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.

온라인 협동학습을 통한 프로그래밍 교육이 학업성취도와 창의적 사고 역량에 미치는 영향

김다은(Da-Eun, Kim),정종인(Chong-In, Jeong),김창석(Chang-Seok, Kim),강신천(Shin-Chun, Kang),김의정(Eui-Jeong, Kim) 한국정보통신학회 2020 한국정보통신학회 종합학술대회 논문집 Vol.24 No.2

4차 산업혁명, 2015 개정 교육과정 도입으로 인하여 학교 현장에서 학생들에게 바라는 인간상과 지녀야 할 핵심역량이 변화되고 있다. 특히 몇 년 전부터 4차 산업혁명을 대비하기 위해 소프트웨어 교육이 쟁점이 되어 대두되고 있고 학교 교육으로 학생들이 신장하여야 할 창의적 사고 역량과 공동체 역량 등 핵심 역량이 강조되고 있다. 소프트웨어 교육에서 중점으로 보고 있는 문제해결을 위한 프로그래밍 교육을 통해 핵심역량을 증진하고 학생들의 학업 성취도를 높이기 위해서는 기존에 진행하고 있는 전통적인 수업 방식으로는 어려움이 있다. 그러므로 4차 산업혁명 속에서 자라고 있으며, 디지털 네이티브라고도 불리는 학생들에게 적합한 새로운 학습 방법이 필요하게 되었고 그 방법을 온라인 협동학습으로 정해서 프로그래밍 교육을 진행하고자 한다. 이 연구를 통하여 실험집단 학생들은 온라인 협동학습을 통한 프로그래밍 교육을 진행하고 비교집단 학생들은 전통적인 수업을 통해 프로그래밍 교육을 진행하여 온라인 협동학습을 통한 프로그래밍 교육이 창의적 사고 역량과 학업 성취도에 긍정적인 영향을 주는지 확인하고자 한다. With the introduction of the 4th Industrial Revolution and the 2015 revised curriculum, the human image and core competencies that schools want from students are changing. In particular, software education has been an issue since a few years ago to prepare for the 4th Industrial Revolution, and core competencies such as creative thinking and community skills that students need to grow through school education are being emphasized. Traditional teaching methods has difficulties in enhancing the core competencies and improving students’ academic achievement, which is a main focus in software education. As a result, we need new learning methods for the new generation of students called “Digital natives” growing up on the 4th Industrial Revolution and now, we are trying to proceed with programming education through the new methods “Online cooperative learning.” With this study, we can see if online cooperative learning has a positive impact on creative thinking competencies and academic achievement by comparing two different student groups: The group who get programming education through online cooperative learning and the other group who get programming education through traditional classes.

Growth Environment and Vegetation Structure of Habitats of Daphne pseudomezereum var. koreana

Da Hyun Lee,Sung Hyuk Park,Ho Jun Son,Jeong Ho Song,Se Chang Kim,Wan Geun Park 강원대학교 산림과학연구소 2018 강원대학교 산림과학연구소 학술대회 Vol.2018 No.09

The purpose of this study was to investigate the location characteristics, soil environment and vegetation structure of habitats of Daphne pseudomezereum var. koreana. The relationship between each factor was analyzed to provide the basic data of ecosystem restoration in response to conservation of natural habitat and climate change. The rock exposure was 15 ~ 35%, which means that the average is 24%. The vascular plants of the entire native habitats of D. pseudomezereum were identified as 129 taxa consisting of 46 families and 95 genera. The results of the Two-way cluster analysis using PC-ORD were divided into three plant communities: cluster I (Tilia amurensis - Quercus mongolica), cluster II (Fraxinus rhynchophylla - Acer pseudosieboldianum), and cluster III (Ulmus davidiana var. japonica) species diversity index was highest in cluster I (1.124) and cluster Ⅱ was 1.047 and cluster Ⅲ was 0.932. The habitats of D. pseudomezereum are either loam or clay loam. Soil acidity, organic matter content and available phosphoric acid were found to be pH 5.40, 14.38% and 31.08ppm, respectively. As a result of ordination analysis of soil characteristics, community, and characteristic species, the most significant factors were magnesium content of soil, shrub layer and altitude.

八味元이 Streptozotocin 糖尿病에 미치는 影響

김희경,문정숙,박귀영,이다미,이은영,장윤경,황미경 曉星女子大學校 藥學大學 學生會 1988 曉星藥誌 Vol.4 No.-

Streptozotocin was injected to rats and rabbits to induce the experimental diabetes mellitus and Palmiwon was administrated to observe the changes of blood sugar, body weight, and serum Zn, Ca, Mg level in order to find out the effect of diabetic tratment by experimental method. And thus, the result was as follows: 1. The blood sugar level of diabetic rat was decreased after administration of Palmiwon. 2. Body weight of diabetic rat was moderately decreased after administratin of Palmiwon. 3. The less streptozotocin, 30 mg/kg, don't easily induce diabetes mellitus in rabbits. We did not find the changes of blood sugar, serum Zn, Ca, Mg level in the rabbits injected by streptozotocin, 30mg/kg of body weight.

Gene profile of fibroblasts identify relation of CCL8 with idiopathic pulmonary fibrosis

Lee, Jong-Uk,Cheong, Hyun Sub,Shim, Eun-Young,Bae, Da-Jeong,Chang, Hun Soo,Uh, Soo-Taek,Kim, Young Hoon,Park, Jong-Sook,Lee, Bora,Shin, Hyoung Doo,Park, Choon-Sik BioMed Central 2017 Respiratory research Vol.18 No.-

<P><B>Background</B></P><P>Idiopathic pulmonary fibrosis (IPF) is characterized by the complex interaction of cells involved in chronic inflammation and fibrosis. Global gene expression of a homogenous cell population will identify novel candidate genes.</P><P><B>Methods</B></P><P>Gene expression of fibroblasts derived from lung tissues (8 IPF and 4 controls) was profiled, and ontology and functional pathway were analyzed in the genes exhibiting >2 absolute fold changes with <I>p</I>-values < 0.05. <I>CCL8</I> mRNA and protein levels were quantified using real-time PCR and ELISA. <I>CCL8</I> localization was evaluated by immunofluorescence staining.</P><P><B>Results</B></P><P>One hundred seventy eight genes differentially expressed and 15 genes exhibited >10-fold change. Among them, 13 were novel in relation with IPF. <I>CCL8</I> expression was 22.8-fold higher in IPF fibroblasts. The levels of <I>CCL8</I> mRNA and protein were 3 and 9-fold higher in 14 IPF fibroblasts than those in 10 control fibroblasts by real-time PCR and ELISA (<I>p</I> = 0.022 and <I>p</I> = 0.026, respectively). The <I>CCL8</I> concentrations in BAL fluid was significantly higher in 86 patients with IPF than those in 41 controls, and other interstitial lung diseases including non-specific interstitial pneumonia (<I>n</I> = 22), hypersensitivity pneumonitis (<I>n</I> = 20) and sarcoidosis (<I>n</I> = 19) (<I>p</I> < 0.005, respectively). Cut-off values of 2.29 pg/mL and 0.43 pg/mL possessed 80.2 and 70.7% accuracy for the discrimination of IPF from NC and the other lung diseases, respectively. IPF subjects with <I>CCL8</I> levels >28.61 pg/mL showed shorter survival compared to those with lower levels (<I>p</I> = 0.012). <I>CCL8</I> was expressed by α-SMA-positive cells in the interstitium of IPF.</P><P><B>Conclusions</B></P><P>Transcriptome analysis identified several novel IPF-related genes. Among them, <I>CCL8</I> is a candidate molecule for the differential diagnosis and prediction of survival.</P><P><B>Electronic supplementary material</B></P><P>The online version of this article (doi:10.1186/s12931-016-0493-6) contains supplementary material, which is available to authorized users.</P>

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.

Epigenetic Changes in Asthma: Role of DNA CpG Methylation

( Da-jeong Bae ),( Ji Ae Jun ),( Hun Soo Chang ),( Jong Sook Park ),( Choon-sik Park ) 대한결핵 및 호흡기학회 2020 Tuberculosis and Respiratory Diseases Vol.83 No.1

For the past three decades, more than a thousand of genetic studies have been performed to find out the genetic variants responsible for the risk of asthma. Until now, all of the discovered single nucleotide polymorphisms have explained genetic effects less than initially expected. Thus, clarification of environmental factors has been brought up to overcome the ‘missing’ heritability. The most exciting solution is epigenesis because it intervenes at the junction between the genome and the environment. Epigenesis is an alteration of genetic expression without changes of DNA sequence caused by environmental factors such as nutrients, allergens, cigarette smoke, air pollutants, use of drugs and infectious agents during pre- and post-natal periods and even in adulthood. Three major forms of epigenesis are composed of DNA methylation, histone modifications, and specific microRNA. Recently, several studies have been published on epigenesis in asthma and allergy as a powerful tool for research of genetic heritability in asthma albeit epigenetic changes are at the starting point to obtain the data on specific phenotypes of asthma. In this presentation, we mainly review the potential role of DNA CpG methylation in the risk of asthma and its sub-phenotypes including nonsteroidal anti-inflammatory exacerbated respiratory diseases.

Improvements in Memory after Medial Septum Stimulation Are Associated with Changes in Hippocampal Cholinergic Activity and Neurogenesis

Jeong, Da Un,Lee, Ji Eun,Lee, Sung Eun,Chang, Won Seok,Kim, Sung June,Chang, Jin Woo Hindawi Publishing Corporation 2014 BioMed research international Vol.2014 No.-

<P>Deep brain stimulation (DBS) has been found to have therapeutic effects in patients with dementia, but DBS mechanisms remain elusive. To provide evidence for the effectiveness of DBS as a treatment for dementia, we performed DBS in a rat model of dementia with intracerebroventricular administration of 192 IgG-saporins. We utilized four groups of rats, group 1, unlesioned control; group 2, cholinergic lesion; group 3, cholinergic lesion plus medial septum (MS) electrode implantation (sham stimulation); group 4, cholinergic lesions plus MS electrode implantation and stimulation. During the probe test in the water maze, performance of the lesion group decreased for measures of time spent and the number of swim crossings over the previous platform location. Interestingly, the stimulation group showed an equivalent performance to the normal group on all measures. And these are partially reversed by the electrode implantation. Acetylcholinesterase activity in the hippocampus was decreased in lesion and implantation groups, whereas activity in the stimulation group was not different from the normal group. Hippocampal neurogenesis was increased in the stimulation group. Our results revealed that DBS of MS restores spatial memory after damage to cholinergic neurons. This effect is associated with an increase in hippocampal cholinergic activity and neurogenesis.</P>

The Appearance Change of Raw Ginseng under Difference Steaming System

Da Eun Lee(이다은),Ji Won Lee(이지원),Soo Chang Na(나수창),Da Eun Jeong(정다은),Hyo Bin Oh(오효빈),Chung Berm Park(박충범) 한국약용작물학회 2020 한국약용작물학회 학술대회논문집 Vol.2020 No.1

Association between TAAR6 polymorphisms and airway responsiveness to inhaled corticosteroids in asthmatic patients

Chang, Hun Soo,Heo, Jeong-Seok,Shin, Seung-Woo,Bae, Da-Jeong,Song, Hyun Ji,Jun, Ji Ae,Kim, Jeong Dong,Park, Jong-Sook,Park, Byung Lae,Shin, Hyung Doo,Park, Choon-Sik Wolters Kluwer Health, Inc. All rights reserved. 2015 PHARMACOGENETICS AND GENOMICS Vol.25 No.7

BACKGROUND: Genetic polymorphisms may be responsible for the wide variation in response to inhaled corticosteroids in asthmatic patients. We had previously reported that one polymorphism rs7772821, located on the 3&vprime;-UTR of trace amine-associated receptor 6 (TAAR6), is significantly associated with percentile changes in the forced expiratory volume in 1 s (%[INCREMENT]FEV1) after inhaled corticosteroid treatment in asthmatics using a genome-wide association study. The aim of the present study was to validate the association between 15 single-nucleotide polymorphisms (SNPs) on the TAAR6 and airway responsiveness to inhaled corticosteroids in the asthmatics. METHODS: The %[INCREMENT]FEV1 induced by 4 weeks’ treatment with inhaled fluticasone propionate (1000 μg daily) was measured in 246 asthmatics. The 15 SNPs of TAAR6 were genotyped using a TaqMan assay. An association analysis between %[INCREMENT]FEV1 and TAAR6 polymorphisms was carried out using a linear regression model controlling for age, sex, smoking status, presence of atopy, and baseline FEV1 as covariates. RESULTS: Among the 15 SNPs and seven haplotypes of TAAR6, rs7772821 (T>G) on the 3&vprime;-UTR showed the strongest correlation with inhaled corticosteroid-induced %[INCREMENT]FEV1 (Pcorr=0.002 in the codominant model, Pcorr=0.03 in the dominant model, Pcorr=0.01 in the recessive model). The %[INCREMENT]FEV1 of the rs7772821T>G minor homozygotes (60.77%) was higher than that of patients harboring either the rs7772821 T/G or T/T genotypes (21.32 and 31.60%, respectively). CONCLUSION: The TAAR6 rs7772821 polymorphism may be one of the important genetic factors for predicting the response to treatment with inhaled corticosteroids in asthmatics.