In order to meet the polishing requirement of faucets and other products,a novel multi-station rotary polishing robot is designed,which is a PPPR + RR type of degree of freedom( DOF) distribution structure,and is simi...In order to meet the polishing requirement of faucets and other products,a novel multi-station rotary polishing robot is designed,which is a PPPR + RR type of degree of freedom( DOF) distribution structure,and is similar to dual-arm robot. Forward and inverse kinematic analysis is carried out by robot modeling. In order to make this robot structure more compact,first of all,X,Y and Z three moving degrees of freedom( DOF) limit stroke polishing need is calculated by using an artificial fish swarm algorithm,which analyzes dexterous workspace of this robot. Then,on the basis of the above analysis,the three DOF stroke is optimized. Simulation and polishing experimental results verify that this polishing robot with optimized stroke parameters can meet the polishing needs of faucets and other bathroom pieces.展开更多
Successful gene vectors should be with high transfection efficiency and minimal cytotoxicity. Natural polysaccharides, due to their good biocompatibility and biodegradability, have been widely studied and applied. Amy...Successful gene vectors should be with high transfection efficiency and minimal cytotoxicity. Natural polysaccharides, due to their good biocompatibility and biodegradability, have been widely studied and applied. Amylopectin is one of polysaccharides with dendritic structure and numerous hydroxyl groups that could be used for subsequent modification. In this work, a series of dendritic cationic gene vectors comprising amylopectin backbones and poly(2-(dimethylamino) ethyl methacrylate)(PDMAEMA) side chains with different lengths(termed as AMY-PDs) were readily prepared by atom transfer radical polymerization(ATRP). The gene condensation ability, cytotoxicity and gene transfection of AMY-PDs carriers were investigated. In comparison with "gold-standard" poly(ethyleneimine)(PEI, 25 k Da), the AMY-PDs exhibited higher transfection efficiency with lower cytotoxicity. AMY-PDs could be further modified with Au nanoparticles(termed as AMY-PD@Au). The potential of the AMY-PD@Au vectors to be utilized as a CT contrast agent for imaging of cancer cells was investigated. Such AMY-PD@Au vectors may realize gene therapy with the ability of real-time imaging.展开更多
基金Supported by the Key Research and Development Project of Yangzhou--Industry Preview and Key Projects(No.YZ2015011)
文摘In order to meet the polishing requirement of faucets and other products,a novel multi-station rotary polishing robot is designed,which is a PPPR + RR type of degree of freedom( DOF) distribution structure,and is similar to dual-arm robot. Forward and inverse kinematic analysis is carried out by robot modeling. In order to make this robot structure more compact,first of all,X,Y and Z three moving degrees of freedom( DOF) limit stroke polishing need is calculated by using an artificial fish swarm algorithm,which analyzes dexterous workspace of this robot. Then,on the basis of the above analysis,the three DOF stroke is optimized. Simulation and polishing experimental results verify that this polishing robot with optimized stroke parameters can meet the polishing needs of faucets and other bathroom pieces.
基金supported by the National Natural Science Foundation of China(51173014,51221002,51325304,51373017,51302009,51473014)the Research Fund for Doctoral Program of Higher Education of China(20120010120007)Collaborative Innovation Center for Cardiovascular Disorders,Beijing Anzhen Hospital Affiliated to the Capital Medical University
文摘Successful gene vectors should be with high transfection efficiency and minimal cytotoxicity. Natural polysaccharides, due to their good biocompatibility and biodegradability, have been widely studied and applied. Amylopectin is one of polysaccharides with dendritic structure and numerous hydroxyl groups that could be used for subsequent modification. In this work, a series of dendritic cationic gene vectors comprising amylopectin backbones and poly(2-(dimethylamino) ethyl methacrylate)(PDMAEMA) side chains with different lengths(termed as AMY-PDs) were readily prepared by atom transfer radical polymerization(ATRP). The gene condensation ability, cytotoxicity and gene transfection of AMY-PDs carriers were investigated. In comparison with "gold-standard" poly(ethyleneimine)(PEI, 25 k Da), the AMY-PDs exhibited higher transfection efficiency with lower cytotoxicity. AMY-PDs could be further modified with Au nanoparticles(termed as AMY-PD@Au). The potential of the AMY-PD@Au vectors to be utilized as a CT contrast agent for imaging of cancer cells was investigated. Such AMY-PD@Au vectors may realize gene therapy with the ability of real-time imaging.
