A short large scale synthesis of (±) sarkomycin esters

(±) Sarkomycin ethyl ester has been prepared in four steps from ethyl acrylate.     

Adaptive control of kinematically redundant robots

A redundant robot has more degrees of freedom than those neededto position the Robert end-effector uniquely. In a usual robotictask, only end-effector position trajectory is specified. Thejoint position trajectory is unknown, and it must be selectedfrom a self-motion manifold for a specified end-effector. Inmany situations, the robot dynamic parameters such as the linkmass, inertia, and joint viscous friction are unknown. The lackof knowledge of the joint trajectory and the dynamic parametersmake it difficult to control redundant robots. In this paper we show, through careful formulation of the problem,that the adaptative control of redundant robots can be addressedas a reference-velocity traking problem in the joint space.A control law ensures bounded estimation of the unknown dynamicparameters of the robot, and the convergence to zero of thevelocity traking error is derived. To ensure the joint motionon the self-motion manifold remains bounded, a homeomorphictransformation is found. This transformation decomposes thedynamics of the velocity tracking error into a cascade systemconsisting of the dynamics in the end-effector error coordinatesand the dynamics on the self-motion manifold. The dynamics onthe self-motion manifold is shown to be related to the conceptof zero dynamics. In the shown that, if the reference jointtrajectory is selected to optimize a certain type of objectivefunction, then stable dynamics on the self-motion manifold result.This ensures the overall stability of the adaptive system. Detailedsimulations are given to test the theoretical developments.The proposed adaptive scheme does not require measurements ofthe joint acceleration or the inversion of the inertia matrixof the robot.     

Crystal structure of monomethylammonium tribromocadmate(II)

CH₃NH₃CdBr₃ crystallizes in the space group Ccm2₁, a = 13.693(1) Å, b = 7.906(1) Å, c = 6.886(1) Å, V = 745.46(15) ų, Z = 4, D _x = 3.42 Mg m^–3. The structure of the title compound is one-dimensional consisting of infinite chains made of face sharing CdBr₆ octahedra. The methylammonium groups are situated in the space between chains. The cations and anions are joined by hydrogen bonding.     

Revêtements modérés et groupe fondamenttal de graphe de groupes

Let R be a discrete complete valuation ring, with algebraically closedresidue field. Let X be a semi-stable R-curve, with smooth generic fibre. In this paper we study tame coverings of X.     

Cleavage of the N-PChd group from protected amino acids and peptides by cathodic reduction

Amino acid and peptide esters protected by the PChd group can be deprotected cathodically under mild conditions.     

Purification and characterization of a new Bacillus thuringiensis bacteriocin active against Listeria monocytogenes, Bacillus cereus and Agrobacterium tumefaciens

This study reports on the identification, characterization and purification of a new bacteriocin, named Bacthuricin F103, from a Bacillus thuringiensis strain BUPM103. Bacthuricin F103 production began in the early exponential phase and reached a maximum in the middle of the same phase. Two chromatographic methods based on high performance liquid chromatography and fast protein liquid chromatography systems were used to purify Bacthuricin F103. Sodium dodecyl sulphate-polyacrylamide gel electrophoresis revealed that this bacteriocin had a molecular weight of approximately 11 kDa. It also showed a wide range of thermostability of up to 80 °C for 60 min and a broad spectrum of antimicrobial activity over a pH range of 3.0–10.0. This bacteriocin was noted, and for the first time, to exhibit potent antimicrobial activity against Agrobacterium subsp. strains, the major causal agents of crown gall disease in tomato and vineyard crops, and against several challenging organisms in food, such as Listeria monocytogenes and Bacillus cereus. Complete killing with immediate impact on cells was observed within a short period of time. The sequence obtained for Bacthuricin F103 by direct N-terminal sequencing shared considerable homology with hemolysin. Bacthuricin F103 was noted to act through the depletion of intracellular ions, which suggest that the cell membrane was a possible target to Bacthuricin F103.     

Selected Reactions of Diethyl (E)‐1‐(bromomethyl)‐2‐cyanovinylphosphonate with Secondary and Tertiary Amines

An easy regio‐ and stereoselective synthesis of new nitrogenous molecules 2a–e was successfully realized via an effective coupling reaction of diethyl (E)‐1‐(bromomethyl)‐2‐cyanovinylphosphonate 1 with various secondary amines in methanol. Hence, the use of less and more bulky secondary amines gives rise, respectively, to the successive (S_N2′) substitution–isomerization and (S_N2) substitution derivatives 2a–c and 2d–e . Moreover, the addition of tertiary amines to 1 in the same reaction conditions, leads exclusively to the rearranged vinyl ether 3 in good yields.     

C-O and C-C bond formation in the cyclisation of gem-(dialkoxymethyl)-1,6-dienes catalysed by tin(IV) triflimidate at room temperature

We described herein a Sn(NTf₂)₄-catalysed cyclisation of gem-(dialkoxymethyl)-1,6-dienes and derivatives where cyclohexane or tetrahydrofuran rings are formed following either a 6-enexo-endo-trig process or a 5-exo-trig process, respectively, depending on substitution patterns. The latter process features an unusual dealkylative ether cyclisation, triggered by the strong Lewis acid character of the tin(IV) triflimidate catalyst.     

NaGdF4纳米晶多元醇法的合成、表征与NaGdF4：Eu3+和NaGdF4：Yb3+, Er3+纳米晶的发光

通过多元醇法(polyol method)合成出NaGdF₄:Eu³⁺和NaGdF₄:Yb³⁺,Er³⁺纳米晶,利用X射线衍射(XRD)、场发射扫描电镜(FE-SEM)和傅立叶变换红外吸收光谱(FT-IR)对合成的样品进行了表征。研究了Eu³⁺掺杂样品的下转换发光和Yb³⁺/Er³⁺共掺杂样品的上转换发光。对未经退火和经过退火的样品进行了比较。     

Algebraic decay and variable speeds in wavefront solutions of a scalar reaction-diffusion equation

Wavefront solutions of scalar reaction-diffusion equations havebeen intensively studied for many years. There are two basiccases, typified by quadratic and cubic kinetics. An intermediatecase is considered in this paper, namely, u_l = u_xx + u²(1 –u). It is shown that there is a unique travelling-wave solution,with a speed 1/2, for which the decay to zero ahead of the waveis exponential with x. Moreover, numerical evidence is presentedwhich suggests that initial conditions with such exponentialdecay evolve to this travelling-wave solution, independentlyof the half-life of the initial decay. It is then shown thatfor all speeds greater than 1/2 there is also a travelling-wavesolution, but that these faster waves decay to zero algebraically,in proportion to 1/x. The numerical evidence suggests that initialconditions with such a decay rate evolve to one of these fasterwaves; the particular speed depends in a simple way on the detailsof the initial condition. Finally, initial conditions decayingalgebraically for a power law other than 1/x are considered.It is shown numerically that such initial conditions evolveeither to an algebraically decaying travelling wave, or in somecases to a wavefront whose shape and speed vary as a functionof time. This variation is monotonic and can be quite pronounced,and the speed is a function of u as well as of time. Using asimple linearization argument, an approximate formula is derivedfor the wave speed which compares extremely well with the numericalresults. Finally, the extension of the results to the more generalcase of u_l = u_xx + u^m(1 – u), with m > 1, is discussed.