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The zircon from the pegmatite of the Adui granitic massif displays the unique the rare earth element (REE) distribution spectrum with the tetrad effect in REE fractionation. The tetrad effect often occurs in granitoid rocks, but it is rarely encountered in minerals, e.g., zircon. Fluid saturated with volatiles, water and trace elements is a factor responsible for the tetrad effect in the zircon. The detailed isotopic-geochemical study of the zircon has revealed several zones differing in internal structure (in the back-scattered electron (BSE) image), composition and REE distribution. The zones indicate changes in the crystallization environment provoked by the evolution of the pegmatite-forming melt. They occur as the gradually growing changes in composition from the unaltered zones that are light-colored in BSE to the altered zones that are dark-colored in BSE. The unaltered zones are consistent in composition and geochemical features with magmatic zircons. The high content of trace (U, Th, REE) and volatile elements (F, Cl) in water suggests its crystallization from the fluid-saturated magmatic melt. The altered zircon zones occur as recrystallized zones with high content of non-formula elements (Y, Ca, Sr, Nb, P), a non-differentiated REE distribution spectrum and an absent Ce anomaly. These features are consistent with those of hydrothermal-metasomatic zircon. [ABSTRACT FROM AUTHOR]

The mechanism parameters of the manipulator not only have a great influence on the size of the working space but also affect flexible performance distribution. Aimed at obtaining a 6 DOF modular manipulator, mechanism parameters were optimized in order to explore the effect of upper arm and forearm dimensions on the end dexterity of the manipulator. First, forward kinematic equations were derived using the DH method, and the Jacobian matrix of the manipulator was solved. Second, three indicators, including the condition number index, structural length index, and global conditioning index, were employed as optimization indicators for the mechanism parameters of the manipulator, and an orthogonal experiment was designed based on the Grey–Taguchi method and robot toolbox. Third, the grey relational analysis method was used to process the experimental results, and the grey relational grade for each group was solved. Last, the variation curve between the grey relational grade and the parameter level of each mechanism was drawn, and optimized mechanical arm mechanism parameters were derived. It was found that although the overall dimension of the manipulator was slightly decreased, as determined via comparing the original and optimized manipulator length, the performance indexes were improved. The results not only verified the correctness of the proposed optimization method but also laid a foundation for subsequent research on the dynamic performance of modular robot systems. [ABSTRACT FROM AUTHOR]

Surface electromyography (sEMG) is a promising technology that can capture muscle activation signals to control robots through novel human–machine interfaces (HMIs). This technology has already been applied in scenarios such as prosthetic design, assisted robot control, and rehabilitation training. This article provides an overview of sEMG-based robot control, covering two important aspects: (1) sEMG signal processing and classification methods and (2) robot control strategies and methods based on sEMG. First, the article outlines the general steps in sEMG signal processing and summarizes the commonly used methods for data acquisition, pre-processing, and feature extraction. In addition, machine-learning-based pattern recognition methods have been introduced for sEMG signal classification. Subsequently, user intent-based robot control strategies are classified into three categories: full-human continuous control, semi-autonomous continuous control, and discrete control, and their control methods and applicable scenarios are compared. Finally, this article discusses the advantages, disadvantages, and future development prospects of sEMG-based robot control. This review provides a comprehensive overview of sEMG-based robot control, from signal processing and classification methods to robot control strategies and methods, aiming to guide future research on selecting filters, feature sets, and pattern recognition methods and to assist in establishing sEMG-driven robot control frameworks. [ABSTRACT FROM AUTHOR]

Trajectory planning and avoidance of tipping are the main keys to success in the mobile dual-arm manipulation, especially when the dual-arm or moving platform is running fast. The forces and moments between wheel-terrain and body-arm have been analyzed by kinematics and force analysis of a robot to define tip-over stability constraint. Then, an improved tip-over moment stability criterion for a wheeled mobile dual-arm robot is presented and defines tip-over stability constraint based on it. To improve the motion stability of the robot, this paper presents an optimal joint trajectory planning model based on time and energy. The quintic B-spline curve and an improved NSGA-II algorithm, which are time and energy, are applied to multi-objective optimization. The simulation results show that the motion stability of a robot is improved based on the tip-over stability constraint. This trajectory planning method based on the stability constraint can be applied to other mobile robots as well. [ABSTRACT FROM AUTHOR]

Due to its ubiquity in rock types and ability to accommodate a wide range of trace elements, apatite is widely used to interpret magmatic evolution and track volatile elements in hydrothermal systems. Volatile elements and Cl–O isotopes make apatite an ideal mineral with which to record the chemical and textural signatures of geological processes. This study describes a new analytical procedure to obtain the F, Cl, and S contents and Cl and O isotopes simultaneously using secondary ion mass spectrometry (SIMS) within ~10 min of analysis time for each spot. The analytical precision of δ18O (2 SD (standard deviation) ~0.30‰) and δ37Cl (2 SD ~0.20‰) has no obvious trade-off compared with ordinary SIMS analysis. The new protocol is time-efficient and, more importantly, ensures the consistency of data sources. A set of apatite standards with different uses were determined using this new method to provide a complete set of recommended values. [ABSTRACT FROM AUTHOR]

The mineral beryl (Be3Al2(SiO3)6) has the most abundant phase with industrial value for extracting a critical metal—beryllium. Due to multi-stage, fluid-induced growth, individual beryl grains may yield complex geochemical records, revealing variations in the oxygen isotopes of the fluids from which they crystallize. Secondary ion mass spectrometry (SIMS) with high sensitivity and high spatial resolution represents a good tool for in situ isotopic analysis. SIMS oxygen analyses require matrix-matched reference materials to calibrate instrumental mass fractionations during measurement. In this work, the oxygen isotope homogeneities of six beryl samples with different compositions (BS1, BS2, BS3, BS4, BS5, and BS6) were documented by SIMS. These samples' recommended oxygen isotope compositions were characterized by laser fluorination isotope ratio mass spectrometry (IRMS). This study suggests that there is no matrix effect related to composition variation in beryl SIMS oxygen isotope analysis. The recommended δ18O values of the four reference materials, BS1, BS2, BS4, and BS5, were 15.01 ± 0.34‰ (2 standard deviations, 2 SD), 7.53 ± 0.16‰ (2 SD), 2.38 ± 0.14‰ (2 SD), and 10.72 ± 0.44‰ (2 SD), respectively. Therefore, BS1, BS2, BS4, and BS5 are recommended as suitable reference materials for in situ mineral beryl oxygen isotope microanalysis. [ABSTRACT FROM AUTHOR]

Let G be a finite group. In this paper, we study how certain arithmetical conditions on the conjugacy class lengths of real elements of G influence the structure of G. In particular, a new type of prime graph is introduced and studied. We obtain a series of theorems which generalize some existed results. [ABSTRACT FROM AUTHOR]