Homoclinic Chaos in 2-DOF Robot Manipulators Driven by PD Controllers

The existence of Smale horseshoes in the dynamics of twodegrees of freedom (2-DOF) robot manipulators with viscous damping anddriven by classical proportional-derivative (PD) controllers is proved.The situation where an actuator failure occurs is also analyzed. Thecontrollers correspond to the classical PD and the PD with gravitycompensation. They are considered as non-Hamiltonian perturbations of anundriven 2-DOF robot; then a technique developed by Holmes and Marsden,which uses a combination of a reduction scheme and Melnikov's methodwith an energy balance argument, is applied.     

Mesogenic behaviour in some pyrazole and isoxazole derivatives

Several aromatic β-diketones with a different number of alkyloxy groups in the aromatic rings and their derived pyrazoles, isoxazoles and thallium (I) complexes have been synthesized. The potential mesomorphic properties of these compounds have been investigated by optical microscopy, DSC and X-ray diffraction. The pyrazoles and isoxazoles with one chain in each aromatic ring are mesogenic, showing smectic A and smectic C mesophases, whereas the pyrazoles and isoxazoles with two chains per ring and the β-diketones and thallium complexes are not. The mesogenic potentiality is shown to be related to the molecular linearity and to the number of alkyloxy groups. To the best of our knowledge, this is the first time liquid crystal properties have been described for pyrazole and isoxazole derivatives.     

Reduction of the benzoyl group in substituted 5-benzoyl-4,5-dihydro-1,2,4-oxadiazoles

The carbonyl group of substituted 5-benzoyl-4,5-dihydro-1,2,4-oxadiazoles can be reduced by lithium aluminium hydride at low temperature without ring opening. Mixtures of the two related diastereoisomeric benzylalcohols are obtained. Configurations were assigned by ¹H-nmr.     

Thiobenzophenone and tetracyanoethylene

The title reaction furnished the yellow 3,4-dicyano-2,5-bis(diphenylmethyleneamino)-thiophene and a red precursor which contains one more sulfur atom; structures and mechanism are discussed.     

Anti-stokes laser cooling in bulk erbium-doped materials

We report the first observation of anti-Stokes laser-induced cooling in the Er3+:KPb2Cl5 crystal and in the Er3+:CNBZn (CdF2-CdCl2-NaF-BaF2-BaCl2-ZnF2) glass. The internal cooling efficiencies have been calculated by using photothermal deflection spectroscopy. Thermal scans acquired with an infrared thermal camera proved the bulk cooling capability of the studied samples. The implications of these results are discussed.     

Site‐Specific Encoding of Photoactivity in Antibodies Enables Light‐Mediated Antibody–Antigen Binding on Live Cells

Antibodies have found applications in several fields, including, medicine, diagnostics, and nanotechnology, yet methods to modulate antibody–antigen binding using an external agent remain limited. Here, we have developed photoactive antibody fragments by genetic site‐specific replacement of single tyrosine residues with photocaged tyrosine, in an antibody fragment, 7D12. A simple and robust assay is adopted to evaluate the light‐mediated binding of 7D12 mutants to its target, epidermal growth factor receptor (EGFR), on the surface of cancer cells. Presence of photocaged tyrosine reduces 7D12‐EGFR binding affinity by over 20‐fold in two out of three 7D12 mutants studied, and binding is restored upon exposure to 365 nm light. Molecular dynamics simulations explain the difference in effect of photocaging on 7D12‐EGFR interaction among the mutants. Finally, we demonstrate the application of photoactive antibodies in delivering fluorophores to EGFR‐positive live cancer cells in a light‐dependent manner.     

Competition between quantum spin tunneling and Kondo effect

Quantum spin tunneling and Kondo effect are two very different quantum phenomena that produce the same effect on quantized spins, namely, the quenching of their magnetization. However, the nature of this quenching is very different so that quantum spin tunneling and Kondo effect compete with each other. Importantly, both quantum spin tunneling and Kondo effect produce very characteristic features in the spectral function that can be measured by means of single spin scanning tunneling spectroscopy and allows to probe the crossover from one regime to the other. We model this crossover, and the resulting changes in transport, using a non-perturbative treatment of a generalized Anderson model including magnetic anisotropy that leads to quantum spin tunneling. We predict that, at zero magnetic field, integer spins can feature a split-Kondo peak driven by quantum spin tunneling.     

Triangular oxalate clusters [W(3)(mu(3)-S)(mu(2)-S(2))(3)(C(2)O(4))(3)](2)(-) as building blocks for coordination polymers and nanosized complexes

The reaction of aqueous [W3S7(C2O4)3](2-) with Ln(3+) and Th(4+) in a 1:1 molar ratio leads to oxalate-bridged heteropolynuclear molecular complexes and coordination polymers. La(3+) and Ce(3+) give a layered structure with big (about 1.8 nm) honeycomb pores which are filled with water molecules and lanthanide ions, in {[Ln(H2O)6]3[W3S7(C2O4)3]4}Br x xH2O (Ia and Ib). The smaller Pr(3+), Nd(3+), Sm(3+), Eu(3+), and Gd(3+) ions give discrete nanomolecules [(W3S7(C2O4)3Ln(H2O)5)2(mu-C2O4)] (with a separation of about 3.2 nm between the most distant parts of the molecule), which are further united into zigzag chains by specific S2...Br- contacts to achieve the overall stoichiometry K[(W3S7(C2O4)3Ln(H2O)5)2(mu-C2O4)]Br.xH2O (IIa-IId). Th(4+) gives K2[(W3S7(C2O4)3)4Th2(OH)2(H2O)10] x 14.33H2O (III) with a nanosized discrete anion (with a separation of about 2.7 nm between the most distant parts of the molecule), in which two thorium atoms are bound via two hydroxide groups into the Th2(OH)2(6+) unit, and each Th is further coordinated by five water molecules and two monodentate [W3S7(C2O4)](2-) cluster ligands. All compounds were characterized by X-ray structure analysis and IR spectroscopy. Magnetic susceptibility measurements in the temperature range of 2-300 K show weak antiferromagnetic interactions between two lanthanides atoms for compounds IIa, IIb, and IId. The thermal decomposition of Ia, Ib, and IIb was studied by thermogravimetry.