An experimentally validated rod model for soft continuum robots

Soft robots are bio-inspired, highly deformable robots with the ability to interact with workpieces in a manner that complements their hard robot counterparts. To develop practical applications and reproducible designs of soft robots, new models are necessary to describe their kinematics and dynamics. In the present work, we describe experimental and numerical investigations of a popular pneumatically-actuated soft continuum arm. These works enable us to derive constitutive relations and develop a rod model for large deformations of the arm that faithfully describes its bending behavior. We show how the resulting non-classical constitutive relation can be defined either through experiments or through quasi-static finite element simulations. With the help of this relation, the resulting rod model can be used to study the dynamics of the soft robot arm in a fast and tractable manner. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Study of “Racemic Compound-Like” Behavior of Diastereomeric Mixture of Pinanyl Sulfoxides by X-Ray Diffraction,IR Spectroscopy,and DFT Calculations

Abstract

The oxidation of a β-hydroxysulfide in the pinane series by use of m-chloroperbenzoic acid resulted in the formation of the corresponding β-hydroxysulfoxide as a mixture of two diastereomers in 4:5 ratio. According to single-crystal X-ray diffraction (XRD) results, it is established that the diastereomeric mixture of sulfoxides crystallizes in the “racemic compound-like” manner under formation of asymmetric dimers through S=O··H–O interactions. This asymmetric dimer formed from diastereomeric molecules is a structural unit in both crystal modifications, the triclinic and the monoclinic one. The behavior of the diastereomeric mixture of pinane derived sulfoxides in crystals, melts and in tetrachloromethane solutions was studied by IR spectroscopy. The density functional theory (DFT) method with 6-31G (d, p) basis set was used to calculate the optimized geometrical parameters and vibrational frequencies of different associates in solutions. The calculated vibrational frequencies are compared with experimental IR spectra.     

Reaction of Red Phosphorus with Allylbenzene in Superbasic System KOH-DMSO

Abstract

Red phosphorus reacts with allylbenzene in the superbase system KOH-DMSO (130°C, 3 h, Ar) to give a mixture of bis(1-methyl-2-phenylethyl)phosphane (1), bis(1-methyl-2-phenylethyl)phosphane oxide (2), and 1-methyl-2-phenylethylphosphinic acid (3). Secondary phosphane oxide 2 and phosphinic acid 3 have been isolated from this mixture in 35% and 32% yield, respectively. Microwave activation of the reaction (200 W, 30 min) affords secondary phosphane 1 as the main product in 48% yield.

GRAPHICAL ABSTRACT      

Phosphorylation of Dienyl Diprenoid Alcohols

Abstract

The reactions of geraniol, nerol, and linalool with N,N-diethylamido O,O-propylenephosphite and diethyl chlorophosphite were studied. On the basis of these studies, new dienyl diprenoid phosphite esters were obtained.

GRAPHICAL ABSTRACT     

Identification of wine provenance by ICP-AES multielement analysis

We have estimated the possibility of identifying the provenance of some natural wines produced in the Krasnodar region. The macro- and microelement composition of wines and soils from the place of grape origin has been used as the classification criterion. The main elements indicating the wine provenance, Al, Co, Cu, Mn, Ti, Zn, Ba, and Rb have been determined by inductively coupled plasma atomic emission spectroscopy. We have revealed the possibility of distinguishing wines by their brand and provenance using pair-wise comparison of the classification function parameters for soils and wines produced from grape grown on those soils.     

A study of homogeneous nucleation of ibuprofen in a flow chamber. Determination of the surface tension of critical nuclei

Homogeneous nucleation of ibuprofen vapor is studied in a nucleation flow chamber, a horizontal quartz tube equipped with an external heater. The area of the chamber where the nucleation proceeds most efficiently is determined, and the volume of this area is estimated. The temperature and supersaturation are determined and the homogeneous nucleation rate is calculated for this area. Saturation vapor pressure over liquid ibuprofen is measured in a temperature range of 353–383 K. Using an exact formula that has recently been derived for the nucleation rate based on the works by Kusaka, Reiss, as well as the Frenkel liquid-kinetics theory, surface tension and the radius of surface of tension of a critical nucleus σ= 25.9 mN/m and R _s = 1.6 nm, respectively, are calculated at 318 K. The measurement of the surface tension of an ibuprofen planar surface shows that, at 318 K, σ_∞ = 24.38 mN/m; i.e., σ is higher than σ_∞ by 6%. A critical nucleus is established as containing nearly 36 ibuprofen molecules.     

Determination of gallium in biological fluids using inductively coupled plasma mass spectrometry

A procedure for the determination of gallium in biological fluids by inductively coupled plasma mass spectrometry was developed. The detection limits of gallium calculated from the 3s value were 60 ng/L for urine, 32 ng/L for a model solution of intestinal juice, and 50 ng/L for serum. The accuracy of the procedure was tested using a standard addition method. The nature of a background signal on the masses of gallium isotopes was studied with the use of a high-resolution mass spectrometer, and the background concentration of gallium in biological fluids was evaluated (5–7 ng/L). It was found that a background level in measurements performed on a quadrupole mass spectrometer depends on the interfering influence of polyatomic ions with close m/z ratios rather than on the background concentration of gallium. The procedure makes it possible to study the stability of pharmaceutical preparations based on gallium in biological media, their metabolism, and the excretion of preparations from the body.