• Journal of Life Science
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• v.30 no.1
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• pp.10-17
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• 2020

Kinesin-1 is microtubule-dependent plus-end direct molecular motor protein essential for intracellular transport. It is a member of the kinesin superfamily proteins (KIFs) which transport cargo, including organelles, vesicles, neurotransmitter receptors, cell-signaling molecules, and protein complexes through interaction between its light chain subunit and the cargo. Kinesin light chain 1 (KLC1) is a non-motor subunit that associates with the kinesin heavy chain (KHC). Although KLC1 interacts with many different adaptor proteins and scaffolding proteins, its binding proteins have not yet been fully identified. We used the yeast two-hybrid assay to identify proteins that interact with the tetratricopeptide repeat (TPR) domain of KLC1, and found an interaction between KLC1 and EH domain-binding protein 1 like 1 (EHBP1L1). EHBP1L1 bound to the region containing all six TPR repeats of KLC1 and did not interact with KIF5B (a motor protein of kinesin 1) or KIF3A (a motor protein of kinesin 2) in the yeast two-hybrid assay. The carboxyl-terminus of the coiled-coil domain of EHBP1L1 is essential for interaction with KLC1. However, another EHBP1L1 isoform, EHBP1, did not interact with KLC1 in the yeast two-hybrid assay. KLC1 interacted with GST-EHBP1L1 and its coiled-coil domain but not with GST only. When co-expressed in HEK-293T cells, EHBP1L1 co-localized with KLC1 and co-immunoprecipitated with KLC1 and KIF5B but not KIF3A. These results suggest that kinesin 1 motor protein may transport EHBP1L1-associated cargo in cells.

• Journal of Life Science
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• v.26 no.3
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• pp.282-288
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• 2016

Protein-protein interactions regulate the subcellular localization and function of receptors, enzymes, and cytoskeletal proteins. Proteins containing the postsynaptic density-95/disks large/zonula occludens-1 (PDZ) domain have potential to act as scaffolding proteins and play a pivotal role in various processes, such as synaptic plasticity, neural guidance, and development, as well as in the pathophysiology of many diseases. Multi-PDZ domain protein 1 (MUPP1), which has 13 PDZ domains, has a scaffolding function in the clustering of surface receptors, organization of signaling complexes, and coordination of cytoskeletal dynamics. However, the cellular function of MUPP1 has not been fully elucidated. In the present study, a yeast two-hybrid system was used to identify proteins that interacted with the N-terminal PDZ domain of MUPP1. The results revealed an interaction between MUPP1 and Wdpcp (formerly known as Fritz). Wdpcp was identified as a planar cell polarity (PCP) effector, which is known to have a role in collective cell migration and cilia formation. Wdpcp bound to the PDZ1 domain but not to other PDZ domains of MUPP1. The C-terminal end of Wdpcp was essential for the interaction with MUPP1 in the yeast two-hybrid assay. This interaction was further confirmed in a glutathione S-transferase (GST) pull-down assay. When coexpressed in HEK-293T cells, Wdpcp was coimmunoprecipitated with MUPP1. In addition, MUPP1 colocalized with Wdpcp at the same subcellular region in cells. Collectively, these results suggest that the MUPP1-Wdpcp interaction could modulate actin cytoskeleton dynamics and polarized cell migration.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.12
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• pp.3833-3838
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• 2009

This paper introduces a measurement system for mechanical properties of sport shoes using an industrial robot. The robot system used in this paper is a commercial Puma type robot system(FARA AT2 made by SAMSUNG Electronics) with 6 joints and the end-effector is modified to produce a human walking motion. After analyzing human walking with a high speed video camera, each joint angle of the robot system is extracted to be used in the robot system. By using this system, ground impact forces were measured during stepping motion with 3 different shoe specimens made of 3 different hardness outsoles, respectively. As other mechanical properties, both bending moments to bend the toe part of the same specimen shoes and pronation quantities during walking motion were measured as well. In the impact test with the same depth of deformation under the ground level, the effect of the outsole hardness was clearly appeared such that the harder outsole produces the higher ground reaction force. The bending test and the pronation test also show proportional increments in the bending stiffness and the moment Mx according to the outsole hardness. Throughout such experiments, the robot system has produced consistent results so that the system could be used in obtaining valuable informations for a shoe designing process.

• Journal of Bio-Environment Control
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• v.24 no.3
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• pp.210-216
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• 2015

Purpose of this study was a development of an image processing algorithm to recognize paprika and acquire it's 3D coordinates from stereo images to precisely control an end-effector of a paprika auto harvester. First, H and S threshold was set using HSI histogram analyze for extracting ROI(region of interest) from raw paprika cultivation images. Next, fundamental matrix of a stereo camera system was calculated to process matching between extracted ROI of corresponding images. Epipolar lines were acquired using F matrix, and $11{\times}11$ mask was used to compare pixels on the line. Distance between extracted corresponding points were calibrated using 3D coordinates of a calibration board. Non linear regression analyze was used to prove relation between each pixel disparity of corresponding points and depth(Z). Finally, the program could calculate horizontal(X), vertical(Y) directional coordinates using stereo camera's geometry. Horizontal directional coordinate's average error was 5.3mm, vertical was 18.8mm, depth was 5.4mm. Most of the error was occurred at 400~450mm of depth and distorted regions of image.

• Journal of Bio-Environment Control
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• v.10 no.3
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• pp.172-180
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• 2001

A grape fruit is required for a lot of labor to harvest in time in Korea, since the fruit is cut and grabbed currently by hand. In foreign country, especially France, a grape harvester has been developed for processing to make wine out of a grape, not to eat a fresh grape fruit. However, a harvester which harvests to eat a fresh grape fruit has not been developed yet. Therefore, this study was designed and constructed to develope a image processing system for a fresh grape harvester. Its development involved the integration of a vision system along with an personal computer and two cameras. Grape recognition, which was able to found the accurate cutting position in three dimension by the end-effector, needed to find out the object from the background by using two different images from two cameras. Based on the results of this research the following conclusions were made: The model grape was located and measured within less than 1,100 mm from camera center, which means center between two cameras. The distance error of the calculated distance had the distance error within 5mm by using model image in the laboratory. The image processing system proved to be a reliable system for measuring the accurate distance between the camera center and the grape fruit. Also, difference between actual distance and calculated distance was found within 5 mm using stereo vision system in the field. Therefore, the image processing system would be mounted on a grape harvester to be founded to the position of the a grape fruit.

• Journal of Biomedical Engineering Research
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• v.35 no.3
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• pp.50-54
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• 2014

It is being tried to control robot arm using brain signal in the field of brain-machine interface (BMI). This study is focused on applying guidance laws for efficient robot arm control using 3D coordinates obtained from Magnetoencephalography (MEG) signal which represents movement of upper limb. The 3D coordinates obtained from brain signal is inappropriate to be used directly because of the spatial difference between human upper limb and robot arm's end-effector. The spatial difference makes the robot arm to be controlled from a third-person point of view with assist of visual feedback. To resolve this inconvenience, guidance laws which are frequently used for tactical ballistic missile are applied. It could be applied for the users to control robot arm from a first-person point of view which is expected to be more comfortable. The algorithm which enables robot arm to trace MEG signal is provided in this study. The algorithm is simulated and applied to 6-DOF robot arm for verification. The result was satisfactory and demonstrated a possibility in decreasing the training period and increasing the rate of success for certain tasks such as gripping object.

• Journal of Korean Society of Forest Science
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• v.111 no.2
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• pp.287-301
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• 2022

This study aims to propose a crane-tip control method to intuitively control the end-effector vertically or horizontally for improving the crane work efficiency and to confirm the control performance. To verify the control performance based on experimental variables, a laboratory-scale crane was manufactured using an electric cylinder. Through a forward and reverse kinematics analysis, the crane was configured to output the position coordinates of the current crane-tip and the joint angle at each target point. Furthermore, a method of generating waypoints was used, and a dead band using lateral boundary offset (LBO) was set. Appropriate parameters were selected using bang-bang control, which confirmed that the number of waypoints and LBO radius were associated with positioning error, and the cylinder speed was related to the lead time. With increased number of waypoints and decreased LBO radius, the positioning error and the lead time also decreased as the cylinder speed decreased. Using the proportional control, when the cylinder velocity was changed at every control cycle, the lead time was greatly reduced; however, the actual control pattern was controlled by repeating over and undershoot in a large range. Therefore, proportional control was performed by additionally applying velocity gain that can relatively change the speed of each cylinder. Since the control performed with in a range of 10 mm, it was verified th at th e crane-tip control can be ach ieved with only th e proportional control to which the velocity gain was applied in a control cycle of 20 ms.