An Ir-catalyzed intermolecular asymmetric dearomatization reaction of substituted indoles with allylic alcohols has been realized to afford the corresponding indoline derivatives in 71–97% yield up 98% ee presence Lewis acid Fe(OTf)2. This methodology features enantioselective construction all-carbon quaternary stereogenic centers prochiral nucleophiles and its utility demonstrated total synthesis (−)-debromoflustramine B.

An enantioselective epoxidation of tryptophols followed by an intramolecular epoxide opening reaction was realized chiral vanadium catalysts derived from C2 symmetric bis-hydroxamic acid (BHA) ligands. 3a-Hydroxyfuroindoline derivatives with up to 89% yield and 90% ee were obtained under mild conditions.

A highly efficient tandem double Friedel–Crafts reaction between indoles and 2-formylbiphenyl derivatives by chiral N-triflyl phosphoramide was realized. Under mild conditions, various 9-(3-indolyl) fluorene have been obtained in good yield up to 94% ee. Comparing their corresponding phosphoric acids, phosphoramides catalyzed reactions led products with opposite absolute configuration.

Abstract Nicotine addiction is associated with risky behaviors and abnormalities in local brain areas related to decision-making such as the dorsal anterior cingulate cortex (dACC), insula (AI) thalamus. Although these are anatomically separated, they may fact belong one neural network. However, it unclear whether circuit-level lead smokers. In current study, we used task-based functional magnetic resonance imaging (fMRI) examined resting-state connectivity (RSFC) study how between dACC,...

Abstract An enantioselective dearomatization of indole derivatives was realized by the complexes derived from vanadium complex VO(acac) 2 and C ‐symmetric bis‐hydroxamic acid (BHA) ligands. The reaction proceeded via asymmetric epoxidation ring‐opening linked phenol cascade, affording 5a,6,10b,11‐tetrahydrochromeno[2,3‐ b ]indol‐10b‐ol in up to 83% yield 98% ee under mild conditions. magnified image

Abstract The processes involved in value evaluation and self‐control are critical when making behavioral choices. However, the evidence linking these two types of to choices intertemporal decision‐making remains elusive. As ventromedial prefrontal cortex (vmPFC), striatum, dorsolateral (dlPFC) have been associated with processes, we focused on three regions. We employed functional magnetic resonance imaging during a delayed discounting task (DDT) using relatively large sample size,...

Localization and navigation are fundamental issues to autonomous mobile robotics. In the case of environmental map has been built, traditional two-dimensional (2D) lidar localization system can't be matched initial position robot in dynamic environment will unreliable when kidnapping occurs. Moreover, it relies on high-cost for high accuracy long range. view this, paper presents a low cost based cheap webcam. this approach, 2D-codes attached ceiling, provide reference points aid indoor...

An efficient nickel-catalyzed intramolecular direct arylation of imines with challenging aryl chlorides has been developed. The versatile nickel catalysis made use easily accessible and delivered diversely decorated 2-arylindoles considerable importance to biological medicinal chemistry.

In this paper ceiling affixed ARToolKitPlus 2D code artificial landmarks are evaluated for purposes of robot localization and navigation. Ceiling codes rarely come in contact with people, equipment or robots, reason they more likely to stay detectable over a longer period time. Multi threshold averaging, light gradient compensation neighbourhood search techniques further enhanced AR-ToolKitPlus performance. averaging collects positioning results at each gray scale level. After all the levels...

Synthetic aperture radar (SAR) ship detection is a popular branch of SAR interpretation. A growing number scholars are devoting themselves to applying convolutional neural network (CNN) detection. Currently, most CNN-based detectors variants object in optical images; however, the essential differences between and images restrict their performance. To this end, by focusing on attribute image's “point” property which determined its imaging mechanism, we design novel detector from scratch. The...

Small object detection is a nodus for CNNs (Convolutional Neural Networks) that take advantages of feature pyramid detection, and it also hotspot which researchers focus on, especially small ship in SAR images. Based on SSD (Single Shot Multibox Detector), classical CNN detector typical one-stage method inspired by the ideas enhancement fusion, paper uses deconvolution to enhance representation pyramid. Thereby we expect improve detecting precision SSD. The feasibility effectiveness proposed...

Despite there have been little research on synthetic aperture radar (SAR) ship detection from scratch, the transfer learning-based studies are still mainstream. Due to some limitations of fixed structures backbone, it is hard improve and optimize these parts networks between domain mismatch which restricts performance convolutional neural network (CNN) extent. Addressing issue, we design an asymmetric square convolution block (A-S CB) easy be embedded into any CNNs helps significantly reduce...

In recent years, an increasing number of synthetic aperture radar (SAR) researchers have applied convolutional neural network (CNN)-based optical image object detection methods to the field SAR ship via transfer learning technology, and achieve well performance. However, such approaches need load a pre-trained model for initialization, which results in structure CNN is fixed it hardly improvement optimization; besides, there domain mismatch detection, restricts performance some extent....

A purpose-built wall climbing system has been constructed for carrying out inspection or cleaning tasks at high-rise buildings. The is developed not only scanning external surfaces of public rental housing estates to detect defects, in particular debonded tiles, using non-destructive testing (NDT) tools but also supporting and other services. robotic able move against the with a special mechanism keep robot safe effective operation. mechatronic design implementation are reported this paper.

In recent years, convolutional neural network (CNN) has been studied extensively in synthetic aperture radar (SAR) ship detection for its powerful feature extraction and classification capability, significantly improved the accuracy robustness condition of large scenes, multi-resolutions, complex backgrounds. At present, a lot related research focuses on design more efficient net structures. There have not studies how performance varies images with different complexity, backgrounds,...

This paper addresses the problem of highly accurate, speedy, more reliable and fully automatic camera calibration. Our objective is to construct a system supply robust accurate calibration scheme. A checkerboard pattern used as pattern. After corner points on image are detected, an improved Delaunay triangulation based algorithm make correspondences between in 3D space. In order determine precise position actual points, geometrical constraint global curve fitting has been developed. The...

This paper presents a new Automatic Guided Vehicle (AGV) system, in which unique compact and heavy-payload under-cart design, high precision hybrid-mode stopping, modularized software distributed AGV-caller are integrated to provide reliable worker-friendly AGV system for the flexible production Une. Besides, results of series in-field tests validate payload precise stopping performance our system.

In this paper, an efficient and low-cost cellphone-commandable mobile manipulation system is described. Aiming at house elderly caring, can be easily commanded through common cellphone network to efficiently grasp objects in household environment, utilizing several off-the-shelf devices. Unlike the visual servo technology using high quality vision with cost, household-service robot may not afford such system, thus it essential use some of device. However, extremely challenging have said for...

Butler Robot is used at home, which integrated with autonomous mobile, multi-sensor data fusion and multi modal human computer interaction techniques. The butler robot unified all appliances household robots; it provides intelligent human-computer interaction, you can control home robots just the robot's simple interface. In this paper, a design introduced, Lovely image for upper body, bottom wheeled mobile platform, This has good capability of management, user remote capability, understand...