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Syntheses and Structures of Two Reduced Open-framework Titanophosphates
Yongnan Zhao*,권영욱,Jianguo Yu 대한화학회 2008 Bulletin of the Korean Chemical Society Vol.29 No.4
Using metallic Ti powder as raw materials and 1,2-diaminocyclohexane (DACH) as the trial template, two novel reduced titanophosphate open-structures were hydrothermally isolated by varying the H3PO4/H2O ratio to adjust the pH value. TiPO-1 crystallizes in orthorhombic Pbca space group with cell parameters a = 21.956(3) , b = 8.6268(11) , c = 7.2883(9) , V = 1380.5(3) 3, Z = 4. TiPO-2 crystallizes in triclinic space group P with parameters a = 5.1620(10) , b = 8.815(2) , c = 10.655(3) , a = 99.45o, b = 102.94o, g = 91.06o, V = 465.34 3. TiPO-1 is constructed by infinite -Ti-O-Ti-O-linkage that is capped by PO4 groups to form a chain structure with protonated DACH molecules occupying the interchain spaces. TiPO-2 represents a rare 3-D reduced titanophosphate with 12-MR channels. The structure of TiPO-2 is a neutral framework with water molecules located in the channels.
Distributed Adaptive Flocking of Robotic Fish System with a Leader of Bounded Unknown Input
Yongnan Jia,Weicun Zhang 제어·로봇·시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.5
A distributed leader-follower flocking problem of multiple robotic fish governed by extended second-order unicycles is studied in this paper. The multi-agent system consists of only one leader with pre-appointed and bounded speeds. A distributed flocking algorithm on the basis of the combination of consensus and attractive/repulsive functions is investigated, in which adaptive strategy is adopted to compute the weight of the velocity coupling strengths. The proposed control algorithm enables followers to asymptotically track the leader's varying velocities and approach the equilibrium distances with their neighbors. Furthermore, the arbitrarily-shaped formation flocking problem of the system can also be solved by adding the information of a desired formation topology to the potential function term. Finally, simulations are carried out to verify the effectiveness of the proposed theoretical results.