Distributed Architecture for Dynamic Role Behaviour in Humanoid Soccer Robots

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Pores Structure Change Induced by Heat Treatment in Cold-Sprayed Ti6Al4V Coating

In this study, the evolution of pores structure in cold-sprayed Ti6Al4V coating (TC4) was analyzed before and after 600-1100 °C heat treatment. It was found that almost no change happened to pores under the heat treatment temperature below 600 °C. When the heat treatment temperature was increased to 700 °C, the coating recrystallized, and pores turned to spheroid and healed because of the “bridging” effect. Some of the pores coarsened after 800 °C and 900 °C heat treatment. This kind of phenomenon grew severer when the heat treatment temperature increased to 1000 °C and 1100 °C. On the whole, with the increment of temperature, for the coating prepared at relatively low temperature, apparent porosity measured by image analysis method tended to go down first and then up, but it decreased all the time for the coating prepared at relatively high temperature. The reason for this phenomenon was contributed to the bonding state of particles in the coating. Only when there were fewer weakly bonded interfaces, the detachment between the particle interfaces which may be caused by release of residual stress did not occur, and there was no pores expansion and internal connectivity, so the porosity continuously decreased

Microstructure of Cross-Linked High Densification Network and Strengthening Mechanism in Cold-Sprayed Ti-6Al-4V Coating After Heat Treatment

In this study, Ti-6Al-4V (TC4) coating was prepared using an in situ shot peening-assisted cold spraying technology in which large shot peening particles were mixed with TC4 spraying powders to prepare the deposit. To improve its strength and toughness, the coating was heat-treated at 600-1000 °C in vacuum. The results demonstrated that the microstructure of the as-sprayed coating exhibited a special structure that was denser at the regions tamped by the shot peening particles and porous at the nontamped regions. When the coating was heat-treated at 800 and 1000 °C, the interface between the particles had largely disappeared and the local pores had interconnected with each other due to thermal diffusion and recrystallization. The coating hardness decreased slightly after annealing at 600 and 800 °C due to the released strain hardening effect. The bonding strength of the coating after annealing improved in comparison with that of the as-sprayed coating. The tensile strength of the coating improved significantly under annealing at 800 °C. A cross-linked high densification network was formed after annealing due to the effect of in situ shot peening, which served as a reinforced framework and enhanced the strength of the coating

The impact of implicit theories on resilience among Chinese nurses: The chain mediating effect of grit and meaning in life

Implicit theories refer to assumptions people hold about different domains, also known as mindsets. There are two implicit theories on the malleability of one’s ability: entity theory and incremental theory. They constrain and regulate people’s understanding and responses to an individual’s behavior, leading to different social cognitive patterns and behavioral responses. Resilience is a positive adaptation in highly stressful situations that represents mechanisms for coping with and transcending difficult experiences, i.e., a person’s ability to successfully adapt to change, resist the adverse effects of stressors, avoid significant dysfunction, and be chronically affected by considered a protective factor for mental health. Although previous studies showed that individuals’ implicit theories are associated with resilience, this relationship has received little attention in the nursing population. It is unclear which variables may contribute to explaining the relationship between implicit theories and resilience. Therefore, the current study aims to deeply explore the relationship between implicit theories and the resilience of Chinese nurses. In addition, we also seek to demonstrate the chain mediating effects of grit and meaning in life on this relationship. We surveyed 709 Chinese nurses through online questionnaires using the self-made demographic questionnaire, the Implicit Theories Scale, the Short Grit Scale, the Meaning in Life Questionnaire, and the 10-item Connor-Davidson Resilience Scale. After controlling for demographic variables such as age, gender, educational background, marital status, professional title, and working years, the results reveal positive associations between Chinese nurses’ implicit theories and their resilience, and grit and meaning in life play a partial mediating role in this relationship, respectively. Furthermore, grit and meaning in life play a chain mediating role between implicit theories and resilience. These findings contribute to understanding the psychological impact mechanism of implicit theories on nurses’ resilience and provide a theoretical basis for nursing managers to formulate strategies to improve nurses’ psychological resilience

Fuzzy-arithmetic-based Lyapunov synthesis in the design of stable fuzzy controllers: A computing-withwords approach

A novel approach to designing stable fuzzy controllers with perception-based information using fuzzy-arithmetic-based Lyapunov synthesis in the frame of computing with words (CW) is presented. It is shown that a set of conventional fuzzy control rules can be derived from the perception-based information using the standard-fuzzy-arithmetic-based Lyapunov synthesis approach. On the other hand, a singleton fuzzy controller can be devised by using a constrained-fuzzy-arithmeticbased Lyapunov synthesis approach. Furthermore, the stability of the fuzzy controllers can be guaranteed by means of the fuzzy version of Lyapunov stability analysis. Moreover, by introducing standard and constrained fuzzy arithmetic in CW, the “words ” represented by fuzzy numbers could be efficiently manipulated to design fuzzy controllers. The results obtained are illustrated with the design of stable fuzzy controllers for an autonomous pole balancing mobile robot

Robust Adaptive Fuzzy Control for Permanent Magnet Synchronous Servomotor Drives

A novel robust adaptive fuzzy control (RAFC) algorithm for the permanent magnet (PM) synchronous servomotor drives with uncertain nonlinearities and time-varying uncertainties is presented in this article. Takagi–Sugeno-type fuzzy logic systems are used to approximate uncertain functions. The RAFC algorithm is designed by use of the input-to-state stability (ISS) approach and small gain theorem. The closed-loop system is proven to be semiglobally uniformly ultimately bounded. In addition, the possible controller singularity problem in some of the existing adaptive control schemes met with feedback linearization techniques can be removed and the adaptive mechanism with only one learning parameterization can be achieved. The proposed methodology is applied to design the position control of the PM synchronous servomotor drives. Simulation results show the effectiveness of the proposed control scheme. © 2005 Wiley Periodicals, Inc. 1