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.

시중에 판매되고 있는 아이스크림의 일반세균 및 대장균군 오염 실태

정다운,김영환,손종렬,변상훈 高麗大學校 倂設 保健大學 保健科學硏究所 2003 保健科學論集 Vol.29 No.1

Ice cream is a vastly consumed food enjoyed by a wide range of people. Therefore, it is easily accessible and amounts to hundreds of its kind. Ice cream is a ready-made food which could be served without undergoing cooking process and thus putting weight on its hygienic condition. And so we set out to conduct some research on the number of E-coli bactria contained in commercially sold ice creams. We applied Lactose broth method along with Desoxycholate agar method which enables us to verify the existence of E-coli bacteria and how much is contained. We focused our research on soft ice creams and aimed to seek out the degree to which they were contaminated by E-coli bacteria. 4 major distributors of soft ice cream out of 5 didn't meet the maximum allowance of E coli bacteria to be found. The number of general bacteria observed per 1 ㎖ of specimen must be held at less than 100,000, and this wasn't violated by any of the companies' samples. Yet on E-coli testing, all of K, L, B and M companies' samples respectively exceeded the permitted limits of bacteria to be detected.

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.

제1유구치의 조기 상실로 인한 공간 변화에 대한 3차원적 분석

김지연,정다운,곽소연,유승은,박기태 大韓小兒齒科學會 2008 大韓小兒齒科學會誌 Vol.35 No.2

본 연구는 제1유구치의 조기 상실 시 공간 변화에 대한 분석을 위하여 3-Dimensional Laser Scanner를 이용하여 그 유용성을 평가하고자 하는 예비논문이다. 6세-8세 사이의 제1대구치가 맹출하여 확실한 교합 관계를 이루는 혼합치 열기 어린이 중 편측 제1유구치의 조기 발치가 필요한 6명의 발치 전 후의 모형을 이용하여 다음과 같은 결과를 얻었다. l. 유구치 공간변화는 상악은 실험군과 대조군 모두 현저한 감소를 보이지 않았고, 하악은 실험군에서 3명 중 2명에서 공간감소가 관찰되었다. 2. 치열궁 너비,치열궁 둘레는 초기모형과 최종모형에서 비슷한 값을 보였다. 3. 협설측 경사도 변화는 유견치에서는 상하악 모두 특별한 경향을 보이지 않았으며,제2유구치는 상악은 실험군과 대조군이 유사하였고,하악에서는 3명중 2명에서 실험군이 더 큰 설측경사도 변화를 보였다. 제1대구치는 하악에서 실험군이 더 큰 설측경사도 변화가 관찰되었다. 4. 근원심 경사도 변화 측정에서 유견치는 상하악 모두 특별한 경향이 관찰되지 않았고 제2유구치의 경우 하악에서 실험군이 더 큰 근심경사도 증가가 보였다. 제1대구치는 상악에서 실험군,대조군 모두 원심 경사도가 증가되었다. The purpose of this study was to evaluate a 3-Dimensional laser scanner for the space analysis after loss of a primary first molar. Six children with premature loss of a primary first molar were examined using study models taken before and after the extraction. The results were as follows: 1. There was no change in primary molar space after the extraction of a maxillary primary first molar However, 2 out of 3 children experienced primary molar space loss in extraction side of a mandibular primary first molar. 2. Arch width and arch perimeter showed no difference between initial and final model. 3. All primary canines did not show any changes in inclination. Maxillary primary second molars had similar changes in both extraction and control side. However, 2 out of 3 mandibular primary second molars in extraction side showed more lingual tipping compared to control side. Mandibular permanent first molars tipped more lingually in extraction side. 4. In angulation, primary canines showed nothing of significance. Mandibular primary second molars tipped more mesially in extraction side than in control side. Maxillary permanent first molars have increased distal angulation after extraction of primary first molars in both side.

디메틸포름아미드 노출 근로자의 요중 N-메틸포름아미드 분석시 GC-NPD와 GC-FID 방법간 비교

정다운,김현욱 가톨릭대학산업의학센타 산업의학연구소 1999 韓國의 産業醫學 Vol.38 No.1

This purpose of the this study was to compare the results of two analytical techniques, GC-NPD and GC-FID, of quantifying urinary NMF from 70 DMF exposed workers in synthetic resins, leather, and dye manufacturing industries. In addition, the relationship between conecntrations of airborne DMF and urinary NMF was investigated using samples collected from 12 workers. Airborne DMF was sampled using both charcoal and silicagel tubes. All urine specimens were collected both prior-to and at end-of workshifts. The results were as follows: 1. The detection limits of urinary NMF by GC-FID and GC-NPD were 0.043㎎/l and 0.009㎎/l, respectively. The recovery rates were 96.9% for the GC-NPD and 90.2% for the GC-FID methods. 2. Desorption efficiencies of DMF on Charcoal tubes were very poor with 32.96%, while those on silicagel tubes were marginally acceptable with 85.70%. 3. A statistically significant relationship between concentrations of airborne DMF and urinary NMF from 12 workers determined by GC-NPD (r=0.74) and by GC-FID (r=0.67) was observed. 4. Geometric mean concentrations of urinary NMF of the end-of-shift urines from 70 workers were 15.84㎎/g creatinine by GC-NPD and were 9.88㎎/g creatinine by GC-FID, respectivery. For the prior-to-shift samples, they were 6.05 ㎎/g creatinine by GC-NPD and 0.92㎎/g creatinine by GC-FID. These results of this study suggest that for collecting airborne DMF in the workplace, silicagel tubes should be utilized. For quantifying urinary NMF concentrations as a biological marker of DMF exposed workes, urine should be collected at the end-of-shift. Urinary NMF should be analyzed by GC-NPD because of its lower of detection and better precision than that of GC-FID.

안내염과 대장암이 동반된 재발성 간농양

전승정,김태헌,류민선,오다연,송명은,이신아,류재인,김혜인,문일환,유권 이화여자대학교 의과학연구소 2011 EMJ (Ewha medical journal) Vol.34 No.2

The causes of pyogenic liver abscess has been known as biliary tract disease or intrabadominal infection but the large proportions of the patients has no apparent underlying disorders. Recently colonic mucosal lesions were reported in patients with cryptogenic liver abscess and it has been suggested that colonic mucosal break may play a role in developing liver abscess in otherwise healthy patients. We experienced a patient of severe recurrent liver abscess complicated with endophthalmitis only 3 months after successful treatment of initial cryptogenic liver abscess and a polypoid colon cancer was discovered by chance. It seems prudent to proceed colonoscopic examination in patients with cryptogenic liver abscess especially when it is recurrent.

분말혼화제를 사용한 콘크리트 포장(包裝)화에 관한 기초적 연구

한다희,김영주,박무영,박희곤,이영도,정상진 대한건축학회 2004 대한건축학회 학술발표대회 논문집 - 계획계/구조계 Vol.24 No.1(구조계)

Most concrete is recently made of an aggregate which is properly absorbed, and carried in it according to its capability at every fields. We have been close to demand new capability of high flowing and enduring for specific concretes. That is difficult to cope with claiming the efficiency on deterioration from lack of a high quality aggregate. Therefore, For solving the problems we apply to method of packaged dry combined materials for concrete using dried materials. That is to say that it is a kind of making into an instant. In this study, There is a purpose to present fundamental data, comparing and analyzing a phenomenon of aggregate's absorption following the rate of adding water, for using existing materials.

건조 재료를 사용한 콘크리트의 포장화에 관한 실험적 연구

한다희,박희곤,백민수,김성식,이영도,정상진 대한건축학회 2003 대한건축학회 학술발표대회 논문집 - 계획계/구조계 Vol.23 No.2

Most concrete is recently made of an aggregate which is properly absorbed, and earned in it in order to do capability at every fields. We have been close to demand new capability of high flowing and enduring for specific concretes. That is difficult to cope with claiming the efficiency on deterioration from lack of a high quality aggregate. Therefore, For solving the problems we apply to a packing method for using dried materials. That is to say it is a kind of making into an instant. In this study, There is a purpose to present fundamental data, comparing and analyzing a phenomenon about aggregate's absorption following the rate of adding water, for using existing materials.

간호사의 이미지에 따른 간호전공만족도

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.

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.