The reactions of lupinine alkaloid and its chlorine derivative with cinnamoyl chloride and 2-K-isoindole-1,3-dione were investigated to obtain 3-phenylacrylic acid octahydroquinolizin-1-ylmethyl ester and 2-(octahydroquinolizin-1-ylmethyl)isoindole-1,3-dione, respectively.The optimal conditions for carrying out the aforementioned reactions were det
Performance of LiDAR-SLAM-based PNT with initial poses based on NDT scan matching algorithm
Abstract To achieve higher automation level of vehicles defined by the longboard dancer deck Society of Automotive Engineers, safety is a key requirement affecting navigation accuracy.We apply Light Detection and Ranging (LiDAR) as a main auxiliary sensor and propose LiDAR-based Simultaneously Localization and Mapping (SLAM) approach for Positionin
Modeling the Influence of Mites on Honey Bee Populations
The Varroa destructor mite has been associated with the recent decline in honey bee populations.While experimental data are crucial in understanding declines, insights can be gained from models of honey bee populations.We te01-4147c add the influence of the V.destructor mite to our existing honey bee model in order to better understand the impact o
The UBA-UIM domains of the USP25 regulate the enzyme ubiquitination state and modulate substrate recognition.
USP25m is the muscle isoform of the deubiquitinating (DUB) enzyme USP25.Similarly to most DUBs, data on USP25 regulation and substrate recognition is scarce.In silico analysis predicted three ubiquitin binding domains (UBDs) at the N-terminus: one ubiquitin-associated domain (UBA) and two ubiquitin-interacting motifs (UIMs), whereas no clear struct