Hybrid integrator backstepping control of robotic manipulators driven by brushless DC motors

In this paper, a hybrid integrator backstepping controller is proposed for robotic manipulators actuated with brushless DC motors in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. The main features are: 1) the design, requiring at most the joint velocities and stator currents feedback; 2) the semiglobal asymptotic stability of the controller being established in the Lyapunov sense; and 3) suitability of the scheme for multijoint robots. Simulation results are included to demonstrate the tracking performance.     

Instability of diatomic deuterium in fcc palladium

To clarify some of the solid-state aspects of cold fusion in deuterated transition metal electrodes, we have carried out first-principles self-consistent total energy calculations for various configurations of atomic and diatomic deuterium inside fcc palladium. We find that the stability of the Pd+D system is controlled by the relative position of the deuterium-inducedantibonding level with respect to the Fermi energy. The equilibrium D-D distance in dense PdD up to =3 is found to be much larger than the free space value. The calculated Born-Oppenheimer energy surface of diatomic D₂ in crystalline palladiuim is shown to have but metastable local minima whose internuclear separation is at least 0.2 Ålarger than that of the isolated D₂ molecule. We conclude that D₂ incrystalline Pd will have a substantially lower tunneling probability than hitherto thought and that explanation for fusion mechanisms should be sought elsewhere.     

Synthesis,characterization, and thermal properties of phosphorus‐containing,wholly aromatic thermotropic copolyesters

A series of phosphorus‐containing, wholly aromatic thermotropic copolyesters from acetylated 2‐(6‐oxide‐6H‐dibenz〈c,e〉〈1,2〉oxa phosphorin‐6‐yl)‐1,4‐dihydroxy phenylene, p‐acetoxybenzoic acid, terephthalic acid, and isophthalic acid were prepared by melting polycondensation. The structure and basic properties of the polymers, such as the glass‐transition temperature (T_g), melting temperature (T_m), thermal stability, crystallinity, and liquid crystallinity, were investigated with Fourier transform infrared, elemental analysis, differential scanning calorimetry (DSC), thermogravimetric analysis, wide‐angle X‐ray diffraction, and hot‐stage polarizing optical microscopy. The copolyesters had relatively high T_g values ranging from 183 to 192°C. The T_m values obtained from DSC curves for samples P‐20 and P‐25 were 290 and 287°C, respectively (where the number in the sample name indicates the molar fraction of the phosphorus‐containing monomer in the reactants). The initial flow temperatures of other samples observed with hot‐stage polarizing microscopy were 271–290°C. The 5% degradation temperatures in nitrogen ranged from 431 to 462°C, and the char yields at 640°C were 41–52%. All the copolyesters, except P‐40, were thermotropic and nematic. © 2002 Wiley Periodicals, Inc. J Appl Polym Sci 86: 1278–1284, 2002     

通过细乳液聚合方法制备自交联型有机硅乳液

苯乙烯与甲基丙烯酸-3-三甲氧基硅丙酯(M PS)经细乳液聚合,制得了稳定的自交联型的水分散涂料,用透射电子显微镜(TEM)、动态光散射仪(DLS)和红外光谱(IR)表征了乳胶粒的形态和结构。发现与传统乳液聚合相比,细乳液聚合法可显著提高乳液的稳定性,且M PS加入量的增加会导致乳液稳定性降低。     

Use of mesoporous SBA-15 for nanostructuring titania for photocatalytic applications

SBA15–TiO₂ samples prepared by introducing titanium with a grafting method and having TiO₂ loadings below 15 wt.% have been characterized by XRF, XRD, IR, porosimetry, SEM, HRTEM, and UV–Visible diffuse reflectance. Differently from the samples reported in the literature characterized by a high TiO₂ loading, no evidences have been found for the presence of titania particles inside or outside the mesopores of SBA-15. Three different titanium species were instead evidenced to be present. The first two derive from the reaction of titanium with silanol groups in the corona area of inner SBA-15 walls leading to the formation of either TiO₄ tetrahedral sites (by reaction by hydroxyl nests of surface defect sites) and/or pseudo-octahedral surface sites anchored by two (or more) Si or Ti ions through bridging oxygens. The third species derives from the reaction of titanium in the regions with high sylanol density, e.g. in the micropores located in the corona of SBA-15 channels, leading to the formation of TiO₂-like nanoareas (probably Si-doped) with dimensions of around 1–2 nm maximum. The potential interest of these materials as photocatalysts, for the presence of a TiO₂-like nanoareas highly accessible by reactants, is discussed.     

Industrial TiO2 based nacreous pigments as functional building materials: Photocatalytic removal of NO

In this paper, the photocatalytic activity of industrial titanium dioxide (TiO₂) based nacreous pigments was researched as functional building materials for photocatalytic NO remove. Three industrial TiO₂ based nacreous pigments were selected to estimate the photocatalytic activity for NO remove. This study is a good proof that pearlescent pigments can eliminate NO, and its performance is positively correlated with its titanium dioxide content. And this research will widen the application of nacreous pigments in functional building materials, and provide a new way to eliminate in door nitric oxide pollution.     

反相高效液相色谱法测定meso-四苯基卟啉钴的纯度

采用反相高效液相色谱法测定合成meso-四苯基卟啉钴的纯度;以甲醇乙腈二氯甲烷(体积比为55∶35∶10)为流动相,ShimpackCLCODS柱(150mm×6.0mmi.d,5μm)为分离柱,流速为1.5mL/min,检测波长420nm;meso四苯基卟啉钴的测定在1.0～10μg/mL时线性关系良好(相关系数r=0.9993),加标回收率为97.03%～101.42%,重复进样的相对标准偏差RSD为0.64%～2.92%(n=5)。方法的准确度高,精密度好,实际应用效果好。     

Morphologies and microstructures of tree-like carbon produced at different reaction conditions in a CVD process

Centimeter-size multi-branched tree-like carbon structures have been generated by the catalytic chemical vapor deposition of toluene using ferrocene as the catalyst precursor and investigated by means of SEM, TEM, and EDX. It is found that a temperature of 1000-1200 °C and a carrier gas flow rate of 1000-2500 ml/min are necessary for the generation of the carbon trees. Their morphologies and microstructures change greatly with the changing reaction conditions. The fractal dimensions of the trees are calculated to quantitatively investigate the influence of different reaction temperatures on the morphologies.