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Development of a Tele-Operated Rescue Robot for a Disaster Response
Hong, Seongil,Park, Gyuhyun,Lee, Youngwoo,Lee, Wonsuk,Choi, Byunghun,Sim, Okkee,Oh, Jun-Ho World Scientific Publishing Company 2018 INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS Vol.15 No.4
<P>This paper proposes practical hardware design strategies and control methods for a rescue robot to save patients in disastrous environments. None of the existing humanoid robots have not shown the capability to efficiently execute rescue tasks for transferring a human to a safe place in a highly unstructured world. To resolve this problem a new form of powerful dual arm mechanism and hybrid tracked-legged mobile platform is developed and the motion is synthesized with dynamics based optimization and a modified hierarchical control scheme. These new design and control policies enable us to simultaneously enhance the manipulation performance and driving stability which have been verified through both in extensive numerical simulations and physical experiments where the rescue robot and whole-body control are indeed required.</P>
Maydis Stigma Elicits Analgesia and Blocks Edema in Mice and Inhibits Inflammation in Macrophages
Jeong, Yun Hee,Oh, You-Chang,Cho, Won-Kyung,Yang, Hye Jin,Ma, Jin Yeul World Scientific Publishing Company 2017 The American journal of Chinese medicine Vol.45 No.7
<P>Maydis Stigma (MS) is an herb traditionally used in many parts of the world. Previous studies have reported that MS plays a role in several biological activities, including antidiabetic and anticancer activities. However, the effects of a MS ethanolic extract (MSE) on the anti-inflammatory cellular mechanism remain unclear. Here, we investigated the anti-inflammatory properties of MSE and its molecular mechanism both <I>in vitro</I> and <I>in vivo</I>. The effects of MSE on the production of inflammatory mediators, cytokines, and related proteins and the identification of target genes were determined using LPS-stimulated macrophages. We also determined the analgesic and anti-inflammatory effects of MSE by examining acetic acid-induced writhing responses and xylene-induced ear edema in mice. Our results indicated that MSE markedly decreased iNOS and COX-2 levels without causing cytotoxicity and suppressed the secretion of NO in LPS-stimulated macrophages. MSE also inhibited the production of proinflammatory cytokines, such as TNF-<TEX>$ \alpha $</TEX>, IL-6, and IL-1<TEX>$ \beta $</TEX>, and induced the expression of HO-1. Moreover, MSE treatment significantly reduced the LPS-stimulated activation of MAPK, NF-<TEX>$ \kappa $</TEX>B, and AP-1. Furthermore, MSE exerted an analgesic effect on the acetic acid-induced abdominal writhing response test and an anti-inflammatory effect on xylene-induced ear edema in ICR mice. Finally, we investigated the components of MSE using UPLC-ESI-MS and found that it contains the maysin as a marker component. Overall, these observations demonstrate that MSE has anti-inflammatory and antinociceptive effects both <I>in vitro</I> and <I>in vivo</I>, which may provide new scientific evidence for its use as a potential therapeutic agent for the treatment of inflammation.</P>
Hamiltonian formalism of topologically massive electrodynamics
Kim, Taegyu,Kouwn, Seyen,Oh, Phillial World Scientific Publishing Company 2019 Modern Physics Letters A Vol.34 No.10
<P>We consider the four-dimensional topologically massive electrodynamics in which a gauge field interacts with rank two antisymmetric tensor field through a topological interaction. The photon becomes massive by eating the rank two tensor field, which is dual to the Higgs mechanism. We explicitly demonstrate the nature of the mechanism by performing a canonical analysis of the theory and discuss various aspects of it.</P>