The tribological behavior can be informative about the incipient faults of robot manipulators. This study explores the evolution of friction characteristics from cold start to thermal equilibrium through a series of steady-state friction experiments. Based on these experimental observations, a friction-based fault diagnosis framework is proposed. The fault diagnosis process primarily involves defining the healthy state, decomposing friction curves and their features, and anomaly detection. Given the dependence of friction characteristics on different sources of faults, the parameters of steady-state experimental friction model are divided into two categories: one associated with contact interactions and the other related to non-contact regimes. Subsequently, confidence regions corresponding to distinguishable friction characteristics are independently constructed. These regions encapsulate the statistical description of the healthy state, characterized by mean values and the covariance of the friction characteristic parameter vectors during the unloaded state. In addition, we conduct experiments that consider the influence of applied loads on friction behavior. These experiments serve as a test set for comparison against nominal statistics. Leveraging the similarity between the effects of wear and load on friction, we introduce equivalent load thresholds to assess the severity of joint degradation. The results demonstrate the feasibility of employing confidence region views based on friction characteristic classification for fault detection and isolation.

The unmanned aerial vehicle (UAV) system for composite vertical take-off and landing (VTOL) is a complex, highly coupled, and nonlinear system which is sensitive to external disturbances and model uncertainties. The composite VTOL UAV system consists of a multi-rotor section and a fixed-wing section. To improve observation accuracy, the compensation function observer (CFO) uses a new structure that includes velocity information. The CFO is utilised to estimate the uncertainty and the external disturbances of the system model, which performs superior estimation accuracy compared to the extended state observer (ESO). In the modeling process of the VTOL UAV, the aerodynamic moment is calculated by means of the cross-product operation of force and force arm, which solves the problem of over-reliance on aerodynamic parameters in the traditional modeling approach. The controlled object is refined by CFO, and model compensation control (MCC) is used to realise the velocity and attitude control of the composite VTOL. The numerical simulation of MATLAB/Simulink and hardware-in-loop simulation (HIL) of Rflysim were implemented, and which were used to compare the MCC, active disturbance rejection control (ADRC), and proportion integration differentiation (PID). The simulation results confirm the superiority of MCC in controlling composite VTOL UAVs in terms of anti-disturbance and tracking speed.

Egyptology has been changing. At least in the way its practitioners present their findings to a broad public audience. A selection of recent publications for general-interest readership represents something of a reorientation of perspectives on the (Western-led) archaeological ‘discovery’ of Pharaonic Egyptian remains, and the opening up of a subtle counter-narrative, which is something of an anti-archaeology. Rather than attempting to reconstruct what might positively be said of ancient events, their causes and motivations, Egyptologists are increasingly owning up to what is not known or what happened in the aftermath of the ‘main event’ that conditions the nature of the evidence we have at our disposal.

The mountain communities of late-first millennium bc Italy have been regarded as non-urban societies that reverted to city life mainly owing to Roman intervention. A growing body of archaeological evidence is uncovering the diversity of settlement forms and dynamics in the region's pre-Roman past, which included sites encompassing a range of functions and social agents. This article presents an in-depth, microscale analysis of one such site, Monte Vairano in Samnium, drawing on perspectives from comparative urbanism. Monte Vairano developed urban characteristics such as a complex socioeconomic profile and political cohesion, as well as potentially more unique features such as an apparently balanced distribution of wealth. These results can shed further light on the diversity of ancient urbanization and its sociopolitical implications in late-first millennium bc Italy and the Mediterranean.

We find solutions that describe the levelling of a thin fluid film, comprising a non-Newtonian power-law fluid, that coats a substrate and evolves under the influence of surface tension. We consider the evolution from periodic and localized initial conditions as separate cases. The particular (similarity) solutions in each of these two cases exhibit the generic property that the profiles are weakly singular (that is, higher-order derivatives do not exist) at points where the pressure gradient vanishes. Numerical simulations of the thin film equation, with either periodic or localized initial condition, are shown to approach the appropriate particular solution.

Shark vertebrae and their centra (vertebral bodies) are high-performance structures able to survive millions of cycles of high amplitude strain despite lacking a repair mechanism for accumulating damage. Shark centra consist of mineralized cartilage, a biocomposite of bioapatite (bAp), and collagen, and the nanocrystalline bAp's contribution to functionality remains largely uninvestigated. Using the multiple detector energy-dispersive diffraction (EDD) system at 6-BM-B, the Advanced Photon Source, and 3D tomographic sampling, the 3D functionality of entire centra were probed. Immersion in ethanol vs phosphate-buffered saline produces only small changes in bAp d-spacing within a great hammerhead centrum. EDD mapping under in situ loading was performed an entire blue shark centrum, and 3D maps of bAp strain showed the two structural zones of the centrum, the corpus calcareum and intermedialia, contained opposite-signed strains approaching 0.5%, and application of ~8% nominal strain did not alter these strain magnitudes and their spatial distribution.

The fluvial capture of endorheic basins represents a milestone in basin chronology, implying a profound disequilibrium that triggers critical geomorphological, sedimentological, paleogeographic, and even paleoecological transformations. The primary goal of many geomorphological studies is to determine the timing of endorheic-to-exorheic transitions with the objective of unveiling the dynamics that follow the capture event. The age of the Guadix-Baza Basin capture in the Central Betic Cordillera (S Spain) remains a subject of controversy, with proposed estimates ranging from 17 to 600 ka. In this study, we present new 234U/230Th and optically stimulated luminescence ages from exorheic deposits exposed within the basin's main fluvial valley, the Guadiana Menor River. We acquired the oldest numerical age recorded to date for a postcapture deposit within the basin. This age corresponds to a travertine platform formed 240.8 ± 25 ka on a surface level that was already incised into the glacis surface at approximately 250 m. Using these data, we estimate that basin capture took place earlier than ca. 240 ka, plus the time required for the river to incise 250 m to the position of the travertine. Furthermore, the proximity of the Matuyama-Brunhes reversal (781 ka) to the top of the endorheic succession and the ages of the paleontological sites (> ca. 750 ka) throughout the basin suggest that the capture could have occurred earlier than the oldest previously proposed age of 600 ka.

Scientists have the epistemic responsibility of producing knowledge. They also have the social responsibility of aligning their research with the needs and values of various societal stakeholders. Individual scientists may be left with no guidance on how to prioritize and carry these different responsibilities. As I will argue, however, the responsibilities of science can be harmonized at the collective level. Drawing from debates in moral philosophy, I will propose a theory of the collective responsibilities of science that accounts for the internal diversity of research groups and for their different responsibilities.