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.

Selective Electrochemical Detection of Dopamine Using Reduced Graphene Oxide Sheets-Gold Nanoparticles Modified Electrode

Park, Da-Jeong,Choi, Jin-Ha,Lee, Won-Jin,Um, Soong Ho,Oh, Byung-Keun American Scientific Publishers 2017 Journal of nanoscience and nanotechnology Vol.17 No.11

<P>Dopamine (DA) is one of the most significant neurotransmitters, and it has a major role in the central nervous system, such as in cognition, motivation, and memory. Some neural diseases, including Alzheimer's disease (AD) and Parkinson's diseases (PD), are related with a lack of DA. Thus, the detection of DA is necessary for the early diagnosis of such diseases. In this study, we fabricate an electrochemical sensor by modifying an electrode with reduced graphene oxide sheet (rGS)-gold nanoparticle (GNP) complexes to determine DA and ascorbic acid (AA) in a mixture within a range of 0.1-100 mu M. The rGS was used to improve the selectivity of the sensor by having pi-pi interaction with DA, and the GNPs improved the sensitivity due to their great conductivity and large surface area. As a result, when the GNPs were immobilized on the rGS surface, the sensor exhibited greatly improved electrocatalytic activity compared with other cases, such as the individual application of rGS or GNPs. The performance of the sensor with the modified electrode was confirmed by scanning electron microscopy (SEM), cyclic voltammetry (CV), and differential pulse voltammetry (DPV) measurements. The results showed that it had linearity in the range of 0.1-100 mu M of DA and the limit of detection was 0.098 mu M in the presence of AA 400 mu M. Therefore, it could be applied to medical biosensors to diagnose neural diseases.</P>

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.

Deposition of Dopamine and Polyethyleneimine on Polymeric Membranes: Improvement of Performance of Ultrafiltration Process

Ingrid R. Marques,Guilherme Zin,Lidia T. Prando,Cristiana C. Bretanha,Mariane C. Proner,Elisandra Rigo,Katia Rezzadori,Cristiane da Costa,Marco Di Luccio 한국고분자학회 2020 Macromolecular Research Vol.28 No.12

Modification of the characteristics of polymeric membranes is regarded as an alternative to control the flux decline caused by the concentration polarization and the fouling in ultrafiltration (UF). This work investigated the use of dopamine (DA) and polyethyleneimine (PEI) to hydrophilize the surface and to improve the performance of a 50 kDa polyethersulfone UF membrane. The hydraulic permeance of membranes was investigated for the membranes modified using a DA solution with its concentration fixed at 2 mg·mL-1 and a PEI solution with its concentration varying from 0 to 16 mg·mL-1. The membrane modified in a 16 mg·mL-1 solution of PEI presented the uppermost hydraulic permeance (33 L·h-1·m-2). This membrane and two other controls (unmodified and modified membranes with a 2 mg·mL-1 solution of DA) were further characterized for surface chemistry using Fourier transform infrared by attenuated reflectance (FTIR-ATR) and X-ray excited photoelectron spectroscopy (XPS) charge (zeta potential), morphology (field emission scanning electron microscopy (FESEM) and optical interferometry), water mass gain, and performance in bovine serum albumin (BSA) UF. XPS showed an increase in the nitrogen content and a decrease in the sulfur content indicating the membrane modification. Membrane modification with DA/PEI caused an increase in hydrophilicity, which could reduce the interaction of BSA with the membrane surface. The flux of protein solutions was improved by 400%, and there was a complete recovery of the water flux after chemical cleaning of the modified membrane.

清儒와 荀子 사상 관계에 대한 비판적 접근 - 錢大昕의 순자 이해 및 순자와 戴震 人性論의 내재적 정합성을 중심으로49

배다빈 ( Bae¸ Da-bin ) 한국동서철학회 2021 동서철학연구 Vol.- No.101

清代 荀子學史는 세 가지 분석 방식을 포함한다. 첫 번째, 明末清初로부터 시작된 中國儒家의 긍정적 순자관의 출현에 대한 이해. 두 번째, 清儒의 활발한 『荀子』 주석 성과에 대한 검토. 세 번째, 清儒의 독자적인 사상체계와 순자 사상 간의 계승, 영향 관계에 대한 분석이다. 또한 청대 漢學의 振作과 더불어 끊임없이 저술된 『순자』 주석서의 영향과 그 가치는 이미 공인된 바이다. 그러나 청유의 긍정적 순자관 및 순자와 의 사상적 관계에 관한 토론 자체는 좀 더 비판적인 시각으로 다루어볼 필요가 있다. 왜냐하면 현대의 시각으로 보면, 청유의 순자에 대한 이해는 여러 논리적, 개념적 오류가 발견될 뿐만 아니라, 이러한 오류들은 그들의 순자에 대한 전체 평가에도 직접적 영향을 미쳤기 때문이다. 本考에서는 순자 사상과 접촉한 많은 청유 가운데, 비교적 대표성을 지닌 錢大昕과 戴震의 순자관 및 사상을 통해 청대 순자학사의 양면을 고찰해볼 것이다. There are three aspects to the history of Xunzi study in the Qing period. First, an understanding of the emergence of a positive perspective of Xunzi, starting from the late Ming Dynasty. Second, the review of the active "Xunzi" annotation performance of Confucian scholars in the Qing Dynasty. Third, the analysis of the relationship between the unique ideological system of Confucian scholars in Qing Dynasty and the ideology of Xunzi. Along with the advancement of Han-xue(漢學) in the Qing period, the influence and meaning of the constantly written "Xunzi"’ commentary are well known. However, the positive perspective on the Xunzi and the discussion of the ideological relationship between Xunzi and the Confucianism of Qing need to be dealt with in a more critical light. This is because, from today's perspective, there are not only a number of logical and conceptual errors in the understanding of Xunzi of Confucian in Qing Dynasty, but those errors also directly affected the evaluation of Xunzi. Among many of Qing’s Counfucians in contact with the idea of Xunzi, the two sides of history of Xunzi study in Qing period will be analyzed through the relatively representative view of Qian Da-xin and Dai zhen's view of Xunzi and there ideological relationships.

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.

인터뷰를 통한 베트남인 한국어 학습자의 읽기 불안 연구

이다슴(Lee Da-Seum) 우리말학회 2020 우리말연구 Vol.61 No.-

본 연구는 11명의 베트남인 중급 학습자들을 대상으로 한국어 학습자의 읽기 불안 양상 및 원인을 심층적으로 파악하는 데 목적이 있다. 본 연구는 이다슴·박성희(2019)의 후속 연구로서, FLRAS(Foreign Language Reading Anxiety Scale)의 문항을 인터뷰에 적합하게 재구성하였다. 기존의 연구들이 FLRAS를 통해 학습자의 읽기 불안 양상을 양적으로 평가하는 데에 집중했던 것과 달리 FLRAS 문항을 인터뷰로 재구성하여 학습자들의 불안 양상을 보다 구체적으로 파악했다는 점에서 본 연구의 의의를 찾을 수 있다. 본 연구를 통해 베트남인 중급 학습자들이 한국어 읽기 상황에서 경험하는 불안을 다각도로 살펴보았다. 그 결과 한국어 교사가 읽기 교수·학습 상황에서 적용 가능한 점들을 도출하면 (1) 읽기 전 단어와 문법에 대한 학습, (2) 읽기 전략 교수 강화, (3) 학습자들이 잦은 오류를 보이는 발음 연습, (4) 세심하고 긍정적인 피드백의 필요가 있다. 이 연구에서 제시하는 교수 방안이 베트남인 한국어 학습자의 읽기 불안 감소에 도움이 될 수 있고, 나아가 이들이 한국어 읽기에 대해 긍정적인 태도 및 인식을 형성하는 데 도움이 되길 바란다. This study aims to identify in-depth reading patterns and causes of Korean learners reading anxiety among 11 Vietnamese intermediate learners. As a follow-up study of Lee Da-seum and Park Sung-hee (2019), the items of FLRAS (Foreign Language Reading Anxiety Scale) were applied and reconstructed to suit the interview based on the five reading anxiety factors previously classified through factor analysis. Unlike previous studies that focused on quantitatively assessing learners reading anxiety through FLRAS, this study is meaningful in that the FLRAS items were re-interpreted by doing interviews to give a more specific picture of learners anxiety patterns. This study examined the personal causes, situations, and contextual causes of anxiety that intermediate learners experience in Korean reading situations and looked at various aspects of their efforts to overcome anxiety. Accordingly, Korean language teachers presented points applicable to teaching· learning situations: (1)Learning words and grammar before reading, (2) strengthening teaching on reading strategy (3)practicing pronunciation with frequent mistakes by learners, (4)careful and positive feedback. Hopefully, this will help reduce reading anxiety among Korean learners and help them form a positive attitude and awareness about Korean reading.

Proteomic Profiling of Serum from Stage I Lung Squamous Cell Carcinoma Patients

Li, Xin-Ju,Wu, Qi-Fei,He, Da-Lin,Fu, Jun-Ke,Jin, Xin Asian Pacific Journal of Cancer Prevention 2013 Asian Pacific journal of cancer prevention Vol.14 No.4

Objectives: This study employed proteomic profiling to identify specific tumor markers that might improve early diagnosis of lung squamous cell carcinoma. Methods: Serum samples were isolated from 30 patients with stage I lung squamous cell carcinoma and 30 age-and gender-matched healthy controls, and proteomic profiles were obtained by matrix-assisted laser desorption ionization time of flight mass spectrometry. Results: Three highly expressed potential tumor markers were identified in the sera of stage I lung squamous cell carcinoma patients, with molecular weights of 3261.69, 3192.07, and 2556.92 Da. One protein peak with molecular weight 3261.69 Da was chosen as the candidate biomarker and identified as a fibrinogen alpha chain through a search of the IPI, NCBI or SWISS-PROT protein databases. Conclusion: As a potential tumor biomarker, fibrinogen alpha chain may be applicable for the early diagnosis and prognosis of lung squamous cell carcinoma patients.

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.

Targeted deletion of the AAA-ATPase Ruvbl1 in mice disrupts ciliary integrity and causes renal disease and hydrocephalus

Claudia Dafinger,Markus M. Rinschen,Lori Borgal,Carolin Ehrenberg,Sander G. Basten,Mareike Franke,Martin Höhne,Manfred Rauh,Heike Göbel,Wilhelm Bloch,F. Thomas Wunderlich,Dorien J. M. Peters,Dirk Tasch 생화학분자생물학회 2018 Experimental and molecular medicine Vol.50 No.-

Ciliopathies comprise a large number of hereditary human diseases and syndromes caused by mutations resulting in dysfunction of either primary or motile cilia. Both types of cilia share a similar architecture. While primary cilia are present on most cell types, expression of motile cilia is limited to specialized tissues utilizing ciliary motility. We characterized protein complexes of ciliopathy proteins and identified the conserved AAA-ATPase Ruvbl1 as a common novel component. Here, we demonstrate that Ruvbl1 is crucial for the development and maintenance of renal tubular epithelium in mice: both constitutive and inducible deletion in tubular epithelial cells result in renal failure with tubular dilatations and fewer ciliated cells. Moreover, inducible deletion of Ruvbl1 in cells carrying motile cilia results in hydrocephalus, suggesting functional relevance in both primary and motile cilia. Cilia of Ruvbl1-negative cells lack crucial proteins, consistent with the concept of Ruvbl1-dependent cytoplasmic pre-assembly of ciliary protein complexes.