• Molecules and Cells
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• 제40권6호
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• pp.401-409
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• 2017

The primary cilium is a non-motile microtubule-based organelle that protrudes from the surface of most human cells and works as a cellular antenna to accept extracellular signals. Primary cilia assemble from the basal body during the resting stage ($G_0$ phase) and simultaneously disassemble with cell cycle re-entry. Defective control of assembly or disassembly causes diverse human diseases including ciliopathy and cancer. To identify the effective compounds for studying primary cilium disassembly, we have screened 297 natural compounds and identified 18 and 17 primary cilium assembly and disassembly inhibitors, respectively. Among them, the application of KY-0120, identified as Brefeldin A, disturbed Dvl2-Plk1-mediated cilium disassembly via repression of the interaction of $CK1{\varepsilon}-Dvl2$ and the expression of Plk1 mRNA. Therefore, our study may suggest useful compounds for studying the cellular mechanism of primary cilium disassembly to prevent ciliopathy and cancer.

• BMB Reports
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• 제51권9호
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• pp.425-426
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• 2018

As highly conserved signaling cascades of multicellular organisms, Wnt and Hippo pathways control a wide range of cellular activities, including cell adhesion, fate determination, cell cycle, motility, polarity, and metabolism. Dysregulation of those pathways are implicated in many human diseases, including cancer. Similarly to ${\beta}-catenin$ in the Wnt pathway, the YAP transcription co-activator is a major player in Hippo. Although the intracellular dynamics of YAP are well-known to largely depend on phosphorylation by LATS and AMPK kinases, the molecular effector of YAP cytosolic translocation remains unidentified. Recently, we reported that the Dishevelled (DVL), a key scaffolding protein between canonical and non-canonical Wnt pathway, is responsible for nuclear export of phosphorylated YAP. The DVL is also required for YAP intracellular trafficking induced by E-cadherin, ${\alpha}-catenin$, or metabolic stress. Note that the p53/LATS2 and LKB1/AMPK tumor suppressor axes, commonly inactivated in human cancer, govern the reciprocal inhibition between DVL and YAP. Conversely, loss of the tumor suppressor allows co-activation of YAP and Wnt independent of epithelial polarity or contact inhibition in human cancer. These observations provide novel mechanistic insight into (1) a tight molecular connection merging the Wnt and Hippo pathways, and (2) the importance of tumor suppressor contexts with respect to controlled proliferation and epithelial polarity regulated by cell adhesion.

• 한국해양공학회지
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• 제17권4호
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• pp.73-80
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• 2003

This paper presents considerations on the results of the rotating arm test, which was carried out for assessment of an hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit(IMU), an ultra-short baseline(USBL) acoustic navigation sensor and a doppler velocity log(DVL) accompanying a magnetic compass. A navigational systemmodel is derived to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters are 25 in the order. The extended Kalman filter was used to propagate the error covariance, The rotating arm tests were carried out in the Ocean Engineering Basin of KRISO, to generate circular motion. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

• 한국해양공학회지
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• 제17권6호
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• pp.83-90
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), and a Doppler velocity log (DVL), accompanied by a magnetic compass. The errors of inertial measurement units increase with time, due to the bias errors of gyros and accelerometers. A navigational system model is derived, to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 20. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors, and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o,f equations of motion of SAUV, using a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance, by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass, and a depth sensor. The error of the estimated position still slowly drifts in the horizontal plane, about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

• 한국해양공학회지
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• 제19권5호
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• pp.71-77
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• 2005

This paper presents an integrated underwater navigational algorithm for unmanned underwater vehicles, using additional two-range transducers. This paper proposes a measurement model, using two range measurements, to improve the performance of an IMU-DVL (inertial measurement unit - Doppler velocity log) navigation system for long-time operation of underwater vehicles, excluding DVL measurement. Extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation when the external measurements are available. Simulation was conducted with the 6-d.o.f nonlinear numerical model of an AUV in lawn-mowing survey mode, at current flaw, where the velocity information is unavailable. Simulations illustrate the effectiveness of the integrated navigation system, assisted by the additional range measurements without DVL sensing.

• 한국산학기술학회논문지
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• 제22권3호
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• pp.352-361
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• 2021

한국해양과학기술원에서는 수중 공사용 구조물에 적용할 수 있는 수중 위치 인식 기술을 개발하고 있다. 정밀한 위치 인식을 위해 관성 항법을 기반으로 한 확장 칼만 필터를 사용하였으며, 비동기화 된 센서들의 데이터를 알고리즘 보정 단계에 적용하기 위하여 내부의 관측 행렬을 데이터에 따라 구분하여 업데이트 하였다. 수중 공사 환경, 설치 위치, 시스템 운용 편의성 등을 종합적으로 고려하여 수중 공사 구조물 하부에 붙여야 신호를 획득할 수 있는 Doppler velocity logger(DVL)는 설치 및 회수가 어렵기 때문에 이를 배제한 수중 공사 구조물 부착용 수중 위치 인식 복합 시험체를 제작하였으며 수조 환경에서 수중 위치 인식 성능 시험을 수행하였다. Ultra short-base line(USBL)로 측정된 수중 위치, 위치 벡터만 보정된 추정 위치, 그리고 위치와 속도 벡터를 보정한 추정 위치 결과를 원형 공산 오차(CEP)를 이용하여 비교 및 평가하였다. 그 결과 USBL 단독 위치 추정 CEP 0.02 m, 위치 벡터만 보정한 추정 위치 CEP 3.76 m., 위치 및 속도 벡터를 보정한 추정 위치 CEP 0.06 m로 평가되었다. 본 연구를 통해 DVL이 미적용된 비동기식 센서들을 이용하여 안정적인 수중 위치를 추정할 수 있음을 확인하였다.

• BMB Reports
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• 제38권2호
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• pp.243-247
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• 2005

Dishevelled (Dvl) is a positive regulator of the canonical Wnt signaling pathway, which regulates the levels of $\beta$-catenin. The $\beta$-catenin oncoprotein depends upon the association of Dvl and Axin proteins through their DIX domains, and its accumulation directs the expression of specific developmental-related genes at the nucleus. Here, the $^1H$, $^{13}C$, and $^{15}N$ resonances of the human Dishevelled 2 DIX domain are assigned using heteronuclear nuclear magnetic resonance (NMR) spectroscopy. In addition, helical and extended elements are identified based on the NMR data. The results establish a structural context for characterizing the actin and phospholipid interactions and binding sites of this novel domain, and provide insights into its role in protein localization to stress fibers and cytoplasmic vesicles during Wnt signaling.

• 한국해양공학회지
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• 제28권6호
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• pp.566-573
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• 2014

This paper presents the results of an integrated navigation performance analysis for selecting the sensor of an unmanned underwater vehicle (UUV) using Monte Carlo numerical simulation. An inertial measurement unit (IMU) and Doppler velocity log (DVL) are considered to build the integrated navigation system. The position error and price of the sensor are selected as performance indices to evaluate the volunteer integrated navigation systems. Monte-Carlo simulation is introduced to analyze the circular error probability (CEP) and its variance. Simulation results provide the proper sensor combination for integrated navigation in relation to the performance and price.

• Journal of Positioning, Navigation, and Timing
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• 제5권2호
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• pp.97-107
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• 2016

Military Autonomous Underwater Vehicle (AUV) is utilized to search a mine under the sea. This paper presents design and performance verification of real-time hybrid navigation system for AUV. The navigation system uses Doppler Velocity Log (DVL) integration method to correct INS error in underwater. When the AUV is floated on the water, the accumulated error of navigation algorithm is corrected using position/velocity of GPS. The navigation algorithm is verified using 6 Degree Of Freedom (DOF) simulation, Program In the Loop Simulation (PILS). Finally, the experiments are performed in real sea environment to prove the reliability of real-time hybrid navigation algorithm.

• International Journal of Ocean System Engineering
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• 제1권2호
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• pp.102-109
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• 2011

This paper describes the implementation of a precise underwater navigation solution using a multiple sensor fusion technique based on USBL, GPS, DVL and AHRS measurements for the operation of a remotely operated mine disposal vehicle (MDV). The estimation of accurate 6DOF positions and attitudes is the key factor in executing dangerous and complicated missions. To implement the precise underwater navigation, two strategies are chosen in this paper. Firstly, the sensor frame alignment to the body frame is conducted to enhance the performance of a standalone dead-reckoning algorithm. Secondly, absolute position data measured by USBL is fused to prevent cumulative integration error. The heading alignment error is identified by comparing the measured absolute positions with the DR algorithm results. The performance of the developed approach is evaluated with the experimental data acquired by MDV in the South-sea trial.