Nanocrystalline nickel coating was prepared by flexible friction assisted electrodeposition technology in an additive-free Watts bath.The coating consists of massive equiaxial crystals with an average grain size of ab...Nanocrystalline nickel coating was prepared by flexible friction assisted electrodeposition technology in an additive-free Watts bath.The coating consists of massive equiaxial crystals with an average grain size of about 24 nm and exhibits a（111） preferred orientation.The differential scanning calorimetry（DSC） analysis of nanocrystalline nickel demonstrates that the peak temperature of rapid grain growth is about 285.4 °C,and the peak temperature of grain growth towards equilibrium is around 431.5 °C.The isochronous annealing results reveal that abnormal grain growth behavior is not observed in nanocrystalline nickel without sulfur-containing.The thermal stability of the deposition was improved due to its initial microstructure of the as-deposited nickel and a certain amount of annealing nano-twins with low-energy,which reduces the driving force for grain growth.Consequently,the coating shows a low residual tensile stress of about 50 MPa and a high microhardness of HV 400 at the annealing temperature of 450 °C.展开更多
An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both v...An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both vibration suppression mode,where FJR tracks the desired position with little vibration,and compliance mode,in which FJR presents passive.Instead of designing multiple controllers and switching between them,both modes are integrated into a single controller,and the transition between two modes is smooth and stable.The stability of the closed-loop system is theoretically proven via the Lyapunov method,with the considering the dynamics uncertainties in both link side and motor side.Simulation results are presented to illustrate good performances of the proposed control scheme.展开更多
Two easily verified delay-dependent criteria of mean-square exponential robust stability are obtained by constructing Lyapunov-Krasovskii functional and employing the decomposition technique of the continuous matrix-d...Two easily verified delay-dependent criteria of mean-square exponential robust stability are obtained by constructing Lyapunov-Krasovskii functional and employing the decomposition technique of the continuous matrix-discovered set of grey matrix and Ito formula.A numerical example shows the validity and practicality of the criteria presented in this paper.展开更多
Purpose: To test the effectiveness of sitting surfaces with varied amounts of stability on muscle activity and energy expenditure.Methods: Using a within-participants repeated measures design, 11 healthy young-adult f...Purpose: To test the effectiveness of sitting surfaces with varied amounts of stability on muscle activity and energy expenditure.Methods: Using a within-participants repeated measures design, 11 healthy young-adult females(age = 20.0 ± 1.8 years) were measured using indirect calorimetry to assess energy expenditure, and electromyography to assess muscular activation in trunk and leg musculature under 3different sitting surfaces: flat-firm surface, air-filled cushion, and a stability ball. Data were analyzed using repeated measures analysis of variance with follow-up pairwise contrasts used to determine the specific effects of sitting surface on muscle activation and energy expenditure.Results: Significantly greater energy expenditure was recorded for the stability ball(p = 0.01) and the cushion(p = 0.03) over the flat surface(10.4% and 9.6% greater, respectively), with no differences between the ball and the cushion. Both the ball and the cushion produced higher tibialis anterior activation over the flat surface(1.09 and 0.63 root-mean-square millivolts(RMSmv), respectively), while the stability ball produced higher soleus activity over both cushion and flat surfaces(3.97 and 4.24 RMSmv, respectively). Additionally, the cushion elicited higher adductor longus activity over the ball and flat surfaces(1.76 and 1.81 RMSmv, respectively), but no trunk musculature differences were revealed.Conclusion: Compliant surfaces resulted in higher levels of muscular activation in the lower extremities facilitating increased caloric expenditure.Given the increasing trends in sedentary careers and the increases in obesity, this is an important finding to validate the merits of active sitting facilitating increased caloric expenditure and muscle activation.展开更多
基金Project(51005244)supported by the National Natural Science Foundation of ChinaProject(2011CB013405)supported by the Basic Research Development Program of China
文摘Nanocrystalline nickel coating was prepared by flexible friction assisted electrodeposition technology in an additive-free Watts bath.The coating consists of massive equiaxial crystals with an average grain size of about 24 nm and exhibits a（111） preferred orientation.The differential scanning calorimetry（DSC） analysis of nanocrystalline nickel demonstrates that the peak temperature of rapid grain growth is about 285.4 °C,and the peak temperature of grain growth towards equilibrium is around 431.5 °C.The isochronous annealing results reveal that abnormal grain growth behavior is not observed in nanocrystalline nickel without sulfur-containing.The thermal stability of the deposition was improved due to its initial microstructure of the as-deposited nickel and a certain amount of annealing nano-twins with low-energy,which reduces the driving force for grain growth.Consequently,the coating shows a low residual tensile stress of about 50 MPa and a high microhardness of HV 400 at the annealing temperature of 450 °C.
基金supported by the National Key R&D Program of China(No.2017YFB1300400)the National Natural Science Foundation of China(No. 51805107)
文摘An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both vibration suppression mode,where FJR tracks the desired position with little vibration,and compliance mode,in which FJR presents passive.Instead of designing multiple controllers and switching between them,both modes are integrated into a single controller,and the transition between two modes is smooth and stable.The stability of the closed-loop system is theoretically proven via the Lyapunov method,with the considering the dynamics uncertainties in both link side and motor side.Simulation results are presented to illustrate good performances of the proposed control scheme.
基金Supported by the Natural Science Foundation of Henan Province（061105440） Supported by the Natural Science Foundation of the Education Department of Henan Province（2008A1100150）
文摘Two easily verified delay-dependent criteria of mean-square exponential robust stability are obtained by constructing Lyapunov-Krasovskii functional and employing the decomposition technique of the continuous matrix-discovered set of grey matrix and Ito formula.A numerical example shows the validity and practicality of the criteria presented in this paper.
文摘Purpose: To test the effectiveness of sitting surfaces with varied amounts of stability on muscle activity and energy expenditure.Methods: Using a within-participants repeated measures design, 11 healthy young-adult females(age = 20.0 ± 1.8 years) were measured using indirect calorimetry to assess energy expenditure, and electromyography to assess muscular activation in trunk and leg musculature under 3different sitting surfaces: flat-firm surface, air-filled cushion, and a stability ball. Data were analyzed using repeated measures analysis of variance with follow-up pairwise contrasts used to determine the specific effects of sitting surface on muscle activation and energy expenditure.Results: Significantly greater energy expenditure was recorded for the stability ball(p = 0.01) and the cushion(p = 0.03) over the flat surface(10.4% and 9.6% greater, respectively), with no differences between the ball and the cushion. Both the ball and the cushion produced higher tibialis anterior activation over the flat surface(1.09 and 0.63 root-mean-square millivolts(RMSmv), respectively), while the stability ball produced higher soleus activity over both cushion and flat surfaces(3.97 and 4.24 RMSmv, respectively). Additionally, the cushion elicited higher adductor longus activity over the ball and flat surfaces(1.76 and 1.81 RMSmv, respectively), but no trunk musculature differences were revealed.Conclusion: Compliant surfaces resulted in higher levels of muscular activation in the lower extremities facilitating increased caloric expenditure.Given the increasing trends in sedentary careers and the increases in obesity, this is an important finding to validate the merits of active sitting facilitating increased caloric expenditure and muscle activation.
