Abstract: Provided herein are opioid receptor modulators and pharmaceutical compositions comprising said compounds.

Abstract: A frame-type bilateral reverse permanent magnet direct current linear motor is provided, including a support frame, an iron yoke assembly with a first iron yoke, a second iron yoke and a middle iron yoke, a permanent magnet group, a coil winding and a pole piece assembly. Two groups of intermediate transition permanent magnet assemblies are disposed between the first iron yoke and the middle iron yoke and between the second iron yoke and the middle iron yoke. The intermediate transition permanent magnet assemblies includes transition permanent magnets and corresponding transition connection iron yokes; and magnetic pole orientations of the transition permanent magnets of the two groups of intermediate transition permanent magnet assemblies are reverse. The linear motor realizes efficient direct-current linear control, and has a high speed, a precise controllability, a high thrust density and small thrust fluctuation, and easiness in assembling.

Abstract: A tracking system and a method thereof are provided in this disclosure. The tracking method includes steps of: capturing first images of the physical environment by a first electronic device; extracting a plurality of first feature points from the first images; generating a plurality of map points according to the extracted first feature points; building a map of the physical environment according to the map points by the first electronic device; capturing a second image of the physical environment by a second electronic device; extracting second feature points of the second image and transmitting the second feature points to the first electronic device; and estimating a pose of the second electronic device according to the map and the received second feature points by the first electronic device.

Abstract: A tracking system and a method thereof are provided in this disclosure. The tracking method includes steps of: capturing first images of the physical environment by a first electronic device; extracting a plurality of first feature points from the first images; generating a plurality of map points according to the extracted first feature points; building a map of the physical environment according to the map points by the first electronic device; capturing a second image of the physical environment by a second electronic device; extracting second feature points of the second image and transmitting the second feature points to the first electronic device; and estimating a pose of the second electronic device according to the map and the received second feature points by the first electronic device.

Abstract: The present invention relates to methods and applications of using Drosophila cells to produce virus-like particles. Virus-like particles of enveloped viruses produced by the methods of the present invention have proteins correctly expressed, cleaved, and assembled. Ultimately, virus-like particles having good immunogenicity are obtained. The present invention also provides recombinant cells expressing virus-like particles and compositions containing virus-like particles.