Telepresence robots can be used to support users to navigate an environment remotely and share the visiting experience with their social partners. Although such systems allow users to see and hear the remote environment and communicate with their partners via live video feed, this does not provide enough awareness of the environment and their remote partner's activities. In this paper, we introduce an awareness framework for collaborative locomotion in scenarios of onsite and remote users visiting a place together. From an observational study of small groups of people visiting exhibitions, we derived four design goals for enhancing the environmental and social awareness between social partners, and developed a set of awareness-enhancing techniques to add to a standard telepresence robot - named TeleAware robot. Through a controlled experiment simulating a guided exhibition visiting task, TeleAware robot showed the ability to lower the workload, facilitate closer social proximity, and improve mutual awareness and social presence compared with the standard one. We discuss the impact of mobility and roles of local and remote users, and provide insights for the future design of awareness-enhancing telepresence robot systems that facilitate collaborative locomotion.

In this investigation, it was found that the co-addition of Er and B causes both the modification and refinement of the Al-7Si alloy. The B element mainly forms a small amount of the AlB2 phase within the alloy, which can be used as a nucleation site for grains during casting, so the addition of B can significantly reduce the grain size of the Al-7Si alloy. However, the number density of AlB2 phase is too low, so its effect on improving the eutectic Si size and reducing the secondary dendrite arm spacing (SDAS) is not significant. The addition of 0.1 wt% Er can form a large amount of Al3Er phase within the alloy, which mainly serves as a nucleation site for eutectic Si during casting, so the addition of Er can significantly reduce the SDAS, eutectic Si size and morphology of Al-7Si alloys. However, due to the existence of a certain degree of mismatch between the Al matrix and the Al3Er phase, the relative grain refinement effect of Al3Er is not significant. In addition to this, we also observe the enrichment of Er at eutectic Si, which suggests that Er can interact with Si and thus inhibit the growth of eutectic Si. Therefore, Er can modulate eutectic Si through the Al3Er phase and the enrichment of Er. The co-addition of Er and B to Al-7Si alloys has better refining and modification effects than the addition of Er or B alone, mainly due to the modification effect of the Er element and the refining effect of the AlB2 phase. Unlike the Er-containing alloys, where the Al3Er phase plays a modifying role, the modification of the co-addition Er and B alloys is mainly caused by the enrichment of Er within the alloy.

The influence of Cu addition on the age-hardening response, mechanical properties, and precipitation evolution of Si-rich Al–Mg–Si alloy was investigated by hardness test, room-temperature tensile test, and transmission electron microscopy analysis. The results indicate that the addition of Cu significantly enhances the aging–hardening response of the alloy, promotes the hardness and room-temperature tensile strength under the peak-aged state, and reduces the softening rate during over-aging. The peak-aged tensile strength of the Cu-added alloy (387 MPa) was approximately 9% higher than that of the Cu-free alloy (355 MPa), and the elongation to failure of the Cu-added alloy reached 19%, significantly exceeding the 15% exhibited by the Cu-free alloy. The Cu promotes the precipitation of under-aged and peak-aged β″ strengthening phases within the alloy grains, while also facilitating the formation of lath-shaped Q’ and L phases in peak-aged and over-aged microstructures. This enhances the room-temperature tensile properties of the alloy in the peak-aged state and reduces the attenuation of over-aged properties. Furthermore, Cu influences grain boundary precipitation behavior by promoting the formation of Cu-rich precipitates along grain boundaries and reducing the width of precipitation-free zones (PFZs).

7xxx series aluminum alloys are critical structural materials in aerospace applications, but their susceptibility to hydrogen embrittlement (HE) poses significant challenges to service safety and durability. The effects of Si, Er, and Zr microalloying, combined with optimized heat treatments on the HE resistance of Al–Zn–Mg–Cu alloys, were systematically investigated using transmission electron microscopy (TEM), scanning electron microscopy (SEM), and mechanical testing. Three alloys—1# (AlZnMgCuZr), 2# (AlZnMgCuErZr), and 3# (AlZnMgCuSiErZr)—were subjected to single-stage or two-stage homogenization, followed by solution treatments at 470 °C/2 h and 540 °C/1 h, and peak aging at 125 °C. The hydrogen charging experiment was conducted by first applying a modified acrylic resin coating to protect the gripping sections of the specimen, followed by a tensile test. Results demonstrate that alloy 3# with Si addition exhibited the lowest RA_loss, followed by the 2# alloy, which effectively improved the alloys’ hydrogen embrittlement behavior. Compared with the solution in 470 °C/2 h, the 540 °C/1 h solution treatment enabled complete dissolution of Mg₂Si phases, promoting homogeneous precipitation and peak hardness comparable to alloy 2#. Two-stage homogenization significantly enhanced the number density and refinement of L₁₂-structured Al₃(Er,Zr) nanoprecipitates. Silicon further accelerated the precipitation kinetics, leading to more Al₃(Er,Zr) nanoprecipitates, finely dispersed T′/η′ phases, and lath-shaped GPB-II zones. The GPB-II zones effectively trapped hydrogen, thereby improving HE resistance. This work provides a viable strategy for enhancing the reliability of high-strength aluminum alloys in hydrogen-containing environments.

Achieving a balanced combination of mechanical performance and corrosion resistance remains a critical challenge restricting the broader application of Al–Zn–Mg–Cu alloys in aerospace, marine, and transportation industries. In this investigation, the addition of Si significantly enhances the mechanical properties of the alloy. Among them, the alloy containing 0.35Si has the best corrosion resistance, which is closely related to the transformation of precipitates. A non-monotonic relationship between Si content and corrosion resistance was observed. At low Si levels, the simultaneous precipitation of η, T, and GPB-II phases leads to a large electrochemical potential difference among these phases, which promotes micro-galvanic corrosion. With increasing Si content, the microstructure evolves toward the dominance of GPB-II precipitates, thereby reducing the internal potential difference and improving corrosion resistance. However, excessive addition of Si will lower the equilibrium solid phase temperature, resulting in overburning during the solid solution treatment process and a significant decrease in corrosion resistance. In addition, lowering the solution treatment temperature effectively improves corrosion resistance by suppressing the formation of remelted spheres and low-melting-point brittle phases along grain boundaries. These phases can form strong micro-galvanic couples with the matrix, accelerating anodic dissolution. Therefore, by adding an appropriate amount of Si and optimizing the solid solution temperature, a corrosion-resistant high-strength Al-Zn-Mg-Cu-Si alloy can be obtained. This strategy also provides a broader compositional and heat-treatment design window, which could be further expanded through the incorporation of rare-earth (RE) elements.