Two generations of novel linear-dendritic carboxylate surfactants C18-G1-(COONa)2 and C18-G2-(COONa)4 have been synthesized by the divergent method and their structures are characterized by 1H Nuclear Magnetic Resonance and Infrared analysis. The electrical conductivity measurement is used to measure the Krafft temperatures of C18-G1-(COONa)2 and C18-G2-(COONa)4, which are much smaller than those of the corresponding conventional surfactant sodium stearate. The markedly enhanced solubility of two linear-dendritic surfactants is ascribed to the high hydrophilicity of surfactant headgroups induced by the carboxylate and ester groups. The critical micelle concentration (CMC) values obtained from both the electrical conductivity and surface tension measurements indicate that the micellizations of linear-dendritic surfactants become favorable with the increase in the number of the surfactant headgroup. However, the surface activity parameters including the surface tension at the CMC, maximum surface excess, and minimum surface area reveal that C18-G1-(COONa)2 exhibits greater efficiency in absorbing at the air/water interface compared to C18-G2-(COONa)4, owing to their different steric repulsions of the surfactant headgroups. In addition, C18-G1-(COONa)2 and C18-G2-(COONa)4 have higher emulsifying ability than the conventional surfactants sodium stearate and sodium octadecyl sulfate. 相似文献
The accurate estimation of the end-effector’s pose in large operating spaces is the key for the mobile manipulator to realize efficient manufacturing of large and complex components. We propose a novel pose tracking method in large-range using visual fiducial markers, and further propose the layout optimization method for the encoded fiducial markers. A metric named orientational dilution of precision (ODOP) is proposed to evaluate the magnification of the pose estimation error compared with the measurement error of the coded fiducial markers. The distribution pattern of the coded markers is analyzed based on ODOP, and the square-shaped layout is determined to be a satisfactory distribution pattern for the minimum positioning unit of markers, and the side length of the square-shaped layout is further selected. The simulations and experiments prove the effectiveness of the ODOP index. Finally, the square-shaped layout and the designed distribution density for positioning coded markers are adopted to realize the high-precision measurement of large components by the mobile manipulator.