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This paper aims to present a kinematics analysis method and statics based control of the continuum robot with mortise and tenon joints to achieve better control performance of the robot.

The kinematics model is derived by the geometric analysis method under the piecewise constant curvature assumption, and the workspace and dexterity of the proposed robot are analyzed to optimize its structure parameters. Moreover, the statics model is established by the principle of virtual work, which is used to analyze the mapping relationship between the bending deformation and the applied forces/torques. To improve the control accuracy of the robot, a model-based controller is put forward.

Results of the experiments verify the feasibility of the proposed continuum structure and the correctness of the established model and the control method. The force deviation between the theoretical value and the actual value is relatively small, and the mean value of the deviation between the driving forces is only 0.46 N, which verify the established statics model and the controller.

The proposed model and motion controller can realize its accurate bending control with a few deviations, which can be used as the reference for the motion planning and dynamic model of the continuum robot.

The purpose of this study was to comprehend the current state of green supply chain management (GSCM) and its drivers and enablers in the pharmaceutical supply chains (PSCs).

This study developed a model consisting of the factors green drivers, green enablers and green practices. For this study, data were collected from 166 supply chain heads from 124 pharmaceutical companies operating in India. The data was empirically analysed using SmartPLS3 software.

The study revealed that in Indian PSCs, public pressure, supplier pressure and competitor pressure were the major drivers for GSCM practices and coercive pressures such as pressure from government and regulatory bodies were insignificant drivers. The results indicated that the influence of green drivers and green enablers altered with supply chain flow. Green drivers indicated higher influence at the upstream of PSCs whereas the influence of green enablers was higher at the downstream of PSCs. Furthermore, the study revealed that the factor “green enablers” was a good mediator for the relationship between “green drivers” and “GSCM practices” in PSCs.

This study was an extension work with the addition of external green drivers to the self-induced organizational activities. Further investigations can be done by including the “green barriers” construct in the conceptual model.

This research connected the institutional theory with the resource-based view to understanding the role of green drivers and green enablers in greening PSC. For managers and regulators, this study provided clear insights on how to approach different supply chain drivers and enablers to maximize the impact of GSCM practices. Moreover, the findings of this study helped in incorporating knowledge about GSCM into a framework that can be used for defining strategies for setting up a sustainable PSC for pharmaceutical products leading to the development and growth of the pharmaceuticals industry.

Most of the earlier studies on GSCM were at the firm level and some studies were at the supply chain level. To further enhance the scope of GSCM theory, this study was conducted at two different levels, first at the complete supply chain level and second at three different levels: upstream, firm-level and downstream.

The purpose of this paper is to improve the corrosion resistance of the 6061-Al alloy as the battery pack material for electric vehicles, and the nano-SiC/MAO composite coating was prepared.

The corrosion resistance of coatings was evaluated by the global electrochemical test, and the local electrochemical impedance spectroscopy (LEIS) was used to study the local corrosion mechanism. The laser confocal microscope, scanning electron microscope and X-ray diffractometer (XRD) were used to characterise coatings.

Results showed that the impedance of nano-SiC/MAO coating was 1–2 times higher than MAO coating, and the main corrosion product was Al(OH)₃. LEIS results showed that the impedance of the nano-SiC/MAO coating was two times higher than the MAO coating. The defective SiC/Micro-arc oxidation coating still had high corrosion resistance compared to the MAO coating.

The physical model of the local corrosion mechanism for SiC/MAO composite coating in “cavity-fracture collapse” mode was proposed.