This work aims to improve the adhesion of a hybrid non-isocyanate polydimethylsiloxane urethane (PDMSUr) coating by producing active layers on titanium alloy (Ti6Al4V) and stainless steel (SS316L) applying pulsed Nd:YAG laser and oxygen plasma. The PDMSUr is a hybrid adhesive and, when functionalized with alkoxysilane groups, can bind onto the interfacial hydroxyl groups of a (hydr)oxide/carbonate layer by sol–gel reactions. These reactions are acid catalysed and the silanol groups can bind through Si–O–metal links. The pull-off-strength of such sustainable coatings raised more than 100% for both substrates after the physical treatments, compared with the substrates etched. X-ray Photoelectron Spectroscopy (XPS) of a freshly pre-treated substrate revealed the formation of thin oxide-based reactive layers on the surface of Ti6Al4V and SS316L after the surface treatments. Both physical procedures were efficient to create oxide layers on top of metallic substrates and contributed to the improvement of adhesion strength of PDMSUr on biomedical grade metals

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The task frame formalism allows the programmer to overcome the drawbacks of the traditional robot oriented assembly programming, moving the programmer's focus on the robot task. Additionally skill primitives contribute to a more natural programming paradigm. In this paper a robot control architecture is presented that implements both of these concepts providing a framework to easily implement new control features. Focus is put on a novel modular trajectory generator and the applied three-layered scheduling design. This architecture is based on the communication middleware MIRPA-X and has been experimentally validated on the HEXA parallel manipulator. The future use of distributed computing and runtime scheduling optimization are discussed.

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