Rh-Catalyzed Annulative Insertion of Terminal Olefin onto Pyridines via a C–H Activation Strategy Using Ethenesulfonyl Fluoride as Ethylene Provider

A Rh­(III)-catalyzed annulative insertion of ethylene onto picolinamides was achieved, providing a portal to a class of unique pyridine-containing molecules bearing a terminal olefin moiety for diversification. Application of this method for modification of Sorafenib was also accomplished

Exact Analytical Form of Diatomic Molecular Orbitals

We provide the exact analytical form of diatomic molecular orbitals, as given by the solutions of a single-electron diatomic molecule with arbitrary nuclear charges, using our recently developed method for solving Schrödinger equations. We claim that the best representation of the wave function is a factorized form including a power prefactor, an exponentially decaying term, a modulator function on the exponential, and additional factors accounting for nodal surfaces and the magnetic quantum number. Applying our method, we have identified unexpected extreme points along the potential energy curves, hence revealing the limitations of the well-known concepts of bonding and antibonding

Movie 4. Adverse events of snake robot traversing a large step. from Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance

Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a challenge. On trees and desert dunes, snakes grip branches or brace against depressed sand for stability. However, how they stably surmount obstacles like boulders too large and smooth to gain such ‘anchor points’ is less understood. Similarly, snake robots are challenged to stably traverse large, smooth obstacles for search and rescue and building inspection. Our recent study discovered that snakes combine body lateral undulation and cantilevering to stably traverse large steps. Here, we developed a snake robot with this gait and snake-like anisotropic friction and used it as a physical model to understand stability principles. The robot traversed steps as high as a third of its body length rapidly and stably. However, on higher steps, it was more likely to fail due to more frequent rolling and flipping over, which was absent in the snake with a compliant body. Adding body compliance reduced the robot's roll instability by statistically improving surface contact, without reducing speed. Besides advancing understanding of snake locomotion, our robot achieved high traversal speed surpassing most previous snake robots and approaching snakes, while maintaining high traversal probability

Movie 3. Comparison of large step traversal between rigid and compliant body snake robot. from Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance

Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a challenge. On trees and desert dunes, snakes grip branches or brace against depressed sand for stability. However, how they stably surmount obstacles like boulders too large and smooth to gain such ‘anchor points’ is less understood. Similarly, snake robots are challenged to stably traverse large, smooth obstacles for search and rescue and building inspection. Our recent study discovered that snakes combine body lateral undulation and cantilevering to stably traverse large steps. Here, we developed a snake robot with this gait and snake-like anisotropic friction and used it as a physical model to understand stability principles. The robot traversed steps as high as a third of its body length rapidly and stably. However, on higher steps, it was more likely to fail due to more frequent rolling and flipping over, which was absent in the snake with a compliant body. Adding body compliance reduced the robot's roll instability by statistically improving surface contact, without reducing speed. Besides advancing understanding of snake locomotion, our robot achieved high traversal speed surpassing most previous snake robots and approaching snakes, while maintaining high traversal probability

Movie 2. Snake robot uses a snake-like partitioned gait to traverse a large step rapidly. from Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance

Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a challenge. On trees and desert dunes, snakes grip branches or brace against depressed sand for stability. However, how they stably surmount obstacles like boulders too large and smooth to gain such ‘anchor points’ is less understood. Similarly, snake robots are challenged to stably traverse large, smooth obstacles for search and rescue and building inspection. Our recent study discovered that snakes combine body lateral undulation and cantilevering to stably traverse large steps. Here, we developed a snake robot with this gait and snake-like anisotropic friction and used it as a physical model to understand stability principles. The robot traversed steps as high as a third of its body length rapidly and stably. However, on higher steps, it was more likely to fail due to more frequent rolling and flipping over, which was absent in the snake with a compliant body. Adding body compliance reduced the robot's roll instability by statistically improving surface contact, without reducing speed. Besides advancing understanding of snake locomotion, our robot achieved high traversal speed surpassing most previous snake robots and approaching snakes, while maintaining high traversal probability

Excel form S1. Data reported in the paper. from Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance

Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a challenge. On trees and desert dunes, snakes grip branches or brace against depressed sand for stability. However, how they stably surmount obstacles like boulders too large and smooth to gain such ‘anchor points’ is less understood. Similarly, snake robots are challenged to stably traverse large, smooth obstacles for search and rescue and building inspection. Our recent study discovered that snakes combine body lateral undulation and cantilevering to stably traverse large steps. Here, we developed a snake robot with this gait and snake-like anisotropic friction and used it as a physical model to understand stability principles. The robot traversed steps as high as a third of its body length rapidly and stably. However, on higher steps, it was more likely to fail due to more frequent rolling and flipping over, which was absent in the snake with a compliant body. Adding body compliance reduced the robot's roll instability by statistically improving surface contact, without reducing speed. Besides advancing understanding of snake locomotion, our robot achieved high traversal speed surpassing most previous snake robots and approaching snakes, while maintaining high traversal probability

Supplementary Material text file (containing Materials and Methods, Fig. S1-S3, and Table S1). from Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance

Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a challenge. On trees and desert dunes, snakes grip branches or brace against depressed sand for stability. However, how they stably surmount obstacles like boulders too large and smooth to gain such ‘anchor points’ is less understood. Similarly, snake robots are challenged to stably traverse large, smooth obstacles for search and rescue and building inspection. Our recent study discovered that snakes combine body lateral undulation and cantilevering to stably traverse large steps. Here, we developed a snake robot with this gait and snake-like anisotropic friction and used it as a physical model to understand stability principles. The robot traversed steps as high as a third of its body length rapidly and stably. However, on higher steps, it was more likely to fail due to more frequent rolling and flipping over, which was absent in the snake with a compliant body. Adding body compliance reduced the robot's roll instability by statistically improving surface contact, without reducing speed. Besides advancing understanding of snake locomotion, our robot achieved high traversal speed surpassing most previous snake robots and approaching snakes, while maintaining high traversal probability

Movie 1. Mechanical design of snake robot. from Robotic modelling of snake traversing large, smooth obstacles reveals stability benefits of body compliance

Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a challenge. On trees and desert dunes, snakes grip branches or brace against depressed sand for stability. However, how they stably surmount obstacles like boulders too large and smooth to gain such ‘anchor points’ is less understood. Similarly, snake robots are challenged to stably traverse large, smooth obstacles for search and rescue and building inspection. Our recent study discovered that snakes combine body lateral undulation and cantilevering to stably traverse large steps. Here, we developed a snake robot with this gait and snake-like anisotropic friction and used it as a physical model to understand stability principles. The robot traversed steps as high as a third of its body length rapidly and stably. However, on higher steps, it was more likely to fail due to more frequent rolling and flipping over, which was absent in the snake with a compliant body. Adding body compliance reduced the robot's roll instability by statistically improving surface contact, without reducing speed. Besides advancing understanding of snake locomotion, our robot achieved high traversal speed surpassing most previous snake robots and approaching snakes, while maintaining high traversal probability

Tuning Luminescence of Lanthanide-Doped Upconversion Nanoparticles through Simultaneous Binary Cation Exchange

Dual-mode luminescent nanomaterials have outstanding performance in biosensing and multistage anticounterfeiting. Herein, we report the tuning of optical attributes of lanthanide-doped nanoparticles (NPs) via simultaneous binary cation exchange. We show that cation exchange of NaYF4:Yb/Er (18/2 mol %)@NaLnF4 (Ln = Y and Gd) NPs with a combination of Ce3+ and Tb3+ enables the resultant nanoparticles to exhibit both upconversion and downshifting emissions upon excitation at 980 and 254 nm, respectively. We find that in addition to introducing downshifting emission attributes, the use of Tb3+ ions allows conservation of the integrity of the parent core@shell NPs by decreasing the dissociation tendency caused by Ce3+ ions during the cation exchange. The upconversion color output can be tuned from green to red and blue by changing lanthanide combinations in the core NPs. This work not only provides an effective strategy for the optical tuning of lanthanide-doped NPs but also builds a platform for probing the difference in the reactivity nature of lanthanides

Tuning Luminescence of Lanthanide-Doped Upconversion Nanoparticles through Simultaneous Binary Cation Exchange

Dual-mode luminescent nanomaterials have outstanding performance in biosensing and multistage anticounterfeiting. Herein, we report the tuning of optical attributes of lanthanide-doped nanoparticles (NPs) via simultaneous binary cation exchange. We show that cation exchange of NaYF4:Yb/Er (18/2 mol %)@NaLnF4 (Ln = Y and Gd) NPs with a combination of Ce3+ and Tb3+ enables the resultant nanoparticles to exhibit both upconversion and downshifting emissions upon excitation at 980 and 254 nm, respectively. We find that in addition to introducing downshifting emission attributes, the use of Tb3+ ions allows conservation of the integrity of the parent core@shell NPs by decreasing the dissociation tendency caused by Ce3+ ions during the cation exchange. The upconversion color output can be tuned from green to red and blue by changing lanthanide combinations in the core NPs. This work not only provides an effective strategy for the optical tuning of lanthanide-doped NPs but also builds a platform for probing the difference in the reactivity nature of lanthanides