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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.
김연금,김성주,박환지,유다희,최성용,홍승모,Kim, Yun-Geum,Kim, Seong-Joo,Park, Hwan-Ji,Yu, Da-Hee,Choi, Sung-Young,Hong, Seung-Mo 한국조경학회 2008 韓國造景學會誌 Vol.35 No.6
This study deals with the participatory design process of renovating a children's park. The process should proceed with two major elements. Firstly, the children's park should be designed from the perspective of children. Secondly, it should be designed in consideration of the context of the community. This study is divided into two parts. First is the review of theory concerning the meaning and roles of the children's park as a community space, the importance of children's participation in the design and the participatory method of the children. The second is the case study. The site for the case study is Ssial Park in Nowon-Gu, Seoul. The entire process of the case study is with community participation, from identifying the park's problems to the actual construction. At every step, through the participatory programs, the community participates in the decision making. In addition, mutual understanding among participants is pursued through diverse means of communication. The following results of the case study were found. Firstly, diverse participatory programs and the active trial to enable the community to communicate contribute to the sense of ownership and responsibility concerning the park Secondly, the community can negotiate the differences in opinions without needing the help of experts. Of course, there are limits in the case study, such as the fact that the community organization, which is the core of communication and maintenance concerning the park, is not organized through the process of a case study. Another is that more diverse methods, which inform all community members of the participatory process, should have been used.
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.
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.
MALDI-TOF MS-based total serum protein fingerprinting for liver cancer diagnosis
Park, Han-Gyu,Jang, Kyoung-Soon,Park, Hae-Min,Song, Won-Suk,Jeong, Yoon-Yi,Ahn, Da-Hee,Kim, Seong-Min,Yang, Yung-Hun,Kim, Yun-Gon The Royal Society of Chemistry 2019 The Analyst Vol.144 No.7
<P>Serum is one of the most commonly used samples in many studies to identify protein biomarkers to diagnose cancer. Although conventional enzyme-linked immunosorbent assay (ELISA) or liquid chromatography-mass spectrometry (LC-MS)-based methods have been applied as clinical tools for diagnosing cancer, there have been troublesome problems, such as inferior multiplexing capabilities, high development costs and long turnaround times, which are inappropriate for high-throughput analytical platforms. Here, we developed a simple and robust cancer diagnostic method using matrix-assisted laser desorption/ionization time-of-flight mass spectrometry (MALDI-TOF MS)-based total serum protein fingerprinting. First, serum samples were simply diluted with distilled water and subsequently spotted onto a MALDI plate without prior chromatographic purification or separation. The sample preparation method was enough to collect reproducible total serum protein fingerprints and would be highly advantageous for high-throughput assay. Each of the integrated main spectrum profiles (MSPs), which are representative of liver cancer patients (<I>n</I> = 40) or healthy controls (<I>n</I> = 80), was automatically generated by the MALDI Biotyper 3 software. The reliability of the integrated MSPs was successfully evaluated in comparison with a blind test set (<I>n</I> = 31), which consisted of 13 liver cancer patients and 18 healthy controls. Additionally, our partial least squares discriminant analysis (PLS-DA) demonstrated a statistically significant difference in MALDI-TOF MS-based total serum protein fingerprints between liver cancer patients and healthy controls. Taken together, this work suggests that this method may be an effective high-throughput platform technology for various cancer diagnoses and disease evaluations.</P>
Da-Young Park,Ki-Myung Choi,Young-Chul Park,Yun-Jin Yun,Jae-Goo Seol 한국동물생명공학회(구 한국동물번식학회) 2011 발생공학 국제심포지엄 및 학술대회 Vol.2011 No.1
Several human leukocyte subsets including natural killer (NK) cells, cytotoxic T lymphocytes (CTL), and polymorphonuclear neutrophils (PMN) participate in cellular immune responses directed against vascularized pig-to-human xenografts. As these leukocytes express the death receptor Fas either constitutively (PMN) or upon activation (NK, CTL), we explored in vitro whether the transgenic expression of membrane-bound human Fas ligand (mFasL) on porcine fetal fibroblasts is a valuable strategy to protect porcine xenografts. cDNA of mFasL carrying the deletion at the cleavage site with metalloproteinase and lacking the death domain in its cytoplasmic tail was subcloned into pCAGGS expression vector driven by the chicken β-actin promoter containing blastidin- resistance cassette. The mFasL expression vector was transfected into mini-pig fetal fibroblasts by lipofection method. Blastidin-resistant cells were screened by PCR and FISH. The expression of mFasL was confirmed by Western blot and FACS with the mouse anti-human FasL antibody. Interaction of two transgenic clonal cell lines with human leukocytes was analyzed using functional assay for cytotoxicity. mFasL expressed on porcine fetal fibroblasts protected porcine fetal fibroblasts against killing mediated by human NK cells. The rate of NK cell mediated cytotoxicity was significantly reduced in transgenic clonal cells (54±10.80%) compared to normal minipig fetal fibroblasts. This result indicated that grafts of transgenic pigs expressing mFasL could control the cellular immune response to xenografts, and create a window of opportunity to facilitate xenograft survival.
( He Yun Choi ),( Ji Hye Park ),( Woong Bi Jang ),( Seung Taek Ji ),( Seok Yun Jung ),( Da Yeon Kim ),( Songhwa Kang ),( Yeon Ju Kim ),( Jisoo Yun ),( Jae Ho Kim ),( Sang Hong Baek ),( Sang Mo Kwon ) 한국응용약물학회 2016 Biomolecules & Therapeutics(구 응용약물학회지) Vol.24 No.4
Cardiovascular disease is the most common cause of death in diabetic patients. Hyperglycemia is the primary characteristic of diabetes and is associated with many complications. The role of hyperglycemia in the dysfunction of human cardiac progenitor cells that can regenerate damaged cardiac tissue has been investigated, but the exact mechanism underlying this association is not clear. Thus, we examined whether hyperglycemia could regulate mitochondrial dynamics and lead to cardiac progenitor cell dysfunction, and whether blocking glucose uptake could rescue this dysfunction. High glucose in cardiac progenitor cells results in reduced cell viability and decreased expression of cell cycle-related molecules, including CDK2 and cyclin E. A tube formation assay revealed that hyperglycemia led to a significant decrease in the tube-forming ability of cardiac progenitor cells. Fluorescent labeling of cardiac progenitor cell mitochondria revealed that hyperglycemia alters mitochondrial dynamics and increases expression of fission-related proteins, including Fis1 and Drp1. Moreover, we showed that specific blockage of GLUT1 improved cell viability, tube formation, and regulation of mitochondrial dynamics in cardiac progenitor cells. To our knowledge, this study is the first to demonstrate that high glucose leads to cardiac progenitor cell dysfunction through an increase in mitochondrial fission, and that a GLUT1 blocker can rescue cardiac progenitor cell dysfunction and downregulation of mitochondrial fission. Combined therapy with cardiac progenitor cells and a GLUT1 blocker may provide a novel strategy for cardiac progenitor cell therapy in cardiovascular disease patients with diabetes.