Precise monitoring of the subtle pH fluctuation during biological events remains a big challenge. Previously, we reported an ultra-pH-sensitive (UPS) nanoprobe library with a sharp pH response using copolymerization of two tertiary amine-containing monomers with distinct pK a . Currently, we have generalized the UPS nanoparticle library with tunable pH transitions (pH t ) by copolymerization of a tertiary amine-containing monomer with a series of non-ionizable monomers. The pH t of nanoparticles is fine-tuned by the non-ionizable monomers with different hydrophobicity. Each nonionizable monomer presents a constant contribution to pH tunability regardless of tertiary amine-containing monomers. Based on this strategy, we produced two libraries of nanoprobes with continuous pH t covering the entire physiological pH range (5.0-7.4) for fluorescent imaging of endosome maturation and cancers. This generalized strategy provides a powerful toolkit for biological studies and cancer theranostics.
For rescue robots, flipper endows the robot with additional ability to pass through various terrain. Autonomous motion becomes more important. In recent work autonomy is done by either planning with several special states or based on collected data. We are considering if it is possible to find a way to build continues states without collecting old trail data. In this paper, we first model the possible states as a global planning path with parameter configuration of the scene. Then, we follows the path to achieve the autonomous run. We plot the morphology of each path points to show the correctness of the path and implement a simple path following on real robot to demonstrate the performance of our algorithm.
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