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.

Selective Electrochemical Detection of Dopamine Using Reduced Graphene Oxide Sheets-Gold Nanoparticles Modified Electrode

Park, Da-Jeong,Choi, Jin-Ha,Lee, Won-Jin,Um, Soong Ho,Oh, Byung-Keun American Scientific Publishers 2017 Journal of nanoscience and nanotechnology Vol.17 No.11

<P>Dopamine (DA) is one of the most significant neurotransmitters, and it has a major role in the central nervous system, such as in cognition, motivation, and memory. Some neural diseases, including Alzheimer's disease (AD) and Parkinson's diseases (PD), are related with a lack of DA. Thus, the detection of DA is necessary for the early diagnosis of such diseases. In this study, we fabricate an electrochemical sensor by modifying an electrode with reduced graphene oxide sheet (rGS)-gold nanoparticle (GNP) complexes to determine DA and ascorbic acid (AA) in a mixture within a range of 0.1-100 mu M. The rGS was used to improve the selectivity of the sensor by having pi-pi interaction with DA, and the GNPs improved the sensitivity due to their great conductivity and large surface area. As a result, when the GNPs were immobilized on the rGS surface, the sensor exhibited greatly improved electrocatalytic activity compared with other cases, such as the individual application of rGS or GNPs. The performance of the sensor with the modified electrode was confirmed by scanning electron microscopy (SEM), cyclic voltammetry (CV), and differential pulse voltammetry (DPV) measurements. The results showed that it had linearity in the range of 0.1-100 mu M of DA and the limit of detection was 0.098 mu M in the presence of AA 400 mu M. Therefore, it could be applied to medical biosensors to diagnose neural diseases.</P>

Hepatic Cirrhosis Occurring in a Young Woodchuck(Marmota monax) Due to Vertical Transmission of Woodchuck Hepatitis Virus(WHV)

Kyu-shik Jeong,정원일,Jae-yong Chung,Mi-young An,Chae-yong Jung,Gyoung-jae Lee,Jong-soo Kang,Byeong-cheol Kang,Young-heun Jee,Bruce H Williams,Young-oh Kwon,Da-hee Jeong 대한수의학회 2003 Journal of Veterinary Science Vol.4 No.2

Cirrhosis Occurring in a Young Woodchuck (Marmota monax) Due to Vertical Transmission of Woodchuck Hepatitis Virus (WHV)Da-hee Jeong, Won-il Jeong, Jae-yong Chung, Mi-young An, Chae-yong Jung, Gyoung-jae Lee1, Jong-soo Kang1, Byeong-cheol Kang2, Young-heun Jee3, Bruce H Williams4, Young-oh Kwon5 and Kyu-shik Jeong*College of Veterinary Medicine, Kyungpook National University, Daegu 702-701, Korea1Shinwon Scientific Co., LTD, Research Institute, Suwon, Korea2Clinical Research Institute, Seoul National University, Seoul 110-744, Korea3College of Veterinary Medicine, Jeju National University, Jeju 690-756, Korea

Oxalate와 Enrofloxacin투여한 랫트신장에 대한 병리조직학적관찰

오원석,이차수,오규실,정원일,정재용,정다히,정규식 한국임상수의학회 2003 한국임상수의학회지 Vol.20 No.4

To investigate the renal effects of enrofloxacin administration on rats induced with dehydration or hyperoxaluria, male rats were treated with enrofloxacin of 50 mg to 500 mg/kg b.w.. The microscopical observations of kidney and urine sediment were carried out in the experimental groups. The result obtained were as follows; The male rats deprived of water for 72 hours and administered with enrofloxacin. As enrofloxacin administration dose was increased, clinical signs such as loss of appetite, depression, weakness, and loss of urine output became more severe. In the histopathological findings, there were hyperemia and hemorrhage in renal cortex, vacuolation and necrosis of renal tubular epithelia, proteinous casts within renal tubules. The male rats were orally administered with sodium oxalate and injected with enrofloxacin for 7days. As enrofloxacin administration dose was increased, clinical signs such as the loss of appetite and water consumption, and weakness became more severe. In the histopathological findings, there are hemorrhage of glomeruli and cortical hyperemia, vacuolation and necrosis of tubular epithelia, proteinous casts in renal tubules. In the microscopical findings of urine sediment, there are calcium oxalate crystal (diamond-like type) and magnesium ammonium phosphate crystals (rhomboid). The male rats were intraperitoneally injected with sodium oxalate and administered with enrofloxacin for 7days. As enrofloxacin administration dose was increased, clinical signs such as the loss of appetite and water consumption, weakness were more severe. In the histopathological findings, there were hyperemia and hemorrhage in both glomeruli and renal cortex. Severe necrosis of renal tubular epithelia, bluish materials within renal tubules were also found. In the microscopical findings of urine sediment, there were many calcium oxalate crystals. The present results suggest that enrofloxacin has some injurious effects in rats having dehydration or hyperoxaluria, and clinically, we should consider these renal injury effects when we use enrofloxacin in patients accompanied renal disease, dehydration and hyperoxaluria conditions.

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.

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.

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,

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.

브랜딩·스타일링·마케팅을 결합한 스페이스 디자인 프로세스 연구 - 작품‘Fill the Red, Feel the Red'를 중심으로 -

은다솜,장효실,최해원,홍지현,이진민,장미정,이성애 숙명여자대학교 디자인연구소 2018 숙명디자인학 연구 Vol.25 No.-

본 연구는 디자인 분야와 마케팅 분야의 전략을 종합하여 전략적 연결점을 찾아내 요소들 간 융합을 이루는 사례를 제시하여 브랜드·스페이스·마케팅에서 새로운 방향성과 아이디어를 제시하는데 목적을 둔다. 이에 본 연구는 2017년 9월~12월까지 ㈜애경과 산업 연계하여 진행된 숙명여대 환경디자인학과 ‘브 랜딩·스타일링·마케팅’ 교과목에서 도출된 ‘fill the red, feel the red’ 프로젝트를 마케팅 및 디자인 프로세스, 결과물을 도출하여 그 과정들을 밝힌다. 아울러 본 연구는 브랜드 스페이스 마케팅에 대한 이론적 고찰을 통해, 브랜드 스페이스(팝업스토어)를 개발 및 스타일링하며 ㈜애경의 화장품 브랜드 ‘LUNA’를 브 랜딩, 스타일, 마케팅적 측면에서 종합적으로 연계하여 도출되는 과정들을 제안함으로서 향후 브랜드 스페이스 디자인과 마케팅 분야에 체계적이고 창의적인 방법들로 결과물을 도출하는데 기초자료로 활용하는데 의의가 있다.

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.