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A Study on the climbing strategy over vertical steps for the QuadTrack-III
Kyungmin Jeong,Hochul Shin,Yongchil Seo,Sung-uk Lee,Seungho Kim 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper introduces a mobile robot named QuadTrack-III developed for urban search and rescue. This robot has four modular tracks which can be driven and lifted independently. Thus the configuration of the robot can be varied for adapting to uneven terrain. Each modular track consists of two sprockets with an attachment chain and two BLDC motors are embedded in the track module. It also includes BLDC motor drivers for each joint. Because the modular track mechanism embodies all of the things required for driving, the weight of the main body is smaller than the tracks. From this feature, the mass center of the robot can be lowered and the distribution of reaction forces can be varied. This paper describes the mechanical structure, the control architecture and a climbing strategy over vertical step for the QuadTrack-III. It also shows some experimental results of the vertical step climbing strategy.
( Jeong-ju Yoo ),( Su Jong Yu ),( Juri Na ),( Kyungmin Kim ),( Young Youn Cho ),( Hyeki Cho ),( Dong Hyeon Lee ),( Eun Ju Cho ),( Jeong-hoon Lee ),( Yoon Jun Kim ),( Chung Yong Kim ),( Hyewon Youn ),( 대한간학회 2016 춘·추계 학술대회 (KASL) Vol.2016 No.1
Aims: Enhancing sorafenib sensitivity is essential for achieving efficient control of intractable hepatocellular carcinoma (HCC). Considering that sorafenib exerts its effect by endoplasmic reticulum (ER) stress due to hypoxia and energy depletion through anti-angiogenic aspect, hexokinase (HK) II which is an important rate-limiting glycolytic enzyme can be a key player in countervailing the effect of sorafenib. Pyruvate analog 3-bromopyruvate (3-BP), a HK II inhibitor, can promote tumor cell death by augmenting endoplasmic reticulum (ER) stress in human HCC cell lines. We evaluated inhibition of HK II potentiated sorafenib-induced ER stress in HCC cells. We also postulated that simultaneous treatment with sorafenib and 3-BP might synergistically enhance their anti-tumor efficacies against HCCs in vivo models. Methods: HCC apoptotic cell death was assessed by DAPI staining and apoptotic signaling pathways were explored by immunoblot analysis. Energy depletion was assessed by lactate assay. In vivo ectopic model of HCC was established in BALB-c nu/nu mice intradermally implanted with SNU-761 cells. Moreover, orthotopic model of HCC was established by subcapsular injection of SNU-761 cells via mini-laparotomy in BALB-c nu/nu mice. Sorafenib with/without 3-BP was subsequently administered. The anti-tumor efficacies were
Yoo, Jeong-Ju,Yu, Su Jong,Na, Juri,Kim, Kyungmin,Cho, Young Youn,Lee, Yun Bin,Cho, Eun Ju,Lee, Jeong-Hoon,Kim, Yoon Jun,Youn, Hyewon,Yoon, Jung-Hwan MDPI 2019 INTERNATIONAL JOURNAL OF MOLECULAR SCIENCES Vol.20 No.6
<P>This study aimed to examine whether inhibition of hexokinase (HK)-II activity enhances the efficacy of sorafenib in in-vivo models of hepatocellular carcinoma (HCC), and to evaluate the prognostic implication of HK-II expression in patients with HCC. We used 3-bromopyruvate (3-BP), a HK-II inhibitor to target HK-II. The human HCC cell line was tested as both subcutaneous and orthotopic tumor xenograft models in BALB/c nu/nu mice. The prognostic role of HK-II was evaluated in data from HCC patients in The Cancer Genome Atlas (TCGA) database and validated in patients treated with sorafenib. Quantitative real-time PCR, western blot analysis, and immunohistochemical staining revealed that HK-II expression is upregulated in the presence of sorafenib. Further analysis of the endoplasmic reticulum-stress network model in two different murine HCC models showed that the introduction of additional stress by 3-BP treatment synergistically increased the in vivo/vitro efficacy of sorafenib. We found that HCC patients with increased HK-II expression in the TCGA database showed poor overall survival, and also confirmed similar results for TCGA database HCC patients who had undergone sorafenib treatment. These results suggest that HK-II is a promising therapeutic target to enhance the efficacy of sorafenib and that HK-II expression might be a prognostic factor in HCC.</P>
생명체 간의 상호작용 분석을 위한 계산 시뮬레이션 모델 연구
배경민 ( Kyungmin Bae ),여은지 ( Eunji Yeo ),김철수 ( Chul-soo Kim ),마진현 ( Jin-hyun Ma ),지정규 ( Jeong-gyu Chi ),김형선 ( Hyung-seon Kim ),이정형 ( Jeong-hyeong Lee ),임효상 ( Hyo-sang Lim ) 한국정보처리학회 2014 한국정보처리학회 학술대회논문집 Vol.21 No.1
본 논문에서는 생명체 간의 상호작용으로 형성된 안정된 생태계의 요인을 분석할 수 있는 계산 시뮬레이션 모델을 제안한다. 그리고, 실제 시뮬레이션 프로그램을 개발하고 이를 통해 얻은 실험 결과를 제시함으로써, 계산 시뮬레이션 분야와 생명과학 분야의 융합 가능성을 보인다. 제시한 계산 시뮬레이션 모델은 1) 하나의 커다란 생태계로 이루어진 세계, 2) 다수의 작은 생태계로 이루어진 세계, 3) 생태계가 미형성된 세계를 유전 알고리즘을 사용하여 모델링 하였으며, 실험 결과는 2)번 모델이 생태계를 가장 안정적인 상태로 오래 유지하는 결과를 보였다. 이를 통해서 충분한 에너지가 존재하거나 공급되는 환경에서는 생물 밀도가 높으면서 에너지 순환이 빠른, 작은 규모의 생태계가 가장 안정적이라는 생물학적인 결론을 도출할 수 있었다.
Huh Kyungmin,Lee Sang-Oh,Kim Jungok,Lee Su Jin,Choe Pyoeng Gyun,Kang Ji-Man,Yang Jaeseok,Sung Heungsup,Kim Si-Ho,Moon Chisook,Seok Hyeri,Shi Hye Jin,Wi Yu Mi,Jeong Su Jin,Park Wan Beom,Kim Youn Jeong 대한감염학회 2024 Infection and Chemotherapy Vol.56 No.1
Cytomegalovirus (CMV) is the most important opportunistic viral pathogen in solid organ transplant (SOT) recipients. The Korean guideline for the prevention of CMV infection in SOT recipients was developed jointly by the Korean Society for Infectious Diseases and the Korean Society of Transplantation. CMV serostatus of both donors and recipients should be screened before transplantation to best assess the risk of CMV infection after SOT. Seronegative recipients receiving organs from seropositive donors face the highest risk, followed by seropositive recipients. Either antiviral prophylaxis or preemptive therapy can be used to prevent CMV infection. While both strategies have been demonstrated to prevent CMV infection post-transplant, each has its own advantages and disadvantages. CMV serostatus, transplant organ, other risk factors, and practical issues should be considered for the selection of preventive measures. There is no universal viral load threshold to guide treatment in preemptive therapy. Each institution should define and validate its own threshold. Valganciclovir is the favored agent for both prophylaxis and preemptive therapy. The evaluation of CMV-specific cell-mediated immunity and the monitoring of viral load kinetics are gaining interest, but there was insufficient evidence to issue recommendations. Specific considerations on pediatric transplant recipients are included.