• Journal of Institute of Control, Robotics and Systems
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• v.10 no.5
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• pp.395-401
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• 2004

We present an AILC(Adaptive Iterative Learning Control) scheme and a sufficient condition for system parameter identification for uncertain robotic systems that perform the same tasks repetitively. It is guaranteed that the joint velocity and position asymptotically converge to the reference joint velocity and position, respectively. In addition, it is proved that a sufficient condition for parameter identification is the PE(Persistent Excitation) condition on the regressor matrix evaluated at the reference trajectory during the operation period. Since the regressor matrix on the reference trajectory can be easily computed prior to the real robot operation, the proposed algorithm provides a useful method to verify whether the parameter error converges to zero or not.

• Ocean and Polar Research
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• v.29 no.2
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• pp.165-185
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• 2007

Exploitation of transboundary oil and gas on continental shelves may cause conflicts between or among States concerned due to the physical character of these resources. As oil and gas are fluid, exploitation of such a transboundary oil field by one side may affect other parties in other jurisdictions. However, there is no universal international legal regime on the issue. This article tries to find the international legal regime governing such resources through analysing UN Assembly's resolutions, UNCLOS, international judicial opinions, bilateral agreements and ILC activities relating to transboundary natural resources. As a result of this study, it seems that each coastal State has an inherent sovereign right on its part of the transboundary oil and gas deposit, but this right is not unlimited. Each state involved with the deposit has a duty to cooperate with other states-through information exchange, consultation, and negotiation. Furthermore, the state has an obligation to refrain from unilateral action when there is a possibility of causing irrevocable damage to the interests of the other states.

• Journal of Astronomy and Space Sciences
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• v.40 no.4
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• pp.259-266
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• 2023

The Standard Model (SM) does not provide an information for 26% of dark matter of the universe. In the dark sector, dark matter is supposed to be linked with the hypothetical particles called dark photons that have similar role to photons in electromagnetic interaction in the SM. Besides astronomical observation, there are studies to find dark matter candidates using accelerators. In this paper, we searched for dark photons using future electron-positron colliders, including Circular Electron Positron Collider (CEPC)/CEPC, Future Circular Collider (FCC-ee)/Innovative Detector for Electron-positron Accelerator (IDEA), and International Linear Collider (ILC)/International Large Detector (ILD). Using the parameterized response of the detector simulation of Delphes, we studied the sensitivity of a double dark photon mode at each accelerator/detector. The signal mode is double dark photon decay channel, e⁺e^- → A'A', where A' (dark photon with spin 1) decaying into a muon pair. We used MadGraph5 to generate Monte Carlo (MC) events by means of a Simplified Model. We found the dark photon mass at which the cross-sections were the highest for each accelerator to obtain the maximum number of events. In this paper we show the expected number of dark photon signal events and the detector efficiency of each accelerator. The results of this study can facilitate in the dark photon search by future electron-positron accelerators.

• IMMUNE NETWORK
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• v.24 no.1
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• pp.6.1-6.17
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• 2024

The intricate role of innate type-2 cytokines in immune responses is increasingly acknowledged for its dual nature, encompassing both protective and pathogenic dimensions. Ranging from defense against parasitic infections to contributing to inflammatory diseases like asthma, fibrosis, and obesity, these cytokines intricately engage with various innate immune cells. This review meticulously explores the cellular origins of innate type-2 cytokines and their intricate interactions, shedding light on factors that amplify the innate type-2 response, including TSLP, IL-25, and IL-33. Recent advancements in therapeutic strategies, specifically the utilization of biologics targeting pivotal cytokines (IL-4, IL-5, and IL-13), are discussed, offering insights into both challenges and opportunities. Acknowledging the pivotal role of innate type-2 cytokines in orchestrating immune responses positions them as promising therapeutic targets. The evolving landscape of research and development in this field not only propels immunological knowledge forward but also holds the promise of more effective treatments in the future.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.2
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• pp.175-179
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• 2003

Convergence condition determines performance of iterative learning control (ILC), for example, convergence speed, remaining error, etc. Hence, the performance can be elevated and a feasible set of learning controllers grows if a less conservative condition is obtained. In the frequency domain, the $H_{\infty}$ norm of the transfer function between consecutive errors has been currently used to test convergence of a learning system. However, even if the convergence condition based on the $H_{\infty}$ norm has a clear property about monotonic convergence, it has a few drawbacks, especially in MIMO plants. In this paper, the relation between the condition and the monotonicity of convergence is clarified and a modified convergence condition is found out using a frequency domain Lyapunov equation, which supersedes the conventional one in the frequency domain.

• Asian Pacific Journal of Cancer Prevention
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• v.13 no.8
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• pp.4013-4016
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• 2012

Purpose: Breast cancer is the commonest malignancy of females throughout the world with one million new cases each year. In Pakistan, the burden of breast cancer disease is high with late stage presentation being a common feature, more than half being stage III or stage IV. The objective of this study was to study various aspects, patterns and risk factors in breast cancer patients of Balochistan. Method: Present study was performed on 134 patients of breast cancer who were registered in CENAR. The patients were interviewed by providing a questionnaire. Informed consent was taken from all the patients who took part in this study after explanation of the study aims. Body mass index (BMI) was calculated andbiopsy reports were obtained from patients files. All the cases were classified with respect to age, gender, ethnic group (Baloch, Pashtoon, Punjabi, Afghani, Hazara) BMI, cancer type, cancer grade, hormonal status, side of the cancer, fertility and marital status. Results: Out of 134 patients, the most common ethnic group was Pashtoon with a total of 42 and the common age group was 41-50 years with a total of 51. Invasive ductal carcinoma (IDC) was the most common type, accounting for in 128 patients (95.5%) followed by invasive lobular carcinoma (ILC). Conclusion: Pashtoon was the most common ethnic group, IDC was common type and most of the patients had an ER/PR positive hormonal status.

• Journal of Navigation and Port Research
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• v.31 no.1 s.117
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• pp.115-119
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• 2007

ILO has contributed for seafarers to promote conditions of employment and decent work through maritime labour standards. Between 1920 and 1996, a total of 39 Conventions and 29 Recommendations concerning seafarers have been adopted, which demonstrates the important part of ILO activities devoted to seafarers' questions. But many instruments were outdated, deficient and not reflective of modern practice, many contained technical detail which discouraged ratification. The Governing Body of ILO, at its 262nd Session(March-April 1995), decided to set up a Working Party regarding the revision of maritime labour standards. This Working Party initiated its examination of maritime instruments to 273rd Session(November 1998) of the Governing Body. The review made by the Working Party has concluded that existing maritime Conventions were considered either up to date or were identified for promotion, most of which were approved by the Governing Body. Therefore, ILO started to create a single, coherent instrument embodying as far as possible all up-to-date standards of existing maritime labour conventions. The Maritime Labour Convention 2006 was adopted in February 2006. This paper aims to analyze the significance of this Convention and the influence regarding to maritime labour affairs in the field of shipping industry.

• Investigative Magnetic Resonance Imaging
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• v.18 no.1
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• pp.43-51
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• 2014

Purpose : To review MR imaging finding of papillary lesion identified as additional suspicious lesion on MR image in women with biopsy-proven breast cancer and to evaluate upgrading rates after subsequent surgical histopathological diagnosis. Materials and Methods: Among 1729 preoperative MR image of women with biopsy proven breast cancer, US-guided CNB-proven 22 papillary lesions from 21 patients, which showed additional suspicious contrast enhancement other than index cancer on MR image, were subjected to the study. Some of these lesions underwent surgery, thus the comparisons between the histopathologic results were able to be compared to the results of US-guided CNB. Also retrospective analysis was done for MR findings of these lesions by BI-RADS MRI lexicon. Results: On MR imaging, 8 mass lesions, 7 non-mass lesions, 7 focus lesions were detected. All of the focus lesion (100%, 7/7) was diagnosed as benign lesion and showed plateau and washout pattern in dynamic MR image. After excisional biopsy, one of 9 benign papilloma (11.1%), 3 of 3 papillary neoplasm with atypia component (100%), 3 of 5 papillary neoplasm (60%) were upgraded to malignancy such as ductal carcinoma in situ (DCIS), invasive ductal carcinoma (IDC), invasive lobular carcinoma (ILC). Conclusion: The MR images of papillary lesions diagnosed by US-guided CNB exhibit no significant differences between malignancy and benign lesion. Also 41.2% of the lesion (7/17) was upgraded after subsequent surgery. Thus all of the papillary lesions require excisional biopsy for definite diagnosis and the MR imaging, it's just not enough by itself.

• Journal of Korean Society of Environmental Engineers
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• v.28 no.10
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• pp.1009-1015
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• 2006

The elcetrodewatering filter press(EDFP) which had anode and cathod plates to be set between filter plates was built for reducing the waterworks sludge and improving performance of dewatering equipment. Several tests to compare the dewaterability with conventional mechanical filter press dewatering(MDEP) and EDFP was conducted through this equipment. As test results, filtration amount discharged from EDFP measured 43.2 kg which increased against MDFP, and cake weight measured 4 kg which was two times against MDFP. The water content of dewatered cake from EDFP was 55wt% and dewatering velocity was 2.3 $kg/m^2{\cdot}cycle$. This water content decrease 20% and dewatering velocity increased 30% with compare to the MDFP. That is to say, EDFP constructed from electrodewatering mechanism increase filtrate discharging amount, which make dewatering velocity increase and produce the low water content dewatered cake against MDFP. Energy consumption of EDFP is analysed to 400 kwh/DS ton. The results to analysis the economical aspect considering the power consumption and the handling cost decline as sludge volume reduction due to producing the low water content cake showed that expenses to handle sludge of 1 ton by dry solid base cut down on 20,000 won. If considering several test aspects, it was analysed that EDFP was excellent in the side of performance as well as economical suitability.

• Journal of Korean Society of Environmental Engineers
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• v.28 no.10
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• pp.1016-1023
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• 2006

The water content of dewatered cake produced from belt press dewatering equipment was about 75 wt% which was some high to handle it, so the equipment contained a limit at the economical and environmental aspect. The thermal dewatering equipment built as an alternative to overcome several problems was set up at the sludge treatment field and estimated some feasibility as comparison with the dewatering performance of belt press. First, dewatering properties of waterworks sludge was analyzed by monthly. The sludge of a water shortage season contained a high organic content which led to be difficult to dewater the cake, the other side the sludge of rainwater season was ease to dewater because of low organic content. According to the results to analysis the water content of dewatered cake produced from two equipments on the base of the seasonal dewatering properties, the water content of dewatered cake produced from thermal dewatering for sludge of water shortage season was $41.6{\sim}48.3$ wt% and $71{\sim}84$ wt% from belt press. In the case of rainwater season, the water content of dewatered cake produced from thermal dewatering was $34{\sim}37.7$ wt% and $57{\sim}70$ wt% from belt press. It was understood that thereduction of water content of cake by thermal dewatering was larger than belt press. The economical aspect for two equipments was evaluated on considering the reduction of cake treatment amount as the decrease of water content of cake. When putting the cost index of thermal dewatering into 100, belt press was 121. This meant that thermal dewater was more economical than belt press by about 20% in the side of construction and operation. In conclusion, thermal dewatering equipment was estimated by producing the low water content dewatered cake as well as being operated with low coat.