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When all the folding angles are considered as free parameters to plan the folding process, it is generally not possible to obtain a feasible configuration via sampling. A typical problem associated with a path-finding algorithm is that a feasible configuration space of rigid origami is a lower-dimensional subset of the entire parameter space. In this study, we propose a novel method for planning the folding process of a rigid origami mechanism, i.e., we explore the intermediate process of the mechanism from an initial state to a target state without self-intersection via a path-finding algorithm. Journal of Verification, Validation and Uncertainty Quantification.Journal of Thermal Science and Engineering Applications.Journal of Offshore Mechanics and Arctic Engineering.Journal of Nuclear Engineering and Radiation Science.Journal of Nondestructive Evaluation, Diagnostics and Prognostics of Engineering Systems.Journal of Nanotechnology in Engineering and Medicine.Journal of Micro and Nano-Manufacturing.Journal of Manufacturing Science and Engineering.Journal of Engineering Materials and Technology.Journal of Engineering for Sustainable Buildings and Cities.Journal of Engineering for Gas Turbines and Power.Journal of Engineering and Science in Medical Diagnostics and Therapy.Journal of Electrochemical Energy Conversion and Storage.Journal of Dynamic Systems, Measurement, and Control.Journal of Computing and Information Science in Engineering.Journal of Computational and Nonlinear Dynamics.Journal of Autonomous Vehicles and Systems.ASME Letters in Dynamic Systems and Control.ASCE-ASME Journal of Risk and Uncertainty in Engineering Systems, Part B: Mechanical Engineering.Mechanical Engineering Magazine Select Articles.H T – H 298.15K is the enthalpy change of takingĮntropy change of taking 298.15 K as the benchmark. Notes: `Exp' is the result of an experimental determination `Calc' is the Thermodynamic properties of BATZM♼l 2 at a pressure of 101.3 kPa top T (K) The above results for BATZM♼l 2 are compared with those of bis(5-amino-1,2,4-triazol-3-yl)methane (BATZM) and the effect of salt formation on them is discussed. The detonation velocity ( D) and detonation pressure ( P) of BATZM♼l 2 were estimated using the nitrogen equivalent equation according to the experimental density BATZM♼l 2 has a higher detonation velocity (7143.60 ± 3.66 m s −1) and detonation pressure (21.49 ± 0.03 GPa) than TNT. The relative deviations between the theoretical and experimental values of C p ,m, H T – H 298.15K and S T – S 298.15K of BATZM♼l 2 are almost equivalent at each temperature. The specific molar heat capacity ( C p ,m) of BATZM♼l 2 was determined using the continuous C p mode of a microcalorimeter and theoretical calculations, and the C p ,m value is 276.18 J K −1 mol −1 at 298.15 K.
The structure of BATZM♼l 2 can be described as a V-shaped molecule with reasonable chemical geometry and no disorder, and its one-dimensional structure can be described as a rhombic helix. Bis(5-amino-1,2,4-triazol-4-ium-3-yl)methane dichloride (BATZM♼l 2 or C 5H 10N 8 2+♲Cl −) was synthesized and crystallized, and the crystal structure was characterized by single-crystal X-ray diffraction it belongs to the space group C2/ c (monoclinic) with Z = 4.
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