• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.789-794
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• 2014

This paper presents some real performance of two typical bilateral teleoperation benchmark tasks: peg-in-hole and surface tracking tasks. The tasks are performed by an energy-bounding algorithm in the master control and position-based impedance algorithm in the slave control. Performance is analyzed for the position-force tracking capabilities from free space motion to surface contacting motion. In addition, preliminary user performance is evaluated by measuring the completion time and maximum/average contact forces. The quality of the measured performance is also compared with that of other existing approaches.

• Journal of Pharmaceutical Investigation
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• v.24 no.3
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• pp.167-176
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• 1994

The microcapsules of amoxicillin using stearyl alcohol and polyethyleneglycol 8000 (PEG 8000) were prepared by a emulsion melted-cooled process in water phase. The size distribution, dissolution test, observation with SEM and in vivo test were investigated. The microcapsules obtained were spherical, uniform and free flowing particles. The release of drug from microcapsule was increased in proportional to the content of PEG 8000. As the PEG 8000 content increased, the particle size of microcapsule was decreased. Sanning electron micrograph study revealed that microcapsules had comparatively rough surfaces as drug content was increased. The $AUC_{0-12}$ after administration of amoxicillin microcapsules was more increased 40% as compared with the AUC after administration of amoxicillin powder in rabbits.

• Membrane Journal
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• v.29 no.4
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• pp.223-230
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• 2019

In this paper, we develop a polymeric blend membrane based on $CO_2$-philic poly(2-[3-(2H-benzotriazol-2-yl)-4-hydroxyphenyl] ethyl methacrylate)-poly(oxyethylene methacrylate) (PBEM-POEM) comb copolymer, which was synthesized by facile free radical polymerization. The PBEM-POEM (PBE) comb copolymer was blended with a commercial oligomer, low-molecular-weight poly(ethylene glycol) (PEG, $M_w=200gmol^{-1}$) with various ratios to prepare $CO_2/N_2$ separation membranes. From the result of $CO_2/N_2$ separation test of the PBE/PEG blend membranes with the various PEG contents, we could conclude that with increasing PEG content, the $CO_2/N_2$ selectivity significantly increased while the CO2 permeability decreased showing trade-off relationship. However, when comparing the performance of the PBE/PEG (9 : 1) with the PBE/PEG (7 : 3) membrane, the $CO_2$ permeance decreased by only 8.3%, while the $N_2$ permeance decreased by 69.1%. Therefore, the $CO_2/N_2$ selectivity dramatically increased from 33.8 to 100.3. This could be because the POEM chains, which account for 80% of the PBE copolymer, favorably interact with PEG and lead to a more compact chain structure, which was confirmed by FT-IR, XRD and SEM analysis. The PBE/PEG (7 : 3) blend membrane had the most optimal gas separation performance, showing a $CO_2$ permeance of 170.5 GPU and $CO_2/N_2$ selectivity of 100.3.

• Archives of Pharmacal Research
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• v.27 no.2
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• pp.259-264
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• 2004

The purpose of the present study was to investigate the pharmacokinetics of PEG-hemoglobin SB 1, a modified bovine hemoglobin with polyethylene glycol, after its single and multiple administration in beagle dogs. For this purpose, the analytical method of free hemoglobin in the plasma was developed and validated. Excellent linearity ($r^2$=0.999) was observed in the calibration curve data, with the limit of quantification of 0.005 g/dL. The precision and the deviation of the theoretical values for accuracy were always within $\pm$15％ in both the between-and the within-day results. The method was tested by measuring the plasma concentrations following intravenous administration to beagle dogs and was shown to be suitable for pharmacokinetic studies. In a single dose study, the plasma half-life (t$_{1}$2/) increased and the total body clearance (Cl$_{t}$) decreased with the dose (i.e., 0.017 to 0.75 gHb/kg as PEG-hemoglobin SB1) in both sexes. The volume of distribution at steady-state (Vd$_{ss}$ ) showed no difference with the dose. In contrast, the values of t$_{1}$2/, CL$_{t}$ and the area under the plasma concentration-time curve (AUC) after the multiple dose were significantly different from those of the single dose administration. The values of t$_{1}$2/ in the multiple administration were about two times higher-than that of the single dose. As a result, t$_{1}$2/ of hemoglobin after the administration of PEG-hemoglobin SB1 was about 15-30 h, indicating the PEG modification of the hemoglobin lead to a prolongation of plasma concentration of the protein. Therefore, these observations suggested that the PEG modification of hemoglobin is potentially applicable in the hemoglobin-based therapeutics.tics.

• Asian Pacific Journal of Cancer Prevention
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• v.15 no.20
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• pp.8693-8698
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• 2014

Background: Up-regulation of hsp90 gene expression occurs in numerous cancers such as lung cancer. D,L-lactic-co-glycolic acid-poly ethylene glycol-17-dimethylaminoethylamino-17-demethoxy geldanamycin (PLGA-PEG-17DMAG) complexes and free 17-DMAG may inhibit the expression. The purpose of this study was to examine whether nanocapsulating 17DMAG improves the anti cancer effect over free 17DMAG in the A549 lung cancer cell line. Materials and Methods: Cells were grown in RPMI 1640 supplemented with 10% FBS. Capsulation of 17DMAG is conducted through double emulsion, then the amount of loaded drug was calculated. Other properties of this copolymer were characterized by Fourier transform infrared spectroscopy and H nuclear magnetic resonance spectroscopy. Assessment of drug cytotoxicity on the grown of lung cancer cell line was carried out through MTT assay. After treatment, RNA was extracted and cDNA was synthesized. In order to assess the amount of hsp90 gene expression, real-time PCR was performed. Results: In regard to the amount of the drug load, IC50 was significant decreased in nanocapsulated(NC) 17DMAG in comparison with free 17DMAG. This was confirmed through decrease of HSP90 gene expression by real-time PCR. Conclusions: The results demonstrated that PLGA-PEG-17DMAG complexes can be more effective than free 17DMAG in down-regulating of hsp90 expression by enhancing uptake by cells. Therefore, PLGA-PEG could be a superior carrier for this kind of hydrophobic agent.

• The Korean Journal of Nuclear Medicine
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• v.36 no.6
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• pp.333-343
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• 2002

Purpose: A new linker, hydrazino nicotinamide (HYNIC), was recently introduced for labelling of liposome with $^{99m}Tc$. In this study we synthesized HYNIC derivatized PEG (polyethylene glycol)-liposomes radiolabeled with $^{99m}Tc$. Materials and Methods: In order to synthesize HYNIC-DSPE (distearoyl phosphatidyl ethanolamine) which is a crucial component for $^{99m}Tc$ chelation, first of all succinimidyl 6-BOC-hydrazinopyridine-3-carboxylic acid was synthesized from 6-chloronicotinic acid by three sequential reactions. A DSPE derivative of succinimidyl 6-BOC-hydrazinopyridine-3-carboxylic acid was transformed into HYNIC-DSPE by HCI/dioxane. HYNIC-PEG-liposomes were prepared by hydration of the dried lipid mixture of EPC (egg phosphatidyl choline): PEG-DSPE : HYNIC-DSPE:cholesterol (1.85:0.15:0.07:1, molar ratio). The HYNIC-PEG-liposomes were labeled with $^{99m}Tc$ in the presence of $SnCl_2{\cdot}2H_2O$ (a reducing agent) and tricine (a coligand). To investigate the level of in vivo transchelation of $^{99m}Tc$ in the liposomes, the $^{99m}Tc$-HYNiC-PES-liposomes were incubated with a molar excess of DTPA, cysteine or glutathione solutions at $37^{\circ}C$ for 1 hour. The radiolabeled liposomes were also incubated in the presence of human serum at $37^{\circ}C$ for 24 hours. Results: 6-BOC-hydrazinopyridine-3-carboxylic acid was synthesized with 77.3% overall yield. The HYNIC concentration in the PEG-coated liposome dispersion was 1.08 mM. In condition of considering the measured liposomal size of 106 nm, the phospholipid concentration of $77.5\;{\mu}mol/m{\ell}$ and the liposomal particle number of $5.2{\times}10^{14}$ liposomes/ml, it is corresponded to approximate 1,250 nicotinyl hydrazine group per liposome in HYNIC-PEG-liposome. The removal of free $^{99m}Tc$ was not necessary because the labeling efficiency were above 99%. The radiolabeled liposomes maintained 98%, 96% and 99%, respectively, of radioactivity after incubation with transchelators. The radiolabeled liposomes possessed above 90% of the radioactivity in serum. Conclusion: These results suggest that the HYNIC can be synthesized easily and applied in labelling of PEG-liposomes with $^{99m}Tc$.

• Proceedings of the Korean Fiber Society Conference
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• 2003.10a
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• pp.94-94
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• 2003

Cross-linked polystyrene (PS) particles with carboxyl and/or poly(ethylene glycol) units on surface were formed by an emulsifier-free emulsion polymerization using styrene, methacrylic acid (MA), and poly(ethylene glycol) dimethacrylate (PEG-diMMA) at pH 7, and followed by freeze-drying to give the corresponding powders. Monodisperse polymer particles could be obtained at a concentration of PEG-diMMA 1 mol% relative to styrene. Zeta potential of polymer surface was measured to be 91 mV at a polymer of PEG-diMMA 1 mol% and was dropped as the content of MA increased.

• Journal of Pharmaceutical Investigation
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• v.31 no.2
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• pp.113-117
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• 2001

CKD602, a camptothecin derivative, is a synthetic and water-soluble anticancer agent possessing of topoisomerase I inhibiting activity. DPPC and DSPE-PEG liposomal formulations entrapped with CKD602 were developed. DSPE-PEG liposome, or PEGylated liposome, encapsulating CKD602 composed of dipalmitoylphosphatidylcholine (DPPC), cholesterol and distearoyl-N-monoethoxy poly (ethyleneglycol) succinylphosphatidylethanolamine $(DSPE-PEG_{2000})$ (22:11:2) was prepared by reverse-phase evaporation method. Formed liposomes were characterized in terms of the morphology, size and encapsulation efficiency. To elucidate the in vitro stability, PEGylated liposome was incubated in human plasma, and the adsorbed proteins onto the surface of liposomes were applied to the SDS-PAGE. In vitro cytotoxicity of CKD602 encapsulated in PEGylated liposome was studied in human cervical cancer cell line (HeLa). CKD602 in PEGylated liposome was found to be 40-fold more effective $(IC_{50}=1\;nM)$ than free CKD602 $(IC_{50}=40\;nM)$ in inhibiting the growth of HeLa cells in vitro.

• Journal of Pharmaceutical Investigation
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• v.24 no.4
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• pp.257-263
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• 1994

The interpenetrating polymer networks (IPNs) of polyacrylic acid (PAA)-polyethylene glycol (PEG) were synthesized via crosslinking of PEG and simultaneous free radical polymerization of PAA. The equilibrium swelling of the IPNs matrices, ranged from 40% to 95%, was varied to a great extent as compared with PAA homopolymer due to the interpolymer interaction between PAA and PEG. The drug release kinetics of drug loaded matrices was significantly affected by the charge of drugs as well as interpolymer complexation.

• Macromolecular Research
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• v.13 no.3
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• pp.229-235
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• 2005

Various alkoxyamine initiators for nitroxide mediated radical polymerization (NMRP) were prepared in high yields by a simple substitution reaction of nitroxide anions with benzyl bromide. The required nitroxide anions were easily generated by treating either nitroxide free radicals or hydroxy amine with an alkali metal such as sodium or potassium in THF. This method is both practical and efficient, since the ionic conditions prevent other side reactions from occurring, such as the self-coupling or oligomerization reactions that are observed in the case of radical trapping conditions. To demonstrate the utility of the resulting alkoxyamine initiators, end- and telechelic-alkoxyamine PEG macroinitiators derived from the alkoxyamines were synthesized by a simple chemical modification, and used for the preparation of PEG-b-PS and PS-b-PEG-b-PS block copolymers by NMRP.