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유방암 치료에 있어서 분자적 표적으로서 Heat Shock Protein 70/90의 역할
강희준,홍미경,정성구,김이수 한국유방암학회 2007 Journal of breast cancer Vol.10 No.4
Purpose: Heat shock proteins (hsps) are molecular chaperones that are synthesized by cells in response to various stress conditions. The expression of hsps have been shown to be associated with carcinogenesis and the expression of hsps have been implicated in the biological behavior of tumors. Recently, hsps have emerged as novel molecular targets in anticancer protocols. The objectives of this study were to investigate the significance of hsp 70/90 in breast carcinogenesis and effect of geldanamycin (a blocker of hsp 90) and quercetin (a blocker of hsp 70) on growth inhibition in different breast cancer cell lines. Methods: Breast tissues from 82 patients were obtained between June 2003 and May 2005 at the Department of Surgery, Hallym University Hospital. Expression of hsp 70/90 was studied by immunohistochemistry (IHC) on tissue sections from 63 breast carcinomas and 19 benign breast tissues. Both cytoplasmic and nuclear expression was measured. Expression of hsp 70/90 was also analyzed by use of a Western blot with the breast cancer cell lines. We next investigated the effects of blockers of hsp 70/90 on cell growth of the human breast cancer cell lines. Results: More prominent hsp 90 expression was observed in malignant tissue than in benign tissue by both cytoplasmic and nuclear IHC staining (p<0.001, p<0.001). Nuclear hsp 90 expression was associated with a positive lymph node status (p=0.003) and the presence of poorly differentiated tumors (p=0.028). Expression of hsp 70 was not different in malignant and benign tissues as determined by both cytoplasmic and nuclear IHC staining. The breast cancer cell lines all expressed hsp 70/90. Geldanamycin markedly inhibited the cell growth of these breast cancer cell lines in a dosedependent manner and induced apoptosis in the cell lines. Quercetin inhibited cell growth of the cell lines less efficiently. Conclusion: The expression of hsp 90 was associated with breast carcinogenesis and the presence of more aggressive tumors. Geldanamycin inhibited cell growth of hsp 90 expressing breast cancer cell lines. We suggest that Hsp 90 may be a possible molecular target against breast cancer.
강희준 울산대학교 1997 공학연구논문집 Vol.28 No.2
산업용 로봇의 물리적 구조(Physical Structure)가 고정됨에 따라 로봇의 기능이 제약되는 것을 극복하기 위하여, 로봇의 구성 요소들을 모듈화하고 특정한 작업 요구가 발생함에 따라 그 모듈화된 요소들을 결합하여 최적 기구학적/동력학적 구조의 로봇(Reconfigurable Modular Robot)을 완성하고자 하는 모듈러 로봇의 개념은 여러 연구자에 의해서 소개된 바 있다. 본 논문에서는, 모듈러 로봇의 개념을 구체화하는데 반드시 필요한 작업인 모듈의 선정과 모듈 파라미터 정의 그리고 정의된 모듈로 구성된 모듈러 로봇의 기구학적/동력학적 해석 방안을 연구하고, 이에 근거한 모듈러 로봇 해석 소프트웨어를 개발하였다. In order to overcome the conventional robot's physical limitation to frequent changes in operational requirements, it is quite appealing to modularize its system components and allow them to be combined into various configurations to best suit the needs of a particular application. The concept of modular robot has been presented by several researchers. In this paper, the kinematics and dynamics of modular robot are studied, which concretes the concept of modular robot. This study includes the selection of individual module, the definition of their parameters and the development of module based kinematic/dynamic analysis software.
로보트 매니플레이터의 KIC-Based 동력학적 모델링의 개선 방안 연구
강희준 울산대학교 1993 공학연구논문집 Vol.24 No.2
본 논문은 기존의 KICs(Kinematic Influence Coefficients)에 근거한 로보트 매니퓰레이터의 동력학적 모델링 방법과 그 적용의 장점을 소개하고, 이 방법의 단점인 계산의 비효율성을 극복하기 위한 개선 방안을 제시한다. 제시된 방법은 Generalized Augmented Body 개념을 기초로 하고, 기존의 방법에 비교하여 동력학적 모델을 구하는데 필요한 계산의 갯수(Computational Counts)의 44% 감소를 이루었다. In this paper, the current KIC(Kinematic Influence Coefficients) based dynamic modeling algorithm of robot manipulators is modified to overcome its computational inefficiency. The modification is made by the introduction of the generalized body concept. This modified algorithm allows a 44% computational saving over the current optimized method.
복수 협력 여유 관절 로보트 매니퓰레이터 시스템의 관절럭 최적화
강희준 울산대학교 1993 공학연구논문집 Vol.24 No.2
본 논문에서는, 복수의 여유 관절 매니퓨레이터들이 협력하여 하나의 공통 물체를 정해진 경로에 따라 움직이고자 할 때, 이 시스템 내부에 존재하는 여유도(redundancy)를 이용한 관절력 최적화 문제가 고려된다. 관절력 최적화 문제에서 흔히 발생하는 관절력의 불안정성을 해결하기 위하여 널 스페이스 댐핑 방법이 제안, 적용된다. 고려된 방법의 효율성은 3개의 복수 협력 로보트의 시뮬레이션을 통하여 입증된다. In this article, joint torque optimization is considered for multiple cooperating redundant manipulators rigidly handling a common object. This work focuses on finding the optimal distribution of the operational forces of a multiple redundant manipulator system to the individual mainipulators. Two joint torque optimization schemes(local joint torque minimization and natural joint motion) are formulated and compared. From the simulation results of a system of three cooperating redundant manipulators, the natural joint motion scheme is shown to be better than the local joint torque minimization scheme with regard to global torque minimization capability and the resulting stability of motion. However, in order to guarantee the stability, the null space damping method is required for the both schemes. The effectiveness of the null space damping method is demonstrated by simulation. Additionally, the condition for the distribution of the operational forces required to drive the given system along a natural joint motion trajectory is addressed.