• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1229-1234
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• 2004

Face robots capable of expressing their emotional status, can be adopted as an e cient tool for friendly communication between the human and the machine. In this paper, we present a face robot actuated with arti cial muscle based on dielectric elastomer. By exploiting the properties of polymers, it is possible to actuate the covering skin, and provide human-like expressivity without employing complicated mechanisms. The robot is driven by seven types of actuator modules such as eye, eyebrow, eyelid, brow, cheek, jaw and neck module corresponding to movements of facial muscles. Although they are only part of the whole set of facial motions, our approach is su cient to generate six fundamental facial expressions such as surprise, fear, angry, disgust, sadness, and happiness. Each module communicates with the others via CAN communication protocol and according to the desired emotional expressions, the facial motions are generated by combining the motions of each actuator module. A prototype of the robot has been developed and several experiments have been conducted to validate its feasibility.

• 대한수학회지
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• 제39권1호
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• pp.127-135
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• 2002

Let I be an ideal in a Gorenstein local ring A with the maximal ideal m. Then we say that I is an equimultiple good ideal in A, if I contains a reduction Q = ( $a_1$, $a_2$,ㆍㆍㆍ, $a_{s}$ ) generated by s elements in A and G(I) =(equation omitted)$_{n 0}$ $I^{n}$ / $I^{n＋1}$ of I is a Gorenstein ring with a(G(I)) = 1 - s, where s = h $t_{A}$ I and a(G(I)) denotes the a-invariant of G(I). Let $X_{A}$$^{s}$ denote the set of equimultiple good ideals I in A with h $t_{A}$ I = s, R(I) = A [It] be the Rees algebra of I, and $K_{R(I)}$ denote the canonical module of R(I). Let a I such that $I^{n＋l}$ = a $I^{n}$ for some n$\geq$0 and $\mu$$_{A}$(I)$\geq$2, where $\mu$$_{A}$(I) denotes the number of elements in a minimal system of generators of I. Assume that A/I is a Cohen-Macaulay ring. We show that the following conditions are equivalent. (1) $K_{R(I)}$(equation omitted)R(I)＋as graded R(I)-modules. (2) $I^2$ = aI and aA : I$\in$ $X^1$$_{A}$._{A}$./.

• Journal of Mechanical Science and Technology
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• 제19권2호
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• pp.578-588
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• 2005

Face robots capable of expressing their emotional status, can be adopted as an efficient tool for friendly communication between the human and the machine. In this paper, we present a face robot actuated with artificial muscle based on dielectric elastomer. By exploiting the properties of dielectric elastomer, it is possible to actuate the covering skin, eyes as well as provide human-like expressivity without employing complicated mechanisms. The robot is driven by seven actuator modules such eye, eyebrow, eyelid, brow, cheek, jaw and neck module corresponding to movements of facial muscles. Although they are only part of the whole set of facial motions, our approach is sufficient to generate six fundamental facial expressions such as surprise, fear, angry, disgust, sadness, and happiness. In the robot, each module communicates with the others via CAN communication protocol and according to the desired emotional expressions, the facial motions are generated by combining the motions of each actuator module. A prototype of the robot has been developed and several experiments have been conducted to validate its feasibility.

• 한국항해항만학회지
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• 제30권1호
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• pp.105-111
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• 2006

LMTT는 항만 자동화를 위한 수평 이송이 가능하도록 설계된 셔틀카와 격자구조의 레일에 부착된 스테이터 모듈(stator module)로 구성된 PMLSM(Permanent Magnetic Linear Synchronous Motor)에 의해 구동된다. 본 연구에서는 순차적 표본방법에 기초하여 구성된 크리깅 근사모델을 이용하여 이동체의 구조최적설계를 수행하였다. 본 논문에서는 셀 요소로 유한요소 모델링된 이동체(mover)의 경량화 설계를 위하여 강도기준을 고려하고, 설계변수로는 가로빔, 세로빔, 휠 빔의 두께로 설정하였다. 순차적 크리깅모델에 의하여 구해진 최적해를 상용프로그램인 GENESIS를 이용하여 구해진 최적해와 비교, 검토하였다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2005년도 춘계학술대회 논문집
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• pp.385-390
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• 2005

LMTT(Linear Motor-based Transfer Technology)는 항만 자동화를 위한 수평 이송 시스템이며, 셔틀카(shuttle car)와 격자구조의 레일에 부착된 스테이터 모듈(stator module)로 구성된 PLMSL(Permanent Magnetic Linear Synchronous Motor)에 의해 구동된다. 본 논문에서는 LMTT시스템 부품인 이동체(mover)의 경량화를 위하여 직교배열표 및 크리깅 방법을 이용하여 최적설계를 수행한다. 설계변수로는 가로빔, 세로빔, 휠빔의 두께와 높이 방향의 치수를 결정하는 형상변수를 포함시켰다. 목적함수로는 중량, 제한조건 함수로는 안전율이 고려된 응력으로 설정하였다. 본 연구에서 제시된 방법으로 구한 최적해를 민감도기반 최적설계로 구해진 최적해와 비교, 검토하였다.

• Animal Bioscience
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• 제37권7호
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• pp.1141-1155
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• 2024

Objective: RNA epigenetic modifications play an important role in regulating immune response of mammals. Bovine mastitis induced by Staphylococcus aureus (S. aureus) is a threat to the health of dairy cattle. There are numerous RNA modifications, and how these modification-associated enzymes systematically coordinate their immunomodulatory effects during bovine mastitis is not well reported. Therefore, the role of common RNA modification-related genes (RMRGs) in bovine S. aureus mastitis was investigated in this study. Methods: In total, 80 RMRGs were selected for this study. Four public RNA-seq data sets about bovine S. aureus mastitis were collected and one additional RNA-seq data set was generated by this study. Firstly, quantitative trait locus (QTL) database, transcriptome-wide association studies (TWAS) database and differential expression analyses were employed to characterize the potential functions of selected enzyme genes in bovine S. aureus mastitis. Correlation analysis and weighted gene co-expression network analysis (WGCNA) were used to further investigate the relationships of RMRGs from different types at the mRNA expression level. Interference experiments targeting the m⁶ A demethylase FTO and utilizing public MeRIP-seq dataset from bovine Mac-T cells were used to investigate the potential interaction mechanisms among various RNA modifications. Results: Bovine QTL and TWAS database in cattle revealed associations between RMRGs and immune-related complex traits. S. aureus challenged and control groups were effectively distinguished by principal component analysis based on the expression of selected RMRGs. WGCNA and correlation analysis identified modules grouping different RMRGs, with highly correlated mRNA expression. The m⁶ A modification gene FTO showed significant effects on the expression of m⁶ A and other RMRGs (such as NSUN2, CPSF2, and METTLE), indicating complex co-expression relationships among different RNA modifications in the regulation of bovine S. aureus mastitis. Conclusion: RNA epigenetic modification genes play important immunoregulatory roles in bovine S. aureus mastitis, and there are extensive interactions of mRNA expression among different RMRGs. It is necessary to investigate the interactions between RNA modification genes regulating complex traits in the future.

• Smart Structures and Systems
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• 제29권1호
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• pp.1-16
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• 2022

Despite recent breakthroughs in deep learning and computer vision fields, the pixel-wise identification of tiny objects in high-resolution images with complex disturbances remains challenging. This study proposes a modified U-net for tiny crack segmentation in real-world steel-box-girder bridges. The modified U-net adopts the common U-net framework and a novel Self-Attention-Self-Adaption (SASA) neuron as the fundamental computing element. The Self-Attention module applies softmax and gate operations to obtain the attention vector. It enables the neuron to focus on the most significant receptive fields when processing large-scale feature maps. The Self-Adaption module consists of a multiplayer perceptron subnet and achieves deeper feature extraction inside a single neuron. For data augmentation, a grid-based crack random elastic deformation (CRED) algorithm is designed to enrich the diversities and irregular shapes of distributed cracks. Grid-based uniform control nodes are first set on both input images and binary labels, random offsets are then employed on these control nodes, and bilinear interpolation is performed for the rest pixels. The proposed SASA neuron and CRED algorithm are simultaneously deployed to train the modified U-net. 200 raw images with a high resolution of 4928 × 3264 are collected, 160 for training and the rest 40 for the test. 512 × 512 patches are generated from the original images by a sliding window with an overlap of 256 as inputs. Results show that the average IoU between the recognized and ground-truth cracks reaches 0.409, which is 29.8% higher than the regular U-net. A five-fold cross-validation study is performed to verify that the proposed method is robust to different training and test images. Ablation experiments further demonstrate the effectiveness of the proposed SASA neuron and CRED algorithm. Promotions of the average IoU individually utilizing the SASA and CRED module add up to the final promotion of the full model, indicating that the SASA and CRED modules contribute to the different stages of model and data in the training process.

• 한국음향학회지
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• 제32권6호
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• pp.472-483
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• 2013

잠수함 소나 운용 요원의 능력을 향상시키기 위한 실제 해상 훈련은 많은 비용과 제약사항이 따른다. 소나 시뮬레이터는 이러한 문제점을 해결하고, 실제와 유사한 전장 환경을 모의함으로써 소나 운용 요원의 능력과 훈련 성과를 극대화시킨다. 본 연구에서는 수동 소나 시뮬레이터의 알고리즘을 제시하였으며, 알고리즘은 기동모듈, 소음원모듈, 소음 전달 모듈의 3가지 모듈로 나뉘었다. 기동모듈은 3차원 좌표계를 이용하여 함정의 기동을 구현하였으며, 시간 간격은 함정의 변침률에 따라 설정하였다. 소음원 모듈은 표적 소음, 해양 배경 소음, 자체소음으로 구성하였다. 표적 소음은 주파수 특성에 따라 비변조 협대역, 변조 협대역, 비변조 광대역, 변조 광대역 신호로 구분하였으며, 톤수와 속력에 의존하는 함정 방사소음 준위를 적용하였다. 해양 배경 소음은 음향도파관 효과가 고려된 바람 소음과 그외 배경 소음으로 모의하였으며, 자체소음은 유체소음과 소나돔 삽입 손실로 모의하였다. 소음 전달 모듈은 음선 기반의 모델을 이용하였으며, 기동 모듈의 각 시간에서 고유음선의 진폭, 위상, 시간지연을 합산하여 주파수 영역에서 표적 소음에 곱하였다. 최종적으로 시나리오에 따른 모의 결과 실제 해양에서 발생하는 소음과 유사한 경향을 확인할 수 있었다.

• 핵의학기술
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• 제13권3호
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• pp.147-151
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• 2009

Purpose: 2-[$^{18}F$]Fluoro-2-deoxy-D-glucose ([$^{18}F$]FDG) particularly plays as a important role in Positron Emission Tomography (PET) imaging in nuclear medicine. Domestic [$^{18}F$]FDG auto synthesizers are installed in Seoul National University Bundang Hospital (SNUBH) at June 2008, these modules were known that it's synthetic yields were guaranteed in average $45{\pm}5%$ so far. To improve yields and convenience of domestic [$^{18}F$]FDG auto synthesizer, numerous trials in reaction time, base concentration, pressure and temperature were performed to increase [$^{18}F$]FDG yields. Materials and Methods: Several synthetic factors (temperature, time and pressure) and shortcoming were corrected based on many evaporation test. Syringe dispensing of tetra-butylammonium bicarbonate (TBAB) was replaced with micro pipette to prepare tetrabutyl ammonium fluoride salt ([$^{18}F$]TBAF). Troublesome refill of liquid nitrogen every 2 hours which was used to protect vacuum system was changed to charcoal cartridge, base guard filter. To monitor the volume of delivered $[^{18}O]OH_2$ from cyclotron by surveillance camera, we set up the volumetric vial on the cover of the module. In addition to, the recovery vial was added in [$^{18}F$]FDG production system to recover [$^{18}F$]FDG loss due to the leak of valve ($V_{13,14}$) in [$^{18}F$]FDG purification process. Results: When we used micro pipette for adding TBAB ($30\;{\mu}L$ in 12% $H_2O$ in acetonitrile), this quantitative dispensation has enabled to improve $5.5{\pm}1.7%$ residual fluorine-18 activity in fluorine separation cartridge compared to syringe adding. Besides, the synthetic yields of [$^{18}F$]FDG has increased $58{\pm}2.6%$ (n=19), $58{\pm}2.9%$ (n=14), $60%{\pm}2.5%$ (n=17) for 3 months. The life cycle of charcoal cartridge and base vacuum was 3 months prior to filling liquid nitrogen every 2 hours and additional side separator can prevent pump corrosion by organic solvent. After setting of volumetric indicator vial, the operator can easily monitor the total volume of irradiated $[^{18}O]OH_2$ from cyclotron. The recovery vial can be used for the stabilizer when an irregular [$^{18}F$]FDG loss was generated by the leak of valves ($V_{13,14}$). Conclusions: We has optimized appropriate synthetic conditions (temperature, time, pressure) in domestic [$^{18}F$]FDG auto synthesizer. In addition to, the remodeling with several accessories improve yields of domestic [$^{18}F$]FDG auto synthesizer with reliable reproducibility.