Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the existing control approaches either require precise knowledge of the aerial vehicle/manipulator inertial couplings, or neglect the state-dependent uncertainties especially arising during the interaction phase. This work proposes an adaptive control solution to overcome this long standing control challenge without any a priori knowledge of the coupling dynamic terms. In addition, in contrast to the existing adaptive control solutions, the proposed control framework is modular, that is, it allows independent tuning of the adaptive gains for the vehicle position subdynamics, the vehicle attitude subdynamics, and the manipulator subdynamics. Stability of the closed loop under the proposed scheme is derived analytically, and real-time experiments validate the effectiveness of the proposed scheme over the state-of-the-art approaches.

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Water-purifying materials are of vital importance for providing sanitary water, especially in epidemic and disaster areas and for wilderness survival. Here, we report a novel inorganic composite with a fast, reusable, and pleiotropic water purification ability. The composite of heterogeneous Ni-La2O3 nanofibers was developed using an easy, low-cost, and large-scale production process, i.e., an electrospinning technique. Because of the unique heterostructure formed by introducing nickel nanoparticles into the La2O3 host, the nanocomposite fibers can rapidly remove various detrimental micropollutants with absorption rate constants hundreds of times greater than those of inorganic materials and activated carbons. In addition, the nanocomposite can be recycled by a soft washing procedure at ambient temperature and demonstrates a much more stable performance than the state-of-the-art activated carbon materials. Furthermore, the nanofibers have an excellent germicidal effect against the high-risk human pathogen Escherichia coli. Our work introduces a promising inorganic absorbent suitable for purifying life-sustaining water supplies in emergency situations and alleviating worldwide water shortages.@en

Rare-earth zirconates (RE₂Zr₂O₇, RE = rare earth elements) are considered as promising thermal barrier coating (TBCs) materials. However, their thermal expansion coefficient (TEC) is relatively low comparing with that of either the state-of-the-art TBCs material Yttria-stabilized Zirconia (YSZ), or the metallic bond-coat. In present research, Cerium was introduced as the substitution of Zirconium to improve the TEC of rare-earth zirconates. A series of Yb₂(Zr_1−xCe_x)₂O₇ solid solutions were synthesized and investigated. Experimental results revealed that their TEC is remarkably increased with the Cerium substitution content. Meanwhile, their thermal conductivity shows no obvious increase compared with that of Yb₂Zr₂O₇due to the phonon scattering effect.

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Pyrochlore-related compound Sm₂FeTaO₇ was synthesized and investigated. It is shown that the thermal conductivity values are approximately half of the Yttria-Stabilized Zirconia (YSZ) over the temperature range of 25–1000 °C. Especially, thermal conductivity at high temperature is close to that of minimum thermal conductivity, as predicted by theoretical investigation, signifying better heat insulation capabilities. Considering lower Young modulus, improved fracture toughness, and better high-temperature phase stability, Sm₂FeTaO₇ compound can be a promising material for thermal insulating applications, such as thermal barrier coatings.

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