On the Dimension of the Set of Two-View Multi-Homography Matrices

It is shown that the set of all multi-homography matrices describing I-element families of interdependent homographies between two views has dimension 4I + 7.     

Pyrolysis of Porous Organic Polymers under a Chlorine Atmosphere to Produce Heteroatom-Doped Microporous Carbons

Three types of cross-linked porous organic polymers (either oxygen-, nitrogen-, or sulfur-doped) were carbonized under a chlorine atmosphere to obtain chars in the form of microporous heteroatom-doped carbons. The studied organic polymers constitute thermosetting resins obtained via sol-gel polycondensation of resorcinol and five-membered heterocyclic aldehydes (either furan, pyrrole, or thiophene). Carbonization under highly oxidative chlorine (concentrated and diluted Cl₂ atmosphere) was compared with pyrolysis under an inert helium atmosphere. All pyrolyzed samples were additionally annealed under NH₃. The influence of pyrolysis and additional annealing conditions on the carbon materials’ porosity and chemical composition was elucidated.     

Control of underactuated mechanical systems with servo-constraints

This paper deals with a class of controlled mechanical systems in which the number of control inputs, equal to the number of desired system outputs, is smaller than the number of degrees of freedom. The related inverse dynamics control problem, i.e., the determination of control input strategy that force the underactuated system to complete the partly specified motion, is a challenging task. In the present formulation, the desired system outputs, expressed in terms of the system states, are treated as servo-constraints on the system, and the problem is viewed from the constrained motion perspective. Mixed orthogonal-tangent realization of the constraints by the available control reactions is stated, and a specialized methodology for solving the “singular” control problem is developed. The governing equations are manipulated to index three differential-algebraic equations, and a simple numerical code for solving the equations is proposed. The feedforward control law obtained as a solution to these equations can then be enhanced by a closed-loop control strategy with feedback of the actual servo-constraint violations to provide stable tracking of the reference motion in the presence of perturbations and modeling uncertainties. An overhead trolley crane executing a load-prescribed motion serves as an illustration. Some results of numerical simulations are reported.     

Use of Photocatalytic Reactions to Visualize Drugs in TLC

JPC – Journal of Planar Chromatography – Modern TLC -     

Tri(mesityloxy)silanethiol – The First Structurally Characterized Organoxysilanethiol (Contributions to the Chemistry of Silicon–Sulfur Compounds. 77 [1])

Tri(mesityloxy)silanethiol (TMST) was isolated as the only product of the reaction between SiS₂ and 2,4,6‐trimethylphenol. TMST crystallizes in the triclinic system. Good quality of the crystal allowed the unrestricted refinement of the mercapto group; the resulting S–H distance is 1.29(4) Å and the Si–S–H bond angle is 95.4(17)°. Molecules of TMST show no hydrogen bonds in the crystal – the FT‐IR spectrum of the solid sample exhibits a very sharp, well‐resolved band of isolated –SH group at 2562 cm^–1.