Stepper Motor Research Articles

Characterization of Stepper Motor Rotation for Automatic Self-Cleaning Litter Box Using IOT Technology

Characterization of Stepper Motor Rotation for Automatic Self-Cleaning Litter Box Using IOT Technology

System Design of Three-coordinate Dynamic Synchronous Tester Based on STM32

In this paper, a three-coordinate dynamic synchronous tester system based on STM32 is developed. STM32F103C8T6 chip is used as the control system. The control system mainly consists of three modules: motion control module, magnetic encoder measurement module and displacement data collection module. The STM32 main control controls the three-axis stepper table to move according to the specified instructions, the AS5600 magnetic encoder is used to measure the data of the three-way stepper motor, and the TCA9548A module is used to expand the IIC channel and realize the communication between the STM32 and the host computer, and the data is transmitted to the host computer through serial communication. The test results show that the system meets the needs of the existing domestic industrial level, the cost is moderate, the performance is reliable and the operation is simple, and meets the practical application requirements.

Assessing the Effect of Toothpastes on Enamel Surface Roughness Using a Custom-Designed and Fabricated Toothbrush Simulator Device for Evaluation.

The primary objective of this study is to emphasize the importance of maintaining optimal oral health through regular toothbrushing practices. To achieve this objective, a custom-designed electromechanical toothbrush simulator device was developed. This innovative tool enables researchers to investigate the impact of abrasive-based whitening toothpastes on enamel surface roughness compared to brushing without toothpaste. The device design is composed of multiple systems, including mechanical, motorization, and toothpaste irrigation components. The device incorporates various components, including mechanical, motorization, and toothpaste irrigation systems. Specifically, the mechanical aspect comprises fabricated metal parts, 3D printed elements, and a load cell for measuring brushing force. The motorization section integrates a microcontroller and a stepper motor, allowing for the adjustment of brushing cycles and speed. Furthermore, the toothpaste irrigation system employs a pump with adjustable speed, along with a toothpaste canister and a waste receptacle. By providing a controlled environment for evaluating the effects of different toothpaste formulations on enamel integrity, this simulator device contributes significantly to advancements in oral care research and product development.

Developing a Cloud and IoT-Integrated Remote Laboratory to Enhance Education 4.0: An Approach for FPGA-Based Motor Control

Remote laboratories are essential in addressing access and quality challenges in technical education. They enable students from various locations to engage with real equipment, overcome geographic and economic constraints, and provide solutions during crises, such as pandemics, when in-person learning is limited. As a key element of Education 4.0, remote labs promote technical skill development, enhance engineering education, and support diverse learning approaches. This study presents a remote laboratory based on Field Programmable Gate Arrays (FPGAs), developed using a waterfall methodology integrating IoT and Cloud Computing technologies to facilitate close interaction between hardware and software. The lab focuses on controlling DC, servo, and stepper motors, allowing students to apply theoretical concepts such as digital signals, pulse-width modulation (PWM), and data representation in bits in a practical setting. The testing phase involved 50 robotics and mechatronics engineering students who participated in hands-on sessions for one month, followed by a structured survey evaluating their experience, interaction, and the educational relevance of the platform. The survey shows high student satisfaction, highlighting the platform’s strengths and identifying areas for improvement. The results also underscore the system’s potential to significantly enhance the educational experience in remote environments, aligning with the United Nations Sustainable Development Goals (SDGs).

Enfoque multitareas implementado en una minicomputadora para el control y monitoreo de un motor a pasos industrial

This paper presents the implementation of the multitasking approach on a Raspberry Pi single board minicomputer, with experimental results, of the control and monitoring of an industrial type Nema 34 stepper motor through a user interface that allows the configuration of the control operation and data visualization to interact with the physical devices. One of the tasks consists of generating a pulse width modulation that is sent to the DQ860HA driver to rotate the stepper motor considering 400 pulses per revolution, while the second task simultaneously counts the number of pulses produced by an encoder with a resolution of 100 pulses per revolution, which is coupled to the motor shaft. The use of low-cost computer equipment and open-source software makes the presented development can be considered as a frugal technology application for the control and monitoring of an industrial system, with experimental results that validate the correct operation of two tasks that must be executed simultaneously.

LabEmbryoCam: An opensource phenotyping system for developing aquatic animals

Phenomics is the acquisition of high-dimensional data on an individual-wide scale and is proving transformational in areas of biological research related to human health including medicine and the crop sciences. However, more broadly, a lack of accessible transferrable technologies and research approaches is significantly hindering the uptake of phenomics, in contrast to molecular-omics for which transferrable technologies have been a significant enabler. Aquatic embryos are natural models for phenomics, due to their small size, taxonomic diversity, ecological relevance, and high levels of temporal, spatial and functional change. Here, we present LabEmbryoCam, an autonomous phenotyping platform for timelapse imaging of developing aquatic embryos cultured in a multiwell plate format, and while optimised for embryos, the instrument is extremely versatile. The LabEmbryoCam capitalises on 3D printing, single board computers, consumer electronics and stepper motor enabled motion. These provide autonomous X, Y and Z motion, a web application streamlined for rapid setup of experiments, user email notifications and a humidification chamber to reduce evaporation over prolonged acquisitions. Downstream analyses are provided, enabling automated embryo segmentation, heartbeat detection, motion tracking, and energy proxy trait (EPT) measurement. LabEmbryoCam is a scalable, and flexible laboratory instrument, that leverages embryonic and early life stage organisms to tackle key global challenges including biological sensitivity assessment, toxicological screening, but also to support broader engagement with the earliest stages of life.

Jet mixing optimization using a bio-inspired evolution of hardware and control

Jet mixing is a critical factor in various engineering applications, influencing pollutant dispersion, chemical processes, medical treatments, and combustion enhancement. Hitherto, jet mixing has typically been optimized by either passive or active control techniques. In this experimental study, we combine simultaneous optimization of active control with 12 inward-pointing minijets and a tuneable nozzle exit shape commanded by 12 stepper motors. Jet mixing is monitored at the end of the potential core with an array of 7 \\documentclass[12pt]{minimal} \\usepackage{amsmath} \\usepackage{wasysym} \\usepackage{amsfonts} \\usepackage{amssymb} \\usepackage{amsbsy} \\usepackage{mathrsfs} \\usepackage{upgreek} \\setlength{\\oddsidemargin}{-69pt} \\begin{document}$$\ imes$$\\end{document} 7 Pitot tubes. This high-dimensional actuation space is conquered with Particle Swarm Optimization through Targeted, Position-Mutated Elitism. Our results underscore the significant impact of combining control techniques, illustrating the complex interactions of both passive and active control on jet flow dynamics. The mixing area of the combined control optimization is 4.5 times larger than the area of the unforced state. This mixing increase significantly outperforms the effect of shape optimization of the nozzle alone. Our study points at the potential of optimization in high-dimensional design spaces for shapes as well as passive and active control—leveraging the rapid development of flow control hardware and the increasingly powerful tools of artificial intelligence for optimization.

Design and manufacturing of a dynamically deformable liver phantom for radiotherapy

Phantoms representing anatomical deformations are necessary to investigate and improve dynamic treatments. In this study, we aimed to produce a deformable liver phantom by simulating respiratory motion.The dynamically DEformable Liver Phantom (DELP) is designed to create a human-specific respiratory model and to produce synchronised, repeatable motion with this model. For the deformation effect of this movement, an artificial liver was created using silicone material and mold. A stepper motor was used to compress the liver in the inferior direction according to an adjustable respiratory motion. Reference markers (fiducial) placed on the DELP helped to verify the movement and calculate the deformation. In dynamic deformation tests, the greatest amount of deformation was found in the edge region of the silicone liver. The average deformation was 3.45 ± 0.93 mm when 5 mm amplitude movement was applied and 5.98 ± 0.01 mm when 10 mm amplitude movement was applied.DELP is a deformable liver phantom with motion reproducibility. Its performance in radiotherapy application was evaluated using dosimetric equipment.

Erbium-Doped Tunable Fiber Laser Based on a Vernier Effect Filter

A novel vernier effect filter is designed utilizing two cascaded Mach–Zehnder interferometers (MZIs). Integrating the filter into an erbium-doped fiber laser (EDFL), the tunability of laser wavelength is achieved. Each MZI comprises two sequentially interconnected 3 dB optical couplers (OCs), where the incoming light is initially split into two arms at the first OC and subsequently recombined at the second OC. Interference occurs due to the optical path difference between these two beams. Notably, the two MZIs exhibit closely matched free spectral ranges (FSRs), leading to the formation of a broadened envelope in the superimposed spectrum. By delicately adjusting the optical path difference between the two arms of one MZI, a little drift of the interference spectrum is induced. This small amount of drift, in turn, triggers a significant movement of the envelope, giving rise to the so-called vernier effect. Integrating the vernier effect filter into an EDFL, the wavelength of the fiber laser can be tuned from 1542.56 nm to 1556.62 nm, with a tuning range of 14.06 nm. Furthermore, by employing a high-precision stepper motor, a remarkable tuning accuracy of 0.01 nm is attainable. The side mode suppression ratio of all wavelengths is above 55 dB. In comparison to reported tunable fiber lasers utilizing MZI filters, the proposed fiber laser in this study offers enhanced precision and a more user-friendly tuning process.

Susceptibility of two different PCA pumps to inaccurate delivery associated with pole position at low flow-rates in a pediatric setting - an experimental study.

Vertical displacement of infusion pumps used in patient-controlled analgesia can cause irregularities in drug delivery and is especially crucial at low flow rates, which are commonly used in pediatrics. There is only scarce data available regarding the extent of these inaccuracies. The current in vitro study therefore aimed at a comparison of the performance of two commonly used PCA pumps at different pole positions due to vertical displacement. The Syramed® µSP6000 Chroma syringe infusion pump featuring a stepper motor drive was compared to the CADD®-Solis pump utilizing a linear peristaltic pump system at two different flow rates (0.3ml/h and 1ml/h) and three different levels of height (0, + 50 and - 50cm). Flow patterns and delivered volumes were measured after every change in position and infusion boluses, retrograde aspiration volumes and zero-drug delivery time were calculated. The Syramed® pump was more susceptible to vertical displacement than the CADD®-Solis pump and showed overall greater inaccuracies in the delivered volumes as well as higher infusion boluses, retrograde aspiration volumes and zero-drug delivery time at both flow rates. The observed differences between the pumps might be explained by the higher compliance of this syringe pump and the diverse working mechanisms. Overall, the CADD®-Solis pump might be considered a preferable option for patient-controlled analgesia in children. It is nonetheless essential for medical staff to be aware of the effects of vertical displacement of PCA pumps and to minimize these displacements as much as possible.

Optimal Speed Control of Hybrid Stepper Motors through Integrating PID Tuning with LFD-NM Algorithm

Optimal Speed Control of Hybrid Stepper Motors through Integrating PID Tuning with LFD-NM Algorithm

Development of automatic CNC machine with versatile applications in art, design, and engineering

The area of computer numerical control (CNC) machines has grown fast, and their use has risen significantly in recent years. This article presents the design and development of a CNC writing machine that uses an Arduino, a motor driver, a stepper motor, and a servo motor. The machine is meant to create 2D designs and write in numerous input languages using 3-axis simultaneous interpolated operations. The suggested machine is low-cost, simple to build, and can be operated with merely G codes. The performance of the CNC writing machine was assessed by testing it on a range of solid surfaces, including paper, cardboard, and wood. The results reveal that the machine can generate high-quality text and images with great accuracy and consistency. The proposed machine's ability to write in several input languages makes it appropriate for various applications, including art, design, and engineering.

Jerk limited continuous tool path generation for flexible systems in non-cartesian coordinate systems

Inspired by computer numerical control (CNC) technology and drastic changes in the world of electronics and microcontrollers, the idea of using non-cartesian coordinate system for CNC machines became a topic of interest. Non-cartesian coordinate systems provide freedom of movement in systems with large working spaces where high dimensional accuracy is not a prime concern. Applications of such systems can be found in murals, where a painting is applied to a large wall of any arbitrary build material. In the present paper, a new design was introduced to automate the process of drawing murals on large surfaces. The proposed mechanism utilized chain and sprocket to overcome the size limitations of traditionally available x-y tables. In addition to that, the developed mechanism does not utilize the common robust structures used in the conventional CNC systems and the tool motion is created using flexible arms that are not heavily constrained. The effect of systems unwanted vibration has been eliminated using continuous trajectory and kinematic profiles. Parametric curve interpolation algorithms for trajectory planning were implemented to increase the flexibility of drawing complex curves. Parametric curves such as B-spline and non-uniform rational B-spline (NURBS) were employed to generate a jerk limited trajectory for motion control and extraction of kinematic profiles. Such trajectory constrains the jerk of the system and guarantees a smooth motion free of feed-rate fluctuations. Compared to other methods available for extracting the kinematic profiles, jerk limited method decreases the travel time and trajectory error. Ultimately, motion commands were produced by using kinematic profiles and the second order Taylor interpolator. STM32746ZG card was used as the main processor and two stepper motors controlled by a Bit Pattern interpolation algorithm were utilized to drive the proposed mechanism. The input pulses of stepper motors were stored as binary bits and transmitted to drivers in real-time. The feedback was also evaluated by two rotary encoders, placed at the end of the motors’ shafts. Encoder data were acquired and transmitted using a TCP/IP protocol to guarantee zero data loss during the transmission.

Design and Performance of the Upgraded Mid-infrared Spectrometer and Imager (MIRSI) on the NASA Infrared Telescope Facility

We describe the new design and current performance of the Mid-InfraRed Spectrometer and Imager (MIRSI) on the NASA Infrared Telescope Facility (IRTF). The system has been converted from a liquid nitrogen/liquid helium cryogen system to one that uses a closed-cycle cooler, which allows it to be kept on the telescope at operating temperature and available for observing on short notice, requiring less effort by the telescope operators and day crew to maintain operating temperature. Several other enhancements have been completed, including new detector readout electronics, an IRTF-style standard instrument user interface, new stepper motor driver electronics, and an optical camera that views the same field as the mid-IR instrument using a cold dichroic mirror, allowing for guiding and/or simultaneous optical imaging. The instrument performance is presented, both with an engineering-grade array used from 2021 to 2023, and a science-grade array installed in the fall of 2023. Some sample astronomical results are also shown. The upgraded MIRSI is a facility instrument at the IRTF available to all users.

Remote Laboratory Based on the Internet of Things for E-Learning: A Development Model of Newton’s Law Experiment

Remote laboratory is a development of digital technology to support the quality of learning in this digital era. However, scientific processes often cannot be accommodated in digital spaces such as e-learning. This research highlights a remote laboratory system that can accommodate scientific process improvement in e-learning. The research objective is to develop and determine the performance of the remote laboratory system of Newton’s Law experiment based on IoT for e-learning as an experiment development model. Research methods can be classified into design and development, abbreviated as DDR. The remote laboratory system is designed and developed in six phases. This system is developed by five main components, namely, a photodiode sensor, MCU nodes, motor drivers, stepper motor, and ESP 32 CAM. The results indicate that the remote laboratory system of Newton's law experiment has demonstrated positive performance, and the accuracy and precision of measurement from the remote laboratory system are classified as high. Accordingly, the remote laboratory system of Newton's law experiment can be used as an alternative to support scientific processes in e-learning. It is expected to serve as a guide for virtual laboratory design, enlightening the audience on the potential of this system. It is used extensively for experimental teaching in modern physics education. The success in designing and developing an experimental model of Newton's law by implementing a remote laboratory based on IoT provides a good opportunity to develop various more sophisticated physics experimental systems to support the science process and e-learning.

PRISM: three-dimensional sub-diffractive phase-resolved imaging spectroscopic method

We demonstrate a genuine method for three-dimensional pictorial reconstructions of two-dimensional, three-dimensional, and hybrid specimens based on confocal Raman data collected in a back-scattering geometry of a 532-nm setup. The protocol, or the titular PRISM (Phase-Resolved Imaging Spectroscopic Method), allows for sub-diffractive and material-resolved imaging of the object’s constituent material phases. The spacial component comes through either the signal distal attenuation ratio (direct mode) or subtle light-matter interactions, including interference enhancement and light absorption (indirect mode). The phase component is brought about by scrutinizing only selected Raman-active modes. We illustrate the PRISM approach in common real-life examples, including photolithographically structured amorphous Al2O3, reactive-ion-etched homoepitaxial SiC, and Chemical Vapor Deposition graphene transferred from copper foil onto a Si substrate and AlGaN microcolumns. The method is implementable in widespread Raman apparatus and offers a leap in the quality of materials imaging. The lateral resolution of PRISM is stage-limited by step motors to 100 nm. At the same time, the vertical accuracy is estimated at a nanometer scale due to the sensitivity of one of the applied phenomena (interference enhancement) to the physical property of the material (layer thickness).

Focus-Switchable Piezoelectric Actuator: A Bionic Thin-Plate Design Inspired by Conch Structure

Traditional camera zoom mechanisms, relying on stepper motors and intricate transmission components, suffer from bulky designs that restrict their applicability in compact systems. This study presents a novel piezoelectric focus-switchable mechanism (PFSM) directly driven by a biomimetic radial-mode piezoelectric actuator (RMPA) with inclined driving structure mimicking the conch shell. The PFSM utilizes rotational motion for optical zoom, providing a more compact and efficient alternative to conventional linear motion-based systems. By utilizing finite element method (FEM) optimization, we developed a compact prototype (34×34×3mm³, 14.83g) and experimentally verified its performance, achieving a peak rotational speed of 1573.14 RPM, torque output of 3.6 mN·m, and step displacement resolution of 45.8 μrad. These attributes enable smooth lens module switching for optical zoom, thus demonstrating the mechanism’s feasibility. Importantly, the PFSM offers precise positioning without relying on additional transmission parts and features a self-locking capability when de-energized, rendering it an ideal choice for camera zoom applications. In summary, this study underscores the PFSM’s potential as a compact, lightweight, and efficient camera zoom mechanism, contributing meaningfully to the field of imaging technology and optical systems.

Enhancing Daylight Comfort with Climate-Responsive Kinetic Shading: A Simulation and Experimental Study of a Horizontal Fin System

This study employs both simulation and experimental methodologies to evaluate the effectiveness of bi-sectional horizontal kinetic shading systems (KSS) with horizontal fins in enhancing daylight comfort across various climates. It emphasizes the importance of optimizing daylight levels while minimizing solar heat gain, particularly in the context of increasing energy demands and shifting climatic patterns. The study introduces a custom-designed bi-sectional KSS, simulated in three distinct climates—Wroclaw, Tehran, and Bangkok—using climate-based daylight modeling methods with the Ladybug and Honeybee tools in Rhino v.7 software. Standard daylight metrics, such as Useful Daylight Illuminance (UDI) and Daylight Glare Probability (DGP), were employed alongside custom metrics tailored to capture the unique dynamics of the bi-sectional KSS. The results were statistically analyzed using box plots and histograms, revealing UDI300–3000 medians of 78.51%, 88.96%, and 86.22% for Wroclaw, Tehran, and Bangkok, respectively. These findings demonstrate the KSS’s effectiveness in providing optimal daylight conditions across diverse climatic regions. Annual simulations based on standardized weather data showed that the KSS improved visual comfort by 61.04%, 148.60%, and 88.55%, respectively, compared to a scenario without any shading, and by 31.96%, 54.69%, and 37.05%, respectively, compared to a scenario with open static horizontal fins. The inclusion of KSS switching schedules, often overlooked in similar research, enhances the reproducibility and clarity of the findings. A physical reduced-scale mock-up of the bi-sectional KSS was then tested under real-weather conditions in Wroclaw (latitude 51° N) during June–July 2024. The mock-up consisted of two Chambers ‘1’ and ‘2’ equipped with the bi-sectional KSS prototype, and the other one without shading. Stepper motors managed the fins’ operation via a Python script on a Raspberry Pi 3 minicomputer. The control Chamber ‘1’ provided a baseline for comparing the KSS’s efficiency. Experimental results supported the simulations, demonstrating the KSS’s robustness in reducing high illuminance levels, with illuminance below 3000 lx maintained for 68% of the time during the experiment (conducted from 1 to 4 PM on three analysis days). While UDI and DA calculations were not feasible due to the limited number of sensors, the Eh1 values enabled the evaluation of the time illuminance to remain below the threshold. However, during the June–July 2024 heat waves, illuminance levels briefly exceeded the comfort threshold, reaching 4674 lx. Quantitative and qualitative analyses advocate for the broader application and further development of KSS as a climate-responsive shading system in various architectural contexts.

Piezo tube stacked scanning tunneling microscope for use in extreme and confined environments

Scanning Tunneling Microscopy (STM) is widely used for observing atomic structures due to its ultra-high spatial resolution. As the core units of STM, the coarse stepper motor and imaging unit, have conflicting size requirements for piezo tubes. Longer piezo tubes yield greater output force and easier movement for the motor, while shorter tubes enhance imaging precision and stability for the scanner. Traditional STMs typically employ a large piezo tube for coarse stepping and a smaller one for independent imaging to address this issue. Here, we present the new design of a piezo tube stacked STM, in which two independent piezo tubes act together during tip-sample approach process and only one shorter tube works during scanning imaging. Both tubes are fixed to the framework, ensuring high rigidity and compactness. The new design enables us to achieve both coarse stepping and imaging functions with a total length of only 25 mm for the two tubes, effectively reducing the length of whole STM, facilitating its integration into narrow low-temperature spaces for imaging applications. Using this device, we obtained high-quality atomic images of graphite sample surfaces at room temperature. Continuous scanning imaging of the same area on Au film at 300 K demonstrates the STM’s high stability in both X-Y and Z directions. Atomic images, I-V spectra, and di/dv spectra obtained at 2 K on graphite surface illustrate the excellent application potential of this device in low-temperature environments. Finally, atomic images obtained of graphite in sweeping the magnetic fields from 0 T to 11 T in a huge vibrational dry magnet prove the new STM’s excellent performance in extreme conditions.

MRI-compatible and sensorless haptic feedback for cable-driven medical robotics to perform teleoperated needle-based interventions.

Surgical robotics have demonstrated their significance in assisting physicians during minimally invasive surgery. Especially, the integration of haptic and tactile feedback technologies can enhance the surgeon's performance and overall patient outcomes. However, the current state-of-the-art lacks such interaction feedback opportunities, especially in robotic-assisted interventional magnetic resonance imaging (iMRI), which is gaining importance in clinical practice, specifically for percutaneous needle punctures. The cable-driven 'Micropositioning Robotics for Image-Guided Surgery' (µRIGS) system utilized the back-electromotive force effect of the stepper motor load to measure cable tensile forces without external sensors, employing the TMC5160 motor driver. The aim was to generate a sensorless haptic feedback (SHF) for remote needle advancement, incorporating collision detection and homing capabilities for internal automation processes. Three different phantoms capable of mimicking soft tissue were used to evaluate the difference in force feedback between manual needle puncture and the SHF, both technically and in terms of user experience. The SHF achieved a sampling rate of 800Hz and a mean force resolution of 0.26 ± 0.22N, primarily dependent on motor current and rotation speed, with a mean maximum force of 15N. In most cases, the SHF data aligned with the intended phantom-related force progression. The evaluation of the user study demonstrated no significant differences between the SHF technology and manual puncturing. The presented SHF of the µRIGS system introduced a novel MR-compatible technique to bridge the gap between medical robotics and interaction during real-time needle-based interventions.