Spherical Chains Research Articles

A magneto-elastica reinforced elastomer makes soft robotic grippers

Soft robotics represents a burgeoning and interdisciplinary domain characterized by diverse research avenues encompassing actuation strategies, materials science, fabrication techniques, morphing mechanisms, and control methods. This work introduces a novel approach to soft actuators and robotic grippers by intricately exploring the magneto-elastica of spherical magnet chains. First, a kind of magneto-elastica reinforced elastomer is achieved by embedding millimetre-sized spherical neodymium-iron-boron (NdFeB) magnets into the polymer elastomer. By modulating the coupling effect of the magnetic and elastic contributions, the bending deformation of the magneto-elastica reinforced elastomer can be initialized. Subsequently, we analytically derive the coupled stiffness formula to integrate the discrete-scale magneto-elastica with the continuum elasticity using the transformed section method. For comparison, we further employ the multi-physics coupling simulation method to reveal the complex magnetics-mechanics interactions within the composite beam. As a proof of concept, we demonstrate two distinct configurations of rope-motor-driven robotic grippers respectively: three-finger soft robotic gripper and five-finger soft anthropomorphic hand. Pick-and-place experiments indicate that they have the good applicability to grasp objects with various sizes, surfaces and forms, including delicate, deformable, and irregularly shaped objects. In conclusion, the proposed method offers compelling advantages, including structural simplicity and modularity, facile manufacturability utilizing commonplace materials and 3D printing, in-situ active magneto-elastica-driven resilience and selectable actuation modalities via either magnetic or mechanical stimuli. We anticipate that the exploratory research can potentially manifest further contributions to soft actuators and soft robots.

A Novel Caterpillar-Inspired Vascular Interventional Robot Navigated by Magnetic Sinusoidal Mechanism

Magnetic soft continuum robots (MSCRs) hold significant potential in fulfilling the requirements of vascular interventional robots, enabling safe access to difficult-to-reach areas with enhanced active maneuverability, shape morphing capabilities, and stiffness variability. Their primary advantage lies in their tether-less actuation mechanism that can safely adapt to complex vessel structures. Existing commercial MSCRs primarily employ a magnetic-pull strategy, which suffers from insufficient driving force and a single actuation strategy, limiting their clinical applicability. Inspired by the inchworm crawling locomotion gait, we herein present a novel MSCR that integrates a magnetic sinusoidal actuation mechanism with adjustable frequency and kirigami structures. The developed MSCRs consist of two permanent magnets connected by a micro-spring, which is coated with a silicone membrane featuring a specific notch array. This design enables bio-inspired crawling with controllable velocity and active maneuverability. An analytical model of the magnetic torque and finite element analysis (FEA) simulations of the MSCRs has been constructed. Additionally, the prototype has been validated through two-dimensional in-vitro tracking experiments with actuation frequencies ranging from 1 to 10 Hz. Its stride efficiency has also been verified in a three-dimensional (3D) coronary artery phantom. Diametrically magnetized spherical chain tip enhances active steerability. Kirigami skin is coated over the novel guidewire and catheter, not only providing proximal anchorage for improved stride efficiency but also serving similar function as a cutting balloon. Under the actuation of an external magnetic field, the proposed MSCRs demonstrate the ability to traverse bifurcations and tortuous paths, indicating their potential for dexterous flexibility in pathological vessels.

Mathematical model of weakly coupled spherical resonator chains under the influence of external magnetic field

Mathematical model of weakly coupled spherical resonator chains under the influence of external magnetic field

KULEX-Wrist: Design and Analysis of Linkage-Driven Exoskeleton for Wrist Assistance

Abstract This paper presents a wrist exoskeleton called the KIST Upper-Limb EXoskeleton (KULEX)-wrist for activities of daily living assistance of the elderly and the disabled. A novel linkage-based structure of the rotational mechanism with three degrees-of-freedom is proposed. The proposed wrist mechanism is composed of two prismatic-universal-spherical serial chains and one revolute-revolute-revolute spherical chain. Besides, a combination of a planar slider-crank and spherical four-bar linkages was employed as a drive mechanism for power transmission. Kinematic analysis was conducted to understand its working principle. Then, the dimensions of all the linkages were synthesized to meet the structural design suitable for the wearable exoskeleton and the transmission quality. In addition, motion twists and wrenches were geometrically derived. Finally, a prototype of the KULEX-wrist was designed, and then its performance of mechanical stiffness, motion capability, and power assistance was verified.

Structural characterization, molecular dynamic simulation, and conformational visualization of a water-soluble glucan with high molecular weight from Gastrodia elata Blume

Polysaccharides have been widely used in the development of natural drugs and health food. However, polysaccharide characterization lags due to inherently complicated features and the limitations of existing detection approaches. We aimed to provide new insight into the fine structure and conformational visualization of polysaccharides from Gastrodia elata Blume, a medicinal and edible plant. A water-soluble polysaccharide (GEP2–6) with the high molecular weight of 2.7 × 106 Da was first obtained, and its purity reached 99.2 %. Chemical and spectroscopic analyses jointly revealed that GEP2–6 was a glucan linked by α-(1 → 4) and α-(1 → 6) glycosidic bonds. After enzymolysis, the local structure of GEP2–6 included α-1,4-Glcp, α-1,6-Glcp, α-1,4,6-Glcp, and α-1-Glcp at a molar ratio of 31.27∶1.32∶1.08∶0.93. The glycosidic linkage pattern of repeating units was further simulated by a glycan database and spatial examination software. The good dissolution performance was interpreted by dynamics simulation and practical molecular characteristics. Spherical flexible chains and the porous stable conformation were corroborated using atomic force microscopy. In addition, GEP2–6 could effectively scavenge DPPH and hydroxyl radicals as a promising natural antioxidant. These efforts will contribute to the expansion of clinical applications of this G. elata polysaccharide and the structural elucidation for macromolecular polysaccharides combined with traditional and modern analysis techniques.

Coupling effect between highly nonlinear solitary waves and functionally graded porous plates reinforced with graphene platelets

ABSTRACT Solitary waves possess extensive potential for application in non-destructive testing due to their role as efficient information carriers. This study investigates the coupling effect between highly nonlinear solitary waves and functionally graded porous plates reinforced with graphene platelets (FGP-GPLs). An improved Halpin–Tsai micromechanics model and an improved two-variable precision plate theory are employed to derive a differential equation system for the coupling of particle chains and FGP-GPLs. The system is solved using the fourth-order Runge–Kutta method to obtain velocity and displacement solutions of the particles. The time and amplitude of the rebound waves are analysed, and it is found that the pore distribution, graphene distribution, porosity coefficient, thickness ratio, and graphene weight fraction impact the solitary wave. The results of this study provide a theoretical basis for the non-destructive detection of FGP-GPLs by solitary waves, which enables rapid inspection and controllability studies of structures. Moreover, this technology expands the application fields of nonlinear solitary waves based on one-dimensional spherical particle chains.

An Integrated Kinematic Mapping and Fourier Method to Design Spherical Coupled Serial Chain Mechanisms for Single-Joint Rehabilitation

Abstract Robotic devices are capable of reducing the physical burden on rehabilitation therapists and providing training programs of good repeatability, high efficiency, and high precision. When designing the kinematic structure for rehabilitation robots, there has been a growing interest toward one-degree-of-freedom (DOF) end-effector mechanisms due to their simpler structure and less complicated control algorithms. Compared with current one-DOF mechanism designs that are mainly customized for multi-joint robotic training, spherical coupled serial chain (SCSC) mechanisms are proposed in this paper to specifically deliver the single-joint robotic training, which is of equal importance to the effective physical recovery. Using kinematic mapping theory, the end-effector motion of SCSC mechanisms can be naturally transformed to two trigonometric curves composed of finite Fourier series in two separate planes of the image space. This novel formulation helps to establish an analytical and direct relationship between the design parameters of the SCSC mechanism and the harmonic parameters of the image-space representation of the task rehabilitation motion. The result is a simple and effective method for kinematic synthesis of SCSC mechanisms for generation of single-joint motion with an arbitrary number of spherical poses. An example of designing SCSC mechanisms for shoulder-joint rehabilitation is presented at the end of this paper to illustrate the feasibility of the proposed method.

A detailed insight into the adsorption efficiency of Cr(VI) by a novel polypyrrole modified kendu (Diospyros melanoxylon Roxb) seed biochar

The occurrence of heavy metals in drinking water is a foremost health concern in today’s world. The use of naturally occurring biomass for the removal of toxic pollutants from water is a proficient and inexpensive treatment method. Based on a comprehensive study of the pyrolysis features, pore configuration, chemical functionality, and carbon framework, we report a cost-effective polypyrrole-modified kendu (Diospyros melanoxylon Roxb) seed-derived biochar (PPY-KSC) via oxidative polymerization. The potentiality of hexavalent chromium decontamination from an aqueous solution was assessed by applying PPY-KSC as a bio-adsorbent. Synthetic steps were designed and the reusability of biomass was investigated by taking the minimum toxicity of the environment into account. The 1:1 V/W (volume/weight) ratio of pyrrole and KSC was optimized for the production of PPY-KSC considering the effectiveness of Cr(VI) removal. All the synthesized biochar were characterized following several techniques such as TEM, SEM, FTIR, XRD, Raman, Zeta potential, BET, and TGA analysis. SEM, TEM, and BET analysis proposes that PPY-KSC exhibited a spherical polypyrrole chain with an uneven microporous structure having an elevated surface area (81.55 m2/g) than KSC. PPY-KSC showed efficient Cr(VI) adsorption (98.8%) for 30 mg adsorbent dose in 100 mL of 10 ppm of Cr(VI) solution in 70 min at room temperature. Cr(VI) adsorption was following the pseudo-second-order kinetic model besides obeying the Langmuir isotherm model with R2 = 0.99 and a Langmuir adsorption capacity of 81.96 mg/g. Furthermore, a simultaneous physio-chemical process along with microporous capture governs adsorption. The Intraparticle diffusion model demonstrates the chemical interaction between polypyrrole and chromium through the electrostatic force of attraction. The thermodynamic parameters signify the remediation of Cr(VI) was irreversible, spontaneous, feasible and endothermic. The present approach allows reusability and studies showed that PPY-KSC owes the sorption property being 81.5% efficient up to five consecutive cycles.

The Kinematic Investigation of the Stephenson-III Spherical Mechanism with a Spherical Slider Containing a Spherical Prismatic Pair

Multi-loop spherical mechanisms are extremely beneficial for creating versatile mechanical devices, including robotic joints and surgical tools, since multi-loop spherical mechanisms possess unique capabilities to operate in spatial situations with relatively simple movement. Nevertheless, the research on multi-loop spherical mechanisms with spherical sliders containing spherical prismatic pairs is lacking. Therefore, the main innovation of this paper is to propose the Stephenson-III two-loop spherical mechanism that possesses a spherical slider containing a spherical prismatic pair and to analyze the proposed spherical mechanism’s motion characteristics. An algebraic approach was employed to obtain the branch graphs of the proposed spherical mechanism with a spherical slider. The branch graphs were categorized into two types, according to whether branch points existed. With the algebraic approach, loop equations of the two spherical kinematic chains inside the proposed spherical mechanism were established to identify the input–output curves and singularity curves, with which the branch graphs were obtained. With the branch graphs, the joint rotation spaces (JRSs) of the proposed mechanism were recognized and so were the dead center positions, branches, sub-branches, and branch points. The results from the mathematical analysis were simulated and verified by three-dimensional (3D) models of the proposed spherical mechanism. The analytical results demonstrate that the spherical prismatic pair diversifies the motion of the proposed spherical mechanism by producing rotational sliding movement, which can cover the entire circumference of a specific greater circle on the proposed mechanism’s sphere.

Zinc oxide nanostructures: Experiments probing their transformation to nanorods

Due to their high length-to-diameter aspect ratio, ZnO nanorods (ZnO-NRs) are extensively used in different applications. However, how they form is not well understood. Here, we have investigated the formation of ZnO-NR by sequential, temporal evolution of ZnO nanostructures. We observe sphere-like ZnO nanoparticles (ZnO-NP), as early as 5–10 s. Subsequently, these spherical ZnO-NPs aggregate and form short chains, which transform into novel nanocones. This hitherto unseen ZnO nanocones (ZnO-NCs) are hollow on one side and has a pointed end on the other side. Two ZnO-NCs together form individual ZnO-NC pairs. High intrinsic surface energy may have caused a ZnO-NC to pair-up with another adjacent ZnO-NC. Later, each of these paired ZnO-NCs transform into ZnO-NRs. We find that, formation of ZnO-NR follows second-order rate kinetics with respect to zinc precursor and HMTA concentration. Additionally, temperature and HMTA concentration significantly influence the length of ZnO-NR.

Construction of fractional granular model and bright, dark, lump, breather types soliton solutions using Hirota bilinear method

The present article designs the granular metamaterials considering the granular structures of discrete particles which are different from elastic metamaterials consisting of continuous media. In granular metamaterials, the wave propagates through contact with neighboring particles. To identify the propagating properties of wave quantities in the rough granular medium the fractional granular equation is formulated directly in a pre-compressed spherical chain adopting Hertz law and long wave approximation theory. Using phase and group velocities, Caputo fractional derivatives are used to illustrate normal and anomalous dispersion wave dependence. To demonstrate in depth the dynamical behavior of the wave profile, various types of complex solutions like multi-shock, multi-solitons, lump, and breather solutions of the one-dimensional time fractional granular equations are explored employing Hirota’s bilinear approach. Finally, the more complicated hybrid solutions such as kink with the lump, soliton with the lump, etc. are exhibited from numerical understanding. The numerical graphs and figures demonstrate the crucial role of the order of derivative (roughness parameter) in the formation of different types of soliton solutions.

The Panorama of Spin Matrix theory

Spin Matrix theory describes near-BPS limits of mathcal{N} = 4 SYM theory, which enables us to probe finite N effects like D-branes and black hole physics. In previous works, we have developed the spherical reduction and spin chain methods to construct Spin Matrix theory for various limits. In this paper, by considering a supercharge mathcal{Q} which is cubic in terms of the letters, we construct the Hamiltonian of the largest Spin Matrix theory of mathcal{N} = 4 SYM, called the PSU(1, 2|3) Spin Matrix theory, as H=left{mathcal{Q},{mathcal{Q}}^{dagger}right} . We show the resulting Hamiltonian is automatically positive definite and manifestly invariant under supersymmetry. The Hamiltonian is made of basic blocks which transform as supermultiplets. A novel feature of this Hamiltonian is its division into D-terms and F-terms that are separately invariant under PSU(1, 2|3) symmetry and positive definite. As all the other Spin Matrix theories arising from mathcal{N} = 4 SYM can be acquired by turning off certain letters in the theory, we consider our work as revealing the “Panorama” of Spin Matrix theory.

Structure and Magnetic Properties of Submicron Fe-B Spherical Particles and Particle Chains

This paper describes study on the structure and magnetic properties of submicron Fe-B amorphous spherical particles and particle chains synthesized by liquid phase reduction method in order to realize new noise suppression sheet (NSS) toward 5G (3.5 GHz/4.7 GHz) applications. In case of Fe-B amorphous spherical particles, their peak frequencies originating from magnetic resonance can be observed and their values were about 3-4 GHz. On the other hand, the peak frequency values of Fe-B amorphous particle chains were a little lower than those of Fe-B amorphous spherical particles, but their peak values in imaginary part of the complex permeability (µ ”) at 3.5 GHz/4.7 GHz were almost as same as those of Fe-B amorphous spherical particles. Also, the intrinsic permeability of Fe-B amorphous particle chains were 2-4 times higher than those of Fe-B amorphous spherical particles owing to decrease in the demagnetizing field. Therefore, these results suggest that submicron Fe-B amorphous particle chains are one of the candidates as not only NSS for 5G applications.

Structure elucidation and in vitro rat intestinal fermentation properties of a novel sulfated glucogalactan from Porphyra haitanensis

This study was to investigate the structure and rat fecal microbial fermentation properties of a polysaccharide fraction (PHP2) isolated from the red marine alga Porphyra haitanensis. PHP2 was characterized as a sulfated glucogalactan, with a hypothetical backbone structure of →4)Gα(1→6)G4Sβ(1→4)Glc(1→ and a side chain of Man(1→6)Glc. PHP2 had an irregular spherical chain conformation. The 16S rRNA sequence analysis revealed that PHP2 modulated the rat fecal micro-flora composition, with a similar effect to inulin, changing the dominant genus (Lactobacillus and Escherichia-Shigella) and promoting the growth of organisms that degrade sulfur-containing polysaccharides, such as Desulfovibrio, Ruminococcaceae_UCG-005, and Ruminococcus_2. PHP2 can promote production of acetic, propionic and butyric acid by rat fecal micro-flora. Prediction of metabolic function suggested that PHP2 could modulate cholesterol metabolism. The sulfated glucogalactan fermentation behavior may be associated with its monosaccharide composition, chain branching and chain conformation. PHP2 appeared to have considerable potential as functional food, and was associated with sulfur-containing polysaccharides in general.

Mushroom-brush transitional conformation of mucus-inert PEG coating improves co-delivery of oral liposome for intestinal metaplasia therapy.

The blocking of gastric mucosal intestinal metaplasia (IM) has been considered to be the pivotal method to control the occurrence of gastric cancer. However, there is still a lack of effective therapeutic agent. Here, we developed mucus-penetrating liposome system by covering surface with polyethylene glycol (PEG) chains (hydrophilic and electroneutral mucus-inert material) to co-delivery candidate drugs combination. Then studied the impact on the transmucus performance of different conformations, which were constructed by controlling the density of PEG chains on the surface. The results showed that the particle size of 5%PEG-Lip was less than 120nm, the polydispersity index was less than 0.3, and the surface potential tended to be neutral. The D value (long chain spacing) of 5% PEG-Lip was 3.25nm, which was close to the RF value (diameter of spherical PEG long chain group without external force interference) of 3.44nm, and the L value (extended length) was slightly larger than 3.44nm. In this case, PEG showed mushroom-brush transitional conformation on the surface of liposomes. This conformation was not only promoted stable delivery, but also shielded the capture of mucus more favorably, leading to a more unrestricted transportation in mucus. The further in vivo experimental results demonstrated the rapid distribution of liposomes, which gradually appeared both in the superficial and deep glandular of mucosa and gland cells at 1h and absorbed into the cell cytoplasm at 6h. The 5% PEG-Lip with the mushroom-brush transitional configuration recalled abnormal organ index and improved inflammation and intestinal metaplasia. The modified PEG conformation assay presented here was more suitable for liposomes. This PEG-modified liposome system has potential of mucus-penetrating and provides a strategy for local treatment of gastric mucosal intestinal metaplasia.

Purification and characterization of dextranase from Penicillium cyclopium CICC-4022 and its degradation of dextran

A dextranase was purified from Penicillium cyclopium CICC-4022 by ammonium sulfate fractionation and secondary tangential flow filtration, and the enzymatic properties were studied. The purified dextranase was used to regulated the molecular mass and homogeneity of dextran. Weight-average molecular mass (Mw) and polydispersity index (Mw/Mn) of dextran were measured by gel permeation chromatography (GPC) coupled with a triple-detector array (GPC-TDA), which is composed of a multiple-angle light scattering, a viscometer, and a refractive-index detector. The dextranase was purified by 2.24-fold, the recovery rate was 45.84%, the specific activity was 1442.05 U/mg, and the Mw was 77 KDa. Dextranase showed maximum activity at pH of 5.0 and 55 °C. Na+, K+ and NH4+ can effectively improve the dextranase activity, Cu2+ and Pb2+ can strongly inhibit the dextranase activity. Dextranase specifically degraded the α-1,6 glycosidic bonds of dextran. By controlling the dextranase activity, substrate concentration, and time, the specific Mw dextran with good homogeneity was obtained. The structure of dextran was not altered before or after dextranase hydrolysis, but its conformation changed from a spherical chain to a compliant chain. When the Mw of the dextran product was about 5 KDa, it was a compact spherical chain conformation in solution.

The role of TolA, TolB, and TolR in cell morphology, OMVs production, and virulence of Salmonella Choleraesuis

The Tol–Pal system of Gram-negative bacteria is necessary for maintaining outer membrane integrity. It is a multiprotein complex of five envelope proteins, TolQ, TolR, TolA, TolB, and Pal. These proteins were first investigated in E. coli, and subsequently been identified in many other bacterial genera. However, the function of the Tol–Pal system in Salmonella Choleraesuis pathogenesis is still unclear. Here, we reported the role of three of these proteins in the phenotype and biology of S. Choleraesuis. We found that mutations in tolA, tolB, and tolR caused severe damage to the cell wall, which was supported by observing the microstructure of spherical forms, long chains, flagella defects, and membrane blebbing. We confirmed that all the mutants significantly decreased S. Choleraesuis survival when exposed to sodium deoxycholate and exhibited a high sensitivity to vancomycin, which may be explained by the disruption of envelope integrity. In addition, tolA, tolB, and tolR mutants displayed attenuated virulence in a mouse infection model. This could be interpreted as a series of defective phenotypes in the mutants, such as severe defects in envelope integrity, growth, and motility. Further investigation showed that all the genes participate in outer membrane vesicles (OMVs) biogenesis. Interestingly, immunization with OMVs from ΔtolB efficiently enhanced murine viability in contrast to OMVs from the wild-type S. Choleraesuis, suggesting its potential use in vaccination strategies. Collectively, this study provides an insight into the biological role of the S. Choleraesuis Tol–Pal system.

Controllability on topological structures and properties of hyperbranched epoxy resins

Hyperbranched epoxy resin (HERs) have attracted increasing attention from scientists and engineers, due to their excellent functionalities in homogenously reinforcing and toughening diglycidyl ether of bisphenol-A (DGEBA) without phase separation. However, it remains a great challenge to control the topological structures of HERs and to discover the effect of microstructure on the properties of epoxy resins. Here, we report the synthesis of NP skeleton epoxy hyperbranched polymer (NMHEP-n) with a controllable degree of branching (DB) and topological structures by a thiol-ene click reaction. The DB of NMHEP-n can be tuned readily with a ratio of designed branched and linear monomers from 0 to 1.0, which can determine the topological structure from linear rod-like chains to ellipsoidal, further to spherical molecular chains. With the increase of DB from 0 to 1.0, a root-mean-square z-average radius of gyration (Rg), hydrodynamic radius (Rh) and shape factor (ρ = Rg/Rh) decrease, being an agreement with the variation from linear to spherical shape. Performance of NMHEP-n/DGEBA composites, including cold resistance, tensile, flexural, and impact strengths, are significantly improved with an increase in DB and content, and the maximum value appears at 12 wt% NMHEP-0.5 in composites. The simultaneous improvement on various properties is attributed to a homogeneous reinforcing and toughening mechanism, which can be rationalized and substantiated by DMA, AFM, SEM, and Raman techniques. These results render an applicable approach to prepare high-performance thermosets and composites.

The Impacts of Surface Microchannels on the Transport Properties of Porous Fibrous Media Using Stochastic Pore Network Modeling.

A stochastic pore network modeling method with tailored structures is proposed to investigate the impacts of surface microchannels on the transport properties of porous fibrous media. Firstly, we simplify the original pore network extracted from the 3D images. Secondly, a repeat sampling strategy is applied during the stochastic modeling of the porous structure at the macroscale while honoring the structural property of the original network. Thirdly, the microchannel is added as a spherical chain and replaces the overlapped elements of the original network. Finally, we verify our model via a comparison of the structure and flow properties. The results show that the microchannel increases the permeability of flow both in the directions parallel and vertical to the microchannel direction. The microchannel plays as the highway for the pass of reactants while the rest of the smaller pore size provides higher resistance for better catalyst support, and the propagation path in the network with microchannels is more even and predictable. This work indicates that our modeling framework is a promising methodology for the design optimization of cross-scale porous structures.

A study on synthesis, characterization and catalytic applications of MoO3-ZnO nanocompositematerial

MoO3-ZnO Nanocompositematerial were prepared by co-precipitation method. The characterization and application of HR-SEM pictures revealed the nanospherical structure, while EDX analysis revealed that Mo, Zn, and O were conformed in this material. The HR-TEM pictures revealed a spherical chain structure with a particle size of 200 nm on average. The prepared MoO3-ZnO is PL low emission presents high photocatacatalytic activity that of ZnO. DRS analysis of ZnO and MoO3-ZnO nanocomposite material are 3.35 eV and 3.0 eV respectively, MoO3-ZnO nanocomposite material degrease band gab energy high photocatalytic and high electrochemical activity. The high photocatalytic application of MoO3-ZnO nanocomposite material on RhB dye 85% of that of ZnO nano powder ZnO (39 %) and Prepared ZnO (50 %).dye. The results show that the MoO3-ZnO nanocomposite material has a greater electrical conductivity that of ZnO by DSSCs and photoconductivity study. The MoO3-ZnO nanocomposite material is employed as a catalyst in the synthesis of Schiff base derivatives. The results demonstrated that the nanocatalyst is extremely stable and can be reused for more than five cycles of reaction.