• Journal of the Korean Society for Precision Engineering
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• v.23 no.7 s.184
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• pp.84-92
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• 2006

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joint don't maintain optimally, it is hard to sustain the battery power during the working period. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration fur the joint motion and distributed computation of tile humanoid, ISHURO, and suggest its result such as structure of the network and a disturbance observer.

• Journal of Microbiology and Biotechnology
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• v.4 no.1
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• pp.13-19
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• 1994

A model equation to describe the plasmid instability in recombinant Escherichia coli fermentation is proposed. The equation allows one to estimate easily the two model parameters; (1) the difference in the specific growth rates between plasmid-free cells and plasmid-harboring cells ($\delta$), and (2) the probability of plasmid loss by plasmid-harboring cells ($\rho$). The estimated values of $\delta and \rho$ were in the range of 0.02-0.07 and $10^{-3}-10^{-5}$, respectively, and were strongly dependent on the dilution rate. As another parameter, the ratio of specific growth rates of plasmid-free cells and plasmid-harboring cells ($\alha$) was calculated and the result showed the highest value of 1.28 at the lowest dilution rate of 0.075 $hr^{-l}$, examined in this work. By the sensitivity analyses on the estimates of $\delta and \rho$, it was found that the growth rate difference ($\delta$) affected the plasmid instability more seriously than the probability of plasmid loss ($\rho$). Furthermore, the profound instability of plasmid at low dilution rate could be explained by the high values of $\alpha and \rho$.

• Molecules and Cells
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• v.37 no.10
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• pp.713-718
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• 2014

Alteration in chromosome numbers and structures instigate and foster massive genetic instability. As Boveri has seen a hundred years ago (Boveri, 1914; 2008), aneuploidy is hall-mark of many cancers. However, whether aneuploidy is the cause or the result of cancer is still at debate. The molecular mechanism behind aneuploidy includes the chromosome mis-segregation in mitosis by the compromise of spindle assembly checkpoint (SAC). SAC is an elaborate network of proteins, which monitor that all chromosomes are bipolarly attached with the spindles. Therefore, the weakening of the SAC is the major reason for chromosome number instability, while complete compromise of SAC results in detrimental death, exemplified in natural abortion in embryonic stage. Here, I will review on the recent progress on the understanding of chromosome missegregation and cancer, based on the comparison of different mouse models of BubR1, the core component of SAC.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.1
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• pp.77-83
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• 2005

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has a battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joints don't maintain optimally, it is difficult for a robot to have working time for a long time. Also, if a gait trajectory doesn't have optimal state, the expected life span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by a PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration for the joint motion and distributed computation of the humanoid, ISHURO, and suggest its result such as the structure of the network and a disturbance observer.

• Genomics & Informatics
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• v.14 no.3
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• pp.70-77
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• 2016

Transposable elements are one of major sources to cause genomic instability through various mechanisms including de novo insertion, insertion-mediated genomic deletion, and recombination-associated genomic deletion. Among them is Alu element which is the most abundant element, composing ~10% of the human genome. The element emerged in the primate genome 65 million years ago and has since propagated successfully in the human and non-human primate genomes. Alu element is a non-autonomous retrotransposon and therefore retrotransposed using L1-enzyme machinery. The 'master gene' model has been generally accepted to explain Alu element amplification in primate genomes. According to the model, different subfamilies of Alu elements are created by mutations on the master gene and most Alu elements are amplified from the hyperactive master genes. Alu element is frequently involved in genomic rearrangements in the human genome due to its abundance and sequence identity between them. The genomic rearrangements caused by Alu elements could lead to genetic disorders such as hereditary disease, blood disorder, and neurological disorder. In fact, Alu elements are associated with approximately 0.1% of human genetic disorders. The first part of this review discusses mechanisms of Alu amplification and diversity among different Alu subfamilies. The second part discusses the particular role of Alu elements in generating genomic rearrangements as well as human genetic disorders.

• Journal of Gastric Cancer
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• v.4 no.2
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• pp.109-120
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• 2004

Purpose: Individual gastric cancers demonstrate complicated genetic alterations. The PCR-based analysis of polymorphic microsatellite sequences on cancer-related chromosomes has been used to detect chromosomal loss and microsatellite instability. For the purpose of preoperative usage, we analyzed the correspondance rate of the microsatellite genotype between endoscopic biopsy and surgical specimens. Materials and Methods: Seventy-three pairs of biopsy and surgical specimens were examined for loss of heterozygosity and microsatellite instability by using 40 microsatellite markers on eight chromosomes. Microsatellite alterations in tumor DNAs were classified into a high-risk group (baselinelevel loss of heterozygosity: 1 chromosomal loss in diffuse type and high-level loss of heterozygosity: 4 or more chromosomal losses) and a low-risk group (microsatellite instability and low-level loss of heterozygosity: 2 or 3 chromosomal losses in diffuse type or $1\∼3$ chromosomal losses in intestinal type) based on the extent of chromosomal loss and microsatellite instability. Results: The chromosomal losses of the biopsy and the surgical specimens were found to be different in 21 of the 73 cases, 19 cases of which were categorized into a genotype group of similar extent. In 100 surgical specimens, the high-risk genotype group showed a high incidence of nodal involvement (19 of 23 cases: $\leq$5 cm; 23 of 24 cases: >5 cm) irrespective of tumor size while the incidence of nodal involvement for the low-risk genotype group depended on tumor size (5 of 26 cases: $\leq$5 cm; 18 of 27 cases: >5 cm). Extraserosal invasion was more frequent in large-sized tumor in both the high-risk genotype group ($\leq$5 cm: 12 of 23 cases; >5 cm: 23 of 24 cases) and the low-risk genotype group ($\leq$5 cm: 7 of 26 cases; >5 cm: 16 of 27 cases). The preoperative prediction of tumor invasion and nodal involvement based on tumor size and genotype corresponded closely to the pathologic tumor stage (ROC area >0.7). Conclusion: An endoscopic biopsy specimen of gastric cancer can be used to make a preoperative genetic diagnosis that accurately reflect the genotype of the corresponding surgical specimen.

• Proceedings of the Zoological Society Korea Conference
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• 1998.10b
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• pp.343.1-343
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• 1998

No Abstract, See Full Text

• Archives of Pharmacal Research
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• v.15 no.1
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• pp.35-40
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• 1992

S. fradiae showed the highest acetanilide p-hydroxylation activity in the tested strains. And S. fradiae was well characterized genetically, especially with respect to tylosin production. Two mutants, which lost hydroxylation, were isolated in 140 regenerated colonies from protoplasts. In restriction enzyme digesion of total DNAs, isolation of giant linear plasmid DNA and determination of antibiotic resistances to chloramphenicol, tylosin, hygromycin B and mitomycin C, any differences among mutants and a wild type strain were not detected. These facts suggest that lesion on 6, 000 Kb chromosomal DNA was responsible for the lack of p-hydroxylation activity induced by protoplast formation and regeneration.

• Journal of Genetic Medicine
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• v.1 no.1
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• pp.27-31
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• 1997

Steroid 21 hydroxylase deficiency is a major cause of congenital adrenal hyperplasia (CAH) and is caused by genetic impairment of the gene (CYP21B). In the human genome, CYP21B is located within the MHC class III region on the short arm of chromosome 6. Most of the genes in this region are highly polymorphic and crowded. Also the CYP21B gene is accompanied by its pseudogene (CYP21A) and tandemly arranged with two genes of fourth component of complement. This highly complex gene cluster in this area may predispose genetic instability of CYP21, i.e. mutations. In this study, tried to investigate the frequency of duplication and deletion of CYP21 and patterns of the genetic alterations of these genes.We also compared the genetic alteration in normal subjects with those of the CAH patients. The results showed that 15% of the normal korean population have duplication or deletion of CYP21. There was one normal subject with heterozygous deletion of CYP21B. Of the 5 CAH patients examined, 2 were found to show abnormal patterns. One was a large-scale gene conversion and the other a gene conversion associated with deletion involving both CYP21B and C4 locus II gene. Through this study, we carne to the conclusion that the duplication or even deletion of CYP21 and C4 might be quite a common event in the Korean population and these rearrangements must be regarded as polymorphisms. It could contribute to a high incidencs of CAH by providing a genetic pool of instable CYP21.

• Korean Journal of Head & Neck Oncology
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• v.20 no.2
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• pp.147-155
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• 2004

Objectives: Head and neck squamous cell carcinoma (HNSCC) is the most common head and neck malignant tumor. The molecular genetic changes involving both oncogenes and tumor suppressor genes are known to be involved in head and neck squamous cell carcinogenesis, but the roles of the known tumor suppressor genes in carcinogenesis are not fully elucidated. The objectives of this study are to demonstrate the genetic alterations including the loss of heterozygosity (LOH) , amplification, and microsatellite instability of known tumor suppressor genes in HNSCC and to evaluate the relationship between genetic alterations of tumor suppressor genes and clinicopathologic features. Materials and Methods: Genetic alterations of 10 micro satellite markers of the 6 known tumor suppressor genes (APC, EXT1, DPC4, p16, FHIT, and PTEN) were analysed by DNA-PCR in paraffin-embedded histologically confirmed HNSCC specimens. Results: The genetic alterations of tumor suppressor genes were found frequently. Among the genetic alterations, LOH was most frequently found one. LOH was found frequently in APC (45.4%), EXT1 (36.4%), DPC4 (54.5%), and p16 (50%), but not found in FHIT. Also, the author found that abnormalities of APC gene was related to cervical lymph node metastasis and recurrence and that abnormalities of EXT1 gene were coexisted with those of APC gene or DPC4 gene. But these coexistences had no correlation with clinical features. Conclusion: These results suggested that APC, EXT1, p16, and DPC4 genes might play important roles and multiple tumor suppressor genes may participate dependently or independently in the carcinogenesis of HNSCC. These results also suggested that APC gene might relate to prognosis.