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This study proposes a method named Hybrid Heuristic Proximal Policy Optimization (HHPPO) to implement online 3D bin-packing tasks. Some heuristic algorithms for bin-packing and the Proximal Policy Optimization (PPO) algorithm of deep reinforcement learning are integrated to implement this method. In the heuristic algorithms for bin-packing, an extreme point priority sorting method is proposed to sort the generated extreme points according to their waste spaces to improve space utilization. In addition, a 3D grid representation of the space status of the container is used, and some partial support constraints are proposed to increase the possibilities for stacking objects and enhance overall space utilization. In the PPO algorithm, some heuristic algorithms are integrated, and the reward function and the action space of the policy network are designed so that the proposed method can effectively complete the online 3D bin-packing task. Some experimental results illustrate that the proposed method has good results in achieving online 3D bin-packing tasks in some simulation environments. In addition, an environment with image vision is constructed to show that the proposed method indeed enables an actual robot manipulator to successfully and effectively complete the bin-packing task in a real environment.

Successful synthesis and characterization of the six-coordinated complex [Ru(STTP)(CO)Cl] (1; STTP = 5,10,15,20-tetratolyl-21-thiaporphyrinato) allowed the development of the coordination chemistry of ruthenium-thiaporphyrin through dechlorination and metathesis reactions. Accordingly, [Ru(II)(STTP)(CO)X] (X = NO(3)(-) (2), NO(2)(-) (3), and N(3)(-) (4)) was synthesized and analyzed by single-crystal X-ray structural determination and NMR, UV-vis, and FT-IR spectroscopic methods. An independent reaction of STPPH and [Ru(COD)Cl(2)] led to [Ru(III)(STTP)Cl(2)] (5), which possessed a higher-valent Ru(III) center and exhibited good stability in the solution state. This stability allowed reversible redox processes in a cyclic voltammetric study. Reactions of [Ru(S(2)TTP)Cl(2)] (S(2)TTP = 5,10,15,20-tetratolyl-21,23-dithiaporphyrinato) with AgNO(3) and NaSePh, also via the metathesis strategy, resulted in novel dithiaporphyrin complexes [Ru(II)(S(2)TTP)(NO(3))(2)] (6) and [Ru(0)(S(2)TTP)(PhSeCH(2)SePh)(2)] (7), respectively. The structures of 6 and 7 were corroborated by X-ray crystallographic analyses. Complex 7 is an unprecedented ruthenium(0)-dithiaporphyrin with two bis(phenylseleno)methanes as axial ligands. A comparison of the analyses of the crude products from reactions of NaSePh and CH(2)Cl(2) with or without [Ru(S(2)TTP)Cl(2)], further supported by UV-vis spectral changes under stoichiometric reactions between [Ru(S(2)TTP)Cl(2)] and NaSePh, suggested a reaction sequence in the order of (1) formation of a putative [Ru(II)(S(2)TTP)(SePh)(2)] intermediate, followed by (2) the concerted formation of PhSe-CH(2)Cl and simultaneously a reduction of Ru(II) to Ru(0) and finally (3) nucleophilic substitution of PhSeCH(2)Cl by excess PhSe(-), resulting in PhSeCH(2)SePh, which readily coordinated to the Ru(0) and completed the formation of bis(phenylseleno)methane complex 7.