A versatile and effective method for incorporating functional groups on the pore wall of three-dimensionally ordered macroporous cross-linked polystyrene（3DOM CLPS） by hydrophilic spacer arm has been investigated.Th...A versatile and effective method for incorporating functional groups on the pore wall of three-dimensionally ordered macroporous cross-linked polystyrene（3DOM CLPS） by hydrophilic spacer arm has been investigated.The 3DOM CLPS with pore size 865 nm was prepared by sacrifice template method.The hydrophilic spacer arm（polyethylene glycol,molecular weight is 600） was grafted to the 3DOM CLPS via nucleophilic substitution reaction.The other side of active hydroxyl can be further converted into a lot of other functional groups.In this report,the chelating ligand 2-mercaptobenzothiazole（MBZ） group was introduced on the end of the PGE chain to evidence the versatile functionalization approach.The functionalized ordered macroporous materials were characterized by FT-IR,element analyzer,SEM.The results reveal that the pores were successfully bonded with 2-mercaptobenzothiazole groups via hydrophilic spacer arms and the original morphology of ordered macroporous materials were remained after functionalization.The MBZ group density is 0.052 mmol/m^2.The functionalized 3DOM CLPS are expected to application as heavy metal ions adsorbent.展开更多
Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,acco...Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,according to the kinematics analysis of serial mechanisms,the basic principles of Lie groups and Lie algebras are briefly explained in dealing with the spatial switching and differential operations of screw vectors.Then,based on the standard ideas of Lie operations,the method for kinematics analysis of parallel mechanisms is derived,and Jacobian matrix and Hessian matrix are formulated recursively and in a closed form.Then,according to the mapping relationship between the parallel joints and corresponding equivalent series joints,a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are examined.A case study is performed to verify the calculated matrices wherein a humanoid hybrid robotic arm with a parallel-series-parallel configuration is considered as an example.The results of a simulation experiment indicate that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practically feasible.展开更多
1.Background of The Small Arms Survey The proliferation of small arms and light weapons represents a grave threat to human security. The unchecked spread of these weapons has exacerbated inter-and intra-state conflict...1.Background of The Small Arms Survey The proliferation of small arms and light weapons represents a grave threat to human security. The unchecked spread of these weapons has exacerbated inter-and intra-state conflicts,contributed to展开更多
基金supported by National Natural Science Funds for Young Scholar(No.50903027)the Natural Science Foundation of Hebei Province(No.E2010000058)Education Department Science Research Plan of Hebei Province(No.2007307).
文摘A versatile and effective method for incorporating functional groups on the pore wall of three-dimensionally ordered macroporous cross-linked polystyrene（3DOM CLPS） by hydrophilic spacer arm has been investigated.The 3DOM CLPS with pore size 865 nm was prepared by sacrifice template method.The hydrophilic spacer arm（polyethylene glycol,molecular weight is 600） was grafted to the 3DOM CLPS via nucleophilic substitution reaction.The other side of active hydroxyl can be further converted into a lot of other functional groups.In this report,the chelating ligand 2-mercaptobenzothiazole（MBZ） group was introduced on the end of the PGE chain to evidence the versatile functionalization approach.The functionalized ordered macroporous materials were characterized by FT-IR,element analyzer,SEM.The results reveal that the pores were successfully bonded with 2-mercaptobenzothiazole groups via hydrophilic spacer arms and the original morphology of ordered macroporous materials were remained after functionalization.The MBZ group density is 0.052 mmol/m^2.The functionalized 3DOM CLPS are expected to application as heavy metal ions adsorbent.
基金Supported by Zhejiang Province Foundation for Distinguished Young Scholars of China(Grant No.LR18E050003)National Natural Science Foundation of China(Grant Nos.51975523,51475424,51905481)Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems(Grant No.GZKF-201906).
文摘Advanced mathematical tools are used to conduct research on the kinematics analysis of hybrid mechanisms,and the generalized analysis method and concise kinematics transfer matrix are obtained.In this study,first,according to the kinematics analysis of serial mechanisms,the basic principles of Lie groups and Lie algebras are briefly explained in dealing with the spatial switching and differential operations of screw vectors.Then,based on the standard ideas of Lie operations,the method for kinematics analysis of parallel mechanisms is derived,and Jacobian matrix and Hessian matrix are formulated recursively and in a closed form.Then,according to the mapping relationship between the parallel joints and corresponding equivalent series joints,a forward kinematics analysis method and two inverse kinematics analysis methods of hybrid mechanisms are examined.A case study is performed to verify the calculated matrices wherein a humanoid hybrid robotic arm with a parallel-series-parallel configuration is considered as an example.The results of a simulation experiment indicate that the obtained formulas are exact and the proposed method for kinematics analysis of hybrid mechanisms is practically feasible.
文摘1.Background of The Small Arms Survey The proliferation of small arms and light weapons represents a grave threat to human security. The unchecked spread of these weapons has exacerbated inter-and intra-state conflicts,contributed to
