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Computational and experimental investigations of a microfluidic mixer for efficient iodine extraction using carbon tetrachloride enhanced with gas bubbles

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Chinese Physics B 2023年第11期32卷 518-526页

作者： Siddique Muhammad Kashif 孙林李松晶 Department of Fluid Control and Automation School of Mechatronics EngineeringHarbin Institute of TechnologyHarbin 150001China

Numerous studies have been conducted on microfluidic mixers in various microanalysis systems, which elucidated the manipulation and control of small fluid volumes within microfluidic chips. These studies have demonstrated the ability to control fluids and samples precisely at the microscale. Microfluidic mixers provide high sensitivity for biochemical analysis due to their small volumes and high surface-to-volume ratios. A promising approach in drug delivery is the rapid microfluidic mixer-based extraction of elemental iodine at the micro level, demonstrating the versatility and the potential to enhance diagnostic imaging and accuracy in targeted drug delivery. Micro-mixing inside microfluidic chips plays a key role in biochemical analysis. The experimental study describes a microfluidic mixer for extraction of elemental iodine using carbon tetrachloride with a gas bubble mixing process. Gas bubbles are generated inside the microcavity to create turbulence and micro-vortices resulting in uniform mixing of samples. The bubble mixing of biochemical samples is analyzed at various pressure levels to validate the simulated results in computational fluid dynamics(CFD). The experimental setup includes a high-resolution camera and an air pump to observe the mixing process and volume at different pressure levels with time. The bubble formation is controlled by adjusting the inert gas flow inside the microfluidic chip. Microfluidic chip-based gas bubble mixing effects have been elaborated at various supplied pressures.

关键词： microfluidic mixer iodine extraction CFD simulation micro-mixing properties

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A Recursive System Identification With Non-Uniform Temporal Feedback Under Coprime Collaborative Sensing

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ASME Letters in Dynamic Systems and control 2023年第2期3卷 021010页

作者： Ouyang, Jinhua Chen, Xu Mechatronics Automation and Control Systems Laboratory Department of Mechanical Engineering University of Washington SeattleWA98195 United States Mechatronics Automation and Control Systems Laboratory Department of Mechanical Engineering University of Washington SeattleWA98195 United States

We present a system identification method based on recursive least-squares (RLS) and coprime collaborative sensing, which can recover system dynamics from non-uniform temporal data. Focusing on systems with fast input sampling and slow output sampling, we use a polynomial transformation to reparameterize the system model and create an auxiliary model that can be identified from the non-uniform data. We show the identifiability of the auxiliary model using a Diophantine equation approach. Numerical examples demonstrate successful system reconstruction and the ability to capture fast system response with limited temporal feedback. Copyright © 2023 by ASME.

关键词： Feedback

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Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 126-137页

作者： Dongfang Li Jie Huang Rob Law Xin Xu Limin Zhu Edmond Q.Wu IEEE the School of Electrical Engineering and Automation Fuzhou University the Key Laboratory of System Control and Information Processing Ministry of Education the School of Electrical Engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University the University of Macau the College of Mechatronics and Automation National University of Defense Technology the School of Mechanical Engineering Shanghai Jiao Tong University the Department of Computer Science and Engineering Shanghai Jiao Tong University

This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

关键词： Adaptive integral surge line-of-sight approximation robotic fish speed observer

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Terminal Configuration Principles for Achieving Various Electromagnetic Integration Units with Flexible Multilayer Foil Technique

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IEEE Electromagnetic Compatibility Magazine 2023年第2期12卷 47-61页

作者： Jiang, Shiqi Wang, Panbao Wang, Wei Liu, Yitao Xu, Dianguo School of Electrical Engineering and Automation Harbin Institute of Technology Harbin150001 China Shenzhen University College of Mechatronics and Control Engineering Shenzhen518060 China

Owing to the greater integration capability, flexible multilayer foil (FMLF) technique has a great potential to promote the evolution of passive integration techniques. To understand the mechanism of this technique is essential for its applications and popularization. To this end, this paper reveals the fundamentals and terminal configuration principles to realize various functional electromagnetic integration units with FMLF technique. A regular FMLF winding is taken as the research object, from theoretical analyses on the associated distributed electromagnetic component (DEMC) circuits, the lumped electromagnetic component (LEMC) circuits with different terminal configuration modes are derived. Moreover, A FMLF winding prototype is built for experimental verifications. The LEMC circuits are demonstrated through the comparative analyses between practically measured and LTspice based simulated impedances or port characteristics. © 2021 IEEE.

关键词： Timing circuits

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Size Matters: Exploring the Impact of Scaling on Quadruped Robot Dynamics 25th

Size Matters: Exploring the Impact of Scaling on Quadruped R...

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25th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2024

作者： Rahvar, Faraz Yilmaz, Abdurrahman Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9783031720611

Quadruped robots are indispensable for specialized tasks, particularly in disaster scenarios like earthquakes, where their mobility surpasses that of fixed robots. However, altering their dimensions significantly impacts their mechanical requirements and control systems. This study investigates and compares the principal mechanical parameters affecting the control systems of quadruped robots during scaling, aiming to understand how scalability influences their design across different sizes. Using a standard quasi-direct driven commercial quadruped robot1(Unitree A 1) model featuring dual coaxial motor design and serial link architecture actuators, simulations are conducted at four different sizes, each expanding the robot size by 30%. These simulations analyze static and dynamic forces as the robot walks on a flat surface at a constant speed. To fortify our findings, simulations employ three trajectory scenarios, in each scenario, four robots are scaled in length, increasing by a coefficient of 0.3 from robot 1 to robot 4. The first and second scenarios feature different trajectory lengths, while the third scenario increases the trajectory height while maintaining the length of the second scenario. Specifically, we examine the required torque, energy consumption of the robot motors, reaction forces between the robot feet and terrain, and the mechanical cost of transport. These outcomes encompass critical components of the robot from a mechanical analysis perspective, including joints, providing valuable references for various actuator architecture designs. Our findings reveal a logical pattern in the increase of torques, power consumptions, and reaction forces as the robot scales. These insights lay the groundwork for developing a scalable control architecture for legged robots. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Multipurpose robots

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Type synthesis of a new class of 4-3T1R(y) parallel mechanisms for parallel machine tools design

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Discover Mechanical engineering 2024年第1期3卷 1-19页

作者： Wu, Shiyun Du, Jianjun Pan, Jianfei Lei, Jianguo School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen 518055 China College of Mechatronics and Control Engineering Shenzhen University Shenzhen 518061 China

Unlike previous design procedures for parallel machine tools (PMTs), this paper first analyzes the path and posture requirements of the tools in universal processing, then proposes and constructs a new class of PMs that can provide the required path and posture. This opens up new ideas for the design of PMTs. Based on the reciprocal screw theory, a type synthesis process of asymmetrical lower-mobility PMs was proposed. Through this process, a novel class of four-limbed parallel mechanisms (PMs) providing three translations and one rotation around a horizontal axis (y-axis), denoted as 4-3T1R(y) PMs, was successfully proposed and constructed. Such PMs can be applied to the design of PMTs, especially the design of micro-electrical discharge machining (micro-EDM) PMTs. The structural design of a new 2RRC-2CRU PM, which was a member of 4-3T1R(y) PMs, was performed, and its mobility was analyzed in detail to demonstrate the efficiency of the proposed type synthesis process. The inverse, forward, and velocity kinematics problems of the 2RRC-2CRU PM were solved for further applications. © The Author(s) 2024.

关键词： Kinematics problem Parallel machine tools Parallel mechanisms Type synthesis

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Extended Kalman Filter Based Nonlinear Probabilistic Model Predictive control of an Autonomous Motorcycle 11

Extended Kalman Filter Based Nonlinear Probabilistic Model P...

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11th International Conference on Electrical and Electronics engineering, ICEEE 2024

作者： Çerçi, Nurettin Yalçin, Yaprak Istanbul Technical University Mechatronics Engineering Department Istanbul Turkey Istanbul Technical University Control and Automation Engineering Department Istanbul Turkey

ISBN: (纸本)9798350362541

This work focuses on the control of a nonlinear autonomous motorcycle model using Probabilistic Model Predictive control (MPC). The main purpose of this work is to control the speed, yaw angle and roll angle of the motorcycle while keeping its balance during a maneuver. The Probabilistic MPC takes into account the probabilistic disturbances acting on the control inputs or the state variables. The cost function of the optimization of this proposed nonlinear probabilistic MPC is different than the cost of traditional deterministic MPC, such that, it contains terms that represent the mean of the state variable which is calculated with the help of an Extended Kalman Filter (EKF) and also the terms as the functions of covariances of the state variables and control inputs. The optimization algorithm is fed with these mean and covariance values every time instant, then the controller calculates the optimal control sequence to apply it to the system model. The speed of the motorcycle, the yaw angle and, the roll angle of the motorcycle are controlled with good efficiency. © 2024 IEEE.

关键词： Extended Kalman filters

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Enhancing Visual Odometry Accuracy through Block-Based Techniques

Enhancing Visual Odometry Accuracy through Block-Based Techn...

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2024 Innovations in Intelligent Systems and Applications Conference, ASYU 2024

作者： Atilgan, Cem Mercimek, Muharrem Department of Mechatronics Engineering Kırklareli University Kirklareli Turkey Department of Control and Automation Engineering Yildiz Technical University Istanbul Turkey

ISBN: (纸本)9798350379433

Visual odometry (VO) is a method used to estimate the spatial movement of vehicles or camera-equipped systems by analyzing visual data from the environment. It is a cost-effective and accurate alternative to systems like Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS), and is particularly favored in autonomous vehicles, unmanned aerial vehicles (UAVs), and augmented reality applications. This study focuses on the performance challenges faced by visual odometry systems in low-light environments, where traditional systems may not be effective and presents a novel approach, Contrast-Adaptive Block Optimization (CABO), to enhance VO in low-light environments. CABO divides images into blocks and selectively applies Contrast Limited Adaptive Histogram Equalization (CLAHE) to darker regions, optimizing image quality without compromising natural appearance. By improving feature extraction and matching, CABO enhances VO accuracy and robustness. We utilized the Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI) dataset, we demonstrate the effectiveness of the proposed method in improving position and orientation estimation under challenging lighting conditions. © 2024 IEEE.

关键词： Inertial navigation systems

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Feedback-Based Quantum Algorithm for Constrained Optimization Problems 15th

Feedback-Based Quantum Algorithm for Constrained Optimizati...

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15th International Conference on Parallel Processing and Applied Mathematics, PPAM 2024

作者： Abdul Rahman, Salahuddin Karabacak, Özkan Wisniewski, Rafal Automation and Control Section Department of Electronic Systems Aalborg University Aalborg Denmark Department of Mechatronics Engineering Kadir Has University Istanbul Turkey

ISBN: (纸本)9783031856990

The feedback-based algorithm for quantum optimization (FALQON) has recently been proposed to find ground states of Hamiltonians and solve quadratic unconstrained binary optimization problems. This paper efficiently generalizes FALQON to tackle quadratic constrained binary optimization (QCBO) problems. For this purpose, we introduce a new operator that encodes the problem’s solution as its ground state. Using control theory, we design a quantum control system such that the state converges to the ground state of this operator. When applied to the QCBO problem, we show that our proposed algorithm saves computational resources by reducing the depth of the quantum circuit and can perform better than FALQON. The effectiveness of our proposed algorithm is further illustrated through numerical simulations. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Constrained optimization

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EMI Noise Reduction with Magnetic Integrated LCL Filter in the Grid-Connected Inverter 49

EMI Noise Reduction with Magnetic Integrated LCL Filter in t...

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49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Liu, Xingyu Liu, Yitao Jiang, Shiqi College of Mechatronics and Control Engineering Shenzhen University Shenzhen China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9798350331820

This paper presents a magnetic integration scheme of LCL filter with symmetrical structure. This magnetic integration scheme uses EIE core to realize the inductor integration of symmetrical LCL filter, and realizes the decoupling and integration of upper and lower E-cores. The effectiveness of the magnetic integrated symmetrical LCL filter is verified by simulation and experiment. A 600 W single-phase SiC high-frequency inverter was used as the experimental platform to give the output current harmonic analysis results and conducted EMI noise. The symmetrical LCL filter with integrated structure not only has good harmonic suppression effect, but also greatly improves EMI suppression ability. The integrated filter is significantly smaller weight, helping to increase system power density. © 2023 IEEE.

关键词： Noise abatement

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