Can the Shape of a Planar Pathway Be Estimated Using Proximal Forces of Inserting a Flexible Shaft?

The shape information of flexible endoscopes or other continuum structures, e.g., intro-vascular catheters, is needed for accurate navigation, motion compensation, and haptic feedback in robotic surgical systems. Existing methods rely on optical fiber sensors, electromagnetic sensors, or expensive medical imaging modalities such as X-ray fluoroscopy, magnetic resonance imaging, and ultrasound to obtain the shape information of these flexible medical devices. Here, we propose to estimate the shape/curvature of a continuum structure by measuring the force required to insert a flexible shaft into the internal channel/pathway of the continuum. We found that there is a consistent correlation between the measured insertion force and curvature of the planar continuum pathway. A testbed was built to insert a flexible shaft into a planar continuum pathway with adjustable shapes. The insertion forces, insertion displacement, and the shapes of the pathway were recorded. A neural network model was developed to model this correlation based on the training data collected on the testbed. The trained model, tested on the testing data, can accurately estimate the curvature magnitudes and the accumulated bending angles of the pathway simply based on the measured insertion force at the proximal end of the shaft. The approach may be used to estimate the curvature magnitudes and accumulated bending angles of flexible endoscopic surgical robots or catheters for accurate motion compensation, haptic force feedback, localization, or navigation. The advantage of this approach is that the employed proximal force can be easily obtained outside the pathway or continuum structure without any embedded sensor in the continuum structure. Future work is needed to further investigate the correlation between insertion forces and the pathway and enhance the capability of the model in estimating more complex shapes, e.g., spatial shapes with multiple bends.

Simultaneous Radio Occultation Predictions for Inter-Satellite Comparison of Bending Angle Profiles from COSMIC-2 and GeoOptics

The Global Navigation Satellite System (GNSS) radio occultation (RO) is a remote sensing technique that uses International System of Units (SI) traceable GNSS signals for atmospheric limb soundings. The RO bending angle/sounding profiles are needed for assimilation in Numerical Weather Prediction (NWP) models, weather, climate, and space weather applications. Evaluating these RO data to ensure the high data quality for these applications is becoming more and more critical. This study presents a method for predicting radio occultation events, from which simultaneous radio occultation (SRO) for a pair of low-Earth-orbit (LEO) satellites on the limb to the same GNSS satellite can be obtained. The SRO method complements the Simultaneous Nadir Overpass (SNO) method (for nadir viewing satellite instruments), which has been widely used to inter-calibrate LEO to LEO and LEO to geosynchronous-equatorial-orbit (GEO) satellites. Unlike the SNO method, the SRO method involves three satellites: a GNSS and two LEO satellites with RO receivers. The SRO method allows for the direct comparison of bending angles when the simultaneous RO measurements for two LEO satellites receiving the same GNSS signal pass through approximately the same atmosphere within minutes in time and within less than 200 km of distance from each other. The prediction method can also be applied to radiosonde overpass prediction, and coordinate radiosonde launches for inter-comparisons between RO and radiosonde profiles. The main advantage of the SRO comparisons of bending angles is the significantly reduced uncertainties due to the much shorter time and smaller atmospheric path differences than traditional RO comparisons. To demonstrate the usefulness of this method, we present a comparison of the Constellation Observing System for Meteorology, Ionosphere, and Climate-2 (COSMIC-2) and GeoOpitcs RO profiles using SRO data for two time periods: Commercial Weather Data (CWD) data delivery order-1 (DO-1): 15 December 2020–15 January 2021 and CWD DO-2: 17 March 2021–31 August 2021. The results show good agreement in the bending angles between the COSMIC-2 RO measurements and those from GeoOptics, although systematic biases are also found in the inter-comparisons. Instrument and processing algorithm performances for the signal-to-noise ratio (SNR), penetration height, and bending angle retrieval uncertainty are also characterized. Given the efficiency of this method and the many RO measurements that are publicly and commercially available as well as the expansion of receiver capabilities to all GNSS systems, it is expected that this method can be used to validate/inter-calibrate GNSS RO measurements from different missions.

Investigation on the relationship between bending angle of the overhanging surface and overhanging surface quality printed using selective laser melting

Purpose With the increasing demand for lightweight parts, the quality of the inner structure gained growing attention from different kinds of fields. As the quality of the overhanging surface was one of the most important factors affecting inner structure formation, its quality still needs to improve. This paper aims to clarify the change of the overhanging surface quality caused by different bending angles. Design/methodology/approach The structure of the inner hole was redesigned according to the different performances of the overhanging and side inner surface. The experimental results revealed why different surface qualities can be seen under different bending angles. According to the experimental data, the inner structure was redesigned to increase its overall performance. Findings The results revealed that when the bending angle was small, the slope of the overhanging surface increased which lead to the decreasing length of the powder-supported layer. However, less space on bending angle resulted in the accumulation of unmelted powder which leads to the increasing of sinking distance. When the bending angle was too large, the slope of the overhanging surface decreased and the length of the molten pool which was supported by powder increased. It resulted in the sinking of the molten pool caused by the gravity of powder and its attachment. Originality/value This paper is the first work to study the relationship between bending angle and overhanging surface quality as far as the authors know. The different performances of left and right overhanging surfaces also have not been revealed in other research studies to the best of the knowledge.

A Flexible Two-Sensor System for Temperature and Bending Angle Monitoring

A wearable electronic system constructed with multiple sensors with different functions to obtain multidimensional information is essential for making accurate assessments of a person’s condition, which is especially beneficial for applications in the areas of health monitoring, clinical diagnosis, and therapy. In this work, using polyimide films as substrates and Pt as the constituent material of serpentine structures, flexible temperature and angle sensors were designed that can be attached to the surface of an object or the human body for monitoring purposes. In these sensors, changes in temperature and bending angle are converted into variations in resistance through thermal resistance and strain effects with a sensitivity of 0.00204/°C for temperatures in the range of 25 to 100 °C and a sensitivity of 0.00015/° for bending angles in the range of 0° to 150°. With an appropriate layout design, two sensors were integrated to measure temperature and bending angles simultaneously in order to obtain decoupled, compensated, and more accurate information of temperature and angle. Finally, the system was tested by being attached to the surface of a knee joint, demonstrating its application potential in disease diagnosis, such as in arthritis assessment.

Effects of Binder and Substrate Materials on the Performance and Reliability of Stretchable Nanocomposite Strain Sensors

In stretchable strain sensors, highly elastic elastomers such as polydimethylsiloxane (PDMS), Ecoflex, and polyurethane are commonly used for binder materials of the nanocomposite and substrates. However, the viscoelastic nature of the elastomers and the interfacial action between nanofillers and binders influence the critical sensor performances, such as repeatability, response, and hysteresis behavior. In this study, we developed a stretchable nanocomposite strain sensor composed of multiwalled carbon nanotubes and a silicone elastomer binder. The effects of binder and substrate materials on the repeatability, response, hysteresis behavior, and long-term endurance of the strain sensors were systematically investigated using stretching, bending, and repeated cyclic bending tests. Three different binder and substrate materials including PDMS, Ecoflex, and a mixture of PDMS/Ecoflex were tested. The stretchable strain sensors showed an excellent linearity and stretchability of more than 130%. Therefore, the long-term endurance of the strain sensors fabricated with Ecoflex binder should be improved. The strain sensors fabricated with Ecoflex binder showed a relatively large variation in electrical resistance during 10,000-cycle bending tests and repeatability errors at large bending angles. The strain sensors fabricated with PDMS binder showed repeatability errors at small bending angles and a slight response delay of 1 second. On the contrary, the strain sensors fabricated with a mixture of PDMS/Ecoflex binder showed excellent repeatability and response characteristics. The PDMS material showed hysteresis behavior; therefore, the strain sensors fabricated with PDMS binder on PDMS substrate exhibited a large hysteresis behavior in the first stretch–release cycle. It was found that the hysteresis behavior of the strain sensors was mainly dependent on substrate materials than on binder materials. The stretchable strain sensors made of the mixture of PDMS/Ecoflex exhibited excellent repeatability, response, hysteresis behavior, and excellent capability in detecting finger and wrist bending.

Influence of Different Lateral Bending Angles on the Flow Pattern of Pumping Station Lateral Inflow

A model of the pumping station lateral inflow forebay was established to explore the influence of different lateral bending angles of the pumping station lateral inflow. The lateral bending angles were set at 45° and 60°, and the two schemes were calculated separately. Analyzing the results of the numerical simulation showed that the flow patterns of the diversion passages of different schemes were good, but the advancing mainstream of the 1# inlet passage near the sidewall was seriously deviated after entering the forebay. Most of the water can flow smoothly into the inlet passage, while a small part of the water flowed into the sidewall and formed a backflow, resulting in a large-scale backflow zone near the left sidewall of the forebay. Moreover, the flow in the backflow zone was turbulent, which affected the water inlet conditions of the 1# water flow passage. Comparing the water inlet conditions of the water passage with the numerical simulation results of 45° and 60° bending angles showed that the larger the lateral bending angle of the forebay was, the worse the flow pattern of the water flow, and the more unfavorable the pump operation.

Electron guiding in macroscopic borosilicate capillaries with large bending angles

This work presents experiments about the transmission of electrons with an energy of around 15 keV with beam currents up to 20 µA through macroscopic glass capillaries. A systematic study was conducted to experimentally investigate the transmission of electrons through borosilicate glass capillaries with curve angles of 90°, 180°, 270° and 360° for the first time. The focus of the work was to identify the conditions under which the injected electron current is transmitted through the capillary. It was also shown that the transmission process in the macroscopic capillaries can be optically observed by cathodoluminescence—the interaction of electrons with the capillary surface causes locally a blue glow. Different distinctive “glow states” were observed and are found to correlate with different states of electron transmission.

Experimental and Simulation Analysis of Effects of Laser Bending on Microstructures Applied to Advanced Metallic Alloys

The aim of this work is the analysis of laser beam forming (LBF) in the bending of two relevant materials used in the transportation industry—interstitial-free (IF) steel and AA6013 high-strength aluminum alloy. Our experiments and numerical simulations consider two different operating scenarios achieved by varying the laser beam scanning velocity using linear paths. The material behavior during this process is described via a coupled thermomechanical-plasticity-based formulation that allows prediction of temperature profiles and bending angles. Metallography, glow discharge optical emission spectroscopy, and X-ray diffraction are used for microstructure characterization. In addition, microstress analyses are performed in order to study the stress behavior of the irradiated zones. It is found that LBF mainly induces grain growth and melting in the case of high surface temperatures. Before melting, the materials developed compressive stresses that could be useful in preventing cracking failures. The resulting bending angles are predicted and experimentally validated, indicating the robustness of the model to estimate LBF effects on advanced alloys. The present analysis relating bending angles together with temperature and microstructure profiles along the thickness of the sheets is the main original contribution of this work, highlighting the need for further modeling refinement of the effects of LBF on advanced alloys to include more microstructural properties, such as grain boundary diffusion and surface roughness.

Comparative gene expression analysis reveals that multiple mechanisms regulate the weeping trait in Prunus mume

Prunus mume (also known as Mei) is an important ornamental plant that is popular with Asians. The weeping trait in P. mume has attracted the attention of researchers for its high ornamental value. However, the formation of the weeping trait of woody plants is a complex process and the molecular basis of weeping stem development is unclear. Here, the morphological and histochemical characteristics and transcriptome profiles of upright and weeping stems from P. mume were studied. Significant alterations in the histochemical characteristics of upright and weeping stems were observed, and the absence of phloem fibres and less xylem in weeping stems might be responsible for their inability to resist gravity and to grow downward. Transcriptome analysis showed that differentially expressed genes (DEGs) were enriched in phenylpropanoid biosynthesis and phytohormone signal transduction pathways. To investigate the differential responses to hormones, upright and weeping stems were treated with IAA (auxin) and GA3 (gibberellin A3), respectively, and the results revealed that weeping stems had a weaker IAA response ability and reduced upward bending angles than upright stems. On the contrary, weeping stems had increased upward bending angles than upright stems with GA3 treatment. Compared to upright stems, interestingly, DEGs associated with diterpenoid biosynthesis and phenylpropanoid biosynthesis were significantly enriched after being treated with IAA, and expression levels of genes associated with phenylpropanoid biosynthesis, ABC transporters, glycosylphosphatidylinositol (GPI)—anchor biosynthesis were altered after being treated with GA3 in weeping stems. Those results reveal that multiple molecular mechanisms regulate the formation of weeping trait in P. mume, which lays a theoretical foundation for the cultivation of new varieties.