• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.89-93
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• 2003

The Korea Research Institute of Ships and Ocean Engineering (KRISO), the ocean engineering branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) to test underwater docking. This paper introduces the AUV model, ASUM, equipped with a visual servo control system to dock into an underwater station with a camera and motion sensors. To make a visual servoing AUV, this paper implemented the visual servo control system designed with an augmented state equation, which was composed of the optical flow model of a camera and the equation of the AUV's motion. The system design and the hardware configuration of ASUM are presented in this paper. A small long baseline acoustic positioning system was developed to monitor and record the AUV's position for the experiment in the Ocean Engineering Basin of KRISO, KORDI. ASUM recognizes the target position by processing the captured image for the lights, which are installed around the end of the cone-type entrance of the duct. Unfortunately, experiments are not yet conducted when we write this article. The authors will present the results for the docking test of the AUV in near future.

• Bulletin of the Korean Chemical Society
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• 제34권8호
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• pp.2387-2393
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• 2013

Benzotriazole is an important synthetic auxiliary for potential clinical applications. A series of benzotriazoles as potential antiproliferative agents by inhibiting histone deacetylase (HDAC) were recently reported. Three-dimensional quantitative structure-activity relationship (3D-QSAR), including comparative molecular field analysis (CoMFA) and comparative molecular similarity indices analysis (CoMSIA), were performed to elucidate the 3D structural features required for the antiproliferative activity. The results of both ligand-based CoMFA model ($q^2=0.647$, $r^2=0.968$, ${r^2}_{pred}=0.687$) and CoMSIA model ($q^2=0.685$, $r^2=0.928$, ${r^2}_{pred}=0.555$) demonstrated the highly statistical significance and good predictive ability. The results generated from CoMFA and CoMSIA provided important information about the structural characteristics influence inhibitory potency. In addition, docking analysis was applied to clarify the binding modes between the ligands and the receptor HDAC. The information obtained from this study could provide some instructions for the further development of potent antiproliferative agents and HDAC inhibitors.

• 한국항만학회지
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• 제14권3호
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• pp.291-301
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• 2000

T his paper presents the lateral and longitudinal control algorithm for the driving of a 4WS AGV(Automated Guided Vehicle). The control law to the lateral and longitudinal control of the AGV includes adaptive agin tuning ability, that is the controller gain of the gravity compensated PD controller can be changed on a real-time. The gain tuning law is derived from the Lyapunov direct method using the output error of the reference model and the actual model, And to show the performance of the presented lateral and longitudinal control algorithm, we simulate toe nonlinear AGV equations of the motion by deriving the Newton-Euler Method, The read path is from quay yard area to docking position in loading yard area. The quay yard area is where the quay crane loads the container to the AGV and the docking position is where the container is transferred to the gantry crane. The road types are constructed in a straight line and J-turn. When driving the straight line, the driving velocity is 6㎧ and the J-turn is 3㎧.

• 약학회지
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• 제49권5호
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• pp.428-436
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• 2005

DNA topoisomerase I(TOP1) helps the control of DNA replication, transcription and recombination by assist­ing breaking and rejoining of DNA double strand. Camptothecin (CPT) and its derivative, topotecan, are known to inhibit TOP1 by intercalating into TOP1-DNA complex. Recently various non-CPT intercalators are synthesized for a new class of TOP1 inhibitors. In this study, six compounds isolated from Poria cocos were investigated for their interaction with TOP1­DNA complex using the flexible docking program, FlexiDock. The binding modes were analyzed and compared with the TOP1 inhibition activities. The compounds that showed potent activity were intercalated between the + 1/-1 base pairs of DNA, located near the active site phosphotyrosine723 and formed hydrogen bonds with active site residues. On the other hand, compounds with no activity were not docked at all. The binding modes were well correlated with the inhibition activity, suggesting the possibility that potent inhibitors can be designed from the information presented by the docking study.

• 한국산업융합학회 논문집
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• 제18권2호
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• pp.90-98
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• 2015

This research propose with image-based visual a new approach to design a feedback control of mobile robot. because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using camera, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is inmage-based visual feedback. Recently, image based visual feedback is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. in case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual feedback method that can reduce the curved trajectory of mobile robot in th cartesian space.

• 제어로봇시스템학회논문지
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• 제13권7호
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• pp.664-670
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• 2007

This study deals with image-based visual servoing for automatic recharging of mobile robot. Because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using cameras, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is image-based visual servoing. Recently, image based visual servoing is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. In case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual servoing method that can reduce the curved trajectory of mobile robot in the cartesian space.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.275-276
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• 2009

• Asian Pacific Journal of Cancer Prevention
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• 제16권13호
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• pp.5311-5317
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• 2015

Cigarette smoke derivatives like NNK (4-(Methylnitrosamino)-1-(3-pyridyl)-1-butanone) and NNAL (4-(methylnitrosamino)-1-(3-pyridyl)-1-butan-1-ol) are well-known carcinogens. We analyzed the interaction of enzymes involved in the NER (nucleotide excision repair) pathway with ligands (NNK and NNAL). Binding was characterized for the enzymes sharing equivalent or better interaction as compared to +Ve control. The highest obtained docking energy between NNK and enzymes RAD23A, CCNH, CDK7, and CETN2 were -7.13 kcal/mol, -7.27 kcal/mol, -8.05 kcal/mol and -7.58 kcal/mol respectively. Similarly the highest obtained docking energy between NNAL and enzymes RAD23A, CCNH, CDK7, and CETN2 were -7.46 kcal/mol, -7.94 kcal/mol, -7.83 kcal/mol and -7.67 kcal/mol respectively. In order to find out the effect of NNK and NNAL on enzymes involved in the NER pathway applying protein-protein interaction and protein-complex (i.e. enzymes docked with NNK/NNAL) interaction analysis. It was found that carcinogens are well capable to reduce the normal functioning of genes like RAD23A (HR23A), CCNH, CDK7 and CETN2. In silico analysis indicated loss of functions of these genes and their corresponding enzymes, which possibly might be a cause for alteration of DNA repair pathways leading to damage buildup and finally contributing to cancer formation.

• Asian Pacific Journal of Cancer Prevention
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• 제17권4호
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• pp.2311-2314
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• 2016

Pistagremic acid (PA) is a bioactive triterpenoid isolated from various parts of Pistacia integerrima plants. The aim of this research was to investigate PA for reversion of multidrug resistant (MDR) mediated by P-glycoprotein using rhodamine-123 exclusion study on a multidrug resistant human ABCB1 (ATP-binding cassette, sub-family B, member 1) gene-transfected mouse T-lymphoma cell line in vitro. Results were similar to those with verapamil as a positive control. Docking studies of PA and standard Rhodamine123 were carried out against a P-gp crystal structure which showed satisfactory results. Actually, PA cannot bind exactly where co-crystallized ligand of P-gp is already present. However, the docking study predicted that if a compound gives a lesser score then it may have some potency. The docking scores of PA and Rhodamine were similar. Therefore, we can conclude that there are certain important chemical features of PA which are responsible for the inhibiting potency of P-gp.

• 한국통신학회논문지
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• 제38C권4호
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• pp.359-364
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• 2013

본 논문에서는 선박 접안 유도 시스템 등 정밀한 거리 추정을 요하는 안전항해운항, 선박트래픽관리 등의 분야에 알맞은 상관값 누적 기반 직접 수열 초광대역 (direct sequence ultra wideband: DS-UWB) 레이더 시스템을 제안한다. 제안하는 DS-UWB 레이더 시스템은 상관기 출력들을 누적하여 잡음을 평균냄으로써 잡음 성분의 영향을 줄이며, 기존의 DS-UWB 레이더 시스템들에 비해 더 빠른 시간에 신뢰성 있는 거리 추정을 수행한다. 모의실험 결과를 통해 제안하는 DS-UWB 레이더 시스템이 기존의 DS-UWB 레이더 시스템들에 비해 평균 상관 처리 시간이 더 짧을 뿐 아니라, 더 좋은 거리 추정 성능을 보임을 확인한다.