• 대한기계학회논문집A
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• 제29권2호
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• pp.188-200
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• 2005

Control of a multi-fingered robotic hand is usually based on the theoretical analysis for kinematics and dynamics of fingers and of object. However, the implementation of such analyses to robotic hands is difficult because of errors and uncertainties in the real situations. This article presents the control method for estimating the kinematic constraint of an unknown object by active sensing. The experimental system has a two-fingered robotic hand suspended vertically for manipulation in the vertical plane. The fingers with three degrees-of-freedom are driven by wires directly connected to voice-coil motors without reduction gears. The fingers are equipped with three-axis force sensors and with dynamic tactile sensors that detect slippage between the fingertip surfaces and the object. In order to make an accurate estimation for the kinematic constraint of the unknown object, i.e. the constraint direction and the constraint center, four kinds of the active sensing and feedback control algorithm were developed: two position-based algorithms and two force-based algorithms. Furthermore, the compound and effective algorithm was also developed by combining two algorithms. Force sensors are mainly used to adapt errors and uncertainties encountered during the constraint estimation. Several experimental results involving the motion of lifting a finger off an unknown object are presented.

• BMB Reports
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• 제32권6호
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• pp.547-553
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• 1999

Aminoacyl-tRNA synthetases are essential enzymes catalyzing the attachment of specific amino acids to cognate tRNAs. In the present work, the substrate analogue L-methionine hydroxamate was used to identify functional residues located in the active site of the E. coli methionyl-tRNA synthetase (MetRS). This compound inhibited bacteria, yeast, and human MetRS activities to a similar degree, suggesting a conserved active site structure and mechanism between MetRSs of different phylogenetic domains. Mutants of the E. coli MetRS resistant to methionine hydroxamate were also isolated. These mutants contained a substitution either at T10, Y15, or Y94. These residues are highly conserved among the different MetRSs and the mutants showed decreased aminoacylation activity, suggesting their functional and structural significances. The putative roles of these residues are discussed on a structural basis.

• Food Science and Biotechnology
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• 제14권2호
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• pp.238-241
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• 2005

Aroma-active compounds were evaluated from salt-fermented anchovy sauce by solid phase microextraction-gas chromatography-olfactometry (SPME-GC-O) based on sample dilution analysis (SDA). SPME extract from carboxen/polydimethylsiloxane (CAR/PDMS) fiber was the most similar to the original odor of salt-fermented anchovy sauce used for this experiment, followed by divinylbenzene/CAR/PDMS (DVB/CAR/PDMS) fiber. Because salt-fermented anchovy sauce contains 23% NaCl, NaCl concentration of diluent was considered when salt-fermented anchovy sauce was serially diluted. Linear relationship between GC response and sample concentration was observed when diluted with 23% NaCl solution, whereas not observed when diluted with deodorized distilled water. Eleven and 16 aroma-active compounds were detected by SPME-GC-O based on SDA using CAR/PDMS and DVB/CAR/PDMS fibers, respectively. Butanoic acid and 3-methyl butanoic acid showed the highest ${\log}_2SD$ factors for CAR/PDMS and DVB/CAR/PDMS fibers. Dimethyl trisulfide, methional, trimethyl amine, 1-penten-3-ol, and acetic acid were also detected as potent aroma-active compounds.

• Biomolecules & Therapeutics
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• 제2권1호
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• pp.34-38
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• 1994

In order to investigate the structure-activity relationships of the stereoisomers of angiotensin converting enzyme inhibitors, captopril and its derivatives were selected as model compounds. In vitro enzymatic activities of them depend on the symmetry at the asymmetric carbons. Especially, the alanyl carbon should have the S configuration to be biologically active. But the demethylated captopril having the achiral carbon also shows the activity although it is less active than captopril. Seven stereoisomers of captopril and its derivatives were chosen and their acidic and ionic forms were used for molecular dynamics simulations. Four computer simulations were practiced for each model compound in order to obtain the good condition for simulation to explain the experimental structure-activity relationships. From the computer simulation results, relativistic movements of three well-known pharmacophoric sites, carboxylate carbon, carbonyl oxygen, and sulfur atoms, were analyzed. Good results were obtained from the aqueous solution molecular dynamics simulation with ionic forms of model compounds. Active model compounds have the pharmacophoric areas of 6.08 to 6.38 $\AA$$^2$and the similarity in the geometrical data. But inactive ones have the largely deviated values of 4.51 to 4.87 $\AA$$^2$from those of active ones.

• 한국소음진동공학회논문집
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• 제15권9호
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• pp.1077-1083
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• 2005

Electro-Active Paper (EAPap) is one of attractive electro-active polymer (EAP) materials for artificial muscles due to its many advantages such as light weight, biologically degradable, low cost, large displacement output, low actuation voltage and low power consumption. However, drawbacks of EAPap actuators include low force output and humidity dependence. To enhance the performance of EAPap, conductive polymer (PPy) and SWNT/conductive polymer (PANI) are coated on EAPap PPy as conductive polymer is coated on cellulose EAPap by means of electrochemical deposition. Two different dopants are used in PPy through conducting polymer processing. SWNTS are mixed with PANI in emeraldine base along with different dopants. The compound materials are coated on cellulose EAPap using spin coating system. The performance of PPy/EAPap and SWNT/PANI/EAPap are evaluated in terms of bending displacement, blocked force, and the effects of dopants, humidity, coaling time, voltage and frequency are investigated. Comparing with EAPap actuators, SWNT/PANI/EAPap actuators show $200\%$ improvement of bending displacement and $300\%$ increment of blocked force.

• Environmental Analysis Health and Toxicology
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• 제1권1호
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• pp.77-80
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• 1986

$N^{G}$ -Mono［$^{14}$ C-Methyl］-L-arginine을 방사선화학적 방법으로 mono ［$^{14}$ C］-Methylamine 으로부터 합성한후 양이온 교환수지에 흡착시킨 다음 암모니아수로 용출시켜 정제하였으며 flavianic acid를 사용하여 결정상태로 얻었다. 한편 flavianate와 음이온 교환수지 를 함께 실온 이하의 온도에서 교반혼합함으로서 유리 상태의 amino acid를 쉽게 만들수 있으며 박층크로마토그라피, 박층전기영동 및 섬광분광분석법으로 순도를 조사하였다.

• Natural Product Sciences
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• 제17권1호
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• pp.10-13
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• 2011

As parts of our continuing search for biologically active compounds from medicinal plants, we investigated the constituents of the seeds of Amomum xanthioides and isolated a sesquiterpenoid, a nerolidol derivative from its MeOH extract. The chemical structure was determined by spectroscopic methods, including 1D and 2D NMR to be ($2S^*$,$2'R^*$,$5'S^*$)-2-(5'-ethenyltetrahydro-5'-methylfuran-2'-yl)-6-methylhept-5en-2-ol (1). Compound 1 was isolated for the first time from nature source. Compound 1 exhibited a good cytotoxicity against SK-OV-3 and SK-MEL-2 cells ($IC_{50}$: 16.7 and $8.6\;{\mu}M$, respectively) using a SRB bioassay. In this study, we also determined the absolute configuration of 2 reported in previous paper.

• 한국미생물·생명공학회지
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• 제25권6호
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• pp.586-591
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• 1997

In the course of screening for the tipA promoter-inducing substances, we isolated an active compound, sulfomycin Ia, from the mycelium of a microorganism designated 50634. The producing organism was identified as Streptomyces sp. on the basis of taxonomic studies. Sulfomycin Ia was purified from mycelial extract by silica gel column chromatography, LH-20 column chromatography, silica gel TLC, and preparative HPLC. The molecular weight of sulfomycin Ia was determined to be m/z 1129 (M+Na)$^{+}$ by FAB mass measurement and $^{1}$H NMR spectroscopic analysis. The structure was assigned as a derivative of sulfomycin I with thiazole, methyloxazole, oxazole, and pyridine rings by $^{1}$H NMR spectral data.

• Journal of Microbiology and Biotechnology
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• 제19권3호
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• pp.286-290
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• 2009

In the course of screening for substances inhibiting apoptosis of U937 human leukemia cells induced by etoposide ($10\;{\mu}g/ml$), Forsythiae fructus, which showed a high level of inhibition, was selected. The regulating compounds were purified from the ethyl acetate extract by silica gel column chromatography and HPLC. The active substance was purified and identified as rengyolone by spectroscopic methods. This compound showed inhibitory activity on caspase-3 induction, a major protease of the apoptosis cascade, with an $IC_{50}$ value of $38.96\;{\mu}M$ after 8 h of etoposide treatment in U937 cells. The expression level of caspase-3 and poly(ADP-ribose) polymerase (PARP) were dose-dependently inhibited by the compound, suggesting that rengyolone inhibits etoposide-induced apoptosis via downregulation of caspases.

• 대한화학회지
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• 제3권1호
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• pp.31-35
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• 1954

Upon the basis of the results obtained hitherto in the studies of the stereochemical reaction mechanisms, the author has concluded that the stereospecificity of enzymes has essentially a relative character. And the author has pointed out the possibility of the occurrence of a new enzyme "inverskinase", which catalyses the reversible inversions such as D-compound ${\leftrighyarrow}$ L-compound in living organisms, and considered the stereospecificity of enzymes and the optical purity of components of living organism from this new standpoint.