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Jiangping Wang,Shirong Liu,Botao Zhang,Changbin Yu 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.3
In this paper, an efficient and probabilistic complete planning algorithm called Composite-space RRT is presented to address motion planning with soft constraints for spherical wrist manipulators. Firstly, we propose a novel configuration space termed Composite Configuration Space (“Composite Space” for short), which is composed of the joint space and the task space. Then, collision-free paths are generated in the composite space by the Rapidly-exploring Random Trees (RRT) algorithm. Finally, the planned paths in the composite space are mapped into the corresponding joint-space paths by a local planner. As the analytical inverse kinematics (IK) of the spherical wrist is used in the local planner, the proposed Composite-space RRT algorithm is characterized by high efficiency and no numerical iteration. Moreover, this approach can effectively improve the smoothness of the end-effector orientation path. The effectiveness of the proposed algorithm is demonstrated on the Willow Garage’s PR2 simulation platform with two typical orientation-constrained cases.
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WenJing Xiao,Jun Hou,Jie Ma,BoTao Yu,JianDong Ren,WeiHua Jin,Juan Wu,DeZhi Zheng,KaiHua Fan 대한약학회 2021 Archives of Pharmacal Research Vol.44 No.8
Mangiferin is a promising effective chemopreventiveagent against various tumors. However, itsclinical use is limited by poor water solubility and lowbioavailability. In this article, mangiferin loaded magneticPCEC microspheres (MG-MS) were designed, characterizedand the antitumor activity of MG-MS was evaluatedin vitro. The magnetic nanoparticles (MNP) were synthesizedvia the high-temperature reaction of ironacetylacetonate in phenyl ether in the presence of oleic acidand oleylamine. Poly (ε-caprolactone)-poly (ethyleneglycol)-poly (ε-caprolactone) (PCL-PEG-PCL, PCEC)copolymers were formed by ring-opening copolymerizationof ε-CL initiated by PEG-diol using Sn(Oct)2 as acatalyst and MG-MS were prepared by solvent diffusionmethod. MNP, PCEC copolymer, and MG-MS werecharacterized by GPC, TEM, XRD, FT-IR, 1H-NMP andMalvern Laser Particle Sizer. Meanwhile, the antiproliferativeactivity in vitro and in vitro release behavior of thismicrospheres were studied in detail. The results indicatethat the obtained magnetic microspheres might have greatpotential as an effective carrier for mangiferin used incancer chemotherapy.
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