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휴먼형 로봇 손의 사물 조작 수행을 이용한 인간 행동 복제 강화학습 정책 최적화 방법 성능 평가
박나현 ( Na Hyeon Park ),오지헌 ( Ji Heon Oh ),류가현 ( Ga Hyun Ryu ),( Edwin Valarezo Añazco ),( Patricio Rivera Lopez ),원다슬 ( Da Seul Won ),정진균 ( Jin Gyun Jeong ),장윤정 ( Yun Jung Chang ),김태성 ( Tae-seong Kim ) 한국정보처리학회 2020 한국정보처리학회 학술대회논문집 Vol.27 No.2
로봇이 사람과 같이 다양하고 복잡한 사물 조작을 하기 위해서 휴먼형 로봇손의 사물 파지 작업이 필수적이다. 자유도 (Degree of Freedom, DoF)가 높은 휴먼형(anthropomorphic) 로봇손을 학습시키기 위하여 사람 데모(human demonstration)가 결합된 강화학습 최적화 방법이 제안되었다. 본 연구에서는 강화학습 최적화 방법에 사람 데모가 결합된 Demonstration Augmented Natural Policy Gradient (DA-NPG)와 NPG 의 성능 비교를 통하여 행동 복제의 효율성을 확인하고, DA-NPG, DA-Trust Region Policy Optimization (DA-TRPO), DA-Proximal Policy Optimization (DA-PPO)의 최적화 방법의 성능 평가를 위하여 6 종의 물체에 대한 휴먼형 로봇손의 사물 조작 작업을 수행한다. 그 결과, DA-NPG 와 NPG를 비교한 결과를 통해 휴먼형 로봇손의 사물 조작 강화학습에 행동 복제가 효율적임을 증명하였다. 또한, DA-NPG 는 DA-TRPO 와 유사한 성능을 보이면서 모든 물체에 대한 사물 파지에 성공하여 가장 안정적이었다. 반면, DA-TRPO 와 DA-PPO 는 사물 조작에 실패한 물체가 존재하여 불안정한 성능을 보였다. 본 연구에서 제안하는 방법은 향후 실제 휴먼형 로봇에 적용하여 휴먼형 로봇 손의 사물조작 지능 개발에 유용할 것으로 전망된다.
Tae-Jun Kwon,Da-Sol Lee,Md. Enamul Haque,Rang-Woon Park,Byungheon Lee,Dongkyu Kim,Yong-Hyun Jeon,Kil-Soo Kim,Sang Kyoon Kim 한국실험동물학회 2021 한국실험동물학회 학술발표대회 논문집 Vol.2021 No.7
The development of reliable methods to diagnose acute kidney injury is essential to allow the adoption of early therapeutic interventions and evaluate their effectiveness. Based on the fact that kidney injury molecule-1 (KIM-1) expression levels in kidneys are markedly upregulated early after a damage event, here we developed a noninvasive KIM- 1-based molecular imaging technique to detect kidney injury. First, we took advantage of a phage-display platform to select small peptides demonstrating a specific high binding affinity to KIM-1. The promising candidate was conjugated with fluorescent probes, and its imaging potential was validated in vitro and in vivo. This peptide, with the sequence CNRRRA, not only showed a high imaging potential in vitro, allowing a strong detection of KIM-1 expressing cells by microscopy and flow cytometry but also generated a strong kidney-specific signal in live-imaging in vivo experiments in the context of a drug-induced kidney-injury mouse model. Our data overall suggest that the CNRRRA peptide is a promising probe to use in the context of in vivo imaging for the detection of KIM-1 overexpression in damaged kidneys.
Enhanced Systemic siRNA Delivery Using Reducible Bile Acid-modified PEI for Cancer Therapy
Chae eun PARK,Su yeon LIM,Da hwun KIM,Siyan LYU,Byung deok KIM,Oui bo WHANG,Ji hoon JEONG 한국생물공학회 2021 한국생물공학회 학술대회 Vol.2021 No.10
Small interfering RNA (siRNA) contributes to RNA interference(RNAi) by inhibiting target gene expression in a sequence-specific manner. siRNA delivery system have become increasingly popular for cancer therapy. In this study, we used a low molecular weight polyethylenimine (PEI, 1.8 kDa) conjugated with deoxycholic acid (DA). A DA-PEI conjugate was further modified with 4-fluorothiophenol (4-FTP) (4-FTP-DA-PEI) to enhance systemic siRNA delivery. The thiophenol group would be involved with disulfide bonds between the polymer chains and siRNA modified with free thiols (thiol-siRNA) to form and π-π interactions between the pendent aromatic groups and coprostane ring of the bile acid. The stabilized TP-DA-PEI conjugate with thiol-siRNA achieved developed intracellular uptake, serum stability, and transfection efficiency. Furthermore, it shows high accumulation of TP-DA-PEI/thiol-siRNA polyplexes and significant tumor growth inhibition effect in tumor-bearing mice after systemic administration.
Whole-genome resequencing analysis of 20 Micro-pigs
Da‑Hye Son,Nam‑Hyun Hwang,Won‑Hyong Chung,Ha‑Seung Seong,Hyungbum Lim,Eun‑Seok Cho,Jung‑Woo Choi,Kyung‑Soo Kang,Yong‑Min Kim 한국유전학회 2020 Genes & Genomics Vol.42 No.3
Background Miniature pigs have been increasingly used as mammalian model animals for biomedical research because of their similarity to human beings in terms of their metabolic features and proportional organ sizes. However, despite their importance, there is a severe lack of genome-wide studies on miniature pigs. Objective In this study, we performed whole-genome sequencing analysis of 20 Micro-pigs obtained from Medi Kinetics to elucidate their genomic characteristics. Results Approximately 595 gigabase pairs (Gb) of sequence reads were generated to be mapped to the swine reference genome assembly (Sus scrofa 10.2); on average, the sequence reads covered 99.15% of the reference genome at an average of 9.6-fold coverage. We detected a total of 19,518,548 SNPs, of which 8.7% were found to be novel. With further annotation of all of the SNPs, we retrieved 144,507 nonsynonymous SNPs (nsSNPs); of these, 5968 were found in all 20 individuals used in this study. SIFT prediction for these SNPs identified that 812 nsSNPs in 402 genes were deleterious. Among these 402 genes, we identified some genes that could potentially affect traits of interest in Micro-pigs, such as RHEB and FRAS1. Furthermore, we performed runs of homozygosity analysis to locate potential selection signatures in the genome, detecting several loci that might be involved in phenotypic characteristics in Micro-pigs, such as MSTN, GDF5, and GDF11. Conclusion In this study, we identified numerous nsSNPs that could be used as candidate genetic markers with involvement in traits of interest. Furthermore, we detected putative selection footprints that might be associated with recent selection applied to miniature pigs.
가미정,김수미,김영경,남수진,오루미,육지수,이혜인,최미나,최혜민,허다은 이화여자대학교 간호과학대학 2010 이화간호학회지 Vol.- No.44
Purpose: The purpose of this descriptive study is to examine the correlation between nursing students’ perception of nurses and the level of their satisfaction with the major. Method: The survey was done with the total number of 192 nursing students from 10 different universities in S city selected by a convenience samplingmethod. In order to measure the perception of nurses, the measurement which was invented by Lee(1992) and revised by Jang(1998) was used. Also, the measurement designed by Shim, and modified by Kim(2007) was used for measuring of the students’ satisfaction in their major. The collected data was analyzed by SPSS 17.0. Results: 1.The most decisive factor of the conceptualization of the image of nurses for the nursing college students is their experience of meeting nurses as a patient. 2. Students reconsider the role of nurses by experiencing immediate relationships with nurses in field training. 3. Other factors of the survey such as the students’academic year, religion, the field training situation (individual experience, type of the hospital where they experienced the training, and a relationship with the nurse in charge of the training) or the existence of nurses among their family members do not affect the students’ satisfaction. 4. There is a positive correlation between the image of nurses of nursing college students and their satisfaction with the major(0.66). Conclusion: The positive image of nurses is directly related to the students’ satisfaction in the nursing major, which hugely affects on their academic achievements and decisions of career path. Therefore, there should be more efforts to increase the positive perception of nurses among nursing students.
( Jae Ho Lee ),( Da Eun Lee ),( Hye Min Choi ),( Ha Hyung Kim3 ),( Ho Kim ),( Jae Sam Hwang ),( Dong Gun Lee ),( Jae Il Kim ) 생화학분자생물학회(구 한국생화학분자생물학회) 2014 BMB Reports Vol.47 No.11
Defensins, which are small cationic molecules produced by organisms as part of their innate immune response, share a common structural scaffold that is stabilized by three disulfide bridges. Coprisin is a 43-amino acid defensin-like peptide from Copris tripartitus. Here, we report the intramolecular disulfide connectivity of cysteine-rich coprisin, and show that it is the same as in other insect defensins. The disulfide bond pairings of coprisin were determined by combining the enzymatic cleavage and mass analysis. We found that the loss of any single disulfide bond in coprisin eliminated all antibacterial, but not antifungal, activity. Circular dichroism (CD) analysis showed that two disulfide bonds, Cys20-Cys39 and Cys24- Cys41, stabilize coprisin’s α-helical region. Moreover, a BLAST search against UniProtKB database revealed that coprisin’s α-helical region is highly homologous to those of other insect defensins. [BMB Reports 2014; 47(11): 625-630]
행동 복제 강화학습 및 딥러닝 사물 부분 검출 기술에 기반한 사람형 로봇손의 사물 조작
오지헌 ( Ji Heon Oh ),류가현 ( Ga Hyun Ryu ),박나현 ( Na Hyeon Park ),( Edwin Valarezo Añazco ),( Patricio Rivera Lopez ),원다슬 ( Da Seul Won ),정진균 ( Jin Gyun Jeong ),장윤정 ( Yun Jung Chang ),김태성 ( Tae-seong Kim ) 한국정보처리학회 2020 한국정보처리학회 학술대회논문집 Vol.27 No.2
최근 사람형(Anthropomorphic)로봇손의 사물조작 지능을 개발하기 위하여 행동복제(Behavior Cloning) Deep Reinforcement Learning(DRL) 연구가 진행중이다. 자유도(Degree of Freedom, DOF)가 높은 사람형 로봇손의 학습 문제점을 개선하기 위하여, 행동 복제를 통한 Human Demonstration Augmented(DA)강화 학습을 통하여 사람처럼 사물을 조작하는 지능을 학습시킬 수 있다. 그러나 사물 조작에 있어, 의미 있는 파지를 위해서는 사물의 특정 부위를 인식하고 파지하는 방법이 필수적이다. 본 연구에서는 딥러닝 YOLO 기술을 적용하여 사물의 특정 부위를 인식하고, DA-DRL 을 적용하여, 사물의 특정 부분을 파지하는 딥러닝 학습 기술을 제안하고, 2 종 사물(망치 및 칼)의 손잡이 부분을 인식하고 파지하여 검증한다. 본 연구에서 제안하는 학습방법은 사람과 상호작용하거나 도구를 용도에 맞게 사용해야하는 분야에서 유용할 것이다.
김인택,정선우,이다정 7개 국립대학교 환경연구논문집 공동발행 위원회 2005 공업기술연구 Vol.5 No.-
The flora(macro-hydrophyte) Vegetation of Baksil reservoir and surrounding area was investigated from March, 2005 to October, 2005. The Macro-hydrophyte of this area consist of 33 taxa : 3 variety, 30 species, 30 genera and 22 family. The Maro-hydrophyte of this area consist of Emergent Plants : 16 species, 14 genera, 11 family, Submerged plants : 4 species, 4 genera, 3 family, Free-floating Plants : 3 species, 3 genera, 2 family, Floating leaved Plants : 2 species, 2 genera, 2 family, Hygrophytes Plants : 5species, 5 genera, 4 family. The communites of Jeongyang lake : Miscanthus Sacchariflorus community, Zizania latifolia community, Phragmites communis community, Tyhpa orientalis community and Trapa japonica community. The life form spectrum : Emergent Plants 49%, Submerged Plants 12%, Free-floating Plants 9%, Floating leaved plants 6%, Hygrophytes plants 15%.
김재헌,이대훈,이성민,최환도,김중완 한국공작기계학회 2001 한국공작기계학회 춘계학술대회논문집 Vol.2001 No.-
This paper presents an strategy algorithm of a soccer robot. We simply classified strategy of soccer robot as attack and defense. We use DC-motor in our Soccer Robot. We use the vision system made by MIRO team of Kaist and Soty team for image processing. Host computer is made by Pentium III. The RF module is used for the communication between each robot and the host computer. Fuzzy logic is applied to the path planning of our robot. We improve strategy algorithm of soccer robot. Here we explain improvement of strategy algorithm and fault of the our soccer robot system.