• Molecules and Cells
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• 제21권3호
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• pp.376-380
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• 2006

Gene expression is regulated in large part at the level of transcription under the control of sequence-specific transcriptional regulatory proteins. Therefore, the ability to affect gene expression at will using sequencespecific artificial transcription factors would provide researchers with a powerful tool for biotechnology research and drug discovery. Previously, we isolated 56 novel sequence-specific DNA-binding domains from the human genome by in vivo selection. We hypothesized that these domains might be more useful for regulating gene expression in higher eukaryotic cells than those selected in vitro using phage display. However, an unpredictable factor, termed the "context effect", is associated with the construction of novel zinc finger transcription factors--- DNA-binding proteins that bind specifically to 9-base pair target sequences. In this study, we directly selected active artificial zinc finger proteins from a zinc finger protein library. Direct in vivo selection of constituents of a zinc finger protein library may be an efficient method for isolating multi-finger DNA binding proteins while avoiding the context effect.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.175-176
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• 2007

• 소음진동
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• 제6권5호
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• pp.555-565
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• 1996

This paper is concerned with the theoretical and experimental study on the force control of a miniature robotic finger that grasps an object at three other positions with the fingertip. The artificial finger is a uniform flexible cantilever beam equipped with a distributed set of compact grasping force sensors. Control action is applied by a piezoceramic bimorph strip placed at the base of the finger. The mathematical model of the assembled electro- mechanical system is developed. The distributed sensors are described by a set of concentrated mass-spring system. The formulated equations of motion are then applied to a control problem in which the finger is commanded to grasp an object. The H$_{\infty}$-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment..

• 한국정밀공학회지
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• 제13권9호
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• pp.94-103
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• 1996

This paper is concerned with the theroretical and experimental study on the force control of a miniature robotic finger that grasps an object at three other positions with the fingertip. The artificial finger is uniform flexible cantilever beam equipped with a distributed set of compact grasping force secnsors. Control action is applied by a qiexoceramic bimorph strip placed at the base of the finger. The mathematical model of the assembled electro-mechanical system is developed. The distributed sensors are described by a set of concentrated mass-spring system. The formulated equations of motion are then applied to a control problem which the finger is commanded to grasp an object The PID-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.846-851
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• 2010

In this paper, we newly propose a novel control strategy of a three joints-robot finger for the purpose of artificial hands. The robot finger is specifically modeled by using a 3D CAD program (CATIA), considering human fingers, and then the proposed control method is verified through the dynamic simulation tool (Simulink and Recurdyn R2). Each slider is individually controlled to be located at the optimal positions where the maximal joint torque can be generated. To prove the effectiveness of the proposed control method, we devise two cases for the reference position of sliders. By comparing the control performance of two cases, the validity of the proposed control method will be verified.

• 로봇학회논문지
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• 제14권2호
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• pp.94-103
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• 2019

The optimal grasping point of the object varies depending on the shape of the object, such as the weight, the material, the grasping contact with the robot hand, and the grasping force. In order to derive the optimal grasping points for each object by a three fingered robot hand, optimal point and posture have been derived based on the geometry of the object and the hand using the artificial neural network. The optimal grasping cost function has been derived by constructing the cost function based on the probability density function of the normal distribution. Considering the characteristics of the object and the robot hand, the optimum height and width have been set to grasp the object by the robot hand. The resultant force between the contact area of the robot finger and the object has been estimated from the grasping force of the robot finger and the gravitational force of the object. In addition to these, the geometrical and gravitational center points of the object have been considered in obtaining the optimum grasping position of the robot finger and the object using the artificial neural network. To show the effectiveness of the proposed algorithm, the friction cone for the stable grasping operation has been modeled through the grasping experiments.

• International Journal of Advanced Culture Technology
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• 제7권2호
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• pp.218-226
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• 2019

In modern society, people live in an environment with artificial or natural noise. Especially, the sound that corresponds to the artificial noise makes the noise itself and affects each other because many people live and work in the city. Sounds are generated by the activities and causes of various people, such as construction sites, aircraft, production machinery, or road traffic. These sounds are essential elements in human life and are recognized and judged by human auditory organs. Noise is a sound that you do not want to hear by subjective evaluation, and it is a loud sound that gives hearing damage or a sound that causes physical and mental harm. In this study, we introduce the method of stimulating the human hearing by finger vibration and explain the advantages of the proposed method in various kinds of a noise environment. And how to improve the sound quality to improve efficiency. In this paper, we propose a method to prevent the loss of hearing loss and the transmission of sound information based on proper signal to noise ratio when using portable IT equipment in various noise environments.

• 한국정밀공학회지
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• 제26권8호
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• pp.132-141
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• 2009

In this paper, we describe finger force estimation from surface electromyogram (sEMG) data for intuitive and delicate force control of robotic devices such as exoskeletons and robotic prostheses. Four myoelectric sites on the skin were found to offer favorable sEMG recording conditions. An artificial neural network (ANN) was implemented to map the sEMG to the force, and its structure was optimized to avoid both under- and over-fitting problems. The resulting network was tested using recorded sEMG signals from the selected myoelectric sites of three subjects in real-time. In addition, we discussed performance of force estimation results related to the length of the muscles. This work may prove useful in relaying natural and delicate commands to artificial devices that may be attached to the human body or deployed remotely.

• KSBB Journal
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• 제25권3호
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• pp.215-222
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• 2010

Monogenic disease의 치료를 위한 하나의 전략으로 viral vector를 이용한 gene therapy에 비해 독성이 적은 gene targeting 기술을 이용하기 위한 연구가 진행되고 있다. 이러한 연구의 주된 관점은 자연적인 HR의 낮은 효율을 개선하기 위한 DSB 유도 방법으로, 선택성을 높일 수 있는 긴 염기서열의 인식이 가능한 artificial endonuclease의 개발이다. 본 글에서는 이러한 artificial endonuclease 중, 가장 많이 연구 되고 있는 homing endonuclease와 zinc finger nuclease를 간략히 소개하였다. 전자와 후자 모두, 인식 서열에 대한 일정 수준의 tolerance (인식 서열 일부가 특이적이지 않아 다른 염기로 구성된 경우)가 존재하여, 일정한 비율로 다른 target을 절단할 수 있는 가능성이 존재한다. 이러한 점은, meganucleases를 치료 목적으로 이용할 때 세포 독성을 나타내는 근본원인 중 하나이다. 두 종 모두 이러한 특성을 가짐에도 불구하고, 완전한 비자연적인 후자보다는 전자의 경우가 보다 효과적이며 낮은 세포독성을 보이는 것으로 보고되고 있다. 물론 실험 조건이나 적용되는 세포 종류, 인위적인 단백질의 발현 정도에 따라 세포 독성유무 또는 정도에 차이가 나타남이 확인되고 있다. 이러한 사실들에 근거할 때, gene targeting을 유도하기 위한 artificial endonuclease의 서열 특이성을 증대시키는 것이 가장 중요하나, 그 외 여러 인자들에 대한 복합적인 연구 역시 필요함을 보여준다. 현재까지 실제 치료제로 쓰인 예는 없지만, 시험관내에서 보이는 결과와 모델 개체에서 이루어진 표적화정도, 관련된 단백질 치료제들이 지닌 잠재성을 비교할 때 매우 큰 가능성을 지니고 있음은 충분히 확인할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.202-207
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• 1993

A theoretical and experimental study is presented for the force holding control of a miniature robotic ringer which is driven by a pair of piezoelectric unimorph cells. In the theoretical analysis, one finger is modeled as a flexible cantilever with a tactile force sensor at the tip and the mate of the finger is a solid beam supposed with sufficient stiffness. Further, the force sensor is modeled by a one-degree-of-freedom, mass-spring system and the output of sensor is then described by the sensor stiffness multiplied by the relative displacement. The problem investigated in this paper is that two typical holding tasks of the human finger are picked up and applied to the robotic finger. One is the work holding a stationary object with a prescribed, time-varying force and the other one is to keep the contacted force constant even if the object is in motion. The simple PID feedback control scheme is used to control the minute gripping force of order 0.01 Newton. It is shown both experimentally and theoretically that the artificial finger with the piezoelectric actuator works well in the minute force holding of the tiny object.