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The N-desmethyl-erythromycin A and N-desmethyl-clarithromycin were tentatively identified in chicken liver microsomes using the established quick analytic method, which will provide a theoretical foundation for future research on pharmacokinetics and drug elimination in poultry.In order to meet the needs of intelligent perception of the driving environment, a point cloud registering method based on 3D NDT-ICP algorithm is proposed to improve the modeling accuracy of tunneling roadway environments. Firstly, Voxel Grid filtering method is