Dimethyl N,N'-[thiobis(methyliminocarbonyloxy)] bis-(ethanimidothiolate), C10H18N4O4S3, is an example of a sulfenylated biscarbamate insecticide. The molecule has an approximate twofold axis through the central S atom which joins the two methyliminocarbonyloxyethanimidothiolate units. One of the two arms is planar in the crystal. Semi-empirical geometry optimization for an isolated molecule favors a model with both arms planar and, thus, crystal packing may be responsible for the observed non-planarity in one arm. Bond lengths and angles have similar values to those of the 'monomeric' carbamate insecticide methomyl.
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Sci Rep
January 2025
Zhongyuan University of Technology, Zhengzhou, 450007, China.
This paper studies the practical prescribed-time control problem for dual-arm robots handling an object with output constraints. Firstly, by utilizing the property that the sum of internal forces in the grasping space is zero, the system model is obtained and decomposed into the contact force model and free motion model, which are orthogonal to each other. Furthermore, by combining the performance function and constraint function, the original system tracking error is transformed to a new one, whose boundedness can ensure that the original system variable converges to the predetermined range within the specified time.
View Article and Find Full Text PDFNat Commun
January 2025
Univ. Grenoble Alpes, CEA, Grenoble INP, IRIG-PHELIQS, 38000, Grenoble, France.
Hybrid superconductor-semiconductor Josephson field-effect transistors (JoFETs) function as Josephson junctions with gate-tunable critical current. Additionally, they can feature a non-sinusoidal current-phase relation (CPR) containing multiple harmonics of the superconducting phase difference, a so-far underutilized property. Here we exploit this multi-harmonicity to create a Josephson circuit element with an almost perfectly π-periodic CPR, indicative of a largely dominant charge-4e supercurrent transport.
View Article and Find Full Text PDFBiomed Tech (Berl)
January 2025
Department of Mechanical Engineering, Faculty of Engineering, Imperial College London, London, UK.
Globally, the prevalence of stroke is significant and increasing annually. This growth has led to a demand for rehabilitation services that far exceeds the supply, leaving many stroke survivors without adequate rehabilitative care. In response to this challenge, this study introduces a portable exoskeleton system that integrates neural control mechanisms governing human arm movements.
View Article and Find Full Text PDFInorg Chem
January 2025
University of Göttingen, Institute of Inorganic Chemistry, Tammannstrasse 4, D-37077 Göttingen, Germany.
Alkyl nickel intermediates relevant to catalytic processes often feature agostic stabilization, but relatively little is known about the situation in oligonickel systems. The dinickel(I) complex K[LNi], which is based on a compartmental pyrazolato-bridged ligand L with two β-diketiminato chelate arms, or its masked version, the dihydride complex [KL(Ni-H)] that readily releases H, oxidatively add methyl tosylate to give diamagnetic [LNi(CH)] () with (Ni···Ni) ≈ 3.7 Å.
View Article and Find Full Text PDFACS Appl Mater Interfaces
January 2025
College of Computer Science and Technology, Xi'an University of Science and Technology, Xi'an 710054, China.
Soft and stretchable strain sensors are crucial for applications in human-machine interfaces, flexible robotics, and electronic skin. Among these, capacitive strain sensors are widely used and studied; however, they face challenges due to material and structural constraints, such as low baseline capacitance and susceptibility to external interference, which result in low signal-to-noise ratios and poor stability. To address these issues, we propose a U-shaped electrode flexible strain sensor based on liquid metal elastomer (LME).
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