TF-PEG-liposomes had the capabilities of specific receptor binding and receptor-mediated endocytosis to target cells after extravasation into solid tumors in vivo. Such liposomes should be useful for in vivo cytoplasmic targeting of chemotherapeutic agents or plasmid DNAs to target cells.
Among eight strains of protein‐producing Bacillus brevis, three morphological groups have been identified according to the structure of the cell walls.
Cell wall consisting of a peptidoglycanlayer
Two‐layered cell wall consisting of a peptidoglycan‐layer and an S‐layer
Three‐layered cell wall consisting of a peptidoglycan‐layer and two S‐layers
Group I and group II cell walls have not been described yet for protein‐producing bacteria. The S‐layers observed in this study all had hexagonal symmetry and lattice constants of approximately 18 nm. The immunological relation between the S‐layer proteins of the newly isolated B. brevis strains and those of B. brevis 47 has been examined using antisera against both S‐layer‐proteins of B. brevis 47. S‐layers from protein‐producing B. brevis strains, which were adjacent to the peptidoglycan‐layer, were similar to each other, whether they were the outermost cell wall layer (group II) or not (group III). However, no similarity was found between these layers and the outermost S‐layer of B. brevis 47 (group III).
In this paper, we propose an extension of a hierarchical behavior controller which achieve dynamically dexterous behavior by shifting behavior phase. A controller for a dynamically dexterous behavior is hard to be designed by using any unsupervised leaning methods, because of enormous searching space. In order to reduce the searching space and its complexity, a hierarchical behavior structure is effective. We have previously proposed a hierarchical behavior controller, which consists of two kinds of modules: behavior coordinator and behavior controller and adaptation algorithm for scaling of behavior outputs. It is applied to the control problem of a seven-link brachiation robot, which moves dynamically from branch to branch like gibbon swinging its body. The robot however does not locomote from branch to branch stably, by adjusting amplitude of two behavior controllers. A hybrid adjusting algorithm with amplitude scaling and phase shifting of behavior outputs is proposed in this paper. Numerical simulations demonstrate that the obtained controller can successfully generate the stably continuous locomotion.
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