Magnetic Arrangement Research Articles

Research on Magnetic Field of Permanent Magnet Rolls Arranged Periodically in Circumferential—Axial Direction

The separation of non-magnetic non-ferrous metals such as copper and aluminum from scrapped automobiles is a critical area of research due to the increasing number of end-of-life vehicles. Traditional eddy current separation methods have limitations, particularly in handling large-sized broken copper and aluminum parts. This paper proposes a novel magnetic roller model featuring a circumferential–axial periodic arrangement of permanent magnets. This study explores the external magnetic field distribution of this new roller design by constructing an equivalent current model, solving magnetic scalar potential equations, and employing simulation tools. The findings indicate that the new magnet array enhances both the magnetic field strength and the range of the external magnetic field, leading to improved separation efficiency of large-sized metal fragments. The results provide a theoretical basis for advancing the separation technology of large-sized broken copper and aluminum parts in scrapped automobiles, offering potential improvements in the recycling of non-ferrous metals from end-of-life vehicles.

A modular, low-field magnetic resonance design with pre-polarization for characterizing flows

We have recently demonstrated a magnetic resonance method using variable τ spin echoes to simultaneously determine both the average velocity and flow behavior index in a variety of pipe flows. In this work, we present a new, modular, low-field design built specifically for use with our methodology. The design is based on low-cost ceramic magnets. It consists of a sensor built using a pitched magnet arrangement in combination with several modular pre-polarizing units to facilitate a controlled pre-polarization length for measurements on flows that require a significant amount of time in a magnetic field to become polarized (e.g., aqueous solutions). Here, measurements made with this design are shown for a range of flow rates that span the laminar regime and into the turbulent regime.

Magnetic single-anastomosis side-to-side duodeno-ileostomy for revision of sleeve gastrectomy in adults with severe obesity: 1-year outcomes.

Uncomplicated surgical approaches that minimize anastomotic complications while improving revisional metabolic/bariatric surgical (MBS) outcomes are needed. This prospective single-center study assessed the feasibility, safety, and efficacy of the novel linear magnetic anastomosis system (LMAS [3cm]) in performing a side-to-side duodeno-ileostomy (MagDI) bipartition to revise clinically suboptimal primary sleeve gastrectomy (SG). Patients with severe obesity with/without type 2 diabetes (T2D) with suboptimal weight loss, regain, and/or T2D recurrence post SG underwent revisional MagDI. A distal and proximal magnet were delivered endoscopically to the ileum and duodenum and aligned via laparoscopic assistance. Gradual magnet fusion formed a DI bipartition. technical feasibility, safety (Clavien-Dindo [CD] severe adverse event classification) at 1year. Secondary endpoints: MBS weight and T2D reduction. July 29, 2022-March 28, 2023, 24 patients (95.8% female, mean age 44.9±1.5years, and body mass index [BMI] 39.4±1.3kg/m2) underwent MagDI. Feasibility was attained via correct magnet placement (mean operative time 63.5±3.3min), patent anastomoses created, and magnet passage per anus in 100.0% of patients. There were 4 CD-III mild or moderate severe AEs, 0.0% associated with the LMAS or MagDI: 0.0% anastomotic leakage, obstruction, bleeding, infection, reintervention, or death. Mean BMI reduction was 2.1kg/m2 (p<0.05); total weight loss 5.3%, excess weight loss 16.4%; and the patient with T2D improved. The single-anastomosis MagDI procedure using the novel 3-cm LMAS to revise clinically suboptimal SG was technically straightforward, incurred no major complications, mitigated weight regain, and renewed clinically meaningful weight loss. NCT05322122.

An incremental permeability detection method for yield strength of ferromagnetic materials based on permanent magnet excitation

ABSTRACT In this paper, in order to meet the engineering requirements of mechanical properties detection of materials with low power consumption, a novel incremental permeability detection system based on permanent magnet excitation is proposed to reduce system power consumption. Initially, a new incremental permeability sensor was designed to extract magnetic incremental permeability (MIP) signal. Through finite element simulation, experimental parameters were optimised, and a rational arrangement of double permanent magnets was devised to furnish an optimally strong AC bias field intensity. Subsequently, a practical detection platform was assembled to extract electromagnetic signal features. From the perspective of domain wall displacement, a characteristic value θ was proposed to predict the yield strength, with experimental results yielding a relative error of less than ±10%. These experiments have validated the capability of permanent magnet-type MIP to enable quantitative detection of the yield strength in ferromagnetic materials.

Evaluation of magnetic orientation in dual-stator linear permanent magnet vernier machine for wave energy conversion

The Permanent Magnet Vernier Machine (PMVM) is favored for wave energy conversion due to its high torque production at low speeds and straightforward design. This study introduces the innovative Dual Stator Linear Permanent Magnet Vernier Machine (DSLPMVM) with concentrated winding. In this design, permanent magnets (PMs) are strategically placed on both the stator and a segmented translator, enhancing system reliability. The stator utilizes a simple PM layout, while the translator features a Halbach array. This research advances the DSLPMVM’s performance through the optimal placement and orientation of magnets, alongside a meticulous selection of tooth types. The paper rigorously evaluated all possible magnetic orientations and eight distinct stator tooth models. Detailed comparisons of flux linkage, back electromotive force (back-EMF), inductance, efficiency, power factor (PF), and force were conducted to identify the most effective designs.

PMSM Design for Elevators: Determination of the Basic Topology Affecting Performance

In recent years, with the increase in high-rise building construction, there has been a rise in demand for elevators. This demand has spurred mutual growth between the vertical transportation sector and high-rise building construction. Both sectors are improving technology, security, and comfort standards. Traditional elevator traction machines typically employ asynchronous motors coupled with geared reducers, despite their low energy efficiency and requirement for large machine rooms. However, with the proliferation of rare-earth magnet materials and advancements in driver technologies, the use of Permanent Magnet Synchronous Motors (PMSMs) in elevator traction machines has increased. PMSMs operate with direct drive, eliminating the need for reducers. High efficiency and passenger comfort are crucial parameters for elevator traction machines. This study focuses on identifying the fundamental topology that could influence the performance of PMSMs for gearless elevator machines. Factors such as stator materials, rotor structures, permanent magnets, winding configurations, slot/pole combinations, cogging torque and torque ripple have been examined to select suitable design topologies for elevator motors. Important topics such as the magnetic properties of grain-oriented silicon steel sheets used in stator construction, B-H curves, lamination forming and stacking factors have been addressed. Two different rotor topologies and magnet arrangements, namely internal and external, have been investigated in PMSM designs. Additionally, the use of four different magnet materials, namely AlNiCo, Ferrite, NdFeB, and SmCo have been compared for PMSM traction motors in elevators. Single-layer and double-layer winding configurations, distributed and concentrated winding configurations have been compared. Fractional slot/pole combinations, which directly affect the performance and comfort of PMSMs, have also been examined based on information obtained from the literature. Particularly, structures with high winding factors, such as 12/10, 12/14, 18/16, 18/20, 24/22, and 24/26 have been identified. Finally, studies on skewing to reduce cogging torque and torque ripple have been addressed.

Levitating Magnetic Insoles: A Novel Approach to Alleviating Plantar Fasciitis Through the Reduction and Redistribution of Plantar Pressures

Plantar fasciitis, a leading cause of foot pain, affects a significant portion of the population, with an estimated prevalence of 10% during an individual’s lifetime. This debilitating condition can result in substantial healthcare costs and decreased quality of life. The pain is attributed to the inflammation of the plantar fascia, which is crucial for supporting the foot's arch. Risk factors for plantar fasciitis include obesity, sedentary lifestyles, improper footwear, and biomechanical abnormalities. Current treatment options are primarily conservative, with varying levels of success. In response, an affordable, lightweight, and soft, magnetic insole was developed as a novel approach to alleviate plantar fasciitis by reducing and redistributing plantar pressures with neodymium magnets. The final prototype achieves a magnetic repulsion force of approximately 84.57 lbs. and incorporates sensor modules to monitor data. The device also facilitates real-time data visualization between Arduino and personal devices, providing valuable insights into plantar pressure and walking characteristics for various patients. Data analysis and structural optimization are further enhanced through the use of MATLAB and Excel, which generate heatmaps to visualize plantar pressure distribution. Future research should focus on increasing the magnetic intensity to improve pain relief effectiveness and incorporating personalized disease-specific adjustments to optimize the magnet placement within the sole. By addressing the prevalent issue of foot pain and offering a potential solution for plantar fasciitis, our levitating magnetic insoles demonstrate significant potential for enhancing the quality of life for a large portion of the population.

Signatures of polarized chiral spin disproportionation in rare earth nickelates

In rare earth nickelates (RENiO3), electron-lattice coupling drives a concurrent metal-to-insulator and bond disproportionation phase transition whose microscopic origin has long been the subject of active debate. Of several proposed mechanisms, here we test the hypothesis that pairs of self-doped ligand holes spatially condense to provide local spin moments that are antiferromagnetically coupled to Ni spins. These singlet-like states provide a basis for long-range bond and spiral spin order. Using magnetic resonant X-ray scattering on NdNiO3 thin films, we observe the chiral nature of the spin-disproportionated state, with spin spirals propagating along the crystallographic (101)ortho direction. These spin spirals are found to preferentially couple to X-ray helicity, establishing the presence of a hitherto-unobserved macroscopic chirality. The presence of this chiral magnetic configuration suggests a potential multiferroic coupling between the noncollinear magnetic arrangement and improper ferroelectric behavior as observed in prior studies on NdNiO3 (101)ortho films and RENiO3 single crystals. Experimentally-constrained theoretical double-cluster calculations confirm the presence of an energetically stable spin-disproportionated state with Zhang-Rice singlet-like combinations of Ni and ligand moments.

Comprehensive investigation of structural, magnetic, electronic, optical, mechanical, and piezoelectric properties of ATiO3 (A= Mn, Fe, Ni) compounds for sustainable energy materials.

This work employs Density Functional Theory (DFT) to investigate the characteristics of ATiO3 (A= Mn, Fe, Ni) by utilizing GGA and DFT+U formalisms. Our results reveal that the investigated compounds exhibit a ground-state magnetic arrangement in the G-type antiferromagnetic configuration. Substitution of the A-site atoms along the row leads to a decrease in volume due to poor electronic shielding effects with transition metals. All systems investigated are stable under dynamical conditions, with no imaginary phonon. From the formation energy calculations, NiTiO3 was identified as the most formable and stable compound. DFT+U was most effective for FeTiO3, resulting in significantly wider bandgaps compared to the GGA-level bandgaps. Optical properties such as static dielectric constants, refractive index, and reflectivity were overestimated by the GGA when compared to DFT+U results. The absorption edges of FeTiO3, MnTiO3, and NiTiO3 were analyzed, with DFT+U showing delayed onset compared to GGA. FeTiO3 was found to be the most effective absorber within the visible spectrum according to DFT+U, while NiTiO3 was predicted to be the best absorber by GGA. Each compound's mechanical stability was tested and verified based on the Born criteria, with FeTiO3 exhibiting the highest elastic moduli under DFT+U, while NiTiO3 had the highest shear and Young's modulus according to GGA. Among the studied compounds, FeTiO3 is the best-performing and most efficient piezoelectric compound with e_16 = 5.418 C m^(-2) under DFT+U. Overall, the studied compounds demonstrate promising capabilities for a wide range of applications in the field of photovoltaic devices, and piezoelectric materials, due to their remarkable optical, and piezoelectric properties.

A hybrid harvester using a magnetically coupled pendulum structure for limb movement

ABSTRACT Energy harvesting and conversion devices can provide power solutions for wearable devices. In this paper, a piezo-electromagnetic hybrid energy harvester (PEMHEH) using a magnetically-coupled pendulum structure for low-frequency limb movement is proposed. PEMHEH consists of a piezoelectric generator (PEG) unit including a main piezoelectric transducer, an auxiliary piezoelectric transducer (APT), and an electromagnetic generator (EMG) unit. It can reduce the starting frequency and increase the output performance by adopting a slidable mass block, the APT, and the rational magnetic pole arrangement. Its theoretical model is established, and magnetic simulation and experimental tests are carried out. The results show it can be started at 0.4 Hz excitation, and the output performance is maximized at 2 Hz. The maximum voltages of the piezoelectric generator and electromagnetic generator units are 5.29 V and 457 mV, and the maximum power is 286.16 μW (30 kΩ) and 11.25 μW (2 kΩ). The PEMHEH can light up LED boards at a 1 Hz excitation frequency. It has the potential to power wearable devices.

Large-area magnetic skin for multi-point and multi-scale tactile sensing with super-resolution

The advancements in tactile sensor technology have found wide-ranging applications in robotic fields, resulting in remarkable achievements in object manipulation and overall human-machine interactions. However, the widespread availability of high-resolution tactile skins remains limited, due to the challenges of incorporating large-sized, robust sensing units and increased wiring complexity. One approach to achieve high-resolution and robust tactile skins is to integrate a limited number of sensor units (taxels) into a flexible surface material and leverage signal processing techniques to achieve super-resolution sensing. Here, we present a magnetic skin consisting of multi-direction magnetized flexible films and a contactless Hall sensor array. The key features of the proposed sensor include the specific magnetization arrangement, K-Nearest Neighbors (KNN) clustering algorithm and convolutional neural network (CNN) model for signal processing. Using only an array of 4*4 taxels, our magnetic skin is capable of achieving super-resolution perception over an area of 48400 mm2, with an average localization error of 1.2 mm. By employing neural network algorithms to decouple the multi-dimensional signals, the skin can achieve multi-point and multi-scale perception. We also demonstrate the promising potentials of the proposed sensor in intelligent control, by simultaneously controlling two vehicles with trajectory mapping on the magnetic skin.

Analysis of a New Asymmetric Biased-Flux Operation for an Inter-Modular Permanent Magnet Motor

Net zero and electrification targets are continuing to enforce a need for the development of high-performance electrical machines, increasingly based on the use of rare earth permanent magnets. Biased flux motors have the potential to overcome some of the disadvantages associated with more conventional electrical machines. Since their introduction, there has been a consistent trend towards new and improved topologies, all relying on the same principles of operation. In this paper, a new alternative operation is proposed where the magnetic flux density offset of each module is different. The resulting asymmetric biased excitations of the magnets leads to a flux concentration in the air gap. Placement of magnets in the slot-opening area is shown to produce a higher average torque at a higher power factor. It is mathematically shown that the conventional methods used to investigate the effect of each group of magnets separately cannot be used for the explanation of this operation principle. Therefore, it is necessary to simultaneously consider both groups of magnets in the magnetic equivalent circuit. Due to the use of magnets in these motors, thermal conditions are also investigated. Finally, a comprehensive comparison between several stator-situated-magnet motors is presented. The performance of the proposed motor is improved in terms of average torque, torque density, PM torque density, power factor, and overload capability. The torque density specifically has increased by 9%. Moreover, both motors have suitable thermal behaviour which confirms the validity of the demagnetization analysis.

The effects of the separator structures and magnetic roller arrangements on eddy current separation

The eddy current separator is the key equipment used for the separation and enrichment of non-ferrous metals from the solid waste. The customization and universality requirements for eddy current separators have been improved with the increasingly strict environmental protection requirements in various industries and the pursuit of higher economic benefits by enterprises. The low separation efficiency of the small-sized non-ferrous metals and the difficulty in separating between non-ferrous metals are two urgent problems that limit the development of the eddy current separation. The separator structures design, the factors regulation and the core component magnetic roller optimization are the keys to solve problems. Vertical and horizontal eddy current separators are the two main types of permanent magnet eddy current separators in practical applications and reported studies. However, the study and production cost of the eddy current separator are high, and there are few reports on the separator structures in existing studies. There is also a lack of comparative analysis of different applicable conditions for eddy current separators and optimization design of the magnetic roller. This study compared and analyzed the effects of different factors on the vertical and horizontal eddy current separation efficiency, and clarified the advantages and prospects of the vertical eddy current separator in optimizing the separation efficiency between non-ferrous metals. The comparison and multi-objective optimization were conducted on the magnetic rollers to expand the particle size range that can be separated. The separation performance and the economy of the magnetic roller have been improved significantly, and the performance indicators are better than those of existing equipment with the same specifications. The magnetic roller with specific structural parameters has increased eddy current force and magnetic efficiency density by 75.0% and 63.5%, respectively. It is expected to further expand the applicable materials for the eddy current separator.

Characterization of Magnetorheological Impact Foams in Compression.

This study focuses on the development and compressive characteristics of magnetorheological elastomeric foam (MREF) as an adaptive cushioning material designed to protect payloads from a broader spectrum of impact loads. The MREF exhibits softness and flexibility under light compressive loads and low strains, yet it becomes rigid in response to higher impact loads and elevated strains. The synthesis of MREF involved suspending micron-sized carbonyl Fe particles in an uncured silicone elastomeric foam. A catalyzed addition crosslinking reaction, facilitated by platinum compounds, was employed to create the rapidly setting silicone foam at room temperature, simplifying the synthesis process. Isotropic MREF samples with varying Fe particle volume fractions (0%, 2.5%, 5%, 7.5%, and 10%) were prepared to assess the effect of particle concentrations. Quasi-static and dynamic compressive stress tests on the MREF samples placed between two multipole flexible strip magnets were conducted using an Instron servo-hydraulic test machine. The tests provided measurements of magnetic field-sensitive compressive properties, including compression stress, energy absorption capability, complex modulus, and equivalent viscous damping. Furthermore, the experimental investigation also explored the influence of magnet placement directions (0° and 90°) on the compressive properties of the MREFs.

Enhanced microfluidic multi-target separation by positive and negative magnetophoresis

We introduce magnetophoresis-based microfluidics for sorting biological targets using positive Magnetophoresis (pM) for magnetically labeled particles and negative Magnetophoresis (nM) for label-free particles. A single, externally magnetized ferromagnetic wire induces repulsive forces and is positioned across the focused sample flow near the main channel's closed end. We analyze magnetic attributes and separation performance under two transverse dual-mode magnetic configurations, examining magnetic fields, hydrodynamics, and forces on microparticles of varying sizes and properties. In pM, the dual-magnet arrangement (DMA) for sorting three distinct particles shows higher magnetic gradient generation and throughput than the single-magnet arrangement (SMA). In nM, the numerical results for SMA sorting of red blood cells (RBCs), white blood cells (WBCs), and prostate cancer cells (PC3-9) demonstrate superior magnetic properties and throughput compared to DMA. Magnetized wire linear movement is a key design parameter, allowing device customization. An automated device for handling more targets can be created by manipulating magnetophoretic repulsion forces. The transverse wire and magnet arrangement accommodate increased channel depth without sacrificing efficiency, yielding higher throughput than other devices. Experimental validation using soft lithography and 3D printing confirms successful sorting and separation, aligning well with numerical results. This demonstrates the successful sorting and separating of injected particles within a hydrodynamically focused sample in all systems. Both numerical and experimental findings indicate a separation accuracy of 100% across various Reynolds numbers. The primary channel dimensions measure 100 µm in height and 200 µm in width. N52 permanent magnets were employed in both numerical simulations and experiments. For numerical simulations, a remanent flux density of 1.48 T was utilized. In the experimental setup, magnets measuring 0.5 × 0.5 × 0.125 inches and 0.5 × 0.5 × 1 inch were employed. The experimental data confirm the device's capability to achieve 100% separation accuracy at a Reynolds number of 3. However, this study did not explore the potential impact of increased flow rates on separation accuracy.

Automated quadrupole magnet positioning for enhanced harmonic coil measurement

The precise measurements of the magnetic field are essential for particle accelerators, and the harmonic coil measurement system is especially suitable for the multipole field because of its unique advantages. The accurate placement of magnets is essential for accurate magnetic field measurements. The current positioning technique employed for harmonic coil measurement is inefficient due to its labor-intensive and time-consuming nature. The aim of this study is to automate the positioning of the quadrupole magnet. Therefore, a close-range photogrammetry system is utilized to monitor the position of the magnet due to its non-contact feature, and an electrically driven Stewart platform is utilized to manipulate the magnet. Meanwhile, a control system has been developed to regulate the automatic positioning. The system is capable of receiving measurements from the close-range photogrammetry system in order to ascertain the displacements of the magnet from its current position to the target. Subsequently, it can transmit commands to Stewart platform to regulate its movement. The experiments indicate that the efficiency of the quadrupole magnet positioning has increased significantly by at least 5 times, and the final positioning accuracy was verified by the laser tracker. The study also addresses the potential application of this technology in high radiation environments that are otherwise inaccessible.

A Hybrid Tri-Stable Piezoelectric Energy Harvester with Asymmetric Potential Wells for Rotational Motion Energy Harvesting Enhancement

This paper proposes an asymmetric hybrid tri-stable piezoelectric energy harvester for rotational motion (RHTPEH). The device features an asymmetric tri-stable piezoelectric cantilever beam positioned at the edge of a rotating disk. This beam is uniquely configured with an asymmetric arrangement of magnets. Additionally, an elastic amplifier composed of a vertical and a rotating spring connects the beam’s fixed end and the disk. This setup enhances both the rotational amplitude and vertical displacement of the beam during motion. A comprehensive dynamical model of the RHTPEH was developed using Lagrange’s equations. This model facilitated an in-depth analysis of the system’s behavior under various conditions, focusing on the influence of key parameters such as the asymmetry in the potential well, the stiffness ratio of the amplifier springs, the radius of the disk, and the disk’s rotational speed on the nonlinear dynamic response of the system. The results show that the asymmetric hybrid tri-stable piezoelectric energy harvester makes it easier to harvest the vibration energy in rotational motion and has excellent power output performance compared with the symmetric tri-stable piezoelectric energy harvester. The output power magnitude of the system at higher rotational speeds increases as the radius of rotation expands, but when the rotational speed is low, the steady-state output power magnitude of the system is not sensitive to changes in the radius of rotation. Theoretical analysis and numerical simulations validate the effectiveness of the proposed asymmetric RHTPEH for energy harvesting in low-frequency rotating environments.

Exploring stable half-metallicity and magnetism of Cr-based double half-Heusler alloys and its high magnetoresistance ratio in magnetic tunnel junction

A new series of double half-Heusler (DHH) alloy Cr2FeCoZ2 (Z = As, Ge, S, P) are investigated by using the non-equilibrium Green's function in combination with the first-principles calculations. The calculations on magnetism reveal that these Cr-based DHH alloys are ferrimagnets due to the antiparallel magnetic coupling between Cr and Fe (Co). The electronic structure calculations of the Cr-based DHH alloys reveal half-metallicity, and Cr2FeCoAs2 possesses the largest spin-down gap of 1.181 eV. Within the c/a ranges from 1.60 to 2.52, Cr2FeCoAs2 maintains its 100 % spin-polarization, and the changes in total and spin-resovled atomic magnetic moment are negligible, showing a stable half metallicity and magnetism against the tetragonal distortion. Futhermore, the transport properties are investigated by constructing the Cr2FeCoZ2/GaAs/Cr2FeCoZ2 magnetic tunnel junction (MTJ) model. By changing the magnetic arrangement of the left and right electrodes into antiparallel configuration, the capability of transportation in both spin channels is significantly limited. Conversely, by modulating the magnetic arrangement of the left and right electrodes into parallel configuration, the transportation of electrons in spin-up channel is exceptionally strong while that of the spin-down channel is severely impeded. The Cr2FeCoAs2/GaAs/Cr2FeCoAs2 MTJ owns the highest tunneling magnetoresistance (TMR) ratio of ∼7.42 × 108 %, indicating that Cr2FeCoAs2 is the most promising candidate for high performance spintronic devices.

A novel magnetic compression technique for establishment of a vesicovaginal fistula model in Beagle dogs

Vesicovaginal fistula lacks a standard, established animal model, making surgical innovations for this condition challenging. Herein, we aimed to non-surgically establish vesicovaginal fistula using the magnetic compression technique, and the feasibility of this method was explored using eight female Beagle dogs as model animals. In these dogs, cylindrical daughter and parent magnets were implanted into the bladder and vagina, respectively, after anesthesia, and the positions of these magnets were adjusted under X-ray supervision to make them attract each other, thus forming the structure of daughter magnet-bladder wall-vaginal wall-parent magnet. Operation time and collateral damage were recorded. The experimental animals were euthanized 2 weeks postoperatively, and the vesicovaginal fistula gross specimens were obtained. The size of the fistula was measured. Vesicovaginal fistula was observed by naked eye and under a light microscope. Magnet placement was successful in all dogs, and remained in the established position for the reminder of the experiment. The average operation time was 14.38 min ± 1.66 min (range, 12–17 min). The dogs were generally in good condition postoperatively and were voiding normally, with no complications like bleeding and urine retention. The magnets were removed from the vagina after euthanasia. The vesicovaginal fistula was successfully established according to gross observation, and the fistula diameters were 4.50–6.24 mm. Histological observation revealed that the bladder mucosa and vaginal mucosa were in close contact on the internal surface of the fistula. Taken together, magnetic compression technique is a simple and feasible method to establish an animal model of vesicovaginal fistula using Beagle dogs. This model can help clinicians study new surgical techniques and practice innovative approaches for treating vesicovaginal fistula.

Toward Onboard Proportional Control of Multi-Chamber Soft Pneumatic Robots: A Magnetorheological Elastomer Valve Array.

Soft pneumatic actuators (SPAs) are commonly used in various applications because of their structural compliance, low cost, ease of manufacture, high adaptability, and safe human-robot interaction. The traditional approach for achieving proportional control of soft pneumatic robots requires the use of industrial proportional valves or syringe drivers, which are not only rigid and bulky but also hard to be integrated into the body of soft robots. In our previous research, we developed a Magnetorheological elastomer (MRE)-based soft valve that showed advantages for controlling SPAs due to its compliance, compactness, robustness, and compatibility for continuous pressure modulation. Modern soft robots with multiple chambers require more MRE valves onboard for their control. However, merely packing more MRE valves for soft robots can cause problems like magnetic interference, flow rate deviation, and overheating. Therefore, in this study, we proposed a two-dimensional MRE valve array design to solve issues of magnetic interference and overheating when expanding from a single MRE proportional valve into an integrated array. The magnetic interference and the overheating problem were investigated through multiphysics simulation, bringing the optimal choice of valve spacing (1.2 times the single valve diameter), magnetic coil pole arrangement (same pole), and the cooling system design (internal cooling chamber with flowing water). Physical experiments showed that our MRE valve array maintained its original flowrate performance with low magnetic interference (0.89 mT) and low coil temperature (under 73.9°C for 5 min).