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Complete Coverage Path Planning for Multi-Robots Employing Flow Networks
Sang-Hyun Nam,Ik-Sang Shin,Jae-Jun Kim,Soon-Geul Lee 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper describes a path planning algorithm, which is the minimal turning path based on the shape and size of the cell to clean up the whole area with two cleaning robots. Our method divides the whole cleaning area with each cell by cellular decomposition, and then provides some path plans among of the robots to educe the rate of energy consumption and cleaning time of it. In addition we suggest how to plan between the robots especially when they are cleaning in the same cell. Finally simulation results demonstrate the effectiveness of the algorithm in an unknown area with multiple robots. And then we compare the performance index of two algorithms such as total of turn, total of time.
Lee Je Seop,Cha Yong Sung,Yeon Seonghoon,Kim Tae Youn,Lee Yoonsuk,Choi Jin-Geul,Cha Kyoung-Chul,Lee Kang Hyun,Kim Hyun 대한의학회 2021 Journal of Korean medical science Vol.36 No.18
Background: It is difficult to diagnose patients with poisoning and determine the causative agent in the emergency room. Usually, the diagnosis of such patients is based on their medical history and physical examination findings. We aimed to confirm clinical diagnoses using systematic toxicological analysis (STA) and investigate changes in the diagnosis of poisoning. Methods: The Intoxication Analysis Service was launched in June 2017 at our hospital with the National Forensic Service to diagnose intoxication and identify toxic substances by conducting STA. Data were collected and compared between two time periods: before and after the initiation of the project, i.e., from June 2014 to May 2017 and from June 2017 to May 2020. Results: A total of 492 and 588 patients were enrolled before and after the service, respectively. Among the 588 after-service patients, 446 underwent STA. Among the 492 before-service patients, 69.9% were diagnosed clinically, whereas the causative agent could not be identified in 35 patients. After starting the service, a diagnosis was confirmed in 84.4% of patients by performing a hospital-available toxicological analysis or STA. Among patients diagnosed with poisoning by toxins identified based on history taking, only 83.6% matched the STA results, whereas 8.4% did not report any toxin, including known substances. The substance that the emergency physician suspected after a physical examination was accurate in 49.3% of cases, and 12% of cases were not actually poisoned. In 13.4% of patients who visited the emergency room owing to poisoning of unknown cause, poisoning could be excluded after STA. Poisoning was determined to be the cause of altered mental status in 31.5% of patients for whom the cause could not be determined in the emergency room. Conclusion: A diagnosis may change depending on the STA results of intoxicated patients. Therefore, appropriate STA can increase the accuracy of diagnosis and help in making treatment decisions.
( Sang-geul Lee ),( Dong Hyun Sinn ),( Gye-seong Choi ),( Jong Man Kim ),( Tae Wook Kang ),( Min Woo Lee ),( Dongho Hyun ),( Wonseok Kang ),( Geum-youn Gwak ),( Yong-han Paik ),( Moon Seok Choi ),( Jo 대한간학회 2018 춘·추계 학술대회 (KASL) Vol.2018 No.1
Aims: For single small hepatocellular carcinoma (HCC), different therapeutic modalities can be tried for patients with preserved liver function. We aim to identify prognostic factors associated with overall survival, that can be used to guide treatment selection. Methods: Between 2010 and 2013, we analyzed 896 patients who received resection, radiofrequency (RF) ablation or transarterial chemoembolization (TACE) as a first-line therapy for single, small (<3cm) HCC. We first identified risk factors associated overall survival in patients who were treated with RF ablation, and then compared long-term outcome according treatment modalities, stratified based on risk factors. Results: Among 425 patients treated with RF ablation, tumor size and PIVKA-II levels were independent factors associated with overall survival. When patients were stratified according to the tumor size and PIVKA-II levels, overall survival of patients treated with RF ablation was significantly different by subgroups (group 1: tumor sized = 2 cm with low PIVKA-II levels (< 30 mAU/ml); group 2: tumor sized 2-3 cm with low PIVKA-II levels (< 30 mAU/ml) or tumor sized = 2 cm with elevated PIVKA-II levels (= 30 mAU/ml); group 3: tumor sized 2-3cm with elevated PIVKA-II levels (= 30 mAU/ml)). When compared to resection, overall survival of those treated with RF ablation was not different to those who received resection in group 1 or group 2, but was significantly lower in group 3. When compared to TACE, those treated with RF ablation showed better survival in group 1 or group 2, but was not different in group 3. Conclusions: Tumor size and PIVKA-II levels were associated with overall survival of patients treated with RF ablation. When patients were stratified according to tumor size and PIVKA-II levels, different long-term outcome by treatment modalities was observed. Our data suggests that these two factors can be a valuable factors in choosing first-line treatment option for single small HCC.
Dysregulated CREB3 cleavage at the nuclear membrane induces karyoptosis-mediated cell death
Lee Ga-Eun,Bang Geul,Byun Jiin,Lee Cheol-Jung,Chen Weidong,Jeung Dohyun,An Hyun-Jung,Kang Han Chang,Lee Joo Young,Lee Hye Suk,Hong Young-Soo,Kim Dae Joon,Keniry Megan,Kim Jin Young,Choi Jin-Sung,Fanto 생화학분자생물학회 2024 Experimental and molecular medicine Vol.56 No.-
Cancer cells often exhibit resistance to apoptotic cell death, but they may be vulnerable to other types of cell death. Elucidating additional mechanisms that govern cancer cell death is crucial for developing new therapies. Our research identified cyclic AMP-responsive element-binding protein 3 (CREB3) as a crucial regulator and initiator of a unique cell death mechanism known as karyoptosis. This process is characterized by nuclear shrinkage, deformation, and the loss of nuclear components following nuclear membrane rupture. We found that the N-terminal domain (aa 1-230) of full-length CREB3 (CREB3-FL), which is anchored to the nuclear inner membrane (INM), interacts with lamins and chromatin DNA. This interaction maintains a balance between the outward force exerted by tightly packed DNA and the inward constraining force, thereby preserving INM integrity. Under endoplasmic reticulum (ER) stress, aberrant cleavage of CREB3-FL at the INM leads to abnormal accumulation of the cleaved form of CREB3 (CREB3-CF). This accumulation disrupts the attachment of CREB3-FL to the INM, resulting in sudden rupture of the nuclear membrane and the onset of karyoptosis. Proteomic studies revealed that CREB3-CF overexpression induces a DNA damage response akin to that caused by UVB irradiation, which is associated with cellular senescence in cancer cells. These findings demonstrated that the dysregulation of CREB3-FL cleavage is a key factor in karyoptotic cell death. Consequently, these findings suggest new therapeutic strategies in cancer treatment that exploit the process of karyoptosis.
( Sang-yeop Lee ),( Sung Ho Yun ),( Geul Bang ),( Chang-seop Lee ),( Seung Il Kim ) 한국질량분석학회 2021 Mass spectrometry letters Vol.12 No.3
Scrub typhus is an acute febrile disease caused by the pathogenic bacterium Orientia tsutsugamushi, belonging to the Rickettsiaceae family. The shotgun proteomic analysis was performed using the sera of scrub typhus patients to identify the proteins having their origin in O. tsutsugamushi. Three different databases approaches were used for the identification of the proteomes. We identified the RsmD, an RNA methyltransferase as the commonly detected protein from all three approaches. This protein was not detected in the sera of healthy negative controls. We believe that this protein is a potential biomarker of Orientia tsutsugamushi present in the sera of scrub typhus patients.
Study of Knee Brace Locking Timing and Walking Pattern Detected from an FSR and Knee Joint Angle
Sang-Chan Moon,Chae-Hyeuk Lee,Soon-Geul Lee 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
Many factors affect biomechanics of lower limbs during walking, including the gate state and the according pressure distribution of feet. However, such relationship between the pressure distribution and the gate status has not been taken into account in detail to analyze lower-limb kinematics and kinetics during walking. In this study, a sensor system with force sensing resistors (FSR) was developed to measure plantar pressure of feet and impulse acting on each joint to do characteristic analysis of plantar pressure of feet and lower-limb kinematics. Comparing to force plates and a motion capture system, the FSR sensing system can give the detail trace of the ground reaction and the pressure distribution of feet. The system is designed to be used for online monitoring and control of a lower-limb biomechanical device like a knee brace. Several target points of plantar are decided as characteristic ones with pilot tests. Then pattern matching between the pressure distribution and the lower-limb kinematics is investigated. Also, plantar pressure patterns are compared knee joint angle for analyzing precious walking patterns. In the paper, to reduce impact value during walking suggests knee brace locking timing detection through the FSR sensing and knee joint angle.
저가형 마이크로프로세서를 위한 연산처리 확장 모션제어 알고리즘
문상찬(Sang-Chan Moon),김재준(Jae-Jun Kim),남규민(Kyu-Min Nam),김병수(Byoung-Soo Kim),이순걸(Soon-Geul Lee) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.12
For precise motion control, S-curve velocity profile is generally used but it has disadvantage of relatively long calculation time for floating-point arithmetics. In this paper, we present a new generating method for velocity profile to reduce delay time of profile generation so that it overcomes such disadvantage and enhances the efficiency of precise motion control. In this approach, the velocity profile is designed based on the gamma correction expression that is generally used in image processing to obtain a smoother movement without any critical jerk. The proposed velocity profile is designed to support both T-curve and S-curve velocity profile. It can generate precise profile by adding an offset to the velocity profile with decimals under floating point that are not counted during gamma correction arithmetic operation. As a result, the operation time is saved and the efficiency is improved. The proposed method is compared with the existing method that generates velocity profile using ring buffer on a 8-bit low-cost MCU. The result shows that the proposed method has no delay in generating driving profile with good accuracy of each cycle velocity. The significance of the proposed method lies in reduction of the operation time without degrading the motion accuracy. Generated driving signal also shows to verify effectiveness of the proposed method.