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.

Whole-genome resequencing analysis of 20 Micro-pigs

Da‑Hye Son,Nam‑Hyun Hwang,Won‑Hyong Chung,Ha‑Seung Seong,Hyungbum Lim,Eun‑Seok Cho,Jung‑Woo Choi,Kyung‑Soo Kang,Yong‑Min Kim 한국유전학회 2020 Genes & Genomics Vol.42 No.3

Background Miniature pigs have been increasingly used as mammalian model animals for biomedical research because of their similarity to human beings in terms of their metabolic features and proportional organ sizes. However, despite their importance, there is a severe lack of genome-wide studies on miniature pigs. Objective In this study, we performed whole-genome sequencing analysis of 20 Micro-pigs obtained from Medi Kinetics to elucidate their genomic characteristics. Results Approximately 595 gigabase pairs (Gb) of sequence reads were generated to be mapped to the swine reference genome assembly (Sus scrofa 10.2); on average, the sequence reads covered 99.15% of the reference genome at an average of 9.6-fold coverage. We detected a total of 19,518,548 SNPs, of which 8.7% were found to be novel. With further annotation of all of the SNPs, we retrieved 144,507 nonsynonymous SNPs (nsSNPs); of these, 5968 were found in all 20 individuals used in this study. SIFT prediction for these SNPs identified that 812 nsSNPs in 402 genes were deleterious. Among these 402 genes, we identified some genes that could potentially affect traits of interest in Micro-pigs, such as RHEB and FRAS1. Furthermore, we performed runs of homozygosity analysis to locate potential selection signatures in the genome, detecting several loci that might be involved in phenotypic characteristics in Micro-pigs, such as MSTN, GDF5, and GDF11. Conclusion In this study, we identified numerous nsSNPs that could be used as candidate genetic markers with involvement in traits of interest. Furthermore, we detected putative selection footprints that might be associated with recent selection applied to miniature pigs.

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

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.

시중에 판매되고 있는 아이스크림의 일반세균 및 대장균군 오염 실태

정다운,김영환,손종렬,변상훈 高麗大學校 倂設 保健大學 保健科學硏究所 2003 保健科學論集 Vol.29 No.1

Ice cream is a vastly consumed food enjoyed by a wide range of people. Therefore, it is easily accessible and amounts to hundreds of its kind. Ice cream is a ready-made food which could be served without undergoing cooking process and thus putting weight on its hygienic condition. And so we set out to conduct some research on the number of E-coli bactria contained in commercially sold ice creams. We applied Lactose broth method along with Desoxycholate agar method which enables us to verify the existence of E-coli bacteria and how much is contained. We focused our research on soft ice creams and aimed to seek out the degree to which they were contaminated by E-coli bacteria. 4 major distributors of soft ice cream out of 5 didn't meet the maximum allowance of E coli bacteria to be found. The number of general bacteria observed per 1 ㎖ of specimen must be held at less than 100,000, and this wasn't violated by any of the companies' samples. Yet on E-coli testing, all of K, L, B and M companies' samples respectively exceeded the permitted limits of bacteria to be detected.

디메틸포름아미드 노출 근로자의 요중 N-메틸포름아미드 분석시 GC-NPD와 GC-FID 방법간 비교

정다운,김현욱 가톨릭대학산업의학센타 산업의학연구소 1999 韓國의 産業醫學 Vol.38 No.1

This purpose of the this study was to compare the results of two analytical techniques, GC-NPD and GC-FID, of quantifying urinary NMF from 70 DMF exposed workers in synthetic resins, leather, and dye manufacturing industries. In addition, the relationship between conecntrations of airborne DMF and urinary NMF was investigated using samples collected from 12 workers. Airborne DMF was sampled using both charcoal and silicagel tubes. All urine specimens were collected both prior-to and at end-of workshifts. The results were as follows: 1. The detection limits of urinary NMF by GC-FID and GC-NPD were 0.043㎎/l and 0.009㎎/l, respectively. The recovery rates were 96.9% for the GC-NPD and 90.2% for the GC-FID methods. 2. Desorption efficiencies of DMF on Charcoal tubes were very poor with 32.96%, while those on silicagel tubes were marginally acceptable with 85.70%. 3. A statistically significant relationship between concentrations of airborne DMF and urinary NMF from 12 workers determined by GC-NPD (r=0.74) and by GC-FID (r=0.67) was observed. 4. Geometric mean concentrations of urinary NMF of the end-of-shift urines from 70 workers were 15.84㎎/g creatinine by GC-NPD and were 9.88㎎/g creatinine by GC-FID, respectivery. For the prior-to-shift samples, they were 6.05 ㎎/g creatinine by GC-NPD and 0.92㎎/g creatinine by GC-FID. These results of this study suggest that for collecting airborne DMF in the workplace, silicagel tubes should be utilized. For quantifying urinary NMF concentrations as a biological marker of DMF exposed workes, urine should be collected at the end-of-shift. Urinary NMF should be analyzed by GC-NPD because of its lower of detection and better precision than that of GC-FID.

재료의 흡수상태에 따른 콘크리트의 물리적 변화에 관한 기초적 연구

한다희,황병준,박희곤,이영도,정상진 대한건축학회 2003 대한건축학회 학술발표대회 논문집 - 계획계/구조계 Vol.23 No.1(구조계)

Most concrete is recently made of an aggregate which is properly absorbed, and carried in it in order to do capability at every fields. We have been close to demand new capability of high flowing and enduring for specific concretes. That is difficult to cope with claiming the efficiency on deterioration from lack of a high quality aggregate. Therefore, For solving the problems we apply to a packing method for using dried materials. That is to say it is a kind of making into an instant. In this study, There is a purpose to present fundamental data, comparing and analyzing a phenomenon about aggregate's absorption following the rate of adding water, for using existing materials.

이혼가족 및 사별가족 아동에 대한 교사의 인식 : 내용분석(content analysis) 방법을 활용하여 Using a Content Analysis Method

성정현,송다영,한정원 한국가족사회복지학회 2003 한국가족복지학 Vol.- No.11

본 연구는 학령기 아동에게 중요한 영향을 미치는 교사의 이혼가족, 사별가족 아동에 대한 인식을 알아봄으로써 그 속에 내재된 일정한 편향의 여부와 그 내용을 분석하고, 아동의 가족지위에 따른 교사의 인식을 개선할 수 있는 사회복지 실천 방안들을 모색하는데 목적이 있다. 이를 위해 서울, 경기도, 전라도, 경상도 지역의 학교에서 근무하고 있는 초등학교 교사들 중 2002학년 여름방학동안 교사연수회에 참가한 초등학교 교사에게 사별가정 아동과 이혼가정 아동에 대해 기술하도록 하였으며, 총 328부를 대상으로 내용분석(content analysis)한 후 개념을 도출하여 빈도처리하는 방법을 활용하였다. 연구결과, 교사들은 한부모가족 아동들을 소극적이고 대인관계에서 위축되어 있으며, 학업준비 및 수행에서 저조하다고 평가하였다. 구체적으로 사별가족 아동들에 대해서는 소극적이고 우울한 것으로 평가한 반면, 이혼가정 아동에 대해서는 정서적으로 불안하고 우울하며, 공격성을 비롯한 문제행동의 우려를 높게 평가하였다. 전반적으로 이혼가정 아동에 대한 평가는 사별가정 아동에 비해 상대적으로 매우 부정적이었으며, 특히 가족관계에 있어서 부모의 무관심과 아동의 부모에 대한 부정적인 태도, 정서적 영역의 애정결핍, 부끄러움, 기타 영역에서 가정이야기 회피 등이 나타남으로써 사별가정 아동들이 부모 혹은 조부모의 관심을 받고 형제간 우애가 돈독하다는 평가와는 매우 상이한 결과가 나타났다. 이러한 결과를 통해 사별가족 아동과 이혼가정 아동에 대한 인식에서 차이가 나는 원인과 교사들의 인식의 타당성을 검토해보고, 교사들이 현 가족의 변화를 인식하고 아동들의 교육에 반영할 수 있도록 정보를 제공하고 아동을 원조할 수 있도록 돕는 학교사회복지 실천 프로그램의 필요성이 시사되었다. This research aims to examine the teachers' perceptions towards the children in one-parent families, to analyze the stereotypes of the teachers' perceptions on them, and thereafter to explore the social welfare practice strategies for them. The 328 elementary teachers respond to the open-ended questions for grasping the perceptions on family status. Using contents analysis methods, this research classifies materials with positive or negative evaluations, and categorises them with the concepts of affection, behavior, personality, attitude, personal relationships, school life, and so on. According to the research results, most teachers notice that the number of children in one-parent families are increasing at schools. However, they perceive on the children in one-parent families negatively. And their evalutions on children differ from one another in terms of the perceptions on the cause of children's becoming one-parent families. Generally, the children of dirvorced families received more negative evaluations than the children of one-parent families by death from teachers. Especially, in aspects of affection and behavior, teachers evaluate children of dovorced families negatively: they are depressive and anxious, aggressive, less take care from their parent, and less school achievement. And they have more behavior problems and passive peer relations than the children of one-parent families by death. Based on the results of this research, we propose that the social consciousness on one-parent families should be changed, and the educational training programs and school social work programs for teachers should be developed.

분말혼화제를 사용한 콘크리트 포장(包裝)화에 관한 기초적 연구

한다희,김영주,박무영,박희곤,이영도,정상진 대한건축학회 2004 대한건축학회 학술발표대회 논문집 - 계획계/구조계 Vol.24 No.1(구조계)

Most concrete is recently made of an aggregate which is properly absorbed, and carried in it according to its capability at every fields. We have been close to demand new capability of high flowing and enduring for specific concretes. That is difficult to cope with claiming the efficiency on deterioration from lack of a high quality aggregate. Therefore, For solving the problems we apply to method of packaged dry combined materials for concrete using dried materials. That is to say that it is a kind of making into an instant. In this study, There is a purpose to present fundamental data, comparing and analyzing a phenomenon of aggregate's absorption following the rate of adding water, for using existing materials.

건조 재료를 사용한 콘크리트의 포장화에 관한 실험적 연구

한다희,박희곤,백민수,김성식,이영도,정상진 대한건축학회 2003 대한건축학회 학술발표대회 논문집 - 계획계/구조계 Vol.23 No.2

Most concrete is recently made of an aggregate which is properly absorbed, and earned in it in order to do capability at every fields. We have been close to demand new capability of high flowing and enduring for specific concretes. That is difficult to cope with claiming the efficiency on deterioration from lack of a high quality aggregate. Therefore, For solving the problems we apply to a packing method for using dried materials. That is to say it is a kind of making into an instant. In this study, There is a purpose to present fundamental data, comparing and analyzing a phenomenon about aggregate's absorption following the rate of adding water, for using existing materials.