WATER-SOLUBLE AND AMPHIPHILIC POLYMERS .11. GRAFT-POLYMERIZATION OF ACRYLIC-ACID ON POLY(VINYL ALCOHOL)

The graft polymerization of acrylic acid(AA) on poly(vinyl alcohol) (PVAL) has been investigated by using either potassium persulfate (KPS) or ceric ammonium nitrate(CAN) as an initiator. In the case of KPS initiation, the formation of the graft polymer always lags behind the homopolymer formation. The graft polymer is separated by acetone, and the increase of reaction temperature favors the homopolymer formation at the early stage. In the case of CAN initiation, graft polymers with a high PAA content can hardly be obtained when the polymerization is performed under nitrogen and at < 0.06 mol/L HNO3 concentration. It has been found that incorporation of a small amount of oxygen in a protective nitrogen gas accelerates markedly the graft polymerization, and that the resulting graft polymers can not be separated by acetone precipitation technique in most cases. The Dalian nitrogen(containing 0.7% oxygen) is a good protective gas for CAN-initiated PVAL-AA graft polymerization.

SOLID-STATE C-13 NMR-STUDIES ON THE CONDENSATION AND SULFONATION OF FURFURYL ALCOHOL AND TRIS (2-HYDROXYETHYL) ISOCYANURATE

The condensation and sulfonation of furfuryl alcohol (FA) and FA with tris (2-hydroxyethyl) isocyanurate (THEIC) and the crosslinking product structures were studied by means of solid-state C-13 NMR. The reaction of formalin with FA linear oligomer terminated by 2-methyl furan took place in the presence of the phase transfer catalyst (C4H9)4N+I-. The reaction of the terminated oligomer with a large amount of sulfuric acid as well as the former reaction was examined. The effects of some main reaction conditions on the crosslinking condensation and sulfonation were also 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。

An industrial scale dehydration process for natural gas involving membranes

An industrial scale dehydration process based on hollow fiber membranes for lowering the dew point of natural gas is described in this paper. A pilot test with the feed flux scale of 12x10(4) Nm(3)/d was carried out. Dew points of -8 degreesC-13 degreesC at a gas transport pressure in the pipeline of 4.6M Pa and methane recovery of more than 98% were attained. The water vapor content of the product gas could be maintained around 0.01 vol% during a continuous run of about 700 hours. The effects of feed flux and operation pressure on methane recovery and water vapor content were also investigated. Additionally, some auxiliary technologies, such as a full-time engine using natural gas as fuel and the utilization of vent gas in the process, are also discussed. A small amount of the vent gas from the system was used as a fuel for an engine to drive vacuum pumps, and the heat expelled from the engine was used to warm up the natural gas feed. The whole system can be operated in a self-sustainable manner from an energy point of view, and has a relatively high efficiency in the utilization of natural gas.