• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1615-1620
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise. Intrinsic inaccuracies of the device can significantly deteriorate the calibration results. A measurement procedure is proposed and formulations of cost functions are discussed to prevent propagation of the inaccuracies to the calibration results.

• IMMUNE NETWORK
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• v.4 no.4
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• pp.205-215
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• 2004

In the early host defense system, effector function of natural killer (NK) cells results in natural killing against target cells such as microbe-infected, malignant, and certain allogenic cells without prior stimulation. NK cell cytotoxicity is selectively regulated by homeostatic prevalence between a repertoire of both activating and inhibitory receptors, and the discrimination of untransformed cells is achieved by recognition of major histocompatibility complex (MHC) class I alleles through inhibitory signals. Although it is well known that the bipotential T/NK progenitors are derived from the common precusor, functional mechanisms in terms of the development of NK cells remain to be further investigated. NK cells are mainly involved in innate immunity, but recent studies have been reported that they also play a critical role in adaptive immune responses through interaction with dendritic cells (DC). This interaction will provide effector functions and development of NK cells, and elucidation of its precise mechanism may lead to therapeutic strategies for effective treatment of several immune diseases.

• Animal cells and systems
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• v.13 no.3
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• pp.339-344
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• 2009

This study aims to find out the effect of heavy metals, as is the case of EDCs (endocrine disrupting chemicals), on reproductive endocrine disruption of aquatic animals. In the present experiment zinc, which is a heavy metal well known for its androgenous activity, was used. The experimental period was 24 weeks, starting in November during the inactive stage of the clam's reproductive cycle. The experimental groups were composed of one control condition and three zinc exposure conditions (0.64, 1.07, and 1.79 mg/L). The sex ratio (F:M) was 1:1.06 in the control group and 1:1.70 in all the exposed group, illustrating the tendency for higher proportion of males with increases in zinc concentration. Gonad maturity was higher in 1.07, and 1.79 mg/L groups compared to the control group, with higher maturity observed in males than females. Intersex individuals made up 24.7% of the exposed group, while females exhibited a higher ratio than the males with increasing zinc concentration. The results of this study indicate that zinc functions as an androgenic effector on the reproduction of Gomphina veneriformis.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.2
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• pp.55-62
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• 1999

In order to perform a elaborate task like as assembly, manufacturing and so forth of components, tracking control on the trajectory of power coming in contact with a target as well as tracking control on the movement course trajectory of end-effector is indispensable. In this paper, to bring under robust ard accurate control of auto-equipnent systems which disturbance, parameter alteration of system, uncertainty ard so forth exist, neural network controller called dynamic neural processor(DNP) is designed. Also, the learning architecture to compute inverse kinematic coordinates transfonnations in the manirclator of auto-equipnent systems is developed ard the example that DNP can be used is explained The architocture and learning algorithm of the proposed dynamic neural network, the DNP, are described and computer simllations are provided to demonstrate the effectiveness of the proposed learning method using the DNP.he DNP.

• Biotechnology and Bioprocess Engineering:BBE
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• v.10 no.5
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• pp.444-450
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• 2005

Epidermal growth factor (EGF) activates many intracellular effector molecules, which subsequently influence the expression levels of many genes involved in cell growth, apoptosis and signal transduction, etc. In this study, the early response of gene expressions due to EGF treatment was monitored using oligonucleotide DNA microarrays in rat schwannoma cell lines. An immunoblotting experiment showed the successful activation of EGF receptors and an effector protein, STAT5, due to EGF treatment. The microarray study showed that 35 genes were significantly induced and 2 were repressed within 60 min after the treatment. The list of induced genes included early growth response 1, suppressor of cytokine signaling 3, c-fos, interferon regulatory factor 1 and early growth response 2, etc. According to the microarray data, six of these were induced by more than 10-fold, and showed at least two different induction patterns, indicating complicated regulatory mechanisms in the EGF signal transduction.

• Microbiology and Biotechnology Letters
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• v.21 no.4
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• pp.316-321
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• 1993

MCH-201 was isolated from the mycelium of Streptomyces sp. Ba16 as a potent effector on proliferation and morphology of human breast tumor cell line, MCF-7. Morphological change could be observed at concentration between 2.5${\mu}$g/ml and 250pg/ml and showed cytotoxic effect at the concentration of more than 5${\mu}$g/ml. This compound also showed inhibitory effect on DNA synthesis of hepatoma cells, Hepa 1c1c7, and strong cytotoxic effect on proliferation of human tumor cell lines, A549 and XF498.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.418-421
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• 2009

This paper presents a human-machine interaction based on a realtime upper limb motion prediction method using surface electromyography (sEMG). The motions were predicted using an artificial neural network algorithm and sEMG signals which are acquired from five muscles, and then a manipulator was controlled to follow after the predicted motions. Upper limb motions were restricted to 2D vertical plane with the contact condition between a user and an end-effector of manipulator. In order to demonstrate the feasibility of the proposed method, experiments using developed method and using a goniometer were performed. The results showed that the proposed real-time motion prediction method can be implemented a human-machine interaction system.

• Proceedings of the Korean Society of Applied Pharmacology
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• 1996.04a
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• pp.179-179
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• 1996

The involvement of the cyclic AMP (cAMP) effector system in the release of endogenous dopamine and acetylcholine from the rat neostriatum was assessed. Forskolin, an activator of adenylate cyclase, was used to enhance CAMP production, and the consequence of this enhancement on the spontaneous and potassium stimulated release of dopamine and acetylcholine was evaluated. Neostriatal slices were prepared from Fischer 344 rats and after a preincubation period the release of each endogenous neurotransmitter was measured from the same slice preparation. To measure acetylcholine release the slice acetylcholinesterase (AChE) activity was inhibited with physostigmine, but the release from slices with intact AChE activity was also determined (choline, instead of acetylcholine was detected in the medium). Under both conditions forskolin induced a significant dose-dependent increase in the potassium-evoked release of dopamine. In the same tissue preparations the release of neither acetylcholine (AChE inhibited) nor choline (AChE intact) was affected by forskolin. The results indicate that the cAMP second messenger system is involved ill neuronal mechanisms that enhance neuronal dopamine release, but stimulation of this second messenger by forskolin does not further enhance neostriatal acetylcholine release.

• Journal of the Korea Computer Graphics Society
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• v.5 no.1
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• pp.11-17
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• 1999

This paper proposes example guided inverse kinematics (EGIK) which extends and enhances existing inverse kinematics technique. In conventional inverse kinematics, redundancy in the model produces an infinite number of solutions. The motion could be jerky depending on the choice of solutions at each frame. EGIK exploits the redundancy for imitating an example motion (a premeasured motion data) so that a unique solution is chosen. To minimize the gap between the goal and current end-effector position and imitate the original motion at the same time, nonlinear optimization technique is employed. So, the resulting motion resembles the original one in an optimal sense. Experiments prove that the method is a robust and effective technique to animate high DOF articulated models from an example motion.

• Journal of Ocean Engineering and Technology
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• v.34 no.3
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• pp.180-193
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• 2020

In this study, the end-effector tracking performance of a manipulator installed on a remotely operated vehicle (ROV) for autonomous underwater intervention is verified. The underwater manipulator is an ARM 7E MINI model produced by the ECA group, which consists of six joints and one gripper. Of the six joints of the manipulator, two are revolute joints and the other four are prismatic joints. Velocity control is used to control the manipulator with forward and inverse kinematics. When the manipulator approaches a target object, it is difficult for the ROV to maintain its position and posture, owing to various disturbances, such as the variation in both the center of mass and the reaction force resulting from the manipulator motion. Therefore, it is necessary to compensate for the influences and ensure the relative distance to the object. Simulations and experiments are performed to track the trajectory of a virtual object, and the tracking performance is verified from the results.