Cellulose is a complex carbohydrate that serves as the basic structural component of plant cell walls. Cellulose accounts for roughly one third of all vegetal matter, making it the most common organic compound on earth. Due to its ubiquitous nature, cellulose and its derivatives are key resources ...
The Payne rearrangement is a base-mediated isomerization of epoxy alcohols and has been well-utilized in organic synthesis to reveal the latent electrophilicity at C-1 of a 2,3-epoxy-1-ol such as 1 (Scheme 1) 15 We have recently used this approach to control attack at C-1 with dimethyls...
8. Localization of the bus: Fixed localisation points at least every 50 m along the route (see Figure 13b). 9. Stable environment, no construction sites along the path: The map has to be updated, via a path recording procedure, in case of strong environmental changes during the pilot. ...