Rigid–flexible interactive dynamics modelling approach

Dynamics modelling of multi-body systems composed of rigid and flexible elements is elaborated in this article. The control of such systems is highly complicated due to severe underactuated conditions caused by flexible elements and an inherent uneven non-linear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, simulation studies for design improvement and also practical implementations. In this article, the rigid–flexible interactive dynamics modelling (RFIM) approach is proposed as a combination of Lagrange and Newton–Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than a common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. The proposed RFIM approach is first detailed for multi-body systems with flexible joints, and then with flexible members. Then, to reveal the merits of this new approach, few case studies are presented. A flexible inverted pendulum is studied first as a simple template for lucid comparisons, and next a space free-flying robotic system that contains a rigid main body equipped with two manipulating arms and two flexible solar panels is considered. Modelling verification of this complicated system is vigorously performed using ANSYS and ADAMS programs. The obtained results reveal the outcome accuracy of the new proposed approach for explicit dynamics modelling of rigid–flexible multi-body systems such as mobile robotic systems, while its limited computations provide an efficient tool for controller design, simulation studies and also practical implementations of model-based algorithms.     

Selenium analysis in water samples by dispersive liquid-liquid microextraction based on piazselenol formation and GC–ECD

The application of the recently introduced dispersive liquid–liquid microextraction (DLLME) for the separation and determination of an inorganic selenite [Se(IV)] derivative by means of a gas chromatography–electron-capture detection system has been studied. The selenium derivative was extracted with the DLLME technique using a mixture of ethanol (disperser solvent) and chlorobenzene (extraction solvent). The influences of the various analytical parameters on the derivatization reaction and microextraction procedure have been evaluated and optimized. Under the optimum conditions, an enrichment factor of 122 was obtained for only 5.00 mL of the water sample. The calibration graph was linear in the range of 0.015–10 μg L^?1 with a detection limit of 0.005 μg L^?1. The relative standard deviation for ten replicate measurements of 2 μg L^?1 of selenium was 4.1%. The method was applied to the determination of selenium in environmental surface water samples with satisfactory recovery.     

Electrophoretically deposited sulfonated poly(styrene-co-divinylbenzene) on a screw for microextraction of cationic dyes from aqueous solutions

In the present work, a novel solid-phase microextraction on a screw (MES) was employed to extract cationic dyes (malachite green, methylene blue, and rhodamine B) from food samples and fish breeding pool water. The sulfonated poly(styrene-co-divinylbenzene) was electrophoretically deposited on the surface of the grooves of a screw. Then the screw was placed inside a silicon tube as a holder to create a channel to run a test solution through it. The extracted dyes on the coated screw were eluted by a suitable eluent. High-performance liquid chromatography with an ultraviolet/visible detector was utilized for the separation and analysis of the analytes. The effective parameters of the analyte extraction efficiency were optimized. Under optimum conditions, the limits of detection were 0.15 μg/L, and calibration curves were linear in the range of 0.50–250.00 μg/L, with coefficients of determination > 0.989 for all studied dyes. The relative standard deviations of intra and inter-day (n = 3) were in the range of 2.8%–7.0% and 7.0%–9.5%, respectively. The MES was applied as a simple and repeatable method with acceptable relative recoveries (82.0%–103.0%) for the determination of cationic dyes in grape nectar, ice pop, jelly powder, and fish breeding pool water.     

Adsorption and decomposition of NO on O-covered planar and faceted Ir(2 1 0)

We report on the adsorption and decomposition of NO on O-covered planar Ir(2 1 0) and nanofaceted Ir(2 1 0) with variable facet sizes investigated using temperature programmed desorption (TPD), high-resolution electron energy loss spectroscopy (HREELS), and density functional theory (DFT). When pre-covered with up to 0.5 ML O, both planar and faceted Ir(2 1 0) exhibit unexpectedly high reactivity for NO decomposition. Upon increasing the oxygen coverage to 0.7 ML O, planar Ir(2 1 0) has little activity while faceted Ir(2 1 0) still remains active toward NO decomposition, although NO decomposition is completely inhibited when both surfaces are pre-covered by 1 ML O. NO molecularly adsorbs on O-covered Ir at 300 K. At low NO and oxygen coverage, NO adsorbs on the atop sites of planar Ir(2 1 0) while on the bridge and atop sites of faceted Ir(2 1 0) composed of (1 1 0) and {3 1 1} faces. No evidence for size effects in the decomposition of NO on O-covered faceted Ir(2 1 0) is observed for average facet size in the range 5-14 nm. Our findings should be of importance for development of Ir-based catalysts for NO decomposition under oxygen-rich conditions.     

Granular micromechanics based micromorphic model predicts frequency band gaps

Granular materials are typically characterized by complex structure and composition. Continuum modeling, therefore, remains the mainstay for describing properties of these material systems. In this paper, we extend the granular micromechanics approach by considering enhanced kinematic analysis. In this analysis, a decomposition of the relative movements of interacting grain pairs into parts arising from macro-scale strain as well as micro-scale strain measures is introduced. The decomposition is then used to formulate grain-scale deformation energy functions and derive inter-granular constitutive laws. The macro-scale deformation energy density is defined as a summation of micro-scale deformation energy defined for each interacting grain pair. As a result, a micromorphic continuum model for elasticity of granular media is derived and applied to investigate the wave propagation behavior. Dispersion graphs for different cases and different ratios between the microscopic stiffness parameters have been presented. It is seen that the model has the capability to present band gaps over a large range of wave numbers.     

Selective conversion of C=N bonds to their corresponding carbonyl compounds by the tribromoisocyanuric acid/wet SiO2 system as a novel reagent

Abstract  

Tribromoisocyanuric acid/wet SiO₂ was used for the conversion of C=N bonds to their corresponding carbonyl compounds in oximes, semicarbazones, azines, and Schiff bases. The interesting feature of this system is that in those oximes, semicarbazones, azines, and Schiff bases which have conjugated or unconjugated C=C bonds, the C=N bond will selectively change to the relevant C=O bond while the conjugated or unconjugated C=C bond will remain intact.     

Thermographic examination of prick test reactions with local anesthetic

Journal of Thermal Analysis and Calorimetry - The objective of this work was to examine the thermal conductivity of a stable nano-antifreeze containing cetyltrimethylammonium bromide coated cerium...     

Isosorbide dinitrate template-based molecularly imprinted poly(methacrylic acid) nanoparticles: effect of initiator concentration on morphology and physicochemical properties

In this work, poly(methacrylic acid) (PMAA)-based molecularly imprinted polymer nanoparticles (MIP NPs) using isosorbide dinitrate (ISDN) as a template were prepared via a precipitation polymerization. The morphology and performance of the samples were investigated by varying different concentrations of azobisisobutyronitrile (AIBN) as an initiator. The MIP NP sample characterization as a function of the initiator concentration was evaluated utilizing Fourier transform infrared (FTIR) spectroscopy and field emission-scanning electron microscopy (FE-SEM) analyses. Regarding the washed MIP NP samples, the FTIR spectra results showed two main characteristic peaks located at 3339 and 1734 cm^?1 wavenumbers corresponding to hydroxyl (–OH) and carbonyl (–C=O) groups, respectively. The intensity of these main peaks for the washed MIP NPs was higher than that of those for unwashed MIP NPs in which the active sites were appropriately formed between the polymer and template. These observations were occurred at the maximum amount of AIBN concentration (3 mmol). Moreover, the FE-SEM micrograph images exhibited an average diameter of approximately 40 nm for the MIP NP sample prepared with a low concentration of the initiator (0.5% of polymerizable double bonds). Furthermore, another two key factors for the MIP NPs such as binding capacity, and surface area using Barrett–Joyner–Halenda (BJH) method were studied to apply them for drug delivery systems potentially. On the other hand, the release of ISDN from MIP NP was considered through phosphate buffer saline (PBS, pH 7.4) at 37 °C for 5 days. The results showed higher ability of the sample compared with the non-imprinted polymer (NIP) ones to control the drug release, and kinetic trend of the drug absorption within the MIP NPs followed the pseudo-first model. Finally, the obtained outcomes showed that the low amounts of the initiator concentration have an indispensable role on the physicochemical properties of the synthesized MIP NPs.