Silk is obtained mostly from oval cocoons.In this paper, the flat cocoons were obtained by changing the silking environment of Bombyx mori silkworms.Then the appropriate method was used to reel the flat cocoons.The structure, thermal and mechanical properties of flat cocoon silk (FCS) after silk reeling and degumming were Aqualamp parts studied.The
Photodynamic therapy (PDT) is a rapidly developing modality of primary and adjuvant anticancer treatment.The main trends today are the search for new effective photodynamic agents and the creation of targeted delivery systems with the function of controlling Rolling Pin the release of the agent in the tumor.Recently, the new group of cyanoarylporph
The motion of nonholonomic mobile manipulators (NMMs) is inherently constrained by joint limits, joint velocity limits, self-collisions and singularities.Most motion planning algorithms consider some of the aforementioned constraints, however, a unified framework to deal with all of them is lacking.This paper proposes a motion planning solution for