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4D Printing Materials for Soft Robots (소프트 로봇용 4D 프린팅 소재)

  • Sunhee Lee
    • Fashion & Textile Research Journal
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    • v.24 no.6
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    • pp.667-685
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    • 2022
  • This paper aims to investigate 4D printing materials for soft robots. 4D printing is a targeted evolution of the 3D printed structure in shape, property, and functionality. It is capable of self-assembly, multi-functionality, and self-repair. In addition, it is time-dependent, printer-independent, and predictable. The shape-shifting behaviors considered in 4D printing include folding, bending, twisting, linear or nonlinear expansion/contraction, surface curling, and generating surface topographical features. The shapes can shift from 1D to 1D, 1D to 2D, 2D to 2D, 1D to 3D, 2D to 3D, and 3D to 3D. In the 4D printing auxetic structure, the kinetiX is a cellular-based material design composed of rigid plates and elastic hinges. In pneumatic auxetics based on the kirigami structure, an inverse optimization method for designing and fabricating morphs three-dimensional shapes out of patterns laid out flat. When 4D printing material is molded into a deformable 3D structure, it can be applied to the exoskeleton material of soft robots such as upper and lower limbs, fingers, hands, toes, and feet. Research on 4D printing materials for soft robots is essential in developing smart clothing for healthcare in the textile and fashion industry.

Development of an Offline Based Internal Organ Motion Verification System during Treatment Using Sequential Cine EPID Images (연속촬영 전자조사 문 영상을 이용한 오프라인 기반 치료 중 내부 장기 움직임 확인 시스템의 개발)

  • Ju, Sang-Gyu;Hong, Chae-Seon;Huh, Woong;Kim, Min-Kyu;Han, Young-Yih;Shin, Eun-Hyuk;Shin, Jung-Suk;Kim, Jing-Sung;Park, Hee-Chul;Ahn, Sung-Hwan;Lim, Do-Hoon;Choi, Doo-Ho
    • Progress in Medical Physics
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    • v.23 no.2
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    • pp.91-98
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    • 2012
  • Verification of internal organ motion during treatment and its feedback is essential to accurate dose delivery to the moving target. We developed an offline based internal organ motion verification system (IMVS) using cine EPID images and evaluated its accuracy and availability through phantom study. For verification of organ motion using live cine EPID images, a pattern matching algorithm using an internal surrogate, which is very distinguishable and represents organ motion in the treatment field, like diaphragm, was employed in the self-developed analysis software. For the system performance test, we developed a linear motion phantom, which consists of a human body shaped phantom with a fake tumor in the lung, linear motion cart, and control software. The phantom was operated with a motion of 2 cm at 4 sec per cycle and cine EPID images were obtained at a rate of 3.3 and 6.6 frames per sec (2 MU/frame) with $1,024{\times}768$ pixel counts in a linear accelerator (10 MVX). Organ motion of the target was tracked using self-developed analysis software. Results were compared with planned data of the motion phantom and data from the video image based tracking system (RPM, Varian, USA) using an external surrogate in order to evaluate its accuracy. For quantitative analysis, we analyzed correlation between two data sets in terms of average cycle (peak to peak), amplitude, and pattern (RMS, root mean square) of motion. Averages for the cycle of motion from IMVS and RPM system were $3.98{\pm}0.11$ (IMVS 3.3 fps), $4.005{\pm}0.001$ (IMVS 6.6 fps), and $3.95{\pm}0.02$ (RPM), respectively, and showed good agreement on real value (4 sec/cycle). Average of the amplitude of motion tracked by our system showed $1.85{\pm}0.02$ cm (3.3 fps) and $1.94{\pm}0.02$ cm (6.6 fps) as showed a slightly different value, 0.15 (7.5% error) and 0.06 (3% error) cm, respectively, compared with the actual value (2 cm), due to time resolution for image acquisition. In analysis of pattern of motion, the value of the RMS from the cine EPID image in 3.3 fps (0.1044) grew slightly compared with data from 6.6 fps (0.0480). The organ motion verification system using sequential cine EPID images with an internal surrogate showed good representation of its motion within 3% error in a preliminary phantom study. The system can be implemented for clinical purposes, which include organ motion verification during treatment, compared with 4D treatment planning data, and its feedback for accurate dose delivery to the moving target.

Changes in atlas position with Class ll activator treatment in Class II malocclusion patients (II급 부정교합자에서 액티베이터 사용에 따른 atlas의 위치 변화에 관한 연구)

  • Cho, Moon-Ki;Cha, Kyung-Suk;Chung, Dong-Hwa;Lee, Jin-Woo
    • The korean journal of orthodontics
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    • v.37 no.1 s.120
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    • pp.44-55
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    • 2007
  • Objective: Previous studies have reported that morphological features of the first cervical vertebra (atlas) have been associated with mandibular growth direction. The purpose of this study was to show the possible positional and morphological changes of the Atlas from activator treatment in Class II malocclusion patients. Methods: Lateral cephalometric radiograph tracings were made at initial, middle and final stages of treatment. Angular and linear measurements of skeletal and morphological features were measured on the anatomical landmarks and reference planes. Results: The skeletal effects of activator treatment on Class II malocclusion patients were evident on ramal height, body length, effective body length, ANB, and overjet. Clockwise rotation of the long axis of the Atlas was found in Group 1, but there was no inclination change of the Atlas in groups 2 and 3. There was no significant correlation between anterior and posterior positions of the atlas or morphological change in all groups. - except for posterior movements of the Atlas found in group 1. Conclusion: Clockwise rotation of the atlas axis resulted from activator treatment in Cl II malocclusion patients. Change in atlas axis can be thought of as an indicator for success of activator treatment.

Gender Preference and Sex Imbalance in the Population and Their Implication in Korea (한국의 성선호와 성비불균형 분석)

  • 박재빈
    • Korea journal of population studies
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    • v.17 no.1
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    • pp.87-114
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    • 1994
  • 1950년대부터 많은 개발도상국가들은 가족계획을 위주로 하는 인구제어정책을 추진하여 왔다. 특히 가부장제도를 중심으로하는 동아시아 국가들에 있어서는 남아선호관이 출산력 저하나 피임 실천율이 증대에 지대한 유해요인으로 일관해 왔다. Sheps(1963)는 실증적으로 2명의 아들을 갖기 위해서는 약 3.9명 정도의 자녀를 두어야 한다는 연구결과를 제시한바 있다. 이와 같은 남아선호관의 여파에도 불구하고 한국과 홍콩은 1980년대 증반에 이미 1.6명 수준의 저출산율을 이룩하였으며, 1970년대에 인구억제 정책을 시작한 중국도 2명 수준으로 저하되어 가족계획사업의 성공사례로 평가되어 왔다. 그러나 이들 국가들의 출산율은 지난 20-30년이라는 짧은 기간에 너무나 급진적으로 감소된 반면에 남아선호관의 상존으로 인한 성비(여자 100명당 남자수)의 불균형을 초래하게 되였다. 한 예로 한국의 경우 1960년도만 해도 6명 이상의 자녀를 출산하는 과정에서 1-2명의 아들을 둘 수 있는 확률은 매우 높았으나, 최근에는 출산율이 2명 이하로 저하되어 아들을 둘 수 있는 확률은 과거보다 3-4배 어려워졌기 때문에 인위적인 방법으로 아들을 두는 부모의 수가 증가하고 있다. 중국은 1970년대 중반기부터 강력히 추진되어온 소위 "한자녀 갖기 운동"으로 인하여 여아출산인 경우 영아살해 또는 출생의 미신고등 많은 사회적 물의를 야기하였고, 최근에는 초음파검사를통한 선택적 인공임신중절(태아가 여아인 경우)으 경우가 급격히 증가하고 있다. 우리 나라의 성비는 출산율이 급격히 감소된 1980년대 증반기부터 급격히 증가되었다. 즉 인구전체에 대한 성비는 1980년의 103.9명에서 1985년에 110명으로 증가하였고ㅡ 1990년 116.9명으로 증가되었다. 성비는 자녀의 수가 적을수록 높아지는 추세이다. 1991년 조사에서 출산을 종료한 부인의 경우 1자녀의 성비는 무려 206명이나 되고 있다. 이와 같은 결과는 한자녀를 원하는 부인이 아들을 둔 경우 1자녀에서 조산을 결심하기 때문인 것이다. 통계청 자료에 의하면 성비는 무엇보다도 자녀의 출산순위와 밀접하다. 1991년 출생신고자료의 경우 첫아이의 출생시 성비는 106.1명이고, 둘째아이가 112.8명이나, 셋째아이는 184.7명으로 크게 증가하고 넷째 이상의 경우는 212.3명이나 된다. 동일한 출산순위라도 이미 두고 있는 자녀의 성에 따라서 많은 차이를 보인다. 1991년도 3번째 출산의 경우 딸만 2명을 두고 있는 자녀의 성에 아들만 2명 또는 아들과 딸을 각각 1명씩 두고 있는 경우에 비해 높은 성비를 보이고 있다. 자녀를 출산하는데 있어서 처음에는 아들ㅇ르 기다리지만 딸의 수가 증가함에 따라 적극적으로 아들을 낳고자 하는 노력을 지속하게 됨을 알 수 있다. 이는 즉 임신한 자녀의 성이 딸로 판명되면 인공임신중절을 통해 임신을 종결시키고 있음을 의미한다. 최근 한국보건사회연구원에서 수행한 연구결과에 의하면 이미 출생한 자녀의 성구성은 임신결과를 결정하는 가장 중요한 변수로 부각되고 있다. 즉 임신이 인공임신중절로 귀착되는 확률은 부모가 이미 아들을 두고 있는 경우에 일관성 있게 증가되고 있음을 보이고 있다. 따라서 남아선호관은 임신결과를 결정할뿐 아니라 선택절 인공임신중절에 의한 성비의 불균형을 초래하는 주요 변수로써 할거되었다. 특히 피임실천이 보편화되고 선택적 인공임신중절의 이용이 손쉬운 현대사회에 있어서는 남아선호관이 출산력 저하에 저해요인으로서가 아니라, 인위적이던 자연적이던 간에 아들만 두면 단산하는 현행의 출산풍토하에서는 남아선호관이 오히려 출산력저하에 결정적으로 작용하고 있다고 하겠다. 태아의 성 판별을 통한 선택적 인공임신중절의 건수는 1990년 한해에 약 20,000건 정도가 되고, 1986-1990년 사이에 총 80,000건으로 추정된다. 이 수치는 출생한 여아수의 5%에 해당한다. 현재 출생시 성비의 불균형은 연간 총출생수의 10% 미만에 불과한 3번째 이상의 출산에서 발생되고 있기 때문에 인구학적인 측면에서는 큰 문제가 아니다. 그러나 앞으로 출산율의 감소와 더불어 선택적 인공임신중절이 년간 출생수의 90% 이상을 차지하고 있는 둘째, 첫째출산순위로 확산된다면 성비의 불균형은 급진적으로 가속화되어 전통적 결혼관습의 재연등 인간의 생태계를 파괴하는 새로운 차원에서의 사회인구학적인 문제가 야기될 것이다. 결론적으로 성비의 불균형을 초래하는 근본적인 원인은 우리 나라으 전통적인 의식구조인 남아선호관의 상종과 최신의 의료기술에 의한 선택적 인공임신중절에 기인된 것이기 때문에 이를 시정하기 위한 제반 사회제도적 극복정책은 지속적으로 강화되어야 할 것이다.되어야 할 것이다.

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Cloning and Characterization of Phosphoinositide 3-Kinase γ cDNA from Flounder (Paralichthys olivaceus) (넙치에서 분리된 phosphoinositide 3-kinase γ 유전자의 클로닝 및 특성 연구)

  • Jeong, Tae Hyug;Youn, Joo Yeon;Ji, Keunho;Seo, Yong Bae;Kim, Young Tae
    • Journal of Life Science
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    • v.24 no.4
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    • pp.343-351
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    • 2014
  • Phosphoinositide 3-kinase (PI3K) plays a central role in cell signaling and leads to cell proliferation, survival, motility, exocytosis, and cytoskeletal rearrangements, as well as specialized cell responses, superoxide production, and cardiac myocyte growth. PI3K is divided into three classes; type I PI3K is preferentially expressed in leukocytes and activated by ${\beta}{\gamma}$ subunits of heterotrimeric G-proteins. In this study, the cDNAs encoding the $PI3K{\gamma}$ gene were isolated from a brain cDNA library constructed using the flounder (Paralichthys olivaceus). The sequence of the isolated $PI3K{\gamma}$ was 1341 bp, encoding 447 amino acids. The nucleotide sequence of the $PI3K{\gamma}$ gene was analyzed with that of other species, including Oreochromis niloticus and Danio rerio, and it turned out to be well conserved during evolution. The $PI3K{\gamma}$ gene was subcloned into the expression vector pET-44a(+), and expressed in the E. coli BL21 (DE3) codon plus cell. The resulting protein was expressed as a fusion protein of approximately 49 kDa containing a C-terminal six-histidine extension that was derived from the expression vector. The expressed protein was purified to homogeneity by His-tag affinity chromatography and showed enzymatic activity corresponding to $PI3K{\gamma}$. The binding of wortmannin to $PI3K{\gamma}$, as detected by anti-wortmannin antisera, closely followed the inhibition of the kinase activities. The results obtained from this study will provide a wider base of knowledge on the primary structure and characterization of the $PI3K{\gamma}$ at the molecular level.

Development of Acquisition and Analysis System of Radar Information for Small Inshore and Coastal Fishing Vessels - Suppression of Radar Clutter by CFAR - (연근해 소형 어선의 레이더 정보 수록 및 해석 시스템 개발 - CFAR에 의한 레이더 잡음 억제 -)

  • 이대재;김광식;신형일;변덕수
    • Journal of the Korean Society of Fisheries and Ocean Technology
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    • v.39 no.4
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    • pp.347-357
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    • 2003
  • This paper describes on the suppression of sea clutter on marine radar display using a cell-averaging CFAR(constant false alarm rate) technique, and on the analysis of radar echo signal data in relation to the estimation of ARPA functions and the detection of the shadow effect in clutter returns. The echo signal was measured using a X -band radar, that is located on the Pukyong National University, with a horizontal beamwidth of $$3.9^{\circ}$$, a vertical beamwidth of $20^{\circ}$, pulsewidth of $0.8 {\mu}s$ and a transmitted peak power of 4 ㎾ The suppression performance of sea clutter was investigated for the probability of false alarm between $l0-^0.25;and; 10^-1.0$. Also the performance of cell averaging CFAR was compared with that of ideal fixed threshold. The motion vectors and trajectory of ships was extracted and the shadow effect in clutter returns was analyzed. The results obtained are summarized as follows;1. The ARPA plotting results and motion vectors for acquired targets extracted by analyzing the echo signal data were displayed on the PC based radar system and the continuous trajectory of ships was tracked in real time. 2. To suppress the sea clutter under noisy environment, a cell averaging CFAR processor having total CFAR window of 47 samples(20+20 reference cells, 3+3 guard cells and the cell under test) was designed. On a particular data set acquired at Suyong Man, Busan, Korea, when the probability of false alarm applied to the designed cell averaging CFAR processor was 10$^{-0}$.75/ the suppression performance of radar clutter was significantly improved. The results obtained suggest that the designed cell averaging CFAR processor was very effective in uniform clutter environments. 3. It is concluded that the cell averaging CF AR may be able to give a considerable improvement in suppression performance of uniform sea clutter compared to the ideal fixed threshold. 4. The effective height of target, that was estimated by analyzing the shadow effect in clutter returns for a number of range bins behind the target as seen from the radar antenna, was approximately 1.2 m and the information for this height can be used to extract the shape parameter of tracked target..