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Nanodiamond particles produced by detonation synthesis and having ∼5 nm diameter possess unique properties, including low cell toxicity, biocompatibility, stable structure, and highly tailorable surface chemistry, which render them an attractive material for developing drug delivery systems. Although the potential for nanodiamonds in delivery and sustained release of anticancer drugs has been recently demonstrated, very little is known about the details of adsorption/desorption equilibria of these and other drugs on/from nanodiamonds with different purity, surface chemistry, and agglomeration state. Since adsorption is the basic mechanism most commonly used for the loading of drugs onto nanodiamond, the fundamental studies into the details of adsorption and desorption on nanodiamond are critically important for the rational design of the nanodiamond drug delivery systems capable of targeted delivery and triggered release, while minimizing potential leaks of dangerous drugs. In this paper we report on a physical–chemical study of the adsorption of doxorubicin and polymyxin B on nanodiamonds, analyzing the role of purification and surface chemistry of the adsorbent.

While navigating in a typical traffic scene, with a drastic drift or sudden jump in its Global Positioning System (GPS) position, the localization based on such an initial position is unable to extract precise overlapping data from the prior map in order to match the current data, thus rendering the localization as unfeasible. In this paper, we first propose a new method to estimate an initial position by matching the infrared reflectivity maps. The maps consist of a highly precise prior map, built with the offline simultaneous localization and mapping (SLAM) technique, and a smooth current map, built with the integral over velocities. Considering the attributes of the maps, we first propose to exploit the stable, rich line segments to match the lidar maps. To evaluate the consistency of the candidate line pairs in both maps, we propose to adopt the local appearance, pairwise geometric attribute and structural likelihood to construct an affinity graph, as well as employ a spectral algorithm to solve the graph efficiently. The initial position is obtained according to the relationship between the vehicle's current position and matched lines. Experiments on the campus with a GPS error of dozens of metres show that our algorithm can provide an accurate initial value with average longitudinal and lateral errors being 1.68m and 1.04m, respectively.