Motion coordination and programmable teleoperation between two industrial robots

Tasks for two coordinated industrial robots always bring the robots in contact with a same object. The motion coordination among the robots and the object must be maintained all the time. To plan the coordinated tasks, only one robot's motion is planned according to the required motion of the object. The motion of the second robot is to follow the first one as specified by a set of holonomic equality constraints at every time instant. If any modification of the object's motion is needed in real-time, only the first robot's motion has to be modified accordingly in real-time. The modification for the second robot is done implicitly through the constraint conditions. Thus the operation is simplified. If the object is physically removed, the second robot still continually follows the first one through the constraint conditions. If the first robot is maneuvered through either the teach pendant or the keyboard, the second one moves accordingly to form the teleoperation which is linked through the software programming. Obviously, the second robot does not need to duplicate the first robot's motion. The programming of the constraints specifies their relative motions

Highly Stable Luminous "snakes" from CsPbX3 Perovskite Nanocrystals Anchored on Amine-Coated Silica Nanowires

CsPbX3 (X = Cl, Br, and I) perovskite nanocrystals (NCs) are known for their exceptional optoelectronic properties, yet the material's instability toward polar solvents, heat, or UV irradiation greatly limits its further applications. Herein, an efficient in situ growing strategy has been developed to give highly stable perovskite NC composites (abbreviated CsPbX3@CA-SiO2) by anchoring CsPbX3 NCs onto silica nanowires (NWs), which effectively depresses the optical degradation of their photoluminescence (PL) and enhances stability. The preparation of surface-functionalized serpentine silica NWs is realized by a sol-gel process involving hydrolysis of a mixture of tetraethyl orthosilicate (TEOS), 3-aminopropyltriethoxysilane (APTES), and trimethoxy(octadecyl)silane (TMODS) in a water/oil emulsion. The serpentine NWs are formed via an anisotropic growth with lengths up to 8 μm. The free amino groups are employed as surface ligands for growing perovskite NCs, yielding distributed monodisperse NCs (∼8 nm) around the NW matrix. The emission wavelength is tunable by simple variation of the halide compositions (CsPbX3, X = Cl, Br, or I), and the composites demonstrate a high photoluminescence quantum yield (PLQY 32-69%). Additionally, we have demonstrated the composites CsPbX3@CA-SiO2 can be self-woven to form a porous 3D hierarchical NWs membrane, giving rise to a superhydrophobic surface with hierarchical micro/nano structural features. The resulting composites exhibit high stability toward water, heat, and UV irradiation. This work elucidates an effective strategy to incorporate perovskite nanocrystals onto functional matrices as multifunctional stable light sources