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The null-space projection method is commonly adopted for controlling redundant robots, which undoubtedly requires the robot Jacobian matrix inverse. This paper aims to provide a novel control scheme, which enables null-space control of redundant robots without conflict with the main task space.

In this paper, an impedance-based null-space control approach for redundant robots is proposed. The null-space degrees of freedom are separated from the primary task space by using the eigenvalue decomposition. Then, a joint impedance controller spans the null space and is reflected into the joint space to manage the redundancy. Finally, several experiments have been conducted to evaluate and validate the performance of the proposed approach in comparison with the null-space projection method under various situations.

Experiment results show that no significant differences were observed between the different filling eigenvalues in the proposed approach under different null-space dimensions and motion velocity. Besides, comparative experiment results demonstrate that the proposed method can achieve comparable results to the null-space projection method. Nevertheless, the suggested approach has benefits regarding the quantity of control parameters in addition to not requiring a Jacobian inverse. Notably, the performance of the proposed method will improve as the null-space dimension increases.

This study presents a new control method for redundant robots, which has advantages for dealing with the problems of controlling redundant robots compared to the existing methods.

The purpose of this paper is to study the effect of nano polypyrrole-modified boron nitride on the performance of phosphate film.

By adding polypyrrole-modified boron nitride to the phosphate solution, a phosphate film is formed on the metal surface, improving its corrosion resistance. The effect of different concentrations of polypyrrole-modified boron nitride on the corrosion resistance of Q235 carbon steel surface was studied. The corrosion resistance of the phosphate film was evaluated using the copper sulfate drop test. The electrochemical corrosion performance of the phosphate film was assessed using the weak polarization curve method and electrochemical impedance spectroscopy. The surface of the samples was characterized using scanning electron microscopy and X-ray diffraction analysis.

The results show that samples containing polypyrrole-modified boron nitride have a denser and more uniform phosphate film. When the concentration of polypyrrole-modified boron nitride is 0.6 g/L, the drop time of copper sulfate on the formed phosphate film can reach 219 s, which is a 189% increase compared to the performance of the sample without the additive. The current density is 1.06 × 10⁻⁶ A/cm² lower than that of the pure phosphate film, indicating the best corrosion resistance. Polypyrrole-modified boron nitride effectively promotes the formation of the phosphate film.

This study used the modification of phosphate solution using nanoparticles to investigate the influence of different nanoparticle concentrations on the phosphate film. The corrosion resistance of the phosphate film was enhanced, providing a method and theoretical guidance for the improvement of phosphate solution formulation.

Kapok was well-known for its oleophilic properties, but its mechanical properties and morphology impeded it from forming suitable absorbent materials. This study aims to demonstrate the process of creating an oil-absorbent web from a blend of treated kapok and polypropylene fibers.

Kapok fibers were separated from dried fruits, then the wax was removed with an HCl solution at different concentrations. The morphological and structural changes of these fibers were investigated using scanning electron microscopy images. The blending ratios of kapok and polypropylene fibers were 60/40, 70/30 and 80/20, respectively. The fiber blends were fed to a laboratory carding machine to form a web and then consolidated using the heat press technique. The absorption behavior of the formed web was evaluated regarding oil absorption capacity and oil retention capacity according to ASTM 726.

The results showed that the HCl concentration of 1.0% (wt%) gave the highest wax removal efficiency without damaging the kapok fibers. This study found that oil absorbency is influenced by the fiber blending ratio, web tensile strength and elongation, porosity, oil type and environmental conditions. The oil-absorbency of the web can be re-used for at least 20 cycles.

This study only looked at three types of oils: diesel, kerosene and vegetable oils.

When the problem of oil spills in rivers and seas is growing and causing serious environmental and economic consequences, using physical methods to recover oil spills is the most effective solution.

This research adds to the possibility of using kapok fiber in the form of a web of non-woven fabric for practical purposes.

This study aims to investigate into the adsorption mechanism of heavy metal ions Pb²⁺ and methylene blue (MB) dyes on an adsorbent-web formed from kapok fibres (KP) and polypropylene fibres (PP).

Initially, the KP underwent pre-treatment with NaClO₂ solution, and their morphology and structure changes were examined through scanning electron microscope images. Subsequently, the KP fibres were blended with PP fibres at a ratio of 70 / 30 and processed through a laboratory carding machine to form a fibre web, which was then secured using a heat press to fabricate the adsorbent-web. The resultant adsorbent-web was subjected to evaluation for the adsorption process.

The findings revealed that the adsorbent-web produced via the dry-laid method exhibited promising attributes, and the adsorption process conformed to the pseudo-second-order model and the Langmuir isotherm model. Parameters such as adsorbent-web porosity, solution pH, and adsorption thermodynamics exerted notable influences on the adsorption capacity of the adsorbent-web. Notably, the adsorbent-web demonstrated remarkable reusability and desorption capacity. In the fifth cycle, the adsorption capacity of adsorbent-web for MB and Pb²⁺ ions only decreased by 9.13% and 11.48%, respectively, compared to the first cycle. The desorption efficiency of the adsorbent-web exceeded 90% for MB and over 73% for Pb²⁺ ions.

This study makes a significant contribution to the practical application of KP as an adsorbent-web for treating waste from the textile dyeing industry.

The epoxy resins need to be added with flame retardant to ensure safety in practical applications. There were a lot of highly toxic substances in the flame retardant used in the past, which caused greater harm to human body and the environment. Therefore, this study aims to propose a research on the synthesis of new phosphorous-containing flame retardant and the properties of flame retardant epoxy resins.

The flame retardant intermediate DOPO was synthesized using o-phenylphenol as the substrate. The intermediate was mixed with D4Vi under certain conditions to synthesize a new phosphorous-containing flame retardant. The flame retardant was added to the epoxy resins to prepare the flame retardant epoxy resins.

The experimental results show that the synthetic new phosphorous-containing flame retardant is far less harmful than the flame retardant used in the past and has extremely low toxicity, which is suitable for use in practical projects.

The new phosphorus-containing flame retardant synthesized by forms a more uniform and dense carbon layer in the combustion process, which well protects the underlying materials, thus improving the flame retardancy of epoxy resin materials. The harm of the new phosphorus-containing flame retardant is far less than that of ordinary flame retardant. The flame retardant used in the past has very low toxicity and is suitable for practical engineering.