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최형식(Hyeungsik Choi),이동준(Dong-Jun Lee),하경남(Kyung-Nam Ha) 한국해양공학회 2012 韓國海洋工學會誌 Vol.26 No.6
In this research, a novel mater arm was studied as a teaching device for an underwater revolute robot arm used as a slave arm. The master arm was designed to be a seven-degree-of-freedom(DOF) structure, with a structure similar to that of the slave arm, and to be desktop size to allow it to be worn on a human arm. The master arm with encoders on the joints was used as an input device for teaching a slave robot arm. In addition, small electric magnets were installed at the joints of the master arm to generate the haptic force. A control system was designed to sense excessive force and torque in the joints of the master arm and protect it by controlling the position and velocity of the slave arm through the encoder signal of the master arm.
Taesu Ham,Hyeungsik Lee,Jaehyun Lee,Saekwang Ku 한국실험동물학회 2005 Laboratory Animal Research Vol.21 No.3
The changes on the regional distribution and frequency of chromogranin-immunoreactive (CG-IR) cells in gastrointestinal (GI) tract of BALB/c mouse after implantation of murine carcinoma cells, colon-26 were studied by immunohistochemical methods. The experimental animals were divided into two groups; non¬implanted (Sham) and colon-26 (CT-26) cell implanted (Colon-26) groups. Samples were collected from each part of GI tract (fundus, pylorus, duodenum, jejunum, ileum, cecum, colon and rectum) at 28th days after subcutaneously implantation of CT-26 cells (1×10⁵ cell/mouse). CG-IR cells were distributed throughout the whole GI tract except for the rectum in Sham with various frequencies. However, they were restricted to the fundus, pylorus, duodenum and jejunum of Colon-26. A significantly (p<0.01) decrease of CG-IR cells was detected in Colon-26 compared to that of Sham in both fundus and pylorus, but similar cell frequencies were detected in the duodenum and jejunum, respectively. In conclusion, the CG is generally known that it is one of the endocrine markers. Therefore, the abnormality in density of GI endocrine cells detected in the mouse implanted with CT-26 cells may contribute to the development of GI symptoms such as anorexia and indigestion, frequently encountered in patients with cancer.