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821.
Glasses of the xEu2O3 · (100?x)[2Bi2O3 · B2O3] system with 0 ? x ? 25 mol% have been characterized by X-ray diffraction and FTIR spectroscopy measurements. Melting at 1100 °C and the rapid cooling at room temperature permitted us to obtain glass samples. In order to improve the local order and to develop crystalline phases, the glass samples were kept at 625 °C for 24 h. After heat treatment two crystalline phases were put into evidence. One of the crystalline phases was observed for the host glass matrix, the x = 0 mol% sample, and belongs to the cubic system. The second one was observed for the x = 25 mol% sample and was find to be orthorhombic with two unit cell parameters very close to each other. For the samples with 0 < x < 25 mol% there is a mixture of the two mentioned phases. FTIR spectroscopy data suggest that both Bi2O3 and B2O3 play the glass network former role while the europium ions play the network modifier role in the studied glasses. 相似文献
822.
823.
Marcin Kozanecki Jacek Ulaski Piotr Wojciechowski Marian Kryszewski Micheline Boudeulle Eugen Duval 《Macromolecular Symposia》1999,141(1):185-195
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. 相似文献
824.
825.
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) 相似文献