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Stiffness adjusting ability is essential for soft robotic arms to perform complex tasks. A soft state enables dexterous operation and safe interaction, while a rigid state enables large force output or heavy weight carrying. However, making a compact integration of soft actuators with powerful stiffness adjusting mechanisms is challenging. This study aims to develop a piston-like particle jamming mechanism for enhanced stiffness adjustment of a soft robotic arm.

The arm has two pairs of differential tendons for spatial bending, and a jamming core consists of four jamming units with particles sealed inside braided tubes for stiffness adjustment. The jamming core is pushed and pulled smoothly along the tendons by a piston, which is then driven by a motor and a ball screw mechanism.

The tip displacement of the arm under 150 N jamming force and no more than 0.3 kg load is minimal. The maximum stiffening ratio measured in the experiment under 150 N jamming force is up to 6–25 depends on the bending direction and added load of the arm, which is superior to most of the vacuum powered jamming method.

The proposed robotic arm makes an innovative compact integration of tendon-driven robotic arm and motor-driven piston-like particle jamming mechanism. The jamming force is much larger compared to conventional vacuum-powered systems and results in a superior stiffening ability.

Because of the logic delay in the converter, the minimum turn on time of the switch is influenced by the constant time. When the inductor current gets to the threshold of the chip, the control signal will delay for a period. This makes the inductor current rising with the increasing of the clock and leads to the load current out of control. Thus, this paper aims to design an oscillator with a variable frequency protection function.

This paper presents an oscillator with the reducing frequency applied in the DC-DC converter. When the converter works normally, the operating frequency of the oscillator is 1.5 MHz. So the inductor current has enough time to decay and prevent the power transistor damaging. After the abnormal condition, the converter returns to the normal operating mode automatically.

Based on 0.5 µm CMOS process, simulated by the HSPICE, the simulation results shows that the frequency of the oscillator linearly decreases from 1.5 MHz to 380 KHz when the feedback voltage less than 0.2 V. The maximum deviation of the oscillator frequency is only 6 per cent from −50°C to 125°C within the power supply voltage of 2.7-5.5 V.

When the light load occurs at the output stage, the oscillator frequency will decrease as the load voltage drops. The test results shows that when the circuit works in the normal condition, the oscillator frequency is 1.5 MHz. When the load decreased, the operating frequency is dropped dramatically.

Important reserves of oil and gas, which are left to be discovered and produced, are mainly concentrated in challenging locations and under severe conditions such as high pressure (HP)/high temperature (HT). The presence of aggressive environments including H₂S, CO₂ and chlorides plus HP/HT causes a series of corrosion problems, which cost the oil industry billions of dollars a year. Thus, there is an increasing challenge for tubes (i.e. oil country tubular goods, for short, OCTG) used in producing oil and gas. The purpose of this study is to summarize different kinds of corrosion problems and their mitigation, to more efficiently protect OCTG from corrosion.

To effectively select proper mitigation methods, the mechanism of corrosion must be understood, which can be classified into four categories: sweet corrosion, sour corrosion, galvanic corrosion and microbiologically induced corrosion. Also, the effects of environmental and material factors on the corrosion rate are presented. Subsequently, current technology of mitigating these corrosion problems has been discussed, including the development of materials, application of chemical inhibitors and application of protective layers.

It is stressed that limits exist for each individual mitigation method; therefore, a careful balance between economic life of OCTG and safety in operation is required.

The main purpose of this essay is to give a brief review and detailed introduction and analysis about those technologies.