SummaryThe biocompatibility and ease of functionalization of gold nanoparticles underlie significant potential in biotechnology and biomedicine. Eight different proteins were examined in the preparation of gold nanoparticles (AuNPs) in aqueous medium under microwave irradiation. Six of the proteins resulted in the formation of AuNPs. The intrinsic pH of the proteins played an important role in AuNPs with strong surface plasmon bands. The hydrodynamic size of the nanoparticles was larger than the values observed by TEM and ImageJ. The formation of a protein layer on the AuNPs accounts for this difference. The AuNPs exhibited sensitivity towards varying pH conditions, which was confirmed by determining the difference in the isoelectric points studied by using pH-dependent zeta potential titration. Cytotoxicity studies revealed anticancerous effects of the AuNPs at a certain micromolar concentration by constraining the growth of cancer cells with different efficacies due to the use of different proteins as capping agents. The positively charged AuNPs are internalized by the cells to a greater level than the negatively charged AuNPs. These AuNPs synthesized with protein coating holds promise as anticancer agents and would help in providing a new paradigm in area of nanoparticles.

This work presents the mechanical design and control of a novel small-size and lightweight Micro Aerial Vehicle (MAV) for aerial manipulation. To our knowledge, with a total take-off mass of only 2.0 kg, the proposed system is the most lightweight Aerial Manipulator (AM) that has 8-DOF independently controllable: 5 for the aerial platform and 3 for the articulated arm. We designed the robot to be fully-actuated in the body forward direction. This allows independent pitching and instantaneous force generation, improving the platform's performance during physical interaction. The robotic arm is an origami delta manipulator driven by three servomotors, enabling active motion compensation at the end-effector. Its composite multimaterial links help reduce the weight, while their flexibility allow for compliant aerial interaction with the environment. In particular, the arm's stiffness can be changed according to its configuration. We provide an in depth discussion of the system design and characterize the stiffness of the delta arm. A control architecture to deal with the platform's overactuation while exploiting the delta arm is presented. Its capabilities are experimentally illustrated both in free flight and physical interaction, highlighting advantages and disadvantages of the origami's folding mechanism.

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