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Background: The harvest of fruit can be significantly advanced with the thriving development of intelligent and automated robot technologies. Nevertheless, the picking success rate of tomato fruit still requires improvement as some fruits are unexpectedly damaged inside, which is imperceptible by machine vision. Herein, a modelling method based on modified Voronoi algorithm is proposed to reconstruct the cellular structure of tomato pericarp. Results: Based on the reconstructed micro‐model, the compression physical behaviour of the pericarp cells is simulated to observe internal local stress and potential damage. It is revealed that the simulation result for pericarps of tomatoes with different ripeness is highly consistent to the experimental tests, which has well validated the feasibility of this modelling and simulation method. Conclusion: A Voronoi‐based modelling method is proposed for micro‐reconstruction of tomato pericarp, and the corresponding compression simulation results agree well with the experimental tests. Such result can be utilized as reference to improve the grasping force control for harvesting robot to avoid invisible damage induced by accident overload issue. With the predicting result, superior success rate can be achieved to enhance robot performance. © 2024 Society of Chemical Industry. [ABSTRACT FROM AUTHOR]

A direct approach to N,N′-disubstituted urea/thiourea from the self-condensation reactions of isothiocyanates in water has been developed. This access tolerated a wide range of functional groups on the aromatic ring, providing a practical and environment-friendly process to N,N′-disubstituted urea/thiourea in moderate to excellent yields from safe and easily available starting materials. A plausible mechanism of the desulfurization self-condensation reaction for urea was also proposed and the role of di-tert-butyl peroxide (DTBP) and copper catalyst in the present strategy was demonstrated with the help of ESI mass spectrometry of intermediate studies. DTBP-mediated synthesis of N,N′-disubstituted urea/thiourea motifs from isothiocyanates in water [ABSTRACT FROM AUTHOR]

In this paper, we will use the decomposition and congruence methods, and proved the conjecture whent= 6 × 2k, and the conjecture thatGhas an isomorphic factorization into t isomorphic subgraphs. The conjecture was proposed by Harary, Robinson and Wormald, and whent= 2, 4 andt| (mn + ms + ns), they proved a complete tripartite graphG = K(m, n, s) ift= 2, 4 andt| (mn + ms + ns), and for all oddt> 1, the divisibility condition is false to be a sufficient condition fort| (1, 1,m). [ABSTRACT FROM PUBLISHER]

An efficient approach to synthesize heteroaromatic 2-amines from one-pot desulfurization/dehydrogenative cyclization of aryl isothiocyanates with ortho-substituted amines in water was developed. This approach tolerated a wide range of functional groups on the aromatic ring, providing a practical and environment-friendly process to synthesize heteroaromatic 2-amines in moderate to excellent yields. A plausible mechanism was proposed and the role of TBAB and Cu2O in the present strategy was suggested with the help of ESI mass spectrometry.