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Optically active tetrahydroisoquinoline alkaloids, (R)-(+)-higenamine (1R) and (S)-(-)-higenamine (1 S), and their optically active 1-naphthylmethyl analogues (2 and 3), were synthesized by enantioselective hydrogenation of the corresponding dihydroisoquinoline intermediates 7 as a key step. The evaluation of the platelet anti-aggregation effect(More)
Software reverse engineering is an engineering process analyzing a system for specific purposes such as identifying interrelationship between system components or reorganizing the system structure. The HELISCOPE project aims to develop an unmanned helicopter and its on-flight embedded computing system for navigation and real-time transmission of motion(More)
In this paper, we introduce the target scenario of our HELISCOPE project with the emphasis on the four modes for flying-camera task. We also explain the control points that are considered as the interfaces where the on-flight embedded software and mechanical implementation of the unmanned helicopter are contacted for the autopilot necessarily used in(More)
While the conventional remote method invocation mechanism has been considered for a long time as the primary approach for facilitating interactions among real-time objects, a multicast support mechanism has been recognized in recent years as an attractive supplement, if not a favored approach, in many applications. One highly promising concrete formulation(More)
Formal verification has played an important role in demonstrating correctness of safety-critical systems. Small-scale unmanned helicopters have been increasingly developed for various purposes such as scientific exploration and commercial or defense applications. The HELISCOPE project in Korea aims to develop a small-scale unmanned helicopter and its(More)