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.

Development of a noninvasive KIM-1-based live-imaging technique in the context of a drug-induced kidney-injury mouse model

Tae-Jun Kwon,Da-Sol Lee,Md. Enamul Haque,Rang-Woon Park,Byungheon Lee,Dongkyu Kim,Yong-Hyun Jeon,Kil-Soo Kim,Sang Kyoon Kim 한국실험동물학회 2021 한국실험동물학회 학술발표대회 논문집 Vol.2021 No.7

The development of reliable methods to diagnose acute kidney injury is essential to allow the adoption of early therapeutic interventions and evaluate their effectiveness. Based on the fact that kidney injury molecule-1 (KIM-1) expression levels in kidneys are markedly upregulated early after a damage event, here we developed a noninvasive KIM- 1-based molecular imaging technique to detect kidney injury. First, we took advantage of a phage-display platform to select small peptides demonstrating a specific high binding affinity to KIM-1. The promising candidate was conjugated with fluorescent probes, and its imaging potential was validated in vitro and in vivo. This peptide, with the sequence CNRRRA, not only showed a high imaging potential in vitro, allowing a strong detection of KIM-1 expressing cells by microscopy and flow cytometry but also generated a strong kidney-specific signal in live-imaging in vivo experiments in the context of a drug-induced kidney-injury mouse model. Our data overall suggest that the CNRRRA peptide is a promising probe to use in the context of in vivo imaging for the detection of KIM-1 overexpression in damaged kidneys.

Enhanced Systemic siRNA Delivery Using Reducible Bile Acid-modified PEI for Cancer Therapy

Chae eun PARK,Su yeon LIM,Da hwun KIM,Siyan LYU,Byung deok KIM,Oui bo WHANG,Ji hoon JEONG 한국생물공학회 2021 한국생물공학회 학술대회 Vol.2021 No.10

Small interfering RNA (siRNA) contributes to RNA interference(RNAi) by inhibiting target gene expression in a sequence-specific manner. siRNA delivery system have become increasingly popular for cancer therapy. In this study, we used a low molecular weight polyethylenimine (PEI, 1.8 kDa) conjugated with deoxycholic acid (DA). A DA-PEI conjugate was further modified with 4-fluorothiophenol (4-FTP) (4-FTP-DA-PEI) to enhance systemic siRNA delivery. The thiophenol group would be involved with disulfide bonds between the polymer chains and siRNA modified with free thiols (thiol-siRNA) to form and π-π interactions between the pendent aromatic groups and coprostane ring of the bile acid. The stabilized TP-DA-PEI conjugate with thiol-siRNA achieved developed intracellular uptake, serum stability, and transfection efficiency. Furthermore, it shows high accumulation of TP-DA-PEI/thiol-siRNA polyplexes and significant tumor growth inhibition effect in tumor-bearing mice after systemic administration.

로스팅 조건에 따른 카카오 닙 첨가 쿠키의 품질 특성 및 항산화 활성의 최적화

김다솔(Da Sol Kim1),오현빈(Hyeonbin Oh),김시연(Si Yeon Kim),이휘림(Phyrim Lee),김영순(Young Soon Kim) 한국조리학회 2020 한국조리학회지 Vol.26 No.3

Whole-genome resequencing analysis of 20 Micro-pigs

Da‑Hye Son,Nam‑Hyun Hwang,Won‑Hyong Chung,Ha‑Seung Seong,Hyungbum Lim,Eun‑Seok Cho,Jung‑Woo Choi,Kyung‑Soo Kang,Yong‑Min Kim 한국유전학회 2020 Genes & Genomics Vol.42 No.3

Background Miniature pigs have been increasingly used as mammalian model animals for biomedical research because of their similarity to human beings in terms of their metabolic features and proportional organ sizes. However, despite their importance, there is a severe lack of genome-wide studies on miniature pigs. Objective In this study, we performed whole-genome sequencing analysis of 20 Micro-pigs obtained from Medi Kinetics to elucidate their genomic characteristics. Results Approximately 595 gigabase pairs (Gb) of sequence reads were generated to be mapped to the swine reference genome assembly (Sus scrofa 10.2); on average, the sequence reads covered 99.15% of the reference genome at an average of 9.6-fold coverage. We detected a total of 19,518,548 SNPs, of which 8.7% were found to be novel. With further annotation of all of the SNPs, we retrieved 144,507 nonsynonymous SNPs (nsSNPs); of these, 5968 were found in all 20 individuals used in this study. SIFT prediction for these SNPs identified that 812 nsSNPs in 402 genes were deleterious. Among these 402 genes, we identified some genes that could potentially affect traits of interest in Micro-pigs, such as RHEB and FRAS1. Furthermore, we performed runs of homozygosity analysis to locate potential selection signatures in the genome, detecting several loci that might be involved in phenotypic characteristics in Micro-pigs, such as MSTN, GDF5, and GDF11. Conclusion In this study, we identified numerous nsSNPs that could be used as candidate genetic markers with involvement in traits of interest. Furthermore, we detected putative selection footprints that might be associated with recent selection applied to miniature pigs.

간호사의 이미지에 따른 간호전공만족도

가미정,김수미,김영경,남수진,오루미,육지수,이혜인,최미나,최혜민,허다은 이화여자대학교 간호과학대학 2010 이화간호학회지 Vol.- No.44

Purpose: The purpose of this descriptive study is to examine the correlation between nursing students’ perception of nurses and the level of their satisfaction with the major. Method: The survey was done with the total number of 192 nursing students from 10 different universities in S city selected by a convenience samplingmethod. In order to measure the perception of nurses, the measurement which was invented by Lee(1992) and revised by Jang(1998) was used. Also, the measurement designed by Shim, and modified by Kim(2007) was used for measuring of the students’ satisfaction in their major. The collected data was analyzed by SPSS 17.0. Results: 1.The most decisive factor of the conceptualization of the image of nurses for the nursing college students is their experience of meeting nurses as a patient. 2. Students reconsider the role of nurses by experiencing immediate relationships with nurses in field training. 3. Other factors of the survey such as the students’academic year, religion, the field training situation (individual experience, type of the hospital where they experienced the training, and a relationship with the nurse in charge of the training) or the existence of nurses among their family members do not affect the students’ satisfaction. 4. There is a positive correlation between the image of nurses of nursing college students and their satisfaction with the major(0.66). Conclusion: The positive image of nurses is directly related to the students’ satisfaction in the nursing major, which hugely affects on their academic achievements and decisions of career path. Therefore, there should be more efforts to increase the positive perception of nurses among nursing students.

Reports : Structure-activity relationships of the intramolecular disulfide bonds in coprisin, a defensin from the dung beetle

( Jae Ho Lee ),( Da Eun Lee ),( Hye Min Choi ),( Ha Hyung Kim3 ),( Ho Kim ),( Jae Sam Hwang ),( Dong Gun Lee ),( Jae Il Kim ) 생화학분자생물학회(구 한국생화학분자생물학회) 2014 BMB Reports Vol.47 No.11

Defensins, which are small cationic molecules produced by organisms as part of their innate immune response, share a common structural scaffold that is stabilized by three disulfide bridges. Coprisin is a 43-amino acid defensin-like peptide from Copris tripartitus. Here, we report the intramolecular disulfide connectivity of cysteine-rich coprisin, and show that it is the same as in other insect defensins. The disulfide bond pairings of coprisin were determined by combining the enzymatic cleavage and mass analysis. We found that the loss of any single disulfide bond in coprisin eliminated all antibacterial, but not antifungal, activity. Circular dichroism (CD) analysis showed that two disulfide bonds, Cys20-Cys39 and Cys24- Cys41, stabilize coprisin’s α-helical region. Moreover, a BLAST search against UniProtKB database revealed that coprisin’s α-helical region is highly homologous to those of other insect defensins. [BMB Reports 2014; 47(11): 625-630]

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.

통고처분제도의 합리적 정비를 위한 검토사항 : 즉결심판절차와의 관계를 중심으로

김다혜 이화여자대학교 법학전문대학원 2020 Ewha Law Review Vol.10 No.-

주차 혹은 정차가 금지된 구역에 불법으로 주ㆍ정차한 운전자를 형사소송절차에 의하여 벌한다면 국민 중 다수를 전과자로 양산하게 된다. 이러한 경미 위법행위에 대하여 형벌에 갈음하여 법률상 권한을 부여받은 행정청이 범칙금을 부과하는 것이 통고처분제도이다. 그러나 경미 위법행위에 대한 처벌을 강화하자는 요지로 개정하는 경우 통고처분제도에서 이탈시켜 기존 형벌절차로 편입시킬 것인지, 아니면 간이한 절차를 유지하되 금액을 상향할 것인지를 선택하게 된다. 수범자의 방어권을 침해하지 않으면서도 처벌을 강화하는 방안을 모색하여야 하는 것이다. 이 논문은 기존 국회에 제출된 개정안들을 중심으로 그 방안의 도출과정에 있어 고려하여야 할 사항을 공유하고자 한다. 통고처분의 불이행에 따라 즉결심판으로 회부되는 경우 기존의 발의안들은 즉결심판의 대상성을 유지하면서 그 금액을 상향하는 방향을 택하였다. 금액의 상향으로 수범자에게 해당 행위의 억지효과를 꾀한다면 즉결심판 절차와의 절연을 고려하여야 할 것이다. 그리고 통고처분 자체에 대한 이의절차를 신설하는 내용의 개정안도 있어 기존의 입법례와 함께 비교하여 살펴본다. 통고처분에 대하여 행정소송으로 다툴 수 없다는 것이 판례의 일관된 판시이다. 이의제기 절차를 신설한다면 검찰에의 송치를 일정기간 정지시킬 것인지를함께 고민하여야한다. Society doesn’t want to create an ex-convict who has committed minor misconduct. From that point of view, notification disposition is very useful. However, social feelings about whether the crime is light or heavy always changes. The act that you thought was light can be a prelude to an important human accident. In such cases, it is necessary to severely punish the offenses subject to notification disposition. However, it is not simple to raise the sentence for the offense. This is because there is a problem of a summary trial, which judges in a simple procedure when there is a failure to comply with the notification disposition. We will examine attempts to raise the level of punishment for illegal acts while sufficiently guaranteeing citizens’ right to defend themselves. In addition, considering that the disposition of notification will lead to criminal proceedings later, we will try to see if there is a need to prepare a procedure so that an objection to the disposition of notification may be raised. These attempts will be of little help when there is an amendment regarding notification disposition.

Di-(2-ethylhexyl) phthalate (DEHP)를 처리한 흰쥐 호르몬 및 정소 미세구조 변화

김다함,김완종 순천향대학교 기초과학연구소 2006 순천향자연과학연구 논문집 Vol.12 No.2

Di-(2-ethy1hexyl) phthalate (DEHP) has been commonly used as a plasticizer in polyvinyl chloride resins for manufacturing flexible vinyl products. The toxicity of DEHP has been the topic of extensive research, especially concerning endocrine disrupting properties. This study was carried out to investigate the effects of DEHP on the ultrastructural changes of the spermatogenesis in the rat. And also, some hormones in serum were measured to evaluate the physiological effects of DEHP. The rats were orally intubated with either corn oil (experimental control) or 0.5㎎, 1.5㎎ and 4.5 ㎎ DEHP/㎏/day in 0.5㎖ of corn oil for 15 days before sacrificing and sampling. DEHP reduced the growth of the testes, inhibited spermatogenesis and altered ultrastructural features of most cell types of the rat testis depending on the dosage treated. Briefly, Differentiations of the Leydig cells, the Sertoli cells and the developing germ cells seemed to be impaired. DEHP increased the level of LH(ICSH), but lowered the level of testosterone. The detrimental effect of DEHP on spermatogenesis seems to be derived from the decreased level of testosterone by the Leydig cells, followed by the weak activity of the Sertoli cells and the germ cells, In conclusion, DEHP inhibited the spermatogenesis via lowering testosterone in the rats. The results suggest that DEHP could show properties of endocrine disrupter impairing the spermatogenesis and has effects on the ultrastructures in rat