• 정보처리학회논문지D
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• 제15D권5호
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• pp.681-690
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• 2008

단백질체학에서 특정 조건 하에서 단백질의 기능 이상 및 구조 변형 유무를 규명하고 질병 과정을 추적하는 것은 중요한 연구이다. 일반적으로 단백질의 발현량 변화 분석에는 통계적 방법이 많이 사용되고 있으며 단백질 상용 이미지 분석 소프트웨어에서 제공하는 그래픽을 이용한 방법들도 있으나, 이 방법들은 많은 조직 내에 존재하는 수많은 단백질을 수동으로 비교해야 하는 어려움이 있다. 본 논문에서는 데이터베이스와 데이터마이닝 기법을 이용하여 OLAP 데이터 큐브와 Discovery-driven 탐색의 응용 방법을 제안한다. 데이터 큐브의 특성을 이용함에 의해서, 질병에 의해 발현량이 변하는 단백질 뿐 아니라 임상적 특성과 단백질의 영향 관계를 분석하는 것이 가능하다. 데이터 큐브에서 단백질의 발현량 변화 분석에 적합한 데이터 큐브의 척도와Discovery-driven 탐색을 위한 예외 지표를 제안하고, 특히 In-exception을 계산하는데 있어서의 계산량 감소 방안을 제시한다. 실험을 통해 폐암 2-DE 데이터에서 데이터 큐브와 Discovery-driven 방법이 유용함을 보인다.

• 대한기계학회논문집A
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• 제25권12호
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• pp.2019-2029
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• 2001

Up to now a wide variety of researches on inpipe inspection robots have been introduced, but it still seems to be difficult to construct a robot providing mobility sufficient to navigate inside the complicated configuration of underground pipelines. This paper introduces a robot called MRINSPECT IV(Multifunctional Robotic Crawler for inpipe inSPECTion IV) for the inspection of urban gas pipelines with a nominal 4-inch inside diameter. The proposed robot can freely move along the basic configuration of pipelines such as along horizontal or vertical pipelines. Moreover it can travel along reducers, elbows, and steer in the branches by modulating the speeds of driving modules. Especially, its capability for steering in tile three-dimensional pipeline configuration has a competative edge over the other ones and provides excellent mobility in navigation. Its critical points in the design and construction are introduced and results of experiments are given.

• Nuclear Engineering and Technology
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• 제50권5호
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• pp.773-779
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• 2018

This study surveyed 137 policymakers and key stakeholders (e.g., employees of government agencies, academic institutions, nonprofit organizations, industry, and advocacy groups) involved in making decisions on nuclear energy policy, investigating how they differentially perceived the importance of scientific evidence in driving nuclear policy. We also identified the policy areas that each group of decision-makers are mostly concerned about and showed how such concerns might contextualize and ultimately shape their perceptions of science-driven policy.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 하계종합학술대회 논문집(5)
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• pp.23-26
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• 2000

Generally, the wheel-driven mobile robot systems, by their structural property, have nonholonomic constraints. These constraints are not integrable and cannot be written as time derivatives of some functions with respect to the generalized coordinates. Hence, nonlinear approaches are required to solve the problems. In this paper, the trajectory controller of wheeled mobile robot systems is suggested to guarantee its convergence to reference trajectory. Design procedure of the suggested trajectory controller is back-stepping scheme which was introduced recently in nonlinear control theory. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation, the trajectory controller is applied to differentially driven robot system and car-like mobile robot system on the assumption that the trajectory planner be given.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제11권1호
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• pp.49-53
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• 2011

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -3
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• pp.1618-1621
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• 2002

In this paper, the constructive modeling procedure of nonholonomic mobile robot system is carried out with the help of controllability Lie algebra used in differential geometry field, and their geometrical properties are also analyzed. And, a new trajectory controller is suggested to guarantee its convergence to reference trajectory. Design procedure of the suggested trajectory controller is back-stepping scheme which was introduced recently in nonlinear control theory. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation the trajectory controller is applied to differentially driven mobile robot system on the assumption that the trajectory planner be given.

• 한국지능시스템학회논문지
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• 제19권1호
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• pp.69-74
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• 2009

본 논문에서는 온톨로지에 기반한 자율주행 로봇의 제어 방법을 제안한다. 제안한 방법은 온톨로지를 단순히 정보의 체계적인 저장소로 이용하는 것에서 벗어나 온톨로지 추론을 통해 로봇을 제어한다. 즉, 로봇이 감지한 장애물 정보를 온톨로지로 표현하고, 온톨로지 추론을 통해 주변 상황에 따른 로봇의 행동계획과 로봇의 제어를 수행한다. 그리고 차등구동형로봇을 제작하고, 실제 환경에서의 로봇 주행 실험을 통해 제안한 방법의 효용성을 보인다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2787-2789
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• 2000

In this paper. the constructive modeling procedure of nonholonomic mobile robot system is carried out with the help of controllability Lie algebra used in differential geometry field. and their geometrical properties are also analyzed. And, a new trajectory controller is suggested to guarantee its convergence to reference trajectory. Design procedure of the suggested trajectory controller is back-stepping scheme which was introduced recently in nonlinear control theory. The performance of the proposed trajectory controller is verified via computer simulation. In the simulation the trajectory controller is applied to differentially driven robot system on the assumption that the trajectory planner be given.

• 로봇학회논문지
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• 제18권3호
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• pp.251-259
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• 2023

In the path traveling of differential-drive robots, the steering controller plays an important role in determining the path-following performance. When a robot with a pure-pursuit algorithm is used to continuously drive a right-angled driving path in an unstructured environment without turning in place, the robot cannot accurately follow the right-angled path and stops driving due to the ground and motor load caused by turning. In the case of pure-pursuit, only the current robot position and the steering angle to the current target path point are generated, and the steering component does not reflect the speed plan, which requires improvement for precise path following. In this study, we propose a driving algorithm for differentially driven robots that enables precise path following by planning the driving speed using the radius of curvature and fusing the planned speed with the steering angle of the existing pure-pursuit controller, similar to the Model Predict Control control that reflects speed planning. When speed planning is applied, the robot slows down before entering a right-angle path and returns to the input speed when leaving the right-angle path. The pure-pursuit controller then fuses the steering angle calculated at each path point with the accelerated and decelerated velocity to achieve more precise following of the orthogonal path.

• Fisheries and Aquatic Sciences
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• 제15권4호
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• pp.325-335
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• 2012

The present study characterized the fast skeletal myosin light chain-2 gene (mlc2f) in the euryhaline Javanese ricefish (Oryzias javanicus: Beloniformes). Coding nucleotide and deduced amino acid sequences of Javanese ricefish mlc2f were well conserved in the vertebrate lineage. Javanese ricefish mlc2f showed a typical seven-exon structure, and its promoter exhibited transcription factor binding motifs common to most muscle-specific genes. However, Javanese ricefish mlc2f also displayed tandem duplications of intronic sequences in both intron 1 and intron 3. Based on quantitative reverse transcription-polymerase chain reaction, the mlc2f transcripts were highly predominant in skeletal muscles of adults and were differentially modulated during embryonic development. Microinjection of the mlc2f promoter-driven red fluorescent protein (RFP) reporter construct successfully exhibited heterologous expression of the fluorescent reporter, primarily in muscular areas of hatchlings, although the distribution pattern of RFP signals was not uniform due to the mosaic nature of the introduced transgene. Data from this study indicate that the Javanese ricefish mlc2f gene has undergone "intra-intronic" duplication events in a species-specific manner and that the mlc2f regulator may also be useful in heterologous expression assays of the skeletal muscles of this species.