SYNTHESIS AND CHARACTERIZATION OF A NEW COMB-LIKE POLYMER-BASED ON POLY(VINYL METHYL ETHER-ALT-MALEIC ANHYDRIDE) BACKBONE

A new comblike polymer host for polymer electrolyte was synthesized by reacting monomethyl ether of poly(ethylene glycol) with poly(vinyl methyl ether-alt-maleic anhydride) and endcapping the residual carboxylic acid with methanol. Butanone was selected as a solvent for the esterification in order to obtain a completely soluble product. The synthesis process was traced through by LR. Compared with the model compounds, the presumed structure of this comblike polymer has been proved to be valid by C-13 NMR The comb polymer is a white rubbery solid. It can be dissolved in butanone and THF, and manifests good film forming ability.

IONIC-CONDUCTION OF A NOVEL COMB POLYMER ELECTROLYTE BASED ON MALEIC-ANHYDRIDE COPOLYMER WITH OLIGO-OXYETHYLENE SIDE-CHAINS

A comb-shaped polymer (BM350) with oligo-oxyethylene side chains of the type -O(CH2CH2O)(7)CH3 was prepared from methyl vinyl ether/maleic anhydride copolymer. Homogeneous amorphous polymer electrolyte complexes were made from the comb polymer and LICF(3)SO(3) by solvent casting from acetone, and their conductivities were measured as a function of temperature and salt concentration. Maximum conductivity close to 5.08 X 10(-5) Scm(-1) was obtained at room temperature and at a [Li]/[EO] ratio of about 0.12. The conductivity which displayed non-Arrhenius behaviour was analyzed using the Vogel-Tammann-Fulcher equation and interpreted on the basis of the configurational entropy model. The results of mid-IR showed that the coordination of Li+ to side chains made the C-O-C band become broader and shift slightly. X-ray photoelectron spectroscopy analysis indicated that the oxygen atoms in the two situations could coordinate to Li+ and this coordination resulted in the reduction of the electron orbit binding energy of F and S.

Study on new comb polymer electrolyte(III)

A new solid polymer electrolyte has been prepared using NaClO4 and a comb-branch polymer with oligo(ethylene oxide) side chains. The thermal and ionic conductive properties of the electrolytes were investigated. The profile of conductivity at various temperatures follows the VTF plots.

Study on a new comb polymer electrolyte(II)

A comb polymer(CP350) with oligo-oxyethlene side chains was prepared from methyl vinyl ether/maleic anhydride copolymer. Homogeneous amorphous polymer electrolyte were made from the comb polymer and LiCF3SO3 by solvent casting from acetone, and their conductivities were measured as a function of temperature and salt concentration. Maximum conductivity close I to 5.08 x 10(-5)S/cm was achieved at room temperature at [Li]/[EO] ratio of about 0.12.

WATER-SOLUBLE AND AMPHIPHILIC POLYMERS .7. SYNTHESIS AND CHARACTERIZATION OF A NOVEL COMB-TYPE AMPHIPHILIC POLYMER PAMC16S

A novel comb-like amphiphilic polymer, poly (2-acrylamidohexadecylsulfonic acid) (PAMC16S), was synthesized by free radical polymerization of the corresponding amphiphilic monomer in 1,4-dioxane-water mixed solvents. Depending on the ratio of water/dioxane in the solvent, the reaction proceeded by either precipitation polymerization or micellar polymerization. The molecular weight of the polymer obtained under similar conditions decreased and subsequently increased with the increase of water content in the mixed solvent. The polyion nature of PAMC16S was confirmed by viscosity data of ethanolic solutions. In addition, the polymer was characterized by solubility, IR, TG and wide angle X-ray diffraction methods.

监控式水下机械手及相关技术的研究

水下机械手作为水下机器人通用作业工具得到广泛地应用，目前水下机械手的主要操作方式为主从方式。虽然主从方式具有操作直观，灵活的特点，但难于完成需要精确定位，轨迹控制的水下作用，如海洋石油钻井平台导管架的检查作用。为了扩展水下机器人的作业能力，提高水下作业智能化程度，沈阳自动化所承担国家863课题“水下虚拟遥操作与监控机械手系统”关键技术的研究工作。作者参加了此课题的研究工作，以Schilling水下机械手为研究对象，深入研究机械手的作用功能，对机械手的逆运动学，焊缝空间轨迹规划作了深入的研究，形成本文阐述的主要内容。由于Schilling水下机械手各关节之间的连接参数中存在多个偏距，其运动学逆解不能简单由解析方式给出。机械手进行控制与轨迹规划等操作必须找到一种快速求解的方法。本篇文章得出一种基于信赖域法的机械手运动学逆解算法。由于该算法具有收敛速度快的特点，故可以被应用于在线求解机械手运动学逆解；由于没有直接求解二阶导数，故不存在奇异解的问题。经理论分析和实验证明该方法在解决水下监控机械手在线跟踪水下结构物空间轨迹的技术问题具有较好的效果。作为课题的实际应用背景的导管架焊缝曲面为一复杂的空间曲面。为了实现课题的研究目标，本课题不仅要求解焊缝的轨迹，而且要给出其法线方向。对于这样一个问题，用空间解析几何和微分几何方法是很难求解的，本文给出了一种基于B样条参数曲面及曲面求交的方法，具有速度快，通用性强的优点。