• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.12 no.2
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• pp.170-177
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• 2019

In this paper, three theories for improving the stability of quadruped robot are presented. First, the Minimum-Jerk Trajectory is used to optimize the leg trajectory. Second, we compare the newly proposed sine wave and the conventional LSM in this paper based on the Jerk value. Third, we calculate the optimum stride of the sway through repetitive robot simulation using ADAMS-MATLAB cosimulation. Through the above process, the improvement of the robot walking is compared with the existing theory. First, the average gradient of the point where the leg trajectory changes rapidly was reduced from at least 1.2 to 2.9 by using the Minimum-Jerk targetory for the movement of the body and the end of the leg during the first walk, thereby increasing the walking stability. Second, the average Jerk was reduced by 0.019 on the Z-axis, 0.457 on the X-axis, and 0.02, 3D on the Y-axis by 0.479 using the Sin wave type sways presented in this paper, rather than the LSM(Longitude Stability Margin) method. Third, the length of the optimal stride for walking at least the Jerk value was derived from the above analysis, and the 20cm width length was the most stable.

• Korean Journal of Medicinal Crop Science
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• v.27 no.4
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• pp.247-258
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• 2019

Background: Astragali radix (A) and Lithospermi radix (L) have long been used as traditional medicines due to their known anti-inflammatory effects. This study aimed at evaluating, their optimal mixing ratio and their functional compounds by investigating the inhibitory effects of mixed extracts of A and L and their active compounds on matrix metalloproteinases (MMPs). Methods and Results: A and L extracts were obtained by extraction at $80^{\circ}C$ using 50% and 70% fermented alcohol, respectively, and then mixed at a ratio of 5 : 5, 6 : 4, 7 : 3 and 8 : 2 (w/w). The activities of MMP-1, MMP-3, and MMP-13 were evaluated in interleukin-1beta ($IL-1{\beta}$)-induced SW1353 cells. The extract mixtures showed synergistic inhibitory effects on MMP-3 and MMP-13, higher than the effects of the individual A and L extracts. The 7 : 3 mixture (ALM16) showed the most effective MMPs inhibitory activity, while among the active ingredients, calycosin-7-O-${\beta}$-D-glucoside and lithospermic acid exhibited excellent MMPs inhibitory activity. Additionally, an HPLC method was established for simultaneous quantification of the effective components of the extract mixtures, and validated by measuring the linearity, precision and accuracy of the limit of detection (LOD) and limit of quantification (LOQ). Conclusions: ALM16 showed the most effective MMPs inhibitory activity. Calycosin-O-${\beta}$-D-glucoside, calycosin and lithospermic acid were identified as useful candidates, as they were the major functional compounds in the MMP inhibitory activity. Summarily, ALM16 might be a highly effective in osteoarthritis management, owing to its because it exhibits a protective effect on cartilage via excellent inhibition of MMPs.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.2D
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• pp.235-242
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• 2008

Due to the lack of judgement in an information processing on road sign, older drivers usually are having a hard time driving than young group. Furthermore, according to increasing in aging population, older drivers in Korea have been growing much faster. That means research for older drivers' characteristics and the number of guide name for road sign should be needed. In accordance with suggestions, this study was carried out the number of guide names for road sign with a variety of ages from the twenties to the seventies. For the sake of this study, statistical verification was conducted to confirm a change of speed, a reading time and a misreading rate with Driving Simulator and Electrooculogram tool. As the results of study, change of speed in the age range has shown that the higher the proportion of age, the lower the rate of velocity. Also reading time in the age range with regression analysis found that the higher the proportion of age, the higher the rate of reading time by 0.106sec. Finally, a binary logistic model was used to find the main factors. As the results, 4 number of guide names for road sign have been the best of them for older driver. The result of this study verified the importance of ideal guide numbers on road sign for older driver and proved itself to be an effective method to determine the road safety for the road signs.

• Journal of Embryo Transfer
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• v.20 no.2
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• pp.169-176
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• 2005

Loop-mediated isothermal amplification (LAMP) is novel DNA amplification methods that amplifies a target sequence specifically under isothemal condition. The present study was to assess the in vitro viability afier biopsy and sexing rate of different types of embryo biopsied. In vivo compact morulae and blastocyst embryos were obtained from Korean Native Cow (KNC) superovulated with FSH (Antorin, R-10) on 7 Day after artificial insemination. in vitro compact morulae and blastocyst embryos were obtained with KNC or Holsteins that were gained on 6, 7 or 8 day after in vitro fertilization(IVF) with frozen semen. Biopsy of bovine embryo was carried out in a $80{\mu}l$ drop with $Ca^{2+}-Mg^{2+}$ free D-PBS and the viability of biopsied embryos were evaluated in IVMD (IFP, Japan) medium at 12 hrs culture time. The sex ratio of biopsied Hanwoo embryos were male vs. female of $43.5\%\;vs.\;56.5\%$ in vivo and $33.9\%\;vs.\;49.2\%$ in vitro respectively, and male rate of biopsied Holstein embryos were significantly higher than female $(70.8\;vs.\;29.2\%)$. and indefinite rate of in vitro embryos was $16.9\%$ and in vivo was not. The degeneration rate of biopsied embryo, in vitro embryos were significantly higher than in vivo $(13.2\%\;vs,\;0.0\%,\;p<0.05)$. The survivability of in vivo embryo were between biopsied following punching method was significantly (P<0.05) higher than bisection method produced embryos $(100\%\;vs.\;83.3\%)$ and in vitro had no difference. However, the degeneration rate of biopsied embryo by bisection method was significantly higher than punching methods between in vivo and in vitro $(16.7\;vs.\;22.6\%,\;respectively,\;p<0.05)$. In conclusion, these results indicate that punching method was optimal and survivability after embryo biopsy was useful for reducing the damage caused by the embryo biopsy procedure for LAMP-based embryo sexing.

• Geophysics and Geophysical Exploration
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• v.13 no.1
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• pp.118-127
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• 2010

Resistivity logging instruments are designed to measure the electrical resistivity of a formation, and this can be directly interpreted to provide a water-saturation profile. However, resistivity logs are sensitive to borehole and shoulder-bed effects, which often result in misinterpretation of the results. These effects are emphasised more in the presence of tool eccentricity. For precise interpretation of short- and long-normal logging measurements in the presence of tool eccentricity, we simulate and analyse eccentricity effects by combining the use of a Fourier series expansion in a new system of coordinates with a 2D goal-oriented high-order self-adaptive hp finite-element refinement strategy, where h denotes the element size and p the polynomial order of approximation within each element. The algorithm automatically performs local mesh refinement to construct an optimal grid for the problem under consideration. In addition, the proper combination of h and p refinements produces highly accurate simulations even in the presence of high electrical resistivity contrasts. Numerical results demonstrate that our algorithm provides highly accurate and reliable simulation results. Eccentricity effects are more noticeable when the borehole is large or resistive, or when the formation is highly conductive.

• Journal of the Korean Society of Radiology
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• v.6 no.5
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• pp.395-402
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• 2012

4D-Radiation Therapy is the optimal treatment to track moving organs(tumor) and give the appropriate prescription dose to tumor and low radiation dose to normal tissue surrounding tumor volume. The ABCHES is a 4DRT devices maintaining shallow breathing to patients. It allows the tumor's movement was minimize. Meanwhile, Abdominal compression device is limited the breath compressing abdomen on patients. In this paper we will quantitative analysis the movement of tumor on only ABCHES versus ABCHES with Abdomal compression device and Analysis tumor dose and normal tissue's dose by Dose Volume Histogram on two parts. The result of Comparision ABCHES and ABCHES with Abdominal compression device, SI(Superior-Inferior) direction, AP(Anterior-Posterior) direction and LR(Left-Right) direction was limited 1.0 mm, 0.2 mm, 0.2 mm(average). and also reduction rate of voluume in HPTV was $16{\pm}2%$, and LPTV was $15.8{\pm}0.8%$ under only using ABCHES and ABCHES with compression. The analysis dose volume histogram was more radiation dose in ABCHES and abdominal compression device than only using ABCHES, and less normal tissue-ipsilateral lung, whole lung, kidney-dose in ABCHES and abdominal compression device than only using ABCHES. The overall analysis was ABCHES with abdominal compression better than only using ABCHES method. In hereafter it will be studies that limitation of ABCHES and abdomonal compression device. In other words, patient's discomfort on compression intensity, method of application on patient with inaccurate respiration cycle.

• Journal of Korean Society of Transportation
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• v.25 no.1 s.94
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• pp.37-47
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• 2007

The Integrated Public Transport Reforms of the Seoul Metropolitan Government, which were implemented on the $1^{st}$ of July. 2004, launched a new fare allocation method. However, when a Private transit operator or a new transport system is introduced into the existing system, it will cause an allocation problem. Therefore, this study aims to Propose a rational fare allocation method which can be applicable regardless of the number of Public transportation modes or operators. To create alternatives, this study has adopted a fundamental principle of revenue allocation methods for the transit or communications sectors, and has applied it to the current transit system of Seoul. This study kas analyzed results of the cost recovery ratios and characteristics of each alternative through case studies. This study kas Presented an assessment criterion Z in order to select an optimal alternative. The criterion consists of the sum of the cost recovery ratio of each operator and the difference of the cost recovery ratio for each agency in inter-agency transit. Using the assessment criterion. the results showed that Alternative 1 is superior to the others : Alternative 1 is considering passenger-km of each operator and unit cost of passenger-km for each operator.

• Journal of Embryo Transfer
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• v.15 no.1
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• pp.67-75
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• 2000

This study was conducted to establish the optimal conditions for in vitro embryo production using oocytes derived from follicles of slaughter-house ovaries. The ovaries of Hanwoo were obtained from a local slaughter-house. The oocytes were aspirated from visible follicles of 2~7mm in diameter. The recovered oocytes which were completely surrounded by at least 2 layers of cumulus cells and a homogeneous cytoplasmic pigmentation were used. The selected oocytes were washed 3 or 4 times with D-PBS containing 10% bovine calf serum (BCS) and matured in vitor (IVM) in Ham's F-10 supplemented with 10% BCS or 0.01 $\mu\textrm{g}$/ml epidermal growth factor(EGF) at 39$^{\circ}C$ under 5% CO2 in air for 24 hours. They were fertilizqed in vitro (IVF) with fresh sperm separated by Percoll density gradient or swim-up in TALP media. The zygotes were cultrued with or without bovine oviductal epitherial cells(BOEC) in media(HECM-6 supplemented with 11 amino acid and / or TCM-199 supplemented with 10% BCS) for 7 to 10 days. The results obtained were as follow: The cleavage rate and developmental rate to blastocyst after maturation and IVF were not significantly different between Ham's F-10 with EGF(76.0% vs. 44.0%) and BCS(75.9% vs. 43.6%)(P<0.05). The cleavage rate and development rate to blastocyst after fertilizing by swim-up or Percoll method were not signifciantly(P<0.05) different between swim-up (80.2% vs. 29.2%) and Percoll(81.9% vs. 26.5%) (P<0.05). The cleavage rate in TCM 199(80.5) was signficiantly higher than that in HECM-6 (72.0%) (P<0.05). However, developmental rate to blastocyst using TCM 199 following HECM-6 for 3 or 4 days (42.2%) was significantly higher than that in TCM-199 alone(26.7%)(P<0.05). The cleavage rate and development rate of embryos produced in vitro by exchange timing for HECM-6 media were not significantly different between in day 3(78.6% vs. 45.5%) and day 4(75.0% vs. 43.2%)(P<0.05). The cleavage rate and developmental rate to blastocysts according to co-culture system were not significantly different between with (74.2% vs. 41.4%) and without BOEC(73.95 vs. 43.5%) (P<0.05). The number of blastomere in blastocyst stage after co-culture with or without BOEC was not significantly different (106.7$\pm$5.1 and 96.6$\pm$4.0). In conclusion, the most transferable IVP embryos could be produced from Ham's F-10 medium for IVM, Percoll density gradient method for IVF sperm separation and in vitro culture in HECM-6 until day 3 or day 4, and then transferred into TCM-199 until day 9 within adequate embryo density in culture droplets after insemination.

• Journal of Biosystems Engineering
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• v.38 no.2
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• pp.138-148
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• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.57 no.4
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• pp.429-437
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• 2024

This study aimed to develop and commercialize abalone Haliotis discus hannai marinated in seasoned soy sauce (AM-S) for the elderly by adjusting its texture (hardness) and strengthening its nutritional components. The number of pounding cycles [X₁, 2-14 times] and heating time in a retort [X₂, 5-19 min] were selected as independent variables, and hardness (Y₁) and overall acceptance (Y₂) were selected as dependent variables. The optimal conditions for X₁ and X₂ were 12 pounding cycles and heating in a retort for 17 min, respectively. The hardness values 209.2×10³ N/m² for the third method and 259.1×10³ N/m² for the first method. The nutritional value was 13.1 g/100 g crude protein and vitamins A, D, and C were not detected. The mineral content was 33.2 mg/100 g calcium and 258.7 mg/100 g potassium. Organisms from the coliform group and Escherichia coli were not detected. Therefore, AM-S for the elderly was classified as a hardness- and nutrient-controlled product based on the standards and specifications of senior-friendly foods provided in the MFDS and classified as the first step of senior-friendly foods according to the standards and specifications of senior-friendly foods provided in the KS.