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.

실내조건에서 무당벌레(Harmonia axyridis : Coleoptera: Coccinellidae)의 각 발육단계에 친환경농자재가 미치는 영향

강은진,강명기,이희진,이대홍,석희봉,김다아,길미라,서미자,유용만,윤영남,Kang, Eun-Jin,Kang, Myong-Ki,Lee, Hee-Jin,Lee, Dae-Hong,Seok, Hee-Bong,Kim, Da-A,Gil, Mi-La,Seo, Mi-Ja,Yu, Yong-Man,Youn, Young-Nam 한국응용곤충학회 2007 한국응용곤충학회지 Vol.46 No.1

무당벌레(H. axyridis)는 세계적으로 진딧물의 포식자로 널리 알려지면서 농생태계내에서 진딧물을 방제하기 위한 방제인자로 많이 사용하고 있다. 또한 국내에서는 농약의 사용을 억제하는 정부정책과 소비자의 요구 등으로 인하여 친환경농업이 확대되면서 친환경농자재들이 많이 사용되고 있다. 따라서 친환경농자재의 사용은 무당벌레에 직간접적으로 영향을 미칠 수가 있다. 살충성친환경농자재(IEFAMs)의 경우 무당벌레의 각 발육단계에 대하여 대부분 안전한 경향을 나타내고 있다. 살균성친환경농자재(FEFAM)의 경우에도 FEFAM A를 제외한 다른 종류들은 무당벌레에 대하여 영향이 적다. 토양미생물친환경농자재(EFAMSM)인 EFAMSM C와 H는 무당벌레 알의 부화율을 떨어뜨릴 수가 있으며, EFAMSM A와 F는 1령 유충에 피해를 줄 수 있는 것으로 조사되었다. 식물성추출물친환경농자재(EFAMPE)는 EFAMPE A와 D는 무당벌레 알에 치명적인 독성을 보이고 있는 것을 알 수 있다. 그 이외의 다른 조사된 농자재들은 무당벌레에 비교적 독성이 약한 것으로 평가되었다. The multicolored Asian ladybird beetle (Harmonia axyridis) has been commonly used with biological control agents for control of several kinds of aphids in agroecosystems. Also, environment friendly agricultural materials have been commonly applied in crop fields because the government held down pesticide application and environment friendly agricultures are gradually increased with consumer's desires. The multicolored Asian ladybird beetles may be directly or indirectly under the influence of environment friendly agricultural materials In crop fields. The insecticidal environment friendly agricultural materials (IEFAMs) might be saff against each developmental stage of multicolored Asian ladybird beetle. Fungicidal environment friendly agricultural materials (FEFAMs) had a miner effect to each developmental stage of multicolored Asian ladybird beetle with the exception of FEFAM A. Environment friendly agricultural materials contained useful soil microorganisms (EFAMSMs) C and H might be down the hatching rate of eggs, and EFAMSM A and F had a killing effect to 1st instar of lady beetles. Environment friendly agricultural materials contained plant extracts (EFAMPEs) A and D might be suffered effect a deathblow of egg hatching with lady beetles. Otherwise, there was a miner effect to lady beetles with the rest of tested environment friendly agricultural materials.

팔당호 퇴적층 남조류의 군집과 남조류 성장잠재성 분석

김용진 ( Yong-jin Kim ),백준수 ( Jun-soo Baek ),윤석제 ( Seok-jea Youn ),김헌년 ( Hun-nyun Kim ),이병천 ( Byoung-cheun Lee ),김귀다 ( Guee Da Kim ),박송은 ( Song Eun Park ),유경아 ( Kyung A You ),이재관 ( Jae-kwan Lee ) 한국물환경학회(구 한국수질보전학회) 2016 한국물환경학회지 Vol.32 No.3

We analyzed cyanobacterial community including akinete, resting cell, and benthic cyanobacteria in sediment of Bukhan, Namhan-River, Paldang-Lake, and Kyeongan-Stream and compared the physicochemical factors for water and pore water. We also performed cyanobacteria growth potential test through incubating sediment. As a result of physicochemical analysis, the concentrations of nutrients were similar for each depth of Bukhan-River. For Namhan-River and Lake Paldang sites, the concentrations of TP and DTN in bottom and deep water had higher levels. DTN in water body composed of NO3-N(73%) while DTN in pore water composed of NH3-N(77.8%). Benthic cyanobacteria in the sediment such as Oscillatoria tenuis, O. limosa, Phormidium tenue, Pseudanabaena limnetica, and Lyngbya sp. were dominant (between 0.0~243.3×103 cells/g, w/w). Cell densities of cyanobacteria in sediment depth of 0~2 cm in most sites were higher compared to those in other depths. The cell density of cyanobacteria in sediment correlated with pH, conductivity, BOD5, TP, DTP, and chl. a. Increased phytoplankton and organic matters were found to be able to inhibit the growth of benthic cyanobacteria. Results of cyanobacteria growth potential test after incubating sediment revealed that harmful cyanobacteria (Anabaena, Aphanizomenon, Microcystis, and Oscillatoria) appeared at 7 days post culturing. Base on these results, the methods used in this study are considered to be able to determine the appearance of harmful cyanobacteria.

실내조건에서 친환경농자재가 기생성 천적곤충에 미치는 영향

유용만,강은진,서미자,강명기,이희진,김다아,길미라,윤영남,Yu, Yong-Man,Kang, Eun-Jin,Seo, Mi-Ja,Kang, Myeng-Gi,Lee, Hee-Jin,Kim, Da-A,Gil, Mi-La,Youn, Young-Nam 한국응용곤충학회 2006 한국응용곤충학회지 Vol.45 No.2

시설하우스의 주요 난방제 해충인 온실가루이, 진딧물 및 아메리카잎굴파리의 생물적 방제를 위해 사용되는 온실가루이좀벌, 콜레마니진디벌 및 굴파리좀벌 굴파리고치벌에 대한 친환경농자재 사용에 따른 영향을 조사하였다. 먼저 친환경농자재가 천적과 직접 접촉하였을 경우의 영향을 알아보기 위하여, 온실가루이좀벌의 머미에 분무하였을 경우, 61개 품목 중에서 살균성친환경농자재인 FEFAME (0.4%), 몰리브덴함유친환경농자재 G (2.7%)를 뿌린 경우에는 거의 우화하지 않았다. 또한, 성충에 미치는 잔효독성을 조사한 결과, 식물성추출물친환경농자재 J 와 몰리브덴함유친환경농자재인 EFAMMo C는 처리 후 48시간 후의 생존율이 0%였고, 미량요소함유친환경농자재인 EFAMME B (6.7%)., 식물성추출물친환경농자재인 EFAMPE H, 토양미생물친환경농자재인 EFAMSM H (13.3%), 살균성친찬경농자재인 FEFAM A와 D (20.0%) 등이 처리 48시간 후 생존율이 낮게 나타났다. 콜레마니진디벌의 경우 직접접촉에 대한 평가에서 머미에 분무하는 경우에는 대조구(물)조차도 22%의 낮은 우화율을 보이고 있으며, 성충에 대한 잔효효과의 경우에, 몰리브덴함유친환경농자재인 EFAMMo C는 처리 48시간 후 0%의 생존율을 나타내었고, 식물성추출물친환경농자재인 EFAMPE J (6.7%), EFAMPE F 와 EFAMPE H, 토양미생물친환경농자재인 EFAMSM H (13.3%)등이 20% 이하의 낮은 처리 후 48시간 후의 생존율을 나타내었다. 굴파리좀벌 굴파리고치벌의 경우에는 식물성추출물친환경농자재인 EFAMPE J가 처리 후 48시간 후 0%의 생존율를 나타내었고, 몰리브덴함유친환경농자재인 EFAMMo C가 53.3%로 낮은 처리 후 48시간 후의 생존율을 보였으며, 이외 친환경농자재에 대하여는 영향이 거의 없거나 낮은 것으로 나타나고 있다. For the biological control of the greenhouse whitefly, aphids, American leaf-miners, Encarsia formosa, Aphidius coiemani, Diglyphus isaea, and Dacnusa sibirica were used as biological control factors. Otherwise, many kinds of environment friendly agricultural materials were also used in the kindly environment friendly farming. For testing the toxicity of environment friendly agricultural materials against to insect parasitoids as biological control factors, 61 environment friendly agricultural materials were selected by using methods and periods with insect parasitoids in the greenhouses. Environment friendly agricultural materials were sprayed to mummies and adults of E. formosa and A. colemani, and adults of Diglyphus isaea and Dacnusa sibirica in laboratory condition. Emergence rates were checked during 12 days after spray to mummies of E. formosa and A. colemani, and survival rates were at 24 and 48 hours after viral test for adult parasitoids, with 10% sugar solution. Emergence rates of E. formosa mummies were inhibited by sprayed the fungicidal environment friendly agricultural material (FEFAM) E and the environment friendly agricultural materials contained molybdenum (EFAMMo) G as 0.4 and 2.7%, respectively. E. formosa adults were not survived in vial for 48hours after sprayed and dried with the environment friendly agricultural materials contained plant extract (EFAMPE) J and the EFAMMo C. The environment friendly agricultural materials contained microelements (EFAMMEs) B and EFAMPE H, environment friendly agricultural materials contained useful soil microorganisms (EFAMSMs) H, FEFAM A and FEFAM D were recorded low survival rates of E. formosa adults with 6.7, 13.3, 13.3, 20.0 and 20.0, respectively. In case of the spraying environment friendly agricultural materials to mummies of A. colemani there were low emergence rate from mummies to adults as around 20s % with water spraying as control. A. colemani adults were not survived in vial with EFAMMo C. EFAMPE J, EFAMPE F, EFAMPE H, EFAMSM H were recorded low survival rates under 20% as 6.7, 13.3, 13.3 and 13.3, respectively, D. isaea and D. sibirica adults were not survived in vial with EFAMPE J. EFAMMo C was 53.3% of survival rates in 48 hours vial tests. D. isaea and D. sibirica were not affected by environment friendly agricultural materials compared with E. formosa and A. colemani.

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.

Synergy effects of Al₂O₃ promoter on a highly ordered mesoporous heterogeneous Rh-g-C₃N₄ for a liquid-phase carbonylation of methanol

Kim, Da Mi,Kim, A Rong,Chang, Tae Sun,Koo, Hyun Mo,Kim, Jung Kyu,Han, Gui Young,Shin, Chae-Ho,Bae, Jong Wook Elsevier 2019 Applied catalysis. A, General Vol.585 No.-

<P><B>Abstract</B></P> <P>The effects of Lewis acid Al<SUB>2</SUB>O<SUB>3</SUB> on Rh-incorporated mesoporous g-C<SUB>3</SUB>N<SUB>4</SUB> (AlRh-CN) were investigated to verify an enhanced activity and stability in a liquid-phase carbonylation of methanol. The novel AlRh-CN with 2.0 wt%Al (Al(2)Rh-CN) revealed a higher yield of acetic acid (AA) and methyl acetate (MA) with a small Rh leaching. The enhanced activity on the optimal Al(2)Rh-CN was attributed to the highly dispersed and partially reduced Rh nanoparticles by preserving initial oxidation states as well as by maintaining its stronger interaction on the Al-modified g-C<SUB>3</SUB>N<SUB>4</SUB> surfaces. Its superior activity was originated from the highly dispersed Lewis acid Al<SUP>3+</SUP> sites assigned to Al<SUB>2</SUB>O<SUB>3</SUB> phases due to an increased reverse esterification reaction rate. The higher activity on the Al(2)Rh-CN was originated from synergy effects such as a larger Lewis acid Al<SUB>2</SUB>O<SUB>3</SUB> sites acting as a pillaring material to increase specific surface area of Al(2)Rh-CN and to increase a reverse esterification reaction.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Synergy effect of Al promoter was observed on a highly ordered mesoporous heterogeneous AlRh-CN. </LI> <LI> Novel AlRh-CN with 2.0 wt%Al showed a higher AA yield of with less leaching of Rh species. </LI> <LI> Lewis acid Al sites increased a reverse esterification reaction of MA to AA by hydrolysis reaction. </LI> <LI> A robust preservation of larger amount of acidic Al<SUP>3+</SUP> sites and high surface area of metallic Rh are crucial. </LI> </UL> </P> <P><B>Graphical abstract</B></P> <P>Lewis acid Al<SUB>2</SUB>O<SUB>3</SUB> promoter on the highly ordered mesoporous heterogeneous Rh-incorporated graphitic carbon nitride (mpg-C<SUB>3</SUB>N<SUB>4</SUB>) largely enhanced the catalytic activity and stability in a liquid-phase carbonylation of methanol to acetic acid (AA) by increasing a reverse esterification activity of methyl acetate (MA) intermediate to AA.</P> <P>[DISPLAY OMISSION]</P>

S100A8 Induces Secretion of MCP-1, IL-6, and IL-8 via TLR4 in Jurkat T Cells

A Reum Nam,Da Hae Kim,Mun Jeong Kim,Ji-Sook Lee,Seung-Ju Yang,In Sik Kim 대한의생명과학회 2016 Biomedical Science Letters Vol.22 No.2

In the pathogenesis of inflammatory diseases such as allergies, S100A8 acts as an important molecule and T lymphocytes are essential cytokine-releasing cells. In this study, we investigated the effect of S100A8 on release of cytokines, specifically MCP-1, IL-6, and IL-8 in T cells, and its associated signaling mechanism. S100A8 increased secretion of MCP-1, IL-6, and IL-8 in a time- and dose-dependent manner. Elevated secretion of MCP-1, IL-6, and IL-8 due to S100A8 was inhibited by the TLR4 inhibitor TLR4i, the PI3K inhibitor LY294002, the PKCδ inhibitor rottlerin, the ERK inhibitor PD98059, the p38 MAPK inhibitor SB202190, the JNK inhibitor SP600125, and the NF-κB inhibitor BAY-11-7085. S100A8 induced phosphorylation of ERK, p38 MAPK, and JNK in a time-dependent manner, and activation was suppressed by TLR4i, LY294002, and rottlerin. S100A8 induced NF-κB activation by Iκ-Bα degradation, and NF-κB activity was suppressed by PD98059, SB202190, and SP600125. These results indicate that S100A8 induces cytokine release via TLR4. Study of PI3K, PKCδ, MAPKs, and NF-κB will contribute to elucidation of the S100A8-invovled mechanism.

요추 후관절 약침 치료를 병행한 임신 중 요통 및 하지방사통이 악화된 요추 추간판 탈출증 환자 증례 보고

김수진 ( Su-jin Kim ),김순아 ( Sun-a Kim ),김민경 ( Min-kyung Kim ),이시원 ( Si-won Lee ),경다현 ( Da-hyunk Yung ),배지은 ( Ji-eun Bae ),권용수 ( Yong-suk Won ),허효승 ( Hyo-seung Huh ) 대한한방부인과학회 2021 大韓韓方婦人科學會誌 Vol.34 No.1

Objective : The purpose of this study was to report a case of a pregnant woman diagnosed with lumbar disc herniation that improved in lumbar pain and radiating leg pain through combined korean medical treatment including pharmacopuncture at lumbar facet joints in situations surgical and pharmacological treatment is limited due to pregnancy. Methods : A combination of treatment including pharmacopuncture at lumbar facet joints, acupuncture, cupping, and herbal medicine was provided for 1 month to a woman at 21 weeks pregnant who was diagnosed with lumbar disc herniation. Her progress was assessed with NRS, EQOD, and ODI before and after treatment. Results : The patient made a significant improvement in NRS, EQOD, and ODI after treatment. No adverse events were observed. Conclusions : The findings indicate that combined korean medical treatment including pharmacopuncture at lumbar facet joints can be safe and effective alternatives to treat lumbar disc herniation during pregnancy.

변비로 발현한 직장 간질종양

이신아,심기남,노선희,이민진,김혜인,전승정,오다연,홍승철,류재인,김광호 이화여자대학교 의과학연구소 2011 EMJ (Ewha medical journal) Vol.34 No.2

A gastrointestinal stromal tumor (GIST) is the most common mesenchymal tumor of the gastrointestinal tract and expresses CD117, a c-kit proto-oncogene, which can be detected immunohistochemically. We reported a GIST of the rectum of a 61-year-old-woman who had visited emergency room complaining of constipation over one week. Upon rectal examination, a round hard mass was palpated. Colonoscopy showed a 7×5 cm sized protruded lesion with surface ulceration on a rectum, adjacent the anus. And abdomen computed tomography revealed the soft tissue mass compressing anterolateral wall of the rectum and these findings suggest possibility of rectal submucosal tumor such as GIST. The patient had been treated with a ultra anorectal anastomosis with loop ileostomy. Immunohistochemical studies on the surgically resected specimen showed c-kit (+) and CD34 (+). The final diagnosis was a GIST of the rectum. She was grouped into high risk and she has been given adjuvant chemotherapy with Imatinib.

Thera-Band application changes muscle activity and kyphosis and scapular winging during knee push-up plus in subjects with scapular winging : The cross-sectional study

Shin, A-Reum,Lee, Ji-Hyun,Kim, Da-Eun,Cynn, Heon-seock Williams & Wilkins Co 2018 Medicine Vol.97 No.14

<P><B>Abstract</B></P><P>Scapular winging (SW) is defined as increased prominence of the whole medial border of the scapula. Many researchers recently recommended knee push-up plus (KPP) for enhancing serratus anterior (SA) activation. However, during push-up plus, thoracic kyphosis (TK) may usually occur as a compensatory movement. Thus, the purpose of this study was to investigate the effect of Thera-Band application during KPP on rectus abdominis (RA) activity, TK angle (TKA), SA activity, and amount of SW in subjects with SW.</P><P>Fifteen subjects performed KPP with Thera-Band applied to different posterior body parts (no Thera-Band, in the occiput, and in the thoracic region). Electromyography was used to record the RA and SA activities. Image J software was used to calculate the compensatory TKA during KPP, and a scapulometer was used to measure SW in the quadruped position. One-way repeated-measures analysis of variance was used to test for significance.</P><P>KPP with Thera-Band in the occiput showed significantly lower RA activity (<I>P</I> = .001) and TKA (<I>P</I> < .001) than KPP with no Thera-Band. SA activity (<I>P</I> = .020, <I>P</I> = .047) and SW (<I>P</I> < .001, <I>P</I> < .001) were significantly lower with Thera-Band applied to the occiput and thoracic regions than in KPP with no Thera-Band.</P><P>Thera-Band applied to the occiput and thorax can be beneficial as it decreases RA and SA muscle activity and reduces TKA and SW during KPP in subjects with SW.</P>