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( Hwa Seon Koo ),( Hyun Jeong Yi ),( Min Young Lee ),( Min Hye Choi ),( Na Young Sung ),( Yu Im Hwang ),( In Ok Song ),( Mi Kyoung Koong ),( Inn Soo Kang ),( Kwang Moon Yang ) 대한산부인과학회 2012 대한산부인과학회 학술대회 Vol.99 No.-
Objective: To evaluate whether increased peripheral blood inflammatory immune cell can induce decrease of uterine blood flow in patients with unexplained recurrent spontaneous abortion (RSA). Methods: This study designed prospectively 33 pregnant women between 5 to 7 gestational weeks with a history of unexplained RSA included in this study. 47 normal pregnant women between 5 to 7 gestational weeks without history of infertility and/or RSA included as a control. Peripheral blood natural killer (pbNK) (CD3-/56+) fractions among peripheral blood monocyte (PBMC) were checked by flow cytometry. Uterine color-pulsed Doppler trans-vaginal ultrasound for evaluation of uterine radial artery RI was checked. Uterine radial artery resistance index (RI) compared between study and control group. After then, uterine radial artery RI was compared between high pbNK cell fraction above 12.1% among PBMC and normal pbNK cells fraction below 12.1%. Correlation between pbNK cell fraction to uterine radial artery RI was also evaluated. Results: Uterine radial artery RI in early pregnancy was significantly higher in patients with RSA than that of normal control (0.60 ± 0.14 vs. 0.54 ± 0.12, P = 0.039). Especially, the mean value of uterine radial artery RI in RSA patients with elevated pbNK cells was significantly increased than that of normal control (0.62 ± 0.13 vs. 0.54 ± 0.12, P =0.029). Otherwise, pbNK cell fractions among PBMC displayed strong positive correlation to uterine radial artery RI (Pearson`s correlation coefficient P=0.001, r = 0.667). Conclusion: Increased pbNK cells can evoke decreased uterine blood flow by their pro-inflammatory action on micro vascular structure such as uterine radial artery. This can be a one causative mechanism of inducing spontaneous abortion by increased NK cells. But, larger scaled study is needed for clarify our results.
Visual Servoing of 8-DOF Arm for Mobile Robot Platform
Kwang-Hee Lee,Do-Eun Kim,Sang Hwa Lee,Young-Ho Lee,Tae-Yong Kuc 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper suggests the control technique that End-effector of manipulator can chase an object using an image gained from a stereo camera installed in a mobile robot platform and the camera positioned at the end of redundant manipulator in a wide working space. By using the stereo camera for searching the object in the wide working space, it is controlled to enable the End-effector of manipulator to approach the object. When the image of object is inputted to the camera equipped in End-effector, the manipulator is operated by reducing a position error between End-effector and object. Servo control system is verified through inter-layer’ autonomous navigation experiment using the mobile robot’ elevator with 8 DOF robot arms.
Sang Hyun Park,이복례,Kwang Hwa Jung,Tae Hwan Kim 아세아·태평양축산학회 2018 Animal Bioscience Vol.31 No.3
Objective: The present study aimed to assess the nitrogen (N) use efficiency of acidified pig slurry for regrowth yield and its environmental impacts on perennial ryegrass swards. Methods: The pH of digested pig slurry was adjusted to 5.0 or 7.0 by the addition of sulfuric acid and untreated as a control. The pig slurry urea of each treatment was labeled with 15N urea and applied at a rate of 200 kg N/ha immediately after cutting. Soil and herbage samples were collected at 7, 14, and 56 d of regrowth. The flux of pig slurry-N to regrowth yield and soil N mineralization were analyzed, and N losses via NH3, N2O emission and NO3– leaching were also estimated. Results: The pH level of the applied slurry did not have a significant effect on herbage yield or N content of herbage at the end of regrowth, whereas the amount of N derived from pig slurry urea (NdfSU) was higher in both herbage and soils in pH-controlled plots. The NH4+-N content and the amount of N derived from slurry urea into soil NH4+ fraction (NdfSU-NH4+) was significantly higher in in the pH 5 plot, whereas NO3– and NdfSU-NO3– were lower than in control plots over the entire regrowth period. Nitrification of NH4+-N was delayed in soil amended with acidified slurry. Compared to non-pH-controlled pig slurry (i.e. control plots), application of acidified slurry reduced NH3 emissions by 78.1%, N2O emissions by 78.9% and NO3– leaching by 17.81% over the course of the experiment. Conclusion: Our results suggest that pig slurry acidification may represent an effective means of minimizing hazardous environmental impacts without depressing regrowth yield.