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We report an ablation enhancement (both deepening and widening in ablation profiles) on nickel by ultrashort double-pulse laser irradiation, an exception of the typical reduction trend observed in ablation rates for metals irradiated with double-pulse excitations. Maximized at a pulse-separation (τs) of approximately 4 ps, the enhancement was observed before τs was increased to approximately the electron-lattice energy relaxation time. An achievement of ablation, by temporal shaping a weak pulse with energy well below the single-pulse ablation threshold into two considerably weaker pulses, was demonstrated. It is proposed that the enhanced electron-phonon coupling and drop of electronic heat conductivity, both of which result from the reductions in electron temperature (by pulse shaping), co-contribute to the widening in ablation profiles, while the former one is responsible for the deepening. This letter proposed an ablation enhancement approach to ultrashort laser processing of nickel.

Purpose The purpose of this study is the presentation and research of a simple and rapid calibration methodology for industrial robot. Extensive research efforts were devoted to meet the requirements of online compensation, closed-loop feedback control and high-precision machining during the flexible machining process of robot for large-scale cabin. Design/methodology/approach A simple and rapid method to design and construct the transformation relation between the base coordinate system of robot and the measurement coordinate system was proposed based on geometric constraint. By establishing the Denavit–Hartenberg model for robot calibration, a method of two-step error for kinematic parameters calibration was put forward, which aided in achievement of step-by-step calibration of angle and distance errors. Furthermore, KUKA robot was considered as the research object, and related experiments were performed based on laser tracker. Findings The experimental results demonstrated that the accuracy of the coordinate transformation could reach 0.128 mm, which meets the transformation requirements. Compared to other methods used in this study, the calibration method of two-step error could significantly improve the positioning accuracy of robot up to 0.271 mm. Originality/value The methodology based on geometric constraint and two-step error is simple and can rapidly calibrate the kinematic parameters of robot. It also leads to the improvement in the positioning accuracy of robot.

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Erythromycin is a widely used antibiotic, and erythromycin contamination may pose a threat to aquatic organisms. However, little is known about the adverse effects of erythromycin on swimming ability. To quantify erythromycin-induced damage to fish swimming ability, Oryzias latipes and Danio rerio were acutely exposed to erythromycin. The swimming ability of the experimental fish was measured after exposure to varying doses of erythromycin (2 µg/L, 20 µg/L, 200 µg/L, and 2 mg/L) for 96 h. Burst speed (Uburst) and critical swimming speed (Ucrit) of experimental fish significantly decreased. In addition, gene expression analysis of O. latipes and D. rerio under erythromycin treatment (2 mg/L) showed that the expression of genes related to energy metabolism in the muscle was significantly reduced in both species of fish. However, the gene expression pattern in the head of the two species was differentially impacted; D. rerio showed endocrine disruption, while phototransduction was impacted in O. latipes. The results of our study may be used as a reference to control erythromycin pollution in natural rivers.