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.

화장품 도포방법에 따른 피부 관리 전후의 상태 비교

장병수 ( Byung Soo Chang ),장아영 ( A Young Jang ),정다정 ( Da Jung Jung ) 대한미용학회(구 대한미용과학회) 2018 대한미용학회지 Vol.14 No.2

In the present study, an attempt was made to compare and analyze the changes in facial skin condition after application of cosmetics using basic cosmetic application methods and air brush of modern women using a skin analyzer and a dermoscope. The results of facial skin moisture measurement showed that the control group and the experimental group maintained a sufficient moisture content in the foreheads, both cheeks and chin except the nose. According to the findings of skin sebum measurement, there was no significant change in the forehead, both cheeks and the chin of control group-1, and the nose decreased below normal after the experiment. The forehead, right cheek, and chin were normal in control group-2, and the nose increased from normal to above normal 4 weeks after the experiment. The forehead, left cheek, and chin of experimental group-1 increased to normal after the experiment, and the forehead, right cheek, nose and chin of experimental group-2 remained normal after the experiment. The results of pH measurement revealed that the forehead of the control group decreased from normal to below normal, while the remaining portion did not show any significant change. The experimental group-1 showed normal values in all portions and the experimental group-2 showed normal values in the nose and both cheeks. Dermoscopic studies showed that skin condition of the control group and the experimental group were different depending upon the concerned skin areas. The skin changes before and after the experiment turned out to be consistent with the result of the skin analysis using a skin analyzer. The experimental group showed an improvement in skin condition after the experiment. To sum up, skin care using air brush is effective for moisturizing as the fine particles ejected through the nozzle improve adhesion and durability to the skin. In order to maintain a balance between moisture and sebum in the skin, it is expected that our findings will be more effective if manual operation is performed after spraying with air brush.

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.

Growing Environment Characteristics and Vegetation Structure of Daphne Pseudomezereum var. Koreana Native Habitats in Korea

Lee, Da-Hyun,Son, Ho-Jun,Park, Sung-Hyuk,Kim, Se-Chang,Park, Wan-Geun Institute of Forest Science 2019 Journal of Forest Science Vol.35 No.1

Daphne pseudomezereum var. koreana is an endangered deciduous shrub distributed in mountain areas that is vulnerable to climate change. The purpose of this study was to provide foundational data on the physical characteristics, soil environment, and vegetation structure of habitats of Daphne pseudomezereum var. koreana habitat in Korea in order to help with management decisions on ecosystem restoration. Rock exposure was 15 to 35%, with an average of 24%. The native habitat of D. pseudomezereum included 129 taxa consisting of 46 families and 95 genera. Two-way cluster analysis divided the habitat into three plant communities: Community I (dominaterd by Tilia amurensis and Quercus mongolica), Community II (dominaterd by Fraxinus rhynchophylla and Acer pseudosieboldianum), and Community III (dominaterd by Ulmus davidiana var. japonica). The diversity indices for Communities I, II, and III were 1.124, 1.047 and 0.932, respectively. The soils were loam or clay loam. Soil pH, organic matter content, and available phosphoric acid were 5.40, 14.38%, and 31.08 ppm, respectively. Ordination analysis resulted that most significant factors influencing D. pseudomezereum distribution were magnesium content of soil, shrub layer, and altitude.

연구논문 : 국가 생태정보를 활용한 생물다양성 지도 구축

정다정 ( Da Jung Jung ),강경호 ( Kyung Ho Kang ),허준 ( Joon Heo ),김창재 ( Chang Jae Kim ),김성호 ( Sung Ho Kim ),이정빈 ( Jung Bin Lee ) 한국환경영향평가학회 2010 환경영향평가 Vol.19 No.6

Natural ecosystem is an essential part to connect with the plan for biodiversity conservation in response strategy against climate change. For connecting biodiversity conservation with climate change strategy, Europe, America, Japan, and China are making an effort to discuss protection necessity through national biodiversity valuation but precedent studies lack in Korea. In this study, we made biodiversity maps representing biodiversity distribution range using species richness in National Forest Inventory (NFI) and Forest Description data. Using regression tree algorithm, we divided various classes by decision rule and constructed biodiversity maps, which has accuracy level of over 70%. Therefore, the biodiversity maps produced in this study can be used as base information for decision makers and plan for conservation of biodiversity & continuous management. Furthermore, this study can suggest a strategy for increasing efficiency of forest information in national level.

Nutrikinetics of Isoflavone Metabolites After Fermented Soybean Product (Cheonggukjang) Ingestion in Ovariectomized Mice

Lee, Da‐,Hye,Kim, Min Jung,Ahn, Jiyun,Lee, Sang Hee,Lee, Hyunjung,Kim, Jin Hee,Park, So‐,Hyun,Jang, Young‐,Jin,Ha, Tae‐,Youl,Jung, Chang Hwa John Wiley and Sons Inc. 2017 Molecular Nutrition & Food Research (Print) Vol.61 No.12

<P><B>Scope</B></P><P>Cheonggukjang (CGJ) is a soybean‐based quick‐fermented food popular in Korea that contains a variety of biologically active compounds including isoflavones and saponins. Isoflavone bioavailability may be important for the bone health of postmenopausal women; therefore, the aim of this study is to evaluate the influence of fermentation on the isoflavone metabolite nutrikinetic profile after single dose CGJ or unfermented soybean administration in ovariectomized (OVX) and sham mice.</P><P><B>Methods and results</B></P><P>We identify 34 isoflavone metabolites using UPLC–QTOF‐MS and analyze their nutrikinetics at different time points (0.25, 0.5, 1, 2, 4, 8, 16, and 24 h) to understand their fermentation‐ and OVX‐mediated time‐dependent concentration changes. Nutrikinetics analysis shows that genistein, daidzein, genistein 4′‐sulfate, dihydrodaidzein sulfate, equol 4′‐sulfate, and equol‐7‐glucuronide are present at high concentrations in all groups based on area‐under‐the‐curve analysis. OVX mice appear to show lower isoflavone bioavailability than mice in the sham group. CGJ enhances various isoflavone metabolite bioavailability including genistein, 3‐hydroxygenistein, and equol 7‐glucuronide, compared to the unfermented soybean‐treated group. Among these metabolites, intact isoflavones, 3‐hydroxygenistein, genistein 4′‐sulfate, and equol 7‐glucuronide promote osteoblastogenesis and inhibit osteoclast formation.</P><P><B>Conclusions</B></P><P>CGJ has good isoflavone bioavailability and may be beneficial for the bone health of postmenopausal women.</P>

신정부 과학기술정책 방향 모색

홍성주(Sung Joo Hong),이다은(Da Eun Lee),홍창의(Chang Ui Hong),강민지(Min Ji Kang),우청원(Chung Won Woo),강홍렬,전찬미 과학기술정책연구원 2017 정책연구 Vol.- No.-

With the presidential election in 2017 as a momentum, many people in science and engineering and social organizations gave various science and technology policy proposals. Most of them were reflected in each party’s election pledges. The media also covered lots of science and technology policy issues, which mainly included agendas reflecting the voices of the fields of R&D like research autonomy and people-oriented investment. This task aims to understand how the landscape of science and technology policies changed in an era of political change. To achieve this, we pursued to answer three research questions. First, how are we going to look at the vitalization of science and technology policy issues that occurred in the presidential election and its results? Second, what was it like in the past? Did the previous governments faithfully carry out their science and technology pledges in their science and technology policies? Third, what is the blind spot of policies that failed to attract attention or became a dilemma despite the change in science and technology policies? In order to answer these questions, the research team analyzed the way of establishing the window for science and technology policies during the presidential election in 2017, while also looked at the path taken for science and technology pledges to be implemented as policies during the past 15 years after the Rho Moo Hyun Government. The analysis results showed that we need to take largely four different approaches to science and technology issues. From the medium and long term perspective, it can be divided into issues that need access, issues that need enhancement, issues that need to gain political interests and issues that need to improve rationality. The research team’s results presented important perspective and methodology of looking at science and technology policy by not only being applied as a standard and means, but also provided a framework for devising various methods and means by policy issue. Hopefully, our researches are helpful in the planning and implementation of science and technology policy by the new government, which will be inaugurated in May 2017.

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.