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The sensorless external force estimation of robot manipulator can be helpful for reducing the cost and complexity of the robot system. However, the complex friction phenomenon of the robot joint and uncertainty of robot model and signal noise significantly decrease the estimation accuracy. This study aims to investigate the friction modeling and the noise rejection of the external force estimation.

A LuGre-linear-hybrid (LuGre-L) friction model that combines the dynamic friction characteristics of the robot joint and static friction of the drive motor is proposed to improve the modeling accuracy of robot friction. The square root cubature Kalman filter (SCKF) is improved by integrating a Sage Window outer layer and a nonlinear disturbance observer (NDOB) inner layer. In the outer layer, Sage Window is integrated in the square root Kalman filter (W-SCKF) to dynamically adjust noise statistics. NDOB is applied as the inner layer of W-SCKF (NDOB-WSCKF) to obtain the uncertain state variables of the state model.

A peg-in-hole contact experiment conducted on a real robot demonstrates that the average accuracy of the estimated joint torque based on LuGre-L is improved by 4.9% in contrast to the LuGre model. Based on the proposed NDOB-WSCKF, the average estimation accuracy of the external joint torque can reach up to 92.1%, which is improved by 4%–15.3% in contrast to other estimation methods (SCKF and NDOB).

A LuGre-L friction model is proposed to handle the coupling of static and dynamic friction characteristics for the robot manipulator. An improved SCKF is applied to estimate the external force of the robot manipulator. To improve the noise rejection ability of the estimation method and make it more resistant to unmodeled state variable, SCKF is improved by integrating a Sage Window and NDOB, and a NDOB-WSCKF external force estimator is developed. Validation results demonstrate that the accuracy of the robot dynamics model and the estimated external force is improved by the proposed method.

This paper aims to present an adaptive robust sliding mode tracking controller for a 6 degree-of-freedom industrial assembly robot with parametric uncertainties and external disturbances. The controller is used to achieve both stringent trajectory tracking, accurate parameter estimations and robustness against external disturbances.

The controller is designed based on the combination of sliding mode control, adaptive and robust controls and hence has good adaptation and robustness abilities to parametric variations and uncertainties. The unknown parameter estimates are updated online based on a discontinuous projection adaptation law. The robotic dynamics is first formulated in both joint spaces and workspace of the robot’s end-effector. Then, the design procedure of the adaptive robust sliding mode tracking controller and the parameter update law is detailed.

Comparative tests are also conducted to verify the effectiveness of the proposed controller, which show that the proposed controller achieves significantly better dynamic trajectory tracking performances as compared with conventional proportional derivative controller and sliding mode controller under the same conditions.

This is a new innovation for industrial assembly robot to improve assembly automation.

The work efficiency and energy consumption of astronauts in the space station are the key issues in the operation of the space station, and how to evaluate the lean value of their activities is also complex and abstract. Combined with the idea of lean management, this paper aims to propose an space station dynamic value stream mapping system that can monitor and continuously improve the value flow and energy flow of astronauts in real time through lean methods.

Through systematic literature review, it is found that there is little research on the issue of lean management for astronauts. In manufacturing and services, value stream mapping is widely used for lean management. However, the static value stream map lacks the characteristics of real-time dynamics. This paper proposes to take the three modules of Muda detection, action recognition and energy monitoring as the basic content of the astronaut lean management framework to make the value stream and energy stream dynamic.

The theoretical framework of astronaut lean management is initially constructed, and the reasons for astronaut Muda and improvement ideas are also analyzed.

In fact, practitioners can use the proposed framework to identify the value of astronauts. Academically, these results collect research on dynamic value stream and lean management, providing a new way to identify value in aerospace using lean methods. Finally, the future research goals of astronaut lean management are put forward.

The directional solidification Fe-B alloy was prepared. The microstructures and three-body abrasive wear behaviors of directional solidification alloy were investigated.

Fe-B alloy was melted in medium frequency induction furnace. The hardness was measured on HRS-150 Rockwell-hardness tester and HXD-1000TMC tester. The wear characteristic of the alloy was examined with a block-on-ring geometry. The worn surface of the alloy was investigated by scanning electron microscopy and laser scanning microscopy.

The wear weight loss and worn surface roughness increase with the increasing contact load in wear tests. When the worn surface is perpendicular to the boride growth direction, the highest hardness plane of the boride can resist abrasive effectively under the surrounding and supporting of the martensite matrix.

The relation between boride growth direction and wear direction will cause different boride breaking tendency and wear weight loss.

This paper aims to present a multiscale fuzzy optimization (FO) method to optimize both the density distribution and macrotopology of a uniform octet-truss lattice structure.

The design formulae for the strut radii are presented based on the effective mechanical properties obtained from the representative volume element. The proposed basic lattice material is applied in a normalization process to determine the material model with penalization. The solid isotropic material with penalization (SIMP) method is extended to solve the minimum compliance problem using the optimality criteria. The evolutionary deletion process is proposed to delete elements corresponding to thin-strut unit cells and to obtain the optimal macrotopology.

Both numerical cases indicate that the FO results significantly improved in structural performance compared with the results of the conventional SIMP. The deleting threshold controls the macrotopology of the graded-density lattice structures with negligible effects on the mechanical properties.

This paper presents one of the first multiscale optimization methods to optimize both the relative density and macrotopology of uniform octet-truss lattices. The material model and corresponding optimality criteria of octet-truss lattices are proposed and implemented in the optimization.

The purpose of this paper is to study the effective procedure for blocking and deblocking isocyanate by sodium bisulphite with special cosolvent and dropwise method.

A number of analytical techniques, including Fourier transform infrared spectroscopy (FTIR), Differential scanning calorimetry (DSC) and Thermo gravimetric analyser (TGA) were employed to assess the reactions between isocyanates and sodium bisulphite, water, cosolvent, also the deblocking temperature of blocked isocyanates.

The blocked isocyanates reacted with sodium bisulphite, water and cosolvent via a special procedure. It was found that the − NCO functional groups of the isocyanates were completely blocked by sodium bisulphite and a new method for determining the lowest deblocking temperature of the blocked isocyanates was described. It was revealed that the deblocking temperature of blocked isocyanates by sodium bisulphite was lower than others.

The paper provides some useful information about the blocking and deblocking of isocyanate, which would be helpful for the preparation of blocking and deblocking isocyanate, and guiding the practical applications of blocked isocyanate.

The investigation found that the sodium bisulphite was a very efficient blocking agent for isocyanates at the room temperature via the special procedure developed. On the basis of emulsion polymerisation theory, polymer isocyanates were blocked by sodium bisulphite, which realised the new breakthrough effectively by means of controlled temperature, stirring speed and optimum dropwise speed in the whole reaction system. Meanwhile, the special cosolvent could improve the intermiscibility of isocyanate in sodium bisulphite aqueous solution, reduce the side reaction of isocyanate with water and accelerate reaction rate of isocyanate with sodium bisulphite. If no cosolvent was present, the blocked system would not be homogeneous.

This paper aims to present an image-based visual servoing algorithm for a multiple pin-in-hole assembly. This paper also aims to avoid the matching and tracking of image features and the remaining robust against image defects.

The authors derive a novel model in the set space and design three image errors to control the 3 degrees of freedom (DOF) of a single-lug workpiece in the alignment task. Analytic computations of the interaction matrix that link the time variations of the image errors to the single-lug workpiece motions are performed. The authors introduce two approximate hypotheses so that the interaction matrix has a decoupled form, and an auto-adaptive algorithm is designed to estimate the interaction matrix.

Image-based visual servoing in the set space avoids the matching and tracking of image features, and these methods are not sensitive to image effects. The control law using the auto-adaptive algorithm is more efficient than that using a static interaction matrix. Simulations and real-world experiments are performed to demonstrate the effectiveness of the proposed algorithm.

This paper proposes a new visual servoing method to achieve pin-in-hole assembly tasks. The main advantage of this new approach is that it does not require tracking or matching of the image features, and its supplementary advantage is that it is not sensitive to image defects.

Although many studies emphasize the need to design programs to help students manage post-pandemic burnout, few address personal resources' mediating role in the relationship between positive self-evaluation and experienced academic burnout. The present study aims to investigate the mediating role of two personal resources (i.e. psychological capital and proactive coping) on the relationship between core self-evaluations and academic burnout.

The research was carried out in the first part of 2022, at the end of two years of online teaching. The sample consisted of 183 Romanian university students who voluntarily filled in four questionnaires that measured core self-evaluations, academic burnout, psychological capital and proactive coping. To verify the hypotheses, a mediation analysis using the PROCESS 4.0 macro in SPSS 23.0, Model 6 was conducted. The indirect effect was tested based on a bias-corrected bootstrapping procedure with 5,000 samples, and a bootstrap confidence interval (95% CI).

Results showed that students with a high level of core self-evaluations report a low level of burnout. Also, students with positive core self-evaluations are more likely to use their psychological resources (i.e. psychological capital) and act proactively (i.e. proactive coping) in dealing with challenging situations, which can increase their burnout. However, the overall effect of the core self-evaluations on burnout was lower in the case of mediation by students' personal resources.

These research findings highlight the role of personal resources in coping with a challenging context, being among the few studies that have focused on student burnout in the immediate post-pandemic period. Furthermore, by working with malleable personal resources that can be enhanced through instruction, this research underlines how students can be taught to assess and develop these resources to cope with a highly demanding educational context.

This study aims to develop a new kind of functional low molecular weight organic dyes, which is highly efficient, meanwhile inexpensive and easily prepared and modified and can be used in photoacoustic (PA) imaging and photothermal therapy (PTT). To further realize the release of molecules under the biomedical condition, the releasing efficiency of micellar nanoparticles under different stimuli were represented.

A class of azo and Schiff base derivatives with different click reagents were characterized by PA imaging and photothermal (PT) experiments. The molecule with best PT effect was loaded into a temperature-stimuli-sensitive amphiphilic block copolymer which demonstrated the capability of releasing the polymers under the near-infrared (NIR) light of 650 nm.

The PA and PT effects of a series of azo and Schiff base derivatives with different click reagents were characterized. Introducing the click reagent F4-TCNQ can result in red shift of peaks of PA intensity. Stimulated with 650 nm laser irradiation, the polymer processed higher release rate than being stimulated by temperature stimuli.

This paper not only guides the design of NIR dyes with good PA intensity but also provides a method which has great potential for the application of NIR photothermal dyes in the field of biotechnology for controlled release.

This paper uses click reagents to modify azo and Schiff derivatives and an amphiphilic block copolymer under NIR light to realize controlled release.