
Publications
Citations
Preprints
- Post-translational digital data encoding into the genomes of mammalian cell populations
Callisto A, Strutz J, Leeper K, Kalhor R, Church G, Tyo KEJ, and Bhan N. 2024. bioRxiv. https://doi.org/10.1101/2024.05.12.591851 - BioPKS Pipeline: An integrated platform for merging the computational design of chimeric type I polyketide synthases with enzymatic pathways for chemical biosynthesis
Chainani Y, Diaz J, Guilarte-Silva M, Blay V, Zhang Q, Sprague W, Tyo KEJ, Broadbelt LJ, Mukhopadhyay A, Keasling JD, Garcia Martin H, and Backman TWH. 2024. bioRxiv. https://doi.org/10.1101/2024.11.04.621673 - Aromatic natural products synthesis from aromatic lignin monomers using Acinetobacter baylyi ADP1: Bradley W. Biggs and Keith E. J. Tyo. 2023. bioRxIV. doi: 10.1101/2023.08.24.554694
2025
- Toward a circular nitrogen bioeconomy
Apraku E, Farmer M, Lavallais C, Soriano DA, Notestein J, Tyo K, Dunn J, Tarpeh WA, and Wells GF. 2025. Curr. Opin. Biotechnol. 91, 103225. https://doi.org/10.1016/j.copbio.2024.103225 - DORA-XGB: an improved enzymatic reaction feasibility classifier trained using a novel synthetic data approach
Chainani Y, Ni Z, Shebek KM, Broadbelt LJ, and Tyo KEJ. 2025. Mol. Syst. Des. Eng. 10, 129–142. https://doi.org/10.1039/D4ME00118D
2024
- Engineering the Activity of a Template-Independent DNA Polymerase
Milisavljevic M, Rojas Rodriguez T, Carlson CK, Liu CC, and Tyo KEJ. 2024. ACS Synth. Biol. 13, 8. https://doi.org/10.1021/acssynbio.4c00221 - A Massively Parallel In Vivo Assay of TdT Mutants Yields Variants with Altered Nucleotide Insertion Biases
Carlson CK, Loveless TB, Milisavljevic M, Kelly PI, Mills JH, Tyo KEJ, and Liu CC. 2024. ACS Synth. Biol. 13, 10. https://doi.org/10.1021/acssynbio.4c00344
2023
- Engineering Ca2+-Dependent DNA Polymerase Activity: Bradley W. Biggs, Alexandra M. de Paz, Namita J. Bhan, Thaddeus R. Cybulski, George M. Church, and Keith E. J. Tyo. 2023. ACS Synth. Biol. 12, 11, 3301–3311. https://doi.org/10.1021/acssynbio.3c00302
- Meta-omic profiling reveals ubiquity of genes encoding for the nitrogen-rich biopolymer cyanophycin in activated sludge microbiomes:
Farmer M, Rajasabhai R, Tarpeh W, Tyo K and Wells G. 2023. Front. Microbiol. 14:1287491. doi: 10.3389/fmicb.2023.1287491 - Coupling chemistry and biology for the synthesis of advanced bioproducts:
Chainani, Y., Bonnanzio, G., Tyo, K.E. and Broadbelt, L.J., 2023. Coupling chemistry and biology for the synthesis of advanced bioproducts. Current Opinion in Biotechnology, 84, p.102992. - Pickaxe: a Python library for the prediction of novel metabolic reactions:
Shebek, K.M., Strutz, J., Broadbelt, L.J. and Tyo, K.E., 2023. Pickaxe: a Python library for the prediction of novel metabolic reactions. BMC bioinformatics, 24(1), pp.1-15. - A dynamic kinetic model captures cell-free metabolism for improved butanol production:
Martin, J.P., Rasor, B.J., DeBonis, J., Karim, A.S., Jewett, M.C., Tyo, K.E. and Broadbelt, L.J., 2023. A dynamic kinetic model captures cell-free metabolism for improved butanol production. Metabolic Engineering, 76, pp.133-145.
2022
- MINE 2.0: enhanced biochemical coverage for peak identification in untargeted metabolomics:
Strutz, J., Shebek, K.M., Broadbelt, L.J. and Tyo, K.E., 2022. MINE 2.0: enhanced biochemical coverage for peak identification in untargeted metabolomics. Bioinformatics, 38(13), pp.3484-3487. - Chemical-damage MINE: A database of curated and predicted spontaneous metabolic reactions:
Jeffryes, J.G., Lerma-Ortiz, C., Liu, F., Golubev, A., Niehaus, T.D., Elbadawi-Sidhu, M., Fiehn, O., Hanson, A.D., Tyo, K.E. and Henry, C.S., 2022. Chemical-damage MINE: A database of curated and predicted spontaneous metabolic reactions. Metabolic Engineering, 69, pp.302-312.
2021
- Enabling commercial success of industrial biotechnology:
Biggs, B.W., Alper, H.S., Pfleger, B.F., Tyo, K.E., Santos, C.N., Ajikumar, P.K. and Stephanopoulos, G., 2021. Enabling commercial success of industrial biotechnology. Science, 374(6575), pp.1563-1565. - Recording Temporal Signals with Minutes Resolution Using Enzymatic DNA Synthesis:
Bhan, N., Callisto, A., Strutz, J., Glaser, J., Kalhor, R., Boyden, E.S., Church, G., Kording, K. and Tyo, K.E., 2021. Recording temporal signals with minutes resolution using enzymatic DNA synthesis. Journal of the American Chemical Society, 143(40), pp.16630-16640. - Engineering Acinetobacter baylyi ADP1 for mevalonate production from lignin-derived aromatic compounds:
Arvay, E., Biggs, B.W., Guerrero, L., Jiang, V. and Tyo, K., 2021. Engineering Acinetobacter baylyi ADP1 for mevalonate production from lignin-derived aromatic compounds. Metabolic engineering communications, 13, p.e00173. - Stepping on the Gas to a Circular Economy: Accelerating Development of Carbon-Negative Chemical Production from Gas Fermentation:
Fackler, N., Heijstra, B.D., Rasor, B.J., Brown, H., Martin, J., Ni, Z., Shebek, K.M., Rosin, R.R., Simpson, S.D., Tyo, K.E. and Giannone, R.J., 2021. Stepping on the gas to a circular economy: accelerating development of carbon-negative chemical production from gas fermentation. Annual review of chemical and biomolecular engineering, 12, pp.439-470. - Dynamic Control of Gene Expression with Riboregulated Switchable Feedback Promoters:
Glasscock, C.J., Biggs, B.W., Lazar, J.T., Arnold, J.H., Burdette, L.A., Valdes, A., Kang, M.K., Tullman-Ercek, D., Tyo, K.E. and Lucks, J.B., 2021. Dynamic control of gene expression with riboregulated switchable feedback promoters. ACS synthetic biology, 10(5), pp.1199-1213. - Curating a comprehensive set of enzymatic reaction rules for efficient novel biosynthetic pathway design:
Ni, Z., Stine, A.E., Tyo, K.E. and Broadbelt, L.J., 2021. Curating a comprehensive set of enzymatic reaction rules for efficient novel biosynthetic pathway design. Metabolic Engineering, 65, pp.79-87.
2020
- Development of a genetic toolset for the highly engineerable and metabolically versatile Acinetobacter baylyi ADP1:
Biggs, B.W., Bedore, S.R., Arvay, E., Huang, S., Subramanian, H., McIntyre, E.A., Duscent-Maitland, C.V., Neidle, E.L. and Tyo, K.E.J., 2020. Development of a genetic toolset for the highly engineerable and metabolically versatile Acinetobacter baylyi ADP1. Nucleic acids research, 48(9), pp.5169-5182.
2019
- Model-guided mechanism discovery and parameter selection for directed evolution:
Stainbrook, S.C. and Tyo, K.E., 2019. Model-guided mechanism discovery and parameter selection for directed evolution. Applied microbiology and biotechnology, 103(23-24), pp.9697-9709. - Bayesian inference of metabolic kinetics from genome-scale multiomics data:
St. John, P.C., Strutz, J., Broadbelt, L.J., Tyo, K.E. and Bomble, Y.J., 2019. Bayesian inference of metabolic kinetics from genome-scale multiomics data. PLoS computational biology, 15(11), p.e1007424. - Metabolic kinetic modeling provides insight into complex biological questions, but hurdles remain:
Strutz, J., Martin, J., Greene, J., Broadbelt, L. and Tyo, K., 2019. Metabolic kinetic modeling provides insight into complex biological questions, but hurdles remain. Current opinion in biotechnology, 59, pp.24-30. - Chemically Inducible Chromosomal Evolution (CIChE) for Multicopy Metabolic Pathway Engineering:
Love, A.M., Biggs, B.W., Tyo, K.E. and Ajikumar, P.K., 2019. Chemically inducible chromosomal evolution (ciche) for multicopy metabolic pathway engineering. Microbial Metabolic Engineering: Methods and Protocols, pp.37-45. - Metabolic In Silico Network Expansions to Predict and Exploit Enzyme Promiscuity:
Jeffryes, J., Strutz, J., Henry, C. and Tyo, K.E., 2019. Metabolic in silico network expansions to predict and exploit enzyme promiscuity. Microbial Metabolic Engineering: Methods and Protocols, pp.11-21.
2018
- High-resolution mapping of DNA polymerase fidelity using nucleotide imbalances and next-generation sequencing:
De Paz, A.M., Cybulski, T.R., Marblestone, A.H., Zamft, B.M., Church, G.M., Boyden, E.S., Kording, K.P. and Tyo, K.E.J., 2018. High-resolution mapping of DNA polymerase fidelity using nucleotide imbalances and next-generation sequencing. Nucleic acids research, 46(13), pp.e78-e78. - Development of novel metabolite-responsive transcription factors via transposon-mediated protein fusion:
Younger, A.K., Su, P.Y., Shepard, A.J., Udani, S.V., Cybulski, T.R., Tyo, K.E. and Leonard, J.N., 2018. Development of novel metabolite-responsive transcription factors via transposon-mediated protein fusion. Protein Engineering, Design and Selection, 31(2), pp.55-63. - Detection of a Peptide Biomarker by Engineered Yeast Receptors:
Adeniran, A., Stainbrook, S., Bostick, J.W. and Tyo, K.E., 2018. Detection of a peptide biomarker by engineered yeast receptors. ACS synthetic biology, 7(2), pp.696-705.
2017
- Predicting novel substrates for enzymes with minimal experimental effort with active learning:
Pertusi, D.A., Moura, M.E., Jeffryes, J.G., Prabhu, S., Biggs, B.W. and Tyo, K.E., 2017. Predicting novel substrates for enzymes with minimal experimental effort with active learning. Metabolic engineering, 44, pp.171-181. - Increased processivity, misincorporation, and nucleotide incorporation efficiency in Sulfolobus solfataricus Dpo4 thumb domain mutants:
Wang, L., Liang, C., Wu, J., Liu, L. and Tyo, K.E., 2017. Increased processivity, misincorporation, and nucleotide incorporation efficiency in Sulfolobus solfataricus Dpo4 thumb domain mutants. Applied and Environmental Microbiology, 83(18), pp.e01013-17. - Acceleration strategies to enhance metabolic ensemble modeling performance:
Greene, J.L., Wäechter, A., Tyo, K.E. and Broadbelt, L.J., 2017. Acceleration strategies to enhance metabolic ensemble modeling performance. Biophysical journal, 113(5), pp.1150-1162. - A glucose-sensing toggle switch for autonomous, high productivity genetic control:
Bothfeld, W., Kapov, G. and Tyo, K.E., 2017. A glucose-sensing toggle switch for autonomous, high productivity genetic control. ACS synthetic biology, 6(7), pp.1296-1304. - DNA binding strength increases the processivity and activity of a Y-Family DNA polymerase:
Wu, J., De Paz, A., Zamft, B.M., Marblestone, A.H., Boyden, E.S., Kording, K.P. and Tyo, K.E., 2017. DNA binding strength increases the processivity and activity of a Y-Family DNA polymerase. Scientific reports, 7(1), p.4756. - Modulating and evaluating receptor promiscuity through directed evolution and modeling:
Stainbrook, S.C., Yu, J.S., Reddick, M.P., Bagheri, N. and Tyo, K.E., 2017. Modulating and evaluating receptor promiscuity through directed evolution and modeling. Protein Engineering, Design and Selection, 30(6), pp.455-465. - Nucleotide-time alignment for molecular recorders:
Cybulski, T.R., Boyden, E.S., Church, G.M., Tyo, K.E. and Kording, K.P., 2017. Nucleotide-time alignment for molecular recorders. PLoS computational biology, 13(5), p.e1005483. - CellSort: a support vector machine tool for optimizing fluorescence-activated cell sorting and reducing experimental effort:
Yu, J.S., Pertusi, D.A., Adeniran, A.V. and Tyo, K.E., 2017. CellSort: a support vector machine tool for optimizing fluorescence-activated cell sorting and reducing experimental effort. Bioinformatics, 33(6), pp.909-916. - Generation and Validation of the iKp1289 Metabolic Model for Klebsiella pneumoniae KPPR1:
Henry, C.S., Rotman, E., Lathem, W.W., Tyo, K.E., Hauser, A.R. and Mandel, M.J., 2017. Generation and Validation of the iKp1289 Metabolic Model for Klebsiella pneumoniae KPPR1. The Journal of Infectious Diseases, 215(suppl_1), pp.S37-S43.
2016
- Plasmid-based one-pot saturation mutagenesis:
Wrenbeck, E.E., Klesmith, J.R., Stapleton, J.A., Adeniran, A., Tyo, K.E. and Whitehead, T.A., 2016. Plasmid-based one-pot saturation mutagenesis. Nature Methods, 13(11), pp.928-930. - Draft Genome Sequence of a Multidrug-Resistant Klebsiella quasipneumoniae subsp. similipneumoniae Isolate from a Clinical Source:
Ozer, E.A., Morris, A.R., Krapp, F., Henry, C.S., Tyo, K.E., Lathem, W.W. and Hauser, A.R., 2016. Draft genome sequence of a multidrug-resistant Klebsiella quasipneumoniae subsp. similipneumoniae isolate from a clinical source. Genome Announcements, 4(3), pp.10-1128. - Characterizing and predicting carboxylic acid reductase activity for diversifying bioaldehyde production:
Moura, M., Pertusi, D., Lenzini, S., Bhan, N., Broadbelt, L.J. and Tyo, K.E., 2016. Characterizing and predicting carboxylic acid reductase activity for diversifying bioaldehyde production. Biotechnology and Bioengineering, 113(5), pp.944-952. - Exploring De Novo metabolic pathways from pyruvate to propionic acid:
Stine, A., Zhang, M., Ro, S., Clendennen, S., Shelton, M.C., Tyo, K.E. and Broadbelt, L.J., 2016. Exploring de novo metabolic pathways from pyruvate to propionic acid. Biotechnology Progress, 32(2), pp.303-311. - N-Terminal-Based Targeted, Inducible Protein Degradation in Escherichia coli:
Sekar, K., Gentile, A.M., Bostick, J.W. and Tyo, K.E., 2016. N-terminal-based targeted, inducible protein degradation in Escherichia coli. PLoS One, 11(2), p.e0149746. - Evaluating enzymatic synthesis of small molecule drugs:
Moura, M., Finkle, J., Stainbrook, S., Greene, J., Broadbelt, L.J. and Tyo, K.E., 2016. Evaluating enzymatic synthesis of small molecule drugs. Metabolic engineering, 33, pp.138-147.
2015
- MINEs: open access databases of computationally predicted enzyme promiscuity products for untargeted metabolomics:
Jeffryes, J.G., Colastani, R.L., Elbadawi-Sidhu, M., Kind, T., Niehaus, T.D., Broadbelt, L.J., Hanson, A.D., Fiehn, O., Tyo, K.E. and Henry, C.S., 2015. MINEs: open access databases of computationally predicted enzyme promiscuity products for untargeted metabolomics. Journal of cheminformatics, 7, pp.1-8. - Efficient searching and annotation of metabolic networks using chemical similarity:
Pertusi, D.A., Stine, A.E., Broadbelt, L.J. and Tyo, K.E., 2015. Efficient searching and annotation of metabolic networks using chemical similarity. Bioinformatics, 31(7), pp.1016-1024. - Regulatory effects on central carbon metabolism from poly-3-hydroxybutryate synthesis:
Sekar, K. and Tyo, K.E., 2015. Regulatory effects on central carbon metabolism from poly-3-hydroxybutryate synthesis. Metabolic Engineering, 28, pp.180-189. - Yeast-based biosensors: Design and applications:
Adeniran, A., Sherer, M. and Tyo, K.E., 2015. Yeast-based biosensors: Design and applications. FEMS yeast research, 15(1), pp.1-15. - Blocking endocytotic mechanisms to improve heterologous protein titers in Saccharomyces cerevisiae:
Rodríguez‐Limas, W.A., Tannenbaum, V. and Tyo, K.E., 2015. Blocking endocytotic mechanisms to improve heterologous protein titers in Saccharomyces cerevisiae. Biotechnology and bioengineering, 112(2), pp.376-385.
2014
- Impact of protein uptake and degradation on recombinant protein secretion in yeast:
Tyo, K.E., Liu, Z., Petranovic, D. and Nielsen, J., 2014. Impact of protein uptake and degradation on recombinant protein secretion in yeast. Applied microbiology and biotechnology, 98, pp.7149-7159
2013
- Computational tools for guided discovery and engineering of metabolic pathways:
Moura, M., Broadbelt, L. and Tyo, K., 2013. Computational tools for guided discovery and engineering of metabolic pathways. Systems Metabolic Engineering: Methods and Protocols, pp.123-147. - Statistical analysis of molecular signal recording:
Glaser, J.I., Zamft, B.M., Marblestone, A.H., Moffitt, J.R., Tyo, K., Boyden, E.S., Church, G. and Kording, K.P., 2013. Statistical analysis of molecular signal recording. PLoS computational biology, 9(7), p.e1003145. - Virus-like particles: the future of microbial factories and cell-free systems as platforms for vaccine development:
Rodríguez-Limas, W.A., Sekar, K. and Tyo, K.E., 2013. Virus-like particles: the future of microbial factories and cell-free systems as platforms for vaccine development. Current opinion in biotechnology, 24(6), pp.1089-1093.
2012
- Imbalance of heterologous protein folding and disulfide bond formation rates yields runaway oxidative stress:
Tyo, K.E., Liu, Z., Petranovic, D. and Nielsen, J., 2012. Imbalance of heterologous protein folding and disulfide bond formation rates yields runaway oxidative stress. BMC biology, 10, pp.1-14. - Measuring cation dependent DNA polymerase fidelity landscapes by deep sequencing:
Zamft, B.M., Marblestone, A.H., Kording, K., Schmidt, D., Martin-Alarcon, D., Tyo, K., Boyden, E.S. and Church, G., 2012. Measuring cation dependent DNA polymerase fidelity landscapes by deep sequencing. - Metabolic engineering of recombinant protein secretion by Saccharomyces cerevisiae:
Hou, J., Tyo, K.E., Liu, Z., Petranovic, D. and Nielsen, J., 2012. Metabolic engineering of recombinant protein secretion by Saccharomyces cerevisiae. FEMS yeast research, 12(5), pp.491-510. - Different expression systems for production of recombinant proteins in Saccharomyces cerevisiae:
Liu, Z., Tyo, K.E., Martínez, J.L., Petranovic, D. and Nielsen, J., 2012. Different expression systems for production of recombinant proteins in Saccharomyces cerevisiae. Biotechnology and bioengineering, 109(5), pp.1259-1268. - Synthetic biology: emerging methodologies to catalyze the metabolic engineering design cycle:
Smolke, C.D. and Tyo, K.E., 2012. Synthetic biology: emerging methodologies to catalyze the metabolic engineering design cycle. Metabolic Engineering, 14(3), pp.187-188. - Engineering of vesicle trafficking improves heterologous protein secretion in Saccharomyces cerevisiae:
Hou, J., Tyo, K., Liu, Z., Petranovic, D. and Nielsen, J., 2012. Engineering of vesicle trafficking improves heterologous protein secretion in Saccharomyces cerevisiae. Metabolic engineering, 14(2), pp.120-127.
2011
- Directed evolution of promoters and tandem gene arrays for customizing RNA synthesis rates and regulation:
Tyo, K.E., Nevoigt, E. and Stephanopoulos, G., 2011. Directed evolution of promoters and tandem gene arrays for customizing RNA synthesis rates and regulation. In Methods in enzymology (Vol. 497, pp. 135-155). Academic Press. - Molecular and process design for rotavirus-like particle production in Saccharomyces cerevisiae:Rodríguez-Limas, W.A., Tyo, K.E., Nielsen, J., Ramírez, O.T. and Palomares, L.A., 2011. Molecular and process design for rotavirus-like particle production in Saccharomyces cerevisiae. Microbial cell factories, 10(1), pp.1-10.
- Prospects of yeast systems biology for human health: integrating lipid, protein and energy metabolism:
Tyo, K. E. J.; Nevoigt, E.; Stephanopoulos, G. Chapter Six – Directed Evolution of Promoters and Tandem Gene Arrays for Customizing RNA Synthesis Rates and Regulation. In Methods in Enzymology; Voigt, C., Ed.; Synthetic Biology, Part A; Academic Press, 2011; Vol. 497, pp 135–155. https://doi.org/10.1016/B978-0-12-385075-1.00006-8.
2010
- Analysis of polyhydroxybutyrate flux limitations by systematic genetic and metabolic perturbations: Tyo, K. E. J.; Fischer, C. R.; Simeon, F.; Stephanopoulos, G. Analysis of Polyhydroxybutyrate Flux Limitations by Systematic Genetic and Metabolic Perturbations. Metabolic Engineering 2010, 12 (3), 187–195. https://doi.org/10.1016/j.ymben.2009.10.005.
- Toward design-based engineering of industrial microbes: Tyo, K. E.; Kocharin, K.; Nielsen, J. Toward Design-Based Engineering of Industrial Microbes. Current Opinion in Microbiology 2010, 13 (3), 255–262. https://doi.org/10.1016/j.mib.2010.02.001.
- Isoprenoid pathway optimization for Taxol precursor overproduction in Escherichia coli: Ajikumar, P.K., Xiao, W.H., Tyo, K.E., Wang, Y., Simeon, F., Leonard, E., Mucha, O., Phon, T.H., Pfeifer, B. and Stephanopoulos, G., 2010. Isoprenoid pathway optimization for Taxol precursor overproduction in Escherichia coli. Science, 330(6000), pp.70-74.
2009
- Identification of gene disruptions for increased poly‐3‐hydroxybutyrate accumulation in Synechocystis PCC 6803: Tyo, K. E. J.; Jin, Y.-S.; Espinoza, F. A.; Stephanopoulos, G. Identification of Gene Disruptions for Increased Poly-3-Hydroxybutyrate Accumulation in Synechocystis PCC 6803. Biotechnology Progress 2009, 25 (5), 1236–1243. https://doi.org/10.1002/btpr.228.
- Stabilized gene duplication enables long-term selection-free heterologous pathway expression: Tyo, K. E. J.; Ajikumar, P. K.; Stephanopoulos, G. Stabilized Gene Duplication Enables Long-Term Selection-Free Heterologous Pathway Expression. Nat Biotechnol 2009, 27 (8), 760–765. https://doi.org/10.1038/nbt.1555.
2007
- Expanding the Metabolic Engineering Toolbox: More Options to Engineer Cells:
Tyo, K. E.; Alper, H. S.; Stephanopoulos, G. N. Expanding the Metabolic Engineering Toolbox: More Options to Engineer Cells. Trends in Biotechnology 2007, 25 (3), 132–137. https://doi.org/10.1016/j.tibtech.2007.01.003 - Terpenoids: Opportunities for Biosynthesis of Natural Product Drugs Using Engineered Microorganisms:
Ajikumar, P. K.; Tyo, K.; Carlsen, S.; Mucha, O.; Phon, T. H.; & Stephanopoulos, G. N. Terpenoids: opportunities for biosynthesis of natural product drugs using engineered microorganisms. Molecular pharmaceutics 2007, 5(2), 167-190. https://doi.org/10.1021/mp700151b
2006
- High-Throughput Screen for Poly-3-Hydroxybutyrate in Escherichia coli and Synechocystis sp. Strain PCC6803:Tyo, K. E.; Zhou, H.; Stephanopoulos, G. N. High-Throughput Screen for Poly-3-Hydroxybutyrate in Escherichia Coli and Synechocystis Sp. Strain PCC6803. Applied and Environmental Microbiology 2006, 72 (5), 3412–3417. https://doi.org/10.1128/AEM.72.5.3412-3417.2006
2005
- Metabolic engineering:
Raab, R. M.; Tyo, K.; Stephanopoulos, G. Metabolic Engineering. In Biotechnology for the Future; Nielsen, J., Ed.; Advances in Biochemical Engineering/Biotechnology; Springer: Berlin, Heidelberg, 2005; pp 1–17. https://doi.org/10.1007/b136411