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A one-dimensional (1D) virtual force field (VFF) algorithm for real-time reflexive local path planning of mobile robots is proposed. The 1D-VFF is composed of the virtual steering, obstacle and integrated force fields (IFFs). The steering force field (SFF) is generated by the local or global goal position. This SFF leads a mobile robot to the goal. The obstacle force field (OFF) is created by the raw data of a range measurement sensor (RMS). By this OFF, a mobile robot avoids obstacles. The IFF is produced by combining the steering and OFFs in which weights between 0 and 1 are multiplied. Through this IFF, a final steering command by which a mobile robot reaches a goal by avoiding obstacles is generated. Various simulations compare the performance of the proposed 1D-VFF with the weighted virtual tangential vector (WVTV), which is the recently suggested local path planning method to overcome the U-shaped enclosure problem.

This chapter contains sections titled: Basic Definitions The Major Classes of CFD Codes and Their Applications Basic Characteristics of Numerical Solution Schemes Physical Modeling in CFD CFD Validation? Integrated Forces and the Components of Drag Solution Visualization Things a User Should Know about a CFD Code before Running it

Nano-infrared (nanoIR) probes play a crucial role as nano-mechanical sensors and antennas for light absorption and emission, and their testing performance is critically dependent on their optical properties and structural stability. Graphene-coated dielectric probes are highly attractive for enhancing light–matter interactions and integrating IR photonics, providing a broadband optical response and strong electromagnetic field. However, achieving continuous single-layer graphene growth on non-planar and non-single crystalline dielectrics is a significant challenge due to the low surface energy of the dielectric and the large difference in size between the probe tip, cantilever, and substrate. Herein, we present a novel method for the growth of high-quality and continuous graphene with good conductivity on non-planar and amorphous dielectric probe surfaces using manganese oxide powder-assisted short time heating chemical vapor deposition. The resulting graphene-coated dielectric probes exhibit an average IR reflectance of only 5% in the mid-IR band, significantly outperforming probes without continuous graphene coating. Such probes can not only effectively transduce the local photothermal sample expansion caused by the absorption of IR laser pulses, but also effectively scatter near-field light, which is 25 times stronger than the commercial metal-coated probes, and have advantages in the application of nanoIR sensing based on atomic force microscope-based infrared (AFM-IR) spectroscopy and infrared scattering scanning near field optical microscopy (IR s-SNOM) principles. Furthermore, our graphene growth method provides a solution for growing high-quality graphene on the surfaces of non-planar dielectric materials required for integrated circuits and other fields.

In the field of integrated circuits, as Moore’s Law approaches its limits, advanced packaging technologies have emerged as a key driver for enhancing circuit performance in the post-Moore era. However, the interfacial stability of advanced packaging materials—particularly photosensitive polyimide (PSPI)—is a critical factor in determining the reliability of integrated circuits’ internal chips and devices. Since the thickness of PSPI films prepared by spin-coating processes is typically controlled on the order of 10 μm or even smaller, research on the interfacial strength distribution and molecular-level interfacial bonding mechanisms at the heterointerface formed between PSPI and copper at the sub-micron scale faces significant challenges. Based on this, a study was conducted on the interfacial mechanical properties of the PSPI/Cu under loading. An in situ Transmission electron microscope (TEM) tensile testing platform was used to observe the PSPI/Cu interfacial fracture process in real time, revealing the dynamic evolution of interfacial delamination under load. The high-resolution imaging mode of Atomic Force Microscopy (AFM) was utilized to characterize the surface morphology and interfacial diffusion layer features. Simultaneously, nanoindentation technology was combined to obtain the gradient distribution of the elastic modulus in the interfacial transition zone between PSPI and Cu. Through in situ testing, AFM characterization, and nanoindentation techniques, the mechanical response mechanism at the PSPI/Cu interface was characterized, and its interfacial failure mechanism was revealed. By comparing sample data under different processing conditions, this work provides a scientific and effective theoretical basis for the optimization of advanced packaging materials and process improvements.

Large induced electromotive force will be generated on the metal interconnections under the action of strong electromagnetic pulse, thereby generating a large induced current. For copper metal interconnects commonly used in modern integrated circuits, large currents will cause electromigration, resulting in short or open in the circuit, causing damage to devices and circuits. In order to study the damage of metal interconnects under the action of electromagnetic pulse, in this paper, the induced electromotive force of metal interconnects under the action of HPM is derived through theoretical analysis, then analyzing the influence of different electromagnetic pulse parameters on the induced electromotive force of interconnects by the use of electromagnetic simulation software COMSOL. Using the established metal interconnect model, the electromagnetic sensitivity effect of metal interconnect is studied by analyzing the electric field distribution, current density and temperature distribution on the interconnect under electromagnetic pulse.

Several advanced techniques have been used for 3D micro-surface profiling, such as white light interferometry, confocal microscopy, and atomic force microscopy. However, a major technological limitation shared among these methods is the difficulty of imaging dynamic samples in real-time at high resolution. Specifically, profiling rapidly changing or moving surfaces at nanoscale 3D spatial resolution remains a challenging task. We demonstrate here a high-speed MEMS mirror-based laser differential confocal microscope for dynamic 3D micro-surface profiling. The MEMS mirror enables 2D scanning of 1200 × 650 pixels with a 140 × 90 μm field of view at 80 frames per second. Using laser differential confocal detection, the system achieves 25 nm axial resolution. The objective-space telecentric laser projection results in uniform axial response across the field of view, simplifying data acquisition and processing. These capabilities enable real-time 3D micro/nano scale profiling of dynamically changing surfaces at 80 frames per second without requiring motion stages. The system’s substantial increase in imaging throughput enables, for the first time, real-time 3D profiling of dynamic microscale surface topographies at nanometer-level axial resolutions. The high-speed 3D profiling enabled by this system provides new insights for process development and quality control in precision micro/nano fabrication.

Care management programs have become more widely adopted as health systems try to improve the coordination and integration of services across the continuum of care, especially for frail older adults. several models of care suggest the inclusion of registered nurses (RNs) and social workers to assist in these activities. In a 2018 national survey of 410 clinicians in 363 primary care and geriatrics practices caring for frail older adults, we found that nearly 40 percent of practices had no social workers or RNs. However, when both types of providers did work in a practice, social workers were more likely than RNs to be reported to participate in social needs assessment and RNs more likely than social workers to participate in care coordination. Physicians' involvement in social needs assessment and care coordination declined significantly when social workers, RNs, or both were employed in the practice.

The paper presents an innovative integrated sensor-effector designed for use in exoskeletal haptic devices. The research efforts aimed to achieve high cost-effectiveness for a design assuring proper monitoring of joint rotations and providing passive force feedback. A review of market products revealed that there is space for new designs of haptic devices with such features. To determine the feasibility of the proposed solution, a series of simulations and experiments were conducted to verify the adopted design concept. The focus was set on an investigation of the force of attraction between one and two magnets interacting with a steel plate. Further, a physical model of an integrated joint was fabricated, and its performance was evaluated and compared to a similar commercially available device. The proposed solution is cost-effective due to the use of standard parts and inexpensive components. However, it is light and assures a 19 Nm braking torque adequate for the intended use as a haptic device for upper limbs.

The bulk, pristine sp 2 carbons, such as graphite, carbon nanotubes, and graphene, are usually assumed to be typical diamagnetic materials. However, over the past two decades, there have been many reports about the ferromagnetism in these sp 2 carbon materials, which have attracted intense interest for basic research and potential applications. In this review, we focus on the evidence and developments of the emergent ferromagnetism in sp 2 carbon revealed by nine kinds of experimental methods: magnetic force microscopy (MFM), magnetization measurements with physical property measurement system (PPMS), X-ray magnetic circular dichroism (XMCD), scanning tunneling microscopy (STM), miniaturized magnetic particle inspection (MPI), anomalous Hall effect (AHE), mechanical deflection of carbon nanotube cantilevers, magnetoresistance, and spin-related devices (spin field effect transistor and spin memory). The advantages, conclusions, challenges, and future of these methods are discussed. The ferromagnetism in sp 2 carbon will open a door to explore exotic physical phenomena and lay the basis for the development of integrated circuit of spintronics, which is fundamentally different from charge-based conventional electronics.

As a highly integrated and compact power unit, the motor-pump finds critical applications in emerging electric vehicle (EV) domains such as electro-hydraulic braking and steering systems, where its vibration and noise performance directly impacts cabin comfort. A key factor limiting its NVH (Noise, Vibration, and Harshness) performance is the electromagnetic vibration and noise induced by the cogging torque of the built-in brushless DC motor (BLDCM). Traditional suppression methods that rely on stator auxiliary slots exhibit certain limitations. To address this issue, this paper proposes a collaborative optimization method integrating multi-parameter scanning and response surface methodology (RSM) for the design of auxiliary slots on the motor-pump’s stator teeth. The approach begins with a multi-parameter scanning phase to identify a promising region for global optimization. Subsequently, an accurate RSM-based prediction model is established to enable refined parameter tuning. Results demonstrate that the optimized stator structure achieves a 91.2% reduction in cogging torque amplitude for the motor-pump. Furthermore, this structure effectively suppresses radial electromagnetic force, leading to a 5.1% decrease in the overall sound pressure level. This work provides a valuable theoretical foundation and a systematic design methodology for cogging torque mitigation and low-noise design in motor-pumps.