Light-sensitive drug delivery systems are considered ideal for applications in the biomedical fields for their ability to release the payload in an on-demand spatiotemporal controlled manner through the manipulation of the light source. Among the broad radiation spectrum, near infrared (NIR) light is considered advantageous compared to UV and visible light, due to its inherently lower photodamage to normal tissues and deeper penetration to lesion areas. In this study, we report a successful synthesis of a polymer capable of undergoing partial degradation upon irradiation with NIR light by conjugating 10-N-carbamoyl linkage methylene blue (MB) moiety, a NIR photocleavable ligand, with polyethylene glycol (PEG). Through effective coupling of MB, a hydrophobic moiety, to the hydrophilic PEG molecule, an amphiphilic polymer was synthesized, as demonstrated by a lowered surface tension (55 mN/m at 0.1% wt/vol). Subsequently, photo-induced reversal of surface activity associated with self-assembled structure disruption, was displayed by surface tension measurements, size distribution analysis, and burst release profile of paclitaxel (PTX) from polymeric micelles upon the exposure to NIR irradiation. 相似文献
Helicopters are valuable since they can land at unprepared sites; however, current unmanned helicopters are unable to select or validate landing zones (LZs) and approach paths. For operation in unknown terrain it is necessary to assess the safety of a LZ. In this paper, we describe a lidar-based perception system that enables a full-scale autonomous helicopter to identify and land in previously unmapped terrain with no human input.We describe the problem, real-time algorithms, perception hardware, and results. Our approach has extended the state of the art in terrain assessment by incorporating not only plane fitting, but by also considering factors such as terrain/skid interaction, rotor and tail clearance, wind direction, clear approach/abort paths, and ground paths.In results from urban and natural environments we were able to successfully classify LZs from point cloud maps. We also present results from 8 successful landing experiments with varying ground clutter and approach directions. The helicopter selected its own landing site, approaches, and then proceeds to land. To our knowledge, these experiments were the first demonstration of a full-scale autonomous helicopter that selected its own landing zones and landed. 相似文献
The paper describes studies on surface atomic composition, microstructure and microarea elemental distribution in sintered
undoped as well as donor or acceptor doped polycrystalline barium titanate ceramics. The specimens examined are derived from
barium titanate powders synthesized by two different wet chemical procedures namely oxalate precursor route and gel-to-crystallite
conversion. The compositional analysis is carried out by backscattering spectrometry (BS) involving 3.05 MeV 16O(α,α)16O resonant scattering while investigations on microstructure and microarea elemental distribution are performed using scanning
electron microscopy (SEM) and energy dispersive X-ray spectroscopy (EDS), respectively. The specimens prepared by either method
are monophasic; however, their surface atomic composition, microstructural features as well as electrical characteristics
are significantly different. The specimens obtained by oxalate precursor route generally have Ti rich surfaces and exhibit
coarse to fine grained microstructure depending on the nature and extent of doping. The Mn-doped specimens exhibit appreciable
O deficiency. The specimens prepared by gel to crystallite conversion, in contrast, usually have Ba enriched surfaces and
exhibit fine-grained microstructure. EDS measurements show the segregation of acceptors such as Mn, Cu and Zn in the grain
boundaries of oxalate precursor derived ceramics. Further, the relative atomic ratio of Ti to Ba at the sites of segregations
is higher compared to other locations. 相似文献
In this paper, design of an autonomous microrobotic endoscopy system is presented. The proposed microrobotic endoscope is a vision-guided device, developed to facilitate navigation inside a human colon. The design of the entire system is divided into three areas viz. design of a microrobotic carrier, path planning and guidance, and an off-board control system. A microrobotic design based on pneumatic mechanisms to achieve locomotion and steering is explained. General mathematical analysis governing the differential steering of the robotic tip is also described. The path planning of the microrobot is carried out based on the sensory fusion utilising the quantitative parameters from the captured images and the tactile sensors. A real-time image segmentation scheme is described for extracting the lumen from endoscopic images. An off-board control system to control the directional movements of the microrobot is also explained. The proposed endoscopy system was tested with physical models and animal colons and the experimental observations are presented. 相似文献
The intensities for Li (i = 1-3) subshell X-ray lines have been computed relative to the most intense line in each series, for elements with 30 ? Z ? 92, from published X-ray emission rates based on the Dirac-Fock (DF) model. In the case of Mi (i = 1-5) subshell X-ray lines, complete sets of emission rates based on both the Dirac-Hartree-Slater and the DF models have been generated for elements with 65 ? Z ? 92 by logarithmic interpolation of the data available for a limited number of elements. The intensities for different M X-ray lines have been computed relative to the most intense line in each series using these two sets of emission rates. The Li (i = 1-3) and Mi (i = 1-5) subshell X-ray relative intensities computed from the DF model based emission rates have been least-squares-fitted to polynomials in the atomic number for use in software packages for quantitative elemental analysis using X-ray emission techniques and for other applications. 相似文献
Wireless data products and services being proposed today include exotic mixes of services and technologies: packet transport over cellular circuits, facsimile service over Cellular Digital Packet Data (CDPD), voice and video over wireless LANs, and everything in between. Data networking terms that seem to have a clear meaning-data-link, network and transport layers; circuit-mode and datagram; connection-less and connection-oriented-in fact have meaning only in context. Thus TCP, a reliable packet transport protocol, is being used in CDMA circuit-mode data to provide a reliable data-link layer for the error-prone wireless link. IP datagrams will be transported over cellular links using dedicated channels with call establishment, possibly per packet. Market demands for timely solutions, competition between alternative technologies and the plethora of alternative fora for standards development are driving wireless data into fragmented directions. The primary constraints come from the limited spectrum, the need for security in the presence of mobility and the size and weight of mobile terminals and devices. Often the optimization for the latter constraints is sacrificed at the altar of the former drivers. Based upon our experience and work with standards and systems we attempt to put wircless data into perspective. We compare and contrast major services and products and identify the choices that were made and why.We acknowledge the contributions of our colleagues at AT&T Bell Laboratories: Ken Budka, Mooi Choo Chuah, Bharat Doshi, Subra Dravida, Richard Ejzak and On-Ching Yue. 相似文献
This paper addresses the issues relating to the communication channels in a physical simulator for flexible automation of a palletization task. The simulator used in our work involves an IBM-7545 robot, a personal computer and an Allen-Bradley Programmable Logic Controller (PLC). The communications relating to the Robot/PC interface and the PLC/PC interface are discussed.
The palletization station design requires that decisions on pallet pattern are made dynamically by a program running on the personal computer. The Robot/PC communication interface is necessary to transmit these decisions to the robot controller for execution. This communication is to be achieved using BASIC language and AML 4.1 as the software platforms.
The PLC has the task of controlling the transport of the boxes coming to the palletization station. The program for deciding the pallet pattern, running on the personal computer, needs real-time information on the counts of boxes of different sizes that are arriving for palletization. The PLC/PC interface serves to provide this information. 相似文献
The mechanical and morphological degradation that human dentin undergoes after prolonged exposure in cola drinks was examined using nanoindentation and AFM. The elastic modulus of the dentin prior cola exposure was 18.28 ± 1.7 GPa, while after exposure it had decreased to 4.25 ± 1.4 GPa on the surface that was in direct contact with the drink, and to 13.38 ± 2.9 GPa on the surface that was in indirect contact with the drink. AFM documented the corrosion effects of the cola through topography images and histograms of the RMS roughness. 相似文献