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Virtual Pheromone Map Building and a Utilization Method for a Multi-purpose Swarm Robot System
문우성,백광렬,장진원,김한솔 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.6
Swarm robotics is an approach to realizing an intelligent system using swarm intelligence that emerges from complex interactions among individual robots. To implement a swarm robot system requires an efficient method for sharing and utilizing the information that is gathered by multiple robots. In this paper, we propose an algorithm to gather, simplify, share, and use the information in a multi-purpose swarm robot system. To minimize communications traffic among the robots, we use a graph-based map-building method. Furthermore, the nodes on the graph include information about the environment for control and interaction among the robots. We refer to this graph-based map as a virtual pheromone map. We propose an efficient algorithm to build a virtual pheromone map with low communications traffic and without contradictions using error-included sensors. The utilization method of the virtual pheromone map is efficient for implementing the interactions among the robots. The proposed algorithms are validated by a computer simulation. The result of the simulation shows that the virtual pheromone map-based swarm robot system works efficiently from the effects of swarm intelligence.
간세포암종에서 β-catenin의 핵 내 발현과 임상병리적 인자들과의 관계
문우성,곽형종,최하나,황성호,최금하,박호성,장규윤,정명자,강명재,이동근 대한병리학회 2008 Journal of Pathology and Translational Medicine Vol.42 No.4
Background : Hepatocellular carcinoma (HCC) is the most common primary malignant tumor of the human liver. However, the molecular changes and mechanisms that regulate the development and progression of HCC remain unclear. Beta-catenin is known as a multi-functional protein that acts as a regulator of the cadherin-mediated cell-cell adhesion system and also in the Wingless/Wnt signal transduction pathway. The aim of this study was to investigate the expression of β-catenin and its possible role in HCC. Methods : We investigated the expression of β-catenin, Ki-67, TP53, α-smooth muscle actin and CD34 by performing immunohistochemical staining for 61 specimens of HCC and their adjacent non-tumorous tissue. We also examined the relationship between the nuclear expression of β-catenin and the clinicopathologic parameters. Results : The altered expression of β-catenin was not detected in the nontumorous liver tissue. The nuclear expression of β-catenin was observed in approximately 16%(10/61) of the HCC specimens. Double immunohistochemical staining for β-catenin and E-cadherin showed a close relationship between nuclear translocation of β-catenin and the loss of the membranous E-cadherin expression. Significant correlation was found between the nuclear translocation of β-catenin and the tumor size, tumor necrosis and the presence of microvessel invasion and intrahepatic metastasis (p<0.05). Conclusions : This data indicates that nuclear translocation of β-catenin could play a role in the growth and progression of HCC.
급성 간 손상시 Fat Storing Cell의 변화에 관한 형태학적 검색
문우성,강명재,이동근,최호열,김상호 의과학연구소 1996 全北醫大論文集 Vol.20 No.1
The present study was undertaken to investigate the role of fat storing cell(FSC) in ICR mice with acute liver injury induced intraperitoneal injection of carbon tetrachloride, using light and electron microscopy. During the first two days after poisoning, centrilobular necrosis and proliferation of FSCs were most prominent. From the 3rd day onward, extracellular collagen fibers increased gradually. Ultrastructually, proliferated FSC contained well developed rough endoplasmic reticulum (rEr) and a small amount of lipid droplets with a few mitochondria, and typical collagen fibrils were frequently seen in close proximity to these cells after the fifth day. This study suggest that fibrosis in the acutely damaged liver is due to connective tissue synthesis by the activation of FSC and the FSC is the precursor of the fibroblast.
문우성,이동근,오강열,장성강,최호열,김상호 의과학연구소 1992 全北醫大論文集 Vol.16 No.3
A 25 year-old male with angioimmunoblastic tyrnphadenophthy(AILD) was reported with review of literatures. Clinically, he complained of generaized tyrnphadenopathy, fever, cutaneous rash, and splenomegaly and serum protein electroporesis revealed polyclonal gammopathy. Histologic finding of excised Iymph node were characterized by 1) loss of nodal architecture and infiltration of immunoblasts, plasma cells, Iymphocytes and eosinophils, 2) prominent proliferation of arborizing blood vessels, and 3) deposit of PAS-positive amorphous materials in the interstitium. After 3 weeks of prednisolon therapy, remarkable improvement of his clinical was occurred and alive 20 months after diagnosis.
간세포암종에서 편평세포 성장인자와 c-ErbB-2의 발현 부재
문우성,손현진,박호성,박민영 대한병리학회 2004 Journal of Pathology and Translational Medicine Vol.38 No.4
Background : The overexpression of epidermal growth factor receptor (EGFR) and c-erbB- 2 oncogenes has been implicated in the development of many types of cancer. However, the role of EGFR and c-erbB-2 overexpression in hepatocellular carcinoma (HCC) has not been fully elucidated. Methods : The aim of this study was to evaluate the immunohistochemical expression of EGFR and c-erbB-2 oncoprotein in a series of 52 HCCs. Results : All but one of the HCC tumor tissues were negative for EGFR monoclonal antibody, clone H11. All of the HCC tumor tissue samples were negative for EGFR monoclonal antibody, clone 29.1.1. However, strong EGFR immunoreactivity was detected in sinusoidal endothelial cells of HCC in 25 tumors (48%) using EGFR 29.1.1 antibody. The expression of c-erbB-2 was observed in 6% (3/52) of the HCCs. No significant correlation was found between p53 mutation and the expression of c-erbB-2. Conclusion : Our results suggest that both EGFR and c-erbB-2 oncoprotein overexpressions in tumor cells are rare and do not seem to predominantly contribute to the malignant phenotype in HCC.
문우성,장규윤,정명자,강명재,이동근,이호,박호성 대한병리학회 2009 Journal of Pathology and Translational Medicine Vol.43 No.2
Background : Nerve growth factor (NGF) has been suggested to participate in tumor progression and it can interact with its receptor p75NGFR. In the present study, we investigated the expressions of NGF and p75NGFR in hepatocellular carcinoma (HCC). Methods : We performed immunohistochemistry for NGF, p75NGFR and PCNA in 45 cases of HCCs, and examined the relationships between the clinicopathologic factors and the immunohistochemical results. Results : NGF was detected in 84.4% (38/45) of the tumor cells and in 64.4% (29/45) of the non-tumorous hepatocytes. Furthermore, a NGF expression was present in 28.9% (13/45) of the endothelial cells in the HCCs, but in 80% (36/45) of the endothelial cells in the non-tumor liver tissue. The tumor cells were negative for p75NGFR in all the HCCs. Although a p75NGFR expression was present in all the nerve fibers in the non-tumor liver tissues, it was markedly reduced (42.2%; 19/45) in the HCCs and a p75NGFR expression was observed at the sinusoids or around the large vessels. The HCCs expressing NGF, either in the tumor cells or the endothelial cells, showed a larger size than those HCCs that didn’t express NGF. The NGF positive tumors showed a tendency toward a higher PCNA-labeling index than did the negative tumors. Conclusions : The changed localization of the NGF expression and the decreased expression of p75NGFR are associated with hepatic carcinogenesis. We suggest that a NGF expression may contribute to the progression of HCC.
문우성,유희철,조백환,김영곤,노상재 대한병리학회 2010 Journal of Pathology and Translational Medicine Vol.44 No.5
Solitary fibrous tumor is an uncommon neoplasm of mesenchymal origin that primarily affects the pleura. This tumor has been rarely found in liver parenchyma. We present an additional case of a solitary fibrous tumor in the liver of a 46-year-old woman. A contrast-enhanced magnetic resonance image revealed a well-defined round hepatic mass with strong homogeneous enhancement on arterial phase imaging. The tumor was composed of cytologically bland spindle cells with alternating hypercellular and hypocellular sclerotic areas. Immunohistochemistry indicated that the tumor cells were positive for vimentin, CD34, CD99 and smooth muscle actin, but negative for cytokeratin, human melanoma black 45, CD117, bcl-2, and S-100 protein.