DSP(TMS320C50)칩을 사용한 산업용 로봇의 적응-신경제어기의 실현

김용태,정동연,한성현 한국공작기계학회 2001 한국생산제조학회지 Vol.10 No.2

In this paper. a new scheme of adpative-neuro control system is presented to implement real-time control of robot manipulator using Digital Signal Processors. Digital signal processor, DSPs, are micro-processors that are particularly developed for fast numerical computations involving sums and products of variables. Digital version of most advanced control algorithm can be defined as sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of their prices. These feature make DSPs a viable computational tool in digital implementation of sophisticated controllers. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust perfor-mance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. The proposed adaptive-neuro control scheme is illustrated to be a efficient control scheme for the implementation of real-time control of robot system be the simulation and experi-ment.

지역농업정보시스템 구축에 관한 연구

김지영,유찬주,김연중,이승형 順天大學校 農業科學硏究所 1995 農業科學硏究 Vol.9 No.-

It is thought that computer-based farm management information system is essential for making Korean agriculture internationally competitive. Unlike the management information system for the industrial manufacturing, agricultural information system should reflect natural and economic conditions in a specific region. Moreover, farm management in a specific region can be improved when individual farms could use proper information which contains social and economic conditions in that region. In this sense, the supplier of farm management information to farmers should supply realistic information that can improve management conditions for farming to farmers. This study proposes a suggestion for establishing computer-based agricultural information system for development of regional agriculture. The main contents are summarized as follows : 1. The usefulness of information system for improving regional farm management and the types of agricultural information system. 2. The establishment of supply and demand network for farm management information. 3. A direction for improving the installation methods of agricultural information system network.

인테넷 IP 주소 부족 해결 기법

이연,김상하 충남대학교 기초과학연구소 1995 忠南科學硏究誌 Vol.22 No.1

One of the most compelling problems facing the IP Internet is IP address depletion. This paper introduces the three solutions and discusses their characteristics. For these solutions to operate properly, it is necessary to partition the IP address space into two parts - reusable addresses used internally for local area networks, and the globally unique addresses. The main advantage of these solutions is that they can be installed without changes to any existing systems, although FTP will fail in some but not all cases. This paper analyzes their pros and cons.

신경회로망을 이용한 지능형 로봇 제어 시스템 설계

정동연,김용태,한성현 경남대학교 공업기술연구소 2000 硏究論文集 Vol.18 No.-

본 논문에서는 일반적으로 고정된 위치에서 검사하는 비젼 시스템이 아닌 카메라를 로봇의 말단효파부에 장착하여 렌덤하게 움직이는 물체를 추적하여 지능적으로 매니퓰레이터의 위치 및 속도를 제어하여 정확한 위치에 납땜 작업을 한 후 비젼 검사를 실시하는 로봇 비젼 시스템을 설계한다. 자동검사를 위한 비젼기술은 실시간 실현을 위해 디지털 신호 처리기를 사용한 새로운 고성능 비젼 알고리즘을 개발해서 S사의 전자부품 조립검사라인, 즉 카메라 조립검사라인에서 라인을 따라 흘러 들어오는 백커버(Back Cover)들을 정해진 위치를 따라 로봇을 이동하여 자동 인식한다. 인식된 백커버의 납땜상태를 다양한 위치 및 이동공정에서 대해서도 유연하게 검사를 자동으로 수행하고 품질기준 통과여부를 자동 판단할 수 있는, 이른바 다공정 제품의 형상인식 및 자동검사용 로봇 비젼 기술을 개발하기 위한 연구가 수행되었다. 그리고 제안된 로봇 비젼 시스템의 성능을 컴퓨터 시뮬레이션 및 실험을 통하여 S사의 조립라인중 5번 Cell의 유사공정을 모델링하여 그에 대한 유사한 실험을 통해 그 신뢰성을 입증하고자 한다. In this paper, we have proposed a new approach to the design of robot vision system to develop the technology for the automatic test and assembling of precision mechanical and electronic parts for the factory automation. In order to perform real time implementation of the automatic assembling tasks in the complex processes, we have developed an intelligent control algorithm based-on neural networks control theory to enhance the precise motion control. Implementing of the automatic test tasks has been performed by the real-time vision algorithm based-on TMS320C31 DSPs. It distinguishes correctly the difference between the acceptable and unacceptable defective item through pattern recognition of parts by the developed vision algorithm. Finally, the performance of proposed robot vision system has been illustrated by experiment for the similar model of fifth cell among the twelve cell for automatic test and assembling in S company.

유전자 알고리즘을 이용한 이동로봇의 지능제어

정동연,김홍래,한성현 한국공작기계학회 2004 한국공작기계학회 추계학술대회논문집 Vol.2004 No.-

This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience proposed simulation.

학습지역 형성을 위한 사회경제적 연계망에 관한 연구

趙昌衍,金星均 강남대학교 사회과학연구소 1999 사회과학논총 Vol.8 No.-

제네틱 알고리즘을 이용한 이동로봇의 지능제어기 설계

정동연,김종수,한성현 한국공작기계학회 2003 한국공작기계학회 추계학술대회논문집 Vol.2003 No.-

This paper proposed trajectory tracking control of Mobile Robot. Trajectory tracking control scheme are Real coding Genetic-Algorithm and Back-propergation Algorithm. Control scheme ability experience proposed simulation.

뇌 실질 출혈이 동반된 Reye 증후군 1례

이창연,오연희,임문환,유문집,박성기,김태우 동국대학교 경주대학 1991 東國論集 Vol.10 No.-

Reye syndrome is a disorder of unknown etiology in which a child recovering form a viral prodrome suddenly develops pernicious vomiting & eventually develops neurologic changes. The syndrome is defined to acute noninflammatory encephalopathy with fatty degeneration of liver and other organs. The coagulopathy or Reye syndrome is associated with proloned PT caused by the mitochondrial injury compromising synthesis of proteins and clotting factors in liver. In this case, we observed ICH on right parietal and occipital area in brain CT. Actually, bleeding in the major organ is extremely rare in Reye syndrome, this may be the first case report of CNS bleeding in Korea associated with Reye syndrome. In addition to case report, we present a brief review of the related literatures.

ADAR1-dependent miR-3144-3p editing simultaneously induces MSI2 expression and suppresses SLC38A4 expression in liver cancer

Kim Hyung Seok,Na Min Jeong,Son Keun Hong,Yang Hee Doo,Kim Sang Yean,Shin Eunbi,Ha Jin Woong,Jeon Soyoung,Kang Keunsoo,Moon Kiho,Park Won Sang,Nam Suk Woo 생화학분자생물학회 2023 Experimental and molecular medicine Vol.55 No.-

Aberrant adenosine-to-inosine (A-to-I) RNA editing, catalyzed by adenosine deaminase acting on double-stranded RNA (ADAR), has been implicated in various cancers, but the mechanisms by which microRNA (miRNA) editing contributes to cancer development are largely unknown. Our multistage hepatocellular carcinogenesis transcriptome data analyses, together with publicly available data, indicated that ADAR1 was the most profoundly dysregulated gene among RNA-editing enzyme family members in liver cancer. Targeted inactivation of ADAR1 inhibited the in vitro tumorigenesis of liver cancer cells. An integrative computational analyses of RNA-edited hotspots and the known editing frequency of miRNAs suggested that the miRNA miR-3144-3p was edited by ADAR1 during liver cancer progression. Specifically, ADAR1 promoted A-to-I editing of canonical miR-3144-3p to replace the adenosine at Position 3 in the seed region with a guanine (ED_miR-3144-3p(3_A < G)) in liver cancer cells. We then demonstrated that Musashi RNA-binding protein 2 (MSI2) was a specific target of miR-3144-3p and that MSI2 overexpression was due to excessive ADAR1-dependent over-editing of canonical miR-3144-3p in liver cancer. In addition, target prediction analyses and validation experiments identified solute carrier family 38 member 4 (SLC38A4) as a specific gene target of ED_miR-3144-3p(3_A < G). The ectopic expression of both ADAR1 and the ED_miR-3144-3p(3_A < G) mimic enhanced mitotic activities, and ADAR1 suppressed SLC38A4 expression in liver cancer cells. Treatments with mouse-specific ADAR1-, MSI2-siRNA-, or SLC38A4-expressing plasmids suppressed tumorigenesis and tumor growth in a mouse model of spontaneous liver cancer. Our findings suggest that the aberrant regulation of ADAR1 augments oncogenic MSI2 effects by excessively editing canonical miR-3144-3p and that the resultant ED_miR-3144-3p(3_A < G) simultaneously suppresses tumor suppressor SLC38A4 expression, contributing to hepatocellular carcinogenesis.

Characteristic molecular signature of pericardial effusion identifies malignant cancer in pericardial disorder patients

Sang Yean Kim,Jung Woo Eun,Hyung Seok Kim,Hee Doo Yang,Min Jeong Na,Young Min Ahn,Hae Ok Jung,Suk Woo Nam 대한독성 유전단백체 학회 2020 Molecular & cellular toxicology Vol.16 No.3

Background Pericardial effusion (PE) can develop in patients with virtually any condition that affects the pericardium, including acute pericarditis and a variety of systemic disorders. Thus, definite differentiation of malignant pericardial effusion and rapid diagnosis are known to have therapeutic and prognostic importance. Objective The aim of this study was to identify novel molecular markers for the detection of cancer in patients with pericardial disorder. Results We performed one-way ANOVA analysis of whole transcriptome scans of 18 PEs from the patients with pericardial disorder including cancer. It resulted in 4385 outlier genes. Hierarchical clustering analysis showed two distinct clusters [cancer patient’s PEs (G1 + G2) vs. non-cancer PEs (G3)] within the dendrogram. To identify cancer-specific molecular signature, Welch’s t test of G1 and G3 was performed and 1639 gene elements were suggested as stringent classifiers between cancer PE and non-cancer PE. Gene set enrichment analysis of PE signature suggested that CD24, SDC1, and ST14 were strong molecular markers for identifying cancer patients among patients with pericardial disorder. Conclusion Our results suggest that etiology-specific molecular signatures can discriminate cancer patients within pericardial disorder patients. CD24, SDC1, and ST14 are strong molecular markers for such discrimination.