• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.957-963
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• 2014

This paper proposes a predictive control for an efficient human following robot using Kinect sensor. Especially, this research is focused on detecting of foot-end-point and foot-vector instead of human body which can be occluded easily by the obstacles. Recognition of the foot-end-point by the Kinect sensor is reliable since the two feet images can be utilized, which increases the detection possibility of the human motion. Depth image features and a decision tree have been utilized to estimate the foot end-point precisely. A tracking point average algorithm is also adopted in this research to estimate the location of foot accurately. Using the continuous locations of foot, the human motion trajectory is estimated to guide the mobile robot along a smooth path to the human. It is verified through the experiments that detecting foot-end-point is more reliable and efficient than detecting the human body. Finally, the tracking performance of the mobile robot is demonstrated with a human motion along an 'L' shape course.

• 대한기계학회논문집A
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• 제21권8호
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• pp.1250-1258
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• 1997

This paper reports on the development of a new foot for a quadrupedal jointed-leg type walking robot. The foot has 2 toes, one at the front and the other at the rear side, for stable landing on uneven ground by point contact. The toes can move up and down independantly, guided by double-wishbone shaped parallel links which enable the lower leg to rotate with respect to a remote center on the ground surface. The motion of each toe is damped by a hydropneumatic shock absorber integrated in the foot in order to absorb the dynamic landing shock. Furthermore, the new foot can reduce the maximum hip joint drive torque by shortening the moment arm length between the hip joint and the landing force vector on the ground. Intensive experiments were carried out in this study by using a one-leg walking model to investigate the soft landing performance of the foot which could be hardly offered by conventional robot feet such as a flat plate with a gimbal type ankle joint. And it was confirmed that the hip joint torque of the leg walking on the flat surface could be reduced remarkably by using the new foot.

• IMMUNE NETWORK
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• 제9권6호
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• pp.265-273
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• 2009

Foot-and-mouth disease virus (FMDV) is a small single-stranded RNA virus which belongs to the family Picornaviridae, genus Apthovirus. It is a principal cause of FMD which is highly contagious in livestock. In a wild type virus infection, infected animals usually elicit antibodies against structural and non-structural protein of FMDV. A structural protein, VP1, is involved in neutralization of virus particle, and has both B and T cell epitopes. A RNA-dependent RNA polymerase, 3D, is highly conserved among other serotypes and strongly immunogenic, therefore, we selected VP1 and 3D as vaccine targets. VP1 and 3D genes were codon-optimized to enhance protein expression level and cloned into mammalian expression vector. To produce recombinant protein, VP1 and 3D genes were also cloned into pET vector. The VP1 and 3D DNA or proteins were co-immunized into 5 weeks old BALB/C mice. Antigen-specific serum antibody (Ab) responses were detected by Ab ELISA. Cellular immune response against VP1 and 3D was confirmed by ELISpot assay. The results showed that all DNA- and protein-immunized groups induced cellular immune responses, suggesting that both DNA and recombinant protein vaccine administration efficiently induced Ag-specific humoral and cellular immune responses.

• 대한기계학회논문집A
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• 제32권4호
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• pp.310-318
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• 2008

This paper presents a parallel typed walking robot to improve walking space and stability region. The robot is designed by inserting an intermediate mechanism between upper leg mechanism and lower leg mechanism. The leg mechanism is composed of three legs and base, which form a parallel mechanism with ground. Seven different types of walking robot are invented by combining the leg mechanisms and an intermediate mechanism. Topology is applied to design the leg mechanism. A motor vector is adopted to determine Jacobian and a wrench vector is used to analyze dynamics of the robot. We explore the stability region of the robot from the reaction force of legs and compute ZMP including the holding force to contact the foot to a wall. This investigates a walking stability when the robot walks on the ground as well as on the wall. We examine the walking space generated by support legs and by swing legs. The robot has both a large positional walking space and a large orientational walking space so that it can climb from a floor up to a wall.

• 대한산업공학회지
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• 제17권2호
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• pp.39-50
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• 1991

The movement of human beings - walking, running, jumping and climbing, etc. - have long been of scientific interest. In particular, the science of human walking is called gait analysis. Various instruments have been developed to assist in the study of human gait. Recently gait analysis techniques are used in medical research to investigate the abnormalities of pathological gait. In this study, we constructed a comprehensive gait analysis system consisting of a walkway, a force platform, foot-switches and an ExpertVision motion analysis system. Time-distance gait parameters and vector diagrams can be analyzed by a special application program called Force Analysis System(FOANAS). Using quantitative discrimination of this system, the gait characteristic parameters of normal and pathological gait is facilitated.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권4호
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• pp.2148-2161
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• 2019

In this paper, we present a real-time cattle action recognition algorithm to detect the estrus phase of cattle from a live video stream. In order to classify cattle movement, specifically, to detect the mounting action, the most observable sign of the estrus phase, a simple yet effective feature description exploiting motion history images (MHI) is designed. By learning the proposed features using the support vector machine framework, various representative cattle actions, such as mounting, walking, tail wagging, and foot stamping, can be recognized robustly in complex scenes. Thanks to low complexity of the proposed action recognition algorithm, multiple cattle in three enclosures can be monitored simultaneously using a single fisheye camera. Through extensive experiments with real video streams, we confirmed that the proposed algorithm outperforms a conventional human action recognition algorithm by 18% in terms of recognition accuracy even with much smaller dimensional feature description.

• Journal of Plant Biotechnology
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• 제31권4호
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• pp.285-293
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• 2004

FMDV는 동물에서 구제역을 일으키는 병원체이며, VP1은 이 바이러스의 주요 capsid단백질이므로 구제역의 진단과 단백질 백신의 개발에 가장 많이 사용되는 재료 중 하나이다. 본 연구는 FMDV taiwan O형과 베트남에서 분리된 FMDV의 VP1 sequence를 기반으로 식물에서 VP1 유전자의 발현을 위하여 633 bp의 VP1유전자로 재편집하였으며, 이를 long-nucleotide를 사용한 multiple fragment extension 방법을 사용하여 인공적인 DNA 단편을 합성하였다. 또한 새로운 식물 형질전환 벡터로 pBI121 과 pCAMBIA1390의 장점을 수용하여, hygromycin 저항성과 CaMV 35S promoter를 포함하는 pCAMBIA II를 제작하였다. 제작된 벡터와 VP1 유전자 및 GFP유전자를 사용하여 담배를 형질 전환시켰고, 각각의 형질전환식물체내에서 전체길이의 target gene(VPl)의 성공적인 삽입을 확인하였다. 각 유전자의 발현은 RT-PCR과 Real-Time PCR의 결과로 측정하였으며, VP1 유전자의 전사가 담배 내에서 이루어졌음과 고효율의 전사체를 만드는 형질전환체 VP1-4를 선별하였다.

• 한국운동역학회지
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• 제18권1호
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• pp.159-168
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• 2008

본 연구는 피겨스케이팅의 여자국가대표 선수 4명으로부터 고난도 스핀기술인 FSS과 FCS동작을 분석하였다. 이를 위하여 자세유형에 따른 스핀동작 간 족저압력변인 접지면적(CA), 최대힘(MF), 최대압력(PP) 그리고 인체무게중심(COG)에 의한 발바닥 9개 영역을 중심으로 압력변화를 고찰하였다. 본 회전구간에서 두 스핀기술 간 접지면적이 17.2%의 차이로 스핀축이 한 곳에 보다 잘 집중된 경우는 FCS인것으로 나타났다. 최대힘에서 FSS는 97%BW, FCS는 143%BW로서 20% 높았으며, 최대압력 또한 FCS가 FSS보다 20% 높은 수치를 보였다. 이러한 결과는 인체무게중심선과 압력중심점과의 상호관계로부터 FSS의 압력중심점이 인체무게중심선보다 발바닥 후면, 반대로 FCS는 발바닥 앞면에 위치하는 자세패턴에 의한 기능적 차이로 분석되었다. 위의 결과로부터 FCS가 상대적으로 FSS보다 스핀기술 시 높은 인체중심과 하지말단을 이용한 큰 회전반경으로부터 스핀속도를 보다 잘 통제하는 운동구조로 고찰되었다.

• Asian-Australasian Journal of Animal Sciences
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• 제31권4호
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• pp.489-498
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• 2018

Objective: Foot and mouth disease (FMD) and porcine reproductive and respiratory syndrome (PRRS) are major diseases that interrupt porcine production. Because they are viral diseases, vaccinations are of only limited effectiveness in preventing outbreaks. To establish an alternative multi-resistant strategy against FMD virus (FMDV) and PRRS virus (PRRSV), the present study introduced two genetic modification techniques to porcine cells. Methods: First, cluster of differentiation 163 (CD163), the PRRSV viral receptor, was edited with the clustered regularly interspaced short palindromic repeats-CRISPR-associated protein 9 technique. The CD163 gene sequences of edited cells and control cells differed. Second, short hairpin RNA (shRNAs) were integrated into the cells. The shRNAs, targeting the 3D gene of FMDV and the open reading frame 7 (ORF7) gene of PRRSV, were transferred into fibroblasts. We also developed an in vitro shRNA verification method with a target gene expression vector. Results: shRNA activity was confirmed in vitro with vectors that expressed the 3D and ORF7 genes in the cells. Cells containing shRNAs showed lower transcript levels than cells with only the expression vectors. The shRNAs were integrated into CD163-edited cells to combine the two techniques, and the viral genes were suppressed in these cells. Conclusion: We established a multi-resistant strategy against viral diseases and an in vitro shRNA verification method.

• 한국정밀공학회지
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• 제22권6호
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• pp.213-221
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• 2005

An insole type local shear force measurement system was developed and local shear stresses in the foot were measured during level walking. The shear force transducer based on the magneto-resistive principle, was a rigid 3-layer circular disc. Sensor calibrations with a specially designed calibration device showed that it provided relatively linear sensor outputs. Shear transducers were mounted on the locations of four metatarsal heads and heel in the insole. Sensor outputs were amplified, decorded in the bluetooth transmission part and then transferred to PC. In order to evaluate the developed system, both shear and plantar pressure measurements, synchronized with the three-dimensional motion analysis system, were performed on twelve young healthy male subjects, walking at their comfortable speeds. The maximum peak pressure during gait was 5.00kPa/B.W at the heel. The time when large local shear stresses were acted correlated well with the time of fast COP movements. The anteroposterior shear was dominant near the COP trajectory, but the mediolateral shear was noted away from the COP trajectory. The vector sum of shear stresses revealed a strong correlation with COP movement velocity. The present study will be helpful to select the material and to design of foot orthoses and orthopedic shoes for diabetic neuropathy or Hansen disease.