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.

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.

八味元이 Streptozotocin 糖尿病에 미치는 影響

김희경,문정숙,박귀영,이다미,이은영,장윤경,황미경 曉星女子大學校 藥學大學 學生會 1988 曉星藥誌 Vol.4 No.-

Streptozotocin was injected to rats and rabbits to induce the experimental diabetes mellitus and Palmiwon was administrated to observe the changes of blood sugar, body weight, and serum Zn, Ca, Mg level in order to find out the effect of diabetic tratment by experimental method. And thus, the result was as follows: 1. The blood sugar level of diabetic rat was decreased after administration of Palmiwon. 2. Body weight of diabetic rat was moderately decreased after administratin of Palmiwon. 3. The less streptozotocin, 30 mg/kg, don't easily induce diabetes mellitus in rabbits. We did not find the changes of blood sugar, serum Zn, Ca, Mg level in the rabbits injected by streptozotocin, 30mg/kg of body weight.

자연의 아름다움과 고급스러움이 공존하는 마임 비에타 쇼룸 제안 -오감 (시각, 청각, 후각, 촉각, 미각)을 중심으로-

김보현,이서연,은다솜,엄연정,이진민,장미정,이성애 숙명여자대학교 산업디자인연구소 2017 숙명디자인학 연구 Vol.24 No.-

본 연구는 국내 브랜드 ‘마임'의 뷰티와 연계한 뷰티 쇼룸을 제안함에 있어서 공간속에 오감을 담아내는 일련의 프로세스를 밝히는데 목적이 있다. 이는 브랜드가 소유하고 있는 다양한 감각과 가치가 결여된 채 시각적 요소만이 담긴 브랜드 뷰티 쇼룸이 대다수를 차지하는 오늘날, 이에 대한 문제를 해결하기 위해 ’융합 연출 디자인'적 시점에서 폭넓게 바라보고 브랜드의 정신과 오감의 결합을 통해 이를 해결하고자 하였다. 이에 본 연구는 2017년 3월~6월 15주간 숙명여대 환경디자인학과 <융합연출 디자인>수업에서 진행된 수업의 결과물로서 산학 연계된 화장품 브랜드의 쇼룸디자인 개발 프로세스를 제안한다. 또한 본 연구의 범위는 오감을 담고 있는 뷰티 쇼룸(4D)이 되기까지의 과정 전체로 한다. 그 결과, 마임 뷰티쇼룸은 공간 디자인과 오감을 융합하여 영상에서 공간에 이르기까지 오감의 조화와 브랜드의 정신을 녹여내고 확장시켰다. 끝으로 본 연구는 뷰티 쇼룸 공간 디자인을 제안함에 있어서 오감을 활용하여 통합된 시점에서 그래픽·제품·공간을 개발 및 제시한 것에 의의가 있다. 또한 향후 이와 관련된 쇼룸 공간 개발에 있어서 기초 자료로 활용될 것으로 기대된다.

박실지의 대형수생식물상과 그 분포에 관한 연구

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%.

모유 수유아와 조제 분유 영양아에서 수유 방법에 따른 아미노산 농도 비교 및 혈청 트립토판 농도와 수면 유도와의 관계

정다운,김은영,양은석,박상기,박영봉,문경래 朝鮮大學校 附設 醫學硏究所 2005 The Medical Journal of Chosun University Vol.30 No.2

Objective: Sleep behavior is modulated by serotonergic neurons within the brain, and the synthesis and release of serotonin by such neurons is thought to be influenced by the availability of tryptophan, the amino acid precursor of serotonin. Formula-feeding infants have depressed plasma tryptophan concentration relative to breast milk-feeding infants. Because tryptophan alters sleep waking patterns in adults, a study was designed to determine the difference of sleep latency relative to differences in plasma tryptophan and tryptophan : large neutral amino acid (LNAA) ratio between formula-feeding infants and breast milk-feeding infants. Method: 45 newborns who were born in Chosun University Hospital from December 2002 to December 2003 were selected. The newborns were divided to three group, 15 newborns were fed breast milk and 15 newborns were fed formula A, and last 15 newborns were fed formula B. At 6 weeks and 12 weeks, infants were sampled for measuring of serum amino acid level and tryptophan, tryptophan : LNAA ratio. And we taught infants' parents to measure sleep latency that means the time after a feeding to the first episode of active REM sleep that persist ≥ 1 min. Result: 1) At 6weeks, Serum α-amino-n-butyric acid, citrulline, tryptophan level was higher in formula A group than breastmilk group (P<0.05) and proline level was lower than breast milk group (P<0.05). In formula B group, serum n-amino-n-buryric acid, citrulline, cystine, hydroxylysine, hydroxyproline, isoleucine, leucine, lysine, methionine, phenylalanine, taurine, threonine, valine levels were higher than breastmilk group (P<0.05). And Serum isoleucine, methionine, proline, valine level were higher in formula B group than formula A group (P<0.05). 2) At 12 weeks, serum glutamic acid, methionine, ornithine levels were higher in formula group A than breast milk group (P<0.05). Serum β-alanine, aspartic acid, α-amino-n-butyric acid, ethanolamine, glutamic acid, threonine level were higher in formula B group than breast milk group (P<0.05). Serum β-alanine, ethanolamine levels were higher and arginine level was lower in formula B group than formula A (P<0.05). 3) At 6 weeks, serum tryptophan concentration and tryptophan: LNAA ratio were higher in formula A group (P<0.05). Sleep latency was 21 minutes in formula group A, 24 minutes in breast milk group, 25 minutes in formula B group but there was no statistically significance (P>0.05). 4) At 12 weeks, serum tryptophan concentration and tryptophan: LNAA ratio, time after feeding to the first episode of active REM sleep were no difference with each other group. Conclusion: There is significant difference of serum amino acids between breast-feeding infants and formula-feeding infants. And serum tryptophan and tryptophan: LNAA ratio differ between brest-feeding infants and formula-feeding infants. But there is no association between serum tryptophan, tryptophan: LNM ratio and sleep latency.

노인과 대학생의 낙상 위험 분석

정다현,김예희,김지은,이예영,강현주 순천향대학교 기초과학연구소 2021 순천향자연과학연구 논문집 Vol.27 No.1.2

The purpose of this study was to analyze risk of falls between elderly people and college students. The subjects of this study were 25 people aged 70 years or older and 17 college students located in Asan. We measured sensory, integrated balance, nervous, musculoskeletal system and HQR by FRA system (Inbody, Korea). The results of measurement showed significant differences in sensory system (p<.01), integrated balance (p<.001), nervous system (p<.001), and musculoskeletal system (p<.001) between groups. These results suggest that aging makes difference of function of these systems. In our view, counterplans need to be implemented, including exercise intervention to prevent decreases of fall risk,

Coagulant와 Hydro-cyclone을 결합한 상향류식 여과시스템

김명호,고대현,정다래,이준호 한국교통대학교 2021 한국교통대학교 논문집 Vol.56 No.-

Coagulation Hydro-cyclone can be added to the upward flow filtration system utilizing Fiber-Ball filter media to analyze and evaluate the treatment characteristics in order to Non-point pollution, which is a pollution problem, more efficiently. Hydro-cyclone was added to the existing Filter column to create an Up-Flow Filtration system. The treatment efficiency according to the operating conditions such as turbidity, suspended solids, pH, inflow flow rate, and head loss was analyzed. Comparison of inflow water and runoff water suspended solids and turbidity analysis results showed a minimum treatment efficiency of 93.21% and a maximum treatment efficiency of 99% or more. It was analyzed that the SS and turbidity analysis results showed a treatment efficiency of 80% or more before and after backwashing twice. When Coagulation Hydro-cyclone was added compared to the existing filtration system, it was analyzed that particles that had not been treated as an adsorption fiber company filter medium between particles could be treated.

근피로 후 세 가지 회복 방법

이예영,김지은,서예은,정다연,강현주 순천향대학교 기초과학연구소 2022 순천향자연과학연구 논문집 Vol.28 No.1,2

Muscle fatigue is a symptom that decreases your muscles’ ability to perform over time. It can be associated with a state of exhaustion, often following excessive sports activity or exercise. While exercise is a common cause of muscle fatigue, this symptom can be the result of other health conditions. Muscle fatigue caused by excessive activity limits activities of daily living and difficult to maintain a stable posture. Therefore, the purpose of this study was to investigate the effect of stretching, icing, and sports massage on muscle fatigue recovery.

사무직 근로자의 수면의 질 및 직무스트레스와 우울과의 관련성

강미나,강수영,권수정,김현주,배재원,이보연,이예진,임의롬,정다영,조한솔 이화여자대학교 간호과학대학 2013 이화간호학회지 Vol.- No.47

Purpose: The purpose of this study was to understand the degree of depression, sleep quality, job stress and their association among office workers. Method: A self-administered questionnaire was distributed to 147 workers employed in 5 big enterprises, and 5 small and medium enterprises from October 21 to November 21, 2012. The questionnaires included socio-demographic and health-related characteristics, job-related characteristics, sleep quality, job stress (KOSS) and depression (CES-D). Result: Among all subjects, 23.1% was in the depression group (21 points and over in the CES-D score). Depressive level was positively correlated with job stress and quality of sleep. The adjusted odd ratio for the effects of sleep quality and job stress on depression significantly increased in the depression group compared to that of the normal group. Multiple regression analysis revealed that the following factors of influence had combined explanatory powers on depression: BMI, life satisfaction, quality of sleep, and job stress. Conclusion: The study revealed that complicated influences were exerted on the level of depression by variable factors, as well as socio-demographic characteristics, health-related characteristics, quality of sleep, and job stress. Specifically, the level of depression was influenced by the quality of sleep and job stress.