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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.
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.
디메틸포름아미드 노출 근로자의 요중 N-메틸포름아미드 분석시 GC-NPD와 GC-FID 방법간 비교
정다운,김현욱 가톨릭대학산업의학센타 산업의학연구소 1999 韓國의 産業醫學 Vol.38 No.1
This purpose of the this study was to compare the results of two analytical techniques, GC-NPD and GC-FID, of quantifying urinary NMF from 70 DMF exposed workers in synthetic resins, leather, and dye manufacturing industries. In addition, the relationship between conecntrations of airborne DMF and urinary NMF was investigated using samples collected from 12 workers. Airborne DMF was sampled using both charcoal and silicagel tubes. All urine specimens were collected both prior-to and at end-of workshifts. The results were as follows: 1. The detection limits of urinary NMF by GC-FID and GC-NPD were 0.043㎎/l and 0.009㎎/l, respectively. The recovery rates were 96.9% for the GC-NPD and 90.2% for the GC-FID methods. 2. Desorption efficiencies of DMF on Charcoal tubes were very poor with 32.96%, while those on silicagel tubes were marginally acceptable with 85.70%. 3. A statistically significant relationship between concentrations of airborne DMF and urinary NMF from 12 workers determined by GC-NPD (r=0.74) and by GC-FID (r=0.67) was observed. 4. Geometric mean concentrations of urinary NMF of the end-of-shift urines from 70 workers were 15.84㎎/g creatinine by GC-NPD and were 9.88㎎/g creatinine by GC-FID, respectivery. For the prior-to-shift samples, they were 6.05 ㎎/g creatinine by GC-NPD and 0.92㎎/g creatinine by GC-FID. These results of this study suggest that for collecting airborne DMF in the workplace, silicagel tubes should be utilized. For quantifying urinary NMF concentrations as a biological marker of DMF exposed workes, urine should be collected at the end-of-shift. Urinary NMF should be analyzed by GC-NPD because of its lower of detection and better precision than that of GC-FID.
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.
( Da Hyun Kim ),( Byoung Jin Min ),( Eun Jung Jung ),( Jung Mi Byun ),( Dae Hoon Jeong ),( Kyung Bok Lee ),( Moon Su Sung ),( Ki Tae Kim ),( Young Nam Kim ) 대한산부인과학회 2018 Obstetrics & Gynecology Science Vol.61 No.5
Objective The purpose of this study was to evaluate the group B streptococcus (GBS) colonization rate in pregnant Korean women using selective culture media for GBS and to identify obstetrical complications and GBS-induced early-onset neonatal sepsis. Methods We evaluated 1,014 pregnant women who delivered at Busan Paik Hospital between January 2015 and December 2016. GBS colonization was assessed using chromID Strepto B agar. We evaluated GBS colonization in pregnant women, as well as the obstetrical complication and GBS-induced neonatal sepsis rates. Results The total GBS colonization rate was 11.6% (117/1,014). No significant increase was observed in the rate of pregnancy-related complications between the GBS-positive and the GBS-negative groups. Among the 134 neonates born to colonized mothers, early neonatal sepsis was reported in 2 neonates (1.5%); however, these were cases of non-GBS-induced sepsis. Conclusion The GBS colonization rate (using selective culture media) in this study involving pregnant Korean women showed a higher colonization rate than that previously reported in Korea. Therefore, based on this study, we recommend GBS screening and the administration of intrapartum antibiotic prophylaxis in pregnant Korean women.
( Da Hyun Jung ),( Jie-hyun Kim ),( Su Jin Jeong ),( Soon Young Park ),( Il-mo Kang ),( Kyoung Hwa Lee ),( Young Goo Song ) 대한소화기학회 2018 Gut and Liver Vol.12 No.6
Background/Aims: Helicobacter pylori eradication rates are decreasing because of increases in clarithromycin resistance. Thus, finding an easy and accurate method of detecting clarithromycin resistance is important. Methods: We evaluated 70 H. pylori isolates from Korean patients. Duallabeled peptide nucleic acid (PNA) probes were designed to detect resistance associated with point mutations in 23S ribosomal ribonucleic acid gene domain V (A2142G, A2143G, and T2182C). Data were analyzed by probe-based fluorescence melting curve analysis based on probe-target dissociation temperatures and compared with Sanger sequencing. Results: Among 70 H. pylori isolates, 0, 16, and 58 isolates contained A2142G, A2143G, and T2182C mutations, respectively. PNA probe-based analysis exhibited 100.0% positive predictive values for A2142G and A2143G and a 98.3% positive predictive value for T2182C. PNA probe-based analysis results correlated with 98.6% of Sanger sequencing results (κ-value=0.990; standard error, 0.010). Conclusions: H. pylori clarithromycin resistance can be easily and accurately assessed by dual-labeled PNA probe-based melting curve analysis if probes are used based on the appropriate resistance-related mutations. This method is fast, simple, accurate, and adaptable for clinical samples. It may help clinicians choose a precise eradication regimen. (Gut Liver 2018;12:641-647)
( Hyun Ae Jung ),( Young Eun Ha ),( Da Min Kim ),( Ji Hyun Park ),( Cheol In Kang ),( Doo Ryeon Chung ),( Seung Woo Park ),( Ki Ik Sung ),( Jae Hoon Song ),( Kyong Ran Peck ) 대한내과학회 2014 The Korean Journal of Internal Medicine Vol.29 No.3
Klebsiella species are common pathogensthat cause community-onsetand hospital-acquired pneumonia,intra-abdominal infections, andbloodstream infections. Infective endocarditisdue to Klebsiella species israre, accounting for less than 1% ofcases, and is frequently accompaniedby complications and a high in-hospitalmortality rate [1]. Moreover, withthe emergence of extended-spectrumb-lactamase (ESBL)-producing Enterobacteriaceae,endocarditis due toESBL-producing Klebsiella pneumonia(ESBL-KP) is of concern due to thelimited treatment options and notoriouslyhigh morbidity and mortality. Hospitalization is a significant riskfactor for bloodstream infections dueto ESBL-producing Enterobacteriaceae,but no cases of health-care-associatednative valve endocarditis causedby ESBL-KP have been reported. Here,we report a case of health-care-associatedinfective endocarditis due toESBL-KP with multiple metastaticinfectious complications, and discussthe optimal treatment strategies.
Hyun Jung Koo,SungRyul Lee,Se Chan Kang,Jung Eun Kwon,Da Eun Lee,Eui-Su Choung,Jong-Sub Lee,Jin Woo Lee,Yuna Park,Dong Soo Sim,Eun-Hwa Sohn 한국자원식물학회 2017 한국자원식물학회지 Vol.30 No.3
EP was obtained through 20% ethanol extraction of Pueraria lobata root, and the fermented form of EP, FEP, was prepared from the EP after incubating with Lactobacillus rhamnosus vitaP1. There was no significant toxicity by EP and FEP up to 1000 ㎍/㎖ in NIH-3T3, HaCaT, and B16F10 cells. In addition to antioxidant potentials of EP and FEP determined by DPPH and ABST assays, we confirmed increase of procollagen type I and elastin synthesis by supplementation of the EP and FEP at the concentration of 50 ㎍/㎖ using ELISA kits. The protein expression levels of matrix metalloprotease (MMP)-1, -3, and -9, those are involved in the degradation of collagen or other skin matrix proteins, were remarkably suppressed while their inhibitory protein metallopeptidase inhibitor 1 (TIMP-1) was greatly up-regulated by supplementation of the EP and FEP at a concentration of 50 ㎍/㎖. Taken together, both EP and FEP supplementation could be involved in the suppression of the skin wrinkle formation through inhibiting degradation of collagen and stimulating the synthesis of collagen and elastin. The results showed that the anti-wrinkle potential of the EP and FEP will be a promising candidate for developing cosmeceutical compounds or products.