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This paper presents a comprehensive pallet-picking approach for forklift robots, comprising a pallet identification and localization algorithm (PILA) to detect and locate the pallet and a vehicle alignment algorithm (VAA) to align the vehicle fork arms with the targeted pallet.

Opposing vision-based methods or point cloud data strategies, we utilize a low-cost RGB-D camera, and thus PILA exploits both RGB and depth data to quickly and precisely recognize and localize the pallet. The developed method guarantees a high identification rate from RGB images and more precise 3D localization information than a depth camera. Additionally, a deep neural network (DNN) method is applied to detect and locate the pallet in the RGB images. Specifically, the point cloud data is correlated with the labeled region of interest (RoI) in the RGB images, and the pallet's front-face plane is extracted from the point cloud. Furthermore, PILA introduces a universal geometrical rule to identify the pallet's center as a “T-shape” without depending on specific pallet types. Finally, VAA is proposed to implement the vehicle approaching and pallet picking operations as a “proof-of-concept” to test PILA’s performance.

Experimentally, the orientation angle and centric location of the two kinds of pallets are investigated without any artificial marking. The results show that the pallet could be located with a three-dimensional localization accuracy of 1 cm and an angle resolution of 0.4 degrees at a distance of 3 m with the vehicle control algorithm.

PILA’s performance is limited by the current depth camera’s range (< = 3 m), and this is expected to be improved by using a better depth measurement device in the future.

The results demonstrate that the pallets can be located with an accuracy of 1cm along the x, y, and z directions and affording an angular resolution of 0.4 degrees at a distance of 3m in 700ms.

The stringent requirements for environmental protection have induced the extensive applications of water-lubricated journal bearings in marine propulsion. The nonlinear dynamic analysis of multiple grooved water-lubricated bearings (MGWJBs) has not been fully covered so far in the literature. This study aims to conduct the nonlinear dynamic analysis of the instability for MGWJBs.

An attenuation rate interpolation method is proposed for the determination of the critical instability speed. Based on a structured mesh movement algorithm, the transient hydrodynamic force model of MGWJBs is set up. Furthermore, the parameters’ analysis of nonlinear instability for MGWJBs is conducted. The minimum water film thickness, side leakage, friction torque and power loss of friction are fully analyzed.

With the increase of speed, the journal orbits come across the steady state equilibrium motion, sub-harmonic motion and limit circle motion successively. At the limit circle motion stage, the orbits are much larger than that of steady state equilibrium and sub-harmonic motion. The critical instability speed increases when the spiral angle decreases or the groove angle increases. The minimum water film thickness peak is at the rotor speed of 4,000 r/min for the MGWJB with Sa = 0°. As rotor speed increases, the side leakage decreases slightly while the friction torque and the power loss of friction increase gradually.

Present research provides a beneficial reference for the dynamic mechanism analysis and design of MGWJBs.

Low-alloy structural steels (LASS) face severe microbiologically influenced corrosion (MIC) in their service environments. To mitigate this issue, Cu is often used as an alloying element owing to its intrinsic antimicrobial activity. However, the antibacterial performance and biofilm resistance of Cu-containing LASS (Cu-LASS) are still unclear. This study aims to analyze the effect of Cu addition to 420 MP LASS on its MIC by the Pseudomonas aeruginosa biofilm.

Scanning electron microscope, confocal laser scanning microscope and X-ray photoelectron spectroscopy were used to analyze the surface morphology and composition of corrosion products. The antibacterial activities of Cu-LASS were analyzed by the spread-plate method. In addition, electrochemical analysis was conducted to characterize the corrosion behavior of the produced alloy.

Bacterial analysis and morphological observation confirmed a reduced sessile cell count and inactivation of the P. aeruginosa biofilm on the surface of Cu-LASS coupons. Electrochemical measurements showed that Cu-LASS exhibited large polarization and charge-transfer resistances, which indicated excellent MIC resistance. This significantly enhanced resistance to MIC could be explained by the synergistic effect of released Cu²⁺ from the Cu-LASS surface and immediate contact to Cu-rich phase in the surface and the release of Cu²⁺ ions from the Cu-LASS surface.

The effect of Cu addition on the MIC resistance and antibacterial performance of LASS is seldom reported. It is necessary to investigate the corrosion resistance of Cu-LASS and clarify its antibacterial mechanism. This paper fulfills this need.