Dynamic modeling and vibration suppression for double flexible manipulator with a tip payload

Sainan Zhou,Xiaopeng Li,Meng Yin,Dongyang Shang,Zhengding Li 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.9

In the manipulator transmission system, there are many nonlinear inducements, such as flexibility and friction torque. It is easy to lead to fluctuations of the output rotation speed of the system, and even cause serious resonance. Therefore, PI control strategy based on fuzzy theory is proposed to solve this trouble. Firstly, the dynamic equations of the transmission system of the double flexible manipulator was established. Then, the effects of friction torque and mode order on the output characteristics of the system are analyzed. Based on the fuzzy rules, the controller parameters change constantly to reduce the oscillation of the servo system output rotation speed. Finally, numerical simulation analysis and control experiment verify the effectiveness of the control strategy described in this paper. The results are that the proposed control method can decrease the average value of the load rotation angle tracking error by 13.8 %.

4차 산업혁명 주요기술에 대한 법적 고찰 - 한국 및 중국을 중심으로 -

서새남 ( Xu Sainan ) 중앙대학교 문화미디어엔터테인먼트법연구소 2017 문화.미디어.엔터테인먼트 법 Vol.11 No.1

정보통신기술의 급속한 발전으로 그간 인류가 겪어 보지 못한 변화를 초래하는 4차산업혁명의 시대가 다가오고 있다. 4차 산업혁명은 많은 국가의 산업구조 및 시장경제모델에 커다란 영향을 줄 것으로 예상되어 전 세계적으로 주목을 받고 있다. ICT 기술과 제조산업의 부흥을 위해 한국과 중국 등 여러 국가는 4차 산업혁명의 대응정책을 마련하였다. 그 중에서도 지식재산권은 4차 산업혁명에 관련된 중요한 법적 영역으로 한국 및 중국 학계에서 논의되고 있다. 인공지능과 관련하여, 한국 및 중국 저작권법상 저작자는 인간으로 한정되므로 인공지능의 생산물은 저작물로 인정받기가 어렵다. 한국에서는 저작권법상 저작자의 범위를 확대하여 인공지능의 권리자 지위를 인정하자는 의견이 있다. 반면 중국에서는 인공지능의 생산물에 대한 저작물을 저작인접물로 보호하여 저작인접권의 보호범위를 확대하고자 하는 견해가 있다. 빅데이터는 네트워크구조 및 정보패턴 파악하고 추세를 예측하는 특징 등으로 인해 주목을 받고 있다. 한국에서는 빅데이터의 수집 및 이용과정에서 각 단계별로 발생할수 있는 지식재산권분쟁에 대한 논의가 이루어지고 있지만, 중국에서는 빅데이터 분석결과물에 대한 저작권법상 논의만 이루어지고 있는 상황이다. 3D 프린팅과 관련하여 한국 및 중국에서는 저작권법, 상표법 및 특허법에서 이를 다루고자 논의중이다. 3D 프린팅 산업의 촉진을 위하여 한국에서는 3D 프린팅에 관련 정보제공 서비스 및 각 플랫폼을 구비할 필요가 있다는 주장이 있으며, 중국에서는 3D 데이터 파일이나 설계도면을 제공하는 업체 또는 3D 프린터를 제조하는 업체에 대한 규제방안을 제시하자는 견해가 있다. ICT 기술 발달에 따라 국가 간에 디지털 문화상품에 관한 무역도 점차 활발해 지고 있다. 따라서 국가 간에 이루어지는 국제적인 지식재산권분쟁을 해결하기 위해 국제적인 협력을 강화하여 4차 산업혁명의 특징에 부합하는 해결책을 공동으로 도모할 필요가 있다. The fourth industrial revolution, which has brought unprecedented changes to human beings due to rapidly developing information and communication technologies, is expected to have a major impact on the industrial structure. Market economy models of many countries have also received worldwide attention. In order to advance ICT technology and the manufacturing industry, several countries, including South Korea and China, have begun to prepare a response policy for the Fourth Industrial Revolution. Intellectual Property Rights are the important legal area for the Fourth Industrial Revolution, which become controversial issues in South Korea and China academic community. As regards artificial intelligence several discussions is in South Korea and China. Especially under the Copyright Law, the author of a work is limited to natural person, therefore it is hard to recognize artificial intelligence products as a "work". In South Korea, there is a view to expand the scope of authorship under copyright law to recognize the status of the right holder of artificial intelligence. In China, there is an opinion to protect the works of artificial intelligence products with works, that could be protected by Copyright rights, to expand the protection range to neighboring rights. Big data is attract attention, because of its ability to identify network structures and information patterns, and to predict trends. In South Korea, discussions on intellectual property rights disputes that may occur at each stage in the process of collecting and using big data. But in China, only analysis results of big data are discussed under copyright law. 3D printing is discussed under copyright law, trademark law and patent law in South Korea and China. It is discussed in South Korea that the 3D printing industry is necessary to provide information providing services and platforms for 3D printing. In China, there is a view to suggest ways to regulate companies which are providing 3D data files, design drawings, or manufacturing of 3D printer. With the development of ICT technology, trade in digital cultural products is becoming more active. Therefore, it is necessary to strengthen the international cooperation to solve the international intellectual property disputes between countries, and to find solutions in accordance with the characteristics of the fourth industrial revolution.

Antinociceptive profile of the ethanolic extract of andrographis paniculata in mice

Sulaiman, MR,Sainan, S,Zakaria, ZA,Somchit, MN,Israf, DA,Moin, S,Mohamad, TA Tengky Kyung Hee Oriental Medicine Research Center 2007 Oriental pharmacy and experimental medicine Vol.7 No.4

The present study was conducted to evaluate the analgesic activity of ethanolic extract of Andrographis paniculata (AP) in mice. The analgesic investigations were carried out using the acetic acid-induced abdominal writhing and the hot-plate tests. It was demonstrated that intraperitoneal (i.p.) administration of the extract at a dose of 30, 100, 300, 500 mg/kg, produced significant inhibition of abdominal constriction induced with 0.6% (v/v) acetic acid in dosedependent manner. It also demonstrated that the extract produced significant dose-dependent increase in the time of latency to a discomfort reaction in the hot-plate model. In addition, the analgesic effect of the ethanolic extract of AP was significantly reversed by a non-specific opioid receptor antagonist, naloxone. These results indicate that AP has an analgesic effect that was mediated through opioid receptors.

The Effect of 13c and 15n-Labelled Green Manures on the Dynamic Changes of the Soil Microbial Biomass C and N

Xi Xiangyin,Geng Sainan,Wang Shufeng,Xu Ying,Liu Meiyu 한국토양비료학회 2014 한국토양비료학회 학술발표회 초록집 Vol.2014 No.6

India-Pakistan Conflict facing the Construction of China-Pakistan Economic Corridor

Ding Jianjun,Wen Sainan 아시아사회과학학회 2021 Jornal of Asia Social Science Vol.5 No.3

The risk factors facing the construction of China-Pakistan Economic Corridor need to pay special attention to the opposition and conflict between India and Pakistan. In the conflict, India and Pakistan led the problem to the construction of China-Pakistan Economic Corridor, which made the corridor construction bear an undue burden. India has a relatively negative attitude towards corridor construction. The deep-seated reason is that India regards China as a competitor based on its big country strategy, which may cause geopolitical worries about China and China-Pakistan economic corridor construction. Pakistan is a relatively weak party in India-Pakistan competition, and it is more inclined to use corridor construction to enhance its strength against India. China emphasizes that the corridor construction will bring benefits to Pakistan’s economy and people’s livelihood, while we cannot ignore the hostile relationship between India and Pakistan to some extent, and we should strive to build a benign interaction and multilateral win-win tripartite relationship among China, India and Pakistan.

Antinociceptive profile of the ethanol extract of andrographis paniculata in mice

MR Sulaiman,,S Sainan,,ZA Zakaria,,MN Somchit,,DA Israf,,S Moin,TA Tengku Mohamad 경희대학교 융합한의과학연구소 2007 Oriental Pharmacy and Experimental Medicine Vol.7 No.4

The present study was conducted to evaluate the analgesic activity of ethanol extract of Andrographis paniculata (AP) in mice. The analgesic investigations were carried out using the acetic acid-induced abdominal writhing and the hot-plate tests. It was demonstrated that intraperitoneal (i.p.) administration of the extract at a dose of 30, 100, 300, 500 mg/kg, produced significant inhibition of abdominal constriction induced with 0.6% (v/v) acetic acid in dosedependent manner. It also demonstrated that the extract produced significant dose-dependent increase in the time of latency to a discomfort reaction in the hot-plate model. In addition, the analgesic effect of the ethanolic extract of AP was significantly reversed by a non-specific opioid receptor antagonist, naloxone. These results indicate that AP has an analgesic effect that was mediated through opioid receptors.

In situ Synthesis of p–n LaFeO3/ZnIn2S4 Heterojunctions for Enhanced Photocatalytic Activity

Wen Gao,Chengjia Zhang,Sainan Cui,Qian Liang,SONG XU,ZHONGYU LI 성균관대학교(자연과학캠퍼스) 성균나노과학기술원 2019 NANO Vol.14 No.8

In this study, LaFeO3/ZnIn2S4 composites were synthesized via in situ synthesis. The composition, structure and optical absorption properties of LaFeO3/ZnIn2S4 were characterized by X-ray diffraction (XRD), ultraviolet-visible diffuse reflectance spectroscopy, fluorescence spectroscopy (PL), Fourier Transform infrared spectroscopy (FT-IR) and field emission scanning electron microscopy (FESEM) and transmission electron microscopy (TEM). The photocatalytic activity of the LaFeO3/ZnIn2S4 photocatalyst was determined based on the degradation of methyl orange (MO). LaFeO3/ZnIn2S4 composites showed much better photocatalytic performance compared with pure LaFeO3 and ZnIn2S4. The enhanced photocatalytic performance was attributed to intimately contacted interfaces and charge transfer channels which can effectively transfer and separate the photogenerated charge carriers.

Adipose-Derived Stem Cell Exosomes Promoted Hair Regeneration

Wu Jinyan,Yang Quyang,Wu Sainan,Yuan Ruoyue,Zhao Xiansheng,Li Yue,Wu Wenyu,Zhu Ningwen 한국조직공학과 재생의학회 2021 조직공학과 재생의학 Vol.18 No.4

Background: Some scholars have found that dermal papilla spheroid–derived exosomes could promote the development of hair follicles. However, whether adipose-derived stem cell exosomes (ADSC-Exos) have a similar effect on hair growth has not been determined yet. Thus, the purpose of this article was to detect whether ADSC-Exos could promote hair regeneration. Methods: Adipose-derived stem cells (ADSCs) were isolated from 6-week-old C57BL/6 mice. Then, ADSC-Exos were isolated from the ADSCs. Western blotting was used to detect specific exosome markers. The particle size and distribution of the exosomes were analyzed by NanoSight dynamic light scattering. A total of 12 nude mice were randomly divided into two groups (n = 6 each): the ADSC-Exos group and the control group. For the control group, a mixture of freshly isolated dermal cells (DCs) and epidermal cells (ECs) was grafted. For the ADSC-Exos group, a mixture of DCs, ECs, and 50 μg/ml of ADSC-Exos was grafted. Gross evaluation of the hair regeneration was carried out 2–3 weeks after the transplantation, and the graft site was harvested for histology at the third week. Results: The existence of exosomes derived from ADSCs was evidenced by CD63, ALX1, and CD9 expression. Two or three weeks after the grafting, the number of regenerated hairs in the ADSC-Exos group was higher than that in the control group (p < 0.001). Histologically, the terminal hairs were remarkable in the ADSC-Exos group, whereas the hair follicles observed in the control group were comparatively immature. The ADSC-Exos group had a higher number of regenerated follicles than the control group (p < 0.001). In addition, we found that the skin tissues in the ADSC-Exos group had higher PDGF and vascular endothelial growth factor expressions and lower transforming growth factor beta 1 levels than those in the control group. Conclusion: Our results indicated that ADSC-Exos could promote in vivo hair follicle regeneration. Background: Some scholars have found that dermal papilla spheroid–derived exosomes could promote the development of hair follicles. However, whether adipose-derived stem cell exosomes (ADSC-Exos) have a similar effect on hair growth has not been determined yet. Thus, the purpose of this article was to detect whether ADSC-Exos could promote hair regeneration. Methods: Adipose-derived stem cells (ADSCs) were isolated from 6-week-old C57BL/6 mice. Then, ADSC-Exos were isolated from the ADSCs. Western blotting was used to detect specific exosome markers. The particle size and distribution of the exosomes were analyzed by NanoSight dynamic light scattering. A total of 12 nude mice were randomly divided into two groups (n = 6 each): the ADSC-Exos group and the control group. For the control group, a mixture of freshly isolated dermal cells (DCs) and epidermal cells (ECs) was grafted. For the ADSC-Exos group, a mixture of DCs, ECs, and 50 μg/ml of ADSC-Exos was grafted. Gross evaluation of the hair regeneration was carried out 2–3 weeks after the transplantation, and the graft site was harvested for histology at the third week. Results: The existence of exosomes derived from ADSCs was evidenced by CD63, ALX1, and CD9 expression. Two or three weeks after the grafting, the number of regenerated hairs in the ADSC-Exos group was higher than that in the control group (p < 0.001). Histologically, the terminal hairs were remarkable in the ADSC-Exos group, whereas the hair follicles observed in the control group were comparatively immature. The ADSC-Exos group had a higher number of regenerated follicles than the control group (p < 0.001). In addition, we found that the skin tissues in the ADSC-Exos group had higher PDGF and vascular endothelial growth factor expressions and lower transforming growth factor beta 1 levels than those in the control group. Conclusion: Our results indicated that ADSC-Exos could promote in vivo hair follicle regeneration.

의료분야에서 빅데이터의 활용과 관련된 법적 고찰 - 한국 및 중국을 중심으로 -

이규호 ( Lee Gyooho ),서새남 ( Xu Sainan ) 중앙대학교 문화미디어엔터테인먼트법연구소 2017 문화.미디어.엔터테인먼트 법 Vol.11 No.2

4차 산업혁명 시대의 핵심기술인 빅데이터는 여러 분야에서 활용 되고 있다. 특히 의료정보 빅데이터의 활용은 신약을 개발하거나 마케팅 전략을 수립 등 경제적인 私益뿐만 아니라, 의료비 절감, 의료서비스 수준 형상 및 질병 예방 등 사회적인 公益까지 창출할 수 있는 가능성을 보여주면서 큰 주목을 받고 있다. 그러나 의료정보 빅데이터 활용에 따라 私益이나 公益을 얻을 수 있는 동시에 개인정보 보호법상의 문제 및 저작권법상의 문제를 초래할 가능성이 존재한다. 한국 개인정보보호법은 옵트인 방식을 채택하고 있으며 정보주체의 동의를 얻어야 하거나 법률에 특별한 규정이 있는 경우에 의료정보를 수집·이용 및 제공할 수 있어 의료정보 빅데이터 활용의 제한 요인이 될 수 있다. 의료정보에 대한 보호 및 활용의 균형을 도모하기 위하여 치료목적이나 公益적인 목적에 의해 의료정보를 활용하는 경우에 정보주체의 동의 없이 처리할 수 있는 법적 근거를 마련할 필요가 있다고 판단한다. 나아가 개인정보침해위험을 최소화하고 의료정보를 활용하기 위해 수집된 의료정보에 대하여 비식별 조치를 실시할 수 있다. 그러나 현행 비식별 가이드라인은 법적 근거가 미약한 이유로 일반국민에 대한 대외적 구속력이 부정될 가능성이 있다. 이에 따라 개인정보보호법을 개정하거나 현행 비식별 가이드라인이 행정규칙으로 정하여야 할 필요가 있다고 판단한다. 한편, 중국 정부는 개인정보를 보호하고 個人醫療信息을 활용하고자 하는 각종 정책적 문서를 발표하였지만 아직 관련 법률이 부존재한 상태이다. 이에 따라 중국은 個人醫療信息을 별도의 규정을 두는 個人信息보호 기본법을 제정할 필요가 있다고 판단한다. 더불어 個人醫療信息을 보호하는 동시에 個人醫療信息의 활용하기 위하여 비식별 조치와 관련 규정을 제정할 필요가 있다. 데이터가 크면 클수록 융합분석 결과정보에 대한 확률적 신뢰성이 커지게 되기 때문에, 의료정보 빅데이터 산업을 활성하기 위하여 국가측면의 의료정보 공유 플랫폼의 구축 등 방안도 도모할 필요가 있고, 관련 법제를 정비하기 위한 논의가 지속될 필요가 있다. Big Data technology, a key technology in the era of the 4th Industrial Revolution, has been used in various fields. In particular, the use of big data including medical information has attracted a great deal of attention as it not only shows economic benefits such as the development of new drugs and marketing strategy, but also shows the possibility of creating social, public benefits such as medical cost reduction, medical service level and disease prevention. However, there is a possibility that it can obtain personal benefits or public interest by utilizing big data including medical information, and also cause problems relating to Personal Information Protection Act and Copyright Act. The Korean Personal Information Protection Act adopted the opt-in method and can collect, use and provide medical information in case where the consent of the information owner is required or there are special regulations in the law, which may be a factor limiting the use of big data including medical information. In order to strike balance between the protection and utilization of medical information, we believe that it is necessary to establish a legal basis to handle medical information without the consent of its owner when using medical information for therapeutic purposes or for the purpose of public interest. Furthermore, de-identification measures can be implemented on collected medical information to minimize the risk of infringement of personal information and to utilize medical information. However, the current de-identification measures are likely to deny the external binding power to the general public because of their weak legal basis. Accordingly, it is necessary to revise the Personal Information Protection Act or to define the current non-identification guidelines as administrative rules. Meanwhile, the Chinese government has issued various policy documents to protect personal information and utilize personal medical information, but the related laws have not yet existed in China. As a result, China believes it is necessary to enact the Framework Act on the Protection of Personal Information, In addition, it is necessary to establish de-identification measures and related regulations in order to protect personal medical information and utilize personal medical information. The larger the data, the greater the probabilistic reliability of the information resulting from the fusion analysis. Therefore, in order to activate big data industry related to medical information, it is necessary to plan the establishment of a platform sharing national medical information. The discussion on this issue needs to be continued.

Retrospective Electrocardiography-Gated Real-Time Cardiac Cine MRI at 3T: Comparison with Conventional Segmented Cine MRI

Chen Cui,Gang Yin,Minjie Lu,Xiuyu Chen,Sainan Cheng,Lu Li,Weipeng Yan,Yanyan Song,Sanjay Prasad,Yan Zhang,Shihua Zhao 대한영상의학회 2019 Korean Journal of Radiology Vol.20 No.1

Objective: Segmented cardiac cine magnetic resonance imaging (MRI) is the gold standard for cardiac ventricular volumetric assessment. In patients with difficulty in breath-holding or arrhythmia, this technique may generate images with inadequate quality for diagnosis. Real-time cardiac cine MRI has been developed to address this limitation. We aimed to assess the performance of retrospective electrocardiography-gated real-time cine MRI at 3T for left ventricular (LV) volume and mass measurement. Materials and Methods: Fifty-one patients were consecutively enrolled. A series of short-axis cine images covering the entire left ventricle using both segmented and real-time balanced steady-state free precession cardiac cine MRI were obtained. End-diastolic volume (EDV), end-systolic volume (ESV), stroke volume (SV), ejection fraction (EF), and LV mass were measured. The agreement and correlation of the parameters were assessed. Additionally, image quality was evaluated using European CMR Registry (Euro-CMR) score and structure visibility rating. Results: In patients without difficulty in breath-holding or arrhythmia, no significant difference was found in Euro-CMR score between the two techniques (0.3 ± 0.7 vs. 0.3 ± 0.5, p > 0.05). Good agreements and correlations were found between the techniques for measuring EDV, ESV, EF, SV, and LV mass. In patients with difficulty in breath-holding or arrhythmia, segmented cine MRI had a significant higher Euro-CMR score (2.3 ± 1.2 vs. 0.4 ± 0.5, p < 0.001). Conclusion: Real-time cine MRI at 3T allowed the assessment of LV volume with high accuracy and showed a significantly better image quality compared to that of segmented cine MRI in patients with difficulty in breath-holding and arrhythmia.