The Effect of the HRI Design of Autonomous Driving Night Safety Robots on the User

강인성 홍익대학교 국제디자인전문대학원 2023 국내석사

4차 산업혁명의 시대가 도래함에 따라 자율주행, 로봇, AI와 같은 기술이 발전하면서 서비스 산업과 현장의 로봇 도입이 생산성을 향상시킨다는 사실이 입증되어 로봇의 개발이 가속화 되고 있다. 본 연구는 안심귀가 서비스 로봇의 HRI디자인이 사용자의 안전심리에 미치는 영향에 대한 연구이다. HRI 디자인은 인간과 로봇이 원활한 소통을 가능하게 하여 친근한 감정을 갖게 하는 중요한 요소이며, 인간과 로봇이 미래 사회에 공존하기 위한 의미 있는 연구 주제이다. 로봇에 대한 안전성은 인간과 긴밀하게 협력하여 운영을 목표로 하는 각각의 새로운 시스템의 설계와 실현 과정에서 고려해야할 중요한 요소이다. 안전성은 육체적 안전성과 심리적 안전성으로 나누어 볼 수 있다. 귀갓길에서 로봇이 인간과 협업하여 인간에게 안전하다는 느낌을 주게 되면, 인간과 로봇의 공존을 촉진하기 때문에 인간-로봇 상호작용(HRI)분야에서 중요한 요소이다. 본 연구를 위해 자율주행 순찰 로봇 분야의 공통된 카테고리를 갖고, 시각적인 요소인 외관 형태, 색상, 디스플레이 등의 인터랙션 범위가 다른 두 로봇을 비교 대상으로 하여 사용자 인식을 정확히 조사하고자 하였다. 조사 결과, 자율주행 범죄 예방 로봇의 인식에 대해 도출된 3가지 키워드는 귀여움, 부드러운, 친근함 이었다. 3가지 키워드를 중점으로 감정 표현 HRI 디자인 방향을 설정했다. 정해진 디자인 방향성을 바탕으로 하여 유스케이스에 따른 HRI디자인을 개발하였다. 첫번째, 로봇이 감정 표현할 수 있는 Graphic User Interface(GUI)디자인. 두번째, 소통을 위한 Auditory User Interface(AUI) 디자인. 세번째, 직접적인 소통을 위한 Touch User Interface(TUI) 디자인. 네번째, 어두운 밤길 먼 거리에서도 인지할 수 있는 Light Stick과 Head Light, Tail Light 디자인. 다섯 번째, 어플리케이션 개발을 통하여 원거리 인터랙션이 가능하도록 한다. 그리고, 사용자가 쉽게 이해할 수 있도록 시나리오 영상을 제작하였다. 개발된 HRI의 디자인이 실질적으로 사용자에게 어떤 심리적 영향을 미치는지 알아보기 위해 사용자 검증 테스트(Usability Test)와 인터뷰를 진행하였다. 실험은 다음과 같다. 어두운 밤 인적이 드문 골목길 장소를 선정하여 실험을 한다. 1.혼자 사람이 없는 밤길을 걷는다. 2. 인터랙션 요소가 없는 로봇과 함께 걷는다. 3. 인터랙션 요소가 적용된 로봇과 함께 걷는다. 실험 결과, 인터랙션이 적용된 로봇이 어두운 골목길에서 친구와 같은 존재로 느껴 심리적 안전성을 느끼며, 사용자가 로봇을 사용하는데 있어 진입장벽을 낮춰주었다. 본 연구를 통해 범죄가 없는 밤길이 형성되고, 미래 도시에서 로봇과 인간의 공존을 위해 인간에게 로봇은 안전하다, 친근하다는 인식의 인간-로봇 인터랙션(HRI)이 발전되기를 바란다. With the advent of the Fourth Industrial Revolution, technologies such as autonomous driving, robots, and AI have been developed. This proved that the introduction of robots in the service industry and field improves productivity, which led to the acceleration of the development of robots. This study examines the effect of the HRI design of the Night-Safety service robots on the user. HRI design is an important factor that would enable humans and robots to communicate seamlessly, allow humans to have amicable feelings towards robots, and is a meaningful research topic for humans and robots to coexist in future society. Security or safety provided by robots is an important factor to consider in the design and realization of each new system aimed at operating in cooperation with humans. Security can be categorized into physical security and psychological security. Since robots collaborating with humans on humans’ way home at night will give humans a sense of security and therefore promote the coexistence of humans and robots, it is an important factor in the field of human-robot interaction(HRI). This study attempts to accurately investigate user perception by comparing two robots in different interaction ranges in terms of visual elements - such as appearance shape, color, and display -with a common category in the field of autonomous driving patrol robots. Results showed that the three keywords derived from the perception of autonomous driving crime prevention robots were cuteness, softness, and friendliness. The direction of the emotional expression HRI design was set focusing on the three keywords. Based on the direction of the design, an HRI design according to the use case was developed. 1) Graphic User Interface (GUI) design that allows robots to express emotions. 2) Auditory User Interface (AUI) design for communication. 3) Touch User Interface (TUI) design for direct communication. 4) a Light Stick, Head Light, and Tail Light design that can be recognized from a long distance on a dark road at night. 5) Remote interaction provided by application development. In addition, a scenario video was produced for users’ understanding. A Usability Test and interviews were conducted in order to discover how the design of the HRI actually affects the user. The experiment is as follows. The experiment is conducted in a dark, deserted ally. 1) Walk alone on a deserted night road. 2) Walk with a robot that has no interaction elements. 3) Walk with a robot with an interaction element. The result of the experiment showed that humans perceive the robot with interaction as a friend, feel a sense of security, and this lowers the resistance for the user to use the robot. This study hopes to realize night roads without crime, and a develop a human-robot interaction (HRI) with the perception that robots are safe and friendly to humans for the coexistence of robots and humans in future cities.

소비자 욕구 충족성이 휴먼브랜드 애착과 구매의도에 미치는 영향 : 즐거움의 매개효과를 중심으로

축비비 제주대학교 대학원 2016 국내석사

Recently a new social phenomenon indicates that people perceive well-known persona like TV stars or sports stars etc. as human brands. And the importance of human brand is expanding, specifically in relation to the subject of exerting influence on the public, which is the subject of consumption, and leading their thoughts and actions. However, related practical researches for human brand value enhancement are very insufficient. Therefore, this study focuses on attachment to enhance human brand asset values, it investigate influential factors that increase attachment level as well as the as results of human brand attachment. Concretely, first, influential factors for human brand attachment is suggested as consumer needs(autonomy, relatedness, competence) satisfaction and pleasure, and the influence of consumer needs(autonomy, relatedness, competence) satisfaction and pleasure on human brand attachment will be examined. Next, as the results of human brand attachment, purchase intention is suggested, and the influence of human brand attachment on purchase intention will be examined. In addition, pleasure is suggested as mediating variables between the consumer needs(autonomy, relatedness, competence) satisfaction and human brand attachment, the mediating effect of the pleasure in the relationships of consumer needs satisfaction and human brand attachment will be verified through the empirical study. The research model is presented in <Figure 1>. ◁그림 삽입▷(원문을 참조하세요) H5: The Mediating Effect of Pleasure <Figure1> Research Model The questionnaire survey was performed according to the convenience sampling with the adults older than 20s residing in Jeju region considering the gender, occupation, the level of education and salary. The data collection was executed from 1st April to 20th April in 2016. 350 questionnaires were distributed and 330 were collected, but 312 questionnaires are applied for the analysis as careless answers are excluded. Collected data were analyzed by SPSS 18.0 statistics packages. The results of this research are as follows. First, the consumer needs(autonomy, relatedness, competence) satisfaction were positively associated with pleasure. A consumer perceives a human brand as fulfilling his or her needs(autonomy, relatedness, competence), his or her will be pleasured with the human brand. Second, the pleasure with the human brand was a significant factor on enhancing human brand attachment was demonstrated. Third, the consumer needs(autonomy, relatedness, competence) satisfaction have significant impact on the human brand attachment. This shows that if consumers perceive the human brand as fulfilling their needs(autonomy, relatedness, competence), the more intensely will be attached by the human brand. Especially, the influence of consumers' competence needs satisfaction on the human brand attachment was verified through the empirical study. Fourth, human brand attachment was a significant factor on increasing the purchase intention of consumers. The more intensely attached by the human brand, the more purchase intention to the brand about the human. Finally, it was demonstrated that the causal relationships of consumer needs(autonomy, relatedness, competence) satisfaction to pleasure, the effect of pleasure induced by consumer needs(autonomy, relatedness, competence) satisfaction on enhancing brand attachment. In addition, to investigate mediating effects of pleasure in the links between the consumer needs satisfaction and human brand attachment. The theoretical implications through this study are arranged as follows. First, the influential factors that increase attachment level to human brand as well as the results of human brand attachment are confirmed. In the process of establishing a multifaceted and systematic marketing strategy, this results will be a significant material for future research. Second, the consumer needs(autonomy, relatedness, competence) satisfaction have significant impact on the human brand attachment. Especially, the influence of consumers' competence needs satisfaction on the human brand attachment was verified through the empirical study. This shows that the preceding research about the influence of competence needs satisfaction on attachment is confident and will be a significant material for future research. Third, the influence of pleasure on human brand attachment was confirmed. This result will be an important resources to establish a strategy for strengthening the attachment between the consumer and human brand. Fourth, it is confirmed that pleasure have mediating effects between the relation of consumer needs(autonomy, relatedness, competence) satisfaction and human brand attachment. It will be an important basis for the subsequent academic study about human brands attachment. Fifth, the attachment of consumer on human brand have a positive impact on purchase intention of consumer, which shows a important basis material for future research for improving the value of human brand equity. The practical implications of this study are as follows. First, human brand is recognized by the consumers and develop a strong attachment relationship with the consumer by satisfying their basic psychological needs. And human brand shows great influence based on the popularity and interest of consumer. Therefore it can improve itself to maintain a strong attachment relationships with consumers through a systematic management. Second, the consumers would feel attachment on human brand who satisfy their needs and this will be a significant material for establishing a practical marketing strategy in order to construct a strong attachment relationship with consumer. Third, we can construct a strong attachment relationship with consumer through satisfying their needs and make them pleasure. It is helpful that marketer develop a various marketing programs for customer relationship management. Fourth, the attachment of consumer on human brand have a positive impact on purchase intention of the consumers, it is a significant material for a company establishing on the sale promotion strategies.

Human-Like Movement in Virtual Environments

한창희 University of Southern California 2004 해외박사

This dissertation presents a new method of producing human-like movement for virtual characters. Human-like movement can be defined in terms of navigation and full-body motion style where navigation includes following a path planned using spatial reasoning on a map. A spatial representation that can be produced from a virtual human's limited perception is emphasized. Modules such as mapping, spatial reasoning, path planning, and human full-body motion style are necessary elements for human-like movement. In the past, little research has been performed on developing an integrated system for these modules. For producing the integrated system, five human-like movement requirements realistically limited perception, local space mapping, spatial concept usage, incremental path generation, and human full-body motion style are proposed. These requirements are used to validate whether a virtual human application accomplishes a goal of realistic human-like movement. Of the modules mentioned, the mapping module, which can be compared to human perception, is an important prerequisite for navigation. Existing mapping methods in virtual human research have used an omniscient perception-based methodology, where all the necessary information is stored via annotations on the map at the time of the 3D model construction. The disadvantages of such methods include a reliance on 3D model designers and the need for omniscience. This dissertation implements and extends the Yeap and Jefferies cognitive mapping algorithm to virtual human research in order to address these disadvantages. The proposed mapping method is tested in an experimental situation requiring the virtual character to arrive at a goal in a virtual training environment. Rather than having complete information annotated in advance, as in previous mapping methods, only incomplete local information acquired by limited perception in run-time is used. The end result is that the goal-position arrival is accomplished without the help of 3D model designers. Other modules such as spatial reasoning, path planning, and human full-body motion style are integrated with the new limited perception-based and autonomous mapping module for more effective production of human-like movement. An integrated system is tested using the proposed human-like movement requirements in another experimental situation that requires human-like movement production. To further prove the validity of the requirements, human subject experiments were conducted. The results of these experiments suggest that the integrated system, based on limited perception-based autonomous mapping, is valid for producing human-like movement in terms of navigation and full-body motion style in a virtual environment

Contribution of the human rights education to the global citizenship education

김민정 경희대학교 평화복지대학원 2016 국내석사

Pursuing the overarching goal of fostering peace and sustainable development, ensuring access, equity, and quality of education, the Global Citizenship Education (GCED) has become the center of the global education agenda in recent years. Global citizenship refers to a sense of belonging to a global community and common humanity. Nevertheless, the GCED has varied in accordance with priorities of educational needs and characteristics of particular countries and cultures. Thus, this study aims to answer how the GCED cultivates global citizens who possess both a universal sense of belonging to humanity as well as belonging to one’s own culture. This study attempts to learn how Human Rights Education (HRE) contributes to the cultivation of global citizens by emphasizing a common humanity. This study identified different contributions of HRE by using Marie-Bénédicte Dembour’s four categorizations of human rights schools: natural-law school, deliberative school, protest school, and discourse school. Among these four categories of HRE, the natural-law perspective, deliberative, and protest school of HRE were found to be the three main values of GCED, mainly, global interconnectivity, responsibility, and active participation. In conclusion, HRE is significant in instilling a sense of belonging to humanity, as well as belonging to one’s own culture. Furthermore, HRE also contributes to maintaining a universal context of the GCED in practical variations all around the world.

2차원 인간 자세 추정을 위한 트랜스포머 기반 키포인트 연계 기법

배억보 전북대학교 일반대학원 2023 국내석사

Estimating a 2D human position is a crucial challenge in computer vision and machine learning, whose objective is to localize and assembly human skeletal keypoints for all human instances appeared in images. It is a challenging task due to the high structural and appearance variations of human poses and the complicated interactions between humans and objects (e.g., occlusions, scale variation). In the deep learning era, human pose estimation is often cast as classification problem with two schemas: The top-down scheme adopts a divide-and-conquer paradigm by first detecting humans (bounding box classification) in an image and then estimating the keypoints via keypoint classification for each detected human. The bottom-up scheme first detects all keypoints in an image (via keypoint classification) and then assembly them into different human skeletons using some greedy matching algorithm. In this prospectus, 2D human pose estimation is addressed by integrating convolutional neural networks (CNNs) and attention mechanism in an end-to-end framework. The powerful discriminative features learned by CNNs are exploited to explore the space of rich spatial information of human poses. The proposed framework utilizes two key observations for the state-of-the-art deep learning formulation respectively: On the one hand, maintaining high-resolution feature maps in the architectures of CNNs is the key to leverage the expressive power of CNNs for pixel-level keypoint based prediction tasks. On the other hand, with the help of transformer, our model can learn the relevance between heatmap keypoints and its offset & visibility. The proposed framework studies the integration of transformer and high-resolution CNNs in a comprehensive way. In this prospectus, transformer integrated with a recently proposed high-resolution CNN, i.e., HRNet. The proposed methods have been tested with state-of-the-art performance obtained for single 2D human pose estimation tasks in multi-person MS COCO dataset and CrowdPose. Keyword: Human Pose Estimation, Attention Mechanism, Bottom Up Method, Single Stage Pose Estimation 2차원 인간 위치를 추정하는 것은 컴퓨터 비전과 기계 학습에서 중대한 과제이며, 그 목표는 이미지에 나타난 모든 인간의 골격 키포인트들의 위치를 찾고 묶는 것이다. 이는 인간 자세의 변화가 구조적 및 외관적으로 크며, 다른 물체들과의 복잡한 상호작용을 (가려짐 및 척도 변형 등) 하기 때문에 어려운 문제로 자리잡고 있다. 딥러닝을 활용한 인간 자세 추정 문제 풀이 방식은 보통 하향식과 상향식으로 나누어진다. 하향식은 분할정복 방식으로, 바운딩 박스 분류를 통해 이미지에서 모든 인간을 검출한 다음 각각에 대해서 키포인트 분류를 통해 키포인트를 추정한다. 상향식은 키포인트 분류를 통해 이미지의 모든 키포인트를 검출 후, 탐욕적 매칭 알고리즘을 사용해서 각 인간의 골격을 만들어낸다. 본 논문에서는 컨볼루션 신경망(convolutional neural networks, CNN)과 어텐션 메커니즘을 end-to-end 방식으로 통합해서 2차원 인간 자세 추정 문제를 풀고자 한다. CNN이 학습한 강력한 판별력은 인간 자세의 풍부한 공간 정보를 탐색하는 데 이용된다. 제안하는 프레임워크는 최첨단 딥러닝 공식에 대한 다음 두 가지 주요 사항들을 활용한다. 첫째, 고해상도의 특징맵을 유지하여 픽셀 수준의 키포인트 기반 추정 문제에서 CNN의 표현력 활용을 극대화 할 수 있다. 둘째, transformer를 활용하여 히트맵 키포인트와 오프셋 및 가시성 사이의 연관성을 학습할 수 있다. 제안하는 프레임워크는 transformer와 고해상도 CNN의 통합을 포괄적인 방법으로 연구한다. 본 논문에서는 transformer를 최근 제안된 고해상도 CNN인 HRNet과 결합하였다. 제안하는 방법은 다중 인간 MS-COCO 데이터셋 및 CrowdPose 데이터셋의 단일 2차원 인간 자세 추정 문제에 대해 최고 성능을 기록하였다. 주요어: Human Pose Estimation, Attention Mechanism, Bottom Up Method, Single Stage Pose Estimation

Enabling Human-Robot Partnerships in Digitally-Driven Construction Work Through Integration of Building Information Models, Interactive Virtual Reality, and Process-Level Digital Twins

Wang, Xi ProQuest Dissertations & Theses University of Mich 2022 해외박사(DDOD)

Human cognition plays a critical role in construction work, particularly in the context of high-level task planning and in-field improvisation. On the other hand, robots are adept at performing numerical computation and repetitive physical tasks with precise motion control. The unstructured and complex nature of construction environments and the inability to maintain tight tolerances in assembled workpieces pose several unique challenges to the wide application of robots in construction work. Thus, robotization of field construction processes is best achieved through human-robot partnerships that take advantage of both human and robot intelligence, as well as robots’ physical operational capabilities, to overcome uncertainties and successfully perform construction work. This dissertation explores the pathway of integrating building information models (BIM), interactive virtual reality (VR), and process-level digital twins to enable human-robot partnerships in digitally-driven construction through three levels. At the first level, an interactive and immersive process-level digital twin system in VR that serves as the human-robot collaboration platform is proposed. It integrates visualization and supervision, task planning and execution, and bi-directional communication to enable human workers to remotely collaborate with construction robots in field construction. A human-in-the-loop experiment based on a drywall installation case study was conducted for system verification and to collect user feedback for future improvements. Overall, the system enables human-robot partnerships and reduces the cognitive planning and physical workload of human workers. At the second level, Building Information Models (BIM) are integrated into the digital twin system to enable closed-loop BIM-driven Human-Robot Collaboration (HRC) in construction. BIM provides digital information to both the robot and its human partners to drive the construction process. In addition, deployment of the system to co-robotically performed construction work is studied. A physical drywall installation case study and three physical experiments (i.e., visual detection and end-effector movement) were conducted to verify the system workflow and to evaluate the system. Building on the previous level, the integration of BIM reduces human co-workers’ planning effort and improves construction work accuracy. Motivated by the programming and human instruction effort required to guide motion sequences in typical robotic work, the third level of this dissertation builds upon the BIM-driven digital twin system and explores how to enable robots to automatically plan their motion sequence. A Scene Distance Matrix (SDM) is proposed to guide robots’ sequential decisions in selecting modular construction skill primitives that lead to robot motions. Interactive Learning from Demonstration (LfD) is used to teach robots the mapping from the SDM to the skill primitives. The proposed approach is presented with a case study that contains three scenarios, including exterior wall sheathing, drywall installation, and timber frame construction. A wooden shelf construction task has been used to verify the proposed LfD module and its integration with the BIM-driven digital twin system. It further reduces the planning and programming effort of human workers. Overall, this research aims to create a scalable pathway to bring human workers in the loop of robotized construction and capitalize on human workers’ improvisation ability to handle uncertainties on construction sites. In addition, it explores the integration of BIM and LfD with the interactive digital twin to improve system autonomy in task planning and motion sequencing. This dissertation establishes the foundation of next-generation construction work by transitioning the role of construction workers from manual task performers to robot supervisors.

Laser-based leg detection and the use of a walking model for human following

김호연 Graduate School, Korea University 2010 국내석사

In development of service robots, many techniques for interaction with human have been researches. One of main issues them is about detection human. This paper proposes a method for a mobile robot to detect a human leg and to track the human for services such as guide, escort, and serving. Most human-tracking schemes in mobile robots utilize vision sensors and LRF(Laser Range Finder). It is common that mobile robots measure the distance to a human through a LRF after recognizing the human by vision. Our approach is to detect human leg on the basis of the LRF only. Observing the leg images that have been experimentally obtained by the accurate range data with a LRF, we extract several attributes of legs which are common mostly. To define the boundary of extracted attributes, we used SVDD(Support Vector Data Description). There can be some situations which make a mobile robot hardly track a target person. One of case is a cluttered situation and other is an occlusion situation due to person who cross-walk. We analyze a walking motion for solving those situations. Therefore we extract attributes of walking legs and developed a simple walking model of human walking. The walking model is useful when mobile robots lost track of the target person’s legs and failed to detect those legs. On the basis of the predicted leg location by the proposed walking model, the leg tracking can be recovered. Our approach was experimentally tested in various environments. The experimental results showed that the robot was able to detect a leg of a human and to track the target person in a clutter or an occlusion situation.

Parametric Modeling of Human Body Shapes using Principal Component Analysis : 주석분 분석을 이용한 인체형상의 파라메트릭 모델링

Koo, Bon Yeol 한양대학교 2016 국내박사

The realistic and exact human body shape models are powerful tools used in various fields including ergonomics, garment design, biomechanics, and computer graphics. In ergonomics and garment design, such models are utilized for interaction analysis to be accurate and reliable, between users and products considering human factors. This ultimately enables better human-centered design of human spaces (e.g., car compartments, clothing, and manufacturing). In the biomechanics field, for example, these models are utilized in crash simulations essential for the occupant safety design of vehicles. The ability to generate detailed human body shapes enables the creation of virtual humans, including human bones or internal organs (e.g. liver, stomach, lungs, etc.), and consequently more accurate biomechanical responses can be predicted through crash simulations. With respect to computer graphics, these models are used to generate very realistic computer animations of human characters. This thesis proposes a new statistical modeling framework based on principal component analysis for parametrically modeling the realistic and exact human body shapes from intuitive and semantic linear anthropometric parameters such as height, weight. The modeling framework consists of the following three phases: construction of a training database of human body shapes, statistical analysis of human body shapes and human body shape modeling. In the training database construction phase, a consistent parameterization was carried out on 3D whole-body scan data of 80 males and 80 females with a wide variety of body shapes as the examples for this work. The surface-fitting process, which was improved relative to existing methods, was developed to guarantee the high-quality parameterization in this phase and to generate articulated body shape models in the modeling phase. To characterize the range of body shape variation, the training database was analyzed statistically. Additionally, a correlation between the body shapes and the sizes was learned in the statistical analysis phase to estimate new body shapes from intuitive and semantic anthropometric parameters. A new technique to generate an optimal body shape model that precisely satisfies user-input body dimensions was developed in the model generation phase. This technique enables the estimation of body shape variation, not only within the body shape space that was learned statistically, but also outside of the body shape space, while maintaining body shapes that stay in the human shape space. This work produced reasonable results having a high modeling accuracy satisfying user-specified anthropometric parameters, and high visual quality in expressing realistic body shapes. The resultant models were then segmented into 16 key regions of the human body, and had information on 15 key joints, and thus they could be a useful tool in various industries. The proposed method contributes to related areas by introducing an improved surface-fitting process and a non-linear optimization-based optimal body shape modeling technique. This thesis then introduces various applications using the statistical parametric human model developed in this work. As the first application, a posture modeling method basically required for human-centered product design in diverse industries is described. As the second application, a method for modeling an individual’s body shape is presented using Kinects and the statistical model so that the method can be used for personalized product design of advanced concept. And then, a method to predict the individual’s body type change, according to the adjustment of height and/or weight, is presented by learning the tendency of body shape variation that the statistical model has in the individual’s model. Lastly, texture mapping and morphing are demonstrated as a simple application used in the computer graphics field.

Assessment of Caco-2 cell permeability, pharmacokinetic properties, and in vitro inhibitory potentials on drug metabolizing enzymes and efflux transporters of twelve 20(R)- and 20(S)- ginsenoside epimers

김도윤 The Catholic University of Korea 2018 국내박사

진세노사이드는 인삼의 주요 약리 활성 성분으로 항염증, 항암, 그리고 면역조절등의 다양한 활성을 가지고 있다. 비당 부위의 구조에 따라 크게 protopanaxadiol (PPD) 계열과 protopanaxatriol (PPT) 계열의 진세노사이드로 나눌 수 있다. PPD 계열과 PPT 계열의 차이는 골격에 수산화기가 결합되어 있는 위치에 따라 달라진다. PPD 계열은 C-3, C-12 그리고 C-20 위치에 수산화기가 결합되어 있고 PPT 계열은 C-3, C-6, C-12 그리고 C-20 위치에 수산화기가 결합되어 있다. PPD 계열과 PPT 계열은 글루코스 또는 다른 당이 비당 부위에 결합되는 것에 따라 나눌 수 있으며 C-20에 붙어 있는 수산기의 위치에 따라 입체이성질체인 20(R) 과 20(S)로 다시 분류할 수 있다. 20(R)- 또는 20(S)- 진세노사이드들의 서로 다른 약리효과에 대한 많은 연구들이 보고되고 있지만 에피머의 수산기의 위치에 따른 약동학 특성과 약물 상호작용에 대한 연구는 많이 연구되어 있지 않다. 이전 예비 실험에서 랫드에 20(R)-과 20(S)- 진세노사이드 Rg3와 Rh2를 경구투여한 뒤 혈중 농도를 측정하였을 때 각각의 R-형태의 진세노사이드 보다 S-형태의 진세노사이드가 혈중에서 높게 존재하고 있었다. 20번 탄소의 수산기 위치에 따른 진세노사이드 에피머의 차이는 약리효과뿐만 아니라 약동학적인 차이도 나타나고 있다. 이번 논문의 목적은 다음과 같다. Caco-2 세포주와 P-glycoprotein (P-gp) 또는 breast cancer resistance protein (BCRP)가 과발현된 Madin-Darby Canine Kidney (MDCK) II 세포주를 이용하여 12종의 20번 탄소가 이성질체인 진세노사이드들 [20(R)/(S)-Rg3, 20(R)/(S)-Rh2, 20(R)/(S)-PPD, 20(R)/(S)-Rg2, 20(R)/(S)-Rh1, and 20(R)/(S)-PPT]의 투과성을 in vitro에서 평가하고 in vivo에서의 흡수 정도를 예측하고자 하며 in vitro에서 사람 간 마이크로좀을 이용하여 20(R)/(S)-Rg3와 20(R)/(S)-Rh2의 대사 안정성을 평가하고 in vivo에서의 대사 클리어런스를 예측하고자 한다. 이러한 in vitro 실험 결과를 바탕으로 20(R)/(S)-Rg3와 20(R)/(S)-Rh2를 함유한 가공 인삼 추출물을 마우스, 랫드, 그리고 사람에게 경구 투여한 뒤 약동학 성질을 파악하고자 한다. 또한, 12종의 진세노사이드 C-20 에피머들이 P-gp와 BCRP가 과발현된 MDCKII세포주를 이용해 약물 유출 수송체 (P-gp와 BCRP), 사람 간 마이크로좀을 이용하여 대사효소인 9종의 cytochrome P450s (CYPs)와 10종의 UDP- Glucuronosyltransferases (UGTs)에 대한 약물 상호 작용 가능성을 평가하고자 한다. 마지막으로, molecular docking을 이용하여 당의 결합뿐만 아니라 C-20 위치에 수산화기의 위치에 따라 BCRP의 활성 부위에 결합하는 정도를 평가해보고자 한다. 실험결과 Caco-2 세포주를 이용한 약물 투과도는 PPT 계열의 진세노사이드들이 PPD 계열의 진세노사이드들 보다 더 높은 투과도를 보였으며 Rg3와 Rh2의 경우 각각의 S-형태가 R-형태보다 더 높은 투과도를 보였다. 실험을 통해 in vitro 클리어런스 값을 예측하였고 그 결과 20(S)-Rh2가 낮은 대사 안정성을 보임을 확인할 수 있었고 이는 in vivo에서 짧은 반감기가 나타남으로 확인할 수 있었다. 인삼 추출물을 마우스, 랫드 그리고 사람에게 경구 투여했을 때 20(S)-Rg3와 20(S)-Rh2만 혈장에 존재함을 확인하였고 랫드와 사람에서 20(S)-Rh2의 말단 반감기가 20(S)-Rg3보다 짧음을 확인할 수 있었다. Caco-2 세포주를 이용한 약물 투과도 및 대사 안정성 실험을 통해 이러한 in vivo 약동학 연구 결과가 나타남을 확인할 수 있었다. 또한, 6쌍의 진세노사이드 에피머들이 각 에피머에 따라서 약물 유출 수용체(P-gp와 BCRP)와 약물 대사 효소(9종의 CYPs와 10종의 UGTs)에 대해 서로 다른 억제능을 가짐을 확인할 수 있었다. 이러한 약물상호작용 연구의 결과 12종의 진세노사이드 C-20 에피머들의 약동학적 특성과 약물 유출 수송체와 약물 대사효소에 대한 억제능에 대해 유용한 정보를 제공하고 향후 인삼 관련 제품을 개발하는데 있어 임상적 적용에 도움을 줄 것이다. Ginsenosides, the major active components of ginseng, have multiple beneficial effects, such as anti-inflammatory, anticancer, and immunomodulatory effects. Based on the structure of aglycones, ginsenosides are classified into protopanaxadiol (PPD) and protopanaxatriol (PPT) groups. PPD and PPT have different hydroxylation patterns. PPD has hydroxyl groups on C-3, C-12, and C-20, whereas PPT has hydroxyl groups on C-3, C-6, C-12, and C-20. PPD and PPT can be subjected to glycosylation by glucose and other sugars. Among the isomers, 20(R) and 20(S) is a pair of stereoisomers that differ in the spatial orientation of the hydroxyl group at C-20. Several studies have shown that the different stereochemistry of 20(R)- and 20(S)-ginsenosides produce different pharmacological effects. However, their stereoselective pharmacokinetic characteristics and drug interaction potentials have not been fully examined. Although preliminary, the results of my previous study showed that the plasma concentrations of 20(S) epimers of both ginsenoside Rg3 and Rh2 were significantly higher than those of 20(R) epimers in rats after oral administration. The stereochemical role of C-20 hydroxyl group of the ginsenoside molecule can be observed not only in the varied pharmacological actions, but also in the pharmacokinetic properties. The objective of this study is to assess Caco-2 cell and P-gp/BCRP-MDCK-II cell permeability of the 12 ginsenoside C-20 isomers [20(R)/(S)-Rg3, 20(R)/(S)-Rh2, 20(R)/(S)-PPD, 20(R)/(S)-Rg2, 20(R)/(S)-Rh1, and 20(R)/(S)-PPT] to predict the absorption of the tested ginsenosides. The in vitro metabolic stability of 20(R)/(S)-Rg3 and 20(R)/(S)-Rh2 was also determined using human liver microsomes to predict the in vivo metabolic clearance. Based on the in vitro results, I examined the pharmacokinetic properties of 20(R)/(S)-Rg3 and 20(R)/(S)-Rh2 after single oral administration of ginseng extract in mice, rats, and humans. In addition, I evaluated the in vitro inhibitory potential of the twelve ginsenoside C-20 isomers on drug efflux transporters (P-gp and BCRP) in P-gp/BCRP-MDCK-II cells, as well as drug metabolized enzymes (nine CYPs and ten UGTs) in human liver microsomes. Finally, a molecular docking study revealed that not only the sugar moieties, but also the stereochemistry at C-20 might influence the active binding region of BCRP. In the Caco-2 cell model, the permeability of PPT-type ginsenosides was higher than that of PPD-type. Notably, the permeability of 20(S)-Rg3 and 20(S)-Rh2 was higher than that of their corresponding epimers [20(R)-Rg3 and 20(R)-Rh2]. Based on the predicted in vitro clearance value, 20(S)-Rh2 exhibited poor metabolic stability resulting in high systemic clearance and short elimination half-life in vivo. After the oral administration of processed ginseng extract in mice, rats, and humans, only the 20(S) epimers, 20(S)-Rg3 and 20(S)-Rh2, could be determined in plasma. The terminal half-life of 20(S)-Rh2 was shorter than that of 20(S)-Rg3 in rats and humans. These in vivo pharmacokinetic studies confirm the in vitro results of Caco-2 cell permeability and metabolic stability. The tested six pairs of ginsenoside isomers exhibited stereoselective inhibitory effects of varying degrees on drug efflux transporters (P-gp and BCRP) and drug metabolized enzymes (nine CYPs and ten UGTs) explored. These findings may help understand the pharmacokinetic characteristics and inhibitory potentials of the twelve ginsenoside C-20 isomers on drug transporters and metabolic enzymes, comprehensively, and provide useful information on the clinical application of ginseng products.

Human-care개념의 한·양방 협진병원 외래진료부의 실내디자인에 관한 연구 : 대기공간을 중심으로

박지영 건국대학교 디자인대학원 2002 국내석사

현대 산업사회의 급격한 발전에 따라 병원의 실내환경에 대한 관심과 요구가 급증하고 있다. 삶의 질적 수준향상과 사회적, 시대적 변화는 의료환경에 대한 환자와 보호자들의 인식 변화를 가져왔으며, 그들은 기술 중심의 의료 시설에 만족하지 않고 병원직원들의 의료서비스에 못지않게 환자들의 대기 공간인 병원 실내공간에 대한 관심이 높아지고 있다. 그 중에서도 한, 약방의 상호보완적 의료체계를 갖춘 한·양방 협진체제병원에 대한 인식이 증대되고 있으며 각 병원에서는 진료공간의 얼굴이면서 외래환자, 고령환자들의 방문이 주를 이루고 있는 외래진료부 대기공간에 대한 중요성이 부각되고 있다. 이에 본 연구는 Human-Care의 개념과 인간중심적 치유환경의 상관성에 대한 고찰을 바탕으로 한·양방 협진체제 병원의 외래진료부 대기실에 대한 사례분석을 통하여 Human-Care의 개념을 중심으로 한 인간중심적 치유 환경을 조성하고자 하였다. 먼저 Human-Care 개념의 인간중심적 치유환경에 대한 일반적 고찰을 통해 한·양방 협진병원의 실내환경 계획에 있어 사용자인 환자나 보호자를 중심으로 하는 인간, 공간, 행위 등이 서로 유기적으로 결합된 디자인이 구성되어야 한다는 관점으로 접근해 보았다. 그 가능성으로서 한·양방 협진병원의 Human-Care 개념의 접근으로는 인간중심의 개념 적용, 자연치료 요법도입, 치유환경으로서 자연요소 도입, 치유환경적 요소를 들 수 있다. 이를 바탕으로 인간중심적 측면의 요소가 있는 공간으로서의 방향을 제시하여 각 유형으로 구분하였다. 다음으로 한·양방 협진병원의 일반적 고찰로서 의료환경의 변화요인으로 생활수준의 향상, 의료시장과 의료제도의 변화, 의료이용 행태와 의료체계의 변화, 의료기술의 발전 등으로 요약할 수 있으며 한 양방 협진체제 병원에 대한 개념과 일반적 고찰을 하였으며, 외래진료부에 대한 이해를 바탕으로 Human-Care개념에 의한 대기공간의 사례분석을 통하여 현재 협진체제로 운영중인 병원들의 대기공간 환경에 대한 문제점을 도출하고자 하였다. 도출된 문제의 해결과 보완의 방법으로 인간중심적 치유환경을 제시함으로써 더 이상 의료환경이 치유의 목적만이 아닌 예방·보호, 관리, 휴식의 차원으로 변화될 수 있음을 전제로 하여 대기실이라는 공간에 부합되는 기능적, 미적 환경의 조성을 통하여 환자들의 삶의 질적 향상에 기여할 수 있기를 기대하고 있으며, 그 한 방법으로서 자연이 접목된 대기공간 실내디자인을 시도하려고 하였다. 이와 같은 배경아래 대상병원의 문제점 분석과 그 해결을 위한 디자인 방향을 제시하는 기초를 마련하고자 하여 그 이론적 틀을 바탕으로 도출된 개념과 구성요소의 특성을 중심으로 Human-Care적인 치유환경요소가 있는 대기공간이 병원 이용자들의 중심적인 장으로 기능하면서 환자와 보호자들의 만남과 휴식, 약속 및 사색의 장소로서 활성화될 수 있도록 하고자 하였다. 이상의 연구결과를 통하여 얻어진 결론은 다음과 같다. 동양의학의 주요 개념인 자연과의 조화와 균형이라는 관점에서의 접근을 대기공간의 실내에도 도입하여 한. 양방 협진병원의 장점을 추구하고자 하였으며, 이것은 인간중심적 치유환경 디자인과도 부합된다고 판단된다. 나아가 이런 환경친화적 공간을 통하여 한. 양방 협진병원에 있어 차별화된 이미지를 부여할 수 있도록 계획하려 하였다 본 연구에서는 외래진료부 대기공간을 중심으로 사례를 분석하고 공간을 계획하였으나, 후속 연구에서는 공공공간의 대기 공간이 아닌 각 공간의 고유 특징을 가지는 진료부와 병동에 대한 실내환경 계획에 대한 연구가 필요하다고 본다. With rapid development of modern society, interest and requirement for interior environment of hospital is going up. Upgraded life level and change of the times changed the view of patient and nurse for medical environment so they are not satisfied with medical facilities and they are having aninterest in not only medical service but also interior space of hospital that patients wait for their treatment. Among them, the interests for hospital of oriental and western cooperating system that has a mutual complement for oriental medicine and western medicine is going up and importance of waiting room for outpatient that is representative for whole hospital and has a frequent visitation of outpatient and old patient is enlarging. So this paper tried to make human-base medical environment with the base of Human-Care through the analyzing existing waiting room of outpatient's ward in hospital of oriental and western cooperating system considering the relationship between concept of Human-Care and human-base medical environment. First, through general discretion of human-base medical environment, I approached the design that human, space and behavior is organically synthesized and impose an importance on patient and nurse, while designing interior space in hospital of oriental and western cooperating system. As the possibility of this plan, I can show the factors like appliance of human-base concept, introduction of natural treatment, and natural factor as a medical environment I divided this into each group providing direction that has human-base space. Second, factors for changing medical environment through general discretion on hospital of oriental and western cooperating system are upgrade of life level, change of medical market and medical policy, change of medical use and medical system and improvement of medical art. I tried to show the problem about waiting room of hospital of oriental and western cooperating system through analysis on example by concept of Human-Care with the basis of consideration into outpatient's ward. Proposing human-base medical environment as a method to solve and improve problem, I am expecting that medical environment can contribute to upgrade the life level of patient through creation of functional and aesthetic environment with precondition that medical facility is not only for treatment but also for precaution, protection, management and rest Under these background, for founding a base direction of design to analyze and solve the problem of target hospital, I waiting room that has a Human-Care medical factor tried to have to be used as main place for user and be used as place of meeting, rest, appointment and meditation for patient and nurse with the base of concept and characteristic of factor. The result from above study is like following I tried to pursue the merit of hospital of oriental and western cooperating system through inducing the main concept of oriental medicine, the harmony and balance with nature to waiting room, I thought that it was suitable for design of human-base medical environment and I tried to impose a distinguished image to hospital of oriental and western cooperating system through Environmentally Friendly space. This paper tied to analyze example and plan the space with the base of waiting room but I think that plan of indoor environment for examination room and ward that is not waiting space but is characteristic space is necessary in next study.