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A coupled IBM/Euler-Lagrange framework for simulating shock-induced particle size segregation 一个耦合的IBM/欧拉-拉格朗日框架,用于模拟激波诱导的粒度偏析
IF 4.6 2区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2025-10-09 DOI: 10.1007/s10409-025-25118-x
Archana Sridhar, Jesse Capecelatro

We present a numerical framework for simulating viscous compressible flows in the presence of solid particles with large size ratios. The volume-filtered Navier-Stokes equations are discretized using a class of high-order low-dissipative finite difference operators with energy-preserving properties. No-slip, adiabatic boundary conditions are enforced at the surface of large particles (with diameters significantly larger than the local grid spacing) using a ghost-point immersed boundary method. Two-way coupling between the gas phase and small particles (with diameters proportional to the grid spacing) is accounted for through volumetric source terms for interphase momentum and energy exchange. A simple and efficient approach for collision detection between small and large particles is proposed. The framework is applied to simulations of planar shocks interacting with bidisperse distributions of particles with size ratios of approximately thirty. Particle dispersion and size segregation are reported and a simple analytical model for size segregation is proposed.

我们提出了一个数值框架来模拟大尺寸比固体颗粒存在时的粘性可压缩流动。利用一类具有能量守恒性质的高阶低耗散有限差分算子对体积滤波Navier-Stokes方程进行离散化。采用鬼点浸入边界法在大颗粒(直径明显大于局部网格间距)表面施加无滑移、绝热边界条件。气相和小颗粒(直径与网格间距成正比)之间的双向耦合通过相间动量和能量交换的体积源项来解释。提出了一种简单有效的小颗粒与大颗粒碰撞检测方法。将该框架应用于与尺寸比约为30的双分散颗粒相互作用的平面冲击的模拟。报道了颗粒的分散和粒度偏析,并提出了一个简单的粒度偏析分析模型。
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引用次数: 0
Advances and challenges in the mechanics of biological soft tissues: test methods, modeling, and applications 生物软组织力学的进展和挑战:测试方法、建模和应用
IF 4.6 2区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2025-09-01 DOI: 10.1007/s10409-024-24409-x
Wei Kang  (, ), Lingyan Li  (, ), Haoyu Song  (, ), Yanfei Li  (, ), Min Zhang  (, ), Lizhen Wang  (, ), Yubo Fan  (, )

The mechanical properties of biological soft tissues play a critical role in the study of biomechanics and the development of protective measures against human injury. Various testing techniques at different scales have been employed to characterize the mechanical behavior of soft tissues, which is essential for developing accurate tissue simulants and numerical models. This review comprehensively explores the mechanical properties of soft tissues, examining experimental methods, mechanical models, numerical simulations, and the progress in materials that mimic the mechanical performance of soft tissues. Finally, it reviews the damage and protection of human tissues under kinetic impacts, anticipating the future construction of soft tissue surrogate targets. The aim is to provide a systematic theoretical foundation and the latest advancements in the field, addressing the design, preparation, and quantitative modeling of biomimetic materials, thereby promoting the in-depth development of soft tissue mechanics and its applications.

生物软组织的力学特性对生物力学研究和人体损伤防护措施的制定具有重要意义。不同尺度的各种测试技术已被用于表征软组织的力学行为,这对于开发准确的组织模拟和数值模型至关重要。本文全面探讨了软组织的力学性能,考察了实验方法、力学模型、数值模拟以及模拟软组织力学性能的材料的进展。最后,综述了人体组织在动力冲击下的损伤与保护,展望了未来软组织替代靶点的构建。旨在提供系统的理论基础和该领域的最新进展,解决仿生材料的设计,制备和定量建模,从而促进软组织力学及其应用的深入发展。
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引用次数: 0
An Eulerian-Lagrangian parallel algorithm for simulation of particle-laden turbulent flows 欧拉-拉格朗日并行算法模拟含颗粒湍流
IF 4.6 2区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2025-09-01 DOI: 10.1007/s10409-025-24946-x
Harshal P. Mahamure, Deekshith I. Poojary, Vagesh D. Narasimhamurthy, Lihao Zhao  (, )

This paper presents an Eulerian-Lagrangian algorithm for direct numerical simulation (DNS) of particle-laden flows. The algorithm is applicable to perform simulations of dilute suspensions of small inertial particles in turbulent carrier flow. The Eulerian framework numerically resolves turbulent carrier flow using a parallelized, finite-volume DNS solver on a staggered Cartesian grid. Particles are tracked using a point-particle method utilizing a Lagrangian particle tracking (LPT) algorithm. The proposed Eulerian-Lagrangian algorithm is validated using an inertial particle-laden turbulent channel flow for different Stokes number cases. The particle concentration profiles and higher-order statistics of the carrier and dispersed phases agree well with the benchmark results. We investigated the effect of fluid velocity interpolation and numerical integration schemes of particle tracking algorithms on particle dispersion statistics. The suitability of fluid velocity interpolation schemes for predicting the particle dispersion statistics is discussed in the framework of the particle tracking algorithm coupled to the finite-volume solver. In addition, we present parallelization strategies implemented in the algorithm and evaluate their parallel performance.

本文提出了一种用于颗粒流直接数值模拟(DNS)的欧拉-拉格朗日算法。该算法适用于湍流载流中惯性小颗粒稀悬液的模拟。欧拉框架在交错笛卡尔网格上使用并行的有限体积DNS求解器对湍流载流子流进行数值求解。利用拉格朗日粒子跟踪(LPT)算法,采用点粒子方法对粒子进行跟踪。在不同斯托克斯数的情况下,利用惯性粒子负载湍流通道对欧拉-拉格朗日算法进行了验证。载体相和分散相的颗粒浓度分布和高阶统计量与基准结果吻合较好。研究了流体速度插值和粒子跟踪算法的数值积分方案对粒子色散统计的影响。在粒子跟踪算法与有限体积求解器耦合的框架下,讨论了流体速度插值格式预测粒子色散统计的适用性。此外,我们还提出了在该算法中实现的并行化策略,并评估了它们的并行性能。
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引用次数: 0
Influence of intramedullary pressure on fluid flow in Haversian canals and lacuno-canalicular network 髓内压力对哈弗氏管及腔管网络内流体流动的影响
IF 4.6 2区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2025-09-01 DOI: 10.1007/s10409-024-24471-x
Weilun Yu  (, ), Xiaohang Yang  (, ), Xuyang Huo  (, ), Fengjian Yang  (, ), Renxia Ou  (, ), Qi Hou  (, ), Haoyu Feng  (, ), Chunming Li  (, ), Xiaogang Wu  (, ), Weiyi Chen  (, )

The seepage behavior of bone fluid is the main pathway of osteocyte metabolism, and the pore pressure, fluid velocity, and fluid shear stress generated by it are the main fluid flow stimuli perceived by mechanically sensitive osteocytes. However, the impact of intramedullary pressure (IMP) on the fluid behavior of interstitial fluid in bone remains unclear. The purpose of this study was to evaluate the effect of IMP on the fluid flow behavior in the Haversian canals and lacuno-canalicular network (LCN). This study established a multiscale finite element model of bone tissue based on the theory of poroelasticity, considering the interconnection of different pore scales such as bone marrow cavity, Haversian canals, and LCN. The effects of IMP frequency and amplitude on Haversian canal pore pressure (pHc) and flow velocity (vHc), as well as on LCN pore pressure (plc), flow velocity (vlc), and fluid shear stress (τ), were analyzed. In this model, we assumed that IMP is a pulsating liquid pressure that is synchronized with arterial blood pressure and respiration, located within the bone marrow cavity and acting on the inner wall of bone tissue. We considered the stepwise conduction of pore pressure at different pore scales. As the initial pressure condition of the overall model, IMP was calculated to obtain pHc and vHc, while pHc was calculated as the initial pressure condition of the next scale model to obtain plc, vlc, and τ. The results indicated that IMP had a significant impact on the fluid flow of bone. The pHc and plc significantly increased with the increase in IMP amplitude, and the frequency of IMP had a significant impact on the peak pHc over time. The multilevel pore model established in this study provides a more accurate analysis of the fluid flow behavior within bones, which is of great significance for a deeper understanding of bone internal force conduction and is crucial for a better understanding of bone adaptation based on IMP.

骨液的渗流行为是骨细胞代谢的主要途径,其产生的孔隙压力、流体速度和流体剪切应力是机械敏感骨细胞感知的主要流体流动刺激。然而,髓内压力(IMP)对骨间质流体行为的影响尚不清楚。本研究的目的是评估IMP对哈弗氏管和腔隙-管网(LCN)中流体流动行为的影响。本研究基于孔隙弹性理论,考虑骨髓腔、哈弗斯管、LCN等不同孔隙尺度的互连,建立骨组织多尺度有限元模型。分析了IMP频率和振幅对哈弗森管孔隙压力(pHc)和流速(vHc)以及LCN孔隙压力(plc)、流速(vlc)和流体剪切应力(τ)的影响。在这个模型中,我们假设IMP是一个与动脉血压和呼吸同步的脉动液体压力,位于骨髓腔内,作用于骨组织内壁。我们考虑了不同孔隙尺度下孔隙压力的逐步传导。计算IMP作为整体模型的初始压力条件,得到pHc和vHc,计算pHc作为下一个比例模型的初始压力条件,得到plc、vlc和τ。结果表明,IMP对骨液流动有显著影响。pHc和plc随IMP振幅的增加而显著增加,IMP频率随时间的变化对峰值pHc有显著影响。本研究建立的多级孔隙模型能够更准确地分析骨内流体的流动行为,这对于深入了解骨内力传导具有重要意义,对于更好地理解基于IMP的骨适应至关重要。
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引用次数: 0
A fast equivalent-isotropic-plate model for the symmetrically stiffened plate under pulse loading 脉冲加载下对称加筋板的快速等效各向同性板模型
IF 4.6 2区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2025-08-27 DOI: 10.1007/s10409-025-24654-x
Chongxi Jiao  (, ), Mu Wang  (, ), Xinming Qiu  (, )

In engineering, a reasonable and efficient method to simplify the large-scale calculation of dynamic response of stiffened plates is highly desired. This paper proposes a novel equivalent-isotropic-plate model (EIPM) to convert a symmetrically stiffened plate to an isotropic flat plate within elasticity. EIPM provides concise and explicit formulas to calculate the equivalent plate thickness, which can save a lot of computational resources compared with direct simulation or solving complex differential equations. Under uniformly distributed impulse loading, EIPM performs excellently in predicting the maximum deflection response with an error of no more than 10%. The stiffened and the equivalent plates have similar vibration modes, but the former has a vibration frequency slightly higher than the latter by about 17% at maximum. After verification, EIPM is suitable for various complex stiffening forms with independence of materials and loads, and even qualified for large deformation problems. Due to its accuracy, efficiency, and applicability, the EIPM has potential applications in structural optimization and fast prediction of dynamic response.

在工程中,迫切需要一种合理有效的方法来简化加筋板动力响应的大规模计算。本文提出了一种新的等效各向同性板模型(EIPM),将对称加筋板转换为具有弹性的各向同性平板。EIPM提供了简洁明了的计算等效板厚的公式,与直接模拟或求解复杂的微分方程相比,可以节省大量的计算资源。在均匀分布冲击载荷下,EIPM在预测最大挠度响应方面表现出色,误差不超过10%。加筋板与等效板的振动模态相似,但加筋板的振动频率最高时略高于等效板约17%。经验证,EIPM适用于各种材料和载荷无关的复杂加筋形式,甚至可以解决大变形问题。由于其准确性、高效性和适用性,在结构优化和动力响应快速预测方面具有潜在的应用前景。
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引用次数: 0
Weak bearing fault diagnosis based on a time-delayed quad-stable stochastic resonance model 基于时滞四稳定随机共振模型的弱轴承故障诊断
IF 4.6 2区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2025-08-27 DOI: 10.1007/s10409-025-24754-x
Zhuo Wang  (, ), Yanfei Jin  (, ), Yonghui An  (, ), Haotian Wang  (, ), Qiang Tian  (, )

This paper proposes a time-delayed quad-stable stochastic resonance (SR) model driven by Gaussian white correlated noises and a weak periodic signal. For the small time delay, the mean first-passage times and spectral amplification (SA) are derived. The curve of SA exhibits a typical resonant peak at an optimal noise intensity and SR happens. Moreover, as the time delay increases, the peak value of SA is enhanced for a fixed feedback gain. It is found that selecting appropriate cross-correlation between noises and feedback gain for fixed time delay can induce the appearance of SR. In particular, an ideal quad-stable potential structure is determined to optimize the SR effect. Subsequently, an adaptive improved quad-stable SR model based on quantum particle swarm optimization is proposed to determine the optimal structure parameters to maximize improved signal-to-noise ratio. Meanwhile, the proposed model is applied to diagnose weak bearing faults in inner race, outer race, and rolling elements. The results indicate that the time-delayed quad-stable SR model significantly enhances the fault diagnosis performance and resolves the issues related to side frequency interference compared to the underdamped bi-stable SR model and the underdamped quad-stable SR model. In the fault diagnosis of bearing rolling elements, the proposed SR model can accurately identify fault frequency values. While the underdamped bi-stable and quad-stable SR models are invalid for this case.

提出了一种由高斯白相关噪声和弱周期信号驱动的延时四稳定随机共振(SR)模型。对于较小的时延,导出了平均首次通过时间和频谱放大(SA)。在最佳噪声强度下,SA曲线呈现出典型的共振峰,并发生SR。此外,随着时间延迟的增加,对于固定的反馈增益,SA的峰值增强。研究发现,在固定的时滞条件下,选择适当的噪声与反馈增益之间的相互关系,可以诱导SR的出现,特别是确定了理想的四稳定电位结构来优化SR效果。随后,提出了一种基于量子粒子群优化的自适应改进四稳定SR模型,以确定最优结构参数,使改进的信噪比最大化。同时,将该模型应用于轴承内圈、外圈和滚动体的弱故障诊断。结果表明,与欠阻尼双稳定SR模型和欠阻尼四稳定SR模型相比,时滞四稳定SR模型显著提高了故障诊断性能,解决了侧频干扰问题。在轴承滚动件故障诊断中,所提出的SR模型能准确识别故障频率值。而欠阻尼双稳态和四稳态SR模型在这种情况下是无效的。
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引用次数: 0
Mathematical model for qualitative assessment of blood pump-induced thrombosis and stroke risk 定性评价血泵致血栓和脑卒中危险性的数学模型
IF 4.6 2区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2025-08-27 DOI: 10.1007/s10409-024-24616-x
Yuan Li  (, ), Yifeng Xi  (, ), Xiaofei Wang  (, ), Zengsheng Chen  (, )

To guide clinical treatment and optimize blood pump design, a mathematical model was developed to evaluate thrombosis and stroke risks induced by blood pumps. Incorporating platelet receptor synthesis/shedding and von Willebrand factor (vWF) unfolding/degradation under shear stress, the model assessed hemorrhagic stroke risk based on shear stress-impaired platelet-vWF binding and thrombosis risk through shear stress-enhanced platelet-vWF interactions leading to hypercoagulability and blood stagnation. The model was validated using three blood pumps—HeartWare, HeartMate II, and HeartMate 3—showing consistency with clinical evidence. Thrombosis risk ranked as HeartMate II > HeartWare > HeartMate 3, primarily due to blood stagnation and shear stress-induced hypercoagulability. Hemorrhagic and ischemic stroke risks followed the ranking HeartWare > HeartMate II > HeartMate 3, with ischemic stroke regions overlapping shear stress and thrombosis-prone regions. Reducing narrow clearances and stagnation regions and avoiding regions of overlapping high shear stress and prolonged residence time can enhance hemocompatibility. The model accurately identified high-risk regions for thrombosis and stroke, providing insights for optimizing blood pump design and clinical strategies.

为了指导临床治疗和优化血泵设计,建立了血泵诱发血栓和脑卒中风险的数学模型。该模型结合了剪切应力下血小板受体的合成/脱落和血管性血友病因子(vWF)的展开/降解,基于剪切应力损伤血小板-vWF结合的出血性卒中风险和剪切应力增强的血小板-vWF相互作用导致的血栓形成风险,从而导致高凝性和血液停滞。该模型使用三种血泵(heartware、HeartMate II和HeartMate 3)进行验证,显示出与临床证据的一致性。血栓形成风险被评为HeartMate II和HeartMate 3,主要是由于血液停滞和剪切应力引起的高凝。出血性和缺血性卒中风险紧随HeartMate II和HeartMate 3的排名,缺血性卒中区域重叠剪切应力和血栓形成易发区域。减少狭窄的间隙和停滞区,避免重叠的高剪切应力区和延长的停留时间可以增强血液相容性。该模型准确地识别了血栓和中风的高危区域,为优化血泵设计和临床策略提供了见解。
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引用次数: 0
The explosion venting characteristics of hydrogen/methane/air mixtures under the congestion of obstacles 障碍物堵塞条件下氢/甲烷/空气混合物的爆炸排气特性
IF 4.6 2区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2025-08-27 DOI: 10.1007/s10409-025-24775-x
Xianzhao Song  (, ), Shuxin Deng  (, ), Hao Lu  (, ), Jing Zhang  (, ), Bin Li  (, ), Lifeng Xie  (, ), Yong He  (, ), Mingyang Wang  (, )

To investigate the characteristics of vented explosions in stoichiometric hydrogen/methane/air mixtures in the presence of obstacles, experiments were conducted within a cylindrical duct, taking into account the effects of hydrogen concentration, blockage ratio (BR), and the number of obstacles. The results indicate that internal and external peak overpressures generally increase with a higher hydrogen fraction. A higher propensity for transitioning from deflagration to detonation is observed under conditions of elevated hydrogen concentration and higher BRs. The rupture shock overpressure increases with the hydrogen fraction, peaking with five obstacles, and then decreases as the BR further increases. This pattern is also observed in the overpressure of external explosions and the maximum temperature of external flames. Given the impact of blast overpressure on human safety and structural integrity, the minimum safe distance required for equipment is notably greater than that for personnel. These results contribute to the safe and efficient use of hydrogen/methane blended gases.

为了研究化学计量氢气/甲烷/空气混合物中存在障碍物时的排气爆炸特性,在考虑氢气浓度、堵塞比(BR)和障碍物数量影响的圆柱形管道内进行了实验。结果表明,随着氢馏分的增加,内部和外部峰值超压普遍增大。在氢浓度升高和比燃比增大的条件下,从爆燃过渡到爆轰的倾向较高。破裂冲击超压随氢气含量的增加而增加,在5个障碍物处达到峰值,然后随着BR的进一步增加而降低。这种模式也可以在外部爆炸的超压和外部火焰的最高温度中观察到。考虑到爆炸超压对人身安全和结构完整性的影响,设备所需的最小安全距离明显大于人员所需的最小安全距离。这些结果有助于安全有效地利用氢/甲烷混合气体。
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引用次数: 0
Study of the impact of blood pump configurations on flow features and blood trauma under different clinical support conditions 不同临床支持条件下血泵配置对血流特征及血外伤影响的研究
IF 4.6 2区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2025-08-27 DOI: 10.1007/s10409-024-24658-x
Hongyu Wang  (, ), Zihua Su  (, ), Yawei Wang  (, ), Yuan Li  (, ), Yifeng Xi  (, ), Jinze Jia  (, ), Xiaofei Wang  (, ), Zejian Jin  (, ), Sheng Liu  (, ), Yubo Fan  (, ), Zengsheng Chen  (, )

Blood pump is one of the core components of extracorporeal membrane oxygenation, but non-physiological shear stress it generates can damage red blood cells, leading to hemolysis and life-threatening complications. This study aims to investigate the flow features and blood trauma of blood pumps with different numbers of blades (4, 5, and 6 blades) under different flow rates and pressure head (ΔP) support conditions. Hemodynamic parameters including flow field distribution, scalar shear stress (SSS), exposure time and hemolysis index over a specified threshold, were analyzed using numerical simulation. In vitro experiments using fresh bovine blood were conducted at two flow rates and three ΔP. Plasma free hemoglobin (pfHb) and normalized index of hemolysis (NIH) were measured post-circulation. When ΔP is constant, a higher flow rate from blood pump necessitates a higher rotational speed, which increases shear stress and reduces exposure time. The order of SSS is: 5-blade pump < 4-blade pump < 6-blade pump. A higher flow rate reduces backflow and exposure time in inlet tubing. As ΔP increases from 150 mmHg to 350 mmHg, exposure time in lower secondary flow channel decreases. In vitro studies indicated that the 5-blade pump exhibited the lowest hemolysis, with 20% and 30% lower pfHb than the 4-blade and 6-blade pumps (ΔP = 250 mmHg, Q = 5.0 L/min), respectively. Correspondingly, the NIH of 5-blade pump are 11.2% and 40% lower than 4-blade and 6-blade pumps (ΔP = 250 mmHg, Q = 5.0 L/min), respectively. Under various blade numbers and support conditions, the 5-blade pump has lower shear stress, shorter exposure time, and reduced pfHb and NIH, offering better blood compatibility.

血泵是体外膜氧合的核心部件之一,但其产生的非生生性剪切应力会损伤红细胞,导致溶血和危及生命的并发症。本研究旨在研究不同叶片数(4、5、6)的血泵在不同流量和压头(ΔP)支持条件下的流动特性和血外伤。采用数值模拟方法分析了流场分布、标量剪切应力(SSS)、暴露时间和超过一定阈值的溶血指数等血流动力学参数。体外实验用新鲜牛血液在两种流速和三种ΔP下进行。循环后测定血浆游离血红蛋白(pfHb)和溶血归一化指数(NIH)。当ΔP一定时,血泵的流量越大,转速就越高,从而增加了剪切应力,减少了暴露时间。SSS的顺序为:5片泵<; 4片泵<; 6片泵。较高的流量可以减少回流,减少进口油管的暴露时间。当ΔP从150 mmHg增加到350 mmHg时,下二级流道暴露时间减少。体外研究表明,5叶片泵的溶血率最低,pfHb分别比4叶片和6叶片泵低20%和30% (ΔP = 250 mmHg, Q = 5.0 L/min)。相应的,5叶片泵的NIH分别比4叶片和6叶片泵低11.2%和40% (ΔP = 250 mmHg, Q = 5.0 L/min)。在不同叶片数和支撑条件下,5叶片泵具有更低的剪切应力,更短的暴露时间,降低了pfHb和NIH,具有更好的血液相容性。
{"title":"Study of the impact of blood pump configurations on flow features and blood trauma under different clinical support conditions","authors":"Hongyu Wang \u0000 (,&nbsp;),&nbsp;Zihua Su \u0000 (,&nbsp;),&nbsp;Yawei Wang \u0000 (,&nbsp;),&nbsp;Yuan Li \u0000 (,&nbsp;),&nbsp;Yifeng Xi \u0000 (,&nbsp;),&nbsp;Jinze Jia \u0000 (,&nbsp;),&nbsp;Xiaofei Wang \u0000 (,&nbsp;),&nbsp;Zejian Jin \u0000 (,&nbsp;),&nbsp;Sheng Liu \u0000 (,&nbsp;),&nbsp;Yubo Fan \u0000 (,&nbsp;),&nbsp;Zengsheng Chen \u0000 (,&nbsp;)","doi":"10.1007/s10409-024-24658-x","DOIUrl":"10.1007/s10409-024-24658-x","url":null,"abstract":"<div><p>Blood pump is one of the core components of extracorporeal membrane oxygenation, but non-physiological shear stress it generates can damage red blood cells, leading to hemolysis and life-threatening complications. This study aims to investigate the flow features and blood trauma of blood pumps with different numbers of blades (4, 5, and 6 blades) under different flow rates and pressure head (Δ<i>P</i>) support conditions. Hemodynamic parameters including flow field distribution, scalar shear stress (SSS), exposure time and hemolysis index over a specified threshold, were analyzed using numerical simulation. <i>In vitro</i> experiments using fresh bovine blood were conducted at two flow rates and three Δ<i>P</i>. Plasma free hemoglobin (pfHb) and normalized index of hemolysis (NIH) were measured post-circulation. When Δ<i>P</i> is constant, a higher flow rate from blood pump necessitates a higher rotational speed, which increases shear stress and reduces exposure time. The order of SSS is: 5-blade pump &lt; 4-blade pump &lt; 6-blade pump. A higher flow rate reduces backflow and exposure time in inlet tubing. As Δ<i>P</i> increases from 150 mmHg to 350 mmHg, exposure time in lower secondary flow channel decreases. <i>In vitro</i> studies indicated that the 5-blade pump exhibited the lowest hemolysis, with 20% and 30% lower pfHb than the 4-blade and 6-blade pumps (Δ<i>P</i> = 250 mmHg, <i>Q</i> = 5.0 L/min), respectively. Correspondingly, the NIH of 5-blade pump are 11.2% and 40% lower than 4-blade and 6-blade pumps (Δ<i>P</i> = 250 mmHg, <i>Q</i> = 5.0 L/min), respectively. Under various blade numbers and support conditions, the 5-blade pump has lower shear stress, shorter exposure time, and reduced pfHb and NIH, offering better blood compatibility.</p><div><figure><div><div><picture><source><img></source></picture></div></div></figure></div></div>","PeriodicalId":7109,"journal":{"name":"Acta Mechanica Sinica","volume":"42 5","pages":""},"PeriodicalIF":4.6,"publicationDate":"2025-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144918272","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Configuration design method for cable-driven parallel robot considering force control errors and external uncertain wrenches 考虑力控制误差和外部不确定扳手的缆索驱动并联机器人构型设计方法
IF 4.6 2区 工程技术 Q1 ENGINEERING, MECHANICAL Pub Date : 2025-08-26 DOI: 10.1007/s10409-025-24425-x
Zhiwei Qin  (, ), Zhen Liu  (, ), Junyu Wang  (, ), Huibo Zhang  (, ), Jian’an Xu  (, )

This study presents a configuration design method for a redundantly cable-driven parallel robot under hybrid control, where the selected redundant cables are force-controlled, whereas the other cables perform length control in the joint space. The general wrench-feasibility for the hybrid joint-space control strategy was analyzed based on a space with cable tension vectors as bases. A novel performance index, general force-determined cable adjustable force, which considers not only the external interfering forces and moments but also the cable force control errors for the controllers, is explained in this study. A configuration design methodology, combining collision-free and wrench-feasible detection, is developed to obtain the optimal parameters. A trajectory with external disturbance forces and moments is considered in the experimental case study, in which the center of mass of the end effector remains unknown, and force control errors are also considered under the hybrid joint-space control strategy. We found that the hybrid joint-space control has the ability to explicitly control the cable force and cable length, and it can be applied for carrying loads with high accuracy under uncertain external interfering forces and moments by means of an appropriate configuration design.

提出了一种混合控制下冗余缆驱动并联机器人的构型设计方法,其中所选择的冗余缆在关节空间进行力控制,而其他缆在关节空间进行长度控制。基于以索张力矢量为基础的空间,分析了混合关节空间控制策略的通用扳手-可行性。本文提出了一种新的性能指标——一般定力索可调力,它既考虑了外部干扰力和力矩,又考虑了控制器的索力控制误差。提出了一种结合无碰撞检测和扳手可行检测的构型设计方法,以获得最优参数。在实验案例研究中,考虑了具有外力和力矩干扰的轨迹,其中末端执行器质心未知,并且考虑了混合关节空间控制策略下的力控制误差。研究发现,混合关节空间控制具有显式控制索力和索长的能力,通过适当的结构设计,可以在不确定的外力和力矩干扰下高精度地承载载荷。
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引用次数: 0
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Acta Mechanica Sinica
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