The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...

In this research, as the main contribution, a comprehensive study is carried out on the mathematical modeling and analysis of the inverse kinematics and dynamics of an over-constraint three translational degree-of-freedom parallel manipulator. Due to the inconsistency between the number of equations and unknowns, the problem of obtaining the constraint forces and torques of an over-constraint m...

Abstract DNA sequencing is one of the great valuable techniques in molecular biology, which can be used to detect the sequence of nucleotides in a DNA fragment. The high-throughput se­quencing known as Next Generation Sequencing (NGS) revolutionized genomic research and molecular biology; therefore, the whole human genome can be sequenced with a low cost in several days. NGS technology is simi...

Cancer immunotherapy has gained a lot of interest over the past few years due to the success of immune checkpoint inhibitors in treating cancer (1, 2). Immune checkpoint inhibitors, such as monoclonal antibodies against cytotoxic T-lymphocyte–associated antigen 4 (CTLA-4) and programmed death 1 (PD-1), have been shown to increase survival of patients with advanced cancers (1, 2). These in...

With recent technological advances that enable DNA cleavage at specific sites in the human genome, it may now be possible to reverse inborn errors, thereby correcting a mutation, at levels that could have an impact in a clinical setting. We have been developing gene editing, using single-stranded DNA oligonucleotides (ssODNs), as a tool to direct site specific single base changes. Successful ap...

†College of Mechanical and Power Engineering, East China University of Sciences and Technology, Meilong Road 130, Shanghai 200237, P.R. China ‡Department of Engineering Machinery, Shandong Jiaotong University, 5 Jiaoxiao Road, Jinan, Shandong 250023, P.R. China §School of Mechanical Engineering, Shandong University, 73 Jingshi Road, Jinan 250061, P.R. China ¶Department of Airspace Engineering, ...

This paper demonstrates magnetic three-degree-of-freedom (3-DOF) closed-loop position and 2-DOF open-loop orientation control of a mockup magnetic capsule endoscope in fluid with a single permanent magnet positioned by a commercial 6-DOF robotic manipulator, using feedback of only the 3-DOF capsule position measured by a localization system, with application in capsule endoscopy of a fluid-dist...