Passivity‐based adaptive control of a 2‐DOF serial robot manipulator with temperature dependent joint frictions

Mechanical systems are always suffering from the effects of temperature dependent friction forces where the system is operated in a wide range of temperature. Temperature and its variation play an important role in friction force in mechanical systems. If it is not compensated, it will tend to unwanted consequences, including steady‐state errors, limit cycling, and hunting. Therefore, it is necessary to take the temperature effects into account. This has been a strong motivation for the researchers to work on temperature effects on joint friction. In this paper, an adaptive compensation (control) scheme is proposed and applied to a 2‐degree‐of‐freedom serial robot manipulator by taking the temperature effects into account on the joints friction. In the proposed control scheme, the temperature is not required to be sensed. In this paper, joint friction is described by LuGre dynamic model with temperature dependent parameters. These parameters are described by some functions with unknown temperature dependent terms. According to the mathematical and practical concepts, the temperature dependent friction is decomposed into a viscous term and a disturbance term. An adaptive controller is designed to compensate the friction effect and it is shown that the proposed controller relaxes the condition for a priori knowledge about the environment characteristics, including the upper and lower bounds of the environment temperature and the parameters of the functions, describing the temperature dependent joint frictions. The stability and convergence of the joint position and velocity are proved in the sense of Lyapunov and then the proposed method is confirmed by the simulations.     

In situ Raman spectroscopic study towards the growth and excellent HER catalysis of Ni/Ni(OH)2 heterostructure

The electrochemical water splitting to produce H₂ in high efficiency with earth-abundant-metal catalysts remains a challenge. Here, we describe a simple “cyclic voltammetry + ageing” protocol at room temperature to activate Ni electrode (AC-Ni/NF) for hydrogen evolution reaction (HER), by which Ni/Ni(OH)₂ heterostructure is formed at the surface. In situ Raman spectroscopy reveals the gradual growth of Ni/Ni(OH)₂ heterostructure during the first 30 min of the aging treatment and combined with polarization measurements, it suggests a positive relation between the Ni/Ni(OH)₂ amount and HER performance of the electrode. The obtained AC-Ni/NF catalyst, with plentiful Ni–Ni(OH)₂ interfaces, exhibits remarkable performance towards HER, with the low overpotential of only 30 mV at a H₂-evolving current density of 10 mA/cm² and 153 mV at 100 mA/cm², as well as a small Tafel slope of 46.8 mV/dec in 1 M KOH electrolyte at ambient temperature. The excellent HER performance of the AC-Ni/NF could be maintained for at least 24 h without obvious decay. Ex situ experiments and in situ electrochemical-Raman spectroscopy along with density functional theory (DFT) calculations reveal that Ni/Ni(OH)₂ heterostructure, although partially reduced, can still persist during HER catalysis and it is the Ni–Ni(OH)₂ interface reducing the energy barrier of H1 adsorption thus promoting the HER performance.     

Understanding consumer resistance to the consumption of organic food. A study of ethical consumption,purchasing, and choice behaviour

Although the demand for organic food is growing globally, the mainstream consumption of organic food is far less. The present study attempts to understand the underlying reasons for consumer resistance toward consuming organic food using the theoretical framework of innovation resistance theory (IRT). The study further examines the association between different consumer barriers and purchase decisions (purchase intentions, ethical consumption intentions, and choice behaviour) at different levels of buying involvement and environmental concerns. The collected data, consisting of 452 consumers, were analyzed by structural equation modeling approach. The results showed that value barrier shared a negative association with purchase intentions and ethical consumption intentions. Ethical consumption and purchase intention were found to have a direct influence on choice behaviour. Additionally, the relationship between ethical consumption intention and choice behaviour is mediated by purchase intention. However, no significant differences have emerged based on the level of buying involvement and environment concerns. The findings of the study provide insight into public policymakers, marketers, suppliers, and consumer associations by enhancing their current understanding of buying behaviour of the growing organic food community.     

数控多轴正逆向制造实训基地建设探索

本文阐述了多轴正逆向制造发展趋势,基地建设的必要性,以五轴加工中心、五轴仿真模拟面板、三维扫描仪、3D打印机等为主的加工、逆向、快速成形先进前沿设备,形成多元化的先进制造实习链,满足、丰富实训内容,提升学生社会就业竞争力。     

Verification of unified effective stress theory based on the effect of moisture on mechanical properties of fiber reinforced unsaturated soil

The unified effective stress theory based on suction stress (SSCC theory) enables the characterization of soils under both saturated and unsaturated conditions with one closed-form relationship. This study provides experimental verification of this theory through the unconfined compressive strength test (UCS) and indirect tensile test strength (ITS) on silty clay soil stabilized with fiber. A series of matric suction, ITS, and UCS tests were conducted to validate the SSCC theory through the representation of the results of ITS and UCS tests in terms of mean total stress (p) versus deviatoric stress (q) and mean effective stress (p`) versus deviatoric stress (q). The results of the validation procedures showed that the SSCC theory is applicable and valid at a range of 6%–16% of water content on the silty clay and the silty clay fiber-reinforced soils. There is a small fluctuation in the increase of ITS and UCS values with increasing fiber content due to randomly oriented distribution of the fiber. The addition of glass fiber does not significantly affect the capacity of water retention of the soil. It improves the condition of the mechanical soil properties at the end of construction more than of the effective stress condition.     

The effect of charge on the dihydrogen storage capacity of Sc2–C6H6

The effect of charge on the dihydrogen storage capacity of Sc₂–C₆H₆ has been investigated at B3LYP-D3/6-311G(d,p) level. The neutral system Sc₂–C₆H₆ can store 8H₂ with gravimetric density of 8.76 wt %, and one H₂ dissociates and bonds atomically on the scandium atom. The adsorption of 8H₂ on Sc₂–C₆H₆ is energetically favorable below 155 K. The atom-centered density matrix propagation (ADMP) molecular dynamics simulations show that Sc₂–C₆H₆ can adsorb 3H₂ within 1000 fs at 300K. Compared with Sc₂–C₆H₆, the charged systems can adsorb more hydrogen molecules with higher gravimetric density, and all the H₂ are adsorbed in the molecular form. The gravimetric densities of Sc₂–C₆H₆⁺ and Sc₂–C₆H₆²⁺ are 9.75 and 10.71 wt%. Moreover, the maximum adsorption of charged systems are favorable in wider temperature range. Most importantly, the ADMP-MD simulations indicate that Sc₂–C₆H₆²⁺ can adsorb 6 hydrogen molecules within 1000 fs at 300K. It can be found that the gravimetric density (6.72 wt%) of Sc₂–C₆H₆²⁺ still exceeds the target of US Department of Energy (DOE) under ambient conditions.     

Effect of energy transfer and local crystal field perturbation on the thermometric sensitivity of Ga-Tb-Eu ternary emission system

A series of optical thermometers based on Eu³⁺/Tb³⁺ doped Y₃Ga₅O₁₂ with self-excited GaO₆ group phosphors were designed through controllable energy transfer and local crystal field perturbation simulated using the density-functional theory approach and related structures. Color-tunable properties of the phosphors could be achieved through controllable energy transfer. In addition, the thermometers exhibited superb temperature sensitive properties. Over the entire temperature range (298.15–598.15 K), maximum values of the absolute sensitivity and relative sensitivity are 0.028 K^?1 and 7.03 %K^?1, respectively. Meanwhile, the thermometer has outstanding resolution (ΔT = 0.0043 K) and repeatability (98.37%).     

The effect of Nd3+ concentration on fabrication,microstructure, and luminescent properties of anisotropic S-FAP ceramics

Nd³⁺ doped strontium fluorophosphate (S-FAP), with chemical formula Sr₅(PO₄)₃F, nanopowders were prepared using the co-precipitation method. The prepared powders had no impurity phase with a grain size of about 30 nm and the doping limit of Nd³⁺ ions in strontium fluorophosphate is about 9 at.%. The morphology and particle size were determined by the doping concentration of Nd³⁺. Anisotropic Nd: S-FAP transparent ceramics with different Nd³⁺ doping concentrations were fabricated successfully by the simple hot-pressing method. The grain size of prepared S-FAP transparent ceramics decreased first and then increased with the increase of Nd³⁺ concentration. The 2 at.% Nd: S-FAP ceramic presented the highest optical transmittance at all wavelengths range. The characteristic transitions from the ground state to the excited states of Nd³⁺ ions were observed from the absorption spectra, and the absorption cross-section was calculated at 3.71 × 10^–20 cm². The influence of Nd³⁺ ion concentration on luminescence intensity and fluorescence lifetime was studied under 796 nm excitation. The strong emission of ⁴F_3/2→⁴I_9/2 transition in Nd: S-FAP was calculated by Judd–Ofelt (J-O) theory.     

Phase-change regulation criterion based on size-dependent lattice distortion rate and born theory for VO2 nanomaterials

Vanadium dioxide (VO₂) is a promising thermally induced phase transition material because of the abrupt changes in electrical and optical properties. However, the high phase transition temperature of VO₂ and its unspecified modulation relationship need to be resolved urgently. Herein, we proposed a simple and precise regulation criterion for VO₂ materials based on size-dependent lattice distortion rate and Born theory. The results indicated that the application of a tensile stress changed the elastic properties of the VO₂, which promoted VO₂ phase transition, and regulated the phase transition temperature. Moreover, the specific modulation relationship between the stress and phase transition temperature of VO₂ was confirmed experimentally. These results show that our criterion provides theoretical guidance to regulate VO₂ thermally induced phase transition materials.     

Remarkable Antibacterial Activity of Reduced Graphene Oxide Functionalized by Copper Ions

Despite long-term efforts for exploring antibacterial agents or drugs, potentiating antibacterial activity and meanwhile minimizing toxicity to the environment remains a challenge. Here, it is experimentally shown that the functionality of reduced graphene oxide (rGO) through copper ions displays selective antibacterial activity that is significantly stronger than that of rGO itself and no toxicity to mammalian cells. Remarkably, this antibacterial activity is two-orders-of-magnitude greater than the activity of its surrounding copper ions. It is demonstrated that rGO is functionalized through the cation–π interaction to massively adsorb copper ions to form a rGO–copper composite and result in an extremely low concentration level of surrounding copper ions (less than ≈0.5 µm ). These copper ions on rGO are positively charged and strongly interact with negatively charged bacterial cells to selectively achieve antibacterial activity, while rGO exhibits the functionality to not only actuate rapid delivery of copper ions and massive assembly onto bacterial cells but also result in the valence shift in the copper ions from Cu²⁺ into Cu⁺, which greatly enhances the antibacterial activity. Notably, this rGO functionality through cation–π interaction with copper ions can similarly achieve algaecidal activity but does not exert cytotoxicity against neutrally charged mammalian cells.