A novel salt-barrier method of preparation flexible temperature resistant full-component nanocellulose membranes.

With the simplification and diversification of separation technologies, nanocellulose membranes have become widely used as insulating materials. Recently, study of nanocellulose membrane modification has become a hot topic. However, the application of nanocellulose membrane has been limited due to their inadequate heat resistance and flexibility. Herein, based on the pyrolytic and thermoplastic properties of cellulose, we innovatively introduced a salt barrier scheme to regulate the degree of hydrogen bonding and thermoplastic bonding between fibers. This was achieved by adding a salt barrier agent, NaCl, in the middle of the nanocellulose to prepare and obtain flexible, high-temperature-resistant nanocellulose film materials. The full-component cellulose films thus prepared exhibited high tensile strength (8 MPa), excellent flexibility (105 mN), high electrical breakdown strength (67 KV/mm), and volume resistivity meeting the standard of insulation materials (3.23 × 1013 Ω·m). This scheme adheres to the principles of low cost, green, non-toxic and non-hazardous, providing a brand new approach for the research and development of high temperature resistant cellulose membrane materials, which is of significant commercial value and industrialization prospect.

Finite-Time Disturbance Observer for Robotic Manipulators.

Robotic manipulators may be subject to different types of disturbances such as unknown payloads, unmodeled dynamics, and environment interaction forces. Observing these unknown disturbances in robotic manipulators is fundamental in many robotic applications such as disturbance rejection and sensorless force control. In this paper, a novel disturbance observer (DOB) is introduced based on the insights from the finite-time observer (FTO) and robot dynamics. Different from the traditional DOBs, this new observer can provide the capability to track the disturbance within a finite time. The performance of the presented observer is verified by two kinds of typical disturbances for a two-link manipulator with a comparison with several existing DOBs. The simulation results show the rapidity and accuracy of the proposed FTO.

Colored Traveling Salesman Problem.

The multiple traveling salesman problem (MTSP) is an important combinatorial optimization problem. It has been widely and successfully applied to the practical cases in which multiple traveling individuals (salesmen) share the common workspace (city set). However, it cannot represent some application problems where multiple traveling individuals not only have their own exclusive tasks but also share a group of tasks with each other. This work proposes a new MTSP called colored traveling salesman problem (CTSP) for handling such cases. Two types of city groups are defined, i.e., each group of exclusive cities of a single color for a salesman to visit and a group of shared cities of multiple colors allowing all salesmen to visit. Evidences show that CTSP is NP-hard and a multidepot MTSP and multiple single traveling salesman problems are its special cases. We present a genetic algorithm (GA) with dual-chromosome coding for CTSP and analyze the corresponding solution space. Then, GA is improved by incorporating greedy, hill-climbing (HC), and simulated annealing (SA) operations to achieve better performance. By experiments, the limitation of the exact solution method is revealed and the performance of the presented GAs is compared. The results suggest that SAGA can achieve the best quality of solutions and HCGA should be the choice making good tradeoff between the solution quality and computing time.