The authors have developed Souryu-I, Souryu-II and Souryu-III, connected crawler vehicles that can travel in rubble. These machines were developed for the purpose of finding survivors trapped inside collapsed buildings. However, when conducting experiments in post-disaster environments with Souryu-III, mechanical and control limitations have been identified. This led the authors to develop novel crawler units using crawler tracks strengthened with metal, and develop two improved models, called Souryu-IV ͑com-posed of three double-sided crawler bodies, a joint driving unit, a blade-spring joint mechanism, and cameras͒ and Souryu-V ͑composed of mono-tread-crawler bodies, elastic-rod-joint mechanisms, and cameras͒. The authors then conducted basic motion experiments and teleoperated control experiments on off-road fields with Souryu-IV and Souryu-V. Their high performance in experiments of urban rescue operations was confirmed. However, several problems were identified during the driving experiments, and
A 1,3-silyl group shift from carbon to oxygen occurs readily when ,B-hydroxyvinylsilanes are treated with catalytic amounts of sodium hydride in hexamethylphosphoric triamide, thus providing the first demonstration of the rearrangement of silicon from sp2-carbon to oxygen.
N-Aryl indoline-type aminophosphines 1a-c were obtained in good yields by a nucleophilic aromatic substitution (S(N)Ar) reaction followed by silane reduction. Aminophosphine 1d was also prepared from 2,3-difluorobenzaldehyde (4) via dimethylhydrazone. Optical resolution of C(aryl)-N(amine) bond atropisomers was achieved using (S)-(+)-di-mu-chlorobis[2-[(dimethylamino)ethyl]phenyl-C(2),N]dipalladium(II) ((S)-10). The determination of absolute configuration and the investigation of the rotation barrier for C(aryl)-N(amine) bond axial stability of an aminophosphine 1 are described. Finally, the ability of the chiral phosphine ligand 1 is demonstrated in a catalytic asymmetric reaction, such as a palladium-catalyzed asymmetric allylic alkylation of 1,3-diphenyl-2-propenyl acetate with dimethyl malonate (up to 95% ee).
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