The asymmetric unit in the title compound, C24H26N2O3, comprises two independent mol-ecules (A and B). In molecule A, the central 2-hydroxyphenyl ring is inclined to the mean plane of the major component of the imidazolidine ring by 84.52 (14)°, and by 68.08 (9) and 47.48 (9)° to the outer phenol rings. The later are inclined to one another by 66.76 (9)° and by 78.12 (14) and 80.20 (14)° to the...

Biped robot locomotion is one of the active research areas in robotics. In this area, real-time stable walking with proper speed is one of the main challenges that needs to be overcome. Central Pattern Generators (CPG) as one of the biological gait generation models, can produce complex nonlinear oscillation as a pattern for walking. In this paper, we propose a model for a biped robot joint tra...

In the crystal structure of the title salt, C24H38N4 (2+)·2C24H20B(-), the C-N bond lengths in the central CN3 unit of the guanidinium ion are 1.3364 (13), 1.3407 (13) and 1.3539 (13) Å, indicating partial double-bond character. The central C atom is bonded to the three N atoms in a nearly ideal trigonal-planar geometry and the positive charge is delocalized in the CN3 plane. The bonds between ...

plane and mulberry trees play a crucial role in purifying the polluted air in tehran as a majorcity. in this research, 13 main districts of tehran city were chosen as study area. 20 completely healthy planeand mulberry species were selected in similar ecological conditions and age range. the uptake of cd and pbwas determined using spectrophotometry, whereas the chlorophyll content was measured ...

In the crystal structure of the title compound, C28H36I2S3, a terthio-phene monomer, the central thio-phene unit is arranged anti-coplanar to the two outer thio-phene rings. There are two crystallographically independent mol-ecules in the asymmetric unit, which show different conformations. In one mol-ecule, the dihedral angles between the inner and the two outer thiophene rings are 15.7 (3) an...

In the title compound, C(24)H(16)O(2)S, the O atom and the phenyl group of the phenyl-sulfinyl substituent lie on opposite sides of the plane of the naphthofuran fragment; the phenyl ring is almost perpendicular to this plane [82.34 (5)°]. The 2-phenyl ring is rotated out of the naphthofuran plane making a dihedral angle of 48.21 (6)°. The crystal structure shows π-π inter-actions between the c...

In the crystal, the mol-ecules of the title compound, C(15)H(10)BrNO, are connected into centrosymmetric dimers by pairs of N-H⋯O hydrogen bonds. The dihedral angle between the planes of indole ring system and benzene ring is 50.13 (5)°. The indole plane is significantly less twisted from the plane of the central C-C(=O)-C bridge than the benzene plane [dihedral angles = 15.51 (3) and 40.13 (7)...

The title compound, C(18)H(18)Br(2)N(2), is centrosymmetric with the mid-point of the central C-C bond of the butyl group located on an inversion center. The terminal benzene ring is approximately perpendicular to the central butyl plane [dihedral angle = 71.9 (8)°]. No hydrogen bonding or aromatic stacking is observed in the crystal.

The title compound, C25H24N3O3P, was obtained by catalytic phospho-nation of 4'-(4-bromphen-yl)-2,2':6',2''-terpyridine. The terpyridine moiety is nearly planar, the dihedral angles between the central and the outer rings being 4.06 (9) and 5.39 (9)°. The N atoms in the two pyridine rings are oriented nearly anti-periplanar to that of the central ring. The benzene ring is rotated out of the pla...