides a strong support to ensure the safe and stable operation of floating nuclear reactors. Full article

With increasing demand for high-precision motion control systems, high operational speed and load capacity are imposed with piezoelectric stick-slip actuators based on compliant mechanisms, yet their performances are often constrained by the step size and move speed. In this paper, a novel piezoelectric stick-slip actuator featuring flexure beams and a trapezoidal driving foot is proposed for high dynamic performance and load requirements. The trapezoidal structure consists of a trapezoidal driving foot to differentiate the friction in the stick and slip phases, four flexure beams for the high resonant frequency due to distributed compliance and the high load capacity due to structural geometry, and a rigid rod for motion transmission. At first, the mechanism design and the working principle are described in detail. Then, its dominant performances are predicted through finite element analysis, including the step size and the first natural frequency. On this basis, the structural parameters are optimized through the genetic algorithm. As a result, the forward displacement in the stick phase can be obtained as 4.8 $\mathsf{\mu }$m through FEA simulations, where the first natural frequency can be observed as 627 Hz. Full article

This study proposes a frequency-based finite element updating method for an effective physics-based digital twin (DT). One approach to constructing a physics-based DT is to develop a mechanics-based mathematical model that accurately simulates the behavior of an actual structure. The proposed method utilizes finite element updating, adjusting model parameters to improve model accuracy. Unlike simple modal analysis, which focuses on vibration characteristics, this method recognizes that accurate dynamic transient-based vibration analysis requires considering the damping effect, as well as mass and stiffness, during the updating process. Moreover, a frequency-based analysis is employed instead of the computationally expensive time-based analysis for more efficient dynamic modeling. By transforming data into the frequency domain, the method efficiently represents dynamic behavior within relevant frequency ranges. We further enhance the computational efficiency using the model reduction technique. To validate the method’s accuracy and efficiency, we compare the analysis results and computation time using a numerical example of the control rod drive mechanism. The proposed method shows significantly reduced computation time, by a factor of 8.9 compared to conventional time-based methods, while preserving high accuracy. Therefore, the proposed method can effectively support the development of physics-based DTs. Full article

The D’Alembert–Lagrange principle is a fundamental concept in analytical mechanics that simplifies the analysis of multi-degree-of-freedom mechanical systems, facilitates the dynamic response prediction of structures under various loads, and enhances the control algorithms in robotics. It is essential for solving complex problems in engineering and robotics. This theoretical study aims to highlight the advantages of using acceleration energy to obtain the differential equations of motion and the generalized driving forces, compared to the classical approach based on the Lagrange equations of the second kind. It was considered a mechanical structure with two degrees of freedom (DOF), namely, a planar robot consisting of two homogeneous rods connected by rotational joints. Both the classical Lagrange approach and the acceleration energy model were applied. It was noticed that while both approaches yielded the same results, using acceleration energy requires only a single differentiation operation, whereas the classical approach involves three such operations to achieve the same results. Thus, applying the acceleration energy method involves fewer mathematical steps and simplifies the calculations. This demonstrates the efficiency and effectiveness of using acceleration energy in dynamic system analysis. By incorporating acceleration energy into the model, enhanced robustness and accuracy in predicting system behavior are achieved. Full article

A non-contact piezoelectric actuator is proposed. The non-contact power transfer between stator and rotor is realized by pneumatic transmission, characterized by fast response, long life, compact structure, and easy miniaturization and control. The structure of the non-contact piezoelectric actuator is designed and its working principle is elucidated. The equation of the relationship between the output displacements of the non-contact piezoelectric actuator’s micro-displacement amplifying mechanism and the input displacements of piezoelectric stack is deduced, and the simulation analysis method of output displacement of the micro-displacement amplifying mechanism is established. Using the equation and the simulation analysis, the output characteristics of micro-displacement amplifying mechanism for the non-contact piezoelectric actuator and their changes along with the system parameters are investigated. The detailed process of optimal design of the micro-displacement amplifying mechanism is given by means of mathematical statistics. The prototype is made and the performance test is carried out. The correctness of the theoretical calculation and simulation analysis is verified by comparing the experimental values with the theoretical and simulated values of the output displacement of the micro-displacement amplifying mechanism. The results show that the initial angle of bridge structure I has an obvious effect on the output characteristics of the micro-displacement amplifying mechanism in the range of 5°–15°. When the lever’s rod length is 13 mm–15 mm, the bridge structure II’s rod length is 6 mm–7 mm, and the power arm length of bridge structure I’s driving lever is 5 mm–7 mm, the bridge structure II’s rod horizontal projection length is 5 mm–6 mm and the output displacement of the micro-displacement amplifying mechanism is larger. Through the optimal design, it is obtained that the bridge structure I’s initial angle is 8°, the lever’s rod length is 15 mm, the bridge structure II’s rod length is 7 mm, and the power arm length of bridge structure I driving lever is 5 mm, the bridge structure II’s rod horizontal projection length is 6 mm, and the simulated output displacement of the micro-displacement amplifying mechanism is 0.1415 mm. The prototype test reveals that as the input excitation displacement decreases, the error increases, while as the input excitation displacement increases, the error decreases. Specifically, when the input excitation displacement is 0.005 mm, the measured output displacement of the micro-displacement amplifying mechanism is 0.1239 mm, resulting in a 19.8% deviation from the theoretical value and a 12.44% deviation from the simulated value. The research work in this paper enriches the research achievements of non-contact piezoelectric actuators, and also provides a reference for designing small structure and large travel micro-displacement amplifying mechanisms of this type of actuator. Full article

The cylinder linear induction motor (CLIM) is a variation of the rotary induction motor. Its structure is simple, it has a low manufacturing cost, and it can generate linear thrust without the need for a conversion mechanism. It is particularly suitable for electromagnetic catapults, magnetic levitation transport, and industrial production fields, due to its strong environmental adaptability. Designing a high-thrust and high-efficiency CLIM is a great challenge due to its inherent drawbacks, such as the low thrust density and power density of induction motors. In this article, two CLIMs with different topologies are proposed to meet the demand for control-rod drives in high-temperature and high-pressure environments. The article elucidates the topologies of the two CLIMs and proposes an analytical computational approach for the CLIM. Modern optimization algorithms were utilized to optimize the design of the structural parameters of both CLIMs. A 3D-FEA simulation was used to compare and analyze the air-gap magnetism and thrust characteristics of two CLIMs. The results indicate that the copper-ring secondary CLIM has a higher thrust density and is more suitable for use in control-rod drive mechanism (CRDM) systems. Full article

Mechanical weeding is an important technical means for organic and regenerative agricultural systems. Current weed control equipment has a variety of problems, such as difficulty adapting to high-stalk crops and poor operational quality. A high-clearance mid-tillage weeder (HMTW) has been developed to meet the mechanical weed control needs of high-stalk crops. The weeder mainly comprises a suspension device, a frame, parallel four-rod profiling mechanisms, weeding operation components, and depth-limiting soil-cutting devices. Based on the agronomic requirements of dryland flat planting, the overall structure of the HMTW was determined, and the weeding unit and flat shovel hoe were designed. Theoretical analysis was conducted on the depth stability of the HMTW, and an optimization mathematical model of the HMTW was established to further improve its tillage depth stability for agronomic requirements. The optimization objective was to minimize the deflection angle (∆β) of the profiling rod on a vertical plane, and the parameters of the parallel four-rod profiling mechanism were optimized. Based on the optimized structural parameters, a prototype of the HMTW was developed and evaluated. The test results show that the optimized HMTW exhibited a good weeding effect, and the tillage depth stability was within the design operating range. When the driving speed was 1.0 m/s and the tillage depth was 8 cm, the weed removal rate, seedling injury rate, seedling burial rate, and qualified rate of tillage depth were 90.8%, 3.2%, 4.1%, and 94%, respectively. The proposed HMTW successfully meets the weeding agronomic requirements of high-stalk crops for dryland farming, and the performance analysis and optimization models provide technical references for the design and development of such structures. Full article

The reactor control rod drive mechanism (CRDM) controls the startup, shutdown and power of the reactor; it is one of the key pieces of equipment to ensure the normal operation of the reactor. CRDM is complex, mainly composed of stator, rotor, bearing, roller, etc. The characteristic analysis of the vibration monitoring signal is one of the important methods of the CRDM state evaluation. In view of the characteristics of large noise interference and the difficulty in analyzing the vibration monitoring signal of CRDM, this paper proposes a noise reduction method for the vibration signal of CRDM based on complete ensemble empirical mode decomposition with adaptive amplitude correction noise and spectral kurtosis (CEEMDAACN-SK), which can deeply reduce the vibration signal of CRDM. Firstly, the proposed CEEMDAACN algorithm is used to decompose the vibration signal of CRDM to obtain multiple intrinsic mode functions (IMF). Then, the spectral kurtosis of each IMF component is analyzed to obtain the spectral kurtosis map of each IMF component, which is compared with the spectral kurtosis map of the original signal. Finally, the denoising reconstruction of the signal is carried out to obtain the final denoising signal. Through experimental analysis, the performance of the proposed CEEMDAACN-SK denoising algorithm is better than the complete ensemble empirical mode decomposition with adaptive noise and spectral kurtosis (CEEMDAN-SK) algorithm in terms of results. The method proposed in this paper can be applied not only to the vibration signal noise reduction of CRDM, but also to other equipment and fields, such as nuclear power main circulation pump and the chemical industry. Full article

The peristaltic in-pipe robot incorporates multiple actuators, and achieving precise cooperative control among these actuators poses significant complexity. To address these issues, the Theory of Inventive Problem Solving (TRIZ) is applied to identify and resolve physical and technical conflicts in the creative design process of peristaltic in-pipe robots. By highlighting the insights on and technical guidance offered by TRIZ’s inventive principles, this paper examines the method for realizing a single-motor-driven peristaltic in-pipe robot from a transmission perspective. By employing a combination of connecting rods, cam mechanisms, and gear systems, a one-DOF peristaltic in-pipe robot was devised. Subsequently, a prototype was constructed, and successful bidirectional motion tests were conducted within pipes. The findings highlight the efficacy of the TRIZ-based design approach in innovatively designing one-DOF in-pipe robots and the unnecessary employment of complex multi-drive cooperative control in peristaltic in-pipe robots. Full article

The radiolysis of water is a significant cause of corrosion damage in the primary heat transport systems (PHTSs) of water-cooled, fission nuclear power reactors (BWRs, PWRs, and CANDUs) and is projected to be a significant factor in the evolution of corrosion damage in future fusion reactors (e.g., the ITER that is currently under development). In Part I of this two-part series, we reviewed the proposed mechanisms for the radiolysis of water and demonstrate that radiolysis leads to the formation of a myriad of oxidizing and reducing species. In this Part II, we review the role that the radiolysis species play in establishing the electrochemical corrosion potential (ECP) and the development of corrosion damage due to intergranular stress corrosion cracking (IGSCC) in reactor PHTSs. We demonstrate, that the radiolytic oxidizing radiolysis products, such as O₂, H₂O₂, HO₂⁻, and OH, when in molar excess over reducing species (H₂, H, and O₂²⁻), some of which (H₂) are preferentially stripped from the coolant upon boiling in a BWR PHTS, for example, renders the coolant in many BWRs oxidizing, thereby shifting the ECP in the positive direction to a value that is more positive than the critical potential (E_crit = −0.23 V_she at 288 °C) for IGSCC in sensitized austenitic stainless steel (e.g., Type 304 SS). This has led to many IGSCC incidents in operating BWRs over the past five decades that has exacted a great cost on the plant operators and electricity consumers, alike. In the case of PWRs, the primary circuits are pressurized with hydrogen to give a hydrogen concentration of 10 to 50 cm³/kgH₂O (0.89 to 4.46 ppm), such that no sustained boiling occurs, and the hydrogen suppresses the radiolysis of water, thereby inhibiting the formation of oxidizing radiolysis products from water. Thus, the ECP is dominated by the hydrogen electrode reaction (HER), although important deviations from the HER equilibrium potential may occur, particularly at low [H₂]. In any event, the ECP is displaced to approximately −0.85 V_she, which is below the critical potential for IGSCC in sensitized stainless steels but is also more negative than the critical potential for the hydrogen-induced cracking (HIC) of mill-annealed Alloy 600. This has led to extensive cracking of steam generator tubing and other components (e.g., control rod drive tubes, pressurizer components) in PWRs that has also exacted a high cost on operators and power consumers. Although the ITER has yet to operate, the proposed chemistry protocol for the coolant places it close to a BWR operating on Normal Water Chemistry (NWC) without boiling or, if hydrogen is added to the IBED-PHTS, close to a BWR on Hydrogen Water Chemistry (HWC). In the current ITER technology, the concentration of H₂ in the IBED-PHTS is specified to be 80 ppb, which is the concentration that will be experienced in both the Plasma Flux Area (PFA) and in the Out of Plasma Flux Area (OPFA). That corresponds to 0.90 cc(STP) H₂/KgH₂O, compared with 20–50 cc(STP) H₂/KgH₂O employed in a PWR primary coolant circuit and 5.5 to 22 cc(STP) H₂/KgH₂O in a BWR on hydrogen water chemistry (HWC). We predict that a hydrogen concentration of 80 ppb is sufficient to reduce the ECP in the OPFA to a level (−0.324 V_she) that is sufficient to suppress the crack growth rate (CGR) below the practical, maximum level of 10⁻⁹ cm/s (0.315 mm/a) at which SCC is considered not to be a problem in a coolant circuit but, in the PFA, the ECP is predicted to be 0.380 V_she, which gives a calculated standard CGR of 2.7 × 10⁻⁶ cm/s. This is more than three orders in magnitude greater that the desired maximum value of 10⁻⁹ cm/s. We recommend that the HWC issue in ITER be revisited to develop a protocol that is effective in suppressing both the ECP and the CGR in the PFA to levels that permit the operation of the IBED-PHTS in accordance with the experience gained in fission reactor technology. Full article

This paper presented the mechanical design and control of a lower limb rehabilitation exoskeleton named “the second lower limb rehabilitation exoskeleton (LLRE-II)”. The exoskeleton with a lightweight mechanism comprises a 16-cm stepless adjustable thigh and calf rod. The LLRE-II weighs less than 16 kg and has four degrees of freedom on each leg, including the waist, hip, knee, and ankle, which ensures fitted wear and comfort. Motors and harmonic drives were installed on the joints of the hip and knee to operate the exoskeleton. Meanwhile, master and slave motor controllers were programmed using a Texas Instruments microcontroller (TMS320F28069) for the walking gait commands and evaluation boards (TMS320F28069/DRV8301) of the joints. A self-tuning multiaxis control system was developed, and the performance of the controller was investigated through experiments. The experimental results showed that the mechanical design and control system exhibit adequate performance. Trajectory tracking errors were eliminated, and the root mean square errors reduced from 6.45 to 1.22 and from 4.15 to 3.09 for the hip and knee, respectively. Full article

Due to the harsh working environment of wheeled agricultural vehicles in the field, it is difficult to ensure that all wheels make contact with the ground at the same time, which is easy to unequally distribute the yaw moments of each independent wheel. The commonly used vehicle lateral control methods are mostly controlled by coordinating the individual torque between different wheels. Obviously, this control method is not suitable for agricultural four-wheeled vehicles. The goal of this study was to provide a wheel steering angle control method that uses electric push rods as actuators that can cope with this problem. The design of a four-wheel steering controller generally adopts the linear PID control method, but the research object of this paper is difficult to establish an accurate and linear mathematical model due to the complex working environment. Therefore, fuzzy adjustment is added on the basis of PID control, which can meet the requirements of model difficulty and control accuracy at the same time. In order to verify the feasibility and rationality of the designed wheel steering mechanism, the model dynamics simulation based on ADAMS software and the response analysis of the electric linear actuator thrust were completed. Based on the kinematics model of the controlled object, the rotation angle of the actuator motor is used as the control target, the lateral deviation e and deviation variation ec are taken as input variables and the parameters K_P, K_I and K_D are taken as output variables, thereby establishing a fuzzy PID controller. Then, this controller is constructed in the Matlab/ Simulink simulation environment to analyze the lateral deviation and response stability during the process of vehicle path tracking. From the verification results of the linear path walking test under the fuzzy PID control method, the maximum lateral deviation of vehicle chassis is 2.7 cm when the driving speed is set as 1 m/s, and the deviation adjustment stable time of the system is 0.15 s. It can be seen that the proposed steering control strategy has good response performance and effectively increases the steering stability. Full article

Proteins of the actin depolymerizing factor (ADF)/cofilin family are ubiquitous among eukaryotes and are essential regulators of actin dynamics and function. Mammalian neurons express cofilin-1 as the major isoform, but ADF and cofilin-2 are also expressed. All isoforms bind preferentially and cooperatively along ADP-subunits in F-actin, affecting the filament helical rotation, and when either alone or when enhanced by other proteins, promotes filament severing and subunit turnover. Although self-regulating cofilin-mediated actin dynamics can drive motility without post-translational regulation, cells utilize many mechanisms to locally control cofilin, including cooperation/competition with other proteins. Newly identified post-translational modifications function with or are independent from the well-established phosphorylation of serine 3 and provide unexplored avenues for isoform specific regulation. Cofilin modulates actin transport and function in the nucleus as well as actin organization associated with mitochondrial fission and mitophagy. Under neuronal stress conditions, cofilin-saturated F-actin fragments can undergo oxidative cross-linking and bundle together to form cofilin-actin rods. Rods form in abundance within neurons around brain ischemic lesions and can be rapidly induced in neurites of most hippocampal and cortical neurons through energy depletion or glutamate-induced excitotoxicity. In ~20% of rodent hippocampal neurons, rods form more slowly in a receptor-mediated process triggered by factors intimately connected to disease-related dementias, e.g., amyloid-β in Alzheimer’s disease. This rod-inducing pathway requires a cellular prion protein, NADPH oxidase, and G-protein coupled receptors, e.g., CXCR4 and CCR5. Here, we will review many aspects of cofilin regulation and its contribution to synaptic loss and pathology of neurodegenerative diseases. Full article