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.

This paper investigates the electromechanical behavior of functionally graded piezoelectric composite beams containing axially functionally graded (AFG) beam and piezoelectric actuators subjected to electrical load. The mechanical properties of the AFG beam are assumed to be graded along the axial direction. Employing the electromechanical coupling theory and load simulation method, the expression for the simulation load of the piezoelectric actuators is obtained. Based on Euler-Bernoulli beam theory and the obtained simulation load, the differential governing equation of the piezoelectric composite beams subjected to electrical load is derived. The integration-by-parts approach is utilized to solve the differential governing equation, and the expression for the deflection of the piezoelectric composite beams is obtained. The accuracy of the proposed method is validated by the finite element method. The bending response of the functionally graded piezoelectric composite beams is investigated through the proposed method. In the numerical examples, the effects of electrical load, actuator thickness, AFG beam thickness and AFG beam length on the electromechanical behavior of the functionally graded piezoelectric composite beams are studied.

It is of practical significance to develop a constitutive model which is able to predict the thermomechanical behaviors of the shape memory effect occurring in a shape memory polymer (SMP) accurately. The mechanism of shape memory effect of SMP is explained based on the assumption that SMP is composed by two phases, reversible phase and stationary phase. Especially the different flow elements are respectively added to the reversible phase and stationary phase in order to express the plastic behavior of SMP. There are two springs in series, one dashpot and one flow element in the reversible phase. There are two springs in parallel, one dashpot and one flow element in the stationary phase. A constitutive equation is developed to express the thermo-mechanical behaviors of shape memory effect in the SMP based on viscous-elastic mechanics and plastic theory. An internal variable, frozen ratio, is defined to follow the shape memory process in SMP, and the material properties are described as the functions of frozen ratio based on phase transition theorem. The developed constitutive model, which includes above constitutive equation and material parameter functions, is used to numerically simulate the thermo-mechanical behaviors of SMP under various load cycles. Results show that the developed constitutive model can not only predict the shape memory process of SMP accurately, but also express the rate-dependent behaviors of SMP effectively.

The development of doped photonic glass is of fundamental importance for various applications, including telecommunication, lasers, and photovoltaics. Despite the great advances in doping techniques, a long-standing barrier remains concerning how to gain better control over the properties of active dopants in disordered systems. Here, we provide a brief overview of recent progress on the engineering of the chemical environment and chemical state of dopants in glass by tuning the topological features, including sublattices and packing manner of the network. The methods allow us to finely tune the chemical state of active dopants over a wide range of length scales, from dispersed ions to aggregated clusters to nanoparticles, and also offer new opportunities to engineer the local crystal field around active dopants. This inherent structure-based strategy leads to intriguing optical phenomena such as tunable luminescence and notable enhancements in radiative transition probability.

Sm3+, Ce3+ codoped Al2O3–La2O3–SiO2 glasses were prepared and their luminescence properties were characterized. Blue-cyan to orange-red tunable luminescence was observed from these glasses with different excitation wavelengths ranging from 385 to 410 nm. White light emission with internal luminescence efficiency 42% has been observed using commercially available purple light-emitting-diode excitation. The energy transfer between Ce3+ and Sm3+ has also been investigated from fluorescence decay curves and spectral properties.

Cr3+/Ni2+ co-doped optically transparent magnesium aluminosilicate glass-ceramics containing MgAl2O4 nanocrystals have been prepared by heat-treatment. Greatly enhanced broadband near-infrared emission centered at 1216 nm in Cr3+/Ni2+ co-doped glass ceramics is observed when compared with the Ni2+ single-doped glass ceramics under 532 nm excitation. The observed enhancement of infrared emission is attributed to the energy transfer from Cr3+ to Ni2+ ions in the nanocrystalline phase, which leads to the emission due to 3T2(3F) → 3A2(3F) transition of octahedral Ni2+ ions.

In this paper, we report on the multicolor luminescence in oxygen-deficient Tb3+-doped calcium aluminogermanate glasses. A simple method was proposed to control oxygen-deficient defects in glasses by adding metal Al instead of the corresponding oxide (Al2O3), resulting in efficient blue and red emissions from Tb3+-undoped glasses with 300 and 380 nm excitation wavelengths, respectively. Moreover, in Tb3+-doped oxygen-deficient glasses, bright three-color (sky-blue, green or yellow, and red) luminescence was observed with 300, 380, and 395 nm excitation wavelengths, respectively. These glasses are useful for the fabrication of white light-emitting diode (LED) lighting.

Broadband near-infrared (IR) luminescence in transparent alkali gallium silicate glass-ceramics containing Ni2+-doped β-Ga2O3 nanocrystals was observed. This broadband emission could be attributed to the 3T2g (3F) → 3A2g (3F) transition of octahedral Ni2+ ions in glass-ceramics. The full width at half-maximum (FWHM) of the near-IR luminescence and fluorescent lifetime of the glass-ceramic doped with 0.10 mol% NiO were 260 nm and ∼1220 μs, respectively. It is expected that transparent Ni2+-doped β-Ga2O3 glass-ceramics with this broad near-IR emission and long fluorescent lifetime have potential applications as super-broadband optical amplification media.

Bi-doped sodium–potassium aluminosilicate glasses were synthesized and characterized. Broadband near-infrared (IR) emission covered the whole telecommunication wavelength region, with a maximum peak at about 1250 nm, a full width at half-maximum of about 370 nm, and a lifetime longer than 420 μs. The present glasses are potential materials for tunable lasers and optical amplifiers. The decrease of active Bi center concentration with the increase of Na2O content and the addition of CeO2are first reported here, and the IR emission center in sodium–potassium aluminosilicate glasses might be ascribed to low-valence-state bismuth, most probably, Bi+.

Nanocrystalline Ni–Zn ferrite particles (Ni0.5Zn0.5Fe2O4) have been successfully produced by microemulsion method. The microemulsion process was first observed by transmission electron microscopy examination. The particles exhibit a blocking temperature of 95 K. They do not attain saturation magnetization even at a high field of 50 KOe. The saturation magnetization at 300 K is 29.8 emu/g, which is significantly lower than that reported for the bulk ceramic standard. Below the blocking temperature, the Ni0.5Zn0.5Fe2O4 nanocrystalline particles exhibit a hysteretic feature. The remanent magnetization and coercivity at 2K are 10.45 emu/g and 453 Oe, respectively.