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Zhaoyang Ding,Kai Zheng,Xue-Jun Cao 한국생물공학회 2014 Biotechnology and Bioprocess Engineering Vol.19 No.5
A thermo-responsive polymer (PNNB) wassynthesized with lower critical solution temperature 27.5ºCand over 95% recovery. The adsorption of porcine pancreaticlipase on Cibacron Blue F3GA-conjugated PNNB (PNNBCB)closely followed the bi-Langmuir adsorption isotherm. The maximum adsorption capacity was found at pH 5.0,with a ligand density of 18.4 μmol/g polymers. Theoptimized eluent was a 0.01 M phosphate buffer solution atpH 8.0 containing 20% ethylene glycol. Six adsorptiondesorptionrecycles indicated excellent reusability of theaffinity adsorbent. PNNB-CB was applied to separate porcinepancreatic lipase from its crude material giving a lipaseactivity recovery of 81.6% with a 16-fold purificationfactor. Lipase could be purified to single-band purity,according to gel electrophoresis. The purification strategyis therefore feasible and efficient for purifying proteins ofinterest.
Zhaoyang Cuan,Da-Wei Ding,Heng Wang,Yahui Liu,Yulong Liu 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.4
This paper develops a novel control method for solving the challenging problem of simultaneous collision avoidance and target tracking for an unmanned ground vehicle with velocity and heading rate constraints. The problem is formulated as an optimization problem where the trajectory tracking is treated as a soft constraint via control Lyapunov functions and obstacles avoidance is treated as hard constraint via control barrier functions. Two constraints are naturally unified in the context of quadratic programs which ensure that the hard constraint, soft constraint, velocity and heading rate constraints are satisfied simultaneously. Under the proposed strategy, an unmanned ground vehicle can avoid the stationary and moving obstacles while tracking the desired trajectory precisely and smoothly. Finally, three representative simulations are provided to demonstrate the effectiveness of the proposed method.
Sipeng Li,Jialing Chen,Xuanjun Zhang,Zhaoyang Ding,Xuejun Cao 한국생물공학회 2018 Biotechnology and Bioprocess Engineering Vol.23 No.1
Microbial transglutaminase (MTG) has been widely used in the food and pharmaceuticals industries. In this study, MTG was purified using affinity precipitation with an affinity polymer (PMMDN-T), which was synthesized using a pH-responsive polymer (PMMDN) coupled with L-thyroxin as an affinity ligand. Interactions between MTG and PMMDN-T were investigated using turbidimetric titration, zeta potential measurements, and low-field nuclear magnetic resonance (LF-NMR). We found different behaviors, architectures, and phase states of pH-dependent interactions between MTG and PMMDN-T interactions. Binding energetics between MTG and PMMDN-T were determined by isothermal titration calorimetry (ITC). The isoelectric point (pI) of the affinity polymer was 4.65 and was recovered with 96.7% efficiency after recycling the polymer three times. The optimal adsorption condition was 0.02 mol/L phosphate buffer (pH 6.0) with 1.0 mol/L NaCl at 30.0°C and a ligand density of 50.0 μmol/g. The maximum elution recoveries of total MTG were 98.44% (protein) with 92.19% (activity) using 0.02 mol/L pH 10.0 Gly-NaOH as the eluent.