Villalta-Romero, Fabian

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Authority KeyName Variants
e5e99245-ff6f-44bc-938a-b4d8a75596f5
  • Villalta-Romero, Fabian (3)
  • Romero, Elvira (2)
Projects

Author's Bibliography

Expression and characterization of a dye-decolorizing peroxidase from pseudomonas fluorescens Pf0-1

Lončar, Nikola L.; Drašković, Natalija; Božić, Nataša; Romero, Elvira; Simić, Stefan; Opsenica, Igor; Vujčić, Zoran; Fraaije, Marco W.

(MDPI, 2019)

TY  - JOUR
AU  - Lončar, Nikola L.
AU  - Drašković, Natalija
AU  - Božić, Nataša
AU  - Romero, Elvira
AU  - Simić, Stefan
AU  - Opsenica, Igor
AU  - Vujčić, Zoran
AU  - Fraaije, Marco W.
PY  - 2019
UR  - https://cherry.chem.bg.ac.rs/handle/123456789/3709
AB  - The consumption of dyes is increasing worldwide in line with the increase of population and demand for clothes and other colored products. However, the efficiency of dyeing processes is still poor and results in large amounts of colored effluents. It is desired to develop a portfolio of enzymes which can be used for the treatment of colored wastewaters. Herein, we used genome sequence information to discover a dye-decolorizing peroxidase (DyP) from Pseudomonas fluorescens Pf-01. Two genes putatively encoding for DyPs were identified in the respective genome and cloned for expression in Escherichia coli, of which one (Pf DyP B2) could be overexpressed as a soluble protein. Pf DyP B2 shows some typical features known for DyPs which includes the ability to convert dyes at the expense of hydrogen peroxide. Interestingly, t-butyl hydroperoxide could be used as an alternative substrate to hydrogen peroxide. Immobilization of Pf DyP B2 in calcium-alginate beads resulted in a significant increase in stability: Pf DyP B2 retains 80% of its initial activity after 2 h incubation at 50◦ C, while the soluble enzyme is inactivated within minutes. Pf DyP B2 was also tested with aniline and ethyl diazoacetate as substrates. Based on GC-MS analyses, 30% conversion of the starting material was achieved after 65 h at 30◦ C. Importantly, this is the first report of a DyP-catalyzed insertion of a carbene into an N-H bond.
PB  - MDPI
T2  - Catalysts
T1  - Expression and characterization of a dye-decolorizing peroxidase from pseudomonas fluorescens Pf0-1
VL  - 9
IS  - 5
DO  - 10.3390/catal9050463
ER  - 
@article{
author = "Lončar, Nikola L. and Drašković, Natalija and Božić, Nataša and Romero, Elvira and Simić, Stefan and Opsenica, Igor and Vujčić, Zoran and Fraaije, Marco W.",
year = "2019",
abstract = "The consumption of dyes is increasing worldwide in line with the increase of population and demand for clothes and other colored products. However, the efficiency of dyeing processes is still poor and results in large amounts of colored effluents. It is desired to develop a portfolio of enzymes which can be used for the treatment of colored wastewaters. Herein, we used genome sequence information to discover a dye-decolorizing peroxidase (DyP) from Pseudomonas fluorescens Pf-01. Two genes putatively encoding for DyPs were identified in the respective genome and cloned for expression in Escherichia coli, of which one (Pf DyP B2) could be overexpressed as a soluble protein. Pf DyP B2 shows some typical features known for DyPs which includes the ability to convert dyes at the expense of hydrogen peroxide. Interestingly, t-butyl hydroperoxide could be used as an alternative substrate to hydrogen peroxide. Immobilization of Pf DyP B2 in calcium-alginate beads resulted in a significant increase in stability: Pf DyP B2 retains 80% of its initial activity after 2 h incubation at 50◦ C, while the soluble enzyme is inactivated within minutes. Pf DyP B2 was also tested with aniline and ethyl diazoacetate as substrates. Based on GC-MS analyses, 30% conversion of the starting material was achieved after 65 h at 30◦ C. Importantly, this is the first report of a DyP-catalyzed insertion of a carbene into an N-H bond.",
publisher = "MDPI",
journal = "Catalysts",
title = "Expression and characterization of a dye-decolorizing peroxidase from pseudomonas fluorescens Pf0-1",
volume = "9",
number = "5",
doi = "10.3390/catal9050463"
}
Lončar, N. L., Drašković, N., Božić, N., Romero, E., Simić, S., Opsenica, I., Vujčić, Z.,& Fraaije, M. W.. (2019). Expression and characterization of a dye-decolorizing peroxidase from pseudomonas fluorescens Pf0-1. in Catalysts
MDPI., 9(5).
https://doi.org/10.3390/catal9050463
Lončar NL, Drašković N, Božić N, Romero E, Simić S, Opsenica I, Vujčić Z, Fraaije MW. Expression and characterization of a dye-decolorizing peroxidase from pseudomonas fluorescens Pf0-1. in Catalysts. 2019;9(5).
doi:10.3390/catal9050463 .
Lončar, Nikola L., Drašković, Natalija, Božić, Nataša, Romero, Elvira, Simić, Stefan, Opsenica, Igor, Vujčić, Zoran, Fraaije, Marco W., "Expression and characterization of a dye-decolorizing peroxidase from pseudomonas fluorescens Pf0-1" in Catalysts, 9, no. 5 (2019),
https://doi.org/10.3390/catal9050463 . .
1
15
5
14
13

Supplementary data for the article: Lončar, N.; Drašković, N.; Božić, N.; Romero, E.; Simić, S.; Opsenica, I.; Vujčić, Z.; Fraaije, M. W. Expression and Characterization of a Dye-Decolorizing Peroxidase from Pseudomonas Fluorescens Pf0-1. Catalysts 2019, 9 (5). https://doi.org/10.3390/catal9050463

Lončar, Nikola L.; Drašković, Natalija; Božić, Nataša; Romero, Elvira; Simić, Stefan; Opsenica, Igor; Vujčić, Zoran; Fraaije, Marco W.

(MDPI, 2019)

TY  - DATA
AU  - Lončar, Nikola L.
AU  - Drašković, Natalija
AU  - Božić, Nataša
AU  - Romero, Elvira
AU  - Simić, Stefan
AU  - Opsenica, Igor
AU  - Vujčić, Zoran
AU  - Fraaije, Marco W.
PY  - 2019
UR  - https://cherry.chem.bg.ac.rs/handle/123456789/3710
PB  - MDPI
T2  - Catalysts
T1  - Supplementary data for the article: Lončar, N.; Drašković, N.; Božić, N.; Romero, E.; Simić, S.; Opsenica, I.; Vujčić, Z.; Fraaije, M. W. Expression and Characterization of a Dye-Decolorizing Peroxidase from Pseudomonas Fluorescens Pf0-1. Catalysts 2019, 9 (5). https://doi.org/10.3390/catal9050463
UR  - https://hdl.handle.net/21.15107/rcub_cherry_3710
ER  - 
@misc{
author = "Lončar, Nikola L. and Drašković, Natalija and Božić, Nataša and Romero, Elvira and Simić, Stefan and Opsenica, Igor and Vujčić, Zoran and Fraaije, Marco W.",
year = "2019",
publisher = "MDPI",
journal = "Catalysts",
title = "Supplementary data for the article: Lončar, N.; Drašković, N.; Božić, N.; Romero, E.; Simić, S.; Opsenica, I.; Vujčić, Z.; Fraaije, M. W. Expression and Characterization of a Dye-Decolorizing Peroxidase from Pseudomonas Fluorescens Pf0-1. Catalysts 2019, 9 (5). https://doi.org/10.3390/catal9050463",
url = "https://hdl.handle.net/21.15107/rcub_cherry_3710"
}
Lončar, N. L., Drašković, N., Božić, N., Romero, E., Simić, S., Opsenica, I., Vujčić, Z.,& Fraaije, M. W.. (2019). Supplementary data for the article: Lončar, N.; Drašković, N.; Božić, N.; Romero, E.; Simić, S.; Opsenica, I.; Vujčić, Z.; Fraaije, M. W. Expression and Characterization of a Dye-Decolorizing Peroxidase from Pseudomonas Fluorescens Pf0-1. Catalysts 2019, 9 (5). https://doi.org/10.3390/catal9050463. in Catalysts
MDPI..
https://hdl.handle.net/21.15107/rcub_cherry_3710
Lončar NL, Drašković N, Božić N, Romero E, Simić S, Opsenica I, Vujčić Z, Fraaije MW. Supplementary data for the article: Lončar, N.; Drašković, N.; Božić, N.; Romero, E.; Simić, S.; Opsenica, I.; Vujčić, Z.; Fraaije, M. W. Expression and Characterization of a Dye-Decolorizing Peroxidase from Pseudomonas Fluorescens Pf0-1. Catalysts 2019, 9 (5). https://doi.org/10.3390/catal9050463. in Catalysts. 2019;.
https://hdl.handle.net/21.15107/rcub_cherry_3710 .
Lončar, Nikola L., Drašković, Natalija, Božić, Nataša, Romero, Elvira, Simić, Stefan, Opsenica, Igor, Vujčić, Zoran, Fraaije, Marco W., "Supplementary data for the article: Lončar, N.; Drašković, N.; Božić, N.; Romero, E.; Simić, S.; Opsenica, I.; Vujčić, Z.; Fraaije, M. W. Expression and Characterization of a Dye-Decolorizing Peroxidase from Pseudomonas Fluorescens Pf0-1. Catalysts 2019, 9 (5). https://doi.org/10.3390/catal9050463" in Catalysts (2019),
https://hdl.handle.net/21.15107/rcub_cherry_3710 .

Discovery of small molecule inhibitors for the snake venom metalloprotease BaP1 using in silico and in vitro tests

Villalta-Romero, Fabian; Borro, Luiz; Mandić, Boris; Escalante, Teresa; Rucavado, Alexandra; Gutierrez, Jose Maria; Nešić, Goran; Tasić, Ljubica

(Pergamon-Elsevier Science Ltd, Oxford, 2017)

TY  - JOUR
AU  - Villalta-Romero, Fabian
AU  - Borro, Luiz
AU  - Mandić, Boris
AU  - Escalante, Teresa
AU  - Rucavado, Alexandra
AU  - Gutierrez, Jose Maria
AU  - Nešić, Goran
AU  - Tasić, Ljubica
PY  - 2017
UR  - https://cherry.chem.bg.ac.rs/handle/123456789/2449
AB  - Snakebites represent an important public health problem, with a great number of victims with permanent sequelae or fatal outcomes, particularly in rural, agriculturally active areas. The snake venom metalloproteases (SVMPs) are the principal proteins responsible for some clinically-relevant effects, such as local and systemic hemorrhage, dermonecrosis, and myonecrosis. Because of the difficulties in neutralizing them rapidly and locally by antivenoms, the search and design of small molecules as inhibitors of SVMPs are proposed. The Bothrops asper metalloprotease P1 (BaP1) is hereby used as a target protein and by High Throughput Virtual Screening (HTVS) approach, the free access virtual libraries: ZINC, PubChem and ChEMBL, were searched for potent small molecule inhibitors. Results from the aforementioned approaches provided strong evidences on the structural requirements for the efficient BaP1 inhibition such as the presence of the pyrimidine-2,4,6-trione moiety. The two proposed compounds have also shown excellent results in performed in vitro interaction studies against BaPl. (C) 2017 Elsevier Ltd. All rights reserved.
PB  - Pergamon-Elsevier Science Ltd, Oxford
T2  - Bioorganic and Medicinal Chemistry Letters
T1  - Discovery of small molecule inhibitors for the snake venom metalloprotease BaP1 using in silico and in vitro tests
VL  - 27
IS  - 9
SP  - 2018
EP  - 2022
DO  - 10.1016/j.bmcl.2017.03.007
ER  - 
@article{
author = "Villalta-Romero, Fabian and Borro, Luiz and Mandić, Boris and Escalante, Teresa and Rucavado, Alexandra and Gutierrez, Jose Maria and Nešić, Goran and Tasić, Ljubica",
year = "2017",
abstract = "Snakebites represent an important public health problem, with a great number of victims with permanent sequelae or fatal outcomes, particularly in rural, agriculturally active areas. The snake venom metalloproteases (SVMPs) are the principal proteins responsible for some clinically-relevant effects, such as local and systemic hemorrhage, dermonecrosis, and myonecrosis. Because of the difficulties in neutralizing them rapidly and locally by antivenoms, the search and design of small molecules as inhibitors of SVMPs are proposed. The Bothrops asper metalloprotease P1 (BaP1) is hereby used as a target protein and by High Throughput Virtual Screening (HTVS) approach, the free access virtual libraries: ZINC, PubChem and ChEMBL, were searched for potent small molecule inhibitors. Results from the aforementioned approaches provided strong evidences on the structural requirements for the efficient BaP1 inhibition such as the presence of the pyrimidine-2,4,6-trione moiety. The two proposed compounds have also shown excellent results in performed in vitro interaction studies against BaPl. (C) 2017 Elsevier Ltd. All rights reserved.",
publisher = "Pergamon-Elsevier Science Ltd, Oxford",
journal = "Bioorganic and Medicinal Chemistry Letters",
title = "Discovery of small molecule inhibitors for the snake venom metalloprotease BaP1 using in silico and in vitro tests",
volume = "27",
number = "9",
pages = "2018-2022",
doi = "10.1016/j.bmcl.2017.03.007"
}
Villalta-Romero, F., Borro, L., Mandić, B., Escalante, T., Rucavado, A., Gutierrez, J. M., Nešić, G.,& Tasić, L.. (2017). Discovery of small molecule inhibitors for the snake venom metalloprotease BaP1 using in silico and in vitro tests. in Bioorganic and Medicinal Chemistry Letters
Pergamon-Elsevier Science Ltd, Oxford., 27(9), 2018-2022.
https://doi.org/10.1016/j.bmcl.2017.03.007
Villalta-Romero F, Borro L, Mandić B, Escalante T, Rucavado A, Gutierrez JM, Nešić G, Tasić L. Discovery of small molecule inhibitors for the snake venom metalloprotease BaP1 using in silico and in vitro tests. in Bioorganic and Medicinal Chemistry Letters. 2017;27(9):2018-2022.
doi:10.1016/j.bmcl.2017.03.007 .
Villalta-Romero, Fabian, Borro, Luiz, Mandić, Boris, Escalante, Teresa, Rucavado, Alexandra, Gutierrez, Jose Maria, Nešić, Goran, Tasić, Ljubica, "Discovery of small molecule inhibitors for the snake venom metalloprotease BaP1 using in silico and in vitro tests" in Bioorganic and Medicinal Chemistry Letters, 27, no. 9 (2017):2018-2022,
https://doi.org/10.1016/j.bmcl.2017.03.007 . .
5
5
6
5

Discovery of small molecule inhibitors for the snake venom metalloprotease BaP1 using in silico and in vitro tests

Villalta-Romero, Fabian; Borro, Luiz; Mandić, Boris; Escalante, Teresa; Rucavado, Alexandra; Gutierrez, Jose Maria; Nešić, Goran; Tasić, Ljubica

(Pergamon-Elsevier Science Ltd, Oxford, 2017)

TY  - JOUR
AU  - Villalta-Romero, Fabian
AU  - Borro, Luiz
AU  - Mandić, Boris
AU  - Escalante, Teresa
AU  - Rucavado, Alexandra
AU  - Gutierrez, Jose Maria
AU  - Nešić, Goran
AU  - Tasić, Ljubica
PY  - 2017
UR  - https://cherry.chem.bg.ac.rs/handle/123456789/3001
AB  - Snakebites represent an important public health problem, with a great number of victims with permanent sequelae or fatal outcomes, particularly in rural, agriculturally active areas. The snake venom metalloproteases (SVMPs) are the principal proteins responsible for some clinically-relevant effects, such as local and systemic hemorrhage, dermonecrosis, and myonecrosis. Because of the difficulties in neutralizing them rapidly and locally by antivenoms, the search and design of small molecules as inhibitors of SVMPs are proposed. The Bothrops asper metalloprotease P1 (BaP1) is hereby used as a target protein and by High Throughput Virtual Screening (HTVS) approach, the free access virtual libraries: ZINC, PubChem and ChEMBL, were searched for potent small molecule inhibitors. Results from the aforementioned approaches provided strong evidences on the structural requirements for the efficient BaP1 inhibition such as the presence of the pyrimidine-2,4,6-trione moiety. The two proposed compounds have also shown excellent results in performed in vitro interaction studies against BaPl.
PB  - Pergamon-Elsevier Science Ltd, Oxford
T2  - Bioorganic and Medicinal Chemistry Letters
T1  - Discovery of small molecule inhibitors for the snake venom metalloprotease BaP1 using in silico and in vitro tests
VL  - 27
IS  - 9
SP  - 2018
EP  - 2022
DO  - 10.1016/j.bmcl.2017.03.007
ER  - 
@article{
author = "Villalta-Romero, Fabian and Borro, Luiz and Mandić, Boris and Escalante, Teresa and Rucavado, Alexandra and Gutierrez, Jose Maria and Nešić, Goran and Tasić, Ljubica",
year = "2017",
abstract = "Snakebites represent an important public health problem, with a great number of victims with permanent sequelae or fatal outcomes, particularly in rural, agriculturally active areas. The snake venom metalloproteases (SVMPs) are the principal proteins responsible for some clinically-relevant effects, such as local and systemic hemorrhage, dermonecrosis, and myonecrosis. Because of the difficulties in neutralizing them rapidly and locally by antivenoms, the search and design of small molecules as inhibitors of SVMPs are proposed. The Bothrops asper metalloprotease P1 (BaP1) is hereby used as a target protein and by High Throughput Virtual Screening (HTVS) approach, the free access virtual libraries: ZINC, PubChem and ChEMBL, were searched for potent small molecule inhibitors. Results from the aforementioned approaches provided strong evidences on the structural requirements for the efficient BaP1 inhibition such as the presence of the pyrimidine-2,4,6-trione moiety. The two proposed compounds have also shown excellent results in performed in vitro interaction studies against BaPl.",
publisher = "Pergamon-Elsevier Science Ltd, Oxford",
journal = "Bioorganic and Medicinal Chemistry Letters",
title = "Discovery of small molecule inhibitors for the snake venom metalloprotease BaP1 using in silico and in vitro tests",
volume = "27",
number = "9",
pages = "2018-2022",
doi = "10.1016/j.bmcl.2017.03.007"
}
Villalta-Romero, F., Borro, L., Mandić, B., Escalante, T., Rucavado, A., Gutierrez, J. M., Nešić, G.,& Tasić, L.. (2017). Discovery of small molecule inhibitors for the snake venom metalloprotease BaP1 using in silico and in vitro tests. in Bioorganic and Medicinal Chemistry Letters
Pergamon-Elsevier Science Ltd, Oxford., 27(9), 2018-2022.
https://doi.org/10.1016/j.bmcl.2017.03.007
Villalta-Romero F, Borro L, Mandić B, Escalante T, Rucavado A, Gutierrez JM, Nešić G, Tasić L. Discovery of small molecule inhibitors for the snake venom metalloprotease BaP1 using in silico and in vitro tests. in Bioorganic and Medicinal Chemistry Letters. 2017;27(9):2018-2022.
doi:10.1016/j.bmcl.2017.03.007 .
Villalta-Romero, Fabian, Borro, Luiz, Mandić, Boris, Escalante, Teresa, Rucavado, Alexandra, Gutierrez, Jose Maria, Nešić, Goran, Tasić, Ljubica, "Discovery of small molecule inhibitors for the snake venom metalloprotease BaP1 using in silico and in vitro tests" in Bioorganic and Medicinal Chemistry Letters, 27, no. 9 (2017):2018-2022,
https://doi.org/10.1016/j.bmcl.2017.03.007 . .
5
5
6
5

Supplementary data for article: Villalta-Romero, F.; Borro, L.; Mandić, B.; Escalante, T.; Rucavado, A.; Gutierrez, J. M.; Neshich, G.; Tasic, L. Discovery of Small Molecule Inhibitors for the Snake Venom Metalloprotease BaP1 Using in Silico and in Vitro Tests. Bioorganic and Medicinal Chemistry Letters 2017, 27 (9), 2018–2022. https://doi.org/10.1016/j.bmcl.2017.03.007

Villalta-Romero, Fabian; Borro, Luiz; Mandić, Boris; Escalante, Teresa; Rucavado, Alexandra; Gutierrez, Jose Maria; Nešić, Goran; Tasić, Ljubica

(Pergamon-Elsevier Science Ltd, Oxford, 2017)

TY  - DATA
AU  - Villalta-Romero, Fabian
AU  - Borro, Luiz
AU  - Mandić, Boris
AU  - Escalante, Teresa
AU  - Rucavado, Alexandra
AU  - Gutierrez, Jose Maria
AU  - Nešić, Goran
AU  - Tasić, Ljubica
PY  - 2017
UR  - https://cherry.chem.bg.ac.rs/handle/123456789/3002
PB  - Pergamon-Elsevier Science Ltd, Oxford
T2  - Bioorganic and Medicinal Chemistry Letters
T1  - Supplementary data for article: Villalta-Romero, F.; Borro, L.; Mandić, B.; Escalante, T.; Rucavado, A.; Gutierrez, J. M.; Neshich, G.; Tasic, L. Discovery of Small Molecule Inhibitors for the Snake Venom Metalloprotease BaP1 Using in Silico and in Vitro Tests. Bioorganic and Medicinal Chemistry Letters 2017, 27 (9), 2018–2022.  https://doi.org/10.1016/j.bmcl.2017.03.007
UR  - https://hdl.handle.net/21.15107/rcub_cherry_3002
ER  - 
@misc{
author = "Villalta-Romero, Fabian and Borro, Luiz and Mandić, Boris and Escalante, Teresa and Rucavado, Alexandra and Gutierrez, Jose Maria and Nešić, Goran and Tasić, Ljubica",
year = "2017",
publisher = "Pergamon-Elsevier Science Ltd, Oxford",
journal = "Bioorganic and Medicinal Chemistry Letters",
title = "Supplementary data for article: Villalta-Romero, F.; Borro, L.; Mandić, B.; Escalante, T.; Rucavado, A.; Gutierrez, J. M.; Neshich, G.; Tasic, L. Discovery of Small Molecule Inhibitors for the Snake Venom Metalloprotease BaP1 Using in Silico and in Vitro Tests. Bioorganic and Medicinal Chemistry Letters 2017, 27 (9), 2018–2022.  https://doi.org/10.1016/j.bmcl.2017.03.007",
url = "https://hdl.handle.net/21.15107/rcub_cherry_3002"
}
Villalta-Romero, F., Borro, L., Mandić, B., Escalante, T., Rucavado, A., Gutierrez, J. M., Nešić, G.,& Tasić, L.. (2017). Supplementary data for article: Villalta-Romero, F.; Borro, L.; Mandić, B.; Escalante, T.; Rucavado, A.; Gutierrez, J. M.; Neshich, G.; Tasic, L. Discovery of Small Molecule Inhibitors for the Snake Venom Metalloprotease BaP1 Using in Silico and in Vitro Tests. Bioorganic and Medicinal Chemistry Letters 2017, 27 (9), 2018–2022.  https://doi.org/10.1016/j.bmcl.2017.03.007. in Bioorganic and Medicinal Chemistry Letters
Pergamon-Elsevier Science Ltd, Oxford..
https://hdl.handle.net/21.15107/rcub_cherry_3002
Villalta-Romero F, Borro L, Mandić B, Escalante T, Rucavado A, Gutierrez JM, Nešić G, Tasić L. Supplementary data for article: Villalta-Romero, F.; Borro, L.; Mandić, B.; Escalante, T.; Rucavado, A.; Gutierrez, J. M.; Neshich, G.; Tasic, L. Discovery of Small Molecule Inhibitors for the Snake Venom Metalloprotease BaP1 Using in Silico and in Vitro Tests. Bioorganic and Medicinal Chemistry Letters 2017, 27 (9), 2018–2022.  https://doi.org/10.1016/j.bmcl.2017.03.007. in Bioorganic and Medicinal Chemistry Letters. 2017;.
https://hdl.handle.net/21.15107/rcub_cherry_3002 .
Villalta-Romero, Fabian, Borro, Luiz, Mandić, Boris, Escalante, Teresa, Rucavado, Alexandra, Gutierrez, Jose Maria, Nešić, Goran, Tasić, Ljubica, "Supplementary data for article: Villalta-Romero, F.; Borro, L.; Mandić, B.; Escalante, T.; Rucavado, A.; Gutierrez, J. M.; Neshich, G.; Tasic, L. Discovery of Small Molecule Inhibitors for the Snake Venom Metalloprotease BaP1 Using in Silico and in Vitro Tests. Bioorganic and Medicinal Chemistry Letters 2017, 27 (9), 2018–2022.  https://doi.org/10.1016/j.bmcl.2017.03.007" in Bioorganic and Medicinal Chemistry Letters (2017),
https://hdl.handle.net/21.15107/rcub_cherry_3002 .