• 제어로봇시스템학회논문지
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• 제5권2호
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• pp.237-247
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• 1999

Flight parameters of a light aircraft in normal category named ChangGong-91 we identified from flight tests. Modified Maximum Likelihood Estimation (MMLE) is used to produce aerodynamic coefficients, stability and control derivatives. A Flight Training Device (FTD) has been developed based on the identified flight parameters. Flat earth, rigid body, and standard atmosphere are assumed in the FTD model. Euler angles are adapted for rotational state variables to reduce computational load. Variations in flight Mach number and Reynolds number are assumed to be negligible. Body, stability and inertial axes allow 6 second-order linear differential equations for translational and rotational motions. The equations of motion are integrated with respect to time, resulting in good agreements with flight tests.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.243-248
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• 2002

In this paper, mobility of planar mobile robots is discussed. Firstly, simplified joint models for four typical wheels of the mobile robots are described including both rotational and translational friction parameters. Then, based on these joint models and through the inclusion of the additional imaginary joint particularly to the mobile robots which lack geometric generality, mobility analysis of various types of planar mobile robots is performed.

• BMB Reports
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• 제41권6호
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• pp.435-443
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• 2008

Post-translational modifiers can alter the function of proteins in many different ways. The conjugation of ubiquitin (Ub) and ubiqutin-like modifiers (Ubls) to proteins has been shown to be especially crucial in regulating a variety of cellular processes including the cell cycle, growth control, quality control, localization and many more. It is a highly dynamic process and involves a number of enzymes called E1, E2 and E3. Ub and Ubls are removed from the target proteins by deubiquitinating enzymes (DUBs) or Ubl-specific proteases (ULPs), thereby deconjugation can act as an additional level of control over the ubiquitin-conjugation system. In addition, DUBs and ULPs are responsible for activating Ub and Ubls from their inactive corresponding precursor forms. Here we review recent progress in molecular details of these deconjugating enzymes of Ubls.

• 한국항공운항학회지
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• 제21권4호
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• pp.34-40
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• 2013

Attitude command response type required for enhanced handling qualities of helicopter can be implemented by mechanical automatic flight control system with SAS actuators which have limited authorities. However, the early saturation of SAS actuator hinders the helicopter from following the attitude command for large stick command. Auto-trim controller can delay SAS actuator's saturation by utilizing trim actuators and allows the attitude command response type for larger stick command. This paper describes the control law for limited authority system of helicopter with auto-trim. Limited authority system is applied to BO-105 linear dynamic model and simulation is performed along with handling quality analysis.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.743-746
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• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• 한국양식학회지
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• 제11권2호
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• pp.241-248
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• 1998

Vitellogenin(VTG) 합성에 미치는 A23187의 영향을 무지개송어의 배양 간세포를 이용하여 실험을 행하였다. 간세포는 2일간 배양한 후, Estradiol-$17^{\beta}$($E_2$, $2{\times}10^{-6}$M) 및 A23187 ($10^{-7)$~$10^{-5}$M)을 첨가하여 7일간 배양하였다. 그리고, $E_2$에 의한 VTG 합성시의 A23187이 미치는 영향에 대해서도 조사하였다. A23187이 미치는 영향에 대해서도 조사하였다. A23187 ($10^{-7)$~$10^{-5}$M)의 첨가에 의해 간세포에서의 VTG 합성은 농도의 증가에 따라 감소하였다.$E_2$에 의해 합성된 VTG는 A 23187 ($10^{-5}$M)의 첨가에 의해 대조군($E_2$만의 첨가)의 약 18%로 유의하게 감소하였다. 그러나,$E_2$제거로는 대조군의 약 47% 밖에 감소되지 않았다. 이러한 결과로 보아, 세포내의 저장 Ca은 번역 단계 또는 번역 후 단계를 조절함으로써, VTG 합성을 조절하는 것으로 추정된다.

• Bulletin of the Korean Chemical Society
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• 제32권12호
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• pp.4397-4402
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• 2011

The NF-${\kappa}B$ system of transcription factors plays a crucial role in inflammatory diseases, making it an important drug target. We combined quantitative structure activity relationships for predicting the activity of new compounds and quantitative dynamic models for the NF-${\kappa}B$ network with intracellular concentration models. GFA-MLR QSAR analysis was employed to determine the optimal QSAR equation. To validate the predictability of the $IKK{\beta}$ QSAR model for an external set of inhibitors, a set of ordinary differential equations and mass action kinetics were used for modeling the NF-${\kappa}B$ dynamic system. The reaction parameters were obtained from previously reported research. In the IKKb QSAR model, good cross-validated $q^2$ (0.782) and conventional $r^2$ (0.808) values demonstrated the correlation between the descriptors and each of their activities and reliably predicted the $IKK{\beta}$ activities. Using a developed simulation model of the NF-${\kappa}B$ signaling pathway, we demonstrated differences in $I{\kappa}B$ mRNA expression between normal and different inhibitory states. When the inhibition efficiency increased, inhibitor 1 (PS-1145) led to long-term oscillations. The combined computational modeling and NF-${\kappa}B$ dynamic simulations can be used to understand the inhibition mechanisms and thereby result in the design of mechanism-based inhibitors.

• Bulletin of the Korean Chemical Society
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• 제33권4호
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• pp.1123-1127
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• 2012

P-gp (P-glycoprotein) is a member of the ATP binding cassette (ABC) family of transporters. It transports many kinds of anticancer drugs out of the cell. It plays a major role as a cause of multidrug resistance (MDR). MDR function may be a cause of the failure of chemotherapy in cancer and influence pharmacokinetic properties of many drugs. Hence classification of candidate drugs as substrates or nonsubstrate of the P-gp is important in drug development. Therefore to identify whether a compound is a P-gp substrate or not, in silico method is promising. Recursive Partitioning (RP) method was explored for prediction of P-gp substrate. A set of 261 compounds, including 146 substrates and 115 nonsubstrates of P-gp, was used to training and validation. Using molecular descriptors that we can interpret their own meaning, we have established two models for prediction of P-gp substrates. In the first model, we chose only 6 descriptors which have simple physical meaning. In the training set, the overall predictability of our model is 78.95%. In case of test set, overall predictability is 69.23%. Second model with 2D and 3D descriptors shows a little better predictability (overall predictability of training set is 79.29%, test set is 79.37%), the second model with 2D and 3D descriptors shows better discriminating power than first model with only 2D descriptors. This approach will be used to reduce the number of compounds required to be run in the P-gp efflux assay.

• 한국동물생명공학회지
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• 제37권2호
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• pp.106-112
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• 2022

Cryopreservation of porcine ovarian tissue by vitrification method is a promising approach to preserve genetic materials for future use. However, information is not enough and technology still remains in a challenge stage in pig. Therefore, the objective of present study was to determine possibility of vitrification method to cryopreserve porcine ovarian tissue and to confirm an occurrence of cryoinjuries. Briefly, cryoinjuries and apoptosis patterns in vitrified-warmed ovarian tissue were examined by histological evaluation and TUNEL assay respectively. In results, a damaged morphology of oocytes was detected among groups and the rate was significantly (p < 0.05) lower in vitrification group (25.8%) than freezing control group (67.7%), while fresh control group (6.6%) showed significantly (p < 0.05) lower than both groups. In addition, cryoinjury that form a wave pattern of tissues around follicles was found in the frozen control group, but not in the fresh control group as well as in the vitrification group. Apoptotic cells in follicle was observed only in freezing control group while no apoptotic cell was found in both fresh control and vitrification. Similarly, apoptotic patterns of tissues not in follicle were comparable between fresh control and vitrification groups while freezing control group showed increased tendency. Conclusively, it was confirmed that vitrification method has a prevention effect against cryoinjury and this method could be an alternative approach for cryopreservation of genetic material in pigs. Further study is needed to examine the viability of oocytes derived from vitrified-warmed ovarian tissue.

• Journal of Gastric Cancer
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• 제16권3호
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• pp.182-190
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• 2016

Purpose: This study aimed to establish a large-scale database of patients with gastric cancer to facilitate the development of a nationalcancer management system and a comprehensive cancer control policy. Materials and Methods: An observational prospective cohort study on gastric cancer was initiated in 2010. A total of 14 cancer centers throughout the country and 152 researchers were involved in this study. Patient enrollment began in January 2011, and data regarding clinicopathological characteristics, life style-related factors, quality of life, as well as diet diaries were collected. Results: In total, 4,963 patients were enrolled until December 2014, and approximately 5% of all Korean patients with gastric cancer annually were included. The mean age was $58.2{\pm}11.5$ years, and 68.2% were men. The number of patients in each stage was as follows: 3,394 patients (68.4%) were in stage IA/B; 514 patients (10.4%), in stage IIA/B; 469 patients (9.5%), in stage IIIA/B/C; and 127 patients (2.6%), in stage IV. Surgical treatment was performed in 3,958 patients (79.8%), endoscopic resection was performed in 700 patients (14.1%), and 167 patients (3.4%) received palliative chemotherapy. The response rate for the questionnaire on the quality of life was 95%; however, diet diaries were only collected for 27% of patients. Conclusions: To provide comprehensive information on gastric cancer for patients, physicians, and government officials, a large-scale database of Korean patients with gastric cancer was established. Based on the findings of this cohort study, an effective cancer management system and national cancer control policy could be developed.