Magnetic Force Research Articles

A Study on Improving the Shape Error of the Lower Mold of Free-Form Concrete Panels Using Magnetic Force

A Study on Improving the Shape Error of the Lower Mold of Free-Form Concrete Panels Using Magnetic Force

Toward 3D magnetic force microscopy: Simultaneous torsional cantilever excitation to access a second, orthogonal stray field component

Magnetic force microscopy (MFM) is long established as a powerful tool for probing the local stray fields of magnetic nanostructures across a range of temperatures and applied stimuli. A major drawback of the technique, however, is that the detection of stray fields emanating from a sample’s surface rely on a uniaxial vertical cantilever oscillation, and thus are only sensitive to vertically oriented stray field components. The last two decades have shown an ever-increasing literature fascination for exotic topological windings where particular attention to in-plane magnetic moment rotation is highly valuable when identifying and understanding such systems. Here, we present a method of detecting in-plane magnetic stray field components, by utilizing a split-electrode excitation piezo that allows the simultaneous excitation of a cantilever at its fundamental flexural and torsional modes. This allows for the joint acquisition of traditional vertical mode images and a lateral MFM where the tip–cantilever system is only sensitive to stray fields acting perpendicular to the torsional axis of the cantilever.

A novel formula for calculating repulsive forces in horizontally aligned nonferrous cylindrical particles within an Eddy current separator

Eddy Current Separation (ECS) stands as a highly efficient recycling technology crucial for separating nonferrous particles from waste electrical and electronic equipment (WEEE). This process relies on repulsive forces induced by eddy currents as particles traverse the variable magnetic field of a rotating magnetic drum. Achieving optimal separation in this multifaceted process demands a careful selection of magnetic drum parameters. This study focuses on modeling the repulsive forces acting on diverse nonferrous particle shapes, with a particular emphasis on horizontally oriented cylindrical particles, and exploring their trajectories under various adjustable parameters. The effectiveness of the separator is intimately governed by these repellent magnetic forces. Our numerical model comprehensively accounts for the key magnetic and mechanical forces shaping particle movement. Through a dedicated Matlab program, simulations of trajectories are conducted, dissecting the influence of parameters such as separation angle, number of poles, electromagnetic drum velocity, and particle sizes. The findings, elucidated in detailed diagrams, offer a profound understanding of each parameter's impact, crucial for optimizing ECS processes.

A Novel Size-Based Centrifugal Microfluidic Design to Enrich and Magnetically Isolate Circulating Tumor Cells from Blood Cells through Biocompatible Magnetite-Arginine Nanoparticles.

This paper presents a novel centrifugal microfluidic approach (so-called lab-on-a-CD) for magnetic circulating tumor cell (CTC) separation from the other healthy cells according to their physical and acquired chemical properties. This study enhances the efficiency of CTC isolation, crucial for cancer diagnosis, prognosis, and therapy. CTCs are cells that break away from primary tumors and travel through the bloodstream; however, isolating CTCs from blood cells is difficult due to their low numbers and diverse characteristics. The proposed microfluidic device consists of two sections: a passive section that uses inertial force and bifurcation law to sort CTCs into different streamlines based on size and shape and an active section that uses magnetic forces along with Dean drag, inertial, and centrifugal forces to capture magnetized CTCs at the downstream of the microchannel. The authors designed, simulated, fabricated, and tested the device with cultured cancer cells and human cells. We also proposed a cost-effective method to mitigate the surface roughness and smooth surfaces created by micromachines and a unique pulsatile technique for flow control to improve separation efficiency. The possibility of a device with fewer layers to improve the leaks and alignment concerns was also demonstrated. The fabricated device could quickly handle a large volume of samples and achieve a high separation efficiency (93%) of CTCs at an optimal angular velocity. The paper shows the feasibility and potential of the proposed centrifugal microfluidic approach to satisfy the pumping, cell sorting, and separating functions for CTC separation.

Mechanism analysis of enhanced desulfurization of pulverized coal through high-gradient magnetic separation with microwave radiation

Dry high gradient magnetic separation technology is a low-carbon green technology. It can be embedded in a power plant to remove coal pyrite with a high-efficiency magnetic separator and remarkable magnetic properties difference between coal pyrite and coal matrix. This study selected the microwave radiation method to improve the magnetic properties difference and carried out a desulfurization experiment with a self-developed high-gradient permanent magnetic separator using the tapered iron auxiliary magnetic pole. The results demonstrate that the pyrite content and specific magnetic susceptibility increase with the decrease in particle size. The desulfurization rate did not change significantly at 25 °C. The coal sample began to appear in the thermal reaction at 450 °C, and the pyrite can become a strong magnetic property pyrrhotite. The desulfurization rate can achieve 58.70 % at 700 °C, and is equivalent to the wet washing index, due to the supply of high magnetic field force. The dynamic characteristic response of magnetic particles becomes more obvious with short time adsorption, and the probability of carrying non-magnetic particles is reduced. This study demonstrates that the high-gradient magnetic separation technology of pulverized coal enhanced by microwave irradiation is feasible.

A search for Planet Nine with small spacecraft: Three-body, post-Newtonian, non-gravitational, planetary and Kuiper Belt effects

A hypothetical gravitating body in the outer Solar System, the so-called Planet Nine, was proposed to explain the unexpected clustering of the Kuiper Belt Objects. As it has not been observed via telescopes, it was conjectured to be a primordial black hole (of the size of a quince) that could be gravitationally detected by laser-launching or solar sailing many small spacecraft. Here, we study various aspects that will affect such a search for Planet Nine. Our basic observable is the angular displacement in the trajectory of a small spacecraft which will be mainly affected by the gravity of Planet Nine, augmented with several other 3-body, non-gravitational, post-Newtonian, planetary and Kuiper Belt effects. First, we calculate the effect of the Sun in the framework of the circular restricted three-body problem of the Sun–Planet Nine-spacecraft for the two particular initial conditions. Then, we study the effects of Kuiper Belt and outer planets, namely Jupiter, Saturn, Uranus, Neptune, as well as non-gravitational perturbations such as magnetic and drag forces exerted by the interstellar medium; and the solar radiation pressure. In addition, we investigate the post-Newtonian general relativistic effects such as the frame-dragging, Schwarzschild effect, and geodetic precession on the spacecraft trajectory. We show that the leading order angular displacement is due to the solar radiation pressure for the lower spacecraft velocities, and the drag force for the higher spacecraft velocities. Among the general relativistic effects, the frame-dragging has the smallest effect; and the Schwarzschild effect due to Sun has the largest effect. However, none of the general relativistic effects produces a meaningful contribution to the detection.

Investigation of magnetic domain interactions and switching mechanism in sputter deposited Fe–Co–Al thin film

To create a high-density data storage system, a thorough understanding of magnetic domain interactions is essential. In this work, we present a systematic study of magnetic domain state interaction and switching mechanism of Fe–Co–Al films across various thicknesses. Structural analysis confirms the formation of an A2-type disorder structure. Magnetic investigation reveals that all films are soft magnetic in nature, exhibiting a predominant in-plane magnetic anisotropy with a low coercive field that increases from 1.9 mT to 3 mT as the film thickness grows from 5 nm to 25 nm. Analysis of first-order reversal curves reveals the formation of multi-domain (MD) states. An enhancement of magnetic domain interactions occurs as the contour graph shifts along the coercive field direction with an increase in film thickness. Switching field distribution (SFD) analysis reveals broader SFD curves, indicating more inter-grain interactions as magnetostatic interactions between magnetic grains intensify with thickness. Further, magnetic force microscopy analysis confirms the presence of MD structures in all films. Magnetization reversal dynamics elucidates domain wall pinning near to zero field and possesses a large out-of-plane switching field. Simulations are performed to corroborate experimental findings. These findings underscore the critical role of domain state configuration and switching mechanisms for designing spintronic devices using soft magnetic thin films.

Engineering spin-dependent catalysts: chiral covalent organic frameworks with tunable electroactivity for electrochemical oxygen evolution.

The chiral-induced spin selectivity (CISS) effect offers promising prospects for spintronics, yet designing chiral materials that enable efficient spin-polarized electron transport remains challenging. Here, we report the utility of covalent organic frameworks (COFs) in manipulating electron spin for spin-dependent catalysis via CISS. This enables us to design and synthesize three three-dimensional chiral COFs (CCOFs) with tunable electroactivity and spin-electron conductivity through imine condensations of enantiopure 1,1'-binaphthol-derived tetraaldehyde and tetraamines derived from 1,4-benzenediamine, pyrene, or tetrathiafulvalene skeletons. The CISS effect of CCOFs is verified by magnetic conductive atomic force microscopy. Compared with their achiral analogs, these CCOFs serve as efficient spin filters, reducing the overpotential of oxygen evolution and improving the Tafel slope. Particularly, the diarylamine-based CCOF showed a low overpotential of 430mV (vs reversible hydrogen electrode) at 10mAcm-2 with long-term stability comparable to the commercial RuO2. This enhanced spin-dependent OER activity stems from its excellent redox-activity, good electron conductivity and effective suppression effect on the formation of H2O2 byproducts.

Effect of heat production on MHD natural convection transport of nanofluid flow via a vertical uniform perforated plate: An unsteady analysis

This article statistically investigates the impact of heat production on the unstable MHD natural convection transport of nanofluid flow via a perforated sheet. The ordinary differential equations (ODEs) are derived from the partial differential equations (PDEs) by using of the similarity transformation. The dimensionless ordinary differential equations (ODEs) may be numerically resolved with the help of the MATLAB ODE45 tool and the finite difference method (FDM) along with the shooting strategy. Four innovative water-based nanofluids such as TiO2, Cu, Al2O3, and Ag are considered nanoparticles. The numerical results have been explained for the role of numerous non-dimensional numbers or parameters such as heat generation or absorption (Q), nanoparticle volume fraction (φ), Dufour number (Df), Prandtl number (Pr), magnetic force parameter (M), Soret number (Sr), and Schmidt number (Sc) on the fluid flow, and heat and mass transfer rates. The fluid temperature drops but velocity is enhanced for higher amounts of Q. Copper nanoparticle volume fraction up to 4 % shows a rise in temperature, concentration, and velocity curves. Heat transfer rate ( − θ′(0)) diminishes by about 124 %, while the values of f′(0) promote by approximately 26 % owing to an increase in the values of Q (heat generation) from 1.0 to 2.0. The value of ( − θ′(0)) increases by 49 %, but f′0 decreases by 15 % due to a rise in Q (heat absorption) from -3.0 to -10.0. The local skin friction coefficient (f′(0)) diminishes by about 65.21 % due to an increase in the values of the magnetic force parameter (M) from 0.5 to 3.5 whereas the rate of heat and mass transfer remain unchanged. As φ increased from 0.01 to 0.04, the local skin friction coefficient (f′(0)) exhibited a 36 % increase, while the heat transport rate (θ′(0)) decreased around by 10 %. In conclusion, a comparison was made between our findings and those of the published research. The comparison indicates a high degree of consistency.

Application of Single Cell Type-Derived Spheroids Generated by Using a Hanging Drop Culture Technique in Various In Vitro Disease Models: A Narrow Review.

Cell culture methods are indispensable strategies for studies in biological sciences and for drug discovery and testing. Most cell cultures have been developed using two-dimensional (2D) culture methods, but three-dimensional (3D) culture techniques enable the establishment of in vitro models that replicate various pathogenic conditions and they provide valuable insights into the pathophysiology of various diseases as well as more precise results in tests for drug efficacy. However, one difficulty in the use of 3D cultures is selection of the appropriate 3D cell culture technique for the study purpose among the various techniques ranging from the simplest single cell type-derived spheroid culture to the more sophisticated organoid cultures. In the simplest single cell type-derived spheroid cultures, there are also various scaffold-assisted methods such as hydrogel-assisted cultures, biofilm-assisted cultures, particle-assisted cultures, and magnet particle-assisted cultures, as well as non-assisted methods, such as static suspension cultures, floating cultures, and hanging drop cultures. Since each method can be differently influenced by various factors such as gravity force, buoyant force, centrifugal force, and magnetic force, in addition to non-physiological scaffolds, each method has its own advantages and disadvantages, and the methods have different suitable applications. We have been focusing on the use of a hanging drop culture method for modeling various non-cancerous and cancerous diseases because this technique is affected only by gravity force and buoyant force and is thus the simplest method among the various single cell type-derived spheroid culture methods. We have found that the biological natures of spheroids generated even by the simplest method of hanging drop cultures are completely different from those of 2D cultured cells. In this review, we focus on the biological aspects of single cell type-derived spheroid culture and its applications in in vitro models for various diseases.

Cilia-Inspired Magnetic Flexible Shear Force Sensors for Tactile and Fluid Monitoring.

Recently, there has been a burgeoning interest in flexible shear force sensors capable of precisely detecting both magnitude and direction. Despite considerable efforts, the challenge of achieving accurate direction recognition persists, primarily due to the inherent structural characteristics and sensing mechanisms. Here, we present a shear force sensor constructed by a magnetically induced assembled Ni/PDMS composite membrane, which is magnetized and integrated with a three-axis Hall sensor, facilitating its ability to simultaneously monitor both shear force magnitude (0.7-87 mN) and direction (0-360°). The cilia-inspired shear force magnetic sensor (CISFMS) exhibits admirable attributes, including exceptional flexibility, high sensitivity (0.76 mN-1), an exceedingly low detection limit (1° and 0.7 mN), and remarkable durability (over 10,000 bending cycles). Further, our results demonstrate the capacity of the CISFMS in detecting tactile properties, fluid velocity, and direction, offering substantial potential for future developments in wearable electronics.

Improvement of magnetic properties and hardness by alloying Mo to a FeCrCo alloy

In most of the technologies used for improving material properties, the enhancement of some properties usually leads to the degradation of others. In this study, we demonstrated that we were able to simultaneously improve hardness, coercivity, and remanence by alloying an FeCrCo alloy with Mo by engineering its α → α1 + α2 spinodal decomposition. We prepared six Mo-alloyed samples and subjected them to the appropriate aging protocols. As aging progressed, hardness increased from 272 to 447 HV and coercivity increased from 47 to 592 Oe in the alloyed samples. Remanence gradually increased from 52 to 98 Am2/kg, and then decreased to 82 Am2/kg in the final stage of the aging process. By adding Mo to six individual FeCrCo samples aged to different stages, we increased the hardness of these samples by 3 %, 8 %, 7 %, 8 %, 5 %, and 10 %, respectively. At the same time, we increased their coercivity by 74 %, 13 %, 19 %, 4 %, 14 %, and 9 % respectively and their remanence by 82 %, 63 %, 4 %, 4 %, 9 %, and 13 %, respectively. We used data drawn from scanning transmission electron microscopy, first-principles calculations, and magnetic force microscopy in order to elucidate the reasons behind the observed enhancements of magnetic properties in the FeCrCoMo alloy.

Soft Electromagnetic Sliding Actuators for Highly Compliant Planar Motions Using Microfluidic Conductive Coil Array.

We propose a soft electromagnetic sliding actuator that provides various planar motions to construct highly compliant actuation systems. The actuator is composed of a fully soft actuation base (stator) for generating electromagnetic and magnetic forces and a rigid neodymium magnet (slider) that slides on the actuation base. A parallel liquid-metal coil array in the stator is designed based on theoretical modeling and an optimization process to maximize the electromagnetic field density. The stretchable magnetic components in the stator allow the slider to retain its position stably without additional constraints. By incorporating an untethered structure in which the slider is mechanically decoupled from the stator, the actuator can be operated with reduced power consumption, attributed to the absence of a restoring force. The trajectory of the slider can be programmed by selectively applying the input current to the liquid-meal coil array, and the location of the slider can be estimated by measuring the change in inductance of each coil. Moreover, the proposed actuator demonstrates the capability of operating on curved surfaces through its physical compliance as well as on inclined surfaces thanks to the holding force generated by the magnetic components of the stator. Taking advantage of the unique characteristics of our actuator, robotic applications, including shape morphing systems and sensor-actuator integrated systems, are demonstrated.

The study on 4D culture system of squamous cell carcinoma of tongue

Traditional cell culture methods often fail to accurately replicate the intricate microenvironments crucial for studying specific cell growth patterns. In our study, we developed a 4D cell culture model-a precision instrument comprising an electromagnet, a force transducer, and a cantilever bracket. The experimental setup involves placing a Petri dish above the electromagnet, where gel beads encapsulating magnetic nanoparticles and tongue cancer cells are positioned. In this model, a magnetic force is generated on the magnetic nanoparticles in the culture medium to drive the gel to move and deform when the magnet is energized, thereby exerting an external force on the cells. This setup can mimic the microenvironment of tongue squamous cell carcinoma CAL-27 cells under mechanical stress induced by tongue movements. Electron microscopy and rheological analysis were performed on the hydrogels to confirm the porosity of alginate and its favorable viscoelastic properties. Additionally, Calcein-AM/PI staining was conducted to verify the biosafety of the hydrogel culture system. It mimics the microenvironment where tongue squamous cell carcinoma CAL-27 cells are stimulated by mechanical stress during tongue movement. Electron microscopy and rheological analysis experiments were conducted on hydrogels to assess the porosity of alginate and its viscoelastic properties. Calcein-AM/PI staining was performed to evaluate the biosafety of the hydrogel culture system. We confirmed that the proliferation of CAL-27 tongue squamous cells significantly increased with increased matrix stiffness after 5 d as assessed by MTT. After 15 d of incubation, the tumor spheroid diameter of the 1%-4D group was larger than that of the hydrogel-only culture. The Transwell assay demonstrated that mechanical stress stimulation and increased matrix stiffness could enhance cell aggressiveness. Flow cytometry experiments revealed a decrease in the number of cells in the resting or growth phase (G0/G1 phase), coupled with an increase in the proportion of cells in the preparation-for-division phase (G2/M phase). RT-PCR confirmed decreased expression levels of P53 and integrinβ3 RNA in the 1%-4D group after 21 d of 4D culture, alongside significant increases in the expression levels of Kindlin-2 and integrinαv. Immunofluorescence assays confirmed that 4D culture enhances tissue oxygenation and diminishes nuclear aggregation of HIF-1α. This device mimics the microenvironment of tongue cancer cells under mechanical force and increased matrix hardness during tongue movement, faithfully reproducing cell growthin vivo, and offering a solid foundation for further research on the pathogenic matrix of tongue cancer and drug treatments.

Magnetic Micromotors with Spiky Gold Nanoshells as SERS Sensors for Thiram and Bacteria Detection.

Surface-enhanced Raman scattering (SERS) is widely used in all kinds of detection due to its ultrahigh sensitivity and selectivity. Micromotors, when used as SERS sensors, or the so-called "hotspots on the fly", can combine both controlled mobility and SERS sensing capacity, and are ideal for versatile in situ detection. In this work, mobile SERS sensors are successfully fabricated by growing gold nanospikes onto magnetic microsphere surfaces. These mobile micromotors can act as normal SERS sensors, characterized by the trace detection of thiram, a highly toxic fungicide. The detection limit can reach 0.1nM, as good as most other noble metal deposited substrates. With significant magnetic gradient forces, separation of pathogenic bacteria from bulk solution is achieved once these magnetic micromotors bind with bacterial cells. Manipulated propulsion of micromotors, on the other hand, enables them to approach and contact pathogenic bacterial cells on command and further acquire Raman spectra under a controlled degree of contact, a capability never seen with passive sensors. The robotic SERS sensors have demonstrated unique sensing characteristics with controlled manipulations along with discriminative detection between bacterial species.

Periodic Flows in Microfluidics.

Microfluidics, the science and technology of manipulating fluids in microscale channels, offers numerous advantages, such as low energy consumption, compact device size, precise control, fast reaction, and enhanced portability. These benefits have led to applications in biomedical assays, disease diagnostics, drug discovery, neuroscience, and so on. Fluid flow within microfluidic channels is typically in the laminar flow region, which is characterized by low Reynolds numbers but brings the challenge of efficient mixing of fluids. Periodic flows are time-dependent fluid flows, featuring repetitive patterns that can significantly improve fluid mixing and extend the effective length of microchannels for submicron and nanoparticle manipulation. Besides, periodic flow is crucial in organ-on-a-chip (OoC) for accurately modeling physiological processes, advancing disease understanding, drug development, and personalized medicine. Various techniques for generating periodic flows have been reported, including syringe pumps, peristalsis, and actuation based on electric, magnetic, acoustic, mechanical, pneumatic, and fluidic forces, yet comprehensive reviews on this topic remain limited. This paper aims to provide a comprehensive review of periodic flows in microfluidics, from fundamental mechanisms to generation techniques and applications. The challenges and future perspectives are also discussed to exploit the potential of periodic flows in microfluidics.

Vortex confinement through an unquantized magnetic flux

Geometrically confined superconductors often experience a breakdown in the quantization of magnetic flux owing to the incomplete screening of the supercurrent against field penetration. In this study, we report that magnetic field confinement occurs regardless of the dimensionality of the system, even extending to 1D linear potential systems. By using a vector-field magnetic force microscope, we successfully create a vortex‒antivortex pair connected by a 1D unquantized magnetic flux in ultrathin superconducting films. Through an investigation of the manipulation and thermal behavior of the vortex pair, we uncover a long-range interaction mediated by the unquantized magnetic flux. These findings suggest a universal phenomenon of unquantized magnetic flux formation, independent of the geometry of the system. Our results present an experimental route for investigating the impact of confinement on superconducting properties and order parameters in unconventional superconductors characterized by extremely low dimensionality.

Co-evolutive Resilience: The Hidden Identity of Phoenicia

Finiq is the biggest town in its municipality and has served as an administrative center for various years. Most of the dwellings are placed during the 1990-2000 decade, referring to the previous and the current maps. Because of massive emigration trends in the past, there are many abandoned and unfinished houses. The uninhabited villages that have been abandoned in recent decades make up a serious problem, which is all too common in many Balkan countries. As a result, various buildings are semi-finished and in a degraded state, both architectural and structural. Also, on top of the hill of Finiq, there is an archeological site of the old Phoenicia city. It serves as the main touristic attraction for the town, along with the bucolic scene of the countryside. By analyzing the territory of Finiq we figured out that there is a hidden identity of the urban structure. As the town lays morphologically on the strip, it fragmentises from the second and third row of buildings, showing a “missed typological block”. On the other hand, it shows the creation of spontaneous empty spaces, that suggest this hidden spirit of the town, created imaginatively by connecting them. The simple disposal of each building to the nearest one creates what Franco Purini calls the “border distance”, a distance that, like in Michelangelo’s fresco, creates a necessary situation for one to feel the magnetic force of attraction or repulsion between the two bodies. The space where this magnetic force is exerted is the key point from which to draw the hidden spirit of Finiq. It is precisely the shape of that space that will determine the rules for the evolution of the town's identity. We will analyze in this paper how this space "between" can “co-evolve” if the institutions and the people who live there find a common language to reinvent a new but existing architecture of the place. As spotted in the analysis, we can confirm that there is an identity in Finiq. A “hidden spirit” lies in empty and fragmented spaces. It’s a millennial town, therefore something stronger than the constructions exists there. The resilience of the context’s form, space, and time coexist in lost identity, which we can strongly expose by intervening surgically. the co-evolution of these public spaces must start from precise rules which, through the careful analysis of the architect and urban planner, must be able to direct the inevitable spontaneity of the place’s history, without having a drastic top- down effect.

Mass transport driving forces under electric current in the liquid Sn-Zn system

Significant effects of electric currents on mass transport in liquid metals have been observed for long, but the origin of the corresponding driving forces remains unclear in the literature. Without current, two driving forces induce mass transport in liquid metals. (i) A chemical force, coming from concentration gradients. In that case, mass transport occurs by diffusion. (ii) A physical force, resulting from density gradients thermally and/or chemically induced. Here, mass transport occurs by thermal and/or solutal convection. Under electric currents, these driving forces are modified, either by electrostatic or magnetic forces, the corresponding mechanisms being referred to as electroconvection and magnetoconvection, respectively. However, these mechanisms cannot easily be distinguished from each other, leading to confusion in literature. Here, it has been shown that, in the liquid Sn-Zn system, the driving force induced by 500–1000 A/cm2 electric current densities is magnetic rather than electrostatic, the mechanism being therefore magnetoconvection.

Analysis and Simulation of Permanent Magnet Adsorption Performance of Wall-Climbing Robot

In response to problems such as insufficient adhesion, difficulty in adjustment, and weak obstacle-crossing capabilities in traditional robots, an innovative design has been developed for a five-wheeled climbing robot equipped with a pendulum-style magnetic control adsorption module. This design effectively reduces the weight of the robot, and sensors on the magnetic adsorption module enable real-time monitoring of magnetic force. Intelligent control adjusts the pendulum angle to modify the magnetic force according to different wall conditions. The magnetic adsorption module, using a Halbach array, enhances the concentration effect of the magnetic field, ensuring excellent performance in high-load tasks such as building maintenance, bridge inspection, and ship cleaning. The five-wheel structural design enhances the stability and obstacle-crossing capability, making it suitable for all-terrain environments. Simulation experiments using Maxwell analyzed the effects of the magnetic gap and the angle between the adsorption module and the wall, and mechanical performance analysis confirmed the robot’s ability to adhere safely and operate stably.