Modeling and optimization of a novel multi-DOF electromagnetic driven spherical motion generator.

This paper introduces a new spherical motion generator and presents a method for modeling its magnetic field and analyzing its moments. The generator employs an electromagnetic drive of a spherical motor as its driving method and utilizes a spherical parallel manipulator to execute the spherical motion. The combination of these two technologies offers several advantages, including a large workspace and high motion accuracy. The equivalent magnetizing current method is used in the magnetic field modeling and the average air-gap flux density is optimized to achieve a better magnetic field distribution, and the accuracy of the analytical model is verified by finite element simulations and experiments.

Magnetic Field Modeling and Visualization of the Europa Clipper Spacecraft.

The goal of NASA's Europa Clipper Mission is to investigate the habitability of the subsurface ocean within the Jovian moon Europa using a suite of ten investigations. The Europa Clipper Magnetometer (ECM) and Plasma Instrument for Magnetic Sounding (PIMS) investigations will be used in unison to characterize the thickness and electrical conductivity of Europa's subsurface ocean and the thickness of the ice shell by sensing the induced magnetic field, driven by the strong time-varying magnetic field of the Jovian environment. However, these measurements will be obscured by the magnetic field originating from the Europa Clipper spacecraft. In this work, a magnetic field model of the Europa Clipper spacecraft is presented, characterized with over 260 individual magnetic sources comprising various ferromagnetic and soft-magnetic materials, compensation magnets, solenoids, and dynamic electrical currents flowing within the spacecraft. This model is used to evaluate the magnetic field at arbitrary points around the spacecraft, notably at the locations of the three fluxgate magnetometer sensors and four Faraday cups which make up ECM and PIMS, respectively. The model is also used to evaluate the magnetic field uncertainty at these locations via a Monte Carlo approach. Furthermore, both linear and non-linear gradiometry fitting methods are presented to demonstrate the ability to reliably disentangle the spacecraft field from the ambient using an array of three fluxgate magnetometer sensors mounted along an 8.5-meter (m) long boom. The method is also shown to be useful for optimizing the locations of the magnetometer sensors along the boom. Finally, we illustrate how the model can be used to visualize the magnetic field lines of the spacecraft, thus providing very insightful information for each investigation. Supplementary Information: The online version contains supplementary material available at 10.1007/s11214-023-00974-y.

Magnetic Curvatures of a Uniformly Magnetized Tesseroid Using the Cartesian Kernels.

In recent years, the gravitational curvatures, the third-order derivatives of the gravitational potential (GP), of a tesseroid have been introduced in the context of gravity field modeling. Analogous to the gravity field, magnetic field modeling can be expanded by magnetic curvatures (MC), the third-order derivatives of the magnetic potential (MP), which are the change rates of the magnetic gradient tensor (MGT). Exploiting Poisson's relations between ( n + 1 ) th-order derivatives of the GP and nth-order derivatives of the MP, this paper derives expressions for the MC of a uniformly magnetized tesseroid using the fourth-order derivatives of the GP of a uniform tesseroid expressed in terms of the Cartesian kernel functions. Based on the magnetic effects of a uniform spherical shell, all expressions for the MP, magnetic vector (MV), MGT and MC of tesseroids have been examined for numerical problems due to singularity of the respective integral kernels (i.e., near zone and polar singularity problems). For this, the closed analytical expressions for the MP, MV, MGT and MC of the uniform spherical shell have been provided and used to generate singularity-free reference values. Varying both height and latitude of the computation point, it is found numerically that the near zone problem also exists for all magnetic quantities (i.e., MP, MV, MGT and MC). The numerical tests also reveal that the polar singularity problems do not occur for the magnetic quantity as a result of the use of Cartesian as opposed to spherical integral kernels. This demonstrates that the magnetic quantity including the newly derived MC 'inherit' the same numerical properties as the corresponding gravitational functional. Possible future applications (e.g., geophysical information) of the MC formulas of a uniformly magnetized tesseroid could be improved modeling of the Earth's magnetic field by dedicated satellite missions.

Wearable Water Content Sensor Based on Ultrasound and Magnetic Sensing.

Fluid accumulation in the lower extremities is an early indicator of disease deterioration in cardiac failure, chronic venous insufficiency and lymphedema. At-home wearable monitoring and early detection of fluid accumulation can potentially lead to prompt medical intervention and avoidance of hospitalization. Current methods of fluid accumulation monitoring either suffer from lack of specificity and sensitivity or are invasive and cost-prohibitive to use on a daily basis. Ultrasound velocity in animal and human tissue has been found to change with water content. However, previous prototype fluid monitoring sensors based on ultrasound are cumbersome and not wearable. Hence, in this research a compact water content sensor based on a wearable instrumented elastic band is proposed. A novel integration of magnetic sensing and ultrasonic sensing is utilized, where the magnetic sensor provides distance measurement and the ultrasonic sensor produces time-of-flight measurement. Magnetic field modeling with a Kalman filter and least squares linear fitting algorithms are employed to ensure robust sensor performance on a wearable device. The combination of the two measurements yields ultrasound velocity measurement in tissue. The water content sensor prototype was tested on a tissue phantom, on animal tissue and on a human leg. The error in velocity measurement is shown to be small enough for early detection of tissue edema.

DYNAmic Multi-coIl TEchnique (DYNAMITE) shimming of the rat brain at 11.7 T.

The in vivo rat model is a workhorse in neuroscience research, preclinical studies and drug development. A repertoire of MR tools has been developed for its investigation; however, high levels of B0 magnetic field homogeneity are required for meaningful results. The homogenization of magnetic fields in the rat brain, i.e. shimming, is a difficult task because of a multitude of complex, susceptibility-induced field distortions. Conventional shimming with spherical harmonic (SH) functions is capable of compensating for shallow field distortions in limited areas, e.g. in the cortex, but performs poorly in difficult-to-shim subcortical structures or for the entire brain. Based on the recently introduced multi-coil approach for magnetic field modeling, the DYNAmic Multi-coIl TEchnique (DYNAMITE) is introduced for magnetic field shimming of the in vivo rat brain and its benefits for gradient-echo echo-planar imaging (EPI) are demonstrated. An integrated multi-coil/radiofrequency (MC/RF) system comprising 48 individual localized DC coils for B0 shimming and a surface transceive RF coil has been developed that allows MR investigations of the anesthetized rat brain in vivo. DYNAMITE shimming with this MC/RF set-up is shown to reduce the B0 standard deviation to a third of that achieved with current shim technology employing static first- through third-order SH shapes. The EPI signal over the rat brain increased by 31%, and a 24% gain in usable EPI voxels could be realized. DYNAMITE shimming is expected to critically benefit a wide range of preclinical and neuroscientific MR research. Improved magnetic field homogeneity, together with the achievable large brain coverage of this method, will be crucial when signal pathways, cortical circuitry or the brain's default network are studied. Together with the efficiency gains of MC-based shimming compared with SH approaches demonstrated recently, DYNAMITE shimming has the potential to replace conventional SH shim systems in small-bore animal scanners.