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Dynamic parameters are crucial for the definition of high-fidelity models of industrial manipulators. However, since they are often partially unknown, a mathematical model able to identify them is discussed and validated with the UR3 and the UR5 collaborative robots from Universal Robots. According to the acquired experimental data, this procedure allows for reducing the error on the estimated joint torques of about 90% with respect to the one obtained using only the information provided by the manufacturer. The present research also highlights how changes in the robot operating conditions affect its dynamic behavior. In particular, the identification process has been applied to a data set obtained commanding the same trajectory multiple times to both robots under rising joints temperatures. Average reductions of the viscous friction coefficients of about 20% and 17% for the UR3 and the UR5 robots, respectively, have been observed. Moreover, it is shown how the manipulator mounting configuration affects the number of the base dynamic parameters necessary to properly estimate the robots’ joints torques. The ability of the proposed model to take into account different mounting configurations is then verified by performing the identification procedure on a data set generated through a digital twin of a UR5 robot mounted on the ceiling.

The present paper proposes a detailed Failure Mode, Effects, and Criticality Analysis (FMECA) on harmonic drives, focusing on their integration within the UR5 cobot. While harmonic drives are crucial for precision and efficiency in robotic manipulators, they are also prone to several failure modes that may affect the overall reliability of a system. This work provides a comprehensive analysis intended as a benchmark for advancements in predictive maintenance and condition-based monitoring. The results not only offer insights into improving the operational lifespan of harmonic drives, but also provide guidance for engineers working with similar systems across various robotic platforms. Robotic systems have advanced significantly; however, maintaining their reliability is essential, especially in industrial applications where even minor faults can lead to costly downtimes. This article examines the impact of harmonic drive degradation on industrial robots, with a focus on collaborative robotic arms. Condition-Based Maintenance (CBM) and Prognostics and Health Management (PHM) approaches are discussed, highlighting how digital twins and data-driven models can enhance fault detection. A case study using the UR5 collaborative robot illustrates the importance of fault diagnosis in harmonic drives. The analysis of fault-to-failure mechanisms, including wear, pitting, and crack propagation, shows how early detection strategies, such as vibration analysis and proactive maintenance approaches, can improve system reliability. The findings offer insights into failure mode identification, criticality analysis, and recommendations for improving fault tolerance in robotic systems.

Digital models of industrial and collaborative manipulators are widely used for several applications, such as power-efficient trajectory definition, human–robot cooperation safety improvement, and prognostics and health management (PHM) algorithm development. Currently, models with simplified joints present in the literature have been used to evaluate robot macroscopic behavior. However, they are not suitable for the in-depth analyses required by those activities, such as PHM, which demand a punctual description of each subcomponent. This paper aims to fill this gap by presenting a high-fidelity multibody model of a UR5 collaborative robot, containing an accurate description of its full dynamics, electric motors, and gearboxes. Harmonic reducers were described through a translational equivalent lumped parameter model, allowing each constitutive element of the reducer to have its decoupled dynamics and mating forces through non-linear penalty contact models. To conclude, both the mathematical model and the real robot on a test rig were tested with a set of different trajectories. The experimental results highlight the ability of the proposed model to accurately replicate joint angular rotation, speed and torques in a wide range of operational scenarios. This research provides the basis for the development of a model-based PHM-oriented framework to carry out detailed and advanced analyses on the effects of manipulator degradations.

Resistive Plate Chambers (RPC) are gasesous detectors employed at CERN LHC experiments thanks to their trigger performance, timing capabilities and contained production costs. High Pressure Laminate RPCs are operated with a three-component gas mixture, made of 90–95% of C 2 H 2 F 4 , around 5% of i-C 4 H 10 and 0.3% of SF 6 . Due to the presence of leaks at detector level and to the greenhouse characteristics of C 2 H 2 F 4 and SF 6 , RPCs in ATLAS and CMS were accounting for about 87% of CO 2 equivalent emissions during LHC Run 2. To address this, several alternative gases were studied, including R-1234ze as a possible substitute for R-134a. Furthermore, the addition of some amount of CO 2 into the RPCs gas mixture was explored as a possible short-to-medium term solution to lower the total greenhouse gas emissions and reduce the usage of C 2 H 2 F 4 . A dedicated data taking campaign was performed at the Gamma Irradiation Facility at CERN, where RPCs detectors performance were studied with muon beam and gamma background. The detectors were operated with the addition of 30% and 40% and 50% of CO 2 to the standard gas mixture, together with an increased fraction of SF 6 . Two different amounts of i-C4H10 were also evaluated to assess compatibility with the CMS and ATLAS requirements. Results from these beam tests with the above-mentioned gas mixtures are reported in this work.

A wide range of gas mixtures is used for the operation of the gaseous detectors at the CERN LHC experiments. Some gases, as C 2 H 2 F 4 , CF 4 , C 4 F 10 and SF 6 , are greenhouse gases (GHG) with high global warming potential and therefore subject to a phase down policy. The reduction of GHG emissions is of paramount importance for CERN, which has identified four different strategies. The first strategy is based on the optimization of the gas mixture recirculation plants already in use. The second approach is the recuperation of used gas mixtures followed by separation of the GHG for its re-use. Several R&D are ongoing to evaluate this possibility and prepare the design of final systems. A third approach is making use of industrially available solutions for disposal of GHGs. Finally, the search of new eco-friendly gases is object of many R&D programs by the detector communities. The four strategies will be compared by considering investment required, return benefit and technological readiness.

A list of authors and their affiliations appears at the end of the paper New-particle formation is a major contributor to urban smog 1 , 2 , but how it occurs in cities is often puzzling 3 . If the growth rates of urban particles are similar to those found in cleaner environments (1–10 nanometres per hour), then existing understanding suggests that new urban particles should be rapidly scavenged by the high concentration of pre-existing particles. Here we show, through experiments performed under atmospheric conditions in the CLOUD chamber at CERN, that below about +5 degrees Celsius, nitric acid and ammonia vapours can condense onto freshly nucleated particles as small as a few nanometres in diameter. Moreover, when it is cold enough (below −15 degrees Celsius), nitric acid and ammonia can nucleate directly through an acid–base stabilization mechanism to form ammonium nitrate particles. Given that these vapours are often one thousand times more abundant than sulfuric acid, the resulting particle growth rates can be extremely high, reaching well above 100 nanometres per hour. However, these high growth rates require the gas-particle ammonium nitrate system to be out of equilibrium in order to sustain gas-phase supersaturations. In view of the strong temperature dependence that we measure for the gas-phase supersaturations, we expect such transient conditions to occur in inhomogeneous urban settings, especially in wintertime, driven by vertical mixing and by strong local sources such as traffic. Even though rapid growth from nitric acid and ammonia condensation may last for only a few minutes, it is nonetheless fast enough to shepherd freshly nucleated particles through the smallest size range where they are most vulnerable to scavenging loss, thus greatly increasing their survival probability. We also expect nitric acid and ammonia nucleation and rapid growth to be important in the relatively clean and cold upper free troposphere, where ammonia can be convected from the continental boundary layer and nitric acid is abundant from electrical storms 4 , 5 . Measurements in the CLOUD chamber at CERN show that the rapid condensation of ammonia and nitric acid vapours could be important for the formation and survival of new particles in wintertime urban conditions, contributing to urban smog.

The growth of nucleated organic particles has been investigated in controlled laboratory experiments under atmospheric conditions; initial growth is driven by organic vapours of extremely low volatility, and accelerated by more abundant vapours of slightly higher volatility, leading to markedly different modelled concentrations of atmospheric cloud condensation nuclei when this growth mechanism is taken into account. Aerosol particle formation in clean air The effect of atmospheric aerosols on clouds and the radiative forcing of the climate system remains poorly understood. It is thought that nucleation of aerosol particles from atmospheric vapours rarely proceeds in the absence of sulfuric acid. Now two papers in this week’s Nature point to a previously unappreciated role for highly oxygenated molecules (HOMs) in promoting new particle formation and growth, essentially a mechanism that produces aerosols in the absence of pollution. Jasper Kirkby et al . show that aerosol particles can form as a result of ion-induced nucleation of HOMs in the absence of sulfuric acid under conditions relevant to the atmosphere in the CLOUD chamber at CERN. Jasmin Tröstl et al . examined the role of organic vapours in the initial growth of nucleated organic particles in the absence of sulfuric acid in the CERN CLOUD chamber under atmospheric conditions. They find that the organic vapours driving initial growth have extremely low volatilities. With increasing particle size, subsequent growth is primarily due to more abundant organic vapours of slightly higher volatility. About half of present-day cloud condensation nuclei originate from atmospheric nucleation, frequently appearing as a burst of new particles near midday 1 . Atmospheric observations show that the growth rate of new particles often accelerates when the diameter of the particles is between one and ten nanometres 2 , 3 . In this critical size range, new particles are most likely to be lost by coagulation with pre-existing particles 4 , thereby failing to form new cloud condensation nuclei that are typically 50 to 100 nanometres across. Sulfuric acid vapour is often involved in nucleation but is too scarce to explain most subsequent growth 5 , 6 , leaving organic vapours as the most plausible alternative, at least in the planetary boundary layer 7 , 8 , 9 , 10 . Although recent studies 11 , 12 , 13 predict that low-volatility organic vapours contribute during initial growth, direct evidence has been lacking. The accelerating growth may result from increased photolytic production of condensable organic species in the afternoon 2 , and the presence of a possible Kelvin (curvature) effect, which inhibits organic vapour condensation on the smallest particles (the nano-Köhler theory) 2 , 14 , has so far remained ambiguous. Here we present experiments performed in a large chamber under atmospheric conditions that investigate the role of organic vapours in the initial growth of nucleated organic particles in the absence of inorganic acids and bases such as sulfuric acid or ammonia and amines, respectively. Using data from the same set of experiments, it has been shown 15 that organic vapours alone can drive nucleation. We focus on the growth of nucleated particles and find that the organic vapours that drive initial growth have extremely low volatilities (saturation concentration less than 10 −4.5 micrograms per cubic metre). As the particles increase in size and the Kelvin barrier falls, subsequent growth is primarily due to more abundant organic vapours of slightly higher volatility (saturation concentrations of 10 −4.5 to 10 −0.5 micrograms per cubic metre). We present a particle growth model that quantitatively reproduces our measurements. Furthermore, we implement a parameterization of the first steps of growth in a global aerosol model and find that concentrations of atmospheric cloud concentration nuclei can change substantially in response, that is, by up to 50 per cent in comparison with previously assumed growth rate parameterizations.

Aerosol particles can form in the atmosphere by nucleation of highly oxidized biogenic vapours in the absence of sulfuric acid, with ions from Galactic cosmic rays increasing the nucleation rate by one to two orders of magnitude compared with neutral nucleation. Aerosol particles can form in the atmosphere by nucleation of highly oxidized biogenic vapours in the absence of sulfuric acid, with ions from Galactic cosmic rays increasing the nucleation rate by one to two orders of magnitude compared with neutral nucleation. Aerosol particle formation in clean air The effect of atmospheric aerosols on clouds and the radiative forcing of the climate system remains poorly understood. It is thought that nucleation of aerosol particles from atmospheric vapours rarely proceeds in the absence of sulfuric acid. Now two papers in this week’s Nature point to a previously unappreciated role for highly oxygenated molecules (HOMs) in promoting new particle formation and growth, essentially a mechanism that produces aerosols in the absence of pollution. Jasper Kirkby et al . show that aerosol particles can form as a result of ion-induced nucleation of HOMs in the absence of sulfuric acid under conditions relevant to the atmosphere in the CLOUD chamber at CERN. Jasmin Tröstl et al . examined the role of organic vapours in the initial growth of nucleated organic particles in the absence of sulfuric acid in the CERN CLOUD chamber under atmospheric conditions. They find that the organic vapours driving initial growth have extremely low volatilities. With increasing particle size, subsequent growth is primarily due to more abundant organic vapours of slightly higher volatility. Atmospheric aerosols and their effect on clouds are thought to be important for anthropogenic radiative forcing of the climate, yet remain poorly understood 1 . Globally, around half of cloud condensation nuclei originate from nucleation of atmospheric vapours 2 . It is thought that sulfuric acid is essential to initiate most particle formation in the atmosphere 3 , 4 , and that ions have a relatively minor role 5 . Some laboratory studies, however, have reported organic particle formation without the intentional addition of sulfuric acid, although contamination could not be excluded 6 , 7 . Here we present evidence for the formation of aerosol particles from highly oxidized biogenic vapours in the absence of sulfuric acid in a large chamber under atmospheric conditions. The highly oxygenated molecules (HOMs) are produced by ozonolysis of α-pinene. We find that ions from Galactic cosmic rays increase the nucleation rate by one to two orders of magnitude compared with neutral nucleation. Our experimental findings are supported by quantum chemical calculations of the cluster binding energies of representative HOMs. Ion-induced nucleation of pure organic particles constitutes a potentially widespread source of aerosol particles in terrestrial environments with low sulfuric acid pollution.

Amines at typical atmospheric concentrations of a only few molecules per trillion air molecules combine with sulphuric acid to form highly stable aerosol particles at rates similar to those observed in the lower atmosphere. Atmospheric chemistry of anthropogenic amines Amines emitted into the atmosphere from anthropogenic sources are thought to enhance nucleation from trace atmospheric vapours, stimulate particle formation and influence the development and properties of clouds. Direct evidence for this under atmospheric conditions has been lacking; however, this study, using the CLOUD (Cosmics Leaving OUtdoor Droplets) chamber at CERN, demonstrates that amines at atmospherically relevant concentrations can sufficiently increase nucleation rates to be able to account for the particle formation rates observed in the atmospheric environment. Nucleation of aerosol particles from trace atmospheric vapours is thought to provide up to half of global cloud condensation nuclei 1 . Aerosols can cause a net cooling of climate by scattering sunlight and by leading to smaller but more numerous cloud droplets, which makes clouds brighter and extends their lifetimes 2 . Atmospheric aerosols derived from human activities are thought to have compensated for a large fraction of the warming caused by greenhouse gases 2 . However, despite its importance for climate, atmospheric nucleation is poorly understood. Recently, it has been shown that sulphuric acid and ammonia cannot explain particle formation rates observed in the lower atmosphere 3 . It is thought that amines may enhance nucleation 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , but until now there has been no direct evidence for amine ternary nucleation under atmospheric conditions. Here we use the CLOUD (Cosmics Leaving OUtdoor Droplets) chamber at CERN and find that dimethylamine above three parts per trillion by volume can enhance particle formation rates more than 1,000-fold compared with ammonia, sufficient to account for the particle formation rates observed in the atmosphere. Molecular analysis of the clusters reveals that the faster nucleation is explained by a base-stabilization mechanism involving acid–amine pairs, which strongly decrease evaporation. The ion-induced contribution is generally small, reflecting the high stability of sulphuric acid–dimethylamine clusters and indicating that galactic cosmic rays exert only a small influence on their formation, except at low overall formation rates. Our experimental measurements are well reproduced by a dynamical model based on quantum chemical calculations of binding energies of molecular clusters, without any fitted parameters. These results show that, in regions of the atmosphere near amine sources, both amines and sulphur dioxide should be considered when assessing the impact of anthropogenic activities on particle formation.

New particle formation in the upper free troposphere is a major global source of cloud condensation nuclei (CCN) 1 – 4 . However, the precursor vapours that drive the process are not well understood. With experiments performed under upper tropospheric conditions in the CERN CLOUD chamber, we show that nitric acid, sulfuric acid and ammonia form particles synergistically, at rates that are orders of magnitude faster than those from any two of the three components. The importance of this mechanism depends on the availability of ammonia, which was previously thought to be efficiently scavenged by cloud droplets during convection. However, surprisingly high concentrations of ammonia and ammonium nitrate have recently been observed in the upper troposphere over the Asian monsoon region 5 , 6 . Once particles have formed, co-condensation of ammonia and abundant nitric acid alone is sufficient to drive rapid growth to CCN sizes with only trace sulfate. Moreover, our measurements show that these CCN are also highly efficient ice nucleating particles—comparable to desert dust. Our model simulations confirm that ammonia is efficiently convected aloft during the Asian monsoon, driving rapid, multi-acid HNO 3 –H 2 SO 4 –NH 3 nucleation in the upper troposphere and producing ice nucleating particles that spread across the mid-latitude Northern Hemisphere. By performing experiments under upper tropospheric conditions, nitric acid, sulfuric acid and ammonia can form particles synergistically, at rates orders of magnitude faster than any two of the three components.