Analysis of the hydrogen bonding in (2-hydroxypropyl)cellulose-poly(acrylic acid) composites by Raman spectroscopy

Novel anisotropic polymer composites obtained by the photopolymerisation of acrylic acid (AA) in lyotropic solutions of (2-hydroxypropyl)cellulose (HPC) were investigated. Raman spectroscopy was used in the study of hydrogen bonding formed by carboxylic groups of poly(acrylic acid) (pAA) between themselves and with the hydroxyl groups of HPC macromolecules. These investigations show that the supramolecular structure of pAA obtained by photopolymerisation contains mainly inner oligomeric forms and cyclic dimer forms, as a consequence of the “matrix polymerisation” of AA. The presence of HPC affects the process of the photopolymerisation of AA, by a redistribution of hydrogen bonding within the system, leading to a different supramolecular structure of pAA. With increasing amounts of HPC the inner oligomeric forms characteristic of bulk pAA disappear. In the composites, the pAA chains probably form the terminal oligomeric structure, with some free COOH groups, as well as hydrogen bonds with HPC.     

Hierarchical Constraint-Based Singularity Avoidance for Multi-Axis Robots

A generalized reflexive approach for Hierarchical Constraint-Based Singularity Avoidance (HCB-SA) is proposed and demonstrated for the multi-axis robot control of a six Degrees Of Freedom (DOF) hybrid manipulator system. The concept utilizes a dynamic adaptation of virtual constraints by introducing virtual damped actuation on the velocity control level and an anisotropic reflexive trajectory deflection depending on the robot constraints on the position control level. Redundant or low priority DOFs can be used to minimize the pose error in the more important DOFs reflexively without calculating new trajectories. Accordingly, the end-effector can be safely controlled in the vicinity of singularities and all constraints in the task and joint space can be surely hold. Furthermore, the proposed cascaded feedback control with the generalized HCB-SA algorithm is able to react on the presence of external disturbances which is validated using software-in-the-loop simulation on the real-time control system. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)