A microfluidic printing nozzle for 3D printing may include a mixing chamber, a first inlet for connecting with a first ink source, the first inlet located at a first end of the mixing chamber, and a second inlet for connecting with a second ink source, the second inlet located at the first end of the mixing chamber. An outlet may be located at a second end of the mixing chamber, and a generally cylindrical impeller may be rotatably disposed in the mixing chamber between the first end and the second end. The cylindrical impeller may include an outer surface, and the outer surface of the impeller includes a groove, a protrusion, or both, to facilitate mixing of fluidic inks flowing from the first end to the second end of the mixing chamber.

The present disclosure relates to a device for three-dimensional ink deposition from an impeller-driven active mixing microfluidic printing nozzle. The device is configured to receive a material property associated with the plurality of fluids and receive a structure property of the printing nozzle. The device then determines a threshold relation between a rotating speed of an impeller in the nozzle and a volumetric flow rate Q of fluids that flow through the nozzle based on the material property of the plurality of fluids, the structure property of the printing nozzle. Based on the threshold relation, the device then determines an actual volumetric flow rate of the fluids and actual rotation speed of the impeller.

The present disclosure relates to a device for three-dimensional ink deposition from an impeller-driven active mixing microfluidic printing nozzle. The device is configured to receive a material property associated with the plurality of fluids and receive a structure property of the printing nozzle. The device then determines a threshold relation between a rotating speed of an impeller in the nozzle and a volumetric flow rate Q of fluids that flow through the nozzle based on the material property of the plurality of fluids, the structure property of the printing nozzle. Based on the threshold relation, the device then determines an actual volumetric flow rate of the fluids and actual rotation speed of the impeller.

An apparatus and method to measure and control the slump of concrete by monitoring sensor within the interior surface of a concrete mixer and a liquid flow meter. Data is analyzed by a computer processing unit to determine the slump of the concrete, liquid needed the quantity of concrete within the mixer, the amount of concrete poured, and the starting and ending time of the pour.

A Mortar Delivery System is described. The Mortar Delivery System provides precise control of the delivery and application of mortar in addition to the mixing and tempering of mortar. Such control eliminates the use of a hand trowel in brick, block and stone laying applications. Sensing and control are integrated with the Mortar Delivery System to make it an important element of a robotic brick laying system. The Mortar Delivery System contains sensors to measure mortar viscosity and workability, mortar flow rate, and mortar nozzle pressure. The data from the Mortar Delivery System sensors can be used to change the rotational speed of the shear blades, change the amount of water being used for mixing or tempering, and change the delivery speed of the mortar. Such changes result in precise control of mortar that is in turn suitable for automated or semi-automated building processes.