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.

Collaborative robots are becoming intelligent assistants of human in industrial settings and daily lives. Dynamic model identification is an active topic for collaborative robots because it can provide effective ways to achieve precise control, fast collision detection and smooth lead-through programming. In this research, an improved iterative approach with a comprehensive friction model for dynamic model identification is proposed for collaborative robots when the joint velocity, temperature and load torque effects are considered. Experiments are conducted on the AUBO I5 collaborative robots. Two other existing identification algorithms are adopted to make comparison with the proposed approach. It is verified that the average error of the proposed I-IRLS algorithm is reduced by over 14% than that of the classical IRLS algorithm. The proposed I-IRLS method can be widely used in various application scenarios of collaborative robots.

The coefficient of friction of clay minerals at the micro-scale has generally not been studied due to difficulties in obtaining measurements in a bulk-soil volume undergoing shear at such small scales. Information on friction at the micro-scale may provide insight into grain-scale processes that operate in bulk samples or in natural faults. The objective of this study was to develop a method to measure the microscale friction coefficient of smectites. The experiments described show that the axial atomic force microscopy method can be adapted to easily obtain accurate coefficient of friction (μ) measurements for smectites from force curves involving colloidal probes. The method allows for the measurements to be performed over spatial scales of a few μm, can be carried out under dry conditions or a wide range of aqueous solutions, and requires no calibration beyond making a few microscopic measurements of the probe. This method provides measurements of micro-scale normal and shear forces between minerals, which can be used for a variety of applications such as the study of shear deformation, consolidation, and fault dynamics. Control tests of silica on mica (μ = 0.29±0.02) agree with literature values where limits indicate one standard deviation. Coefficient of friction values for wet and dry Na-montmorillonite were determined to be 0.20±0.03 and 0.72±0.03, respectively.

An approach for the identification of discontinuous and nonsmooth nonlinear forces, as those generated by frictional contacts, in mechanical systems that can be approximated by a single-degree-of-freedom model is presented. To handle the sharp variations and multiple motion regimes introduced by these nonlinearities in the dynamic response, the partially known physics-based model and noisy measurements of the system’s response to a known input force are combined within a switching Gaussian process latent force model (GPLFM). In this grey-box framework, multiple Gaussian processes are used to model the unknown nonlinear force across different motion regimes and a resetting model enables the generation of discontinuities. The states of the system, nonlinear force, and regime transitions are inferred by using filtering and smoothing techniques for switching linear dynamical systems. The proposed switching GPLFM is applied to a simulated dry friction oscillator and an experimental setup consisting of a single-storey frame with a brass-to-steel contact. Excellent results are obtained in terms of the identified nonlinear and discontinuous friction force for varying: (i) normal load amplitudes in the contact; (ii) measurement noise levels, and (iii) number of samples in the datasets. Moreover, the identified states, friction force, and sequence of motion regimes are used for evaluating: (1) uncertain system parameters; (2) the friction force–velocity relationship, and (3) the static friction force. The correct identification of the discontinuous nonlinear force and the quantification of any remaining uncertainty in its prediction enable the implementation of an accurate forward model able to predict the system’s response to different input forces.

The ability of dairy cows to discriminate between floors with a smooth epoxy resin surface or with surface-applied bauxite aggregates of mean diameters 0.5 mm, 1.2 mm or 2.5 mm (having coefficients of static friction of 0.35, 0.42, 0.49 and 0.74, respectively) was recorded when they were offered the opportunity to walk down paired floor surfaces to receive a food reward. Following training, one half of the cows were rewarded when they selected the floor with the greater friction and the other half were rewarded when they selected the floor with the least friction. The cows were able to distinguish between the different floor surfaces — even between surfaces with 0.5 mm and 1.2 mm aggregates, which humans found difficult to distinguish. Eight similar cows were then offered a choice of walking down passageways of paired floors with an equal reward at the end of each passageway. There were no consistent preferences for floor type, and when the reward was offered only on the side least favoured by each cow in the initial test, the random pattern of selection was still evident. A final choice test offered the cows the opportunity to traverse passageways of either wet concrete or concrete covered with excreta. All cows avoided the passageway with excreta completely, even when the reward was increased in this passageway and removed from the wet concrete passageway. This avoidance was attributed to the cows’ lack of contact with slurry, as they were at pasture for most of the day, in contrast to the cows used in previous work, which were housed in buildings with passageways covered in excreta and showed little avoidance behaviour of such passageways.

More than 20 years after the adoption of UN Security Council Resolution 1325 on Women, Peace and Security, the international community is concerned with taking stock of its implementation in countries undergoing transitions from war to peace. This article contributes to a better understanding of the dynamics involved in implementing the Women, Peace and Security agenda through a focus on the frictional interactions that take place between different actors promoting women's participation in the peace process in Mali. Based on extensive fieldwork in Bamako between 2017 and 2019, it analyses interactions between different international and local actors in the Malian peace process through a discussion of vertical (between international and local actors) and horizontal (between local actors) friction. It finds that the way different actors respond to friction shapes relationships and impacts norm trajectories by triggering feedback loops, which in turn trigger new responses and outcomes.

Researchers in the Physics Department of St. Olaf College are using a uniquely designed, integrated nanoindenter-quartz microbalance apparatus to bridge the gap between the fundamental science of friction and the engineering of practical micromechanical systems. This level of micro-research requires extreme stability for the microbalance instrumentation. Since 2001, the lab has used negative-stiffness vibration isolation to achieve a high level of isolation in multiple directions, custom tailoring resonant frequencies to 0.5 Hz vertically and horizontally.

We report on enhanced mechanical, tribological, and surface-wettability characteristics of polymeric films dispersed with inorganic fullerene (IF)-type tungsten disulfide (WS2) nanoparticles derived through a two-step hydrothermal route. Imaging through transmission electron microscopy suggests the occurrence of polyhedral cage-like structures with a visibly nonspherical hollow ranging 55–75 nm. The mechanical stability of IF-type WS2 dispersed in polyvinyl alcohol (PVA) gets improved with increasing nano-inclusions, and upto 6 wt% loading. As compared with nanosheets, the IF-WS2 in PVA at the critical loading offers nearly 28.6, 33.6, and 42% respective improvements as regards, breaking stress, elongation at break, and toughness. Moreover, Stribeck curves in the mixed lubricating regime have revealed a nearly ∼80% reduction of coefficient of friction (COF) due to inclusion of IF-type WS2 in PVA. In the hydrodynamic region, the COF is drastically lowered from a typical value of 0.55 to 0.15 at the maximal sliding velocity with nanoparticle loading and despite the fact that the tribo feature gives a rising trend for a particular curve. Furthermore, exhibiting a progressive increase in water contact angle, a clear transition from the hydrophilic (∼64°) to hydrophobic (∼107°) surface of the nanocomposite films has been witnessed after inclusion of nano IF-WS2. An increased hydrophobicity and lowered surface adhesion and COF values along with marginal drop in surface energy are ensured in the investigated specimens. Investigation of responsive tribological and wetting–dewetting transition would find scope not only in coating and textile industry but also in smart miniaturized components.

Two preferred textures were observed in the Alhama de Murcia Fault rocks: (a) foliated bands (>100 µm thick) rich in well-crystallized dioctahedral micas, quartz, hematite and dolomite; and (b) ultrafine-grained bands (<100 µm thick) made of patches composed of small mica crystals (<15 µm) and dispersed Fe-oxides. In both textures, kaolinite forms intergrowths or patches of randomly oriented crystals filling gaps or opening layers of presumably inherited detrital mica crystals, which is interpreted as an epitaxial growth from fluids. The Na/K ratio of mica crystals in the thin ultrafine-grained bands shows a wider range than the micas from the foliated bands including muscovitic, intermediate Na/K and paragonitic compositions. The absence of the 0.98 nm intermediate peak in the diffractograms indicates that the small micas are submicroscopically paragonite and phengite intergrowths. The d001 values of the K-dioctahedral micas in the <2 µm and whole fractions are clearly different from each other. The d001 values of micas of the <2 µm fraction are larger, indicating a higher K and lower Na content in the small micas. Their composition corresponds to lower temperatures, suggesting their growth during a genetic episode in the fault. The textural relationships indicate a late growth of kaolinite, probably due to the fluid–rock interaction along fault planes and fractures. The neoformed clay minerals might alter the stability of the fault plane. The absence of expandable clay minerals and the relatively high frictional strength of kaolinite under wet conditions might explain the observed velocity-neutral behaviour of this gouge and earthquake propagation towards the surface.