A double-tracked robot is designed from mechanical and control perspectives,which consists of two segments connected with a swing joint. As the angle between the two segments of the robot platform can be changed,the r...A double-tracked robot is designed from mechanical and control perspectives,which consists of two segments connected with a swing joint. As the angle between the two segments of the robot platform can be changed,the robot can move like a four-tracked robot on many terrains. The center of gravity（ CG） kinematics model is established,which plays an important role in the process of traveling over obstacles and climbing up stairs. Using this model,the CG change situation and the maximal height of the climbable obstacle are obtained. Then the relationship between the robot pitch angle and the height of the obstacle is established. Finally,a reasonable system structure for the robot is designed and its kinematics analysis for obstacle-surmounting capability is conducted through experiments.展开更多
Sonodynamic therapy(SDT)as an emerging modality for malignant tumors mainly involves in sonosensitizers and low-intensity ultrasound(US),which can safely penetrate the tissue without significant attenuation.SDT not on...Sonodynamic therapy(SDT)as an emerging modality for malignant tumors mainly involves in sonosensitizers and low-intensity ultrasound(US),which can safely penetrate the tissue without significant attenuation.SDT not only has the advantages including high precision,non-invasiveness,and minimal side effects,but also overcomes the limitation of low penetration of light to deep tumors.The cytotoxic reactive oxygen species can be produced by the utilization of sonosensitizers combined with US and kill tumor cells.However,the underlying mechanism of SDT has not been elucidated,and its unsatisfactory efficiency retards its further clinical application.Herein,we shed light on the main mechanisms of SDT and the types of sonosensitizers,including organic sonosensitizers and inorganic sonosensitizers.Due to the development of nanotechnology,many novel nanoplatforms are utilized in this arisen field to solve the barriers of sonosensitizers and enable continuous innovation.This review also highlights the potential advantages of nanosonosensitizers and focus on the enhanced efficiency of SDT based on nanosonosensitizers with monotherapy or synergistic therapy for deep tumors that are difficult to reach by traditional treatment,especially orthotopic cancers.展开更多
基金Supported by the National Natural Science Foundation(61273344)Ph.D. Program Foundation of Ministry of Education of China(20121101110011)+1 种基金Fundamental Research Fund of Beijing Institute of Technology(20130242009)State Key Laboratory of Robotics and Systems(HIT)(SKLRS-2011-ZD-06,SKLRS-2013-MS-10)
文摘A double-tracked robot is designed from mechanical and control perspectives,which consists of two segments connected with a swing joint. As the angle between the two segments of the robot platform can be changed,the robot can move like a four-tracked robot on many terrains. The center of gravity（ CG） kinematics model is established,which plays an important role in the process of traveling over obstacles and climbing up stairs. Using this model,the CG change situation and the maximal height of the climbable obstacle are obtained. Then the relationship between the robot pitch angle and the height of the obstacle is established. Finally,a reasonable system structure for the robot is designed and its kinematics analysis for obstacle-surmounting capability is conducted through experiments.
基金supported by the National Natural Science Foundation of China(Nos.U23A20573,U23A20140,22072154,and 22377127)Hebei Natural Science Foundation(B2024208046 and H2022423314)+2 种基金Huang jin tai plan project of Hebei provincial department of education(HJZD202512)S&T Program of Hebei,the Youth innovation Promotion Association of Chinese Academy of Sciences(No.2021048)the Beijing Nova Program(No.20230484352).
文摘Sonodynamic therapy(SDT)as an emerging modality for malignant tumors mainly involves in sonosensitizers and low-intensity ultrasound(US),which can safely penetrate the tissue without significant attenuation.SDT not only has the advantages including high precision,non-invasiveness,and minimal side effects,but also overcomes the limitation of low penetration of light to deep tumors.The cytotoxic reactive oxygen species can be produced by the utilization of sonosensitizers combined with US and kill tumor cells.However,the underlying mechanism of SDT has not been elucidated,and its unsatisfactory efficiency retards its further clinical application.Herein,we shed light on the main mechanisms of SDT and the types of sonosensitizers,including organic sonosensitizers and inorganic sonosensitizers.Due to the development of nanotechnology,many novel nanoplatforms are utilized in this arisen field to solve the barriers of sonosensitizers and enable continuous innovation.This review also highlights the potential advantages of nanosonosensitizers and focus on the enhanced efficiency of SDT based on nanosonosensitizers with monotherapy or synergistic therapy for deep tumors that are difficult to reach by traditional treatment,especially orthotopic cancers.
