Neural Network Adaptive Inverse Control of Flexible Joint Space Manipulator Considering the Influence of Gravity.

With the aim of correcting the problem of trajectory tracking control of a flexible joint space manipulator in environments with different gravity, a neural network adaptive inverse control algorithm based on singular perturbation theory is proposed to resist the disturbance caused by system uncertainty. Firstly, the dynamic model of a flexible joint space manipulator with the influence of gravity is established, and then the system is divided into a fast subsystem and a slow subsystem using singular perturbation theory. The velocity feedback control rate is designed for the fast subsystem to suppress the elastic vibration caused by the joint flexibility.

Co-generation of hydroxyl and sulfate radicals via homogeneous and heterogeneous bi-catalysis with the EO-PS-EF tri-coupling system for efficient removal of refractory organic pollutants.

Advanced oxidation processes are commonly considered one of the most effective techniques to degrade refractory organic pollutants, but the limitation of a single process usually makes it insufficient to achieve the desired treatment. This work introduces, for the first time, a highly-efficient coupled advanced oxidation process, namely Electro-Oxidation-Persulfate-Electro-Fenton (EO-PS-EF). Leveraging the EO-PS-EF tri-coupling system, diverse contaminants can be highly efficiently removed with the help of reactive hydroxyl and sulfate radicals generated via homogeneous and heterogeneous bi-catalysis, as certified by radical quenching and electron spin resonance.

Flexible Memristor Devices Using Hybrid Polymer/Electrodeposited GeSbTe Nanoscale Thin Films.

We report on the development of hybrid organic-inorganic material-based flexible memristor devices made by a fast and simple electrochemical fabrication method. The devices consist of a bilayer of poly(methyl methacrylate) (PMMA) and Te-rich GeSbTe chalcogenide nanoscale thin films sandwiched between Ag top and TiN bottom electrodes on both Si and flexible polyimide substrates. These hybrid memristors require no electroforming process and exhibit reliable and reproducible bipolar resistive switching at low switching voltages under both flat and bending conditions.

Thermoelectric Properties of Bismuth Telluride Thin Films Electrodeposited from a Nonaqueous Solution.

We report the thermoelectric properties of BiTe thin films electrodeposited from the weakly coordinating solvent dichloromethane (CHCl). It was found that the oxidation of porous films is significant, causing the degradation of its thermoelectric properties. We show that the morphology of the film can be improved drastically by applying a short initial nucleation pulse, which generates a large number of nuclei, and then growing the nuclei by pulsed electrodeposition at a much lower overpotential.

Tracking Metal Electrodeposition Dynamics from Nucleation and Growth of a Single Atom to a Crystalline Nanoparticle.

In electrodeposition the key challenge is to obtain better control over nanostructure morphology. Currently, a lack of understanding exists concerning the initial stages of nucleation and growth, which ultimately impact the physicochemical properties of the resulting entities. Using identical location scanning transmission electron microscopy (STEM), with boron-doped diamond (BDD) serving as both an electron-transparent TEM substrate and electrode, we follow this process, from the formation of an individual metal atom through to a crystalline metal nanoparticle, under potential pulsed conditions.

High resolution visualization of the redox activity of LiO in non-aqueous media: conformal layer vs. toroid structure.

A strong relationship between the surface structure and the redox activity of LiO is visualized directly using scanning electrochemical cell microscopy, employing a dual-barrel nanopipette containing a unique gel polymer electrolyte. These measurements reveal considerable local heterogeneity with significantly enhanced electrochemical activity at toroidal LiO structures when compared to the conformal layer that is usually formed on the cathode of Li-O batteries.

Generation and characterization of caprine chymosin in corn seed.

Chymosin is widely used in the dairy industry, and much is produced through recombinant DNA in organisms such as bacteria and tobacco. In this study, we used a new transgenic method to express caprine chymosin in corn seeds with lower cost and better storage capability. The recombinant chymosin protein was successfully expressed at an average level of 0.

Laser heated boron doped diamond electrodes: effect of temperature on outer sphere electron transfer processes.

Thermoelectrochemical experiments can reveal significant information about electrochemical processes compared to ambient only measurements. Typical thermoelectrochemistry is performed using resistively heated wires or laser heated electrodes, both of which can suffer drawbacks associated with the electrode material employed. Boron doped diamond (BDD) is ideal for thermoelectrochemical investigations due to its extremely high thermal conductivity and diffusivity, extreme resistance to thermal ablation (can withstand laser power densities, Pd, of GW cm(-2) for nanosecond pulses) and excellent electrochemical properties (low background currents and wide potential window).

Fabrication route for the production of coplanar, diamond insulated, boron doped diamond macro- and microelectrodes of any geometry.

Highly doped, boron doped diamond (BDD) is an electrode material with great potential, but the fabrication of suitable electrodes in a variety of different geometries both at the macro- and microscale, with an insulating material that does not compromise the material properties of the BDD, presents technical challenges. In this Technical Note, a novel solution to this problem is presented, resulting in the fabrication of coplanar macro- and microscale BDD electrodes, insulated by insulating diamond, at the single and multiple, individually addressable level. Using a laser micromachining approach, the required electrode(s) geometry is machined into an insulating diamond substrate, followed by overgrowth of high quality polycrystalline BDD (pBDD) and polishing to reveal approximately nanometer roughness, coplanar all-diamond structures.