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A Voronoi path planning extracted from improved skeleton for dynamic environments
Lin Jiang,Jun Li,Yuxin Hu,Feng Pan,Jianyang Zhu,Bin Lei,Rui Lin 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.4
Aiming at the problems that the robot being in the process of navigation cannot meet the requirements of real-time and accuracy at the same time, moreover is too close to obstacles and lacks the initiative to avoid obstacles, a Voronoi diagram algorithm for improved skeleton extraction suitable for dynamic environment is proposed. On the one hand, firstly the grid map is preprocessed by binarization, corrosion and expansion, so the reduced skeleton map suitable for navigation is obtained, then the reduced skeleton map is extracted for searching the global path, finally the improved cubic spline smoothing algorithm is used to optimize the global path each planned, thus overcoming the defects of bloated and tortuous in the path obtaining by original Voronoi diagram algorithm. On the other hand, the position information of all obstacles is obtained by a single scan lidar. Firstly, segmenting and linearly fitting all laser point clouds to remove the known obstacles in the map. Then to mark new possible dynamic obstacles with circles of appropriate size. Secondly detecting dynamic obstacles by the alteration of their center coordinates, moreover, solving their motion equations. Finally expanding the cost map along the speed direction of dynamic obstacles and combining DWA dynamic window method to realize dynamic obstacle avoidance. Compared with the original DWA algorithm, it can predict the motion state of dynamic obstacles in advance, which improves the safety of the robot in the dynamic environment. Moreover, the effectiveness of the algorithm is verified by many simulation experiments and real environment experiments.
Alginate-Coated Thiolated Chitosan Microspheres for an Oral Drug Delivery System In Vitro
Jiang, Hu Lin,Arote, Rohidas B.,Quan, Ji Shan,Yoo, Mi Kyong,Kim, You Kyoung,Kim, In Yong,Hong, Zhong Shan,Lee, Hong Gu,Jin, Xun,Choi, Yun Jaie,Cho, Chong Su Trans Tech Publications, Ltd. 2007 Key Engineering Materials Vol.342 No.-
<P>Thiolated polymers have been studied by many researchers because of the mucoadhesive properties of thiol group. Alginate is a natural and biocompatible polymer that has been widely used in drug delivery. In this study, thiolated chitosan microspheres (TCMs) were prepared by ionic gelation process with tripolyphosphate and then, the bovine growth hormone (BGH) was loaded as a model drug. Finally, the BGH-loaded TCMs (BTCMs) were coated with alginate to improve the stability in gastrointestinal (GI) track. The alginate-coated BTCMs (ABTCMs) were observed as spherical shapes. The average particle sizes of ABTCMs were 6.97±0.55 -m and the sizedistribution was shown uniformly. Release of BGH from ABTCMs was decreased by coating with alginate and increased rapidly with the change in medium pH from 1.2 to 7.4. Results indicate that the ABTCMs have a potential as a drug carrier for oral drug delivery.</P>
Jiang, Hu-Lin,Kim, You-Kyoung,Lee, Sun-Mi,Park, Mi-Ran,Kim, Eun-Mi,Jin, Yong-Mei,Arote, Rohidas,Jeong, Hwan-Jeong,Song, Soo-Chang,Cho, Myung-Haing,Cho, Chong-Su 대한약학회 2010 Archives of Pharmacal Research Vol.33 No.4
Hydrogels are widely used in drug delivery systems because they can control the release and thereby enhance the efficiency of locally delivered bioactive molecules such as therapeutic drugs, proteins, or genes. For gene delivery, localized release of plasmid DNA or polymer/DNA complexes can transfect cells and produce sustained protein production. We tested the galactosylated chitosan-graft-polyethylenimine (GC-g-PEI)/DNA complexes-loaded poly(organophosphazene) thermosensitive biodegradable hydrogel as a hepatocyte targeting gene delivery system. The poly(organophosphazene) hydrogel loaded with GC-g-PEI/DNA complexes showed low cytotoxicity and higher transfection efficiency than PEI/DNA complexes, as well as good hepatocyte specificity in vitro and in vivo. Our results indicate that poly(organophosphazene) hydrogels loaded with GC-g-PEI/DNA complexes may be a safe and efficient hepatocyte targeting gene delivery system.
Jiang, Hu-Lin,Park, In-Kyu,Shin, Na-Ri,Yoo, Han-Sang,Akaike, Toshihiro,Cho, Chong-Su The Pharmaceutical Society of Korea 2004 Archives of Pharmacal Research Vol.27 No.3
Chitosan microspheres were prepared by ionic gelation process with sodium sulfate for nasal vaccine delivery. Bordetella Bronchiseptica Dermonecrotoxin (BBD) as a major virulence factor of a causative agent of atrophic rhinitis (AR) was loaded to the chitosan microspheres for vaccination. Morphology of BBD-loaded chitosan microspheres was observed as spherical shapes. The average particle sizes of the BBD-loaded chitosan microspheres were about $2.69$\mid${\;}\mu\textrm{m}$. More BBD was released with an increase of molecular weight of chitosan and with an increase of medium pH in vitro due to weaker intermolecular interaction between chitosan and BBD. Tumor necrosis $factor-{\alpha}{\;}(TNF{\alpha})$ and nitric oxide (NO) from RAW264.7 cells stimulated with BBD-loaded chitosan microspheres were gradually secreted, suggesting that released BBD from chitosan microspheres had immune stimulating activity of AR vaccine.
( Lin Zhou ),( Yan Zhong ),( Fang Hui Yang ),( Zi Bo Li ),( Jiang Zhou ),( Xie Hong Liu ),( Min Li ),( Fang Hu ) 생화학분자생물학회(구 한국생화학분자생물학회) 2016 BMB Reports Vol.49 No.3
Kaiso is a Pox Virus and Zinc Finger (POZ-ZF) transcription factor with bi-modal DNA-binding specificity. Here, we demonstrated that Kaiso expression is inversely correlated with glucocorticoid receptor (GR) expression in breast carcinomas. Knockdown of Kaiso increased GR expression, while overexpression of Kaiso inhibited GR expression in breast cancer cells. Furthermore, Kaiso repressed GR proximal promoter-reporter activity in a dose-dependent manner. Remarkably, ChIP experiments demonstrated that endogenous Kaiso was associated with the GR promoter sequence in a methylation-dependent manner. Since glucocorticoids inhibit chemotherapyinduced apoptosis and have been widely used as a co-treatment of patients with breast cancer, we assessed the role of Kasio in GR-mediated anti-apoptotic effects. We found that overexpression of Kaiso attenuated the anti-apoptotic effects of glucocorticoids in breast cancer cells. Our findings suggest that GR is a putative target gene of Kaiso and suggest Kaiso to be a potential therapeutic target in GC-combination chemotherapy in breast cancer. [BMB Reports 2016; 49(3): 167-172]
A Design of Mid-wave Infrared Integral Catadioptric Optical System with Wide FOV
Lin yao Yu,Hong guang Jia,Qun Wei,Hu hai Jiang,Tian yi Zhang,Chao Wang 한국광학회 2013 Current Optics and Photonics Vol.17 No.2
In order to deduce the difficulty of fixing the Ritchey-Chretien (R-C) dual reflective optical system and enhance the stability of the secondary mirror, a compact integral structure is presented here composed of two transmitting and two reflective aspheric surfaces. The four surfaces were manufactured from a single germanium lens and integrated together. The two reflective surfaces formed by coating the inner reflecting films were assembled in one lens. It makes the installation of the two mirrors easier and the structure of the secondary mirror more stable. A design of mid-wave infrared (MWIR) compact imaging system is presented with a spectral range chosen as 3.7-4.8 μm. The effective focal length is f=90 mm. The field of view (FOV) for the lens is 4.88°. It has good imaging capability with Modulation Transfer Function (MTF) of all field of view more than 0.55 close to the diffraction limitation. Outdoor experiments were carried out and it is shown that the integral catadioptric optical system performs well on imaging.