Reactions of C-60 with R(3)SnH: A new synthetic route to C-60(RH)(n) and the property of C-60 to catalyze radical reactions

A new method for the preparation of polyalkyl and polyarenefullerene derivatives C-60(RH)(n)(R=Bu,n=1-3; R=Ph,n=1-10) by the reaction of C-60 with organotin hydride in toluene is described. Another series of products of stannanes R(a)Sn(b)H(c) (R=Bu, a=3-8, b=1-4, c=0-3 R=Ph, a=3-11, b=1-5, c=0-4) were also obtained, which shows that C-60 can catalyze polymerization of organic-tin. These products were determined by mass and infrared spectrometry. And the possible reaction mechanisms are discussed.

Theoretical and experimental research on time-optimal trajectory planning and control of industrial robots

提出了一种用于工业机器人时间最优轨迹规划及轨迹控制的新方法，它可以确保在关节位移、速度、加速度以及二阶加速度边界值的约束下，机器人手部沿笛卡尔空间中规定路径运动的时间阳短。在这种方法中，所规划的关节轨迹都采用二次多项式加余弦函数的形式，不仅可以保证各关节运动的位移、速度 、加速度连续而且还可以保证各关节运动的二阶加速度连续。采用这种方法，既可以提高机器人的工作效率又可以延长机器人的工作寿命以PUMA560机器人为对象进行了计算机仿真和机器人实验，结果表明这种方法是正确的有效的。它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。

蠕动爬行攻泥机构转向工作特性的有限元分析

针对用于沉船打捞的水下攻泥机器人蠕动爬行攻泥机构的结构与工作机理 ,建立了适当的有限元计算模型 ,进而通过弹塑性有限元计算 ,模拟了攻泥机构处于土中不同深度的工作情况 ,建立了攻泥机构前进位移V和转向角θ之间关系的通用公式。通过它可以实现对攻泥机构前进路线的规划与自动控制

Highly efficient route to diselenides from the reactions of imines and selenium in the presence of carbon monoxide and water

Reactions of selenium with imines ((RRC)-C-1=NR2) of aldehydes and ketones in the presence of carbon monoxide, water and triethylamine lead to reductive selenation, on aerobic work-up, to afford symmetrical diselenides ((RRCHSe)-C-1)(2) in good to excellent yields. The proposed mechanism suggests that both in situ generated carbonyl selenide (SeCO) and hydrogen selenide (H2Se) are involved in the reaction.

New route for light olefins production from chloromethane over HSAPO-34 molecular sieve

HSAPO-34 molecular sieve was employed in chloromethane conversion and showed high performance in activity and selectivity in production of light olefins. Our detailed IR investigation allowed the identification of the active sites and the adsorbed species and demonstrated that the conversion started from 350 degrees C with alkoxy group as the intermediate. The fixed-bed catalytic testing evidenced that in the range of 350-500 degrees C, 70-80% of chloromethane was transferred to ethylene, propylene and butenes. Increasing reaction temperature favors the conversion and enhances the yield of lighter olefins. A very important reversible phenomenon, the breaking of Al-O-P bonds upon adsorption of HCl, a main product of reaction to generate a large amount of P-OH groups and the recovery of Al-O-P upon removal of HCI was revealed. (c) 2005 Elsevier B.V. All rights reserved.