• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.2
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• pp.595-609
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• 2020

In this study, we propose a decentralized mathematical model for predictive control of a system of multi-autonomous unmanned aerial vehicles (UAVs), also known as drones. Being decentralized and autonomous implies that all members make their own decisions and fly depending on the dynamic information received from other unmanned aircraft in the area. We consider a variety of realistic characteristics, including time delay and communication locality. For this flocking flight, we do not possess control for central data processing or control over each UAV, as each UAV runs its collision avoidance algorithm by itself. The main contribution of this work is a mathematical model for stable group flight even in adverse weather conditions (e.g., heavy wind, rain, etc.) by adding Gaussian noise. Two of our proposed variance control algorithms are presented in this work. One is based on a simple biological imitation from statistical physical modeling, which mimics animal group behavior; the other is an algorithm for cooperatively tracking an object, which aligns the velocities of neighboring agents corresponding to each other. We demonstrate the stability of the control algorithm and its applicability in autonomous multi-drone systems using numerical simulations.

• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.3
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• pp.235-249
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• 2018

The Artificial Neural Network (ANN) model has been known as one of the most effective theories for automatic ship berthing, as it has learning ability and mimics the actions of the human brain when performing the stages of ship berthing. However, existing ANN controllers can only bring a ship into a berth in a certain port, where the inputs of the ANN are the same as those of the teaching data. This means that those ANN controllers must be retrained when the ship arrives to a new port, which is time-consuming and costly. In this research, by using the head-up coordinate system, which includes the relative bearing and distance from the ship to the berth, a novel ANN controller is proposed to automatically control the ship into the berth in different ports without retraining the ANN structure. Numerical simulations were performed to verify the effectiveness of the proposed controller. First, teaching data were created in the original port to train the neural network; then, the controller was tested for automatic berthing in other ports, where the initial conditions of the inputs in the head-up coordinate system were similar to those of the teaching data in the original port. The results showed that the proposed controller has good performance for ship berthing in ports.

• Journal of Computational Design and Engineering
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• v.3 no.3
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• pp.226-249
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• 2016

The symbiotic organisms search (SOS) algorithm is an effective metaheuristic developed in 2014, which mimics the symbiotic relationship among the living beings, such as mutualism, commensalism, and parasitism, to survive in the ecosystem. In this study, three modified versions of the SOS algorithm are proposed by introducing adaptive benefit factors in the basic SOS algorithm to improve its efficiency. The basic SOS algorithm only considers benefit factors, whereas the proposed variants of the SOS algorithm, consider effective combinations of adaptive benefit factors and benefit factors to study their competence to lay down a good balance between exploration and exploitation of the search space. The proposed algorithms are tested to suit its applications to the engineering structures subjected to dynamic excitation, which may lead to undesirable vibrations. Structure optimization problems become more challenging if the shape and size variables are taken into account along with the frequency. To check the feasibility and effectiveness of the proposed algorithms, six different planar and space trusses are subjected to experimental analysis. The results obtained using the proposed methods are compared with those obtained using other optimization methods well established in the literature. The results reveal that the adaptive SOS algorithm is more reliable and efficient than the basic SOS algorithm and other state-of-the-art algorithms.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.6
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• pp.3143-3165
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• 2017

We present a computerized framework for producing color pastel painting from the visual information extracted from a photograph. To express color pastel painting, we propose a multi-layered framework where each layer possesses pastel stroke patterns of different colors. The stroke patterns in the separate layers are merged by a rendering equation based on a participating media rendering scheme. To produce the stroke patterns in each layer, we review the physical properties of pastels and the mechanism of a convolution framework, which is the most widely used scheme to simulate stick-shaped media such as pencils. We devise the following computational models to extend the convolution framework to produce pastel strokes: a bold noise model, which mimics heavy and clustered deposition of pigment, and a thick convolution filter model, which produces various pastel stroke patterns. We also design a stochastic color coordination scheme to mimic pastel artists' color expression and to separate strokes in different layers. To demonstrate the soundness of approach, we conduct several experiments using the models and compare the results with existing works or real pastel paintings. We present the results for several pastel paintings to demonstrate the excellent performance of our framework.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.7
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• pp.571-577
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• 2016

In this paper, we propose a novel propulsion method for a Biomimetic underwater robot, which is a bio-inspired approach. The proposed propulsion method mimics the pectoral fins of a real fish. Pectoral fins of real fish are able to propel and change direction. We designed the propulsion mechanism of 1 D.O.F. that has two functions (propel and change direction). We named this propulsion system 'Flipper'. The proposed propulsion method can control forward, pitch and yaw motion using the Flipper. We made an experimental underwater robot system and verified the proposed propulsion method. We measured its maximum speed and turning motion using an experimental underwater robot system. We also analyzed the thrust force from the maximum speed, using the thrust equation. Experimental results showed that our propulsion method enabled the thrust system of the biomimetic robot.

• Journal of the Korean Society of Visualization
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• v.15 no.3
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• pp.41-46
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• 2017

The apoptosis of macrophages occurs throughout all stages of atherosclerosis. It is known to constitute atheromatous plaque, increase plaque instability, and thus contribute to the development of atherosclerosis. However, there still remains much to be elucidated on how the apoptotic macrophages affect the endothelial cells and also how they contribute to the development of atherosclerosis. Here we present a microfluidic system, which enables co-culture of apoptotic macrophages and endothelial cells in fibrin gel that mimics in vivo extracellular matrix. With the system, we can investigate the effect of macrophage apoptosis on vascular endothelial cells by quantitatively analyzing the level of reactive oxygen species of HUVECs, integrity of VE-cadherin and cell proliferation. We expect that this system could be utilized further for understanding different mechanisms of apoptotic macrophage on the development of atherosclerosis.

• Journal of IKEEE
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• v.20 no.2
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• pp.184-187
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• 2016

In this paper, we propose the sensor and the signal duplicator for the automatic building control. Developed duplicator realizes the sensor data collection apparatus and mimics the measured data and, thus, reduces the construction cost by using logical communication layer. Furthermore, the system supports the open protocols and can be associated with HMI(Human Machine Interface) used on the market. Developed duplicator is proved to be functional within the real environment. Measurement error rate, operating temperature, and operating humidity show very good results by the certified testing apparatus and organization.

• Bulletin of the Korean Chemical Society
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• v.27 no.10
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• pp.1597-1600
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• 2006

The mononuclear iron complex 1, $Fe^{III}$(Hbida)Cl($H_2O$), was synthesized using a tripodal tetradentate ligand, N-(benzimidazol-2-ylmethyl)iminodiacetic acid (H3bida), which has two carboxylate groups, one benzimida- zoyl group, and one tertiary amine where it serves as a tetradentate chelating ligand for the octahedral Fe(III) ion. The four equatorial positions of the octahedral complex are occupied by two monodentate carboxylates, a benzimidazole nitrogen, and an oxygen of a water molecule. One of the axial positions is occupied by an apical nitrogen of the Hbida and the other by a chloride anion. The mononuclear octahedral complex 1 mimics the geometry of the key intermediate structure of the catalytic reaction cycle proposed for the FeSODs, which is a distorted octahedral geometry with three histidyl imidazoles, an aspartyl carboxylate, a superoxide anion, and a water molecule. The redox potential of complex 1, $E_{1/2}$ is -0.11V vs. Ag/AgCl (0.12 V vs. NHE), which is slightly lower than those reported for the most FeSODs. The magnetic susceptibility of complex 1 at room temperature is 5.83 $\mu$B which is close to that of the spin only value, 5.92 $\mu$B of high-spin d5 Fe(III).

• The Korean Journal of Physiology and Pharmacology
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• v.5 no.4
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• pp.299-305
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• 2001

Activation of D1-like dopamine receptors by psychostimulants, such as amphetamine, upregulates the expression of immediate early gene and opioid peptide gene in the striatum. The genomic changes are regulated by phosphorylated transcription factors via complicated intracellular events. To evaluate temporal expression of the transcription factors by dopaminergic stimulation, the D1-like dopamine agonist, amphetamine or SKF82958, was systematically delivered. As intracellular markers in response to the agonist, phosphorylated cAMP response element-binding protein (pCREB), Fos-related antigens (FRA) and FosB immunoreactivity (IR) was compared at 20 and 120 min time points in the selected areas of the striatum. Semi-quantitative immunocytochemistry showed that amphetamine (5 mg/kg, i.p.) significantly increased pCREB-IR at 20 min, sustained up to 60 min and decreased at 120 min after the infusion. Like amphetamine, the full D1 agonist, SKF82958 (0.5 mg/kg, s.c.), also increased pCREB-IR at 20 min, but not at 120 min after the infusion in the dorsal striatum (caudoputaman, CPu) and shell of ventral striatum (nucleus accumbens, NAc). In contrast, FRA- and FosB-IR induced by SKF82958 was significantly increased at 120 min, but not at 20 min after the administration. These data indicate that SKF82958 mimics induction of CREB phosphorylation by amphetamine and differentially regulates temporal induction of pCREB, and FRA and FosB expression in the striatum.

• The Journal of the Korean bone and joint tumor society
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• v.6 no.2
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• pp.92-97
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• 2000

Desmoplastic fibroma is a rare primary tumor of bone that histologically and biologically mimics the extra-abdominal desmoid tumor of soft tissue. This report is dealt with two cases of desmoplastic fibroma occurring in a 22-year-old male, scapular lesion and 34-year-old male, pubic lesion. Radiologically, the tumors were lucent and expansile lesions. Histologically, they contained slender spindle cells and various amounts of collagen fibers. Radical excision was done on both cases and no recurrence was reported. Because of its rarity, we report two cases of desmoplastic fibroma.