Imaging the atomic structure of activated carbon

The precise atomic structure of activated carbon is unknown, despite its huge commercial importance in the purification of air and water. Diffraction methods have been extensively applied to the study of microporous carbons, but cannot provide an unequivocal identification of their structure. Here we show that the structure of a commercial activated carbon can be imaged directly using aberration-corrected transmission electron microscopy. Images are presented both of the as-produced carbon and of the carbon following heat treatment at 2000 degrees C. In the 2000 degrees C carbon clear evidence is found for the presence of pentagonal rings, suggesting that the carbons have a fullerene-related structure. Such a structure would help to explain the properties of activated carbon, and would also have important implications for the modelling of adsorption on microporous carbons

Permutable entire functions satisfying algebraic differential equations

It is shown that if two transcendental entire functions permute, and if one of them satisfies an algebraic differential equation, then so does the other one.Comment: 5 page

Motion coordination and programmable teleoperation between two industrial robots

Tasks for two coordinated industrial robots always bring the robots in contact with a same object. The motion coordination among the robots and the object must be maintained all the time. To plan the coordinated tasks, only one robot's motion is planned according to the required motion of the object. The motion of the second robot is to follow the first one as specified by a set of holonomic equality constraints at every time instant. If any modification of the object's motion is needed in real-time, only the first robot's motion has to be modified accordingly in real-time. The modification for the second robot is done implicitly through the constraint conditions. Thus the operation is simplified. If the object is physically removed, the second robot still continually follows the first one through the constraint conditions. If the first robot is maneuvered through either the teach pendant or the keyboard, the second one moves accordingly to form the teleoperation which is linked through the software programming. Obviously, the second robot does not need to duplicate the first robot's motion. The programming of the constraints specifies their relative motions