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This study aims to establish a multi-physics-coupled model for an electrostatic particulate matter (PM) sensor. The focus lies on investigating the deposition patterns of particles within the sensor and the variation in the regeneration temperature field.

Computational simulations were initially conducted to analyse the distribution of particles under different temperature and airflow conditions. The study investigates how particles deposit within the sensor and explores methods to expedite the combustion of deposited particles for subsequent measurements.

The results indicate that a significant portion of the particles, approximately 61.8% of the total deposited particles, accumulates on the inside of the protective cover. To facilitate rapid combustion of these deposited particles, a ceramic heater was embedded within the metal shielding layer and tightly integrated with the high-voltage electrode. Silicon nitride ceramic, selected for its high strength, elevated temperature stability and excellent thermal conductivity, enables a relatively fast heating rate, ensuring a uniform temperature field distribution. Applying 27 W power to the silicon nitride heater rapidly raises the gas flow region's temperature within the sensor head to achieve a high-temperature regeneration state. Computational results demonstrate that within 200 s of heater operation, the sensor's internal temperature can exceed 600 °C, effectively ensuring thorough combustion of the deposited particles.

This study presents a novel approach to address the challenges associated with particle deposition in electrostatic PM sensors. By integrating a ceramic heater with specific material properties, the study proposes an effective method to expedite particle combustion for enhanced sensor performance.

This study aims to propose a force control algorithm based on neural networks, which enables a robot to follow a changing reference force trajectory when in contact with human skin while maintaining a stable tracking force.

Aiming at the challenge of robots having difficulty tracking changing force trajectories in skin contact scenarios, a single neuron algorithm adaptive proportional – integral – derivative online compensation is used based on traditional impedance control. At the same time, to better adapt to changes in the skin contact environment, a gated recurrent unit (GRU) network is used to model and predict skin elasticity coefficients, thus adjusting to the uncertainty of skin environments.

In two robot–skin interaction experiments, compared with the traditional impedance control and robot force control algorithm based on the radial basis function model and iterative algorithm, the maximum absolute force error, the average absolute force error and the standard deviation of the force error are all decreased.

As the training process of the GRU network is currently conducted offline, the focus in the subsequent phase is to refine the network to facilitate real-time computation of the algorithm.

This algorithm can be applied to robot massage, robot B-ultrasound and other robot-assisted treatment scenarios.

As the proposed approach obtains effective force tracking during robot–skin contact and is verified by the experiment, this approach can be used in robot–skin contact scenarios to enhance the accuracy of force application by a robot.