21:T53d,To improve a robot’s absolute positioning accuracy, researchers have extensively studied the robot kinematic model containing position and orientation errors of rotary axis average lines, widely known as Denavit–Hartenberg (D-H) parameters. To further improve the absolute positioning accuracy of industrial robots, this article proposes a novel kinematic model and its identification scheme. The proposed kinematic model for a serial-linked industrial robot contains the bidirectional angular positioning deviations of each rotary axis, represented in a lookup table, in addition to its D-H parameters. The angular positioning deviations of the rotary axes are modeled as a function of angular command positions, along with the direction of rotation to model the influence of backlash. This article also proposes a novel approach to identify the proposed kinematic model with the bidirectional angular positioning deviations using a laser tracker with indexing each rotary axis at specified angular positions (“circle point method”). Moreover, the model-based compensation technique is being experimentally investigated to validate the prediction accuracy of the proposed model. The findings of the experiment show that the proposed model enhances the robot’s absolute positioning accuracy significantly over the entire workspace.22:T4b5,Biodegradable membranes are used in regenerative dentistry for guided tissue regeneration (GTR) and guided bone regeneration (GBR). In this study, patterned poly(lactic-co-glycolic acid) (PLGA) membranes with groove, pillar, and hole structures were successfully fabricated by thermal nanoimprinting. Their surfaces were evaluated for topography by scanning electron microscopy and laser microscopy, for hydrophobicity/hydrophilicity by contact angle analysis, and for MC3T3-E1 cell adhesion. The sizes of the patterns on the surfaces of the membranes were 0.5, 1.0, and 2.0 μm, respectively, with the height/depth being 1.0 μm. The pillared and holed PLGA membranes were significantly more hydrophobic than the non-patterned PLGA membranes (p < 0.05). However, the 0.5 μm- and 1.0 μm-grooved PLGA membranes were significantly more hydrophilic than the non-patterned PLGA membranes (p < 0.05). The 0.5 μm-grooved, pillared, and holed membranes exhibited significantly superior adhesion to the MC3T3-E1 cells than the non-patterned PLGA (p < 0.05). These results suggest that patterned PLGA membranes can be clinically used for GTR and GBR in the dental regeneration field.

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