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Zhai YC, Oiwa S, Aoyagi S, Ohno S, Mikie T, Wang JZ, Amada H, Yamanaka K, Miwa K, Imai N, Igarashi T, Osaka I, Matsuo Y. Synthesis of indano[60]fullerene thioketone and its application in organic solar cells. Beilstein J Org Chem 2024; 20:1270-1277. [PMID: 38887582 PMCID: PMC11181261 DOI: 10.3762/bjoc.20.109] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/21/2024] [Accepted: 05/06/2024] [Indexed: 06/20/2024] Open
Abstract
Evaporable indano[60]fullerene ketone (FIDO) was converted to indano[60]fullerene thioketone (FIDS) in high yield by using Lawesson's reagent. Three compounds with different substituents in para position were successfully converted to the corresponding thioketones, showing that the reaction tolerates compounds with electron-donating and electron-withdrawing substituents. Computational studies with density functional theory revealed the unique vibrations of the thioketone group in FIDS. The molecular structure of FIDS was confirmed by single-crystal X-ray analysis. Bulk heterojunction organic solar cells using three evaporable fullerene derivatives (FIDO, FIDS, C60) as electron-acceptors were compared, and the open-circuit voltage with FIDS was 0.16 V higher than that with C60.
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Affiliation(s)
- Yong-Chang Zhai
- Department of Chemical Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
| | - Shimon Oiwa
- Department of Chemical Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
| | - Shinobu Aoyagi
- Department of Information and Basic Science, Nagoya City University, Nagoya 467-8501, Japan
| | - Shohei Ohno
- Applied Chemistry Program, Graduate School of Advanced Science and Engineering, Hiroshima University 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan
| | - Tsubasa Mikie
- Applied Chemistry Program, Graduate School of Advanced Science and Engineering, Hiroshima University 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan
| | - Jun-Zhuo Wang
- Department of Chemical Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
| | - Hirofumi Amada
- Department of Chemical Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
| | - Koki Yamanaka
- Department of Chemical Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
| | - Kazuhira Miwa
- Department of Chemical Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
| | - Naoyuki Imai
- Institute for Advanced Fusion, Resonac Corporation, 5-1 Okawa-cho, Kawasaki-ku, Kawasaki-shi, Kanagawa 210-0858, Japan
| | - Takeshi Igarashi
- Institute for Advanced Fusion, Resonac Corporation, 5-1 Okawa-cho, Kawasaki-ku, Kawasaki-shi, Kanagawa 210-0858, Japan
| | - Itaru Osaka
- Applied Chemistry Program, Graduate School of Advanced Science and Engineering, Hiroshima University 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan
| | - Yutaka Matsuo
- Department of Chemical Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
- Institute of Materials Innovation, Institutes for Future Society, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
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Shui QJ, Shan S, Zhai YC, Aoyagi S, Izawa S, Huda M, Yu CY, Zuo L, Chen H, Lin HS, Matsuo Y. Evaporable Fullerene Indanones with Controlled Amorphous Morphology as Electron Transport Layers for Inverted Perovskite Solar Cells. J Am Chem Soc 2023; 145:27307-27315. [PMID: 38063310 DOI: 10.1021/jacs.3c07192] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/21/2023]
Abstract
Fullerenes are among the most commonly used electron-transporting materials (ETMs) in inverted perovskite solar cells (IPSCs). Although versatile functionalized fullerene derivatives have shown excellent performance in IPSCs, pristine [60]fullerene (C60) is still the most widely used in devices mainly because of its uniform morphology by thermal deposition. However, thermally evaporable fullerene derivatives have not yet been achieved. Herein, we developed a series of evaporable fullerene derivatives, referred to as fullerene indanones (FIDOs), affording IPSCs with high power conversion efficiency (PCE) and long-term storage stability. The FIDOs were designed with a unique architecture in which the fullerene moiety and a benzene ring moiety are linked via a five-membered carbon ring in benzene ring plane. This molecular arrangement affords exceptional thermal stability, allowing the FIDOs to withstand harsh thermal deposition conditions. Moreover, by manipulating the steric bulk of the functional groups, we could control the state of the organic film from crystalline to amorphous. Subsequently, we used FIDOs as an electron transport layer (ETL) in IPSCs. Thanks to the suitable energy level and dual-passivation effect of FIDOs compared with a reference ETL using C60, the device using FIDOs achieved an open-circuit voltage of 1.16 V and a fill factor of 0.77. As a result, the PCE reached 22.11%, which is superior to 20.45% of the best-performing reference device. Most importantly, the FIDO-based IPSC devices exhibited exceptional stability in comparison to the reference device due to the stability of the amorphous ETL films.
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Affiliation(s)
- Qing-Jun Shui
- Department of Chemical Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
| | - Shiqi Shan
- State Key Laboratory of Silicon and Advanced Semiconductor Materials, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310027, P. R. China
| | - Yong-Chang Zhai
- Department of Chemical Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
| | - Shinobu Aoyagi
- Department of Information and Basic Science, Nagoya City University, Nagoya 467-8501, Japan
| | - Seiichiro Izawa
- Laboratory for Materials and Structures, Institute of Innovative Research, Tokyo Institute of Technology, Yokohama, Kanagawa 226-8503, Japan
| | - Miftakhul Huda
- Department of Chemical Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
| | - Chu-Yang Yu
- Department of Chemical Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
| | - Lijian Zuo
- State Key Laboratory of Silicon and Advanced Semiconductor Materials, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310027, P. R. China
| | - Hongzheng Chen
- State Key Laboratory of Silicon and Advanced Semiconductor Materials, Department of Polymer Science and Engineering, Zhejiang University, Hangzhou 310027, P. R. China
| | - Hao-Sheng Lin
- Department of Chemical Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
| | - Yutaka Matsuo
- Department of Chemical Systems Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
- Institute of Materials Innovation, Institutes for Future Society, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
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Chao D, Liu TX, Zhang P, Xia S, Zhang G. Copper-Mediated Radical-Induced Ring-Opening Relay Cascade Carboannulation Reaction of [60]Fullerene with Cyclobutanone Oxime Esters: Access to [60]Fullerene-Fused Cyclopentanes. J Org Chem 2023; 88:13076-13088. [PMID: 37651613 DOI: 10.1021/acs.joc.3c01291] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 09/02/2023]
Abstract
An unexpected copper-mediated radical-induced ring-opening relay cascade carboannulation reaction of [60]fullerene with cyclobutanone oxime esters is presented for the preparation of various Cl-/Br-incorporated [60]fullerene-fused cyclopentanes. The unique relay cascade transformation uses inexpensive copper salts as promoters and halogen sources and features simple redox-neutral conditions and a broad substrate scope, providing a practical access to a class of novel five-membered carbocycle-fused fullerenes.
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Affiliation(s)
- Di Chao
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, P. R. China
| | - Tong-Xin Liu
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, P. R. China
| | - Pengling Zhang
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, P. R. China
| | - Shilu Xia
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, P. R. China
| | - Guisheng Zhang
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, P. R. China
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Shao G, Niu C, Liu HW, Yang H, Chen JS, Yao YR, Yang S, Wang GW. [60]Fullerene-Fused Cyclopentanes: Mechanosynthesis and Photovoltaic Application. Org Lett 2023; 25:1229-1234. [PMID: 36787186 DOI: 10.1021/acs.orglett.3c00332] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/15/2023]
Abstract
The mechanochemical cascade reaction of [60]fullerene with 3-benzylidene succinimides, diethyl 2-benzylidene succinate, or 2-benzylidene succinonitrile in the presence of an inorganic base has been investigated under solvent-free and ball-milling conditions. This protocol provides an expedient method to afford various [60]fullerene-fused cyclopentanes, showing advantages of good substrate scope, short reaction time, and solvent-free and ambient reaction conditions. Furthermore, representative fullerene products have been applied in inverted planar perovskite solar cells as efficient cathode interlayers.
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Affiliation(s)
- Gang Shao
- Hefei National Research Center for Physical Sciences at the Microscale and Department of Chemistry, University of Science and Technology of China, Hefei, Anhui 230026, People's Republic of China
| | - Chuang Niu
- Hefei National Research Center for Physical Sciences at the Microscale and Department of Chemistry, University of Science and Technology of China, Hefei, Anhui 230026, People's Republic of China
| | - Hong-Wei Liu
- Hefei National Research Center for Physical Sciences at the Microscale and Department of Chemistry, University of Science and Technology of China, Hefei, Anhui 230026, People's Republic of China
| | - Huan Yang
- Hefei National Research Center for Physical Sciences at the Microscale and Department of Chemistry, University of Science and Technology of China, Hefei, Anhui 230026, People's Republic of China
| | - Jun-Shen Chen
- Hefei National Research Center for Physical Sciences at the Microscale and Department of Chemistry, University of Science and Technology of China, Hefei, Anhui 230026, People's Republic of China
| | - Yang-Rong Yao
- Hefei National Research Center for Physical Sciences at the Microscale, Chinese Academy of Sciences Key Laboratory of Materials for Energy Conversion, Department of Materials Science and Engineering, University of Science and Technology of China, Hefei, Anhui 230026, People's Republic of China
| | - Shangfeng Yang
- Hefei National Research Center for Physical Sciences at the Microscale, Chinese Academy of Sciences Key Laboratory of Materials for Energy Conversion, Department of Materials Science and Engineering, University of Science and Technology of China, Hefei, Anhui 230026, People's Republic of China
| | - Guan-Wu Wang
- Hefei National Research Center for Physical Sciences at the Microscale and Department of Chemistry, University of Science and Technology of China, Hefei, Anhui 230026, People's Republic of China.,State Key Laboratory of Applied Organic Chemistry, Lanzhou University, Lanzhou, Gansu 730000, People's Republic of China
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5
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Liu TX, Wang X, Zhang P, Yang P, Li X, Zhang G. Assembly of Diverse [60]Fullerene-Fused Tricyclic Scaffolds via a Palladium-Catalyzed Cascade [2 + 2 + 2] Annulation Reaction. Org Lett 2022; 24:9102-9106. [DOI: 10.1021/acs.orglett.2c03764] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
Affiliation(s)
- Tong-Xin Liu
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, People’s Republic of China
| | - Xin Wang
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, People’s Republic of China
| | - Pengling Zhang
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, People’s Republic of China
| | - Panting Yang
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, People’s Republic of China
| | - Xiaojun Li
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, People’s Republic of China
| | - Guisheng Zhang
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, People’s Republic of China
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Shibuya H, Choi YS, Choi T, Yun S, Moon J, Matsuo Y. Synthesis of n-Type [60]Fullerene Derivatives with Sterically Bulky tert-Butyl Groups for Vacuum Deposition Processes. Chem Asian J 2022; 17:e202200609. [PMID: 35833622 DOI: 10.1002/asia.202200609] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/09/2022] [Revised: 07/12/2022] [Indexed: 11/11/2022]
Abstract
[60]Fullerene derivatives with high thermal stability can be used for vacuum deposition under heating to fabricate thin films for organic electronic devices. Here we investigated the thermal stability of [60]fullerene derivatives with various bulky substituents for thermal evaporation under vacuum by means of thermogravimetric analysis under reduced and normal pressure. We found sterically bulky groups such as tert -butyl groups of [60]fullerene derivatives lowered the vacuum deposition temperature. Also, we performed isothermal thermogravimetric analysis to examine the long-term thermal stability of the designed compounds under heating conditions. Furthermore, we investigated the UV-Vis absorption patterns of the deposited films. Absorption in the blue wavelength range, which was attributed to intermolecular HOMO-LUMO transitions among the molecular orbitals of adjacent [60]fullerenes, was dramatically modified. These results were associated with the prevention of aggregation among neighboring [60]fullerene by the sterically bulky groups. This concept could contribute to expanding the use of evaporable [60]fullerene derivatives in organic thin-film electronics research fields.
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Affiliation(s)
- Hiromasa Shibuya
- Samsung Advanced Institute of Technology, Material Research Center, 130 Samsung-ro, Yeongtong-gu, 443-803, Suwon, KOREA, REPUBLIC OF
| | - Yeong Suk Choi
- Samsung Advanced Institute of Technology, Material Research Center, 130 Samsung-ro, Yeongtong-gu, 443-803, Suwon, KOREA, REPUBLIC OF
| | - Taejin Choi
- Samsung Advanced Institute of Technology, Material Research Center, 130 Samsung-ro, Yeongtong-gu, 443-803, Suwon, KOREA, REPUBLIC OF
| | - Sungyoung Yun
- Samsung Advanced Institute of Technology, Material Research Center, 130 Samsung-ro, Yeongtong-gu, 443-803, Suwon, KOREA, REPUBLIC OF
| | - Juhee Moon
- Samsung Advanced Institute of Technology, Material Research Center, 130 Samsung-ro, Yeongtong-gu, 443-803, Suwon, KOREA, REPUBLIC OF
| | - Yutaka Matsuo
- Nagoya University: Nagoya Daigaku, Department of Chemical System Engineering, Graduate School of Engineering, Furo-cho, 464-8603, Nagoya, JAPAN
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Niu C, Yin ZC, Wang WF, Huang X, Zhou DB, Wang GW. Retro Baeyer–Villiger reaction: thermal conversion of the [60]fullerene-fused lactones to ketones. Chem Commun (Camb) 2022; 58:3685-3688. [DOI: 10.1039/d2cc00126h] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/21/2022]
Abstract
The conversion of the [60]fullerene-fused lactones to ketones with triflic anhydride as an unusual reductant under aerobic conditions has been achieved in excellent yields. The present thermal retro Baeyer–Villiger reaction...
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Liu TX, Zhang C, Zhang P, Wang X, Ma J, Zhang G. Palladium-catalyzed decarboxylative [2 + 3] cyclocarbonylation reactions of [60]fullerene: selective synthesis of [60]fullerene-fused 3-vinylcyclopentan-4-ones and cyclopentane-4-carbaldehydes. Org Chem Front 2022. [DOI: 10.1039/d2qo01116f] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/21/2022]
Abstract
A new palladium-catalyzed decarboxylative strategy has been developed toward direct cyclocarbonylation of [60]fullerene, selectively furnishing novel [60]fullerene-fused 3-vinylcyclopentan-4-ones and cyclopentane-4-carbaldehydes.
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Affiliation(s)
- Tong-Xin Liu
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, P. R. China
- Key Laboratory of Green and Precise Synthetic Chemistry and Applications, Ministry of Education, Huaibei Normal University, Huaibei, Anhui 235000, P. R. China
| | - Chuanjie Zhang
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, P. R. China
| | - Pengling Zhang
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, P. R. China
| | - Xin Wang
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, P. R. China
| | - Jinliang Ma
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, P. R. China
| | - Guisheng Zhang
- Collaborative Innovation Center of Henan Province for Green Manufacturing of Fine Chemicals, Key Laboratory of Green Chemical Media and Reactions, Ministry of Education, School of Chemistry and Chemical Engineering, Henan Normal University, Xinxiang, Henan 453007, P. R. China
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Zheng XL, Lin HS, Zhang BW, Maruyama S, Matsuo Y. Synthesis of Conjugated Donor-Acceptor Antiaromatic Porphyrins and Their Application to Perovskite Solar Cells. J Org Chem 2021; 87:5457-5463. [PMID: 34931835 DOI: 10.1021/acs.joc.1c01947] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
Abstract
A conjugated donor-acceptor antiaromatic porphyrin, composed of an antiaromatic thieno-fused porphyrin structure and a diketopyrrolopyrrole mioety, was synthesized and applied in a perovskite solar cell for the first time. Enhanced light absorption in the device by the antiaromatic porphyrin resulted in a significantly increased power conversion efficiency of 19.3%.
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Affiliation(s)
- Xue-Lin Zheng
- Department of Chemistry, School of Chemistry and Materials Science, and Hefei National Laboratory for Physical Sciences at the Microscale, University of Science and Technology of China, Hefei, Anhui 230026, China
| | - Hao-Sheng Lin
- Department of Chemical System Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan.,Department of Mechanical Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo 113-8656, Japan
| | - Bo-Wen Zhang
- Department of Mechanical Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo 113-8656, Japan
| | - Shigeo Maruyama
- Department of Mechanical Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo 113-8656, Japan
| | - Yutaka Matsuo
- Department of Chemistry, School of Chemistry and Materials Science, and Hefei National Laboratory for Physical Sciences at the Microscale, University of Science and Technology of China, Hefei, Anhui 230026, China.,Department of Chemical System Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan.,Department of Mechanical Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo 113-8656, Japan
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