Research on the reaction of furil with ammonium acetate

The direct reaction of furil with ammonium acetate in refluxing glacial acetic acid under the absence of appropriate aldehydes was systematically studied. The principal product with furan rings and imidazole ring 2,4,5-tri(furan-2-yl)-1H-imidazole (I) was obtained in moderate yield, and two new byproducts containing furan rings were successfully purified by C18 reversed phase column. All compounds were characterized by elemental analysis, MS, IR, 1H and 13C NMR spectroscopy. The structure of I was further confirmed by the 13C-1H COSY spectroscopy. The putative reaction mechanism via stable 1,2-di(furan-2-yl)ethane-1,2-diimine, furan-2-yl-(2,4,5-tri-furan-2-yl-2H-imidazol-2-yl)-methanone and intermediate 5 traced by GC-MS was proposed

Adaptive Environment Modeling Based Reinforcement Learning for Collision Avoidance in Complex Scenes

The major challenges of collision avoidance for robot navigation in crowded scenes lie in accurate environment modeling, fast perceptions, and trustworthy motion planning policies. This paper presents a novel adaptive environment model based collision avoidance reinforcement learning (i.e., AEMCARL) framework for an unmanned robot to achieve collision-free motions in challenging navigation scenarios. The novelty of this work is threefold: (1) developing a hierarchical network of gated-recurrent-unit (GRU) for environment modeling; (2) developing an adaptive perception mechanism with an attention module; (3) developing an adaptive reward function for the reinforcement learning (RL) framework to jointly train the environment model, perception function and motion planning policy. The proposed method is tested with the Gym-Gazebo simulator and a group of robots (Husky and Turtlebot) under various crowded scenes. Both simulation and experimental results have demonstrated the superior performance of the proposed method over baseline methods.Comment: accepted by IROS202

RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments

Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures, resulting in excessive computation time. In this paper, we present an accelerated collision-free motion planner, namely regularized dual alternating direction method of multipliers (RDADMM or RDA for short), for the model predictive control (MPC) based motion planning problem. The proposed RDA addresses nonconvex motion planning via solving a smooth biconvex reformulation via duality and allows the collision avoidance constraints to be computed in parallel for each obstacle to reduce computation time significantly. We validate the performance of the RDA planner through path-tracking experiments with car-like robots in both simulation and real-world settings. Experimental results show that the proposed method generates smooth collision-free trajectories with less computation time compared with other benchmarks and performs robustly in cluttered environments. The source code is available at https://github.com/hanruihua/RDA_planner.Comment: Published in: IEEE Robotics and Automation Letters ( Volume: 8, Issue: 3, March 2023) (https://ieeexplore.ieee.org/document/10036019

Learning adaptive reaching and pushing skills using contact information

In this paper, we propose a deep reinforcement learning-based framework that enables adaptive and continuous control of a robot to push unseen objects from random positions to the target position. Our approach takes into account contact information in the design of the reward function, resulting in improved success rates, generalization for unseen objects, and task efficiency compared to policies that do not consider contact information. Through reinforcement learning using only one object in simulation, we obtain a learned policy for manipulating a single object, which demonstrates good generalization when applied to the task of pushing unseen objects. Finally, we validate the effectiveness of our approach in real-world scenarios

Tandem internal electric fields in intralayer/interlayer carbon nitride homojunction with a directed flow of photo-excited electrons for photocatalysis

Photocatalytic hydrogen production is a green technology while significantly impeded by the sluggish and uncontrolled charge dynamics for less electron accumulation on catalyst surface. Herein, we proposed an effective strategy of epitaxial growth of a van der Waals (VDW) homojunction on an intralayer homojunction of carbon nitride for a controlled charge flow. Experimental and simulation collectively disclosed a tandem internal electric field (IEF) in the integrated hybrid, stringing a lateral IEF along the intralayer homojunction with a vertical IEF within the VDW homojunction. The planar IEF dominates laterally dispersive movement of charge carriers for their efficient separations and mobilities, meanwhile the vertical IEF induces an oriented accumulation of the dispersive hot electrons to the catalyst surface for intensified hydrogen reduction. The tandem IEF renders the hydrogen evolution rate at 3.5-fold higher than in-planar homojunction, and 6.3 times higher than g-C3N4 benchmark. This work realizes charge-directing dynamics for robust photocatalysis

The impact of medical staff’s character strengths on job performance in Hangzhou hospitals

BackgroundImproving job performance has a significant effect on the quality of medical services and ensuring people’s health.PurposeThis study explores the influence and mechanism of the character strengths and career callings of medical staff as well as the intermediary role of such career calling.MethodologyA cross-sectional survey was conducted of 414 healthcare staff members in public hospitals in Hangzhou. Descriptive statistics and hierarchical linear regressions were used to analyze the medical staff’s job performance and related factors, and structural equation modeling path analysis was used to explore and validate the influence and mechanism of character advantage and career calling on job performance.ResultsThe results show that medical staff character strengths have a positive impact on job performance. Path analysis shows that character strengths indirectly affect job performance, and career calling plays a partial mediating role in character strengths and job performance.ConclusionThe results show that good personalities promote job performance, and the association is more significant under a high sense of career calling

Identification of RyR2-PBmice and the effects of transposon insertional mutagenesis of the RyR2 gene on cardiac function in mice

Ryanodine receptor 2 (RyR2) plays an important role in maintaining the normal heart function, and mutantions can lead to arrhythmia, heart failure and other heart diseases. In this study, we successfully identified a piggyBac translocated RyR2 gene heterozygous mouse model (RyR2-PBmice) by tracking red fluorescent protein (RFP) and genotyping PCR. Cardiac function tests showed that there was no significant difference between the RyR2-PBmice and corresponding wild-type mice (WTmice), regardless of whether they were in the basal state or injected with epinephrine and caffeine. However, the sarcoplasmic reticulum Ca2+ content was significantly reduced in the cardiomyocytes of RyR2-PBmice as assessed by measuring caffeine-induced [Ca2+]i transients; the cardiac muscle tissue of RyR2-PBmice displayed significant mitochondrial swelling and focal dissolution of mitochondrial cristae, and the tissue ATP content in the RyR2-PBmice heart was significantly reduced. To further analyze the molecular mechanism behind these changes, we tested the expression levels of related proteins using RT-PCR and Western blot analyses. The mRNA level of RyR2 in RyR2-PBmice cardiac tissue decreased significantly compared with the WTmice, and the protein expression associated with the respiratory chain was also downregulated. These results suggested that the piggyBac transposon inserted into the RyR2 gene substantively affected the structure and function of mitochondria in the mouse cardiomyocytes, leading to disorders of energy metabolism

Confined FeNi alloy nanoparticles in carbon nanotubes for photothermal oxidative dehydrogenation of ethane by carbon dioxide

Oxidative dehydrogenation of ethane with CO2 (ODEC) is an attractive reaction for reduction of carbon footprints and ethene production. In this work, we present photothermal catalysis on confined bimetal catalysts for ODEC. Carbon nanotubes confined non-noble bimetal alloy (i.e., CoNi@CNTs and FeNi@CNTs) catalysts were prepared and FeNi@CNTs showed effective performance in photothermal catalytic ODEC to ethene. Experiments and simulations reveal that UV and visible lights (420 – 490 nm) are responsible for ODEC and non-oxidative dehydrogenation of ethane, respectively, to ethene. Additionally, ODEC to ethene is preferred to C-C cracking to methane on FeNi@CNTs in light ( \u3e 490 nm)-induced thermocatalysis. The photothermal effect turns more significant when introduced into thermocatalytic ODEC (500 °C), with ethene generation at one order of magnitude. This work advances new mechanism of photo-mediated catalysis and sheds light on utilization of full-spectrum solar energy and non-noble metallic catalysts for ethene production and CO2 recycling at moderate conditions