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Changes of Superoxide Dismutase Activity in Tissues of Mice treated with Methylmercury
Ryoji, Tamamoto,Kimiaki, Sumino,Lee, Myeong Jin,Lee, Won Chang,Kim, Jin Suk 대한보건협회 1992 대한보건연구 Vol.18 No.2
메칠水銀(Methylmercury)을 經口投與한 마우스 組織內 SOD(superoxide dismutase)活性의 變化를 觀察한바, 腎臟內의 메칠水銀과 總水銀分布는 初回 및 再投與 모두에서 他臟器의 水準 보다 높았다(p<0 05). 그리고 腦, 肝 및 腎臟組織內의 SOD活性은 메칠水銀의 初回投與에서 減少됨을 보였으나, 實驗末期에는 實驗前의 水準으로 恢復되었다. 腦組織中의 SOD活性은 肝과 腎臟에서의 그것보다 메칠水銀의 量이 낮은 水準에서 抑制되고 있었다. (p<0.05) Methylmercury(MeHg) shows remarkable toxicity in the central nervous system. while the living systems have specific protective action reacted with enzymes like as quenching systems to peroxidation. The change of superoxide dismutase(SOD) activity was examined in tissues of mice treated with MeHg. Kidneys contained the higest concentration of MeHg and total mercury leves compared to those in other tissues after one or reapeted administration of MeHg. Activity of SOD in brain, liver and kidneys were decreased with an increase of mercurial concentrations at the first stage after MeHg administration but got back to normal levels at the end of experiment. The SOD activity in the brain was inhibited at comparatively lower leyels of MeHg than those in liver and kidneys(p<0.05).
Collision-Avoidance Algorithm for Human-Symbiotic Robot
Yuji Hosoda,Kenjirou Yamamoto,Ryouko Ichinose,Saku Egawa,Junichi Tamamoto,Kouji Tsubouchi,Shinichi Yuta 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
A real-time collision-avoidance algorithm for human-symbiotic robots that are required to avoid multiple pedestrians was developed. An algorithm to predict the likelihood of a collision with obstacles was based on the relative velocities between a moving robot and multiple obstacles. An algorithm that can generate the optimum path sequence to a goal in real time was also developed. The collision-avoidance path is generated by repeating an operation to select two tangent paths that connect a via-point on a path to a collision circle of each obstacle that exists in the relative space. A robot-called EMIEW”-using these algorithms with a system for avoiding collisions with many obstacles moves at a speed of 0.8 m/s in a cluster of five people walking at 1.2 m/s. The repeat period for generating a new avoidance path is 0.5s, and the processing time for the developed algorithm in the each period is a maximum of 4 ms.