Kinematic analysis and experiments of the hybrid robot for the HTGR plugging weld

To solve the problem of unmanned plugging weld for the steam generator in high temperature gas cooled reactor, a new seven-degrees-of-freedom robot with 3-PSP and SCARA structure is designed based on the scheme of serial-parallel robot. In order to achieve simple and stable motion control, the D-H method and analytical method are used to study its serial-parallel kinematics and establish an accurate kinematics model. Based on MATLAB software and existing kinematic models, the Monte Carlo method is introduced to analyze the position and posture accessibility of the robot which has redundant degrees of freedom, and the rationality of the institutional design is verified. To ensure the high precision performance of the robot, the positional accuracy of the prototype is tested and analyzed under the different operating conditions by means of the standardized robot performance tests. In addition, in order to ensure the quality of plugging weld, through the T22 base material for several groups of TIG welding process experiments and mechanical properties testing to determine the reliable plugging welding process parameters. The results show that the robot can meet the requirements of plugging welding, and has accurate motion control, good reachability, high position and posture accuracy and strong expandability

Study on the Electrochemical Removal Mechanism of Oxytetracycline by a Ti/IrO2-Ta2O5 Plate

In this study, a Ti/IrO2-Ta2O5 anode was prepared by a hydrothermal method, and the prepared electrode was characterized by techniques such as scanning electron microscopy, X-ray diffraction, and electron dispersive spectroscopy. At the same time, the anode characteristics before and after electrochemical experiments were analyzed. The electrode gradation mechanism of oxytetracycline is discussed. In the whole experimental process, the range of electrolysis conditions was determined by single factor experiment, and then the optimal removal condition of oxytetracycline was determined by orthogonal experiments. The removal rate of oxytetracycline reached 99.02% after 20 min of electrolysis under the following optimal conditions: a current of 0.500 A, plate spacing of 2 cm, Na2SO4 electrolyte concentration of 4 g/L, and solution pH of 3. Additionally, the mechanism of oxytetracycline removal was explored, free radical scavenging experiments were performed, and the degradation mechanism was inferred based on the changes in the ultraviolet absorption of the oxytetracycline solution before and after electrolysis. Then, based on the liquid chromatography–mass spectrometry data, seven possible compounds and five possible removal pathways were proposed

The Characteristic Microstructures and Properties of Steel-Based Alloy via Additive Manufacturing

Differing from metal alloys produced by conventional techniques, metallic products prepared by additive manufacturing experience distinct solidification thermal histories and solid−state phase transformation processes, resulting in unique microstructures and superior performance. This review starts with commonly used additive manufacturing techniques in steel−based alloy and then some typical microstructures produced by metal additive manufacturing technologies with different components and processes are summarized, including porosity, dislocation cells, dendrite structures, residual stress, element segregation, etc. The characteristic microstructures may exert a significant influence on the properties of additively manufactured products, and thus it is important to tune the components and additive manufacturing process parameters to achieve the desired microstructures. Finally, the future development and prospects of additive manufacturing technology in steel are discussed

Biocompatibility, hemostatic properties, and wound healing evaluation of tilapia skin collagen sponges

Dialyzed tilapia skin collagen sponge (DTSCS) and self-assembled tilapia skin collagen sponge (STSCS) were prepared by freeze-drying. The raw components used in the fabrication of DTSCS and STSCS were separated and purified from tilapia fish skin. It is anticipated that these collagen sponges could be developed into medical dressings for hemostasis and wound healing. The aim of the present research was to explore the possibility of DTSCS and STSCS as medical dressings and compare their differences by scanning electron microscopy (SEM), water absorption measurement, differential scanning calorimetry (DSC), measurement of porosity, cytotoxicity, hemolysis, in vivo biocompatibility, and evaluation of hemostatic performance and wound healing. The results indicate that DTSCS and STSCS are suitable materials for use in medical applications with a loose and porous structure, high water absorption, high porosity, and high thermal stability. The materials also displayed good biocompatibility, including excellent blood compatibility, a lack of cytotoxicity, with no apparent rejection following implantation. STSCS exhibited rapid hemostasis and promoted healing, with slightly greater efficacy than DTSCS. The hemostatic properties and promotion of healing in DTSCS was similar to that of commercial bovine collagen sponge. Therefore, DTSCS and STSCS both represented excellent potential candidate materials for use as hemostatic agents and wound dressings

Physical activity and sleep pattern in relation to incident Parkinson’s disease: a cohort study

Abstract Background How physical activity (PA) and different sleep traits and overall sleep pattern interact in the development of Parkinson’s disease (PD) remain unknown. Objective To prospectively investigate the joint associations of PA and sleep pattern with risk of PD. Methods Included were 339,666 PD-free participants from the UK Biobank. Baseline PA levels were grouped into low (< 600 MET-mins/week), medium (600 to < 3000 MET-mins/week) and high (≥ 3000 MET-mins/week) according to the instructions of the UK Biobank. Healthy sleep traits (chronotype, sleep duration, insomnia, snoring, and daytime sleepiness) were scored from 0 to 5 and were categorized into “ideal sleep pattern” (≥ 3 sleep scores) and “poor sleep pattern” (0–2 sleep scores). Hazard ratios (HRs) and 95% confidence intervals (CIs) of PD were estimated by Cox proportional hazards models. Results During a median of 11.8 years of follow-up, 1,966 PD events were identified. The PD risk was lower in participants with high PA (HR = 0.73; 95% CI: 0.64, 0.84), compared to those with low PA; and participants with ideal sleep pattern also had a lower risk of PD (HR = 0.78; 95% CI: 0.69, 0.87), compared to those with poor sleep pattern. When jointly investigating the combined effect, participants with both high PA and ideal sleep pattern had the lowest risk of incident PD (HR = 0.55; 95% CI: 0.44, 0.69), compared to those with low PA and poor sleep pattern; notably, participants with high PA but poor sleep pattern also gained benefit on PD risk reduction (HR = 0.74; 95% CI: 0.55, 0.99). Conclusions Both high PA and ideal sleep pattern were independently associated with lower risk of developing PD, and those with both high PA level and ideal sleep pattern had the lowest risk. Our results suggest that improving PA levels and sleep quality may be promising intervention targets for the prevention of PD

Additional file 1 of Physical activity and sleep pattern in relation to incident Parkinson’s disease: a cohort study

Supplementary Material