Robust adaptive kinematic control of redundant robots

Heterojunctions, particularly those involving BiOBr/BiOI, have attracted significant attention in the field of photocatalysis due to their remarkable properties. In this study, a unique architecture of BiOBr/BiOI was designed to facilitate the rapid transfer of electrons and holes, effectively mitigating the recombination of electron-hole pairs. Accordingly, the BiOBr/BiOI nanosheet heterojunction was anchored on dendritic fibrous nanosilica (DFNS) by the immobilization of Bi₂O₃ nanodots in DFNS and the subsequent reaction with HBr and then HI vapors at room temperature. The 4 nm-Bi₂O₃ nanodots acted as a sacrificial template to form BiOX nanosheets by reaction with HX vapors (X = Br, I). The BiOBr/BiOI nanosheet heterojunction with the lateral size remained in the range of 90 to 110 nm and a thickness of 15 nm formed on DFNS, where the BiOBr:BiOI ratio in the product was controlled by the exposure time to HX vapors. The reaction sequence (HBr → HI vapors) was a key for the formation of BiOBr/BiOI nanosheet heterojunction with controlled composition. When the reaction of Bi₂O₃ nanodots with HI vapor was performed in the reverse sequence (HI→ HBr), the substitution of I^- with Br^- occurred to form BiOBr sheets on DFNS. The BiOBr/BiOI nanosheet heterojunction anchored on DFNS was used as a visible-light-driven photocatalyst for the decomposition of benzene in water under solar light, and its activity was superior to that of single BiOX nanosheets on DFNS.