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Inspection robot must plan its behavior to detect the obstacles from the complex background according to their types when it is crawling along the power transmission line in order to negotiate reliably. However, in most instances, detecting the obstacles from the complex background is a hard task. For this purpose, a novel and fast visual obstacle(More)
The 2,2,6,6-tetramethylpiperidine-1-oxyl (TEMPO)/laccase/O2 system was used to prepare cellulose nanofibers from wood cellulose without requiring any chlorine-containing oxidant. Laccase was degraded by oxidized TEMPO (TEMPO+) formed by laccase-mediated oxidation with O2, which competed with the oxidation of wood cellulose. Thus, large amounts of laccase(More)
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