A digital design framework for the dimensional optimization of parallel robots based on kinematic and elasto-dynamic performance.

The dimensional optimization based on kinematic and dynamic performance indices is proven significant for improving the operational performance of parallel robots. As the pose-dependent performances vary with the dimensional parameters, there are still many challenges in the optimal design of parallel robots, such as the possible conflict amongst different performance indices and computational expensiveness. By considering a 4-DOF high-speed parallel robot as an illustrative example, this paper presents a framework for the optimal design of parallel robots by integrating skeleton modeling, CAD-CAE integration and multi-objective optimization techniques.

Expression of t-DARPP mediates trastuzumab resistance in breast cancer cells.

Purpose: We have investigated the role of t-DARPP in trastuzumab resistance in ERBB2-amplified and overexpressed breast cancer cell lines.

Experimental Design: We have used the HR-5 and HR-6 trastuzumab-resistant cells that were established from tumors that recurred in the presence of trastuzumab therapy following xenografts of BT-474 cells in nude mice. In addition, SKBR-3 cells, engineered for stable expression of t-DARPP, and HCC-1569 cells, which have constitutive expression of t-DARPP and are de novo resistant to trastuzumab, were used.