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doi.org/10.26434/chemrxiv.7962851.v1

Metal-Organic Frameworks (MOFs) as Fuels for Advanced Applications:

Evaluating and Modifying the Combustion Energy of Popular MOFs

Hatem M. Titi,

Mihails Arhangelskis

, Athanassis Katsenis, Cristina Mottillo, Ghada Ayoub, Jean-Louis Do,

Athena M. Fidelli, Robin Rogers,

Tomislav Friscic

Submitted date:

06/04/2019

• Posted date:

08/04/2019

Licence:

CC BY-NC-ND 4.0

Citation information:

Titi, Hatem M.; Arhangelskis, Mihails; Katsenis, Athanassis; Mottillo, Cristina; Ayoub,

Ghada; Do, Jean-Louis; et al. (2019): Metal-Organic Frameworks (MOFs) as Fuels for Advanced

Applications: Evaluating and Modifying the Combustion Energy of Popular MOFs. ChemRxiv. Preprint.

Systematic investigation of combustion energies for popular metal-organic frameworks (MOFs) reveals

energy content comparable to conventional energetic materials and can be further modified and dine-tuned by

polymorphism and isostructural ligand replacement to yield materials with energy densities comparable to

Diesel or kerosene.

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Metal-organic frameworks (MOFs) as fuels for advanced applications:

evaluating and modifying the combustion energy of popular MOFs

Hatem M. Titi,

a

Mihails Arhangelskis,

a

Athanassios D. Katsenis,

a

Cristina Mottillo,

a,b

Ghada Ayoub,

a

Jean-Louis Do,

a,c

Athena M. Fidelli,

a

Robin D. Rogers*

d,e

and Tomislav Fri

ščić*

,a

a) Department of Chemistry, McGill University, 801 Sherbrooke St. W. H3A 0B8 Montreal, Canada; b) ACSYNAM, Inc. Montreal, H1P 1W1, Canada; c) Department of Chemistry & Biochemistry, Concordia University, 7141 Sherbrooke Street West, Montreal, Quebec H4B 1R6, Canada; d) 525 Solutions, Inc., PO Box 2206, Tuscaloosa, AL 35403, USA; e) College of Arts & Sciences, The University of Alabama, Tuscaloosa, AL 35487, USA.

ABSTRACT: Systematic investigation of combustion energies for popular metal-organic frameworks (MOFs) reveals energy content comparable to conventional energetic materials, that can be further modified and fine-tuned through polymorphism or isostructural ligand replacement to yield materials with energy densities comparable to Diesel or kerosene.

Introduction

Metal-organic frameworks (MOFs) have emerged over the past two decades as readily designable microporous mate-rials that can be functionalized for a wide range of applica-tions, from catalysis and selective gas separation, to differ-ent types of conduction or light harvesting.1-10 Recently,

MOF formation was reported as a route to generate new en-ergetic materials, by using enen-ergetic molecules as ligands. 11-16 Our group17 has demonstrated a MOF-based strategy for

generating new hypergolic solid fuels, i.e. fuels that ignite simultaneously upon contact with an external oxidizer.18

Such hypergolic MOFs, being developed as advanced, safer alternatives to toxic hydrazine fuels in aerospace industries (e.g. for in-orbit propulsion),19,20 are based on using suitably

functionalized imidazolate ligands as linkers in the synthe-sis of zeolitic imidazolate frameworks (ZIFs).17,21,22

Im-portantly, while the resulting MOFs exhibit ultrashort igni-tion delays, they do not involve explosive, heat- or impact-sensitive components. Instead, the energetic effect upon ig-nition results solely from aerobic combustion of the frame-work.17 Similarly, the Matzger group has shown how a

con-ventional MOF can be rendered explosive via inclusion of

explosive guests, also taking advantage of the framework material as a fuel for explosive combustion.23 While the

de-scribed materials open new uses for MOFs as cleaner fuels or safer explosives, these advanced applications will de-pend on the still poorly explored thermochemical proper-ties of conventional MOFs,24-26 especially energy density (Ev,

in MJ/dm3 or kJ/cm3) and specific energy (Eg in MJ/kg or

kJ/g).

In order to evaluate the potential of conventional MOFs as components of advanced fuel systems, we have now used combustion calorimetry to measure experimental specific energies, and determine energy densities and combustion enthalpies (cH) for representative examples of the most

popular classes of MOFs (Figures 1a,b). This systematic study on MOFs that are either commercially available

Figure 1. a) Structures of herein studied MOFs, with hydrogen atoms omitted for clarity. Atoms of Zn, Cu, Zr, N, O and C are shown in red, green, cyan, blue, oxygen and grey, respectively. b) Organic ligands used in the herein explored MOFs.

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or readily synthesized reveals that Eg for several

carbox-ylate-based MOFs is close to that of the energetic compound trinitrotoluene (TNT),27 whereas the specific energies of

ZIFs can be significantly higher. Importantly, we show how Eg and Ev of ZIFs can be readily modified through

polymor-phism and/or engineered by chemical functionalization of the MOF, leading to materials with energy densities compa-rable to those of Diesel or kerosene fuels.28,29

Results and Discussion

The HKUST-1,30 MIL-53(Al)31 and ZIF-832 MOFs were

pur-chased from Sigma-Aldrich, with a sample of ZIF-8 also ob-tained from ACSYNAM. The UiO-6633 and UiO-66-NH234

frameworks, as well as a series of ZIFs35-38 based on

2-sub-stituted imidazolate ligands were synthesized following re-ported procedures (Figure 1, also see SI).39-41 All materials

were washed with methanol, evacuated and stored in argon before use. The identity and purity of all explored MOFs was confirmed by powder X-ray diffraction (PXRD) and thermo-gravimetric analysis (TGA) in air, with Brunauer-Emmet-Teller (BET) and Langmuir surface areas for all materials established by nitrogen sorption measurements (see SI). All combustion measurements were carried on a 6200 Isoperi-bol Calorimeter using ca. 0.5 gram of the MOF material. The

herein reported Eg value for each MOF is an average of three

measurements, and the corresponding Ev was calculated

from it by taking into account the density and molecular weight calculated from the reported structural data and chemical composition, respectively. The combustion en-thalpy cH was calculated from Eg by considering the change

in number of moles of gas in the combustion reaction (see SI) to form metal oxides ZnO (for explored zinc-based ZIFs), Co3O4 (for ZIF-67), CuO (for HKUST-1), Al2O3 (for MIL-53)

and ZrO2 (for UiO-66 and UiO-66-NH2) (see SI).

Results of combustion calorimetry and selected relevant structural information for all MOFs studied here are shown in Table 1, and the corresponding plot of Eg and Ev is shown

in Figure 2. The data reveals high Eg values, nearing 15 kJ/g

for zirconium-based UiO-frameworks and MIL-53(Al), along with Ev values ranging from 14 kJ/cm3 to 17 kJ/cm3.

Whereas these Eg values are close to that reported for the

energetic compound TNT (Table 1), the Ev values are

signif-icantly lower than for most popular fuels or energetic com-pounds, consistent with the microporous nature of the MOFs. The Eg is the lowest for the copper(II)- based

HKUST-1, which can tentatively be related to a difference in linker structure and oxidation state of the metal, compared to

Table 1. Unit formula, relative molecular weight of unit formula (Mr), decomposition temperature (Td), calculated

density (ρc), BET and Langmuir surface areas, Cambridge structural database (CSD) codes, specific energy (Eg),

en-ergy density (Ev) and combustion enthalpy (cH) of herein explored MOFs, compared to those for TNT.

MOF Unit formula Mr Td [a] (C) (g/cmc 3) surface area (m2/g) CSD code Eg[b] (kJ/g) (kJ/cmEv 3)  cH (kJ/mol) BET Langmuir SOD-Zn(MeIm)2 (ZIF-8) [c],32 C8H10N4Zn 227.9 498 0.925 1350 1760 VELVOY 20.9(1) 19.4(1) -4769(19) SOD-Zn(MeIm)2 (ZIF-8) [d],32 C8H10N4Zn 227.9 656 0.925 1350 1780 VELVOY 21.6(8) 20.0(7) -4919(175) dia-Zn(MeIm)235 C8H10N4Zn 227.9 498 1.579 - - OFERUN01 20.76(3) 32.7(1) -4722(10)

SOD-Co(MeIm)2

(ZIF-67)36 C8H10N4Co 221.1 397 0.903 1510 1990 GITTOT01 22.9(5) 20.7(5) -5068(119)

RHO-Zn(EtIm)232 C10H14N4Zn 255.6 471 0.814 1210 1620 MECWOH 24.0(3) 19.5(3) -6132(81)

ANA-Zn(EtIm)232 C10H14N4Zn 255.6 461 1.091 610 700 MECWIB 24.3(1) 26.5(1) -6218(28) qtz-Zn(EtIm)237 C10H14N4Zn 255.6 492 1.590 - - EHETER 23.5(2) 37.2(3) -5988(55)

ANA-Zn(PrIm)238 C12H18N4Zn 283.7 484 1.221 440 520 GUPFAZ 25.8(3) 31.4(3 -7307(78)

ANA-Zn(BuIm)2 C14H22N4Zn 311.8 566 1.295 70 100 this work 28.0(5) 36.3(6) -8726(152)

HKUST-1[c],30 C6H2CuO4 201.6 350 0.879 1340 1780 FIQCEN 11.5(1) 10.1(1) -2324(10)

MIL-53(Al)[c],31 C8H5AlO5 208.1 618 1.019 950 1270 SABVUN01 14.1(2) 14.4(1) -2937(29)

UiO-6633 C8H4.67O5.33Zr 277.4 584 1.246 870 1149 RUBTAK 13.3(1) 16.6(2) -3691(45)

UiO-66-NH234 C8H5.67NO5.33Zr 292.4 449 1.295 960 1275 SURKAT 12.26(1) 15.87(2) -3584(13)

TNT27 C7H5N3O6 227.1 28341 1.655 - - ZZZMUC01 15.0 24.8 -3399

[a] Measured by DSC in air, at a heating rate of 10 K/min; [b] Measured by combustion calorimetry; [c] Obtained from Sigma-Aldrich; [d] Obtained from ACSYNAM, Inc.

other herein explored carboxylate MOFs. Specifically, HKUST-1 is based on 1,3,5-benzenetricarboxylate linkers (Figure 1b), exhibiting three metal-ligand connection sites per molecule, unlike terephthalate linkers in MIL-53(Al) and UiO-systems (Figure 1b), which exhibit only two

metal-ligand connection sites. At the same time, the oxidation state of the metal node in HKUST-1 is lower (Cu2+)

com-pared to other herein explored carboxylate MOFs (Al3+,

Zr4+). These parameters dictate a 1:1.5 ratio of organic

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than in MIL-53(Al) and UiO-MOFs, which are all expected to contain one linker per metal ion in the formula unit. A lower ligand-to-metal ratio is expected to lead to lower enthalpy of combustion, which is consistent with the observed cH

values for HKUST-1. Overall, cH for carboxylate MOFs

in-creases in the order HKUST-1 < MIL-53(Al) < UiO-66  UiO-66-NH2, which might also be related to stabilities of the

re-sulting oxides.

Significantly larger Eg, EV and cH are observed for ZIFs.

Using an in-house synthesized sample, we have reported17

that the highly popular sodalite (SOD) topology framework ZIF-8, based on zinc nodes and 2-methylimidazole (HMeIm, Figure 1b) linkers, exhibits cH of ca. 4,800 kJ/mol. This cH

value translates to Eg and Ev of ca. 21 kJ/g and 20 kJ/cm3,

which exceeds the values for TNT and is close to values re-ported for hydrazine-based rocket fuels. These observa-tions are here confirmed using ZIF-8 samples obtained from two commercial sources, Sigma-Aldrich and ACSYNAM (Ta-ble 1). The Eg, Ev and cH are further increased by ca. 5% in

ZIF-67, a SOD-framework isostructural to ZIF-8, but based on cobalt(II) nodes. The increase in cH might be associated

to additional oxidation of metal nodes to form Co3O4,42

which does not take place in case of zinc frameworks. Alt-hough small, the difference in cH between 8 and

ZIF-67 illustrates change in choice of metal node as a means to control combustion energy content of a MOF.

A different route to modify fuel properties of a ZIF is re-vealed by comparing ZIF-8 to its non-porous diamondoid (dia) topology polymorph. Whereas the cH values for the

two polymorphs are expected to be very similar due to their identical chemical composition, the higher density of close-packed dia-Zn(MeIm)2 leads to a significant increase in Ev,

to ca. 32 kJ/g. Such energy density is close to values re-ported for conventional hydrocarbon fuels such as gasoline, kerosene or Diesel.28,29

Figure 2. Comparison of energy density (Ev) and specific

en-ergy (Eg) for herein explored MOFs, calculated from experi-mentally measured ΔcH values.

The significant effect of polymorphism on energy density is also evident from comparing the three polymorphs of zinc 2-ethylimidazolate Zn(EtIm)2 framework with zeolite rho

(RHO), analcime (ANA) and quartz (qtz) topology. The cH

values for all three polymorphs are comparable, as ex-pected, and are around 6-6.2 kJ/mol. Similarly, the corre-sponding Eg values are mutually similar, and are around 24

kJ/g. However, due to density increasing in the order RHO < ANA < qtz, the corresponding Ev differs greatly between the

materials and ranges from 19.5 kJ/cm3 for the low-density

RHO-Zn(EtIm)2 to a high value of 37.5 kJ/cm3 for

non-po-rous qtz-Zn(EtIm)2. The Eg for qtz-Zn(EtIm)2 is on par with

values for gasoline, kerosene or Diesel.28 The comparison of

combustion energy for polymorphs of Zn(MeIm)2 and

Zn(EtIm)2 clearly demonstrates control over framework

to-pology and polymorphism as potential tools to increase or decrease the energy density of a ZIF.

The comparison of cH reveals a higher value for

Zn(EtIm)2 compared to Zn(MeIm)2 systems. This

differ-ence, which is readily explained by the presence of an addi-tional CH2 fuel group in the Zn(EtIm)2 framework (see SI for

the analysis of combustion energy with respect to content of C, H, metal, N or O), illustrates a potential strategy to de-liberately manipulate the combustion energy properties of ZIFs by introducing additional hydrocarbon groups. Switch-ing from a 2-ethyl-substituted linker in RHO-, ANA- or qtz-Zn(EtIm)2 frameworks to an analogous but more fuel-rich

2-propylimidazolate linker, yields the previously reported ANA-topology Zn(PrIm)2 framework, which is isostructural

to ANA-Zn(EtIm)2. The measured cH for ANA-Zn(EtIm)2

was found to be -7,300 kJ/mol, which is ca. 1,100 kJ/mol higher from its 2-ethyl-substituted homologue, providing a MOF material exhibiting both a high specific energy (31 kJ/g) and a microporous surface area of 440 m2/g.

In order to effect a further increase in energy density, we used 2-butylimidazole (HBuIm) as the ligand. To the best of our knowledge, the Zn(BuIm)2 framework has so far not

been reported. Mechanochemical synthesis provided a ma-terial that, based on PXRD analysis (see SI), was isostruc-tural to ANA-topology Zn(EtIm)2 and Zn(PrIm)2

frame-works (Table 2). The composition Zn(BuIm)2 for the new

material was confirmed by TGA in air, and the crystal struc-ture was elucidated through strucstruc-ture solution and Rietveld refinement based on PXRD data. By analogy to ANA-Zn(EtIm)2, the structure of ANA-Zn(BuIm)2 was refined in

the cubic space group Ia-3d (Figure 3a), with the unit cell parameter a=26.765(2) Å. Investigation of space available to a ball of radius 1.2 Å in the ANA-Zn(BuIm)2 structure

re-vealed non-interconnected pores amounting to a total of only 3.8% of unit cell volume, indicating that the material should not exhibit high microporosity. This was confirmed by nitrogen sorption analysis, which revealed a low BET surface area of 70 m2/g. Combustion enthalpy

measure-ment for ANA-Zn(BuIm)2 revealed a cH value of -8,700

kJ/mol, with Eg and Ev values of 28 kJ/g and 36.3 kJ/cm3,

re-spectively. These values are well within the range of popu-lar hydrocarbon fuels.28

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Figure 3. (a) The final Rietveld fit and an illustration of the crystal structure of ANA-Zn(BuIm)2 along the crystallographic

(100) direction. (b) BET isotherms (N2, 77 K) for

ANA-Zn(BuIm)2 with BET surface area of 70 m2/g. Adsorption and

desorption are shown by blue and red circles, respectively. As ANA-Zn(EtIm)2, ANA-Zn(PrIm)2 and ANA-Zn(PrIm)2

frameworks are isostructural, increasing the length of the 2-hydrocarbon chain substituent on the linker effectively in-creases the energy released in the combustion with almost no impact on the overall structure or network density (i.e. the number of tetrahedral centers per unit volume, T/nm3,

Figure 4) of the material. To the best of our knowledge, such ability to engineer Ev without introducing any significant

change in structure of the material is unique to MOFs and has so far not been reported in the design of fuel materials.

Figure 4. Dependence of Ev on framework density

(ex-pressed as number of tetrahedral nodes per unit volume, T/nm3) for selected ZIFs.

The network density of the ANA-Zn(EtIm)2 framework

(2.57 T/nm3) is very close to that of ZIF-8 (2.45 T/nm3).

Consequently, the herein explored ANA-topology ZIFs and ZIF-8 reveal the ability to fine-tune the fuel properties of a MOF across almost 20 kJ/cm3, with little or no change in

net-work density.

Conclusions

In summary, we presented the first systematic investiga-tion of combusinvestiga-tion energies, including energy density, spe-cific energy and combustion enthalpy for a range of conven-tional and mostly commercially available MOFs. In contrast to traditional microporous materials such as zeolites, MOFs can be considered as potential fuels which, upon combus-tion, are able to generate energy comparable to popular hy-drocarbon fuels. This is particularly true for ZIFs based on nitrogen-containing heterocycles, whose specific energies are on par and may even exceed those of kerosene or Diesel fuel. Potential for polymorphism and modular design offers a means to control energy content of ZIFs in a way that is not accessible to conventional fuels. Switching between dif-ferent ZIF polymorphs enables tuning of energy density without changes to the chemical composition, as illustrated by qtz-, ANA- and RHO-topology frameworks of zinc 2-ethylimidazolate. Conversely, modular design of ZIFs ena-bles the introduction of increasingly fuel-rich substituents without changing the overall structure of the material, as il-lustrated by the isostructural series of ANA-topology zinc 2-ethyl-, 2-propyl- and 2-n-butyl-substituted ZIFs.

Overall, these results provide a so far missing overview of combustion energy properties of conventional MOFs, and demonstrate that different classes of frameworks, and in particular ZIFs, can exhibit both high and tunable energy density and specific energy. In combination with intermedi-ate-to-high microporosity, these results indicate ZIFs as suitable materials for the development of advanced, tunable fuels and hypergols.

Experimental section

More details on experimental procedures and calculations are provided in the Supplementary Information

Combustion calorimetry

The combustion calorimetry measurements were carried out on a 6200 Isoperibol Calorimeter (Parr Instrument Company, Moline, IL), which is a microprocessor controlled, isoperibol oxygen bomb calorimeter. The combustion calo-rimeter was calibrated by benzoic acid. All measurements were carried out on a scale of 0.5 g of the sample and re-peated three times.

Thermal analysis

Simultaneous thermogravimetric analysis (TGA) and differ-ential scanning calorimetry (DSC) were conducted on a TGA/DSC 1 (Mettler-Toledo, Columbus, Ohio, USA), with samples (2 mg to 10 mg) placed in open 70 L volume alu-mina crucibles. All measurements were done in a dynamic atmosphere of air (25 mL/min), in the range heated up to 800 °C at a constant rate of 10 °C/min.

Sample activation

All samples were washed with methanol (30 mL) and cen-trifuged for 20 minutes at 4500 rpm, and the supernatant separated. This process was repeated two times to assure

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the absence of any residual starting materials in the sam-ples. The MOF samples were placed in vacuum oven at 80 C - 120 C overnight and kept under argon. The nitrogen iso-therms of the activated MOFs were measured on TriStar 3000, and the experiments were conducted at 77 K of liquid nitrogen container.

Powder X-ray diffraction (PXRD)

Powder X-ray diffraction data were collected on a Bruker D2 Phaser diffractometer equipped with a LYNXEYE linear position sensitive detector (Bruker AXS, Madison, WI, USA), using Ni-filtered CuKα radiation. The PXRD pattern of ANA-Zn(BuIm)2 was collected on a Bruker D8 Advance

diffrac-tometer equipped with a LYNXEYE-XE linear position sen-sitive detector, using Ni-filtered CuKα radiation.

Rietveld refinement of the structure ANA-Zn(BuIm)2

(Ta-ble S1) was performed using the software TOPAS Academic v. 6 (Coelho Software). The ANA-Zn(BuIm)2 structure was

refined in the cubic Ia-3d space group. Diffraction peak shapes were described by a pseudo-Voigt function, while the background was modelled with a Chebyshev polynomial function. The linker geometry was defined by a rigid body, which was given rotational and translational degrees of freedom, subject to the space group symmetry constraints.

Fourier-transform infrared attenuated total reflec-tance spectroscopy (FTIR-ATR)

Spectra were recorded using a Bruker Alpha FT-IR (Bruker Optics Ltd., Milton, ON, Canada) decorated by diamond crys-tal in the range of 4000-450 cm-1 and with resolution of 4

cm-1.

ASSOCIATED CONTENT

Supporting Information. Further details of experimental pro-cedures and calculations, as well as PXRD, FTIR/ATR and TGA/DSC data. This material is available free of charge via the Internet at http://pubs.acs.org. Crystallographic data for ANA-Zn(BuIm)2 structure in CIF format was deposited with the

Cambridge Crystallographic Data Centre, deposition code CCDC 1906483.

AUTHOR INFORMATION

Corresponding Author

* Assoc. Prof. Tomislav Friščić, Department of Chemistry,

McGill University, 801 Sherbrooke St. W. H3A 0B8 Montreal, Canada. E-mail: [email protected]

* Prof. Robin D. Rogers, 525 Solutions, Inc. P.O. Box 2206, Tus-caloosa, AL 35403, USA. E-mail: [email protected]

Author Contributions

The manuscript was written through contributions of all au-thors. All authors have given approval to the final version of the manuscript.

Funding Sources

NSERC Discovery Grant (RGPIN-2017-06467)

NSERC E. W. R. Steacie Fellowship (SMFSU 507347-17) NSERC Strategic Grant (STPGP 521582-18)

Canada Research Excellence Chair program (grant 240634) AFOSR (FA9550-14-1-0306).

Notes

CM and TF are co-founders, and RDR is the scientific advisory board member of ACSYNAM, Inc., which has provided one of the materials for the study.

ACKNOWLEDGMENT

We thank Dr. A. Djuric, McGill University, for help in acquiring BET data. We acknowledge funding from the NSERC Discovery Grant (RGPIN-2017-06467), NSERC E. W. R. Steacie Fellowship (SMFSU 507347-17), NSERC Strategic Grant (STPGP 521582-18), Canada Research Excellence Chair program (grant 240634) and AFOSR (FA9550-14-1-0306).

ABBREVIATIONS

HMeIm, 2-methylimidazole; MeIm-, 2-methylimidazolate; H

E-tIm, 2-ethylimidazole; EtIm-, 2-ethylimidazolate; HPrIm,

2-propylimidazole; PrIm-, 2-propylimidazolate; HBuIm,

2-bu-tylimidazole; H3BDC, 1,3,5-benzenetricarboxylic (trimesic)

acid; H2BDC, 1,4-benzenedicarboxylic (terephthalic) acid;

H2BDC-NH2, 2-amino-1,4-benzenedicarboxylic

(2-aminoter-ephthalic) acid.

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17 Titi, H. M.; Marrett. J. M.; Dayaker, G.; Arhangelskis, M.; Mottillo, C.; Morris, A. J.; Rachiero, G. P.; Friščić T.; Rogers R. D. Hypergolic Zeolitic Imidazolate Frameworks (ZIFs) as Next-Generation Solid Fuels: Unlocking the Latent Energetic Behavior of ZIFs. Sci. Adv.,

2019, 5, eaav9044.

18 Rachiero, G. P., Titi, H. M.; Rogers, R. D. Versatility and remarka-ble hypergolicity of exo-6, exo-9 imidazole-substituted nido-deca-borane. Chem. Commun.2017, 53, 7736-7739.

19 Zhang, Q.; Shreeve, J. M. Energetic ionic liquids as explosives and propellant fuels: a new journey of ionic liquid chemistry. Chem. Rev. 2014, 114, 10527-10574.

20 Li, S.; Gao, H.; Shreeve, J. M. Borohydride Ionic Liquids and Bo-rane/Ionic‐Liquid Solutions as Hypergolic Fuels with Superior Low Ignition‐Delay Times. Angew. Chem. Int. Ed. 2014, 53, 2969-2972. 21 Park, K. S.; Ni, Z.; Côté, A. P.; Choi, J. Y.; Huang, R.; Uribe-Romo, F. J.; Chae, H. K.; O’Keeffe, M.; Yaghi, O. M. Exceptional chemical and thermal stability of zeolitic imidazolate frameworks Proc. Natl. Acad. Sci. U.S.A.2006, 103, 10186-10191.

22 Zhang, J. P.; Zhang, Y. B.; Lin, J. B.; Chen, X. M. Metal azolate frameworks: from crystal engineering to functional materials.

Chem. Rev.2011, 112, 1001-1033.

23 McDonald, K. A.; Bennion, J. C.; Leone, A. K.; Matzger, A.J. Ren-dering non-energetic microporous coordination polymers explo-sive. Chem. Commun.2016, 52, 10862-10865.

24 Hughes, J. T.; Bennett, T. D.; Cheetham, A. K.; Navrotsky, A., Ther-mochemistry of zeolitic imidazolate frameworks of varying poros-ity. J. Am. Chem.Soc.2012, 135, 598-601.

25 Akimbekov, Z.; Navrotsky, A. Little Thermodynamic Penalty for the Synthesis of Ultraporous Metal Organic Frameworks. Chem-PhysChem, 2016, 17, 468-470.

26 Wu, D.; Navrotsky, A. Thermodynamics of metal-organic frame-works. J. Solid State Chem.2015, 223, 53-58.

27 Kuhl, A. L.; Reichenbach, H. Combustion effects in confined ex-plosions. Proc. Combust. Inst.2009, 32, 2291-2298.

28 Demirel, Y. Energy: production, conversion, storage, conserva-tion, and coupling. Springer Science & Business Media, 2012. 29 Annamalai, K.; Puri, I. K. Combustion science and engineering. CRC press, 2006.

30 Chui, S. S.-Y.; Lo, S. M.-F.; Charmant, J. P. H.; Orpen, A. G.; Wil-liams, I. D. A chemically functionizable nanoporous material [Cu3(TMA)2(H2O)3]n. Science1999, 283, 1148.

31 Boutin, A.; Springuel-Huet, M.-A.; Nossov, A.; Gédéon, A.; Loiseau, T.; Volkringer, C.; Féréy, G.; Coudert, F.-X.; Fuchs, A. H.

Breathing transitions in MIL-53(Al) metal-organic framework upon xenon adsorption. Angew. Chem. Int. Ed.2009, 48, 8314-8317.

32 Huang, X. C.; Lin, Y. Y.; Zhang, J. P.; Chen, X. M. Ligand‐directed strategy for zeolite‐type metal–organic frameworks: zinc (II) imid-azolates with unusual zeolitic topologies. Angew. Chem. Int. Ed. 2006, 45, 1557-1559.

33 Katz, M. J.; Brown, Z. J.; Colón, Y. J.; Scheidt, K. A.; Snurr, R. Q.; Hupp, J. T.; Farha, O. K. A facile synthesis of UiO-66, UiO-67 and their derivatives. Chem. Commun.2013, 49, 9449-9451. 34 Hafizovic Cavka, J.; Jakobsen, S.; Olsbye, U.; Guillou, N.; Lamberti, C.; Bordiga, S.; Lillerud, K. P. A new zirconium inorganic building brick forming metal organic frameworks with exceptional stability.

J. Am. Chem. Soc.2008, 130, 13850-13851.

35 Shi, Q.; Chen, Z.; Song, Z.; Li, J.; Dong, J. Synthesis of ZIF‐8 and ZIF‐67 by Steam‐Assisted Conversion and an Investigation of Their Tribological Behaviors. Angew. Chem. Int. Ed.2011, 123, 698-701. 36 Phan, A.; Doonan, C.J.; Uribe-Romo, F. J.; Knobler, C. B.; O'Keeffe, M.; Yaghi, O. M. Synthesis, structure, and carbon dioxide caprture properties of zeolitic imidazolate frameworks. Acc. Chem. Res. 2010, 43, 58-67.

37 Beldon, P. J.; Fábián, L.; Stein, R. S.; Thirumurugan, A.; Cheetham, A. K.; Friščić, T. Rapid room‐temperature synthesis of zeolitic imid‐ azolate frameworks by using mechanochemistry. Angew. Chem. Int. Ed. 2010, 122, 9834-9837.

38 Tian, Y. Q.; Yao, S. Y.; Gu, D.; Cui, K. H.; Guo, D. W.; Zhang, G.; Chen, Z. X.; Zhao, D. Y.; Cadmium imidazolate frameworks with polymor-phism, high thermal stability, and a large surface area. Chem. Eur. J. 2010, 16, 1137-1141.

39 Mottillo, C.; Lu, Y.; Pham, M.-H.; Cliffe, M. J.; Do, T.-O.; Friščić, T. Mineral neogenesis as an inspiration for mild, solvent-free synthe-sis of bulk microporous metal-organic frameworks from metal (Zn,Co) oxides. Gree Chem.2013, 15, 2121-2131.

40 Užarević, K.; Wang, T. C.; Moon, S.-Y.; Fidelli, A. M.; Hupp, J. T.; Farha, O. K.; Friščić, T. Mechanochemical and solvent-free assembly of zirconium-based metal-organic frameworks. Chem. Commun. 2016, 52, 2133-2136.

41 Zhang, J.; Shreeve, J. M. Time for pairing: cocrystals as advanced energetic materials. CrystEngComm2016, 18, 6124-6133. 42 Seth, S.; McDonald, K. A.; A. J. Matzger. Metal Effects on the Sen-sitivity of Isostructural Metal–Organic Frameworks Based on 5-Amino-3-nitro-1 H-1, 2, 4-triazole. Inorg. Chem. 2017, 56, 10151-10154. 44 45 46 47 48 49 50

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1

Supporting Information

Metal-organic frameworks (MOFs) as fuels for advanced

applications: evaluating and modifying the combustion

energy of popular MOFs

Hatem M. Titi,

a

Mihails Arhangelskis,

a

Athanassios D. Katsenis,

a

Cristina Mottillo,

a,b

Ghada Ayoub,

a

Jean-Louis Do,

a,c

Athena M. Fidelli,

a

Robin D. Rogers*

d,e

and Tomislav

Friščić*

,a

aDepartment of Chemistry, McGill University, Montreal, QC, H3A 0B8, Canada; bDepartment of

Chemistry & Biochemistry, Concordia University, 7141 Sherbrooke Street West, Montreal, Quebec H4B 1R6, Canada; c ACSYNAM, Inc. Montreal, H1P 1W1, Canada; d525 Solutions, Inc., PO Box 2206,

Tuscaloosa, AL 35403, United States; eCollege of Arts & Sciences, The University of Alabama,

Tuscaloosa, AL 35487, United States.

E-mail: [email protected]; [email protected]

Table of contents

S1. Materials and methods

2

S2. Synthesis

4

S3. Surface area measurements

5

S4. Thermal analysis data

10

S5. Powder X-ray diffraction

17

S6. Infrared spectroscopy

22

S7. Analysis of E

v

vs framework density and composition

23

(11)

2

S1. Materials and methods

The

compounds

2-butylimidazole,

2-propylimidazole,

2-ethylimidazole,

2-methylimidazole, terephthalic acid, 2-aminoterephthalic acid, zirconium(IV) isopropoxide,

methyacrylic acid, zinc oxide, ammonium acetate, ammonium sulfate, triethylamine, and

cobalt(II) chloride hexahydrate were obtained from Sigma-Aldrich (St. Louis, MO, USA)

and used as received. ZIF-8, MIL-53 and HKUST-1 were obtained from Sigma-Aldrich,

and an additional sample of ZIF-8 was obtained from ACSYNAM. All MOFs were

activated ahead of use.

S1.1. Activation and surface area measurements

All samples were activated by washing with MeOH (30 mL), followed by centrifugation for

20 minutes at 4500 rpm, after which the supernatant was separated from the solid. The

process was performed a total of three times, and the samples placed in a vacuum oven

at 120 C (85 C for UiO-66 and UiO-66-NH2) overnight. All samples were stored under

argon. Nitrogen sorption isotherms of the activated MOFs were measured on a TriStar

3000 instrument, and the experiments were conducted at 77 K.

S1.2. Fourier-transform attenuated total reflectance infrared (FTIR-ATR)

spectroscopy

The spectra were recorded using a Bruker Alpha FT-IR spectrometer (Bruker Optics Ltd.,

Milton, ON, Canada) decorated by diamond crystal in the range of 4000-450 cm

-1

and

with resolution of 4 cm

-1

.

S1.3. Thermogravimetric analysis (TGA) and differential scanning calorimetry

(DSC)

Simultaneous thermogravimetric analysis (TGA) and differential scanning calorimetry

(DSC) were conducted on a TGA/DSC 1 thermal balance (Mettler-Toledo, Columbus,

Ohio, USA), with samples of size 2 mg to 10 mg placed in open 70 L alumina crucibles.

All measurements were done in a dynamic atmosphere of air (gas flow of 25 mL/min), by

heating up to 800 °C at a constant heating rate of 10 °C/min.

S1.4. Powder X-ray diffraction (PXRD)

Powder X-ray diffraction (PXRD) data were collected on a Bruker D2 Phaser

diffractometer equipped with a LYNXEYE linear position sensitive detector (Bruker AXS,

Madison, WI, USA), using Ni-filtered Cu

K

α radiation. A PXRD pattern of ANA-Zn(

BuIm

)2

suitable for structure elucidation was collected on a Bruker D8 Advance diffractometer

equipped with a LYNXEYE-XE linear position sensitive detector (Bruker AXS, Madison,

WI), using Ni-filtered Cu

K

α radiation.

Rietveld refinement of the ANA-Zn(

BuIm

)2 structure (

Table S1

) was performed using the

software TOPAS Academic v. 6 (Coelho Software). The structure was refined in the cubic

(12)

3

Ia

-3

d

space group, with diffraction peak shapes described by a pseudo-Voigt function,

and the background modelled using a Chebyshev polynomial function. The linker

geometry was defined by a rigid body, which was given rotational and translational

degrees of freedom, subject to the space group symmetry constraints. Final refinement

parameters were

R

wp = 0.097,

R

p = 0.139,

R

Bragg = 0.076 and χ2

= 9.325. Crystallographic

data for ANA-Zn(

BuIm

)2 structure in CIF format was deposited with the CCDC (deposition

code 1906483).

S1.5. Combustion Calorimetry

The combustion calorimetry measurements were carried out on a 6200 Isoperibol

Calorimeter (Parr Instrument Company, Moline, IL), which is a microprocessor controlled,

isoperibol oxygen bomb calorimeter. The combustion calorimeter was calibrated by

benzoic acid and all measurements were carried out on a scale of 0.5 grams and repeated

three times. The combustion calorimetry experiment is conducted at constant volume,

providing a measurement of changes in internal energy. Enthalpies were calculated from

internal energies measured by combustion calorimetry by taking into consideration the

difference in the amount of gaseous components (n) between reactants and products of

the combustion reactions.

U

º = 

H

º - 

nRT

The combustion reactions for each MOF are provided below:

Zn(MeIm)2: Zn(C8H10N4)(s) + 11 O2(g) → ZnO (s) + 8 CO2(g) + 5 H2O(l) + 2 N2(g) (n = -1)

Co(MeIm)2: Co(C8H10N4)(s) + 11.16 O2(g) → 0.33Co2O3(s) + 8 CO2(g) + 5 H2O(l) + 2 N2(g) (n = -1.16) Zn(EtIm)2: Zn(C10H14N4)(s) + 14 O2(g) → ZnO(s) + 10 CO2(g) + 7 H2O(l) + 2 N2(g) (n = -2)

Zn(PrIm)2: Zn(C12H18N4)(s) + 17 O2(g) → ZnO(s) + 12 CO2(g) + 9 H2O(l) + 2 N2(g) (n = -3) Zn(BuIm)2: Zn(C14H22N4)(s) + 20 O2(g) → ZnO(s) + 14 CO2(g) + 11 H2O(l) + 2 N2(g) (n = -4) HKUST-1: Cu3(C18H6O12)(s) + 15 O2(g) → 3 CuO(s) + 18 CO2(g) + 3 H2O(l) (n = +3) MIL-53: Al(C8H5O5)(s) + 7.5 O2(g) → 0.5 Al2O3(s) + 8 CO2(g) + 2.5 H2O(l) (n = +0.5) UiO-66: Zr6(C48H28O32)(s) + 45 O2(g) → 6 ZrO2(s) + 48 CO2(g) + 14 H2O(l) (n = +3)

(13)

4

S2.

Synthesis

The MOFs were prepared using either solution synthesis (ZIF-67), or modifications of

previously reported mechanochemical ion- and liquid-assisted grinding

1

(ILAG, for

dia

-Zn(

MeIm

)2,

qtz

-Zn(

EtIm

)2, ANA-Zn(

EtIm

)2, ANA-Zn(

PrIm

)2, ANA-Zn(

BuIm

)2) or

accelerated aging methods

2,3

(UiO-66, UiO-66-NH2, ANA-Zn(

EtIm

)2). Details are

provided below.

SOD-Co

(MeIm)

2

(ZIF-67)

was made by dissolving 2-methylimidazole (H

MeIm

, 22 mmol)

and triethylamine (22 mmol) in 80 mL of EtOH, followed by addition of a solution of

CoCl26H2O (10 mmol) in 100 mL of EtOH over one hour. The solution was stirred for

additional 2 hours and left at ambient conditions for overnight without stirring. The

precipitation was filtered, washed twice of 100 mL of EtOH. Yield 45%.

dia

-Zn(

MeIm

)2

was obtained by ball milling of a mixture of H

MeIm

(2.1 mmol), ZnO (1

mmol) and ammonium acetate (5 mmol%) in a 10 mL stainless steel milling jar, using one

stainless steel milling ball of 10 mm diameter. The reaction mixture was milled for 45

minutes at a milling frequency of 30 Hz, after which the product was washed with 30 mL

water, and then three times with 30 mL of MeOH.

RHO-Zn(

EtIm

)2

was made using a modification of the previously published aging

procedure, wherein 2-ethylimidazole (H

EtIm

, 30 mmol), ZnO (10 mmol) and adipic acid

(2 mmol% with respect to ZnO) were mixed well and aged for 2 days in a Petri dish at

100% relative humidity and 45 C. After two days the product was washed three times

with 300 mL of ethanol and isolated.

ANA-Zn(

EtIm

)2 was made by milling a solid mixture of ZnO (814 mg, 10 mmol),

2-ethylimidazole (2018.7 mg, 21 mmol) and catalytic ammonium acetate (77 mg, 1 mmol)

in a 50 mL stainless steel jar, aloing with 1 mL of benzene. The reaction mixture was

milled for 30 min using two stainless steel balls of 10 mm diameter. The product was

subsequently washed with MeOH and evacuated.

qtz-Zn(

EtIm

)2 was made by milling a solid mixture of ZnO (814 mg, 10 mmol),

2-ethylimidazole (2018.7 mg, 21 mmol) and catalytic NH4NO3 (100 mg, 1.25 mmol), placed

in a 50 mL stainless steel jar with two 10 mm diameter stainless steel balls and 1 mL of

DMF. The reaction mixture was then milled for 40 min. The product was subsequently

washed with MeOH and evacuated.

ANA-Zn(

PrIm

)2 was made by milling a solid mixture of ZnO (814 mg, 10 mmol),

2-propylimidazole (2313.3 mg, 21 mmol) and catalytic ammonium acetate (77 mg, 1 mmol)

in a 50 mL stainless steel jar, with the addition of 1 mL of ethanol. The reaction mixture

was milled for 30 min using two stainless steel balls of 10 mm diameter. The product was

subsequently washed with MeOH and evacuated.

ANA-Zn(

BuIm

)2 was made by milling a solid mixture of ZnO (814 mg, 10 mmol),

2-butylimidazole (2608 mg, 21 mmol) and catalytic ammonium acetate (77 mg, 1 mmol),

(14)

5

placed in a 50 mL stainless steel along with 1 mL of ethanol. The reaction mixture was

then milled for 30 minutes using two stainless steel balls of 10 mm diameter. The

product was subsequently washed with MeOH and evacuated.

UiO-66 and UiO-66-NH2

were made following a previously reported procedure from the

Zr6 methacrylate cluster (1.0 grams)

1

and H2

BDC

(for UiO-66, 0.58 grams) or H2

BDC-NH2

(for UiO-66-NH2, 0.62 grams). The reactants were mixed in a 1:6 respective

stoichiometric ratio, briefly milled for two minutes in a Retsch MM400 mixer mill operating

at 30 Hz to prepare a homogeneous mixture, and then dispersed in a Petri dish and left

to age in an atmosphere of MeOH vapor at 45 °C. Highly crystalline samples (based on

PXRD analysis) of UiO-66 and UiO-66-NH2 were obtained within 7 days, washed with

MeOH followed by centrifugation up to five times, and finally dried in vacuum oven at 85

°C for 2 hours. The procedure yielded 1.0 g of UiO-66 and 1.15 g of UiO-66-NH2.

S3. Surface area measurements (BET)

Figure S1.

Nitrogen sorption isotherm measured at 77K for ZIF-8 (purchased from

Sigma-Aldrich) (BET surface area of 1350 m

2

/g)

(15)

6

Figure S2.

Nitrogen sorption isotherm measured at 77K for ZIF-8 (purchased from

ACSYNAM) with BET surface area of 1352 m

2

/g

Figure S3.

Nitrogen sorption isotherm measured at 77K for SOD-Co(

MeIm

)2

with BET

surface area of 1510 m

2

/g

(16)

7

Figure S4.

Nitrogen sorption isotherm measured at 77K for RHO-Zn(

EtIm

)2

with BET

surface area of 1210 m

2

/g

Figure S5.

Nitrogen sorption isotherm measured at 77K for ANA-Zn(

EtIm

)2

with BET

surface area of 610 m

2

/g

(17)

8

Figure S6.

Nitrogen sorption isotherm measured at 77K for ANA-Zn(

PrIm

)2

with BET

surface area of 440 m

2

/g

Figure S7.

Nitrogen sorption isotherm measured at 77K for MIL-53 (purchased from

Sigma-Aldrich)

with BET surface area of 950 m

2

/g.

(18)

9

Figure S8.

Nitrogen sorption isotherm measured at 77K for HKUST-1 (Purchased from

Sigma-Aldrich)

with BET surface area of 1340 m

2

/g

Figure S9.

Nitrogen sorption isotherm measured at 77K for UiO-66 with BET surface area

of 870 m

2

/g.

(19)

10

Figure S10.

Nitrogen sorption isotherm measured at 77K for UiO-66-NH2

with BET

surface area of 960 m

2

/g

S4. Thermal analysis data

Figure S11.

TGA (

blue curve

) and DSC (

orange curve

) thermograms for

ZIF-8

(purchased from Sigma-Aldrich) with residue of 37.9% (calc. 35.8%).

(20)

11

Figure S12.

TGA (

blue curve

) and DSC (

orange curve

) thermograms of ZIF-8 (obtained

from ACSYNAM) with residue of 37.5% (calc. 35.8%).

Figure S13.

TGA (

blue curve

) and DSC (

orange curve

) thermograms of

dia

-Zn(

MeIm

)2

with residue of 35.7% (calc. 35.7%).

(21)

12

Figure S14.

TGA (

blue curve

) and DSC (

orange curve

) thermograms of SOD-Co(

MeIm

)2

(ZIF-67) with residue of 38.1% (calc. 36.3%).

Figure S15.

TGA (

blue curve

) and DSC (

orange curve

) thermograms of RHO-Zn(

EtIm

)2

with residue of 33.4% (calc. 31.8%).

(22)

13

Figure S16.

TGA (

blue curve

) and DSC (

orange curve

) thermograms of ANA-Zn(

EtIm

)2

with residue of 33.0% (calc. 31.8%).

Figure S17.

TGA (

blue curve

) and DSC (

orange curve

) thermograms of

qtz

-Zn(

EtIm

)2

with residue of 33.1% (calc. 31.8%).

(23)

14

Figure S18.

TGA (

blue curve

) and DSC (

orange curve

) thermograms of ANA-Zn(

PrIm

)2

with residue of 29.4% (calc. 28.7%).

Figure S19.

TGA (

blue curve

) and DSC (

orange curve

) thermograms of ANA-Zn(

BuIm

)2

with residue of 26.1% (calc. 26.2%).

(24)

15

Figure S20.

TGA (

blue curve

) and DSC (

orange curve

) thermograms of MIL-53

(Aldrich)

with residue of 26.0% (calc. 24.5%).

Figure S21.

TGA (

blue curve

) and DSC (

orange curve

) thermograms of HKUST-1

(Aldrich) with residue of 32.6% (calc. 32.6%).

(25)

16

Figure S22.

TGA (

blue curve

) and DSC (

orange curve

) thermograms of UiO-66 with

residue of 35.8% (calc. 35.4%).

Figure S23.

TGA (

blue curve

) and DSC (

orange curve

) thermograms of UiO-66-NH2 with

(26)

17

S5. Powder X-ray diffraction

Figure S24.

Overlay of PXRD patterns for ZIF-8 (purchased from Sigma-Aldrich) before

and after activation.

Figure S25.

Overlay of PXRD patterns for ZIF-8 (obtained from ACSYNAM) before and

after activation.

(27)

18

Figure S26.

Overlay of PXRD patterns for SOD-Co(

MeIm

)2 before and after activation.

(28)

19

Figure S28.

Overlay of PXRD patterns for RHO-Zn(

EtIm

)2 before and after activation.

Figure S29.

Overlay of PXRD patterns for PXRD of ANA-Zn(

EtIm

)2 before and after

activation.

(29)

20

Figure S30.

Overlay of PXRD patterns for

qtz

-Zn(

EtIm

)2 after washing and drying.

(30)

21

Figure S32.

Overlay of PXRD patterns for ANA-Zn(

BuIm

)2 before and after activation.

Figure S33.

Overlay of PXRD patterns for HKUST-1 (purchased from Sigma-Aldrich)

before and after activation.

(31)

22

Figure S34.

Overlay of PXRD patterns for MIL-53(Al) (purchased from Sigma-Aldrich)

before and after activation.

S6. Infrared spectroscopy

Figure S35.

overlay of FTIR-ATR spectra of herein studied MOFs after washing and

evacuation in a vacuum oven.

(32)

23

S7. Analysis of specific energy with respect to framework density and

composition

Figure S36.

Change in measured

Eg

with respect to weight fraction of carbon in the

explored MOFs.

Figure S37.

Change in measured

Eg

with respect to weight fraction of hydrogen in the

explored MOFs.

(33)

24

Figure S38.

Change in measured

Eg

with respect to weight fraction of nitrogen in the

explored MOFs.

Figure S39.

Change in measured

Eg

with respect to weight fraction of oxygen in the

explored MOFs.

(34)

25

Figure S40.

Change in measured

Eg

with respect to weight fraction of the metal (Zn, Co,

Cu, Al or Zr) in the explored MOFs.

Figure S41.

Dependence of

E

g

on framework density (expressed as number of

(35)

26

S8. References

1. Beldon, P. J.; Fábián, L.; Stein, R. S.; Thirumurugan, A.; Cheetham, A. K.; Friščić, T.

Rapid room

temperature synthesis of zeolitic imidazolate frameworks by using

mechanochemistry.

Angew. Chem. Int. Ed. 2010

,

122

, 9834-9837.

2. Užarević, K.; Wang, T. C.; Moon, S.-Y.; Fidelli, A. M.; Hupp, J. T.; Farha, O. K.;

Friščić, T. Mechanochemical and solvent-free assembly of zirconium-based

metal-organic frameworks.

Chem. Commun.

2016

,

52

, 2133-2136.

3. Mottillo, C.; Lu, Y.; Pham, M.-H.; Cliffe, M. J.; Do, T.-O.; Friščić, T. Mineral

neogenesis as an inspiration for mild, solvent-free synthesis of bulk microporous

metal-organic frameworks from metal (Zn,Co) oxides.

Gree Chem.

2013

,

15

, 2121-2131.

(36)

download file

view on ChemRxiv

Figure

Figure 1. a) Structures of herein studied MOFs, with hydrogen  atoms omitted for clarity
Figure 2. Comparison of energy density (E v ) and specific en- en-ergy  (E g )  for  herein  explored  MOFs,  calculated  from   experi-mentally measured Δ c H values
Figure  3.  (a)  The  final  Rietveld  fit  and  an  illustration  of  the  crystal structure of ANA-Zn(BuIm) 2  along the crystallographic  (100)  direction
Figure  S1.  Nitrogen  sorption  isotherm  measured  at  77K  for  ZIF-8  (purchased  from  Sigma-Aldrich) (BET surface area of 1350 m 2 /g)
+7

References

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This indicates Awareness about the credit rating by providing appropriate information to the retail equity investors and integrity of Credit Rating play vital role in creating

The output responses to a 10 rad/sec, 0.2mm amplitude square wave setpoint, using initial controller parameters and updated control parameters, are shown in Figure 6.6. In each