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| 1 | Reductive amination of 1,6-hexanediol with Ru/Al2O3 catalyst in supercritical ammonia显示文摘Hexamethylenediamine(HMDA) is an important reagent for the synthesis of Nylon-6,6, and it is usually produced by the hydrogenation of adiponitrile using a toxic reagent of hydrocyanic acid. Herein, we developed an environmental friendly route to produce HMDA via catalytic reductive amination of 1,6-hexanediol(HDO) in the presence of hydrogen. The activities of several heterogeneous metal catalysts such as supported Ni, Co, Ru, Pt, Pd catalysts were screened for the present reaction in supercritical ammonia without any additives. Among the catalysts examined, Ru/Al_2O_3 presented a high catalytic activity and highest selectivity for the desired product of HMDA. The high performance of Ru/Al_2O_3 was discussed based on the Ru dispersion and the surface properties like the acid-basicity. In addition, the reaction parameters such as reaction temperature,time, H_2 and NH_3 pressure were examined, and the reaction processes were discussed in detail. | Yan Li Haiyang Cheng Chao Zhang Bin Zhang Tong Liu Qifan Wu Xinluona Su Weiwei Lin Fengyu Zhao | 2017 | Science China Chemistry2017，60，7： | 5 |
| 2 | Molecular architecture of the luminal ring of the Xenopus laevis nuclear pore complex显示文摘The nuclear pore complex(NPC)mediates the flow of substances between the nucleus and cytoplasm in eukaryotic cells.Here we report the cryo-electron tomography(cryo-ET)structure of the luminal ring(LR)of the NPC from Xenopus laevis oocyte.The observed key structural features of the LR are independently confirmed by single-particle cryo-electron microscopy(cryo-EM)analysis.The LR comprises eight butterfly-shaped subunits,each containing two symmetric wings.Each wing consists of four elongated,tubular protomers.Within the LR subunit,the eight protomers form a Finger domain,which directly contacts the fusion between the inner and outer nuclear membranes and a Grid domain,which serves as a rigid base for the Finger domain.Two neighboring LR subunits interact with each other through the lateral edges of their wings to constitute a Bumper domain,which displays two major conformations and appears to cushion neighboring NPCs.Our study reveals previously unknown features of the LR and potentially explains the elastic property of the NPC. | Yanqing Zhang Sai Li Chao Zeng Gaoxingyu Huang Xuechen Zhu Qifan Wang Kunpeng Wang Qiang Zhou Chuangye Yan Wusheng Zhang Guangwen Yang Minhao Liu Qinghua Tao Jianlin Lei Yigong Shi | 2020 | Cell Research2020，30，6： | 4 |
| 3 | Spatial Pattern and Influencing Factor Analysis of Attended Collection and Delivery Points in Changsha City, China显示文摘Attended collection and delivery points are vital components of ‘last-mile logistics’.Based on point of interest(POI) data for Cainiao Stations and China Post stations in Changsha City, China, this paper provides a detailed exploration of the basic features, spatial distribution, and location influencing factors of attended collection and delivery points.Specifically, analyses of the types, service objects and location distributions of the attended collection and delivery points alongside a discussion of their spatial pattern and influencing factors provides a reference for their general geographic layout and characteristics.The findings of this study indicate that: 1) The main mode of operation of attended collection and delivery points is franchises, with other modes of operation rely on supermarkets and other individual shop types.2) The main service targets of attended collection and delivery points are communities, schools, and businesses, followed by townships, enterprises, scenic spots, and administrative units.3) Approximately 77.44% of the attended collection and delivery points are located near the exits of service areas;others are situated in the centre of the service areas.For the Cainiao Stations, 80% are located within 125 m of the exit;for the China Post stations, 80% are located within 175 m of the exit.4) The spatial distribution of the attended collection and delivery points in Changsha is unbalanced, with ‘more centre and fewer surrounding’.The centre is an ‘inverted triangle’, and the edge is an ‘orphan’, showing a northwest-southeast orientation and symmetrical along the axis.The layout of the attended collection and delivery points forms three core areas, and the number of sites decreases with the distance from the core.5) The number and distribution of the attended collection and delivery points are strongly consistent with the regional economic development level, population, and roadway system traffic convenience.Most attended collection and delivery points are on residential, scientific and educational, and commercial and financial land. | XUE Shuyan LI Gang YANG Lan LIU Ling NIE Qifan Muhammad Sajid MEHMOOD | 2019 | Chinese Geographical Science2019，29，6： | 3 |
| 4 | TGF-β1-supplemented decellularized annulus fibrosus matrix hydrogels promote annulus fibrosus repair显示文摘Annulus fibrosus(AF)repair remains a challenge because of its limited self-healing ability.Endogenous repair strategies combining scaffolds and growth factors show great promise in AF repair.Although the unique and beneficial characteristics of decellularized extracellular matrix(ECM)in tissue repair have been demonstrated,the poor mechanical property of ECM hydrogels largely hinders their applications in tissue regeneration.In the present study,we combined polyethylene glycol diacrylate(PEGDA)and decellularized annulus fibrosus matrix(DAFM)to develop an injectable,photocurable hydrogel for AF repair.We found that the addition of PEGDA markedly improved the mechanical strength of DAFM hydrogels while maintaining their porous structure.Transforming growth factor-β1(TGF-β1)was further incorporated into PEGDA/DAFM hydrogels,and it could be continuously released from the hydrogel.The in vitro experiments showed that TGF-β1 facilitated the migration of AF cells.Furthermore,PEGDA/DAFM/TGF-β1 hydrogels supported the adhesion,proliferation,and increased ECM production of AF cells.In vivo repair performance of the hydrogels was assessed using a rat AF defect model.The results showed that the implantation of PEGDA/DAFM/TGF-β1 hydrogels effectively sealed the AF defect,prevented nucleus pulposus atrophy,retained disc height,and partially restored the biomechanical properties of disc.In addition,the implanted hydrogel was infiltrated by cells resembling AF cells and well integrated with adjacent AF tissue.In summary,findings from this study indicate that TGF-β1-supplemented DAFM hydrogels hold promise for AF repair. | Qiang Wei Dachuan Liu Genglei Chu Qifan Yu Zhao Liu Jiaying Li Qingchen Meng Weishan Wang Fengxuan Han Bin Li | 2023 | Bioactive Materials2023，，1： | 3 |
| 5 | Design, Synthesis and Biological Evaluation of Isothiazole Based 1,2,4-Trizaole Derivatives显示文摘 | Lai Chen Qifan Wu Zhijin Fan Hongpeng Li Jiwei Li Wenhao Hu Xiumei Liu Nataliya P Belskaya Tatiana Glukhareva Bin Zhao | 2018 | Chinese Journal of Chemistry2018，36，8： | 2 |
| 6 | Twenty-seven continental ancestry-informative SNP analysis of bone remains to resolve a forensic case显示文摘We employed our previously developed 27-plex ancestry-informative single nucleotide polymorphism(SNP)panel to infer the ancestral components of bone remains of a possible foreign pilot found in south-western China.For ancestry assignment of this unknown individual,we first obtained the 27-SNP genotype of the individual.Then,based on a reference database of 3081 individuals from 33 populations,we calculated the match probability and likelihood ratio using the self-developed software program Forensic Intelligence.Inferred ancestral components of this individual were calculated by structure at K=3.A complete profile was obtained for the individual using our multiplexed SNP assay.The European population was within one order of magnitude of the highest likelihood.The major ancestral component of this individual was 97.6%European. | Qifan Sun Li Jiang Guangfeng Zhang Jing Liu Lei Zhao Wenting Zhao Caixia Li | 2019 | Forensic Sciences Research2019，4，4： | 1 |
| 7 | Enhanced Microwave Absorption for High Filler Content Composite Molded from Polymer Coated Flaky Carbonyl Irons Modified by Silane Coupling Agents显示文摘A microwave absorbing sheet with a high complex permeability and a relatively low complex permittivity is obtained by molding of the densely coated flaky carbonyl iron particles(FCIPs)by styrenebutadiene-styrene block copolymer(SBS)in the assistance of coupling agent modification.Direct molding of the core-shell FCIPs without adding extra binder results in a large permeability due to the high filling ratio(55vol%)of absorbents.Importantly,the permittivity is well suppressed by the dense insulate polymer shell on the FCIPs,avoiding the severe impedance mismatch problem of the high filler content microwave absorbing materials.Investigations show that modifying the surface of FCIPs by proper amount of silane coupling agent is critical for the coating quality of the SBS shell,which is verified by resistivity and corrosion current density measurements,and can be interpreted by improved interfacial compatibility between the modified FCIPs and SBS.The obtained microwave absorbing sheet shows a minimum reflection loss of-38.74 dB at 1.57 GHz and has an effective absorption bandwidth from 1.1 to 2.3 GHz at a relatively small thickness of 2 mm. | 崔正明 MA Guoqing WANG Mengqi LUO Chuangyu CHEN Zhihong MA Huiru LI Qifan 李维 | 2023 | Journal of Wuhan University of Technology(Materials Science)2023，38，1： | 1 |
| 8 | Electromagnetic shielding effectiveness of amorphous metallic spheroidal-and flake-based magnetodielectric composites显示文摘Flexible,lightweight,conductive materials,having both high rf losses and high permeability,are extremely desirable for applications as electromagnetic(EM)shielding.Gas atomized spherical FeSi-based ferromagnetic metallic particles,having a mean diameter of 14.6μm with a standard deviation of 7.3μm,were measured to have a room temperature saturation magnetic flux density of 1.49 T with a coercivity of 160 A/m.Ball milling of the amorphous particles led to aspect ratios from 1:1(spherical)to>100:1(flake-like).Flake-like particles,suspended in paraffin,were found to not only increase the surface area of fillers enhancing the polarization mechanism but also increase the complex permeability and complex permittivity,and thus provide broadband shielding effectiveness.A loading factor of 40 vol.%of the∼15μm diameter powders provided the largestΔW_(RL=-20 dB)of 9.49 GHz(i.e.,6.55 | Kun Qian Qifan Li Alexander Sokolov Chengju Yu Piotr Kulik Ogheneyunume Fitchorova Yajie Chen Chins Chinnasamy Vincent G.Harris | 2021 | Journal of Materials Science & Technology2021，，24： | 1 |
| 9 | Engineering the viscoelasticity of gelatin methacryloyl(GelMA)hydrogels via small“dynamic bridges”to regulate BMSC behaviors for osteochondral regeneration显示文摘The dynamic extracellular matrix(ECM)constantly affects the behaviors of cells.To mimic the dynamics of ECM with controllable stiffness and energy dissipation,this study proposes a strategy in which a small molecule,3,4-dihydroxybenzaldehyde(DB),was used as fast'dynamic bridges'to construct viscoelastic gelatin methacryloyl(GelMA)-based hydrogels.The storage modulus and loss modulus of hydrogels were independently adjusted by the covalent crosslinking density and by the number of dynamic bonds.The hydrogels exhibited self-healing property,injectability,excellent adhesion and mechanical properties.Moreover,the in vitro results revealed that the viscous dissipation of hydrogels favored the spreading,proliferation,osteogenesis and chondrogenesis of bone marrow mesenchymal stem cells(BMSCs),but suppressed their adipogenesis.RNA-sequencing and immunofluorescence suggested that the viscous dissipation of hydrogels activated Yes-associated protein(YAP)by stabilizing integrinβ1,and further promoted nuclear translocation of smad2/3 andβ-catenin to enhance chondrogenesis and osteogenesis.As a result,the viscoelastic GelMA hydrogels with highest loss modulus showed best effect in cartilage and subchondral bone repair.Taken together,findings from this study reveal an effective strategy to fabricate viscoelastic hydrogels for modulating the interactions between cells and dynamic ECM to promote tissue regeneration. | Changjiang Liu Qifan Yu Zhangqin Yuan Qianping Guo Xiting Liao Feng Han Tao Feng Guoping Liu Runze Zhao Zhuang Zhu Haijiao Mao Caihong Zhu Bin Li | 2023 | Bioactive Materials2023，，7： | 1 |
| 10 | Scalable spray coated high performance sulfurized electron transporter for efficient and stable perovskite solar modules显示文摘The stability issue has been acknowledged as the bottleneck in the practical application of perovskite photovoltaics,while the stabilized interface between the perovskites and charge transport layers dominates their stability performance under different stresses.Here,we developed a high-performance sulfurized zinc-titanium mixed oxide(ZTO-S)electron transport layer(ETL)to fabricate large-area efficient and long-term 85℃/85%RH stable perovskite solar modules.The scalably prepared ZTO-S using the facile spray coating method demonstrates excellent electron mobility close to that of Zn O,in addition to promoting the uniform crystallization of perovskite film across the entire module via the interaction between surface S and Pb^(2+).Furthermore,this novel coordination stabilized the interface and reduced the interfacial non-radiative recombination defects within the devices,yielding an efficient and stable performance for the modules.High efficiency of 21.73%and 17.50%was achieved for blade-coated 36 cm^(2)and 100 cm^(2)perovskite solar modules,respectively.In addition,the encapsulated module(36 cm^(2))shows an attractive humidity and heat stability(85℃/85%RH)performance with a maintained 93.5%of the initial PCE over 1000 h. | Siqing Nie Qifan Feng Ziheng Tang Yaolin Hou Xiaofeng Huang Ruihao Chen Fang Cao Binghui Wu Jun Yin Jing Li Nanfeng Zheng | 2022 | Journal of Energy Chemistry2022，，12： | 1 |
| 11 | Magnetic, Geochemical and Mineralogical Charac teristics of Soils in Qiangtang Basin, Tibet, China: Implications for Prospective Oil and Gas Land显示文摘The alteration of iron bearing minerals induced by hydrocarbon microseepage above oil/gas reservoirs has been evaluated using measurements of soil magnetic susceptibility κ , geochemical compositions (gas hydrocarbon and alteration carbonate Δ C ), and composition and concentration of iron bearing minerals. The analyses were performed along two profiles across the Qiangtang basin in Tibet, China: the Nuoermahu Xuehuanhu profile (C) and the Mugari Huochetoushan profile (E). Results show that three strong magnetic anomalies (C 1, E 1 and E 2 anomalies) are related to the distribution of Neogene volcanic rocks on the surface in the Gangmacuo Xiyaergang uplift. Two other anomalies (C 2 and E 4 anomalies), characterized by both moderately amplitude magnetic susceptibility and elevated soil gas hydrocarbons, occur near fault zones in the Cuoni Donghu synclinorium. These latter anomalies display characteristics of hydrocarbon microseepage anomalies commonly associated with oil and gas accumulations. Their presence in the Cuoni Donghu synclinorium suggests that parts of the Qiangtang basin may have significant petroleum potential. | Liu Qingsheng Department of Geophysics, China University of Geosciences, Wuhan 430074 The State Key Laboratory of Oil/Gas Reservoir Geology and Exploitation of China, Institute of Chengdu Technology, Chengdu 610059 Wu Qifan Li Haixia Department o | 2001 | Journal of China University of Geosciences2001，12，2： | 1 |
| 12 | 显示文摘 | Xu Jiming Li Wei Yin Qifan | 2007 | Electrochimica Acta2007，52，11： | 1 |
| 13 | Effects of medium fluid cavitation on fluctuation characteristics of magnetic fluid seal interface in agricultural centrifugal pump显示文摘The fluctuation law of magnetic fluid seal interface of an agricultural centrifugal pump is theoretically unknown;the pressure and velocity fluctuations are crucial factors that cause interface fluctuation.In this study,the pressure and velocity fluctuations of the sealing interface on an agricultural centrifugal pump during cavitation were investigated based on the methods of Ansys CFX numerical calculation and experimental verification.The results demonstrated that at the same flow rate,the pressure fluctuation amplitude of the sealing interface decreased gradually from the shaft surface to the bottom of the polar tooth.At different flow rates,the amplitude of the pressure fluctuation decreased with an increase in the flow rate.The cavitation of the medium aggravated the impact and water hammer of the liquid,leading to the occurrence of the jitter phenomenon in the sealing interface to accelerate the fluctuation frequency of the axial velocity of the sealing liquid,which accelerated the emulsification of the magnetic fluid.This law can provide a reference for the design of magnetic fluid sealing devices for agricultural centrifugal pumps. | Zhenggui Li Wangxu Li Qifan Wang Ru Xiang Jie Cheng Wei Han Zhaoqiang Yan | 2021 | International Journal of Agricultural and Biological Engineering2021，14，6： | 0 |
| 14 | Preclinical characterization and anti-SARS-CoV-2 efficacy of ATV014:an oral cyclohexanecarboxylate prodrug of 1′-CN-4-aza-7,9-dideazaadenosine C-nucleoside显示文摘Dear Editor,Severe acute respiratory syndrome coronavirus 2(SARS-CoV-2),the causative agent of the global pandemic coronavirus disease 2019(COVID-19),has proven itself to be a highly virulent respiratory pathogen with an unpredictable evolutionary capacity,posing a persistent threat to mankind.At the time of this manuscript’s publication. | Qifan Zhou Sidi Yang Liu Cao Yang Yang Tiefeng Xu Qishu Chen Hongzhou Lu Yingjun Li Deyin Guo Xumu Zhang | 2023 | Signal Transduction and Targeted Therapy2023，8，2： | 0 |
| 15 | Carbon nanocages bridged with graphene enable fast kinetics for dual-carbon lithium-ion capacitors显示文摘Lithium-ion capacitors(LICs) combining the advantages of lithium-ion batteries and supercapacitors are considered a promising nextgeneration energy storage device. However, the sluggish kinetics of battery-type anode cannot match the capacitor-type cathode, restricting the development of LICs. Herein, hierarchical carbon framework(HCF) anode material composed of 0D carbon nanocage bridged with 2D graphene network are developed via a template-confined synthesis process. The HCF with nanocage structure reduces the Li^(+) transport path and benefits the rapid Li^(+) migration, while 2D graphene network can promote the electron interconnecting of carbon nanocages. In addition, the doped N atoms in HCF facilitate to the adsorption of ions and enhance the pseudo contribution, thus accelerate the kinetics of the anode. The HCF anode delivers high specific capacity, remarkable rate capability. The LIC pouch-cell based on HCF anode and active HCF(a-HCF) cathode can provide a high energy density of 162 Wh kg^(-1) and a superior power density of 15.8 kW kg^(-1), as well as a long cycling life exceeding 15,000cycles. This study demonstrates that the well-defined design of hierarchical carbon framework by incorporating 0D carbon nanocages and 2D graphene network is an effective strategy to promote LIC anode kinetics and hence boost the LIC electrochemical performance. | Shani Li Yanan Xu Wenhao Liu Xudong Zhang Yibo Ma Qifan Peng Xiong Zhang Xianzhong Sun Kai Wang Yanwei Ma | 2024 | Green Energy & Environment2024，9，3： | 0 |
| 16 | Lewis acid-oxygen vacancy interfacial synergistic catalysis over SO4^2-/Ce0.84Zr0.16O2-WO3-ZrO2 for N,N-diethylation of aniline with ethanol显示文摘Herein,a new mechanism involving Lewis acid-oxygen vacancy interfacial synergistic catalysis fo r aniline N,N-diethylation with ethanol was proposed,and the SO4^2-/Ce0.84Zr0.16O2-WO3-ZrO2 catalyst(SCWZ)with both Lewis acid sites and oxygen vacancies was synthesized by the hydrothermal method,which shows better catalytic activity than the reported solid acidic catalysts.Besides,the SO4^2-/ZrO2(SZ)and SO4^2-/WO3-ZrO2(SWZ)catalysts were also prepared and compared with SCWZ to investigate the synergistic effect of each component.The SO4^2-and WO3 mainly generate Lewis acid by bonding with ZrO2,which is beneficial for the fracture of the N-H bond in aniline.The Ce0.84Zr0.16O2 solid solution mainly plays a vital role in generating the oxygen vacancies as the interface active species,which can participate in stripping-OH from ethanol,then the carbocation will also be released,which only needs1.3805 kcal/mol energy,calculated by density functional theory(DFT),to be input.In comparison,the traditional reaction mechanism needs the Br■nsted acidic sites to promote the protonation of ethanol,then dehydration and subsequent formation of carbocation followed,and 108.6846 kcal/mol energy needs to be input,which is far higher than that of the new mechanism.The apparent activation energy(Ea)over SCWZ was measured by experiment to be 34.09 kJ/mol,which is much lower than that of SWZ(47.10 kJ/mol)and SZ(54.37 kJ/mol),illustrating comparatively preferable kinetics for SCWZ than that of SWZ and SZ.Besides,the conversion of aniline and selectivity to N,N-diethylaniline over SCWZ reach almost 100%and 73%,respectively,The SCWZ can be renewed for 4 times without rapid deactivation,and the longevity of SCWZ is longer than that of SWZ and SZ,as the loaded SO4^2-and tetragonal ZrO2 are stabilized by Ce0.84Zr0.16O2 and WO3,respectively. | Yacheng Liu Qifan Mao Xiaoyan Cao Xin Huang Kaijun Wang Can Wang Shuo Li Zhenggui Gu | 2020 | Journal of Rare Earths2020，38，11： | 0 |
| 17 | Source apportionment and suitability evaluation of seasonal VOCs contaminants in the soil around a typical refining-chemical integration park in China显示文摘Accurate source apportionment of volatile organic compounds(VOCs)in soil nearby petrochemical industries prevailing globally,is critical for preventing pollution.However,in the process,seasonal effect on contamination pathways and accumulation of soil VOCs is often neglected.Herein,Yanshan Refining-Chemical Integration Park,including a carpet,refining,synthetic rubber,and two synthetic resin zones,was selected for traceability.Season variations resulted in a gradual decrease of 31 VOCs in soil from winter to summer.A method of dry deposition resistance model coupling partitioning coefficient model was created,revealing that dry deposition by gas phase was the primary pathway for VOCs to enter soil in winter and spring,with 100 times higher fux than by particle phase.Source profiles for five zones were built by gas sampling with distinct substance indicators screened,which were used for positive matrix factorization factors determination.Contributions of the five zones were 14.9%,20.8%,13.6%,22.1%,and 28.6%in winter and 33.4%,12.5%,10.7%,24.9%,and 18.5%in spring,respectively.The variation in the soil sorption capacity of VOCs causes inter-seasonal differences in contribution.The better correlation between dry deposition capacity and soil storage of VOCs made root mean square and mean absolute errors decrease averagely by 8.8%and 5.5%in winter compared to spring.This study provides new perspectives and methods for the source apportionment of soil VOCs contamination in industrial sites. | Xu Zhao Jing Meng Qianqian Li Guijin Su Qifan Zhang Bin Shi Lingwen Dai Yong Yu | 2024 | Journal of Environmental Sciences2024，，3： | 0 |
| 18 | Fluid-inspired field representation for risk assessment in road scenes显示文摘Prediction of the likely evolution of traffic scenes is a challenging task because of high uncertainties from sensing technology and the dynamic environment.It leads to failure of motion planning for intelligent agents like autonomous vehicles.In this paper,we propose a fluid-inspired model to estimate collision risk in road scenes.Multi-object states are detected and tracked,and then a stable fluid model is adopted to construct the risk field.Objects’state spaces are used as the boundary conditions in the simulation of advection and diffusion processes.We have evaluated our approach on the public KITTI dataset;our model can provide predictions in the cases of misdetection and tracking error caused by occlusion.It proves a promising approach for collision risk assessment in road scenes. | Xuanpeng Li Lifeng Zhu Qifan Xue Dong Wang Yongjie Jessica Zhang | 2020 | Computational Visual Media2020，6，4： | 0 |
| 19 | The main strategies for soil pollution apportionment:A review of the numerical methods显示文摘Nowadays,a large number of compounds with different physical and chemical properties have been determined in soil.Environmental behaviors and source identification of pollutants in soil are the foundation of soil pollution control.Identification and quantitative analysis of potential pollution sources are the prerequisites for its prevention and control.Many efforts have made to develop methods for identifying the sources of soil pollutants.These efforts have involved the measurement of source and receptor parameters and the analysis of their relationships via numerical statistics methods.We have comprehensively reviewed the progress made in the development of source apportionment methodologies to date and present our synthesis.The numerical methods,such as spatial geostatistics analysis,receptor models,and machine learning methods are addressed in depth.In most cases,however,the effectiveness of any single approach for source apportionment remains limited.Combining multiple methods to address soil quality problems can reduce uncertainty about the sources of soil pollution.This review also constructively highlights the key strategies of combining mathematical models with the assessment of chemical profiles to provide more accurate source attribution.This review intends to provide a comprehensive summary of source apportionment methodologies to help promote further development. | Bin Shi Jing Meng TieyuWang Qianqian Li Qifan Zhang Guijin Su | 2024 | Journal of Environmental Sciences2024，，2： | 0 |
| 20 | Research on the autonomous system of the quadruped robot with a manipulator to realize leader-following,object recognition,navigation and operation显示文摘A systematic solution is developed to improve the autonomous capability of the quadruped robot with a manipulator,such as navigation,recognition and operation.The developed system adopts novel software,hardware system and system architecture,including a specially designed environment awareness system(EAS).Based on the camera and LiDAR on the EAS,the recognition of multiple common targets,such as the leader,door,window and bag,is achieved.In terms of navigation,a location method is built,that combines the laser odometer and global positioning system.A mapping and path planning module is designed by the Robot-centric Elevation Mapping algorithm and the rapidly exploring rand tree algorithm.For operation,a real-time target grasp detection system is proposed based on the You Only Look Once v5 algorithm to improve the success rate of tasks.The whole system is integrated based on the task relevance scheduling strategy to reduce the computational complexity.The tightly integrated system and the subsystems are evaluated by conducting simulations and physical experiments in robot recognition,navigation and operation.Extensive experiments show that the proposed framework can better achieve the autonomous navigation and operation of the quadruped robot with a manipulator.Notably,the proposed framework is still effective when facing dynamic objects.In addition,the system can be easily extended to other forms of mobile robot. | Jiamin Guo Hui Chai Yibin Li Qin Zhang Zhiying Wang Jialin Zhang Qifan Zhang Haoning Zhao | 2022 | IET Cyber-Systems and Robotics2022，4，4： | 0 |
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