Remote Force Research Articles

How does the heterogeneous interface influence hydraulic fracturing?

Under the influence of the nonlinear fluid-solid coupling, hydraulic fracture exhibits various propagation modes (such as toughness- or viscosity-dominated), which stem from the competition between the solid deformation and fluid flow. Based on the homogeneous assumption, the basic theoretical analysis has divided toughness and viscosity scales in the tip region. However, regarding more realistic and complex geological conditions, like layered heterogeneity, knowledge of fluid-driven fracture propagation is still unclear. This work establishes a theoretical model and solving approach to reveal the multiscale asymptotic behavior during hydraulic fracture passing through the heterogeneous interface (i.e., discontinuous elastic properties). The influence of material discontinuity, regarded as the remote force, in the near-tip, intermediate, and far-field scales is analyzed by the asymptotic analysis and validated by the numerical solutions. Notably, solutions at the intermediate scale manifest as individual feature owing to the heterogeneity: as the crack in front of the interface, just a specific transition solution governed by the property and position of the interface appears; once the crack tip passes the interface, the interface-governed transition solution and interface solution occur simultaneously and interact as the crack tip moves away from the interface. Such multiscale property results in the interface-governed fluid-solid interaction in the tip region, and finally leads to changes in interface failure and propagation mode. On the one hand, the criterion for interface failure should be modified by simultaneously incorporating the heterogeneity of solid domain and multiscale nature of tip solution, especially for viscosity- or interface-dominated propagation regimes. On the other hand, the propagation mode in a heterogeneous domain is controlled by two characteristics: traditional l/lmk for toughness-viscosity competition associated with c/Lμ for material discontinuity effect proposed in the present work. These insights provide the theoretical foundation for modeling hydraulic fracture propagation in layered heterogeneous domains.

WIRELESS CHARGING STATION FOR EV VEHICLES AND SOLAR PANELS

Electric vehicles (EVs) are a new and developing technology in the power and transportation sectors. Regarding the state of the economy and ecology, there are more advantages. The most crucial component of electric vehicles is the charging station, which lowers environmental pollution and the influence of greenhouse gases. Electric Vehicle Supply Equipment is another name for this electric charging station (EVSE). It is made up of both low power and high power. It would be very helpful to build an on-road charging system with a solar panel so that we can charge at any time. We can also drive off-road with connected batteries because the high power is terminated at a fraction of the second charging that can be implemented in an electric vehicle rather than the low power. The photovoltaic (PV) cell's force from sunlight is transferred to the electric vehicle's battery via the application of remote force move technology. Sunoriented boards are thought to build an autonomous force station, so reducing its need on common energy resources. By using the light energy the sun produces, the sunoriented boards generate electrical energy. The energy obtained from the board is transferred to a battery by means of a solarpowered charge regulator, therefore increasing the photovoltaic cell's force output. Due to the wireless connection between the transmitting and receiving coils, DC current is injected into the battery. The battery is automatically switched off from solar power once it is full. As a consequence, electric battery utilization and sustainable mobility are achieved. There is an overview of the charging stations and a discussion of the implications of electric vehicles.

Hysteresis Modeling and Compensation for Tendon-Sheath Mechanisms in Robot-Assisted Endoscopic Surgery Based on the Modified Bouc-Wen Model With Decoupled Model Parameters

The tendon-sheath mechanism (TSM) has been widely applied in flexible endoscopy (FE) and natural orifice transluminal endoscopic surgery (NOTES) owing to its advantages of remote force and displacement transmission, size reduction, compactness, and convenient implementation. However, the positioning accuracy of TSMs is highly restrained by the motion hysteresis due to the complex friction condition between the tendon and sheath. The hysteresis phenomenon has posed significant challenges for modeling and controlling TSMs. This paper proposes a modified Bouc-Wen-based mathematical model to characterize the asymmetric hysteresis loop with distinct inflection points. The model parameters are decoupled, facilitating identification and reducing computational costs. Moreover, the model has retained the Bouc-Wen model structure, allowing for efficient derivation of the feedforward compensator based on the inverse multiplicative structure. The compensator was derived and cascaded with the TSM system to suppress the hysteresis phenomenon. Totally 120 trials of experiments were conducted to validate the proposed model and the feedforward control scheme on the two TSMs with different accumulated curvatures of 180∘ and 360∘. The results indicated that the proposed method achieved a 25.5% and 43.9% lower estimation and compensation error than the classical Bouc-Wen model. Further, it is worth noting that the model parameter identification time consumption has been significantly reduced to 5.8ms. The proposed model and the feedforward compensator can effectively linearize the TSM system and further facilitate delicate operations in robot-assisted surgical procedures.

Integration of Wireless Power Transfer Technology With Hierarchical Multiwalled Carbon Nanotubes-Polydimethylsiloxane Piezo-Responsive Pressure Sensor for Remote Force Measurement

Integrating sensory devices with wireless power transfer technology for remote sensing (RS) requires the implementation of complex electronic circuitry and communication protocols. To overcome this challenge and remotely monitor mechanical force, we directly integrated piezo-responsive porous multiwalled carbon nanotubes (MWCNTs)/polydimethylsiloxane (PDMS) nanocomposites with a near-field wireless power transfer system. The wireless system transfers power bidirectionally between the transmitter and the sensing receiver at the resonant frequency of 13.56 MHz. The detection principle is based on the mechanical force-induced impedance changes in the receiver circuit. The modulated impedance signal is detected wirelessly at the transmitter circuit via a full-bridge rectifier and a smoothing capacitor. Furthermore, we demonstrate the wireless monitoring of finger bending and applied force using our flexible and disposable sensor without using any energy storage devices. The results suggest a response and recovery time of 400 ± 50 ms, strain sensitivity of 24.73, and pressure sensitivity of 0.98. Our approach adds a new path for disposable haptic-based sensory applications that do not require complex communication protocols in medical, robotics, and other fields.

풍하중을 고려한 대형 레이더 구동부의 구조 안전성 평가

In this study, we confirmed the structural stability of bearings applied to large radar structures via finite element analysis and verified the margin of safety of bearings due to wind load. The analysis was performed using the weight of the antenna as a point mass, and various wind load conditions were input as a remote force. The structural safety was confirmed based on the amount of deformation of the bearing, and the margin of safety under wind load and rotational conditions was evaluated and confirmed.

Adaptive Wave Reconstruction Through Regulated-BMFLC for Transparency-Enhanced Telerobotics Over Delayed Networks

Bilateral telerobotic systems have attracted a great deal of interest during the last two decades. The major challenges in this field are the transparency and stability of remote force rendering, which are affected by network delays causing asynchrony between the actions and the corresponding reactions. In addition, the overactivation of stabilizers further degrades the fidelity of the rendered force field. In this article, a real-time frequency-based delay compensation approach is proposed to maximize transparency while reducing the activation of the stabilization layer. The algorithm uses a regulated bound-limited multiple Fourier linear combiner to extract the dominant frequency of force waves. The estimated weights are used in conjunction with the relatively phase-lead harmonic kernels to reconstruct the signal and generate a compensated wave to reduce the effect of the delay. The reconstructed force will then pass through a modulated time-domain passivity controller to guarantee the stability of the system. We will show that the proposed technique will reduce the force-tracking error by 40% and the activation of the stabilizer by 79%. It is shown, for the first time, that through the utilization of online adaptive frequency-based prediction, the asynchrony between transmitted waves through delayednetworks can be significantly mitigated while stability can be guaranteed with less activation of the stabilization layer.

MoO3-x quantum dots-based hydrogel with excellent light-triggered self-healing efficiency and pressure sensitive photoluminescence for accurate remote force measurement

Multi-responsive functional materials with simultaneous photothermal and photoluminescent properties have broad applicational prospects in the field of flexible electronics, devices and remote force detection and monitor. Here, a feasible method is developed by introducing MoO3-x quantum dots (MoO3-x QDs) and blue fluorescent carbon dots (B-CDs) into a strong hydrogel matrix to fabricate a novel composite hydrogel with concurrent photothermal and photoluminescent properties. Besides rendering the peculiar multifunctionalities, we found that the addition of photothermal MoO3-x QDs enhances the mechanical properties and self-healing properties of the composite hydrogel. The temperature of the MoO3-x-CDs-PVA (Polyvinyl Alcohol) hydrogel can rise by 30 °C within 1 min after 808 nm infrared laser irradiation and the self-healing efficiency could double after 40 s of irradiation. Moreover, there is a good linear relationship between the fluorescence intensity of the composite hydrogel and the external force, which can be used to monitor the force within a certain range. The monitoring range and sensitivity can be further improved by adjusting the infrared laser to for small force detection. Finally, the novel composite hydrogel is successfully applied to fracture monitoring in fracturing and force monitoring at different locations in the fluid model in the field of petroleum engineering.

A Study of Design and Analysis of Automobile Wheel Rim Using Different Fillet Radius and Different Y Spoke Angle

Abstract: Wheel rims are the most important part of automobile, in an automobile there are fatigue loads and static loads which are actively participated in design. There are several ways of failure of wheel rim like critical stresses and material failure due to design, dimension and shape of wheel also play vital role in its dimensions and shape vehicle rim design. Present paper studied the Y angle optimization in alloy wheel rim. The present design analysed by ANSYS software. For the structural analysis for the remote force the magnitude applied is 1000N and for the pressure which applied on the wheel is 245kPa. Therefore, so comparing the wheels with the total deformation occurred alloy wheels are better than the steel wheel and comparing the both the alloy wheels multi-spoke alloy wheel is better than the 6-spoke alloy wheel. The total deformation of 8 spoke alloy wheel with 55° Y spoke angle, figure clearly depicted the total deformation maximum value 0.00155mm maximum at base of wheel or outer periphery of wheel rim. Keywords: Wheel Rim, Y Spoke Angle of rim, fillet radius of rim, total deformation occurring, ANSYS

Highly fluorescence Ta4C3 MXene quantum dots as fluorescent nanoprobe for heavy ion detection and stress monitoring of fluorescent hydrogels

Compared with other transition metal Mxene derived quantum dots (MQDS), Ta-based Mxene quantum dots have good functionality, but Ta-based Mxene quantum dots and their applications have not been studied so far. In this paper, we report for the first time the synthesis of high fluorescence quantum yield (QY) N-doped Ta4C3 quantum dots (N-MQDs) using Ta4C3 quantum dots in acid reflux damaged Ta4C3 nanosheets as precursors and ethylenediamine as nitrogen source. The prepared N-MQDs have excellent blue photoluminescence (PL) properties, particle size is only 2.60 nm, QY is up to 23.4%, and good stability. In addition, it has been reported that N-MQDs can be used as fluorescent probe for detection of Fe3+ and remote force sensing analysis In liquid ion sensing, N-MQDS shows a unique selective quenching of Fe3+ with a detection limit as low as 2 µmol/L, and has great potential as a fast and super-sensitive fluorescent probe for the detection of heavy ion. More importantly, in solid mechanics sensing, the introduction of N-MQDs into self-healing hydrogels can be developed into a fluorescent hydrogel that can be used for accurate remote force measurement and applied in the field of mechanical sensing analysis. Therefore, Ta-based N-MQDs show excellent potential in the field of fluorescence sensing, which provides a door for multi-dimensional sensing of new materials in the future.

Dynamic Wireless Power Transfer in Electric Vehicles

An Electrical vehicle can utilize a force move framework to charge the on-board Rechargeable Energy Storage System (RESS the battery) or to give the capacity to the electric engine. It is additionally conceivable to utilize remote force move to charge the batteries while fixed, using charging pads. Both of these arrangements are satisfactory for assessing at home or in-vehicle parking, yet at the same time, require the vehicle to stop in a proper area to charge the battery. We propose an eco-friendly wireless charging system for electric vehicles, which enables wireless charging of the vehicle while running on the highways. The proposed approach is also used for the charging of cars in the shopping malls and other parking places. Moreover, the proposed charging system may require electrical energy from the solar PV systems and wind turbines, installed along the highways. The solar PV system and wind turbines are connected to form a Microgrid system and feed generated electrical energy to the wireless charging system. The surplus electrical energy may be either fed back to the primary grid or used for highway illumination. The wireless charging system also consists of an air-core transformer with its primary winding below the highway surface and secondary mounted on the vehicle. The ac power from secondary passes through a rectifier and dc-dc conversion stage to produce suitable dc voltage and current for the charging of the battery unit.

Solar based wireless on road charging station for electric vehicles

Electric vehicle (EV) emerging as an upcoming technology in both the sector of transportation and power. There are more benefits in terms of economic and environmental conditions. The most important factor in Electric Vehicle is charging station, which reduces a green gas effect and environment pollution. This electric charging station is also known as Electric Vehicle Supply Equipment (EVSE). It consists of both the high power and low power. The high power is terminated at a fraction of second charging that can be implement in the Electric vehicle rather than the low power so, if we construct an on-road charging with the help of solar panel it will be very useful to charge at any point of time and with the help of connected batteries we can drive in off road. Remote force move technique is fused in moving the sunlight-based force from the Photo Voltaic (PV) cell to the battery utilized in the electric vehicle. Sun oriented boards are considered to assemble an independent force station, along these lines limiting its reliance on ordinary energy assets. The sun-oriented boards create electrical energy by the utilization of the light energy produced by the sun. The energy acquired from the board is taken care of to a battery, through a sunlight-based charge regulator which augments the force yield from the PV cell. The communicating coil with the receiving coil are connected wirelessly and thus the DC current is injected to the battery. Once the battery is full it automatically turned off from solar power. Thus, it results in sustainable transportation and use of Electric batteries. The charging stations are outlined and the impact of electric vehicle are also discussed.

Analyzing suspension upright of a Formula Society of Automotive Engineers style vehicle.

This project was aimed at modelling the stress and deformation profile of a 6061-T6 aluminium suspension upright of a formula society of automotive engineers style vehicle with a double wishbone suspension under the loading conditions of a 1.5G corner. With these results, it would need to be determined whether the design is fit for use. Using remote displacement boundary conditions for the upper and lower wishbone connections and the control arm connection with a remote force at the centre of the wheel patch acting on the bearing surfaces the maximum stress, overall stress profile and maximum deformation of the upright was calculated. These results after, undertaking a verification and validation study, were a maximum equivalent von-Mises stress of 87.358MPa and a maximum bearing surface deflection of 0.21 mm. The maximum von-Mises stress calculated was less than the fatigue limit of 90MPa signalling infinite life and also less than the yield stress of 240MPa signalling a safe design. Verification and validation techniques were used to ensure the final result was accurate and reflected the real – life system. Structural error was used to verify the results where it was found that maximum structural error in the upright was 0.052mJ and at the location of maximum stress was between 0.0058-1.0782e-8 mJ. Validation of the model was achieved by comparing the reaction forces calculated in ANSYS to theoretical values and was found that the magnitudes were within 2.5% of the theoretical values, thus the model was considered valid.

Bifurcations in basic models of delayed force control

Basic single-degree-of-freedom mechanical models of force control are presented to achieve desired contact forces between actuators and objects. Nonlinear governing equations are constructed for both collocated and non-collocated force sensor configurations. The models take into account large time delays in the feedback loop, which may occur, for example, in case of human or remote force control. The corresponding stability charts are compared for the collocated and non-collocated cases. The bifurcations at the stability boundaries are analyzed in the presence of the relevant nonlinearity that is originated in the saturation of the actuation. The stability properties as well as the nonlinear vibrations for the two sensor locations are compared also from the viewpoint of the achievable maximal proportional gains. The bifurcation calculations are done with the method of multiple scales and normal form calculations. The results on global dynamic properties are supported with numerical simulations, and the two force control strategies are discussed from application viewpoint.

A self-healing hydrogel with pressure sensitive photoluminescence for remote force measurement and healing assessment

A self-healing hydrogel with a triple network structure and pressure sensitive photoluminescence for remote force measurement and healing assessment was successfully fabricated.

Multicolor tunable highly luminescent carbon dots for remote force measurement and white light emitting diodes.

Multicolor tunable carbon dots (CDs) are obtained by only altering the reaction solvents in solvothermal treatment. The red CDs (R-CDs) have a quantum yield of 50.8%, the highest reported for nitrogen and sulfur co-doped R-CDs so far. These CDs are developed into fluorescent hydrogels for precise remote force measurement and WLEDs with the CIE color coordinate of (0.31, 0.32).

Nonlinear composite bilateral control framework for n-DOF teleoperation systems with disturbances

This paper proposes a new nonlinear composite bilateral control framework for n-degree-of-freedom (n-DOF) teleoperation systems with external disturbances. Different with the existing methods which usually regard the dynamics of the master and slave robots as linear impedance models, the proposed control framework fully considers the nonlinear dynamics of the n-DOF teleoperation systems. Central to the proposed framework is the utilization of nonlinear disturbance observers for estimating the disturbances in master and slave robot systems. The nonlinear composite bilateral controller is constructed by incorporating the disturbance estimations into the nonlinear feedback linearization controller. The proposed control method guarantees satisfactory position tracking performance and desired remote force haptic simultaneously for the n-DOF teleoperation systems with external disturbances. The effectiveness of the proposed control framework is validated by its applications on 2-DOF teleoperation systems.

Optical Force Sensing with Cylindrical Microcontainers

AbstractQuantitative force sensing reveals essential information for the study of biological systems. Forces on molecules, cells, and tissues uncover functioning conditions and pathways. To analyze such forces, spherical particles are trapped and controlled inside an optical tweezers (OT) trap. Although these spherical particles are well‐established sensors in biophysics, elongated probes are envisioned for remote force sensing reducing heat damage caused by OT. There is thus a growing demand for force metrology with OT using complexly shaped objects, e.g., sac‐like organelles or rod‐like bacteria. Here, the employment of Zeolite‐L crystals as cylindrical force sensing probes inside a single optical trap is investigated. It is shown that cylindrical objects can be used as force probes since existing calibration assays can be performed with suitable corrections. Forces of active driving assays are compared with passive calibration methods. Finally, the investigations are extended to direct force measurements based on momentum calibration, in which the influence of rotation due to torque in a single optical trap is unveiled. Simulations reveal the relation between torque and the position of equilibrium in the trap. The results highlight the functionality of Zeolite‐L crystals as probes for force sensing, while opening perspectives for enhanced, accurate force metrology in biophotonics.

Wireless thin layer force sensor based on a magnetostrictive composite material

Magnetostrictive composites are of considerable interest for real-time remote force sensing and structural health monitoring. In this study, we produced wireless thin-layer force sensors based on washers made of magnetostrictive composite materials featuring terfenol-D particles embedded in an epoxy matrix. The magnetostrictive composite materials were characterized by a combination of characterization techniques, including x-ray diffraction, magnetic hysteresis measurements, and dedicated magneto-mechanical tests. We demonstrated an operation range over which the magneto-mechanical response is linear, repeatable, has a minor amount of hysteresis and demonstrates no relaxation or rate effects. In addition, we demonstrated ways for producing force sensors with a higher sensitivity and signal-to-noise ratio by increasing the poling magnetic field and the temperature during the curing of the epoxy. Moreover, we identified the sequence of processes that occur during the curing and poling stage and the critical (hardest) process that eventually determines sensor sensitivity.

A physically based model for stress sensing using magnetostrictive composites

Magnetostrictive composites are of considerable interest for real-time remote force sensing and structural health monitoring. In this paper, we introduce a new procedure for modeling the magnetic field induced by an external load applied on an epoxy-based composite material filled with Terfenol-D particles. This model is based on an assumed sequence of physical processes that occur at the microscopic scale, and it includes both domain switching and magnetization rotation. The modeling procedure is demonstrated on a problem relevant for load sensing applications in which the magnetostrictive composite is subjected to a uniaxial compression. Comparison of the calculated and experimental results strengthens the validity of the assumed sequence of physical processes and provides valuable insights important for application developments.

Motion Compensation of Tendon-Sheath Driven Continuum Manipulator for Endoscopic Surgery

Tendon-sheath actuation mechanism is widely used in surgical robot, especially in endoscopic surgery, due to its capable of providing remote force and action transmission through long and flexible channel. However, hysteresis, backlash, nonlinear friction are the drawbacks of this mechanism. Our surgical robot use continuum manipulator which is useful in endoscopic surgery, due to its flexible and simple structure. Unlike other literatures that focus on tendon-sheath compensation only, the continuum manipulator is also taken into application level analysis. A model based feedforward motion compensation for tendon-sheath driven continuum manipulator is presented. The model is validated by using optical tracking system to trace the distal end position. Experiment result shows that the proposed model reduces the position error less than 5%.