• 한국정밀공학회지
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• 제16권12호
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• pp.204-213
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• 1999

This paper suggests a numerical method of finding optimal geometric path and minimum-time motion for a manipulator arm. To find the minimum-time motion, the optimal geometric path is searched first, and the minimum-time motion is searched on this optimal path. In the algorithm finding optimal geometric path, the objective function is minimizing the combination of joint velocities, joint-jerks, and actuator forces as well as avoiding several static obstacles, where global search is performed by adjusting the seed points of the obstacle models. In the minimum-time algorithm, the traveling time is expressed by the linear combinations of finite-term quintic B-splines and the coefficients of the splines are obtained by nonlinear programming to minimize the total traveling time subject to the constraints of the velocity-dependent actuator forces. These two search algorithms are basically similar and their convergences are quite stable.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.471-475
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• 2003

This paper proposes a sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent on the current data sets. As the results, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this approach, instead of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples and the effectiveness is proved through the simulations. Finally, the new space and time sensor fusion (STSF) scheme is applied to the control of a mobile robot in an unstructured environment as well as structured environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.104.2-104
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• 2002

This paper proposes a sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent on the current data sets. As the results, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this approach, instead of adding more sensors to the system , the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is il lustrated by examples and...

• Journal of applied mathematics & informatics
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• 제42권2호
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• pp.305-320
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• 2024

We consider a mathematical model which describes the quasistatic contact of electro-viscoelastic rod with an obstacle. We use a modified Kelvin-Voigt viscoelastic constitutive law in which the elasticity operator is nonlinear and locally Lipschitz continuous, taking into account the piezoelectric effect of the material. We model the contact with a general damped response condition. We establish a local existence and uniqueness result of the solution by using arguments of time-dependent nonlinear equations and Schauder's fixed-point theorem and obtain a global existence for small enough data.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2002년도 추계공동학술대회논문집
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• pp.127-132
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• 2002

This paper proposes a sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent on the current data sets. As the results, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this approach, instead of adding more sensors to the system the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples and the effectiveness is proved through the simulations. finally, the new space and time sensor fusion (STSF) scheme is applied to the control of a mobile robot in an unstructured environment as well as structured environment.

• Journal of Mechanical Science and Technology
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• 제16권11호
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• pp.1448-1456
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• 2002

The present study addresses the flow characteristics involved in the self-induced oscillations of the underexpanded jet impinging upon a cylindrical body. Both experiment and computational analysis are carried out to elucidate the shock motions of the self-induced oscillations and to find the associated major flow factors. The underexpanded sonic jet is made from a nozzle and a cylindrical body is placed downstream to simulate the impinging jet upon an obstacle. The computational analysis using TVD scheme is applied to solve the axisymmetric, unsteady, inviscid governing equations. A Schlieren system is employed to visualize the self-induced oscillations generated in flow field. The data of the shock motions are obtained from a high-speed video system. The detailed characteristics of the Mach disk oscillations and the resulting pressure variations are expatiated using the time dependent data of the Mach disk positions. The mechanisms of the self-induced oscillations are discussed in details based upon the experimental and computational results.

• 대한수학회지
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• 제53권1호
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• pp.161-185
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• 2016

We consider a mathematical model which describes the quasistatic frictional contact between a piezoelectric body and an electrically conductive obstacle, the so-called foundation. A nonlinear electro-viscoelastic constitutive law is used to model the piezoelectric material. Contact is described with Signorini's conditions and a version of Coulomb's law of dry friction in which the adhesion of contact surfaces is taken into account. The evolution of the bonding field is described by a first order differential equation. We derive a variational formulation for the model, in the form of a system for the displacements, the electric potential and the adhesion. Under a smallness assumption which involves only the electrical data of the problem, we prove the existence of a unique weak solution of the model. The proof is based on arguments of time-dependent quasi-variational inequalities, differential equations and Banach's fixed point theorem.

• 대한의용생체공학회:의공학회지
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• 제42권5호
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• pp.232-240
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• 2021

Heterogeneity in cancer is the major obstacle for precision medicine and has become a critical issue in the field of a cancer diagnosis. Many attempts were made to disentangle the complexity by molecular classification. However, multi-dimensional information from dynamic responses of cancer poses fundamental limitations on biomolecular marker-based conventional approaches. Cell morphology, which reflects the physiological state of the cell, can be used to track the temporal behavior of cancer cells conveniently. Here, we first present a hybrid learning-based platform that extracts cell morphology in a time-dependent manner using a deep convolutional neural network to incorporate multivariate data. Feature selection from more than 200 morphological features is conducted, which filters out less significant variables to enhance interpretation. Our platform then performs unsupervised clustering to unveil dynamic behavior patterns hidden from a high-dimensional dataset. As a result, we visualize morphology state-space by two-dimensional embedding as well as representative morphology clusters and trajectories. This cell morphology profiling strategy by hybrid learning enables simplification of the heterogeneous population of cancer.

• Asian Pacific Journal of Cancer Prevention
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• 제16권13호
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• pp.5191-5197
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• 2015

A partial response or resistance to chemotherapeutic agents is considered as a main obstacle in treatment of patients with cancer, including breast cancer. Refining taxane-based treatment procedures using adjuvant or combination treatment is a novel strategy to increase the efficiency of chemotherapy. PPM1D is a molecule activated by reactive oxygen species. whose expression is reported to modulate the recruitment of DNA repair molecules. In this study we examined the impact of arsenic trioxide on efficacy of paclitaxel-induced apoptosis in paclitaxel-resistant MCF-7 cells. We also investigated the expression of PPM1D and TP53 genes in response to this combination treatment. Resistant cells were developed from the parent MCF-7 cell line by applying increasing concentrations of paclitaxel. MTT assays were applied to determine the rate of cell survival. DAPI staining using fluorescent microscopy was employed to study apoptotic bodies. Real-time RT-PCR analysis was also applied to determine PPM1D mRNA levels. Our results revealed that combination of arsenic trioxide and paclitaxel elevates the efficacy of the latter in induction of apoptosis in MCF-7/PAC resistant cells. Applying arsenic trioxide also caused significant decreases in PPM1D mRNA levels (p<0.05). Our findings suggest that arsenic trioxide increases paclitaxel-induced apoptosis by down regulation of PPM1D expression. PPM1D dependent signaling can be considered as a novel target to improve the efficacy of chemotherapeutic agents in resistant breast cancer cells.

• 한국인터넷방송통신학회논문지
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• 제11권1호
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• pp.15-21
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• 2011

무선 센서 네트워크(WSN)에서 센서 노드의 위치 추정 기술 중 거리 기반의 위치 추정 기술은 거리 측정에 따라 센서 노드의 위치 추정의 정확성이 달라진다. 거리 기반의 위치 추정 기술에서 거리를 측정하는 많은 기술 중에 추가적인 장비 없이 쉽게 구현이 가능한 기술 중 하나는 수신 신호 세기이다. 그러나 수신신호세기 기반의 위치 추정 기법은 몇 가지 문제점을 고려해야 한다. 하나는 수신된 신호는 채널 환경에서 페이딩, 쉐도잉 그리고 장애물 등으로 인해서 거리 추정의 오차가 생긴다. 이로 인해서 센서 노드의 위치 추정의 정확성은 낮게 된다. 또 다른 하나는 거리 기반의 위치 추정 기술은 대부분 센서 노드에 의해서 자신의 위치를 추정한다는 것이다. 하지만 센서 노드의 한정된 배터리 용량 때문에 무선 센서 네트워크의 동작 시간이 감소하게 된다. 반면에 비콘 노드는 센서 노드보다 처리 능력과 배터리 용량이 더 높기 때문에 비콘 노드 기반 위치 추정 기법은 무선 센서 네트워크의 동작 시간을 연장 할 수 있다. 본 논문에서는 비콘 노드에서 수신 신호 세기와 전력손실지수 추정을 활용하여 센서 노드의 위치를 추정하는 알고리즘을 제안함으로써 위의 문제점을 극복한다. 시뮬레이션을 통해서 제안한 기법을 검증한다.