Abstract: A method including providing a visual cue associated with and in close physical proximity to an object, detecting a pose of the visual cue with a camera coupled to the robot arm, training by guiding the robot arm from a first position to a target position near the object based on external input, recording, by the camera, trajectory data based on the pose of the visual cue during movement of the robot arm from the first position to the target position and storing the trajectory data in memory, receiving an instruction to move the robot arm to the object, providing a sequence of robot arm trajectory instructions relative to the pose of the visual cue based on input from the camera and trajectory data to guide the robot arm to the target position.

Abstract: A vinylamide block copolymer kinetic hydrate inhibitor and a preparation method thereof are disclosed. The vinylamide block copolymer kinetic hydrate inhibitor has a structural formula as shown in formula I. Through reverse atom transfer radical polymerization, under an anaerobic operating condition, with vinylcaprolactam and acrylamide as monomers, dimethylformamide as a solvent, azobisisobutyronitrile as an initiator, and a transition metal complex composed of a catalyst anhydrous copper chloride and a ligand 2,2?-bipyridine as a catalytic system, the method has achieved to catalyze a controllable free radical solution polymerization to obtain a poly(vinylcaprolactam-acrylamide) block copolymer kinetic hydrate inhibitor. The synthesized kinetic hydrate inhibitor has a controllable molecular weight, a narrow molecular weight distribution, and a controllable synthesis process, and exhibits an excellent inhibitory effect.

Abstract: A vinylamide block copolymer kinetic hydrate inhibitor and a preparation method thereof are disclosed. The vinylamide block copolymer kinetic hydrate inhibitor has a structural formula as shown in formula I. Through reverse atom transfer radical polymerization, under an anaerobic operating condition, with vinylcaprolactam and acrylamide as monomers, dimethylformamide as a solvent, azobisisobutyronitrile as an initiator, and a transition metal complex composed of a catalyst anhydrous copper chloride and a ligand 2,2?-bipyridine as a catalytic system, the method has achieved to catalyze a controllable free radical solution polymerization to obtain a poly(vinylcaprolactam-acrylamide) block copolymer kinetic hydrate inhibitor. The synthesized kinetic hydrate inhibitor has a controllable molecular weight, a narrow molecular weight distribution, and a controllable synthesis process, and exhibits an excellent inhibitory effect.