With the remarkable development of nanotechnology in recent years, new drug delivery approaches based on the state-of-the-art nanotechnology have been receiving significant attention. Nanoparticles, an evolvement of nanotechnology, are increasingly considered as a potential candidate to carry therapeutic agents safely into a targeted compartment in an organ, particular tissue or cell. These particles are colloidal structures with a diameter smaller than 1,000 nm, and therefore can penetrate through diminutive capillaries into the cell's internal machinery. This innovative delivery technique might be a promising technology to meet the current challenges in drug delivery. When loaded with a gene or drug agent, nanoparticles can become nanopills, which can effectively treat problematical diseases such as cancer. This article summarizes different types of nanoparticles drug delivery systems under investigation and their prospective therapeutic applications. Also, this article presents a closer look at the advances, current challenges, and future direction of nanoparticles drug delivery systems.
In this article, we discuss industrial robot characteristics of accuracy and repeatability. The factors that affect these characteristics are identified, and an error tree is developed. Subsequently, the accuracy and repeatability are investigated utilizing the Denavit-Hartenberg kinematics parameters, the homogeneous transformation matrix, and the differential transformation matrix theory, and corresponding measures are developed. The formulation indicates that the influence matrices associated with joint variables are constant. A new measure called degree of influence is established that qualitatively assesses the relative contribution of each kinematic parameter variation to the accuracy and repeatability of rigid manipulators. The developed formulation provides for easy evaluation of the degree of influence measures for rigid manipulators in either numerical or symbolic form. A numerical example is included in which the degree of influence of the kinematics parameters for an articulated manipulator, PUMA 560, are evaluated and analysed.
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