Non-covalent immobilization of RhDuphos on carbon nanotubes and carbon xerogels

The immobilization of the chiral complex RhDuphos, by electrostatic or π–π (adsorption) interactions, on carbon nanotubes and carbon xerogels is investigated. To promote such interactions, the supports were either oxidized or heat treated to create carboxylic type surface groups or an apolar surface, respectively. The catalysts were tested in the hydrogenation of methyl 2-acetamidoacrylate. The prepared hybrid catalysts are less active than the homogeneous RhDuphos, but most of them show a high enantioselectivity and the one prepared with the oxidized carbon xerogel is also reusable, being able to give a high substrate conversion, keeping as well a high enantioselectivity. The anchorage by electrostatic interactions is more interesting than the anchorage by π–π interactions, as the π–π adsorption method produces a modification of the metal complex structure leading to an active hybrid catalyst but without enantioselectivity. The creation of carboxylic groups on the support surface has led to some hindering of the complex leaching.

On the Analytic Solutions of the Functional Equations w 1 f(a 1 z) + w 2 f(a 2 z) + ... + w n f(a n z) = 0

In this paper, it is showed that, given an integer number n ≥ 2, each zero of an exponential polynomial of the form w1az1+w2az2+⋯+wnazn, with non-null complex numbers w 1,w 2,…,w n and a 1,a 2,…,a n , produces analytic solutions of the functional equation w 1 f(a 1 z) + w 2 f(a 2 z) + ... + w n f(a n z) = 0 on certain domains of C, which represents an extension of some existing results in the literature on this functional equation for the case of positive coefficients a j and w j.

Unraveling the performance of dispersion-corrected functionals for the accurate description of weakly bound natural polyphenols

Long-range non-covalent interactions play a key role in the chemistry of natural polyphenols. We have previously proposed a description of supramolecular polyphenol complexes by the B3P86 density functional coupled with some corrections for dispersion. We couple here the B3P86 functional with the D3 correction for dispersion, assessing systematically the accuracy of the new B3P86-D3 model using for that the well-known S66, HB23, NCCE31, and S12L datasets for non-covalent interactions. Furthermore, the association energies of these complexes were carefully compared to those obtained by other dispersion-corrected functionals, such as B(3)LYP-D3, BP86-D3 or B3P86-NL. Finally, this set of models were also applied to a database composed of seven non-covalent polyphenol complexes of the most interest.

Dynamic visual servo control of a 4-axis joint tool to track image trajectories during machining complex shapes

A large part of the new generation of computer numerical control systems has adopted an architecture based on robotic systems. This architecture improves the implementation of many manufacturing processes in terms of flexibility, efficiency, accuracy and velocity. This paper presents a 4-axis robot tool based on a joint structure whose primary use is to perform complex machining shapes in some non-contact processes. A new dynamic visual controller is proposed in order to control the 4-axis joint structure, where image information is used in the control loop to guide the robot tool in the machining task. In addition, this controller eliminates the chaotic joint behavior which appears during tracking of the quasi-repetitive trajectories required in machining processes. Moreover, this robot tool can be coupled to a manipulator robot in order to form a multi-robot platform for complex manufacturing tasks. Therefore, the robot tool could perform a machining task using a piece grasped from the workspace by a manipulator robot. This manipulator robot could be guided by using visual information given by the robot tool, thereby obtaining an intelligent multi-robot platform controlled by only one camera.

Privileged Regions in Critical Strips of Non-lattice Dirichlet Polynomials

This paper shows, by means of Kronecker’s theorem, the existence of infinitely many privileged regions called r -rectangles (rectangles with two semicircles of small radius r ) in the critical strip of each function Ln(z):= 1−∑nk=2kz , n≥2 , containing exactly [Tlogn2π]+1 zeros of Ln(z) , where T is the height of the r -rectangle and [⋅] represents the integer part.

Support effects in a Rh diamine complex heterogenized on carbon materials

The Rh diamine complex [Rh(COD)NH2(CH2)2NH(CH2)3Si(OCH3)3] BF4 was heterogenized by covalent bonding on two carbon xerogels and on carbon nanofibers, with the objective of preparing hydrogenation hybrid catalysts. Gas adsorption, SEM, TEM, DTP, ICP-OES and XPS were used for characterization. The results indicate that the active molecule is mainly located in supermicropores and produces microporosity blockage. The hybrid catalysts are more active than the homogeneous complex, but the Rh complex is partially reduced upon reaction. This modification is related to the nature of the support, which also shows effects in the stabilization against sintering of the Rh particles formed. The support porosity is a key factor in the selectivity differences between the catalysts.

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.