Two six-degrees-of-freedom sensing methods are presented. In the first method, three laser beams are employed to set up Descartes' frame on a rigid body and a screen is adopted to form diffuse spots. In the second method, two superimposed grid screens and two laser beams are used. A CCD camera is used to take photographs in both methods. Both approaches provide a simple and error-free method to record the positions and the attitudes of a rigid body in motion continuously. 相似文献
Amphiphilic hyperbranched polymers carrying two types of β‐cyclodextrin groups including ionic and covalent bonding were synthesized via atom transfer radical polymerization and immobilization reaction. Their inclusion capabilities for single or double‐guest molecules were investigated by UV‐visible spectroscopy. Using Chlorambucil and Lonidamine as the double model drugs, their encapsulation efficiencies indicate that these polymers possess the capabilities of high drug‐loading. Furthermore, the release behaviors of these polymers were studied via UV‐visible spectroscopy. The results indicate that they can slow the release rate of double model drugs. Varying the pH values of environment or regulating their shell layer structures can control the release behaviors of double model drugs.
