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The authors address the problem of planning optimal grasps. Two general optimality criteria that consider the total finger force and the maximum finger force are introduced and discussed. Their formalization using various metrics on a space of generalized forces is detailed. The geometric interpretation of the two criteria leads to an efficient planning algorithm. An example of its use in a robotic environment equipped with two-jaw and three-jaw is described
The rapid growth of portable consumer electronics and electric vehicles demands new battery technologies with greater energy stored at a reduced cost. Energy storage solutions based on multivalent metals, such as Mg, could significantly increase the energy density as compared to lithium-ion based technology. In this work, we use recent advances in high-throughput first-principles calculations to systematically evaluate the performance of a group of 3 d transition-metal sulfide compounds for multivalent cathode applications. We estimate the insertion voltage, capacity, thermodynamic stability of charged and discharged states, as well as the intercalating ion mobility and use these properties to evaluate promising directions. From our calculations, we identified sulfide compounds that exhibit improved Mg 2+ mobility with feasible low diffusion activation energy; lower than their oxide counterparts, however the improved mobility comes at the expense of lower voltage and thereby lower theoretical specific energy. We also identified a Ca 2+ intercalating sulfide compound which exhibits a low diffusion activation barrier of ~500 meV and a voltage of ~2V, revealing a potential cathode for use in Ca ion rechargeable batteries. We also present several general trends and design insights extracted from our evaluation for this category of materials.
ADVERTISEMENT RETURN TO ISSUEPREVArticleNEXTDynamics of flow-induced surface exchangeChristophe David, Morton M. Denn, and Alexis T. BellCite this: Ind. Eng. Chem. Res. 1995, 34, 10, 3336–3341Publication Date (Print):October 1, 1995Publication History Published online1 May 2002Published inissue 1 October 1995https://pubs.acs.org/doi/10.1021/ie00037a020https://doi.org/10.1021/ie00037a020research-articleACS PublicationsRequest reuse permissionsArticle Views44Altmetric-Citations8LEARN ABOUT THESE METRICSArticle Views are the COUNTER-compliant sum of full text article downloads since November 2008 (both PDF and HTML) across all institutions and individuals. These metrics are regularly updated to reflect usage leading up to the last few days.Citations are the number of other articles citing this article, calculated by Crossref and updated daily. Find more information about Crossref citation counts.The Altmetric Attention Score is a quantitative measure of the attention that a research article has received online. Clicking on the donut icon will load a page at altmetric.com with additional details about the score and the social media presence for the given article. Find more information on the Altmetric Attention Score and how the score is calculated. Share Add toView InAdd Full Text with ReferenceAdd Description ExportRISCitationCitation and abstractCitation and referencesMore Options Share onFacebookTwitterWechatLinked InRedditEmail Other access optionsGet e-AlertscloseSupporting Info (3)»Supporting Information Supporting Information Get e-Alerts
An entry from the Cambridge Structural Database, the world’s repository for small molecule crystal structures. The entry contains experimental data from a crystal diffraction study. The deposited dataset for this entry is freely available from the CCDC and typically includes 3D coordinates, cell parameters, space group, experimental conditions and quality measures.