Single Systems Research Articles

Synergistic Effect of Betaines and Dialkyl Chain Anionic Surfactants on Interfacial Arrangement: A Molecular Dynamics Simulation Study.

Mixed systems of betaines and anionic surfactants can have a significant synergistic effect and greatly reduce the interfacial tension (IFT), which has attracted an extensive amount of attention. However, this synergistic effect requires an anionic surfactant and betaine molecular size matching, which limits the scope of its application. In this work, we studied three mixed systems of sodium dialkyl sulfosuccinate (AOT) and betaines with different sizes by molecular dynamics simulation and an IFT experiment and explored the interfacial behavior and synergistic mechanism of AOT in single and mixed systems. The hydrophobic tail chain center angle, average rising height of carbon atoms, stretch degree and distance between the terminal carbon atoms of AOT, and tilt angles of betaine were calculated and analyzed in detail. Simulation results showed that the hydrophobic tail chain center angle of AOT in the single system was smaller, and it tended to extend into the oil phase. After being mixed with different betaines, AOT can adjust its size according to the interfacial vacancies of different betaine systems by changing the alkyl chain orientation and forming tighter interfacial films. The IFT experiment showed that betaine/AOT mixed systems achieved a lower IFT value compared with that of the single system, indicating that AOT showed a synergistic effect with betaines with different structures. This study will be importantly instructively significant for the design and research of betaine mixed systems in crude oil exploitation.

Computerized Optical Impression Making of Fully Dentate Upper and Lower Jaws: An In Vitro Study

Objectives: The aim of this experimental study was to evaluate the accuracy of five intraoral scanners for digitizing fully dentate unprepared maxillae and mandibulae in vitro. Materials and Methods: One maxillary and one mandibular reference model with acrylic teeth, an industrial grade reference scanner, 3D evaluation software and the intraoral scanners CS 3500, iTero HD2.9, Planmeca PlanScan, TRIOS Standard and 3M True Definition were used. Scans of the entire arches, one front and two side segments of each arch scan of maxilla and mandibula were evaluated separately for trueness and precision. In addition, visual analyses of deviation patterns, surface properties and approximal areas were performed with the aid of 3D evaluation software. Results: The intraoral scanners CS 3500, TRIOS Standard and iTero HD2.9 showed a similar level of trueness. The True Definition scanner showed lower full arch trueness compared to the TRIOS Standard and to the iTero HD2.9 (p < 0.05). Full arch trueness of the PlanScan was lower compared to the other scanners. Video-based systems showed higher numbers of datapoints per scan (127,300–169,730) compared to single image-based systems (64,115–88,124). The acquisition of interproximal areas was insufficient across all scanners. Limitations: The intraoral scanners were not tested under clinical conditions in this study. Conclusions: Apart from interproximal areas, clinically acceptable full arch trueness was achieved by the CS 3500, the iTero HD2.9 and the TRIOS Standard.

Fe3O4/biochar modified with molecularly imprinted polymer as efficient persulfate activator for salicylic acid removal from wastewater: Performance and specific recognition mechanism

In this study, a novel Fe3O4-based biochar coupled surface-imprinted polymer was constructed via simple hydrothermal route for salicylic acid recognition and degradation in advanced oxidation processes. The material exhibited excellent adsorption capability, up to 118.23 mg g−1, and efficient degradation performance, 87.44% removal rate within 240 min, based on integrating the advantages of both huge specific surface area as well as abundant functional groups from biochars and specific recognition sites from imprinted cavities. Moreover, high selectivity coefficient (11.67) showed stable recognition in single and binary systems. SO4•− and •OH were confirmed as reactive oxygen species in catalytic reaction according to quenching experiments and EPR analysis. The degradation mechanism and pathway were unraveled by DFT calculations and LC-MS. Furthermore, the results of toxicity evaluation, stability and reusability demonstrated application potential in the field of water environment restoration. This study confirmed that molecular imprinting provided a promising solution to targeted removal of emerging environmental pollutants by degrading after the enrichment of pollutants to the composites surface.

A simple chemical equilibrium algorithm applied for single and multiple reaction systems

AbstractThermodynamics is a branch of physics of high importance for engineering applications but is usually considered by most students as a rather obscure field, full of abstract concepts. Therefore, simple algorithms, which can exemplify the use of thermodynamic principles for practical situations, should be viewed as valuable teaching tools with large applications in engineering undergraduate courses. This point served as motivation for the present work, which proposes an alternative and simple computational approach for solving chemical equilibrium problems via successive reaction quotient calculations, both for single and multireactional systems. The code was written using MATLAB software; its fundamental theory was explained through a step‐by‐step approach and applied to both Shift and Boudouard reactions. Comparisons with ASPEN HYSYS and HSC Chemistry simulations corroborate its versatility and thermodynamic consistency. The full script is available in its entirety at the as supporting information together with the necessary text (.txt) files. Also, a user guide was provided to help students to replicate the results presented in the article.

A Novel Multifunctional Material for Constructing 3D Multi‐Response Structures Using Programmable Two‐Photon Laser Fabrication

AbstractTwo‐photon polymerization direct laser writing (TPP‐DLW) technology has gained much popularity due to its precision and flexibility in creating intricate 3D micro/nano‐scale devices and machines. While TPP‐DLW enables complex 3D micro/nano patterning, developing multifunctional materials tailored for this process remains a challenge, limiting sophisticated micro/nano device performance. This work addresses key barriers by introducing a novel multifunctional network polymer with specifically designed for TPP‐DLW. The material integrates tailored functional groups allowing submicron 3D spatial arrangement under laser control. Remarkably, it demonstrates tunable pH response, programmed fluorescence, and dynamic reconfiguration upon optical illumination. By leveraging TPP‐DLW's programmability, reconfigurable encrypted microstructures are achieved, representing a new precision multifunctional material printing paradigm beyond single property systems. The synthesized material with its responsive properties, combined with digital fabrication control, fills critical gaps in developing smart, adaptive micro/nano systems. Potential applications requiring exquisite 3D control and multi‐tasking, such as biomedical sensors, micromachines and optics could see transformative advancement. Fundamentally, this integrated materials‐processing approach broadens micro/nano manufacturing design space and functional versatility.

Numerical investigation of the aerodynamic performance and loss mechanism in a low bypass ratio variable cycle engine fan

The aerodynamic performance of the variable cycle engine fan changes sharply during mode transition. Investigating the variations of flow structure and understanding the loss mechanism are helpful in providing guidance for the fan design. Three-dimensional models of single bypass and double bypass compression systems are established, and static pressure is applied at the bypass stream outlet to simulate the opening of the mode selection valve. The characteristic band of variable cycle engine fan is obtained by gradually increasing the bypass stream pressure while maintaining specific values for the core stream pressure. Results show that the overall performance of the double bypass configuration, without bypass recirculation, is almost identical to that of the conventional single bypass configuration during the throttling process. With the increase in bypass pressure, the shock wave and the trajectory of tip leakage vortex gradually move forward, thereby increasing the blockage region induced by the interaction between the shock and tip leakage vortex. In addition, the performance of fan with reverse flow is also calculated. The recirculation causes the operating point to move closer to the stability limit, reducing the isentropic efficiency. Additionally, the recirculation changes the radial distribution of axial velocity and total pressure, leading to inlet distortion in the core driven fan stage. Furthermore, the loss mechanism is clarified by modeling the splitter and conducting entropy generation analysis. The sharp expansion of bypass stream could cause severe flow separation, and reducing the curvature of casing can effectively suppress the viscous shear loss.

Competitive Adsorption of Cd(II) and Zn(II) on Biochar, Loess, and Biochar-loess Mixture

Combined heavy metal contamination in soil is a common phenomenon. Biochar amendment into the soil is considered to be an alternative for immobilization remediation of soil contaminated with heavy metals due to its adsorption and alkalization. However, much attention has been paid to the adsorption and immobilization of single heavy metals by biochar. In this paper, the competitive adsorption of Cd(II) and Zn(II) on biochar derived from cotton straw and pig manure at 500℃ (BCS500 and BPM500), loess and biochar-loess mixtures were investigated using the batch equilibrium method. The results showed that the adsorption capacities of biochars, loess, and biochar-loess mixtures to Cd(II) and Zn(II) in the mixed Cd-Zn systems increased with the increase of initial metal concentrations of Cd(II) and Zn(II). The adsorptive capacities of BCS500 and BPM500 to Cd(II) in mixed Cd-Zn system were 33% and 35% less than those in the single Cd(II)systems, while the adsorptive capacities to Zn(II) were 62% and 56% less than those in the single Zn(II) systems. The adsorptive capacities of loess to Cd(II) and Zn(II) in mixed Cd-Zn systems were 29% and 55% less than those in the single metal systems. The adsorptive capacities of loess-BCS500 (LBCS) and loess-BPM500 (LBPM) to Cd(II) in mixed Cd-Zn system were 40% and 38% less than those in the single Cd(II) systems, while the adsorptive capacities to Zn(II) were 63% and 60% less than those in the single Zn(II)systems. Moreover, the competitive adsorptive capacity of Cd(II) is greater than that of Zn(II). It can be seen that when heavy metal pollution with similar nature of multiple elements exists in soil, the amount of adsorbent should be increased to resist the possible weakened adsorption caused by competitive adsorption in order to guarantee an effective absorption treatment.

Optimizing performance assessment of multi-reservoir operations for sustainable water management in a semi-arid region

Abstract Global challenges, such as population growth, rapid urbanization, and the impacts of climate change, are creating unprecedented demands on water resources in semi-arid regions. Meeting the surging needs for irrigation and water supply requires a departure from the limitations of single reservoir systems. Instead, the construction of multi-reservoir systems within semi-arid river basins is imperative. The research employs an integrated reservoir operation approach that facilitates the controlled release of surplus water from upstream reservoirs to downstream ones. The novel Teaching-Learning-Based Optimization (TLBO) model is utilized to determine optimal irrigation releases, subsequently forming the basis for evaluating reservoir operation performance through the lenses of reliability, resilience, and vulnerability. The findings of this study shed light on the performance of these reservoirs under different models. Notably, the Aji-2 reservoir operation exhibits higher levels of reliability and resilience when the TLBO model is employed, surpassing the outcomes of the Linear Programming (LP) model. Conversely, the vulnerability of the Aji-3 reservoir operation is more pronounced with the TLBO model, albeit reduced when compared to actual release years 2005, 2009, and 2013. This study adds to the development of reservoir operation policies that favor reduced vulnerability and increased reliability.

Joint response mechanism of bioanode and biocathode in single chamber biocathode microbial electrochemical systems started-up with a constant and low resistance

Microbial electrochemical systems (MESs), particularly biocathode MESs, are recognized as environmentally friendly technologies in wastewater treatment. Rapid start-up and achievable high current and power density are desirable for scaled-up MES. The high output current can be obtained under low external resistance, but the response behaviors of bioanode and biocathode during start-up stage under low external resistance need to be clarified. In this study, a 10 L single-chamber biocathode microbial electrochemical system with microbial separator was successfully started within 11 days under a low external resistance of 20 Ω. The maximum power density reached 116.6 mW/m2 on the 9th day. However, the competition between oxygen-reducing bacteria and filamentous bacteria in the biocathode caused the decreased output power and power overshoot. Reducing the external resistance not only eliminated the power overshoot but also enhanced the electroactivity and organic removal efficiency of the bioanode. Additionally, it alleviated the constraint of filamentous bacteria on oxygen mass transfer, thereby enhancing the performance of the biocathode. The comprehensive regulation of the bioanode and the biocathode performance was achieved by reducing external resistance. This study analyzed the joint response mechanism of the bioanode and biocathode, aiming to provide guidance for the application of biocathode microbial electrochemical systems.

Transient simulation and analysis of a supercritical CO2 heat removal system under different abnormal operation conditions

The supercritical carbon dioxide (sCO2) heat removal system, which is based on multiple closed Brayton cycles with sCO2 as the working fluid, is an innovative, self-propelling and modular heat removal system for existing and future nuclear power plants. Previous studies analysed its design, layout, control and operation. In addition, this study considers different sudden failures during the accident progress, e.g. failure of single sCO2 cycles, control systems and valves. These abnormal conditions were investigated with the thermal-hydraulic system code ATHLET for a generic Konvoi pressurized water reactor. In most cases, the failure of a single sCO2 cycle can be compensated. On the one hand, failure of the fans of the gas cooler leads to a pressure increase which may be mitigated by an inventory control system or cycle shutdown. On the other hand, unintended fan speed-up can cause compressor surge without adequate countermeasures. Furthermore, the system can operate under the cyclic blow-off from the steam generator safety valves when the relief valves are not available. Finally, the unintended closure of the valve which controls the steam flow through the compact heat exchanger triggers a fast cycle shutdown but a subsequent restart might be possible.

Deep quantitative proteomics of North American Pacific coast star tunicate (Botryllus schlosseri).

Botryllus schlosseri, is a model marine invertebrate for studying immunity, regeneration, and stress-induced evolution. Conditions for validating its predicted proteome were optimized using nanoElute® 2 deep-coverage LCMS, revealing up to 4930 protein groups and 20,984 unique peptides per sample. Spectral libraries were generated and filtered to remove interferences, low-quality transitions, and only retain proteins with>3 unique peptides. The resulting DIA assay library enabled label-free quantitation of 3426 protein groups represented by 22,593 unique peptides. Quantitative comparisons of single systems from a laboratory-raised with two field-collected populations revealed (1) a more unique proteome in the laboratory-raised population, and (2) proteins with high/low individual variabilities in each population. DNA repair/replication, ion transport, and intracellular signaling processes were distinct in laboratory-cultured colonies. Spliceosome and Wnt signaling proteins were the least variable (highly functionally constrained) in all populations. In conclusion, we present the first colonial tunicate's deep quantitative proteome analysis, identifying functional protein clusters associated with laboratory conditions, different habitats, and strong versus relaxed abundance constraints. These results empower research on B. schlosseri with proteomics resources and enable quantitative molecular phenotyping of changes associated with transfer from in situ to ex situ and from in vivo to in vitro culture conditions.

On the Potential of Algorithm Fusion for Demographic Bias Mitigation in Face Recognition

With the rise of deep neural networks, the performance of biometric systems has increased tremendously. Biometric systems for face recognition are now used in everyday life, e.g., border control, crime prevention, or personal device access control. Although the accuracy of face recognition systems is generally high, they are not without flaws. Many biometric systems have been found to exhibit demographic bias, resulting in different demographic groups being not recognized with the same accuracy. This is especially true for facial recognition due to demographic factors, e.g., gender and skin color. While many previous works already reported demographic bias, this work aims to reduce demographic bias for biometric face recognition applications. In this regard, 12 face recognition systems are benchmarked regarding biometric recognition performance as well as demographic differentials, i.e., fairness. Subsequently, multiple fusion techniques are applied with the goal to improve the fairness in contrast to single systems. The experimental results show that it is possible to improve the fairness regarding single demographics, e.g., skin color or gender, while improving fairness for demographic subgroups turns out to be more challenging.

Dual fluorescence induced thermally activated delayed fluorescence materials based on 2,4-Diphenylthieno[3,2-d]pyrimidine with an efficient single-molecular white electroluminescence

Dual fluorescence compounds exhibit a wide emission spectrum in visible-light range and show huge application prospect in white-light OLED (WOLED). However, few of them can realize the trade-off between high color purity of white-light emission and high emission efficiency. In this work, using sulfur atom-fused electron acceptor (A) unit 2,4-diphenylthieno[3,2-d]pyrimidine (TP) and planar electron donor (D) unit phenothiazine (PTZ), a series of novel dual fluorescence compounds with simple twisting D-A configuration were designed and synthesized, denoted as PTZ-2TP, PTZ-4TP and DPTZ-TP, respectively. Simultaneous dual fluorescence emission could be realized both solution and film state of the current system via optimizing polarization environment and doped concentration, which are attributed to the characteristic quasi-axial (QA) and quasi-equal (QE) conformations. Subsequently, these compounds were successfully applied in WOLED with high efficiency. DPTZ-TP as emitter endows the WOLED with the best device performance with greenish-white light emission, CIE coordinates of (0.33, 0.44) and high EQEmax of 11.87%, which is the highest records of such single compound systems.

Green Synthesis and Efficient Adsorption: Na-X Zeolite vs. C/Mn/SiO2 Composite for Heavy Metals Removal.

The studies aimed to test the adsorption capacity of two silica-enriched porous materials, synthetic Na-X zeolite and Mn-containing carbon composite, towards Pb(II) and Zn(II) ions in single and mixed systems and in the presence of diclofenac (DCF) and (or) poly(acrylic acid) (PAA). The synthetic zeolite was characterized by a well-developed surface area of 728 m2/g and a pore diameter of 1.73 nm, while the carbon composite exhibited 268 m2/g and 7.37 nm, respectively. Na-X was found to be more efficient than the carbon composite (75-212 mg/g) in adsorbing heavy metal ions in both single and bimetallic systems (322-333 mg/g). In turn, the C/Mn/SiO2 composite was more effective in removing Pb(II) ions from the systems that simultaneously contained DCF or PAA (480 and 476 mg/g, respectively). The Na-X zeolite demonstrated the greatest stability in all the systems studied. The highest stability was observed in the DCF + Pb(II) mixture, in contrast to the carbon composites where the stability was much lower. To evaluate the possibility of regeneration of the solids, HCl proved to be the best desorbent for heavy metal ions (efficiency of 99%). In general, both adsorbents offer promising potential for solving environmental problems.

Langerhans cell histiocytosis of the skull in 23 children

ObjectiveTo explore the clinical features, diagnosis, treatment and prognosis of Langerhans cell histiocytosis (LCH) of the skull in children.MethodsThis study retrospectively summarized the clinical manifestations, treatment methods and follow-up status of children with skull LCH who were admitted to the Department of Neurosurgery of Shanghai Children’s Hospital from January 2014 to June 2021.ResultsA total of 23 patients confirmed by histology as LCH received hospitalization treatment, including 14 males and 9 females, aged (5.76 ± 3.86) years old. The clinical manifestations were mostly incidentally discovered head masses that gradually enlarged (19 cases, 82.61%). Only 2 cases are affected by multiple systems, while the rest are affected by single systems. 9 patients were involved in multiple skull lesions, and 14 patients had local skull lesions. All patients underwent surgical intervention, with 17 patients undergoing total resection and 6 patients undergoing biopsy. 21 patients received chemotherapy after surgery. The median follow-up was 2.46 years (range 0.33–6.83 years). 21 patients had their symptoms and signs under control or even resolved, and 2 patients experienced recurrence during follow-up. The overall control rate reached 91.30%.ConclusionPersonalized treatment plans according to different clinical types. Regular outpatient follow-up is crucial to monitor disease recurrence and late effects.

Adsorption of Metal Ions from Single and Binary Aqueous Systems on Bio-Nanocomposite, Alginate-Clay.

The aim of this work is to characterize and evaluate the retention of Cu2+ and Ni2+ from single and binary systems by alginate-Moroccan clay bio-composite with the utilization of calcium chloride as a cross-linking agent, using the ionotropic gelation method. The bio-nanocomposite was characterized by using a variety of techniques (SEM, EDX, XRD, and pHPZC). The efficiency of the adsorbent was investigated under different experimental conditions by varying parameters such as pH, initial concentration, and contact time. To demonstrate the adsorption kinetics, various kinetic models were tried and assessed, including pseudo-first-order, pseudo-second-order, intraparticle diffusion, and Elovich models. The research results show that the adsorption process of Cu2+ and Ni2+ metal ions follows a pseudo-second-order kinetic model, and the corresponding rate constants were identified. To evaluate the parameters related to the adsorption process in both single and binary systems, different mathematical models of isotherms, such as Langmuir, Freundlich, Temkin, and Dubinin-Radushkevich, were investigated. The correlation coefficients obtained showed that the most suitable isotherm for describing this adsorption process is the Langmuir model. The process is considered to be physical and endothermic, as suggested by the positive values of ΔH° and ΔS°, indicating increased randomness at the solid/liquid interface during Cu2+ and Ni2+ adsorption. Furthermore, the spontaneity of the process is confirmed by the negative values of ∆G°. The bio-nanocomposite beads demonstrated a maximum adsorption capacity of 370.37 mg/g for Ni2+ and 454.54 mg/g for Cu2+ in the single system. In the binary system, the maximum adsorption capacities were observed to be 357.14 mg/g for Ni2+ and 370.37 mg/g for Cu2+. There is significant evidence for the use of alginate-Moroccan clay bio-nanocomposite as a cost-effective alternative adsorbent for the efficient removal of metal ions in single and binary systems.

Selective adsorption of single and binary dyestuffs by citrus peel: Characterization, and adsorption performance

The powdered citrus peel, which has been replaced with sodium hydroxide, was used in this study to test how well methylene blue and reactive black 5 dyestuff absorbed one or both. To find out about the texture and surface chemistry of modified citrus peel, Fourier transform infrared spectroscopy and scanning electron microscope analyses were carried out. Fourier transform infrared spectroscopy data revealed the presence of amphoteric radicals on the modified citrus peel surface, indicating the effective adsorption of methylene blue and reactive black 5. Many parameters affecting the batch adsorption process, such as modified citrus peel dose (0.1–0.5 g), pH (2–10), time (20–80 min), stirring speed (60–180 rpm), and temperature (20–45 °C), were studied. It is seen that the physical effect is at the forefront, homogeneous monolayer adsorption occurs, and the process fits the Langmuir and pseudo first order models for dyestuffs. Thermodynamic modeling showed that the adsorption of methylene blue and reactive black 5 was spontaneous and endothermic. At pH 2, an adsorption capacity of 0.67 mg/g and a removal efficiency of 66.86% were achieved for reactive black 5. For methylene blue at pH 6, the adsorption capacity was 4.34 mg/g, and the decolorization rate was 87%. The decreases in the removal rates of dyestuffs in the binary system indicate that they are affected by their simultaneous presence in the solution. The results proved that modified citrus peel can be useful for dyestuff removal in single or binary systems, although the removal capacity of modified citrus peel is highly dependent on methylene blue and reactive black 5.

Multi-objective geometrical optimization of single and dual impeller stirred tanks: An application of the mean age theory approach

Multi-objective optimizations are performed for single and dual-impeller systems. The steady-state mean age theory approach with a novel method developed in previous work is applied for mixing time prediction. The three-blade Pitched-blade turbines are the baseline designs. The study aims to find the optimum impellers with lower mixing time and power consumption than the benchmark designs. The blade consists of two parts characterized by 10 to 12 design parameters, and 120 designs are investigated during optimization. The parameter analysis study highlights that the angle formed by the line connecting the two parts is the most critical parameter affecting mixing performance and power input in both systems. Compared to the baseline design, experimental results show that the optimum designs from single and dual impeller optimization reduce the power consumption 10% and 35%, respectively. However, the reduction in mixing time is not significant. Designs that have lower power numbers with higher power input reduce mixing times by 20%–30%.

Techno-Economic Planning of a Fully Renewable Energy-Based Autonomous Microgrid with Both Single and Hybrid Energy Storage Systems

This paper presents both the techno-economic planning and a comprehensive sensitivity analysis of an off-grid fully renewable energy-based microgrid (MG) intended to be used as an electric vehicle (EV) charging station. Different possible plans are compared using technical, economic, and techno-economic characteristics for different numbers of wind turbines and solar panels, and both single and hybrid energy storage systems (ESSs) composed of new Li-ion, second-life Li-ion, and new lead–acid batteries. A modified cost of energy (MCOE) index including EVs’ unmet energy penalties and present values of ESSs is proposed, which can combine both important technical and economic criteria together to enable a techno-economic decision to be made. Bi-objective and multi-objective decision-making are provided using the MCOE, total met load, and total costs in which different plans are introduced as the best plans from different aspects. The number of wind turbines and solar panels required for the case study is obtained with respect to the ESS capacity using weather data and assuming EV demand according to the EV population data, which can be generalized to other case studies according to the presented modelling. Through studies on hybrid-ESS-supported MGs, the impact of two different global energy management systems (EMSs) on techno-economic characteristics is investigated, including a power-sharing-based and a priority-based EMS. Single Li-ion battery ESSs in both forms, new and second-life, show the best plans according to the MCOE and total met load; however, the second-life Li-ion shows lower total costs. The hybrid ESSs of both the new and second-life Li-ion battery ESSs show the advantages of both the new and second-life types, i.e., deeper depths of discharge and cheaper plans.

A Planar Multi-Inertial Navigation Strategy for Autonomous Systems for Signal-Variable Environments.

The challenge of precise dynamic positioning for mobile robots is addressed through the development of a multi-inertial navigation system (M-INSs). The inherent cumulative sensor errors prevalent in traditional single inertial navigation systems (INSs) under dynamic conditions are mitigated by a novel algorithm, integrating multiple INS units in a predefined planar configuration, utilizing fixed distances between the units as invariant constraints. An extended Kalman filter (EKF) is employed to significantly enhance the positioning accuracy. Dynamic experimental validation of the proposed 3INS EKF algorithm reveals a marked improvement over individual INS units, with the positioning errors reduced and stability increased, resulting in an average accuracy enhancement rate exceeding 60%. This advancement is particularly critical for mobile robot applications that demand high precision, such as autonomous driving and disaster search and rescue. The findings from this study not only demonstrate the potential of M-INSs to improve dynamic positioning accuracy but also to provide a new research direction for future advancements in robotic navigation systems.