A practical motion control strategy for a radio-controlled, 4-link and free-swimmingbiomimetic robot fish is presented. Based on control performance of the fish the fish s motion controltask is decomposed into on-line...A practical motion control strategy for a radio-controlled, 4-link and free-swimmingbiomimetic robot fish is presented. Based on control performance of the fish the fish s motion controltask is decomposed into on-line speed control and orientation control. The speed control algorithm isimplemented by using piecewise control, and orientation control is realized by fuzzy logic. Combiningwith step control and fuzzy control, a point-to-point (PTP) control algorithm is proposed and appliedto the closed-loop experimental system that uses a vision-based position sensing subsystem to providefeedback. Experiments confirm the reliability and e?ectiveness of the presented algorithms.展开更多
Objective To investigate the anti-tumor effects in vitro and in vivo distribution of the human/murine chimeric antibody (D2C).Methods The CD71 positive target cells(K562,CEM and SMMC7721) and the effector cells ,fresh...Objective To investigate the anti-tumor effects in vitro and in vivo distribution of the human/murine chimeric antibody (D2C).Methods The CD71 positive target cells(K562,CEM and SMMC7721) and the effector cells ,freshly isolated human PBMC,with the ratio of target cells to effector cells 1:50,were incubated in various dilutions of D2C antibody(Ab).Antibody dependent cytotoxicity(AD-CC) was tested by using an LDH-release assay.Instead of effector cells,complement was added to the target cells (CEM,SMMC-7721) with various dilutions of D2C Ab.A method of counting death cells was used in complement dependent cytotoxicity(CDC) assay.Tumor localization and distribution of the chimeric antibody(D2C) were observed by labeling the chimeric Ab with radioiodine(^131I) and injecting in into nude mice(Balb/c nu/nu) transplanted with human hepatocellular carcinoma cells (SMMC-7721).Results A significant ADCC was observed with the increased concentration of the D2C Ab.Cytolysis of CD71-positive target cells by the D2C Ab was found in the presence of fresh rabbit complement.Labeled D2C administered by intraperitoneal as well as tumor regional in-jection,was visualized by SPECT. The distribution of D2C Ab in murine organs and tissues showed that non-specific binding was lower fol-lowing tumor regional administration than when the antibody was administered by an intraperitoneal injection.The human/murine chimeric antibody(D2C) has in vitro anti-tumor effects and can exert its effects in specific tumor localization.Its distribution and local effects in vi-vo can be detected by radioimmunoimaging. Conclusion CD71 human/murine chimeric antibody showed marked killing of tumor cells in vitro,and specific recognition and high affinity binding to tumor tissue in vivo.展开更多
The tracing evaluation index system was designed to be used in virtual enterprise and established neural network trace evaluation model. As a result, it was more simple and nicer than the traditional method, so it had...The tracing evaluation index system was designed to be used in virtual enterprise and established neural network trace evaluation model. As a result, it was more simple and nicer than the traditional method, so it had wider application foreground.展开更多
文摘A practical motion control strategy for a radio-controlled, 4-link and free-swimmingbiomimetic robot fish is presented. Based on control performance of the fish the fish s motion controltask is decomposed into on-line speed control and orientation control. The speed control algorithm isimplemented by using piecewise control, and orientation control is realized by fuzzy logic. Combiningwith step control and fuzzy control, a point-to-point (PTP) control algorithm is proposed and appliedto the closed-loop experimental system that uses a vision-based position sensing subsystem to providefeedback. Experiments confirm the reliability and e?ectiveness of the presented algorithms.
基金National Sciences Foundation of China(No.39970693)
文摘Objective To investigate the anti-tumor effects in vitro and in vivo distribution of the human/murine chimeric antibody (D2C).Methods The CD71 positive target cells(K562,CEM and SMMC7721) and the effector cells ,freshly isolated human PBMC,with the ratio of target cells to effector cells 1:50,were incubated in various dilutions of D2C antibody(Ab).Antibody dependent cytotoxicity(AD-CC) was tested by using an LDH-release assay.Instead of effector cells,complement was added to the target cells (CEM,SMMC-7721) with various dilutions of D2C Ab.A method of counting death cells was used in complement dependent cytotoxicity(CDC) assay.Tumor localization and distribution of the chimeric antibody(D2C) were observed by labeling the chimeric Ab with radioiodine(^131I) and injecting in into nude mice(Balb/c nu/nu) transplanted with human hepatocellular carcinoma cells (SMMC-7721).Results A significant ADCC was observed with the increased concentration of the D2C Ab.Cytolysis of CD71-positive target cells by the D2C Ab was found in the presence of fresh rabbit complement.Labeled D2C administered by intraperitoneal as well as tumor regional in-jection,was visualized by SPECT. The distribution of D2C Ab in murine organs and tissues showed that non-specific binding was lower fol-lowing tumor regional administration than when the antibody was administered by an intraperitoneal injection.The human/murine chimeric antibody(D2C) has in vitro anti-tumor effects and can exert its effects in specific tumor localization.Its distribution and local effects in vi-vo can be detected by radioimmunoimaging. Conclusion CD71 human/murine chimeric antibody showed marked killing of tumor cells in vitro,and specific recognition and high affinity binding to tumor tissue in vivo.
基金ThekeyprojectofChineseMinistryofEducation (No .10 42 5 9) TheNationalOutstandingYouthScienceFoundationofChina (No .7972 5 0 0 2 0 ) TheSoftScienceFoundationofCommunicationIndustrialMinistryofChina (No .[2 0 0 1] 8)
文摘The tracing evaluation index system was designed to be used in virtual enterprise and established neural network trace evaluation model. As a result, it was more simple and nicer than the traditional method, so it had wider application foreground.
