the main objective of this article is to optimize the walking pattern of a 2d humanoid robot with heel-off and toe-off motions in order to minimize the energy consumption and maximize the stability margin. to this end, at first, a gait planning method is introduced based on the ankle and hip joint position trajectories. then, using these trajectories and the inverse kinematics, the position tra...

among the drug delivery and targeting (ddt) routes, lung alveolar epithelium has been given enormous attentions in terms of the delivery of a wide range of macromolecules such as gene- or protein-based nanopharmaceuticals. however, little is known about cellular modulation of lung transport characteristics by endogenous and/or exogenous agents. thus, in the current study, impact of dexamethason...

introduction bacterial infection is one of the major causes of morbidity and mortality especially in developing countries. nuclear medicine has an important role in helping the diagnosis of deep-seated infections by developing more specific radiopharmaceuticals. the aim of this study was to evaluate 99mtc-labeling ceftriaxone as a new radiopharmaceutical for staphylococcus aureus infection imag...

Inßation targeting regimes deÞne a performance measure for the central bank. A regime that places a large (small) weight on achieivng the target is analogous to a high (low) power incentive scheme. High powered incentive structures promote accountability but may distort stabilization policy. The optimal power under inßation targeting is derived under perfect and imperfect information. The funda...

Single-molecule RNA fluorescence in situ hybridization is a technique that holds great potential for the study of long noncoding RNA. It enables quantification and spatial resolution of single RNA molecules within cells via hybridization of multiple, labeled nucleic acid probes to a target RNA. It has recently become apparent that single-molecule RNA FISH probes targeting noncoding RNA are more...

CRISPR/Cas, a microbial adaptive immune system, has recently been reshaped as a versatile genome editing approach, endowing genome engineering with high efficiency and robustness. The DNA endonuclease Cas, a component of CRISPR system, is directed to specific target within genomes by guide RNA (gRNA) and performs gene editing function. However, the system is still in its infancy and facing enor...

Although engineered nucleases can efficiently cleave intracellular DNA at desired target sites, major concerns remain on potential 'off-target' cleavage that may occur throughout the genome. We developed an online tool: predicted report of genome-wide nuclease off-target sites (PROGNOS) that effectively identifies off-target sites. The initial bioinformatics algorithms in PROGNOS were validated...