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A Vertically Intersected Dual Axes Modularized Actuator System (DAMA)
Ren-Jeng Wang,Han-Pang Hung,Tz-How Huang,His-Fan Liao 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
A Vertically Intersected Dual Axes Modularized Actuator System (DAMA) designed for humanoid robots is developed in this paper. The DAMA consists of two independent joint systems, joint 01 and joint02. Joint 01 uses a harmonic drive while joint02 uses a cable arrangement. Based on the simulations of ADMAS and MATLAB software packages, the system dynamic properties can be observed. The system structure is further refined using finite element analysis. In addition, the hardware and software control systems of DAMA are developed. The architecture of hardware is composed of notebook computer, a USB to RS-232 module, an RS-232 to CAN Bus Module and two independent-joint controller modules. The software control system (user interface) is written by Visual C++ 2005 to enable users to manipulate a two-axial robot easily. The system employs a simple, but effective, PID scheme to independently control the DAMA’s two joints. The experimental result shows that, for an S curve input position command, the DAMA’s two independent joints rotate and track the command well. Hence, DAMA can be used as a generic module for a multiple degree-of-freedom system.
Kuo-Feng Hua,A-Ching Chao,Ting-Yu Lin,Wan-Tze Chen,Yu-Chieh Lee,Wan-Han Hsu,Sheau-Long Lee,Hsin-Min Wang,Ding-I. Yang,Tz-Chuen Ju 고려인삼학회 2022 Journal of Ginseng Research Vol.46 No.4
Background: Huntington's disease (HD) is a neurodegenerative disorder caused by the expansion oftrinucleotide CAG repeat in the Huntingtin (Htt) gene. The major pathogenic pathways underlying HDinvolve the impairment of cellular energy homeostasis and DNA damage in the brain. The protein kinaseataxia-telangiectasia mutated (ATM) is an important regulator of the DNA damage response. ATM isinvolved in the phosphorylation of AMP-activated protein kinase (AMPK), suggesting that AMPK plays acritical role in response to DNA damage. Herein, we demonstrated that expression of polyQ-expandedmutant Htt (mHtt) enhanced the phosphorylation of ATM. Ginsenoside is the main and most effectivecomponent of Panax ginseng. However, the protective effect of a ginsenoside (compound K, CK) in HDremains unclear and warrants further investigation. Methods: This study used the R6/2 transgenic mouse model of HD and performed behavioral tests,survival rate, histological analyses, and immunoblot assays. Results: The systematic administration of CK into R6/2 mice suppressed the activation of ATM/AMPK andreduced neuronal toxicity and mHTT aggregation. Most importantly, CK increased neuronal density andlifespan and improved motor dysfunction in R6/2 mice. Conversely, CK enhanced the expression of Bcl2protected striatal cells from the toxicity induced by the overactivation of mHtt and AMPK. Conclusions: Thus, the oral administration of CK reduced the disease progression and markedlyenhanced lifespan in the transgenic mouse model (R6/2) of HD.