Micro-Mechatronic Engineering

Current wireless capsule endoscopy (WCE) is limited in the long examination time and low flexibility since the capsule is passively moved by the natural peristalsis. Efforts have been made to facilitate the active locomotion of WCE using magnetic actuation and localization technologies. This work focuses on the motion control of the robotic capsule under magnetic actuation in a complex gastrointestinal (GI) tract environment in order to improve the efficiency and accuracy of its motion in dynamic, complex environments. Specifically, a magnetic actuation system based on a four-electromagnetic coil module is designed, and a control strategy for the system is proposed. In particular, the proportional–integral–derivative (PID) control parameters and current values are optimized online and in real time using the adaptive particle swarm optimization (APSO) algorithm. In this paper, both simulations and real-world experiments were conducted using acrylic plates with irregular shapes to simulate the GI tract environment for evaluation. The results demonstrate the potential of the proposed control methods to realize the accurate and efficient inspection of the intestine using active WCE. The methods presented in this paper can be integrated with current WCE to improve the diagnostic accuracy and efficiency of the GI tract. Full article

This paper integrates $L_1$-norm structural risk minimization with $L_1$-norm approximation error to develop a new optimization framework for solving the parameters of sparse kernel regression models, addressing the challenges posed by complex model structures, over-fitting, and limited modeling accuracy in traditional nonlinear system modeling. The first $L_1$-norm regulates the complexity of the model structure to maintain its sparsity, while another $L_1$-norm is essential for ensuring modeling accuracy. In the optimization of support vector regression (SVR), the $L_2$-norm structural risk is converted to an $L_1$-norm framework through the condition of non-negative Lagrange multipliers. Furthermore, $L_1$-norm optimization for modeling accuracy is attained by minimizing the maximum approximation error. The integrated $L_1$-norm of structural risk and approximation errors creates a new, simplified optimization problem that is solved using linear programming (LP) instead of the more complex quadratic programming (QP). The proposed sparse kernel regression model has the following notable features: (1) it is solved through relatively simple LP; (2) it effectively balances the trade-off between model complexity and modeling accuracy; and (3) the solution is globally optimal rather than just locally optimal. In our three experiments, the sparsity metrics of $SVs\%$ were 2.67%, 1.40%, and 0.8%, with test RMSE values of 0.0667, 0.0701, 0.0614 (sinusoidal signal), and 0.0431 (step signal), respectively. This demonstrates the balance between sparsity and modeling accuracy. Full article

This study employed nano-indentation technology, molecular dynamics simulation, and experimental investigation to examine the stress relaxation behaviour of a polycrystalline γ-TiAl alloy. The simulation enabled the generation of a load-time curve, the visualisation of internal defect evolution, and the mapping of stress distribution across each grain during the stress relaxation stage. The findings indicate that the load remains stable following an initial decline, thereby elucidating the underlying mechanism of load change during stress relaxation. Furthermore, a nano-indentation test was conducted on the alloy, providing insight into the load variation and stress relaxation behaviour under different loading conditions. By comparing the simulation and experimental results, this study aims to guide the theoretical research and practical application of γ-TiAl alloys. Full article

Multi-motor servo systems are widely used in industrial control. However, the single-core microprocessor architecture based on the microcontroller unit (MCU) and digital signal processor (DSP) is not well suited for high-performance multi-motor servo systems due to the inherent limitations in computing performance and serial execution of code. The bus-based distributed architecture formed by interconnecting multiple unit controllers increases system communication complexity, reduces system integration, and incurs additional hardware and software costs. Field programmable gate array (FPGA) possesses the characteristics of high real-time performance, parallel processing, and modularity. A single FPGA can integrate multiple motor servo controllers. This research uses MCU + FPGA as the core to realize high-precision multi-axis real-time control, combining the powerful performance of the MCU processor and the high-speed parallelism of FPGA. The MCU serves as the central processor and facilitates data interaction with the host computer through the controller area network (CAN). After data parsing and efficient computation, MCU communicates with the FPGA through flexible static memory controller (FSMC). A motor servo controller intellectual property (IP) core is designed and packaged for easy reuse within the FPGA. A 38-axis micro direct current (DC) motor control system is constructed to test the performance of the IP core and the heterogeneous embedded platforms. The experimental results show that the designed IP core exhibits robust functionality and scalability. The system exhibits high real-time performance and reliability. Full article

Retinal vein cannulation involves puncturing an occluded vessel on the micron scale. Even single millinewton force can cause permanent damage. An ophthalmic robot with a piezo-driven injector is precise enough to perform this delicate procedure, but the uncertain viscoelastic characteristics of the vessel make it difficult to achieve the desired contact force without harming the retina. The paper utilizes a viscoelastic contact model to explain the mechanical characteristics of retinal blood vessels to address this issue. The uncertainty in the viscoelastic properties is considered an internal disturbance of the contact model, and an active disturbance rejection controller is then proposed to precisely control the contact force. The experimental results show that this method can precisely adjust the contact force at the millinewton level even when the viscoelastic parameters vary significantly (up to 403.8%). The root mean square (RMS) and maximum value of steady-state error are 0.32 mN and 0.41 mN. The response time is below 2.51 s with no obvious overshoot. Full article

When the satellite is in orbit, the thruster will experience drastic temperature changes (100–1000 K) under solar radiation, which will affect the rarefied gas flow state in the micro-nozzle structure of the cold gas micro-thruster. In this study, the effect of different wall temperatures on the rarefied flow and heat transfer in the micro-nozzle is investigated based on the DSMC method. The micro-nozzle structure in this paper has a micro-channel with a large length-to-diameter ratio of 10 and a micro-scale needle valve displacement (maximum needle valve displacement up to 4 μm). This leads to more pronounced multiscale flow characteristics in the micro-nozzle, which is more influenced by the change in wall temperature. At wall temperatures ranging from 100 K to 1000 K, the spatial distribution of local Kn distribution, slip velocity distribution, temperature, and wall heat flux distribution in the micro-nozzle were calculated. The slip flow region is located in the flow channel and transforms into transition flow as the slip velocity reaches approximately 50 m/s. The spatial distribution of the flow pattern is dominated by the wall temperature at small needle valve opening ratios. The higher the wall temperature, the smaller the temperature drop ratio in the low-temperature region inside the micro-nozzle. The results of the study provide a reference for the design of temperature control of micro-nozzles in cold gas micro-thrusters. Full article

Inspection is a crucial process to ensure product quality. In the precision assembly of an optic-mechanical device, a part with micro multi-section arcs needs to be inspected and assembled into another part. Actually, because of machining errors, including dimensional and geometric shapes, can lead to complex deformation modes for parts with micro multi-section arcs, posing challenges to their inspection. Furthermore, inconsistencies in feature images in microscopic vision may complicate the extraction of the Region of Interest (ROI). To address these issues, this paper proposes an ROI extraction method based on the CAD model for rough positioning of feature points and connected region detection for refinement. Subsequently, based on feature points, the CAD model is used again to obtain the ROI. For inspection purposes, this paper proposes a method suitable for micro multi-section arcs based on assembly fit requirements. Experimental testing was performed on parts with eight-section arcs and mirrors to verify the effectiveness of the proposed method. This method provides a suitable solution for the inspection of micro multi-section arcs in precision assembly with the potential to improve the accuracy of the inspection results. Full article

Aiming at the problems of the complex shape, difficult three-dimensional (3D) digital modeling and high manufacturing quality requirements of gas turbine blades (GTB), a method of fitting the blade profile line based on a cubic uniform B-spline interpolation function was proposed. Firstly, surface modeling technology was used to complete the fitting of the blade profile of the GTB, and the 3D model of the GTB was synthesized. Secondly, the processing parameters of the additive manufacturing were set, and the GTB model was printed by fused deposition technology. Then, the rapid investment casting was completed with the printed model as a wax model to obtain the GTB casting. Finally, the blade casting was post-processed and measured, and it was found to meet the requirements of machining accuracy and surface quality. Full article

Laser soldering is a crucial soldering technique in the realm of electronic assembly. The temperature of the solder joint is intimately connected with the quality of the solder. This paper introduces an adjustable power upper limit variable-structure Proportional–Integral–Derivative (PID) intelligent control method for regulating the temperature of the solder joint during laser soldering. Distinct laser power limits are employed for workpieces with varying heat capacities. The solder joint temperature is monitored through an infrared thermometer, which enables closed-loop temperature control via a variable-structure PID algorithm. Residual neural network (ResNet) models are utilized to predict key soldering process parameters. This method has been executed and validated on a practical testing platform. Compared to other laser soldering control techniques, the proposed method demonstrates a low overshoot, rapid dynamic response, and swift adjustment capabilities, effectively enhancing the soldering quality and production efficiency. Full article

The Bird-like Flapping-wing Air Vehicle (BFAV) is a robotic innovation that emulates the flight patterns of birds. In comparison to fixed-wing and rotary-wing air vehicles, the BFAV offers superior attributes such as stealth, enhanced maneuverability, strong adaptability, and low noise, which render the BFAV a promising prospect for numerous applications. Consequently, it represents a crucial direction of research in the field of air vehicles for the foreseeable future. However, the flapping-wing vehicle is a nonlinear and unsteady system, posing significant challenges for BFAV to achieve autonomous flying since it is difficult to analyze and characterize using traditional methods and aerodynamics. Hence, flight control as a major key for flapping-wing air vehicles to achieve autonomous flight garners considerable attention from scholars. This paper presents an exposition of the flight principles of BFAV, followed by a comprehensive analysis of various significant factors that impact bird flight. Subsequently, a review of the existing literature on flight control in BFAV is conducted, and the flight control of BFAV is categorized into three distinct components: position control, trajectory tracking control, and formation control. Additionally, the latest advancements in control algorithms for each component are deliberated and analyzed. Ultimately, a projection on forthcoming directions of research is presented. Full article

The need for high-precision microflow control is increasingly evident across various fields. For instance, microsatellites employed in gravitational wave detection require flow supply systems with a high accuracy of up to 0.1 nL/s to achieve on-orbit attitude control and orbit control. However, conventional flow sensors are unable to provide the necessary precision in the nanoliter per second range, and thus, alternative methods are required. In this study, we propose the use of image processing technology for rapid microflow calibration. Our method involves capturing images of the droplets at the outlet of the flow supply system to rapidly obtain the flow rate, and we used the gravimetric method to verify the accuracy of our approach. We conducted several microflow calibration experiments within the 1.5 nL/s range and demonstrated that image processing technology can achieve the desired accuracy of 0.1 nL/s while saving more than two-thirds of the time required to obtain the flow rate within an acceptable margin of error compared to the gravimetric method. Our study presents an efficient and innovative approach to addressing the challenges of measuring microflows with high precision, particularly in the nanoliter per second range, and has the potential for widespread applications in various fields. Full article