• 농업과학연구
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• 제48권3호
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• pp.643-654
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• 2021

Phytophthora capsici is one of the most destructive hemibiotrophic pathogens; it can cause blight in chili peppers, and secrete various effector proteins to infect the plants. These effectors contain an N-terminal conserved RXLR motif. Here, we generated full-length RXLR effector coding genes using primer pairs, and cloned them into the pGR106 vector for in planta expression. Two of these genes, PcREK6 and PcREK41 (P. capsici RXLR effector from the Korea isolate), were further characterized. PcREK6 and PcREK41 genes showed that they encode effector proteins with a general modular structure, including the N-terminal conserved RXLR-DEER motif and signal peptide sequences. PcREK6 and PcREK41 expressions were strongly induced when the chili pepper plants (Capsicum annuum) were challenged with P. capsici. These results provide molecular evidence to elucidate the virulence or avirulence factors in chili pepper. Our results also showed that two effectors induce hypersensitive response (HR) cell death when expressed in chili leaves. Cell death suppression assays in Nicotiana benthamiana revealed that most effectors could not suppress programmed cell death (PCD) triggered by Bcl-associated X (BAX) or Phytophthora infestans elicitin (INF1). However, PcREK6 fully suppressed PCD triggered by BAX, while PcREK41 partially suppressed PCD triggered by INF1 elicitin. These results suggest that PcREK effectors from P. capsici interact with putative resistance (R) proteins in planta, and different effectors may target different pathways in a plant cell to suppress pattern-triggered immunity (PTI) or effector-triggered immunity (ETI).

• BMB Reports
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• 제47권9호
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• pp.488-493
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• 2014

Adaptor protein FADD forms the death inducing signaling complex (DISC) by recruiting the initiating caspases-8 and -10 through homotypic death effector domain (DED) interactions. Cellular FLICE-inhibitory protein (c-FLIP) is an inhibitor of death ligand-induced apoptosis downstream of death receptors, and FADD competes with procaspase-8/10 for recruitment for DISC. However, the mechanism of action of FADD and c-FLIP proteins remain poorly understood at the molecular level. In this study, we provide evidence indicating that the death effector domain (DED) of FADD interacts directly with the death effector domain of human c-FLIP. In addition, we use homology modeling to develop a molecular docking model of FADD and c-FLIP proteins. We also find that four structure-based mutants (E80A, L84A, K169A and Y171A) of c-FLIP DEDs disturb the interaction with FADD DED, and that these mutations lower the stability of the c-FLIP DED.

• 로봇학회논문지
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• 제5권4호
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• pp.359-366
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• 2010

This study proposes the design method for the robot rotation arm which the end effector that is connected in end of the arm keeps parallel motion even though the robot arm rotates. So far, most robot arm rotates together the end effector when the arm rotates. For this, this study proposes the mechanism that the arm is linked to each 4 parallel link so that rotation is possible by 4 pins, and the rotation arm connects 2 joints of diagonal line direction to a link in each 4 joint for rotation, and designs so that can change length of the link. For verification of design, this study targeted that develop the rotation arm for medical examination that use in ophthalmology. It is important that a medical robot offers comport to patient and design compactly so that medical examination and treatment space may can be defined enough. It is designed so that all drive elements may be positioned on interior of the arm and optimization of design for main parts was carried out in this study for this. The robot arm which is developed in this study manufactured to use by medical phoropter arm, and got good result by an experiment. The robot rotation arm which is proposed in this study is judged to contribute very effectively in case use of a medical robot arm for medical examination and treatment, also the robot arm which the end effector that is connected in the end of the arm needs to keep parallel motion. And, the robot arm which is developed in this study made an application as license.

• 생물환경조절학회지
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• 제12권2호
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• pp.63-67
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• 2003

본 실험은 오이수확기의 메니퓰레이터에 장착하는 엔드이펙터를 생각한 것이다. 모터는 DC모터로 기어를 이용하여 작동되며, 동력전달에 있어 균형적인 배분을 이루었고, 따라서 부드러운 작동이 가능하였다. 또한 축을 이용한 베벨기어의 동력 전달로 모터에서 나온 회전력을 기어로 확실히 전달하였고, 결과적으로 오이 과병 절단 rpm에 있어서는 정확한 측정이 가능했다. 주요 연구결과를 요약하면 다음과 같다. 1. 모터는 칼날을 회전시키는데 있어 제어가 쉽고, 정확한 동력전달로서의 베벨기어는 비교적 정확한 결과를 제시했다. 2.실험에서의 반복적인 오이 절단작업에 제시된 결과는, 모든 작물에 적용될 수는 없지만, 오이 과병의 절단은 적정 rpm라 각도를 구하여 기계적 최적상황을 찾았다. 수평에서 위로 30$^{\circ}$각도와 198 rpm에서 효율 적인 절단작업이 이루어 졌다. 3. 엔드이펙터의 구조는 간단하면서도 고장 없이 제작되어야 하고 또한 경량이며 수분에 부식되지 않는 재료를 사용하여 설계하였다

• Molecules and Cells
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• 제25권3호
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• pp.323-331
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• 2008

Plants are continually exposed to a variety of potentially pathogenic microbes, and the interactions between plants and pathogenic invaders determine the outcome, disease or disease resistance. To defend themselves, plants have developed a sophisticated immune system. Unlike animals, however, they do not have specialized immune cells and, thus all plant cells appear to have the innate ability to recognize pathogens and turn on an appropriate defense response. Using genetic, genomic and biochemical methods, tremendous advances have been made in understanding how plants recognize pathogens and mount effective defenses. The primary immune response is induced by microbe-associated molecular patterns (MAMPs). MAMP receptors recognize the presence of probable pathogens and evoke defense. In the co-evolution of plant-microbe interactions, pathogens gained the ability to make and deliver effector proteins to suppress MAMP-induced defense responses. In response to effector proteins, plants acquired R-proteins to directly or indirectly monitor the presence of effector proteins and activate an effective defense response. In this review we will describe and discuss the plant immune responses induced by two types of elicitors, PAMPs and effector proteins.

• 한국산학기술학회논문지
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• 제14권1호
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• pp.33-38
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• 2013

여러 종류의 증기발생기 검사정비 로봇의 엔드이펙터 모션 구동에 전부 사용할 수 있도록 ARM Cotex M3-107 MCU 기반의 제어기와 엔드이펙터 모션 프로그램 생성 응용소프트웨어로 구성된 범용 엔드이펙터 모션구동 제어시스템을 개발하였다. 범용 제어시스템을 적용하여 엔드이펙터의 직선이송 및 회전이송의 위치 결정의 오차는 무시할만한 수준이며, 재현성은 0.04% 오차를 보여줌으로써 실제로 사용 가능한 범용 엔드이펙터 모션구동 제어시스템을 개발하였다.

• 로봇학회논문지
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• 제18권4호
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• pp.376-384
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• 2023

In this paper, we introduce an upper extremity rehabilitation robot, NREH (NRC End-effector based Rehabilitation arm at Home). Through NREH, stroke survivors could continuously exercise their upper extremities at home. NREH allows a user to hold the handle of the end-effector of the robot arm. NREH is a end-effector-based robot that moves the arm on a two-dimensional plane, but the tilt angle can be adjusted to mimic a movement similar to that in a three-dimensional space. Depending on the tilting angle, it is possible to perform customized exercises that can adjust the difficulty for each user. The user can sit down facing the robot and perform exercises such as arm reaching. When the user sits 90 degrees sideways, the user can also exercise their arms on a plane parallel to the sagittal plane. NREH was designed to be as simple as possible considering its use at home. By applying error augmentation, the exercise effect can be increased, and assistance force or resistance force can be applied as needed. Using an encoder on two actuators and a force/torque sensor on the end-effector, NREH can continuously collect and analyze the user's movement data.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.174-178
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• 1991

In this paper, we present a unified approach for the control of manipulator motions and active forces based on the operational space formulation. The end-effector dynamic model is used in the development of a control system in which the generalized operational space end-effector forces are selected as the command vector. A "generalized position and force specification matrix" is used for the specification of space of motions and forces in which manipulator is to be controlled. Flexibility in the force sensor, end-effector, and environment are discussed.discussed.

• 로봇학회논문지
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• 제15권2호
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• pp.91-99
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• 2020

Fruit and vegetable harvesting robots have been widely studied and developed in recent years to reduce the cost of harvesting tasks such as labor and time. However, harvesting robots have many challenges due to the difficulty and uncertainty of task. In this paper, we characterize the crop environment related to the harvesting robot and analyzes state-of-the-art of the harvesting robot especially, in the viewpoint of robotic end-effector. The end-effector, an one of most important element of the harvesting robot, was classified into gripper and harvesting module, which were reviewed in more detail. Performance measures for the evaluation of harvesting robot such as test, detachment success, harvest success, and cycle time were also introduced. Furthermore, we discuss the current limitations of the harvesting robot and challenges and directions for future research.

• 반도체디스플레이기술학회지
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• 제2권3호
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• pp.31-36
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• 2003

On this study, an E.E(End-Effector) for the 300 mm wafer transfer robot system is newly suggested. It is a mechanical type with $180^{\circ}$ rotating ranges and is composed of 3-point arms, two plate springs and single-axis DC motor controlled by microchip. To design, relationship between the gripping force and the wafer deformation is analyzed by FEM. By analytic results, the gripping force for 300 mm wafer is confirmed as 255~274 gf. From experimental results on gripping force, repeatable position accuracy and gripping cycle times in a wafer cleaning system, we confirmed that the suggested E.E was well designed to satisfiy on the required performance for 300 mm wafer transfer robot system.