Materials Science-Poland, 38(4), 2020, pp. 644-653
http://www.materialsscience.pwr.wroc.pl/
DOI: 10.2478/msp-2020-0074
Cu-doped TiO2 brookite photocatalyst with enhanced visible
light photocatalytic activity
Y UNLING Z OU 1,∗ , X IANSHOU H UANG 3 , TAO Y U 2 , X IAOQIANG T ONG 1 , YAN L I 1 , X IAOXUE
L IAN 1 , YAO X IE 1 , J IAMING H UANG 1 , W EI H E 1 , W ENXIN L I 1
1 College
2 School
3 School
of Science, Civil Aviation University of China, Tianjin 300300, P.R. China
of Chemical Engineering, Tianjin University, Tianjin 300072, P.R. China
of Environmental Science and Engineering, Tianjin University, Tianjin 300072, P.R. China
Cu-doped TiO2 having a brookite phase and showing enhanced visible light photocatalytic activity was synthesized using
a mild solvothermal method. The as-prepared samples were characterized by various techniques, such as X-ray diffraction,
Fourier transform infrared spectroscopy, scanning electron microscopy, transmission electron microscopy, X-ray photoelectron
spectroscopy, UV-Vis diffuse reflectance spectroscopy. Photocatalytic activity of Cu-doped brookite TiO2 nanoparticles was
evaluated by photodegradation of methylene blue under visible light irradiation. The X-ray diffraction analysis showed that the
crystallite size of Cu-doped brookite TiO2 samples decreased with the increase of Cu concentration in the samples. The UV-Vis
diffuse reflectance spectroscopy analysis of the Cu-doped TiO2 samples showed a shift to lower energy levels in the band gap
compared with that of bare phase brookite TiO2 . Cu doped brookite TiO2 can obviously improve its visible light photocatalytic
activity because of Cu ions acting as electron acceptors and inhibiting electron-hole recombination. The brookite TiO2 sample
with 7.0 wt.% Cu showed the highest photocatalytic activity and the corresponding degradation rate of MB (10 mg/L) reached
to 87 % after visible light illumination for 120 min, much higher than that of bare brookite TiO2 prepared under the same
conditions (78 %).
Keywords: TiO2 ; brookite; copper; solvothermal method; photocatalytic activity
1.
Introduction
Titanium dioxide (TiO2 ), a kind of semiconductor material with excellent photoelectric properties,
has been widely used in various areas, such as solar energy conversion [1], lithium ion batteries [2],
photocatalysis [3], sensors [4], and so on. However,
the photocatalytic application of TiO2 has been significantly limited due to its wide band gap and high
electron-hole recombination rate. In order to enhance the photocatalytic activity of TiO2 , several
methods have been developed such as coupling of
TiO2 particles with other semiconductor particles,
and doping of metals and non-metals [5, 6]. Choi
et al. [7] reported that a dopant ion acted as an
electron trap or hole trap, which would prolong the
life-time of the generated charge carriers, resulting in an enhancement in photocatalytic activity.
Transition metals exhibit two or more oxidation
∗ E-mail:
states that enable the enhancement of the photocatalytic activity of TiO2 when doped with transition metals [8, 9]. Doping with transition metal ions
have been reported to change physical properties
of TiO2 crystals, such as lifetime of electron-hole
pairs and adsorption characteristics [10], which
can also tune the optical band gap, thus shifting
the light absorption region from UV to visible
light [6, 11]. Wilke and Breuer [10] studied the
complex interactions between variation in lifetime
of charge carriers, adsorption properties and photocatalytic behavior by doping titania with Cr3+
and Mo5+ ions, and they found that new trapping
sites were introduced by incorporation of transition metal ions which affected the lifetime of the
charge carriers. Many other transition metals, such
as copper (Cu) [11, 12], cobalt (Co) [13], vanadium
(V) [14], tungsten (W) [15], and iron (Fe) [16],
have been also used as doping agents to improve
the photocatalytic performance of TiO2 catalysts.
zouyunling1999@126.com
© 2020. This is an open access article distributed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.
(❤tt♣✿✴✴❝r❡❛t✐✈❡❝♦♠♠♦♥s✳♦r❣✴❧✐❝❡♥s❡s✴❜②✲♥❝✲♥❞✴✹✳✵✴)
Cu-doped TiO2 brookite photocatalyst with enhanced visible light photocatalytic activity
TiO2 exists in three main crystalline polymorphs: rutile (tetragonal, space group P42 /mnm),
anatase (tetragonal, space group I41 /amd) and
brookite (orthorhombic, space group Pbca) [17–
19]. Among the above TiO2 polymorphs, brookite
TiO2 was reported to be a good ingredient for
photovoltaic devices and it has the highest photocatalytic activity per surface area among TiO2
polymorphs. Though it is more difficult to prepare
bare brookite TiO2 than other polymorphs, several methods have been developed to prepare bare
brookite TiO2 during the past ten years, and much
more understanding related to the preparation and
properties of brookite TiO2 has been achieved [20–
25]. Further research works show that brookite
TiO2 catalysts with enhanced photocatalytic activity can also be obtained by improving specific
surface area [26] or doping with transition metals ions [27, 28], noble metals [29, 30] and lanthanides [31, 32].
645
2.2. Synthesis of Cu-doped brookite TiO2
nanoparticles
The preparation method of Cu-doped brookite
TiO2 is similar to that of bare brookite TiO2 , which
has been reported in our previous work [33]. To
prepare Cu-doped brookite TiO2 , 1.0 mL of TBOT
was first added drop by drop under vigorous stirring into 50 mL of DMF solution containing a certain amount of copper nitrate. Then 1.50 g oxalic
acid was slowly added into the above mixture and
a yellow transparent solution was obtained. The pH
value of the resulted solution was adjusted to 9 - 10
using 2.0 mol·L−1 NaOH during this process. After stirring for another 1 h, the resulting suspension
was transferred to a 100 mL Teflon-lined stainless
steel autoclave and heated at 180 °C for 8 h in an
electric oven. After slowly being cooled down to
room temperature, the white precipitate was collected by centrifugation and washed with distilled
water and absolute ethanol for several times, and
then dried at 80 °C overnight. Finally, the obtained
samples were calcined at 500 °C for 2 h.
To investigate the effect of Cu doping concentration on the structure and photocatalytic activity
of brookite TiO2 , a series of brookite TiO2 containing different percentage by weight of Cu (1.0 wt.%,
3.0 wt.%, 5.0 wt.%, 7.0 wt.%, 10.0 wt.%) were prepared.
In the present study, brookite TiO2 nanoparticles doped with copper ions were synthesized
by solvothermal method using tetrabutyl titanate
(Ti(OC4 H9 )4 , TBOT), oxalic acid, NaOH and copper nitrate (Cu(NO3 )2 ·3H2 O) as starting materials.
XRD, FT-IR, SEM, TEM, XPS and UV-Vis (DRS)
were employed to characterize the structure and
morphology of the samples. Photocatalytic activities of Cu-doped brookite TiO2 were evaluated by
2.3. Characterization
photodegradation of liquid methylene blue (MB)
The structure and crystallinity of the Cu-doped
under visible light irradiation.
brookite TiO2 were analyzed by powder X-ray
diffraction (XRD) on a DX-2700BH X-ray diffractometer using CuKα radiation as the X-ray source.
2. Experimental
The accelerating voltage and the applied current
were 35 kV and 25 mA, respectively. The crys2.1. Materials
tallite sizes of the samples were estimated by the
Scherrer equation:
Tetrabutyl titanate (Ti(OC4 H9 )4 , TBOT) of
analytical grade, oxalic acid (H2 C2 O4 ·2H2 O),
D = K λ /β cos θ
(1)
and copper nitrate (Cu(NO3 )2 ·3H2 O) were purchased from Sinopharm Chemical Reagent Bei- where D is the crystallite size, K = 0.89 is a cojing Co., Ltd. Analytical grade sodium hydroxide efficient, β is the half-height width of the diffrac(NaOH), N,N-dimethylformamide (DMF), and ab- tion peak, θ is the diffraction angle, and λ is
solute ethanol were purchased from Kewei Com- the wavelength of X-ray in nanometers correpany of the Tianjin University. All chemicals were sponding to the CuKα irradiation. The morpholdirectly used without further purification.
ogy and microstructure of the prepared samples
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Y UNLING Z OU et al.
were examined by field emission scanning electron microscope (Hitachi, S-4800) and transmission electron microscope (JEM, 2100F). The FTIR spectra of the Cu-doped brookite TiO2 were obtained by AVATAR330 Fourier transform infrared
spectroscopy (Thermo Nicolet, US) using KBr
pressed discs method. X-ray photoelectron spectroscopy (XPS) was recorded on a Thermo SCIENTIFIC ESCALAB 250XI X-ray photoelectron
spectrometer with an AlKα source (1486.8 eV).
The shift of binding energy due to relative surface charging was corrected using the C 1s level
at 284.8 eV as an internal standard. The UV-Vis
diffuse reflectance spectra were recorded using a
UV-Vis spectrophotometer (UV-2600, Shimadzu,
Japan) and then converted into absorption spectra
via the Kubelka-Munk transformation.
photodegradation of liquid methylene blue (MB).
A Xenon lamp (HXS-F/UV 300, Beijing NBet
Technology Co., Ltd.) was used as a light source.
To provide only visible light, a glass optical filter
was used to cut off the UV light with wavelength
below 420 nm. In a typical photoactivity measurement reaction, 15 mg of the catalyst was added
to 75 mL of aqueous MB solution (10 mg/L).
For establishment of the adsorption/desorption
equilibrium between the catalyst and substrate
(MB), the suspension was magnetically stirred for
30 min before the start of illumination. Samples
were collected periodically and centrifuged, and
the concentration of MB solution was analyzed by
recording variations in the absorption in UV-Vis
spectra of MB using an UV-Vis spectrophotometer
(Shimadzu UV-1240). According to the standard
curve of concentration and absorption, the value
of C/C0 was calculated to measure the degradation
efficiency [34].
3.
Results and discussion
3.1. XRD analysis
XRD pattern of Cu-doped brookite TiO2 crystallites is shown in Fig. 1. Characteristic peaks at
25.3°, 30.7°, 40.1°, 48.0°, 55.2°, 64.5°, 70.5° representing the crystal planes for (1 2 0), (1 2 1),
(0 2 2), (2 3 1), (2 4 1), (2 5 1) and (3 3 2) can
be observed in Fig. 1a, which are identical to the
standard card of brookite TiO2 (JCPDS Card No.
12-1360). There have no peaks appeared showing
the presence of CuO when the dosage of Cu is below 7.0 wt.%, suggesting that no new phase related
to CuO has been formed or CuO has been formed
and exists as amorphous phase. However, two weak
peaks can be observed at 35.5° and 38.7°, which
are identified as copper oxide (45-1548) when the
dosage of Cu is 10.0 wt.%.
Fig. 1. XRD patterns of brookite TiO2 with different
It can be concluded that CuO is formed on
copper loadings.
the surface of TiO2 because the diffraction peak
shape of brookite TiO2 is almost unchanged. A
detailed XRD pattern of the samples with the Cu
2.4. Photocatalytic activity test
dosage below 7.0 wt.% at 2θ = 20° to 35° has been
The photocatalytic activity of Cu-doped shown in Fig. 1b. A small red shift of the diffracbrookite TiO2 nanoparticles was evaluated by tion peaks of Cu doped brookite TiO2 compared to
Cu-doped TiO2 brookite photocatalyst with enhanced visible light photocatalytic activity
that of bare phase brookite TiO2 can be observed in
Fig. 1b, suggesting that Cu atoms incorporated into
the TiO2 lattice either moved to the substitutional
sites in the TiO2 lattice or to the octahedral interstitial sites [8]. The incorporation of Cu atoms into
TiO2 or the formation of solid solution can result in
smaller lattice spacing of TiO2 , which is observed
in the XRD pattern as a red shift.
3.2. Fourier transform infrared spectroscopy (FT-IR)
In order to further confirm the bonding in the
composition, FT-IR spectra were taken for the
doped TiO2 nanoparticles with different copper
loadings as shown in Fig. 2. In the spectra, the
broad absorption band between 3600 cm−1 and
3300 cm−1 is ascribed to the stretching vibrations of water, and the absorption band between
1660 cm−1 and 1630 cm−1 is ascribed to the
stretching vibrations of crystallization water [35,
36].
647
absorption of the Ti–O–Ti linkages in TiO2
nanoparticles [38, 39].
3.3. SEM and TEM analysis
The morphologies of the bare brookite TiO2 and
doped brookite TiO2 powders with different concentrations of copper were investigated by scanning electron microscopy (SEM) and transmission
electronic microscopy (TEM) as shown in Fig. 3. It
can be observed in Fig. 3a to Fig. 3f that all the
samples exhibit quasi-spherical structures, which
are composed of a large number of nanoparticles.
No significant changes can be observed in the morphology of brookite TiO2 doped with different concentrations of Cu.
The average crystallite size of the quasispherical structures decreases with the increase
of Cu-doping concentration, which is consistent
with the result of XRD analysis. Fig. 3g is the
TEM image of brookite TiO2 doped with 7.0 wt.%
Cu, showing that the quasi-spherical structures are
composed of many smaller particles.
3.4. XPS analysis
Fig. 2. FT-IR spectra of brookite TiO2 with different
copper loadings.
The broad absorption band between 3600 cm−1
and 3300 cm−1 for the brookite TiO2 sample with
7.0 wt.% Cu was found to be higher than those for
other samples, indicating that the former had more
surface hydroxyl groups. It is well-known that
the TiO2 superficial hydroxyl group plays an important role in photocatalytic activity [37]. Moreover, the broad absorption band between 400 cm−1
and 800 cm−1 is attributed to the vibration
The incorporation of copper into the TiO2 lattice and its valence states were measured by XPS
technique. Fig. 4a shows an overview XPS spectra
for the bare brookite TiO2 and the brookite TiO2
sample doped with 7.0 wt.% Cu. The peaks of
Ti 2p, O 1s, and C 1s can be observed in both of the
samples. The Cu 2p peaks can also be observed in
the full-range XPS survey spectrum of the brookite
TiO2 sample doped with 7.0 wt.% Cu in addition
to the Ti 2p, O 1s and C 1s peaks, which is agreement with the result reported by Li et al. [40]. The
Ti 2p1/2 and Ti 2p3/2 spin-orbital splitting photoelectrons for both samples are located at binding
energies of 458.3 eV and 464.1 eV, respectively, as
seen in Fig. 4b, which are comparable with those
of 458.5 eV and 464.3 eV reported previously in
the literature [41]. Both Ti 2p signals are highly
symmetric, and no shoulders are observed on the
lower energy side of Ti 2p3/2 signal. The binding
energy splitting of Ti 2p is 5.65 eV, which agrees
well with the result for Ti4+ ions in TiO2 [27]. The
FWHM of the Ti 2p3/2 signal for the brookite TiO2
648
Y UNLING Z OU et al.
(a)
(b)
(e)
(c)
(f)
(d)
(g)
Fig. 3. SEM and TEM images of brookite TiO2 with different copper loadings: (a) bare brookite TiO2 and brookite
doped with Cu (b) 1.0 wt.%, (c) 3.0 wt.%, (d) 5.0 wt.%, (e) and (g) 7.0 wt.%, (f) 10.0 wt.%.
sample with 7.0 wt.% Cu is slightly larger than that
for the bare one, which is due to the existence of
multiple Ti species and strong electronic interaction between Cu and Ti in the nanocomposites [42].
Fig. 4c shows the high resolution XPS spectra of
O 1s for the brookite TiO2 sample with 7.0 wt.%
Cu. The broad and asymmetric peak of O 1s was
partitioned into two peaks, 529.4 eV and 530.3 eV
(Fig. 4c). The binding energy peak at 530.3 eV can
be attributed to the O–Ti bonding of TiO2 according to the literature [40]. However, the binding energy peak at 530.3 eV can be attributed to both
brookite TiO2 [41] and CuO, because the binding
energy peak of CuO is also at 529.6 eV according to the report by Moralesa et al. [43]. Fig. 4d
shows the Cu 2p core-level XPS spectrum of the
brookite TiO2 sample with 7.0 wt.% Cu. The Cu 2p
level was resolved into Cu 2p1/2 in the range of
952.1 to 954.3 eV (broad peak) and Cu 2p3/2 in the
range of 932.3 eV to 934.3 eV, corresponding to the
typical values of the Cu0 , Cu1+ and Cu2+ copper
species, respectively [12, 43]. Moreover, the presence of copper in the Cu2+ oxidation state can be
identified because of the presence of the characteristic shake-up satellite lines of CuO at about
942 eV and 962 eV, which are attributed to shakeup transitions by a ligand-metal 3d charge transfer [40, 43, 44]. Moreover, the Cu 2p1/2 and 2p3/2
peaks are relatively broad and seem to be influenced by the presence of TiO2 .
3.5. UV-Vis diffuse reflectance
troscopy (UV-Vis DRS)
spec-
The bandgap energy of the samples could be
estimated using a UV-Vis diffuse reflectance spectrum (DRS). Fig. 5a shows the UV-Vis absorption
spectra of the bare brookite TiO2 and Cu-doped
brookite TiO2 samples. A red shift in the absorption edge of the Cu-doped brookite TiO2 can be
observed compared to the bare brookite TiO2 . By
plotting the square root of the absorption coefficient of the material versus energy, the band gap
of the particles can be determined by extrapolating the linear region of the plot to zero, as shown in
Fig. 5b to Fig. 5f. The band gap of the bare brookite
TiO2 and doped brookite TiO2 samples with
Cu-doped TiO2 brookite photocatalyst with enhanced visible light photocatalytic activity
649
the increase of Cu doping concentration from
1.0 wt.% to 10.0 wt.% was calculated to be
3.330 eV, 3.313 eV, 3.203 eV, 3.216 eV, 3.186 eV
and 3.292 eV, respectively. It can be observed that
the band gap value of brookite TiO2 decreases due
to doping with Cu ions and the band gap of the
brookite TiO2 with 7.0 wt.% Cu is the narrowest.
Choi et al. [45] studied the role of metal ion dopants
in quantum sized TiO2 and proposed that there was
an optimal concentration of metal ions used as doping agents.
Here, 7.0 wt.% is supposed to be the optimal
concentration of Cu to improve the band gap of
brookite TiO2 . The band gap of brookite TiO2 is
narrowed by incorporation of Cu ions, which confirms that a portion of Cu ions doped into the TiO2
lattice alters the energy gap and causes an extension of TiO2 absorption into the visible region.
These results are in agreement with the previous
reports that a redshift of the absorption edge of
TiO2 can be obtained by doping with transition
metal ions [6, 10]. However, an opposite result has
also been reported by Rajamannan et al. [46]. They
studied the liner and nonliner optical properties of
Cu-doped anatase TiO2 and achieved a completely
different conclusion that the indirect band gap of
TiO2 increased gradually with the increase of Cu
doping concentration. Therefore, the effect of Cu
ions on the band gap of TiO2 needs further study in
the following work.
3.6. Photocatalytic performance evaluation
The visible-light photocatalytic activity of Cudoped brookite TiO2 catalysts was evaluated by
using methylene blue (MB, 10 mg/L) as a probe
molecule under visible light irradiation, as shown
in Fig. 6. The degradation efficiency of the catalyst (C/C0 ) plotted against the irradiation time (t)
is shown in the Fig. 6a for the bare TiO2 and Cudoped brookite TiO2 samples. Low decolorization
efficiency of MB (<10 %) is observed after 30 min
dark adsorption. However, when the light is on,
Fig. 4. XPS spectra of the bare brookite TiO2 and all the photocatalysts exhibit high photocatalytic
7.0 wt.% Cu-doped brookite TiO2 : (a) survey activity in the degradation of MB under visible
spectra; (b) Ti 2p; (c) O 1s; (d) Cu 2p.
light irradiation. The brookite TiO2 sample doped
650
Y UNLING Z OU et al.
Fig. 5. (a) UV-Vis absorption spectra of the bare brookite TiO2 and Cu-doped brookite TiO2 ; (b-f) Kubelka-Munk
plots of band gap energy for Cu-doped TiO2 nanoparticles.
with 7.0 wt.% Cu shows the highest decolorization efficiency of 87 % after 120 min of visible
light irradiation, which is higher than that of bare
brookite TiO2 (78 %) and other brookite TiO2 samples doped with 1.0 wt.% Cu (81 %), 3.0 wt.%
Cu (80 %), 5.0 wt.% Cu (81 %), and 10.0 wt.%
Cu (84 %). Fig. 6b shows the kinetic curves of
photocatalytic reaction for the bare brookite TiO2
and Cu-doped brookite TiO2 samples, and the kinetic constant (k) is 0.00951 (bare brookite TiO2 ),
0.01322 (1.0 wt.% Cu), 0.01223 (3.0 wt.% Cu),
0.01243 (5.0 wt.% Cu), 0.01608 (7.0 wt.%), and
0.0141 (10.0 wt.% Cu), respectively. As shown
in Fig. 6b, the brookite TiO2 sample doped with
7.0 wt.% Cu shows the biggest value of kinetic
constant k, which indicates that this sample shows
Cu-doped TiO2 brookite photocatalyst with enhanced visible light photocatalytic activity
the highest photocatalytic activity. According to the
FT-IR results, the doped brookite TiO2 sample with
7.0 wt.% Cu has more superficial hydroxyl group
than other samples, which plays an important role
in photocatalytic activity [37]. Furthermore, the incorporation of Cu ions into brookite TiO2 crystal
lattice improves the visible light response ability
by narrowing the band gap of brookite TiO2 , which
also changes the electron transfer pathway, inhibiting electron-hole recombination. That’s to say that
interfacial charge-transfer excitation of electrons
in the valence band of TiO2 to copper ions can
proceed, which inhibits electron-hole recombination [47]. Eshaghi et al. [27] investigated the effect
of Cu loading on the surface properties of brookite
TiO2 thin films and found that Cu ions behaved
as electron acceptors under UV light irradiation,
which improved the photoreactivity of titania by inhibiting electron-hole recombination. A similar result has also been obtained by Lo´pez et al [12] who
reported Cu ions as electron captor inducing a low
electron-hole recombination.
Moreover, it can also be observed in Fig. 6a
that the photocatalytic degradation rate of MB increased first and then decreased with the increase of
Cu doping concentration, showing that copper ions
can behave as electron captor when the Cu doping
concentration is lower (below 7.0 wt.% under our
experimental conditions). The copper ions can also
move into electron-hole recombination sites with
excessive Cu doping concentration, which inhibits
the photocatalytic reaction and results in low photocatalytic degradation rate. Di Paola et al. [32] reported that there was an optimum degree of loading at which photoactivity was maximum. When
the doping level is low, the surface barrier becomes higher and the space charge region becomes
narrower as the concentration of loading ions increases, resulting in an increase of the efficiency of
electron-hole separation and an enhancement of the
photocatalytic properties [48]. However, when the
doping level is beyond a certain value, the space
charge layer becomes very narrow and the penetration depth of light exceeds the space charge layer,
resulting in the recombination of the electron–hole
pairs and a decrease in the photocatalytic properties.
651
Fig. 6. Photocatalytic conversion of MB under visible
light irradiation (λ = 420 nm) and first-order kinetics for the MB photodegradation on the Cudoped TiO2 .
4.
Conclusions
In this study, Cu-doped brookite TiO2 photocatalyts were prepared using a facile solvothermal method and evaluated in terms of performance
by the degradation of MB aqueous solution under visible-light irradiation. Experimental results
indicated that quasi-spherical brookite TiO2 structures accompanied with a large number of nanoparticles, were obtained under solvothermal condition at 180 °C for 8 h. The doping of Cu has little effect on the structure of brookite TiO2 samples, while the crystal size of the samples was
decreased with the increase of the concentration
of Cu in the samples. Photocatalytic test showed
that 7.0 wt.% Cu-doped brookite TiO2 revealed the
highest photocatalytic activity under visible light
irradiation, and the corresponding degradation rate
652
Y UNLING Z OU et al.
of methylene blue (10 mg·L−1 ) reached to 87 % [20] L IN H.F., L I L.P., Z HAO M.L., H UANG X.S., C HEN
X.M., L I G.S., YU R.C., J. Am. Chem. Soc., 134
after visible light illumination for 120 min. Cop(2012), 8328.
per ions act as electron acceptors and induce a low
[21] O HNO Y., T OMITA K., KOMATSUBARA Y.,
electron-hole recombination. As a result, higher
TANIGUCHI T., K ATSUMATA K., M ATSUSHITA
photocatalytic activity of Cu-doped brookite TiO2
N., KOGURE T., O KADA K., Cryst. Growth Des., 11
(2011), 4831.
has been obtained than that of bare brookite TiO2
[22] H ALL S.R., S WINERD V.M., N EWBY F.N., C OLLINS
under visible light irradiation.
Acknowledgements
This work was supported by the National Natural Science
Foundation of China (No. 21501196), the Tianjin Research
Program of Application Foundation and Advanced Technology (No. 16JCQNJC03400) and the Undergraduate Training
Programs for Innovation and Entrepreneurship of Civil Aviation University of China (IEPC201802334).
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Received 2018-09-21
Accepted 2019-04-23