四足机器人坡面质心调整方法

为了实现稳定的坡面运动,设计了小腿采用液压缸的四足机器人.基于对角小跑步态,提出一种通过改变机器人前腿小腿腿长和保持后腿小腿腿长不变来实现坡面质心调整的方法.以机器人质心在斜面的投影点落在支撑对角线交点处为判据,对该质心调整方法进行了稳定性分析,得到姿态调整的确定值.对零冲击复合摆线足端轨迹规划方法进行了改进,以减少四足机器人坡面上的足地接触冲击.利用Adams和Matlab对四足机器人坡面trot步态运动进行了联合仿真.仿真结果表明所提出的质心调整方法和足端轨迹规划方法能够实现机器人在20°坡面上的稳定行走.      

金属露天矿帮坡角变化对最终境界影响

基于正锥排除法基本原理优化南芬露天矿最终境界,研究上盘帮坡角变化对最终境界开采形态、矿岩量等影响.根据南芬露天矿不同时期采场生产现状,设置相关技术经济参数,对矿山进行初始境界优化;按照0.5°步长逐步提升上盘帮坡角,优化不同上盘帮坡角条件下的最佳境界.研究表明,随着帮坡角变陡,最终境界地表范围逐渐缩小,底部尺寸变大或者向下延伸;不同帮坡角加陡方案得到的最终境界,矿岩量可能增大或者减小,总成本也可能增加,但利润值增大.     

Preparation and characterization of Cu (II) supported on poly(8‐hydroxyquinoline‐p‐styrene sulphonate) and its application as catalyst for the synthesis of hexahydroquinolines

Cu ( II ) supported on poly(8‐hydroxyquinoline‐p‐styrenesulfonate) (Cu ( II )@PHQSS) was prepared and fully characterized by the different techniques including fourier transform infrared spectroscopy (FT‐IR), ¹H NMR, ¹³C NMR, thermal gravimetric analysis (TGA), differential thermal gravimetric (DTG), differential thermal analysis (DTA), scanning electron microscope (SEM) and energy dispersive X‐ray analysis (EDS). Afterward, the Cu ( II )@PHQSS as nanostructured catalyst was used as catalyst for the synthesis of hexahydroquinolines.     

Silver,iron, and nickel immobilized on hydroxyapatite‐core‐shell γ‐Fe2O3 MNPs catalyzed one‐pot five‐component reactions for the synthesis of tetrahydropyridines by tandem condensation of amines,aldehydes, and methyl acetoacetate

In this study, Ag, Ni²⁺, and Fe²⁺ immobilized on hydroxyapatite‐core‐shell γ‐Fe₂O₃ nanoparticles (γ‐Fe₂O₃@HAp‐Ag, γ‐Fe₂O₃@HAp‐Ni²⁺, and γ‐Fe₂O₃@HAp‐Fe²⁺) as a new and reusable Lewis acid magnetic nanocatalyst was successfully synthesized and reported for an atom economic, extremely facile, and environmentally benign procedure for the synthesis of highly functionalized tetrahydropyridines derivatives 4a‐t is described by one‐pot five‐component reaction of 2 equiv of aldehydes 1 , 2 equiv of amines 2 , and 1 equiv of methyl acetoacetate 3 in EtOH at room temperature in good to high yields and short reaction time. The presented methodology offers several advantages such as easy work‐up procedure, reusability of the magnetic nanocatalyst, operational simplicity, green synthesis avoiding toxic reagents and solvent, mild reaction conditions, and no tedious column chromatographic separation.     

Solvent selection in ultrasonic-assisted emulsification microextraction: Comparison between high- and low-density solvents by means of novel type of extraction vessel

There are numerous published reports about dispersive liquid phase microextraction of the wide range of substances, however, till now no broadly accepted systematic and purpose oriented selection of extraction solvent has been proposed. Most works deal with the optimization of available solvents without adequate pre-consideration of properness. In this study, it is tried to compare the performances of low- and high-density solvents at the same conditions by means of novel type of extraction vessel with head and bottom conical shape. Extraction efficiencies of seven basic pharmaceutical compounds using eighteen common organic solvents were studied in this work. It was much easier to work with high-density solvents and they mostly showed better performances. This work shows that although exact predicting the performance of the solvents is multifaceted case but the pre-consideration of initial selection of solvents with attention to the physiochemical properties of the desired analytes is feasible and promising. Finally, the practicality of the method for extraction from urine and plasma samples was investigated.     

A study into Stille cross‐coupling reaction mediated by palladium catalysts deposited over siliceous supports bearing N‐donor groups at the surface

Mesoporous molecular sieve SBA‐15 and conventional silica gel were grafted with 3‐[2‐(diethylamino)ethylamino]propyl groups and used as supports for the preparation of deposited palladium catalysts, which were subsequently evaluated in Stille cross‐coupling reaction of aryl bromides. The highest conversions were achieved with the metal‐saturated catalyst resulting from the modified SBA‐15. Influence of various reaction parameters (solvent, additive, temperature, etc.) on the overall yield and selectivity was studied. Copyright © 2013 John Wiley & Sons, Ltd.     

Chiral Chromium Salen@rGO as Multipurpose and Recyclable Heterogeneous Catalyst

The first immobilization of a pyrene-tagged chromium salen complex through π-π noncovalent interactions on reduced graphene oxide (rGO) is described. A very robust supported catalytic system is obtained to promote asymmetric catalysis in repeated cycles, without loss of activity or enantioselectivity. This specific behavior was demonstrated in two different catalytic reactions (up to ten reuses) promoted by chromium salen complexes, the cyclohexene oxide ring-opening reaction and the hetero-Diels-Alder cycloaddition between various aldehydes and Danishefsky's diene. Furthermore, the chiral chromium salen@rGO has been found to be compatible with a multi-substrate type use, in which the structure of the substrate involved is modified each time the catalyst is reused.     

Co (II)‐C12 alkyl carbon chain multi‐functional ionic liquid immobilized on nano‐SiO2 nano‐SiO2@CoCl3‐C12IL as an efficient cooperative catalyst for C–H activation by direct acylation of aryl halides with aldehydes

Nano‐silica supported ionic liquids composed of alkyl carbon chain and transition metal chlorides anions have been prepared and successfully applied as a heterogeneous catalyst in the direct aldehyde C‐H activation. Catalytic results indicated that nano‐SiO₂ supported ionic liquid consisting C12 alkyl carbon chain and CoCl₃ anion nano‐SiO₂@CoCl₃‐C12IL showed excellent catalytic properties with good to excellent yields towards the desired aryl ketones. The excellent recyclability of the supported catalyst, mild reaction conditions, low catalyst loading, and operational simplicity are the important features of this methodology.     

不同蓄水水位下大华斜坡体稳定性分析

结合坡体的地形地貌、水文地质条件、地层岩性特征,进行了不同水位情况下的斜坡稳定性计算.分析了不同蓄水水位对坡体稳定性的影响及其控制因素.