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Efficient hydrogenolysis of lignocellulose into phenolic monomers over a CuO/m-ZrO₂ catalyst The catalytic reduction of lignin into bio-chemicals is desirable yet remains a challenge due to its heterogeneity and complexes. Herein, a copper oxide supported oln monoclinic ZrO₂ (CuO/m-ZrO2) catalyst is fabricated for efficient reductive catalytic fractionation (RCF) of softwood lignin, affording a yield of monophenols up to 18.7 wt% with a high selectivity (82.3%) of 4-n-propanol guaiacol.
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4.1. Observation System and Adaptation Action Since the Front Camera lacks observation of the foot placement, the proposed hierarchical vision system introduces the Foothold Camera to capture information around the footholds, which is shown in Figure 4. This is different from previous work, which implements two cameras to observe both the hind and front foothold [41], or constructs a terrain map with rotating sensors [16].
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