Probing the effects of heterocyclic functionality in [(Benzene) Ru(TsDPENR) Cl] catalysts for asymmetric transfer hydrogenation

A range of TsDPEN catalysts containing heterocyclic groups on the amine nitrogen atom were prepared and evaluated in the asymmetric transfer hydrogenation of ketones. Bidentate and tridentate ligands demonstrated a mutual exclusivity directly related to their function as catalysts. A broad series of ketones were reduced with these new catalysts, permitting the ready identification of an optimal catalyst for each substrate and revealing the subtle effects that changes to nearby donor groups can exhibit

Applications of N′-monofunctionalised TsDPEN derivatives in asymmetric catalysis

This review contains an account of recent developments in the applications of N′-monoalkylated or N′-mono(thio)acylated(N-sulfonyl)-1,2-diphenylethylene-1,2-diamine (TsDPEN) derivatives to asymmetric catalysis. The coverage features examples of applications of derivatives as ligands in organometallic complexes for use in asymmetric reduction and oxidation reactions. The use of TsDPEN derivatives as catalysts in a diverse range of C–C and C–S bond formation reactions is also described in detail

A diversity of recently reported methodology for asymmetric imine reduction

This review contains an account of recent developments in catalytic, asymmetric processes reported for the reduction of C=N bonds to amines, in which we have attempted to communicate the remarkable diversity of methods which have been reported in recent years, including organometallic and organocatalytic processes

Asymmetric transfer hydrogenation of unhindered and non-electron-rich 1-Aryl dihydroisoquinolines with high enantioselectivity

The use of arene/Ru/TsDPEN catalysts bearing a heterocyclic group on the TsDPEN in the asymmetric transfer hydrogenation (ATH) of dihydroisoquinolines (DHIQs) containing meta- or para-substituted aromatic groups at the 1-position results in the formation of products of high enantiomeric excess. Previously, only 1-(ortho-substituted)aryl DHIQs, or with an electron-rich fused ring gave products with high enantioselectivity; therefore, this approach solves a long-standing challenge for imine ATH

Meeting-Merging-Mission: A Multi-robot Coordinate Framework for Large-Scale Communication-Limited Exploration

This letter presents a complete framework Meeting-Merging-Mission for multi-robot exploration under communication restriction. Considering communication is limited in both bandwidth and range in the real world, we propose a lightweight environment presentation method and an efficient cooperative exploration strategy. For lower bandwidth, each robot utilizes specific polytopes to maintains free space and super frontier information (SFI) as the source for exploration decision-making. To reduce repeated exploration, we develop a mission-based protocol that drives robots to share collected information in stable rendezvous. We also design a complete path planning scheme for both centralized and decentralized cases. To validate that our framework is practical and generic, we present an extensive benchmark and deploy our system into multi-UGV and multi-UAV platforms

Characterisation of aroma-active compounds in dried Dendrobium spp. stems (Shihu) using GC-Olfactometry and a modified NIF-SNIF method

Dendrobium orchid stems (Chinese name Shihu) are becoming popular ingredients in food and drinks such as wine, teas and desserts, however, its aroma chemistry is not currently understood. Gas Chromatography-Mass Spectrometry (GC-MS) and Gas Chromatography-Olfactometry (GC-O) were used to analyse two Dendrobium species. The Nasal Impact Frequency-Surface of Nasal Impact Frequency (NIF-SNIF) method was employed on thirteen untrained panellists using a newly built open-source software (“nif-simple”). An expert annotated odour descriptions and intensities of NIF-SNIF peaks. Twenty-four volatile aroma compounds were found using GC-MS, with 22 shared compounds and 17 reported for the first time. GC-O NIF-SNIF indicated nine aroma compounds were aroma-active in D. nobile and D. officinale. Five were found in both species suggesting that they are species-independent markers. Aroma-active compounds were characterised as brown, mushroom, metallic, nutty and potato aromas. Methional (NIF 83 %) and 1-octen-3-one (NIF 81 %) were most frequently detected in D. nobile and D. officinale respectively, and this study proposed aroma formation mechanisms in dried Dendrobium stems. Modified Frequencies demonstrated that NIF-SNIF is an effective GC-O method for identifying key aroma-active compounds. Understanding the flavour properties of Shihu could enhance its global appeal and encourage NIF-SNIF to be used in future studies

CREPES: Cooperative RElative Pose Estimation System

Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact hardware design using active infrared (IR) LEDs, an IR fish-eye camera, an ultra-wideband (UWB) module and an inertial measurement unit (IMU). By leveraging IR light communication, the system solves data association between visual detection and UWB ranging. Ranging measurements from the UWB and directional information from the camera offer relative 3-DOF position estimation. Combining the mutual relative position with neighbors and the gravity constraints provided by IMUs, we can estimate the 6-DOF relative pose from a single frame of sensor measurements. In addition, we design an estimator based on the error-state Kalman filter (ESKF) to enhance system accuracy and robustness. When multiple neighbors are available, a Pose Graph Optimization (PGO) algorithm is applied to further improve system accuracy. We conduct enormous experiments to demonstrate CREPES' accuracy between robot pairs and a team of robots, as well as performance under challenging conditions

A flavour perspective of Tiepishihu (Dendrobium officinale) – an emerging food ingredient from popular traditional Chinese medicinal plants: a review

Many Dendrobium orchid stems are used in Traditional Chinese Medicine (TCM). The most popular and premium species is Dendrobium officinale, and its stem in TCM is called Tiepishihu. Tiepishihu has a sweet flavour and is an ingredient in Chinese tea and desserts. There is no comprehensive understanding of its flavour compounds. It is, therefore, essential to understand compounds responsible for its flavour, and how they are formed. This review assesses twelve diverse studies in Tiepishihu flavour (2013–2022). Thirty aroma compounds were compared – furfural and nonanal were identified as common compounds. Four of seven essential amino acids were taste-active, with lysine being the most potent. Pre-harvest factors such as environment impact specific aroma compounds. Post-harvest processing methods, including drying and grinding, can control Tiepishihu's flavour. Methodological consistency is a challenge, but controlling Tiepishihu's flavour could increase its commercial value as a food ingredient