On the Application of Elastic Band Method to Repeatable Inverse Kinematics in Robot Manipulators

Author(s):  
Ignacy Duleba ◽  
Michal Opalka
Crystals ◽  
2021 ◽  
Vol 11 (6) ◽  
pp. 667
Author(s):  
Yanxia Lu ◽  
Qing Peng ◽  
Chenguang Liu

The α-decay of incorporated actinides continuously produces helium, resulting in helium accumulation and causing security concerns for nuclear waste forms. The helium mobility is a key issue affecting the accumulation and kinetics of helium. The energy barriers and migration pathways of helium in a potential high-level nuclear waste forms, La2Zr2O7 pyrochlore, have been investigated in this work using the climbing image nudged elastic band method with density functional theory. The minimum energy pathway for helium to migrate in La2Zr2O7 is identified as via La–La interstitial sites with a barrier of 0.46 eV. This work may offer a theoretical foundation for further prospective studies of nuclear waste forms.


Author(s):  
Vilhjálmur Ásgeirsson ◽  
Benedikt Orri Birgisson ◽  
Ragnar Bjornsson ◽  
Ute Becker ◽  
Frank Neese ◽  
...  

Open Physics ◽  
2020 ◽  
Vol 18 (1) ◽  
pp. 790-798
Author(s):  
Aykan Akça

AbstractThe periodic four-layered model of the pure Cu(111) surface has been considered, and the effect of doping with palladium on CH4 dissociation has been investigated. The most stable adsorption geometries of CHx species (x = 1–4) and H atom on the PdCu(111) and pure Cu(111) surfaces have been obtained. Their computed adsorption energy results on the pure Cu(111) surface have been compared with the previously reported studies. Then, transition state geometries of CH4 dehydrogenation steps on both surfaces were calculated by the climbing image nudged elastic band method. Finally, the relative energy diagram for CH4 complete dehydrogenation has been represented. The results show that the PdCu(111) surface is more favorable than the Cu(111) surface in terms of the activation energies. The addition of Pd atoms to the Cu(111) surface significantly improves the catalytic activity. This knowledge can enable an efficient catalyst design at a lower cost using different strategies.


2006 ◽  
Vol 2 (4) ◽  
pp. 895-904 ◽  
Author(s):  
Núria González-García ◽  
Jingzhi Pu ◽  
Àngels González-Lafont ◽  
José M. Lluch ◽  
Donald G. Truhlar

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