Background A large number of robots have put forward the new requirements for human robot interaction.One of the problems in human-swarm robot interaction is how to naturally achieve an efficient and accurate interact...Background A large number of robots have put forward the new requirements for human robot interaction.One of the problems in human-swarm robot interaction is how to naturally achieve an efficient and accurate interaction between humans and swarm robot systems.To address this,this paper proposes a new type of human-swarm natural interaction system.Methods Through the cooperation between three-dimensional(3D)gesture interaction channel and natural language instruction channel,a natural and efficient interaction between a human and swarm robots is achieved.Results First,A 3D lasso technology realizes a batch-picking interaction of swarm robots through oriented bounding boxes.Second,control instruction labels for swarm-oriented robots are defined.The instruction label is integrated with the 3D gesture and natural language through instruction label filling.Finally,the understanding of natural language instructions is realized through a text classifier based on the maximum entropy model.A head-mounted augmented reality display device is used as a visual feedback channel.Conclusions The experiments on selecting robots verify the feasibility and availability of the system.展开更多
At present,excessive carbon dioxide(CO_(2))emission has become an increasingly prominent global energy and environmental issue.Therefore,effective methods to convert CO_(2) into fine chemicals are urgently required.He...At present,excessive carbon dioxide(CO_(2))emission has become an increasingly prominent global energy and environmental issue.Therefore,effective methods to convert CO_(2) into fine chemicals are urgently required.Herein,series of S-doped carbon-nitrogen(CNS-X)materials(where X denotes the ratio of thiourea and melamine substances ranging from 0.03 to 0.8)was prepared via the programmed temperature pyrolysis method,which thiourea(CH4N_(2)S)and melamine was used as the precursor of the catalysts.The sulfur source endow the CNS-X acidic sites,which cooperate synergistically with amino groups from the incomplete polymerization of melamine,leading to a bifunctional catalyst for cycloaddition reaction of CO_(2) with epoxides.These catalysts were characterized using X-ray diffraction,Fourier transform infrared spectroscopy,elemental analysis,X-ray photoelectron spectroscopy,and N_(2) adsorption-desorption techniques,confirming the successful integration of functional groups.The optimal thiourea doping concentration of 0.4 was certainly found to have considerably facilitated the efficient conversion of CO_(2) by the CNS-0.4 catalyst,in which the conversion of epichlorohydrin(ECH)could achieve over 90.0% and the selectivity of cyclic carbonate is 98.0% under 1.0 MPa at 140℃ for 10 h.The superior catalytic performance of CNS-0.4 was attributable to the synergistic effect arising from the co-existence of Lewis acidic and basic sites.Notably,using CNS-0.4 resulted in a high yield even after four reaction cycles.展开更多
基金Key-Area Research and Development Program of Guangdong Province(2019B090915002).
文摘Background A large number of robots have put forward the new requirements for human robot interaction.One of the problems in human-swarm robot interaction is how to naturally achieve an efficient and accurate interaction between humans and swarm robot systems.To address this,this paper proposes a new type of human-swarm natural interaction system.Methods Through the cooperation between three-dimensional(3D)gesture interaction channel and natural language instruction channel,a natural and efficient interaction between a human and swarm robots is achieved.Results First,A 3D lasso technology realizes a batch-picking interaction of swarm robots through oriented bounding boxes.Second,control instruction labels for swarm-oriented robots are defined.The instruction label is integrated with the 3D gesture and natural language through instruction label filling.Finally,the understanding of natural language instructions is realized through a text classifier based on the maximum entropy model.A head-mounted augmented reality display device is used as a visual feedback channel.Conclusions The experiments on selecting robots verify the feasibility and availability of the system.
基金supported by the Guangdong Basic and Applied Basic Research Foundation(Nos.2023A1515110260 and 2023A1515140049)Special Projects in Key Areas of the Guangdong Provincial Department of Education(No.2024ZDZX2093).
文摘At present,excessive carbon dioxide(CO_(2))emission has become an increasingly prominent global energy and environmental issue.Therefore,effective methods to convert CO_(2) into fine chemicals are urgently required.Herein,series of S-doped carbon-nitrogen(CNS-X)materials(where X denotes the ratio of thiourea and melamine substances ranging from 0.03 to 0.8)was prepared via the programmed temperature pyrolysis method,which thiourea(CH4N_(2)S)and melamine was used as the precursor of the catalysts.The sulfur source endow the CNS-X acidic sites,which cooperate synergistically with amino groups from the incomplete polymerization of melamine,leading to a bifunctional catalyst for cycloaddition reaction of CO_(2) with epoxides.These catalysts were characterized using X-ray diffraction,Fourier transform infrared spectroscopy,elemental analysis,X-ray photoelectron spectroscopy,and N_(2) adsorption-desorption techniques,confirming the successful integration of functional groups.The optimal thiourea doping concentration of 0.4 was certainly found to have considerably facilitated the efficient conversion of CO_(2) by the CNS-0.4 catalyst,in which the conversion of epichlorohydrin(ECH)could achieve over 90.0% and the selectivity of cyclic carbonate is 98.0% under 1.0 MPa at 140℃ for 10 h.The superior catalytic performance of CNS-0.4 was attributable to the synergistic effect arising from the co-existence of Lewis acidic and basic sites.Notably,using CNS-0.4 resulted in a high yield even after four reaction cycles.
