Search Results (5)

This paper presents a bio-inspired rigid–flexible continuum robot driven by flexible shaft tension–torsion synergy, tackling the trade-off between actuation complexity and flexibility in continuum robots. Inspired by the muscular arrangement of octopus arms, enabling versatile multi-degree-of-freedom (DoF) movements, the robot achieves 6-DoF motion and 1-DoF gripper opening and closing movement with only six flexible shafts, simplifying actuation while boosting dexterity. A comprehensive kinetostatic model, grounded in Cosserat rod theory, is developed; this model explicitly incorporates the coupling between the spinal rods and flexible shafts, the distributed gravitational effects of spacer disks, and friction within the guide tubes. Experimental validation using a physical prototype reveals that accounting for spacer disk gravity diminishes the maximum shape prediction error from 20.56% to 0.60% relative to the robot’s total length. Furthermore, shape perception experiments under no-load and 200 g load conditions show average errors of less than 2.01% and 2.61%, respectively. Performance assessments of the distal rigid joint showcased significant dexterity, including a 53° grasping range, 360° continuous rotation, and a pitching range from −40° to +45°. Successful obstacle avoidance and long-distance target reaching experiments further demonstrate the robot’s effectiveness, highlighting its potential for applications in medical and industrial fields. Full article

Leak detection in nuclear reactor coolant systems is crucial for maintaining the safety and operational integrity of nuclear power plants. Traditional leak detection methods, such as acoustic emission sensors and spectroscopy, face challenges in sensitivity, response time, and accurate leak localization, particularly in complex piping systems. In this study, we propose a novel leak detection approach that incorporates a rigid guide tube into the insulation layer surrounding reactor coolant pipes and combines this with an advanced detection criterion based on Frequency Center of Gravity shifts and Signal-to-Noise Ratio analysis. This dual-method strategy significantly improves the sensitivity and accuracy of leak detection by providing a stable transmission path for ultrasonic signals and enabling robust signal analysis. The rigid guide tube-based system, along with the integrated criteria, addresses several limitations of existing technologies, including the detection of minor leaks and the complexity of installation and maintenance. By enhancing the early detection of leaks and enabling precise localization, this approach contributes to increased reactor safety, reduced downtime, and lower operational costs. Experimental evaluations demonstrate the system’s effectiveness, focusing on its potential as a valuable addition to the current array of nuclear power plant maintenance technologies. Future research will focus on optimizing key parameters, such as the threshold frequency shift (Δf) and the number of randomly selected frequencies (N), using machine learning techniques to further enhance the system’s accuracy and reliability in various reactor environments. Full article

The present paper investigates the fundamental characteristics of wind loading on vaulted (cylindrical) free roofs based on a wind tunnel experiment and a computational fluid dynamics (CFD) analysis using Large Eddy Simulation (LES). In the wind tunnel experiment, wind pressures at many points, both on the top and bottom surfaces of rigid roof models, were measured in a turbulent boundary layer. The wind tunnel models, including the tubing system installed in the roof and columns, were made using a 3D printer, which made the roof thickness as small as 2 mm, whereas the span B was 150 mm and the length L ranged from 150 to 450 mm. The rise-to-span ratio f/B ranged from 0.1 to 0.4. Pressure taps were installed along the center arc and an arc near the roof edge (verge) of an instrumented model with a length-to-span ratio of L/B = 1. The value of L/B of the tested models was changed from 1 to 3 using one or two dummy models, which had the same configuration as that of the instrumented model but no pressure taps. The wind direction θ was changed from 0° (perpendicular to the eaves) to ±90° (parallel to the eaves). The CFD simulation was carried out only for limited cases, that is, f/B = 0.1 and 0.4 and θ = 0° and 45°, considering the computational time. The effects of f/B, L/B, and θ on the mean (time-averaged) and fluctuating wind pressures acting on the roofs were investigated. In particular, the flow mechanism generating large wind forces on the roof was discussed. An empirical formula was provided for the distribution of mean wind force coefficients along the center arc (Line C) at θ = 0° and 30° and along the edge arc (Line E) at θ = 40° for each f/B ratio. Note that these wind directions provided the maximum and minimum mean wind force coefficients within all wind directions for Lines C and E. Furthermore, the maximum and minimum peak wind force coefficients on the two arcs were presented. The effect of turbulence intensity of approach flow on the maximum and minimum peak wind force coefficients was investigated. The experimental results were compared with those estimated using a peak factor approach, which showed a relatively good agreement between them. The data presented here can be used to guide the design of the main wind force-resisting systems and the cladding/components of vaulted-free roofs. Full article

The review article is focused on developments in optical devices, other than laryngoscopes, in airway management and tracheal intubation. It brings information on advantages and limitations in their use, compares different devices, and summarizes benefits in various clinical settings. Supraglottic airway devices may be used as a conduit for fiberscope-guided tracheal intubation mainly as a rescue plan in the scenario of difficult or failed laryngoscopy. Some of these devices offer the possibility of direct endotracheal tube placement. Hybrid devices combine the features of two different intubating tools. Rigid and semi-rigid optical stylets represent another option in airway management. They offer benefits in restricted mouth opening and may be used also for retromolar intubation. Awake flexible fiberoptic intubation has been a gold standard in predicted difficult laryngoscopy for decades. Modern flexible bronchoscopes used in anesthesia and intensive care are disposable devices and contain optical lenses instead of fibers. Endotracheal tubes with an incorporated optics are used mainly in thoracic anesthesia for lung separation. They are available in double-lumen and single-lumen versions. They offer a benefit of direct view to the carina and do not require flexible fiberscope for their correct placement. Full article

It is an effective approach to use Steel Tube Slab (STS) structure combined with the Pile-Beam-Arch (PBA) method to construct a large-space underground station. Traditional construction methods cannot meet the requirement of construction because of the complicated soil layers and high building densities in urban areas. The STS method can effectively increase the rigidity of the supporting system by using steel tubes. Firstly, the stress of bolts and steel tubes are investigated in the construction process based on the field monitoring data. Subsequently, FLAC3D is used to establish a three-dimensional model, which is verified based on the in-situ monitoring data; the effect of excavation process on ground settlement, deformation of STS structure and bridge pile are studied by numerical results. Moreover, the key parameters such as welding of flanges and the step length are studied. The results show that the stress of the steel tubes and flanges does not exceed the designed strength during the construction process. Based on the numerical simulation data, it is indicated that the STS structure can be a very effective and dependable measure in controlling and reducing the surface settlement and the existing adjacent buildings. The numerical results can be used to guide the later construction. Full article