Triaxial Force Research Articles

Design of magnetic flux leakage detection device for three dimensional small diameter pipeline based on MEMS

Based on the common pipeline detection device faced with small diameter pipeline space, small turning radius is prone to the problem of stuck pipe phenomenon, this paper combined with the actual production needs, for small diameter pipeline leakage detection based on MEMS technology designed a detection device. COMSOL Multiphysics software was used to create a finite element model to simulate the magnetic flux leakage detection of pipeline defects. The influence of the type, size and location of pipeline defects on magnetic flux leakage signals was discussed. Based on MEMS triaxial magnetic force sensor, a magnetic flux leakage detection device with small volume, high precision and strong adaptive ability was designed. Through experiments, the magnetic flux leakage detection data consistent with the simulation results were obtained, which provided ideas for solving the detection problem of small-caliber pipelines.

Electromyographic and Stabilometric Analysis of the Static and Dynamic "Standing Bird Dog" Exercise.

(1) Background: The "bird dog" exercise is considered one of the most effective therapeutic exercises for lumbopelvic rehabilitation and the prevention and treatment of low back pain. The "standing bird dog" (SBD) exercise, executed in a single-leg stance, constitutes a natural and challenging variation in the "bird dog"; nevertheless, this exercise has not yet been investigated. This study provides a stabilometric and electromyographic analysis of the SBD performed in static and dynamic conditions and in ipsilateral and contralateral variations; (2) Methods: A time-synchronized motion capture system, wireless electromyography sensors, and triaxial force platform were used to analyze the selected SBD exercises; (3) Results: In dynamic conditions, the gluteus maximum, multifidus, lumbar erector spinae, and gluteus medius reached a mean activation level higher than in the static condition, with peak activation levels of 80%, 60%, 55%, and a 45% maximum voluntary isometric contraction, respectively. In the static condition, balance control was more challenging in the mediolateral compared to the anteroposterior direction. In the dynamic condition, the balance challenge was higher in the anteroposterior direction and higher than the static condition in both directions; (4) Conclusions: The SBD was proved to be effective for strengthening the hip and lumbar extensor muscles and provided a powerful challenge to single-leg balance control in both mediolateral and anteroposterior directions.

Force Sensing and Feedback System Based on Novel Triaxial Force Capacitive Sensor for Minimally Invasive Surgical Robot

AbstractMinimally invasive surgery has attracted great attention due to small trauma, light pain, and quick recovery. Currently, most minimally invasive surgical robots lack the ability to force sense, resulting in high risks. Herein, a novel minimally invasive surgical force sensing and feedback system for minimally invasive surgical robot is proposed based on a flexible triaxial force capacitive sensor array. The capacitive force sensors utilize a microstructure electrode and orthogonal triangular pyramid microstructure to tackle the trade‐off between high sensitivity and wide‐detection range, showing 0–3 N detection range for normal force and high sensitivity of 69.19% N−1. Furthermore, the triaxial capacitive force sensors are integrated into the end‐effector of the minimally invasive surgical robot to form the minimally invasive surgical force sensing system. The system can show real‐time position of gripping or touching action, and the magnitude of triaxial force on the display surface. Importantly, the sensing force can further control the movement of the clamp, thus forming a novel force sensing and feedback system. The force sensing and feedback system of this minimally invasive surgical robot lays the foundation for its application in minimally invasive surgery andis expected to improve the safety and success of robotic‐assisted minimally invasive surgery.

Hearing Status and Static Postural Control of Collegiate Athletes.

Because of the close proximity of the cochlea, vestibular apparatus, and shared neurovascular structures, the static postural control of athletes who are deaf or hard of hearing (D/HoH) may be different from that of athletes who are hearing. Limited research is available to quantify differences between these athletes. To determine the effect of hearing status and stance condition on the static postural control of athletes. Cross-sectional study. Athletic training facilities. Fifty-five collegiate varsity athletes who were D/HoH (age = 20.62 ± 1.80 years, height = 1.73 ± 0.08 m, mass = 80.34 ± 18.92 kg) and 100 university club athletes who were hearing (age = 20.11 ± 1.59 years, height = 1.76 ± 0.09 m, mass = 77.66 ± 14.37 kg). Participants completed the Modified Clinical Test of Sensory Interaction and Balance on a triaxial force plate. Anteroposterior and mediolateral (ML) center-of-pressure (CoP) velocity, anteroposterior and ML CoP amplitude root mean square, and 95% ellipse sway area were calculated. Athletes who were D/HoH had a larger CoP velocity, larger ML root mean square, and larger sway area than those who were hearing (P values < .01). A significant main effect of stance condition was observed for all postural control variables (P values < .01). During the Modified Clinical Test of Sensory Interaction and Balance, athletes who were D/HoH demonstrated a larger sway area compared with athletes who were hearing. Therefore, individualized baseline assessments of static postural control may be warranted for athletes who are D/HoH as opposed to comparisons with existing normative data.

Efficiency of Rock Cutting and Wear Behavior of Coated Bits via Lab-Scale Linear Rock-Cutting Machine: Experimental Approach

In mining industries, the prime concern is to overcome the challenges of using conical cutting bits for excavating hard and abrasive rocks. In this research, a speculative investigation was performed to measure the efficiency of rock cutting and identify the wear behavior of aluminum titanium nitride-coated conical cutting bits. A newly designed and customized shaping machine is used with a triaxial force dynamometer to cut the rock samples linearly and to calculate their associated powers. Coated conical bits have a maximum hardness range of 2,291 to 2,459 HV, and uncoated conical bits possess minimum hardness range of 1,945 to 1,948 HV. Two rock samples of fine-grained sandstone with UCS of 83.77 and 97.00 MPa are used in this study. Various cutting ranges were investigated and the best range of cutting parameters are identified between the variables, such as cutting forces and extracted volume of rock, cutting effectiveness, specific energy produced while cutting, and bit wear. The percentage decrease in wear rate of a coated conical bit compared with an uncoated conical bit is 40.36%, 52.28%, and 53.30% for Rock 1 and 42.67%, 54.76%, and 60.90% for Rock 2 under varying depths of cut. The worn surface has been significantly investigated through scanning electron microscopy and energy dispersive X-ray analysis. The output of this study helps in extending the application of a surface miner for excavating harder rocks in mines.

Design of 3D Magnetic Tactile Sensors with High Sensing Accuracy Guided by the Theoretical Model

The past decade has witnessed a surging interest in the study of magnetic tactile sensors that can detect subtle changes in both normal and shear forces. However, due to the lack of guidance by appropriate theoretical models, the development of previous magnetic tactile sensors relies either on a trial‐and‐error manner or tedious point‐by‐point experimental calibrations, which are costly and time‐inefficient. Here, a theoretical model integrating magnetics, artificial neural networks, and nonlinear solid mechanics is proposed for the first time to guide the design of 3D magnetic tactile sensors. Then, a button‐shaped magnetic tactile sensor prototype that can detect subtle triaxial force changes is fabricated, which relates the nonlinear magnetic flux density to the external force, without burdensome calibration procedures. The sensor can achieve an axial measurement error of less than 1% and an in‐plane error of less than 3.7% with excellent durability. This study provides a comprehensive understanding of magnetic tactile sensors and sheds light on their applications in soft robotics, intelligent manipulation, and human–robot interaction (HRI).

A New Force‐Decoupling Triaxial Tactile Sensor Based on Elastic Microcones for Accurately Grasping Feedback

Tactile sensor capable of detecting both normal and tangential forces is essential for the next‐generation robotic electronics. However, designing a reliable triaxial tactile sensor to decouple the normal and tangential forces is still a challenge for current research. Herein, a capacitive triaxial force sensor based on a microcone dielectric layer together with the force decoupling method is proposed. The lateral and vertical displacement of the top electrode relative to the bottom electrodes under the action of external forces can be perfectly detected according to the capacitance variations. The microcone‐structured sensor combined with the new decoupling method leads to a high sensitivity of 3.5 kPa−1 for normal force in a low‐pressure range of 0––50 Pa and 0.134 N−1 for tangential force in 0–0.5 N, and a fast response time of 26 ms. The sensors mounted on the fingers of a robotic arm can provide effective tactile information during the grasping task. Finally, a conceptual 3 × 3 tactile sensor array is fabricated and verified for spatial pressure mapping. This work provides new insight into piezocapacitive tactile sensor design and shows its great potential in robotic applications.

Reliability and Effectiveness of a Lateral Countermovement Jump for Stratifying Shuffling Performance Amongst Elite Basketball Players.

Though research suggests that basketball players spend approximately 31% of game actions shuffling laterally, limited data are available on the kinetic factors that separate fast and slow shufflers. The purpose of this study was twofold: (1.) Examine the reliability of kinetic metrics from a single-leg Lateral Countermovement Jump (LCMJ) (2.) Determine if kinetic metrics from the LCMJ can stratify above (i.e., "fast") or below (i.e., "slow") median shuffling performance. Twenty professional basketball players participated in the reliability study (21.7 ± 3.5 years, 1.98 ± 0.1 m; 89.9 ± 10.9 kg). One hundred seven professional and thirty-three collegiate basketball players (N = 140) (22.7 ± 3.5 years, 2.0 ± 0.1 m; 98.4 ± 11.9 kg) participated in the experimental study examining the ability of LCMJ kinetics to stratify shuffling performance. Reliability was assessed using Bland-Altman plots, coefficients of variation (CVs), typical errors (TEs), and intraclass correlation coefficients (ICCs). Anthropometric and LCMJ kinetic differences between fast and slow shufflers were assessed with an independent t-test. Four kinetic metrics (peak vertical force, peak lateral force, relative lateral force, and lateral impulse) met within- and between-session reliability thresholds (CV &lt; 10% and ICC &gt; 0.70). Faster shufflers generated significantly more relative lateral force than their slower counterparts (9.51 ± 0.8 Nx/kg vs. 8.9 ± 0.9 Nx/kg, %Diff 6.3, p &lt; 0.00007, ES = 0.70). Basketball practitioners who have access to triaxial force plates may consider adding the LCMJ into their testing battery, as relative lateral force is a reliable metric that can stratify fast and slow shufflers.

A tactile sensor based on piezoresistive effect and electromagnetic induction

To measure tri-axis force and detect slippage, a tactile sensor based on a thin film with a piezoresistive array and a particular structure with an induction-coil array and a permanent magnet was originally presented. The sensor is made up of a thin film containing piezoresistive cells for tri-axis force measurement, a two-dimensional array of induction coils and an elastomer with a permanent magnet inserted for slippage detection. As a result, the signals utilized to assess tri-axis force and identify slippage are independent. The proposed tactile sensor is prototyped, and experiments with a six-axis force/torque sensor as a reference sensor are carried out. In tri-axis force detection, experimental results reveal that the developed tactile sensor has a high accuracy and little tactile crosstalk. The sensor could also detect slippage information using the induction coils' output voltages directly and fast, according to the results. As a result, the proposed tactile sensor might be used in applications that need tri-axis force measurement and slip detection, such as robotic grasping and manipulation. Furthermore, the proposed tactile sensor in itself could be overall flexible as a flexible tactile sensor, even as a flexible array, which is easy to be integrated into different robotic applications like artificial skins.

Design and Analysis of MEMS-Based Sensors Toward Measuring Catheter Contact Forces

A contact force sensor is a critical clinical unit while performing cardiac ablation procedures. The success rate of these procedures is determined by the effective contact between the tip and the heart tissues. Using a miniaturized, susceptible tri-axial force sensor in the cardiac ablation catheter is quintessential to determine the force acting on the tip accurately. This paper discusses the design, fabrication, and comparison of two MEMS-based force sensors that can potentially be integrated with the catheter tip for better sensitivity. The working principle, shape (ring-type), and outer dimensions of both the sensors are similar, with a strategically positioned narrow rectangular cavity in the second sensor. Finite element analysis is performed to validate the performances of both sensors with the experimental results. The experiments show that sensor 2 (with the rectangular cavity on bridges) has <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\sim 1.84\times $ </tex-math></inline-formula> higher sensitivity than sensor 1 (bridges with no rectangular cavity). The results demonstrate the possibility of integrating the sensor with the catheter tip for measuring catheter contact force.

New Technique for Impact Calibration of Wide-Range Triaxial Force Transducer Using Hopkinson Bar.

At the current stage, there is an urgent need for new techniques to dynamically calibrate advanced wide-range (up to 104 N~105 N) triaxial force transducers. Based on this background, this paper proposes a novel impact calibration method, specifically for the triaxial force transducer, with a wide range and high-frequency response. In this method, the Hopkinson bar, which is typically used to test the dynamic mechanical properties of materials, was used as a generator to generate reference input force for the transducer. In addition, unlike conventional methods, the transverse sensitivities of the transducer were given necessary importance in the proposed method. The calibration result of the triaxial force transducer was expressed in a sensitivity matrix, containing three main sensitivity coefficients and six transverse sensitivity coefficients. The least squares method (LSM) was used to fit the sensitivity matrix linearly. Calibration experiments were performed on a typical triaxial force transducer. Several key issues, involving the validity and the test range, of the method were further investigated numerically. The feasibility and validity of the method were eventually confirmed. The test range of the method can be up to 106 N.

Dynamic force measurement to assess NVH performance of electric motors

The electromagnetic (EM) force induced motor whine is a major noise source of hybrid and electric vehicles. Experimental quantification of dynamic EM force is highly desirable to assess the NVH performance of electric motors. However, it is difficult to measure EM forces directly on the stator teeth. This paper describes a new indirect method to measure the dynamic forces at stator mounting ear locations. First, high-precision tri-axial piezoelectric force ring sensors are selected and calibrated to measure dynamic forces under compressive mean loading. Next, special motor housings are designed and built to accommodate force sensors between the stator ears and the base mounting plate. Force sensors are then aligned with the stator circumferential directions to measure dynamic forces in radial, tangential and axial directions as a function of motor torque and speed. The new technology is successfully implemented for electric motors of GM's Spark and Bolt EVs. Measured dynamic forces correlate well with finite-element analytical results and show consistent trends with noise and vibration responses. This confirms the dynamic mounting force can be used as an effective and measurable indicator to optimize NVH designs for electric motors.

A Portable Insole System to Simultaneously Measure Plantar Pressure and Shear Stress

Objective: This work aims to develop an integrated in-shoe measurement system to fully record plantar loading, including both pressure and shear stresses, across the full contact surface. These data are vital to help understand and prevent the development of complex conditions such as Diabetic Foot Ulcers (DFUs), a worldwide healthcare challenge. Currently no systems exist to reliably record these data. Methods: In this paper we report development of the SLIPS (&#x2018;Shear Load Inductive Plantar Sensing&#x2019;) system which integrates 64 tri-axial force sensors into a flexible insole to measure plantar loading. SLIPS translates our multi-axis inductive load sensing technology into a full sensory array embedded within an insole and complete with communication and power bus. A pilot study evaluates the system in three healthy participants during walking. Results: Testing shows that the SLIPS system is well tolerated by participants and can operate under dynamic gait loading regimes. The pilot study reveals the complex nature of plantar loading. Regions of peak pressure loading align with anatomical landmarks and shear loading forms a significant component of the overall load. Notably, regions of peak shear and pressure are not necessarily collocated or present in unison. Conclusion: This work highlights the need for in-shoe plantar measurement systems like SLIPS capable of mapping both pressure and shear load, and their use to improve understanding of how these factors relate to clinical conditions like DFU. Significance: SLIPS represents the first in-shoe measurement system capable of measuring both pressure and shear across the whole plantar surface in unison.

Polymer-Based Optical Waveguide Triaxial Tactile Sensing for 3-Dimensional Curved Shell

To realize dexterous robotic manipulation and enhance the human-machine interaction, nowadays increasing efforts have been made towards multi-dimensional force sensing. However, there are still bottlenecks in integrating these sensors into robots because of the limitation on conformability to complex surfaces and miniaturization. To overcome the above challenges, we proposed a novel polymer-based waveguide tactile sensing method by embedding elastic optical waveguide channels into a 3D curved shell. By surrounding a soft tactel with four channels, the tactel is capable to measure normal and shear forces. We demonstrated that 3-axis force sensing is achieved on a shell structure with thickness of 2.1 mm. The average gauge factor in detecting the normal force from 0 to 1.1 N is −0.2207 N <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">−1</sup> , while the value is −0.1976 N <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">−1</sup> in the shear force sensing from −1 to 1 N. A force resolution of 0.1 mN has been achieved, and the proposed sensor has an average hysteresis of 22.23%. It performs well in dynamic force testing of 10 Hz and reaches average angle error 9.7357° and average amplitude error 0.1555 N between real force and predicted force which is derived by the calibration matrix. The experiment results prove that the proposed sensing method can provide triaxial force sensing on the complex 3D curved surface with good performance.

Biomechanical Features of Backstroke to Breaststroke Transition Techniques in Age-Group Swimmers.

This study aimed to identify the biomechanical features of backstroke to breaststroke transition techniques (open, somersault, bucket, and crossover) in age-group swimmers. Eighteen preadolescent swimmers (12.2 ± 0.4 years old and 3–4 Tanner stages) underwent 4 weeks of systematic contextual interference training, comprising 16 sessions (40 min·session−1). Soon after, experimental testing was conducted where swimmers randomly performed 12 × 15 m maximal turns (composed of 7.5 m turn-in and 7.5 m turn-out of the wall segments), three in each transition technique. Kinematical, kinetic, and hydrodynamic variables were assessed with a dual-media motion capture system (12 land and 11 underwater cameras), triaxial underwater force plates, and inverse dynamics. Variables were grouped in turn-in (approach and rotation) and turn-out (wall contact, gliding, and pull-out) phases, with factor analysis used to select the variables entering on multiple regressions. For the turn-in phase, 86, 77, 89, and 87% of the variance for open, somersault, bucket, and crossover turning techniques, respectively, was accounted by the 7.5 and 2.5 m times, mean stroke length, and rotation time. For the turn-out phase, first gliding distance and time, second gliding depth, turn-out time, and dominating peak_Z push-off force accounted for 93% in open turn, while wall contact time, first gliding distance, breakout distance and time, turn-out time, dominating peak_Y push-off force, and second gliding drag coefficient accounted for 92% in a somersault turn. The foot plant index, push-off velocity, second gliding distance, and turn-out time accounted for 92% in bucket turn while breakout and turn-out time, non-dominating peak_Y and peak_Z push-off force, first and second gliding drag force and second gliding drag coefficient accounted for 90% in crossover turn, respectively. The findings in this study were novel and provided relevant biomechanical contribution, focusing on the key kinematic–temporal determinant during turn-in, rotation, and push-off efficacy, and the kinetic and hydrodynamic during turn-out, which would lead to improved backstroke to breaststroke transition techniques in 11–13 years-old age-group swimmers.

Numerical Quantification Model and Experiment of External Force on Roller Hemming of Curved Edge Aluminium Alloy with Adhesive

Accurate quantification of external force is the key to improve the high-precision hemming of autobody closure panels. However, the mechanism of external force on forming quality of complex contour sheet metal with adhesive is not clear subjected to geometric curvature and materials. In the present study, taking the curved edge aluminum sheet as the research object, SPH (smooth particle hydrodynamics) is introduced to simulate the viscous adhesive, and the SPH-FEM (Finite element method) coupling model of adhesive and panels considering the viscosity-pressure effect is established. The numerical simulation of the roller hemming process is carried out, then the validity and reliability of the proposed method are verified by measuring the external force in real time using triaxial force sensor. The multi-step forming process and the effect of external force on the roll in/out, surface wave and plastic strain of aluminum alloy sheet under the viscosity-pressure effect are studied, and the relationship between process parameters and external force is discussed. Results show that the coupling SPH-FEM model can well reflect the hemming process of curved edge structure. The normal force is about 2–3 times of the tangential force in the pre and final hemming process. Compared with the case without adhesive, the surface wave of flange part of the hemming with adhesive is slightly larger. The normal force and the tangential force increase about 90 N and 30 N respectively, when the height increases by 1 mm. It provides an important basis for the accurate control of hemming trajectory and the improvement of manufacturing quality of autobody closure panels.

Extraction of Pendulum Model Parameters from Steady-State Slosh Data in Diaphragm Tanks

This study proposes a new experimental approach to extract pendulum model parameters from spacecraft propellant tank slosh data. The novelty of the approach is in the utilization of steady-state triaxial force measurements at the support points of the tank under sinusoidal excitation. This approach enables repeatable and accurate determination of pendulum model parameters in contrast to the single-axis force sensing and multiple repetitions averaging techniques associated with the more common decay approach. This approach may be used for tanks with free slosh; however, this study considers a diaphragm tank with three different diaphragm configurations under translational oscillatory lateral excitation. With the aid of a parameter optimization technique prevalently used in machine learning, the proposed methodology identifies the pendulum model parameters based on an adaptive gradient descent on the error surface defined in the parameter space. The proposed approach is validated by comparing experimental measurements against model-predicted behavior, and the numerical procedure is verified against a quasi-Newton method. Moreover, the extracted pendulum model parameters enable prediction of the frequency response functions for both the apparent mass and apparent mass moment as function of excitation frequency, and the methodology enables extraction of higher-order vibration modes.

Development of a Distal Tri-Axial Force Sensor for Minimally Invasive Surgical Palpation

The current study highlights the development of a novel and high-accuracy Fiber Bragg Grating (FBG)-enabled tri-axial distal force sensor for minimally invasive surgical palpation. This tri-axial sensor designs the primary flexure/elastomer consisting of axial and radial force-sensitive structures in a serial configuration, based on the method of freedom and constraint topology (FACT) from the perspective of the mechanism. This method provides general guidelines for designing multi-dimensional sensor design, achieving excellent sensitivity and a large measurement range, depressing crosstalks and couplings among different axes, and keeping the sensitivity of the three directions at the same order of magnitude. Five tightly suspended optical fibers embedded with one FBG element each have been assembled with the proposed flexure. They are configured with one arranged at the axial flexure’s central line and four distributed along the circumference of the radial flexure. This tight suspension configuration generates uniform and constant strain distribution on the FBG element, thus improving resolution and repeatability and further avoiding FBG chirping. Finite element modeling (FEM)-based simulation has been conducted for performance investigation and design optimization to improve the sensor sensitivity. Static calibration experiments and in-vitro and ex-vivo palpation experiments have been performed to investigate the proposed design’s performances and feasibility. The optimized sensor prototype achieves excellent resolution values of 1.18mN and 1.81mN in the x- and y-directions within [−5N, 5N], and 2.61mN in the z-direction within [0, 5N], realizing the same order of sensitivity magnitude at each axis.

Development of the X-Perce—A Universal FBG-Based Force Sensing Kit for Laparoscopic Surgical Robot

For surgical robot, an independent contact sensing system can always provide intuitive operation reference in parallel to non-contact information. As one of them, force sensing system developed based on fiber Bragg grating sensor (FBGs) has been at the forefront of gaining force information from surgical device in the past decade. Application span from vitrectomy, cerebral surgery to cardiac ablation yet still rarely seen in laparoscopic surgery. In this paper, we present the development of the X-Perce&#x2014;a force sensing kit that can be universally deployed on the laparoscopic surgical robot. By the design of a 3D-printed biocompatible joint combining with six FBGs layout, the proposed kit is able to perform tri-axial force sensing with temperature compensation and dual-thread mechanism. Modular design and standardized integration process are able to reduce the cost of manufacture, which allow the X-Perce to be consumable and commercial. Optimization based on mechanical modelling is implemented to enhance the system performance. Testing and evaluation is conducted to assess the resolution, static indexes and tracking performance of the prototype. Overall, we provide here a mechanical force sensing solution for the instrument that can be integrated on the Da-Vinci-like laparoscopic robotic system, along with a complete design paradigm for FBG sensing system alike.

Cross-sensitivity control in a novel four-component milling dynamometer for simultaneous measurement of tri-axial forces and torque

In the present study, a strain gauge-based low-priced dynamometer and a customized data acquisition system are developed to simultaneously measure torque and tri-axial cutting forces in end-milling and drilling operations. This design includes 24 strain gauges bonded on four octagonal rings. To achieve the utmost sensitivity and overcome the cross-talk among the torque and components with gauges located at similar locations, finite element analyses have been practiced. These analyses determined the best composition of the gauges to attain the desired results. A model is then used to describe the system mathematically, and modal analyses have been conducted to estimate the dynamometer's working range. Face milling operations have been run to test the dynamometer's efficiency. The designed dynamometer was accredited by a commercially available dynamometer as a reliable and affordable instrument to be used in low to medium-speed milling processes and can be adopted by industries and laboratories with limited resources.