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.     

Influence of anode current density on carbon parasitic reactions during electrolysis

In the electro-deoxidation process, carbon parasitic reaction (CO₃^2- + 4e^-=C + 3O^2-) usually occurs when using carbon materials as the anode, which leads to increase of the carbon content in the final metal and decrease of the current efficiency of the process. The aim of this work is to reduce the negative effect of carbon parasitic reaction on the electrolysis process by adjusting anode current density. The results indicate that lower graphite anode area can achieve higher current density, which is helpful to increase the nucleation site of CO₂ bubbles. Most of CO₂ would be released from the anode instead of dissolution in the molten CaCl₂ and reacting with O^2- to form CO₃^2-, thus decreasing the carbon parasitic reaction of the process. Furthermore, the results of the compared experiments show that when the anode area decreases from 172.78 to 4.99 cm², CO₂ concentration in the released gases increases significantly, the carbon mass content in the final metal product decreased from 1.09% to 0.13%, and the current efficiency increased from 6.65% to 36.50%. This study determined a suitable anode current density range for reducing carbon parasitic reaction and provides a valuable reference for the selection of the anode in the electrolysis process.     

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.     

纳米碳化钒/碳化铬复合粉末的微波辅助高能球磨合成及其应用

以微米级氧化钒(V2O5)、氧化铬(Cr2O3)和纳米碳黑为原料，采用机械合金化及微波辅助加热法制备了纳米碳化钒/碳化铬复合粉末。利用XRD、XPS、TG-DSC、SEM、TEM和BET对产物进行了分析表征。结果表明，：纳米碳化钒/碳化铬复合粉末的最佳合成条件为：碳的质量分数为35%，反应温度为900℃，保温时间为1h。在该条件下的反应产物主要由V3Cr2C5、Cr2VC2和Cr3C2组成，颗粒为球形或类球形，分散性较好，无明显团聚现象，平均颗粒尺寸约为50nm，复合粉末的比表面积为115.53m2/g。添加纳米碳化钒/碳化铬复合粉末可以提高陶瓷结合剂cBN磨具的力学性能和磨削效率，降低磨具的损耗，并且对磨具具有减摩作用。     

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.     

Contribution of metal vapor mass at periphery part of pulsed arc to electromagnetic force in weld pool

The arc welding has been used in various welding methods because it is inexpensive and high in strength after welding. However, it is a problem that accidents such as collapse of the bridge occur because of the welding defects. The welding of low cost and high productivity is required without the welding defects. The pulsed TIG welding is inexpensive and capable of high‐quality welding. The electromagnetic force contributing to penetration changes because the transient response of arc temperature and iron vapor generated from anode occurs. However, the analysis of pulsed TIG welding with metal vapor has been elucidated only metal vapor concentration near anode with transient phenomenon and heat flux. Thus, the theoretical elucidation of penetration depth with control factor has not been researched. In this paper, the contribution of metal vapor mass at the periphery part of pulsed arc to the electromagnetic force in the weld pool is elucidated. As a result, the iron vapor mass at periphery part decreased with increasing the frequency. The iron vapor was stagnated at axial center within one cycle. The electromagnetic force to the penetration depth direction in weld pool increased at axial center. Therefore, the metal vapor mass at periphery part plays an important role for the electromagnetic force increment at axial center.     

Effect of S on H-induced grain-boundary embrittlement in γ-Fe by first-principles calculations

The effect of interstitial impurities (H and S) on the atomic, electronic structure, and mechanical properties of the γ-Fe Σ5 (021) grain boundary (GB) was investigated via first-principles calculations. H atoms act as an intergranular embrittler in the Σ5 GB due to a reduction in the charge density between the Fe atoms connected to the grains, whereas H and S co-segregation produces more pronounced embrittlement behavior, resulting in intergranular fracture. The S-induced embrittlement plays a crucial role in the H and S segregation, due to a combination of the structural and chemical effects. The fracturing of Σ5 GB due to S and H segregation is a two-step process. The first step is the breaking of Fe–Fe bonds in the GB, followed by the breaking of the remaining Fe–S bonds in the second step, resulting in the complete separation of the two grains. Moreover, the S atom can slightly compensate for the embrittlement induced by H, because some of the Fe atoms that obtain electrons from the S atoms can provide more electrons to the H atoms, and thus, they can compensate for the electrons that must be acquired from other Fe atoms. We call this “the electrons compensating effect” and this effect is helpful in the design and alloying of steels that are resistant to H embrittlement.     

Effect of 100 KeV Ar+ ion beam irradiation on ZnO thin films – Influence of morphology vis-a-vis electrode/electrolyte interface and its impact on photoelectrochemical water splitting

The present study attempts quantitative determination of changes in the morphological surface features viz. fractal dimension, lower and upper cut off length scale through Power Spectral Density analysis prior to and after irradiation of 100 KeV Ar⁺ ion beam at incidence angles of 0°, 40° and 60° on ZnO thin films. All the unirradiated and irradiated samples are subjected to photoelectrochemical characterization and a correlation between photoelectrochemical performance and morphological parameters is established. Sample irradiated at 40° angle at the fluence of 5 × 10¹⁶ ions/cm² is found to possess maximum fractal dimension of 2.72, lower and upper cut off length scale of 3.16 nm and 63.00 nm respectively. This sample exhibits maximum photocurrent density of 3.19 mA/cm² and applied bias photon-to-current efficiency of 1.12% at 1.23 V/RHE. Hydrogen gas collected for duration of 1 h for the same sample was ~4.83 mLcm^?2.