Bezier Spline을 이용한 용접 로봇의 새로운 Weaving Motion 궤적 생성 알고리즘

정원지,김대영,서영교,홍형표,홍대선 한국공작기계학회 2004 한국생산제조학회지 Vol.13 No.3

In this paper, we propose a new weaving trajectory algorithm for the are welding of a articulated manipulator. The algorithm uses the theory of Bezier spline. We make a comparison between the conventional algorithms using Catmull-Rom curve and the new algorithms using Bezier spline. The proposed algorithm has been evaluated based on the MATLAB environment in order to illustrate its good performance. Through simulations, the proposed algorithm can result in high-speed and flexible weaving trajectory planning so that it s trajectory cannot penetrate into a base metal compared to the conventional algorithm using Catmull-Rom curve.

미생물을 이용한 염료의 생분해에 관한 연구 : 반응성염료 분해균에 관한 연구 Studies on the Reactive Dye-Degrading Microorganisms

정영건,지원대,정민선,백형진 효성여자대학교 부설 한국환경위생연구소 1994 환경위생연구 Vol.4 No.1

대구시의 염색폐수처리장 폐수 및 처리장 주변의 토양과 물에서 반응성 염료인 Cibacron Brilliant Red 3B-A(CBR), Reactive Orange 16(RO), Reactive Black 5(RB)에 탈색능을 보이는 12종의 균을 분리하고 이들 균 중에서 본 실험에 사용한 CBR, RO, RB5 염료 모두에 약 90% 이상의 높은 탈색율을 나타낸 CBR2균을 선별하였다. 선별된 CBR2균의 특성 및 염료분해특성을 조사하였다. CBR2균은 그람 음성, 무아포, 간균으로 운동성이 있으며, 염농도 5%, 온도 50℃에서도 생육이 가능하였다. CBR2균의 생육 및 염료의 탈색에 미치는 pH의 영향을 조사한 결과, pH 5.0에서 9.0까지 고른 균 성장과 탈색율을 나타내었으며 특히 pH 7.0에서 최고의 균 성장 및 염료 탈색율을 나타내었다. 온도별 균의 생육 및 염료의 탈색율을 조사한 결과 30℃에서 가장 높은 균 성장 및 탈색율을 나타내었다. 산소량에 따른 균의 생육 및 염료의 탈색율을 조사한 결과, 산소량이 많을수록 균의 생육이 좋았으며, 염료의 탈색율에 있어서도 CBR 염료의 경우는 산소량에 비례해서 탈색율이 좋았으나, RO와 RB5 염료의 경우는 산소량이 가장 많은 2ml양의 배양에서 보다 상대적으로 산소량이 적은 4ml양의 배양에서 가장 높은 탈색율을 보였다. Twelve strains, which were exhibited abilities of decolorizationto the reactive dyes, Cibacron Brilliant Red 3B-A(CBR) , Reactive Orange 16(RO) and Reactive Black 5(RB5) , were isolated from the samples of waste waterof the dye textile factories and the samples of soil and water around them. Amongthem one stain, CBR2 was selected because of the higest decolorization rateto the reactive dyes, CBR, RO and RB5 with more than 90% of decolorizationrate. The characteristics of reactive dye-degrading microorganism CBR2 andits decolorization abilities to reactive dyes were investigated. This CBR2 wasGram negative and non-spore forming rod. This organism has motility and ispossible to grow even in 5% of sodium chloride solution and at such temperatueof 50℃ In the pH 5.0 to 9.0, growth rate of the isolate and decolorizationrate to reactive dyes by CBR2 were exhibited almost similar rates. However,among those pH of media the most growth and decolorization rates were appearedat pH 7.0. On the temperature effects to growth rates of CBR2 and decolorizationrate by this organism, the most growth and decolorization rates were at tempera-ture of 30℃. More oxygen volumes in test tubes enhanced generally the growthrate of this organism. However, the decolorization rate of CBR dye by CBR2was higher according to oxygen volume increased in the media but the decoloriza-tion rates of RO and RB5 dyes in 2m1 volume of culture media were rather decrea-sed than that of 4ml volume of culture media where oxygen volume is lowerthan that of 2ml volum of culture media.

洛東江 河口海城의 식물플랑크톤 極大城 變動에 관한 數値시뮬레이션 : Ⅱ. 식물플랑크톤 극대역 변동의 수치시뮬레이션 Ⅱ. The numerical simulation on variation of phytoplankton maximum region

이대인,김동명,김형철,이석모,박청길 한국환경과학회 2000 한국환경과학회지 Vol.9 No.5

It is very important to interprete and simulate the variation of phytoplankton maximum region for the prediction and control of red tide. This study was composed of two parts, first, the hydrodynamic simulation such as residual current and salinity diffusion, and second, the ecological simulation such as phytoplankton distribution according to freshwater discharge and pollutant loads. Without the Nakdong river discharge, residual current was stagnated in inner side of this estuary, and surface distribution of salinity was over 25psu. On the contrary, with summer mean discharge, freshwater stretched very far outward and some waters flowed into Chinhae Bay through the Kadok channel, and low salinity extended over coastal sea and salinity front occurred. From the result of contributed physical process to phytoplankton biomass, the accumulation was occurred at the west part of this estuary and the Kadok channel with the Nakdong river discharge. When more increased input discharge, the accumulation band was transported to outer side of this estuary. The frequently outbreak of red tide in this area is caused by accumulation of physical processes. The phytoplankton maximum region located inner side of this estuary without the Nakdong river discharge and with mean discharge of winter, but it was moved to outer side when mean discharge of the Nakdong river was increased. The variation of input concentration from the land loads was not largely influenced on phytoplankton biomass and location of maximum region. When discharge was increased, phytoplankton maximum region was transferred to inner side of the Kadok channel. On the other hand, when discharge was decreased, phytoplankton maximum region was transferred to inner side of this estuary and chlorophyll a contents increased to over 20㎍/L. Therefore, if any other conditions are favorable for growth of phytoplankton, decrease of discharge causes to increase of possibility of red tide outbreak.

HBx형질전환 생쥐에서 발생한 간세포암종에서 H-ras 및 c-myc의 발현에 관한 연구

문형배,소병준,김학철,윤기중,한원철,조향정,유대열,정영진 圓光大學校 醫科學硏究所 2002 圓光醫科學 Vol.17 No.2

<연구목적> HBx형질전환 생쥐에서 발생한 간세포암종의 발암과정에 종양유전자(H-rgs, c-myc)의 발현 정도를 조사하고자 하였다. <연구방법> 정상생쥐 12마리(4-18개월) 및 HBx 형질전환 생쥐 44마리(4-18개월)를 대상으로 포르말린에 고정하고 파라핀에 포매한 간 조직을 이용하여 면역조직화학적염색을 실시하였다. 실험군은 정상 부위, 이형성 부위 및 종양 부위로 구분하였으며, 종양 부위는 소결절성병변 부위와 간세 포암종 부위로 구분하였고, 이형성병변 부위는 이형성병변만 발견되는 부위, 소결절성병변과 동반된 이형성병변 부위 및 간세포암종과 동반된 이형성병변 부위로 구분하였다. <연구결과> H-rgs의 발현은 정상 간조직에 비하여 이형성병변 부위(P<0.05) 및 종양 부위(P<0.01)에서 증가하였으며, 소결절성병변 부위과 간세포암종 부위 사이에서는 간세포암종 부위에서 증가된 경향이었으나 통계학적으로 유의한 차이가 없었으며, 각 이형성병변 부위 사이에서도 유의한 차이는 없었다. c-myc의 발현은 정상 간조직 및 이형성병변 부위에 비해 종양 부위에서 증가하였으며(P<0.001), 소결절성병변 부위와 간세포암종 부위에서는 비슷하였고, 각 이형성병변부위 사이에서도 비슷하였다. <결론> HBx형질전환 생쥐에서 발생하는 간세포암종의 발생에 H-rgs는 이형성 변화를 일으키는 시기에 관여하며, c-myc은 이형성병변에서 암으로 이행하는 시기에 관여할 것으로 생각한다. Background: This experiment was designed for the expression of H-ras and c-myc in hepatocarcinogenesis of the HBx transgenic mice. Methods: Immunohistochemical stains in the paraffin embedded tissue of the liver were used for the detection of H-ras and c-myc in the 12 normal mice and 44 HBx transgenic mice of the 4-18 month old. Results: Expression of the H-ras was significantly increased in the dysplastic area (P<0.05) and tumor area (P<0.01) than in the normal liver. But there were no differences of H-ras expression between areas of microscopically identified hepatocellular carcinoma (MI-HCC) and grossly identified hepatocellular carcinoma (GI-HCC) and dysplastic areas among the only dysplastic areas, dysplastic areas with MI-HCC and GI-HCC. Expression of the c-myc was significantly increased in the tumor area (P<0.001) than in the normal liver and dysplastic area. But there were no differences of c-myc expression between areas of MI-HCC and GI-HCC, and dysplastic areas among only dysplastic areas, dysplastic areas with MI-HCC and GI-HCC. Conclusions: Our study suggests that H-ras is related to the dysplastic change and c-myc is related to the neoplastic change in the hepatocarcinogenesis of the HBx transgenic mice.

Tioconazol의 피부진균증에 대한 임상적 고찰

변대규,최성우,김형옥,김정원 최신의학사 1983 最新醫學 Vol.26 No.10

악성 신경교종에서 기관형적 배양후 형성된 미세종양 구상체의 초미세구조적연구

신형진,정천기,박인성,정영섭,정희원,한대희 대한신경외과학회 1993 Journal of Korean neurosurgical society Vol.22 No.3

The present study investigated not only the feasibility of organotypic spheroid culture system taken from human malignant gliomas but also the similarities and differences between surgical specimens and cultured spheroids using light microscopy electron microscopy, and flow cytometric examination. Surgically resected tumor specimens from eighteen human malignant gliomas were minced and explanted into agarose-coated culture wells. After three to five days these microtumor fragments emerged as spheroids and could be maintained as organotypic spheroids for more than eight weeks. Measurements of the spheroids showed that they decreased during the initial two to three weeks and afterwards remained unaltered over a specific period of time. This growth pattern of the spheroids was consistent with the condition of tumors in vivo suggesting the linkage of cell proliferation and loss. Light microscopic and electron microscopic studies of the spheroids demonstrated that morphological structures were similar to those of the original tumor tissue in vivo and histopathologic characteristics of the original tumor were maintained over a long culture period. The spheroids contained connective tissues, blood vessels, macrophages and neutrophils maintaining a three-dimensional architectural resemblance to the original tumors. Of three pairs of the surgical and spheroid specimen examined by the flow cytometry, one showed a change of ploidy pattern and two contained increased fictions of proliferating cells. It is concluded that this microtumor spheroid system can maintain the characteristics of the original tumors and may serve as an alternative to the in vivo xenograft model for the research of brain tumor biology, invasion and immunology while providing a valuable technique for the evaluation of new therapies such as biological response modifiers.

습진성 피부질환에 대한 Hexomilone^(�) 치료의 임상연구

이대성,조광윤,허동,김형옥,김정원 최신의학사 1984 最新醫學 Vol.27 No.11

고속회전 하는 정밀부품을 위한 연질/경질 코팅의 트라이볼로지적 특성에 관한 연구

오진규,정구현,김대은,유제환,김형재 한국공작기계학회 2003 한국공작기계학회 춘계학술대회논문집 Vol.2003 No.-

Recently, rotating elements which use mechanical and electrical systems have been utilized for high speed and accuracy to increase the performance. The most important thing to get a more reliable system is to understand the friction, wear and characteristics which has an effect on various coated surfaces. In this study, the tribological characteristics of various soft/hard materials were investigated by using a custom-built pin-on-reciprocator tester. From the experimental results, it was found that the friction coefficients of the soft material coated surfaces were lower under various normal loads due to thier self-lubricating ability and material transfer to the counter surface.

결핵성 육아종에서 Thioredoxin peroxidase-2 의 발현

박근호,유형륜,정영진,윤기중,한원철,유대열,문형배 圓光大學校 醫科學硏究所 1999 圓光醫科學 Vol.15 No.2

Background: Thioredoxin peroxidase(TPX) is a kind of recently discovered antioxidant enzyme which react as rapid hydrogen ion donor for the removal of hydroperoxide. The action and distribution of the TPX was poorly understood in the human diseases. This experiments were designed for the study about the distribution of the TPX in the chronic granulomatous inflammation and about the correlation between the expression of TPX and the site of inflammation, histological activities of tuberculous inflammation or existence of mycobacterium in the inflammatory foci. Methods: The immunohistochemical stains were performed for the localization of the TPX-2 in the epithelioid cells, giant cells and lymphocytes in the chronic granulomatous inflammation. The tissue sections were obtained from the paraffin blocks of the 54 cases of tuberculosis (lung 21 cases, lymph node 12 cases, bone and soft tissue 12 cases, kidney 9 cases; active 33 cases, inactive 21 cases by the histologic classification; presence of mycobacterium 15 cases, no mycobacterium 39 cases by PCR reaction). Results: The expression of TPX-2 was 16.7% in the giant cells, 27.8% in the epithelioid cells and 100% in the lymphocytes of tuberculous inflammations. The expression of TPX-2 in the giant cells and epithelioid cells of the tuberculosis were 28.6% and 57.1% of the pulmonary tuberculosis; 33.3% in each cells of the renal tuberculosis; 0% in each cells of the lymph node or bone and soft tissue tuberculosis. The expression of TPX-2 in the giant cells and epithelioid cells were 9.1% in each cells of the active tuberculosis and were 28.6% and 57.1% in each cells of the inactive tuberculosis by histologic classification. The expression of TPX-2 in the giant cells and epithelioid cells was 40% in each cells of tuberculosis which mycobacteria were detected and the expression of TPX-2 was 7.7% and 23.1% in each cells which mycobacteria were not detected by PCR reaction in the paraffin embedded tissue. Conclusions: The above results were summarized that the TPX-2 in the giant cells and epithelioid cells were more frequently expressed in the inactive tuberculosis than in the active tuberculosis. These results suggest that the TPX-2 is a kind of regulating or suppressing factors in the activity of the tuberculosis.

Fluoxetine이 Schedule-Induced Polydipsia가 유발된 백서 뇌에서 Tyrosine Hydroxylase 발현에 미치는 영향

이기철,이정호,최영민,정주호,정홍경,이용민,김도형,이대환 大韓神經精神醫學會 2001 신경정신의학 Vol.40 No.2

연구목적: Fluoxetine은 serotonin을 매개하여 간접적으로 dopamine 신경전달기능을 억제한다고 추정되고 있다. 또한 운동장애에서 운동기능의 악화를 유발한다고 알려져 있다. 그러나 신경세포체에서 fluoxetine이 dopamine에 어떠한 영향을 주는지는 아직까지 확실치 않다. 저자들은 schedule-induced polydipsia를 유발시킨 백서 뇌의 흑질, 복부피개영역, 미상핵에서 tyrosine hydroxylase(TH) 발현이 저하됨을 발견하였다. 이를 통해서 fluoxetine이 백서 뇌의 dopamine 기능에 긍정적인지 혹은 부정적인지를 규명하고자 하였다. 방법: 4주간의 schedule-induced polydipsia 과정을 거친 백서에서 면역죄치화학적인 방법으로 흑질, 복부피개영역, 미상핵의 tyrosine hydroxylase 발현이 저하됨을 확인한 후, 실험동물들에게 fluoxetine 10mg/kg를 3주간 복강내 주사하였다. 실험백서들을 희생시켜 뇌 조직을 적출하여, TH 면역조직화학 염색법을 이용하여 흑질, 복부피개영역, 그리고 미상핵의 TH 면역반응세포를 관찰하고 이를 정상백서와 비교하였다. 결과: 1) 다갈증이 유발된 백서의 흑질, 복부피개영역, 미상핵에서 tyrosine hydroxylase 발현이 정상백서 보다 저하됨을 관찰하였다. 2) 3주간에 걸친 fluoxetine 투여후 흑질, 복부피개영역, 미상핵의 tyrosin hydroxylase 발현이 다시 증가하는 소견을 보였다. 결론: Fluoxetine 만성투여가 흑질, 복부피개영역 그리고 미상핵의 tyrosin hydroxylase를 증가시키는 소견을 얻었다. 이러한 결과는 임상에서 dopamine 결핍과 연관된 질환들에서 fluoxetine을 만성투여하면 운동기능을 포함한 증상들의 개선을 가져올 수도 있다고 추정된다. Objective: It has been suggested that fluoxetine inhibits the dopaminergic neurotransmission by serotonergic mediation. And also, it has been shown to inhibit synthesis of DOPA in dopamine-rich areas of the rat forebrain. These dopamine-antagonistic capacity of fluoxetine is only supported by anecdotal report that the increased amount of motor disability in patients with idiopathic Parkinson's disease after exposure to fluoxetine. However, there is still no evidence of the direct effect of fluoxetine on dopaminergic neuronal cell body in the substantia nigra, VTA, caudate & putamen. This study was designed to evaluate the effects of fluoxetine in rat brain which showed decreased numbers of dopaminergic neuronal cell body induced by schedule-induced polydipsia(SIP). Method: We incidentally found that 4 weeks of schedule-induced polydipsic rats revealed the suppression of tyrosine hydroxylase expression in the substantia nigra, VTA, caudate & putamen with the immunohistochemistric measures. After 3 weeks of intraperitoneal injection of 10mg/kg of fluoxetine to the schedule induced polydipsic rats, the tyrosine hydroxylase expression was also measured with immunohistochemistry. We compared the tyrosine hydroxylase expression among the normal control, the polydipsic rats, and the rats with fluoxetine treatment. Results: 1) By contrast with the control, the polydipsic rats revealed the evidence of decreased tyrosine hydroxylase expression in the substantia nigra, VTA, caudate & putamen. 2)After daily injection of fluoxetine for 3 weeks, the polydipsic rats showed increment of tyrosine hydroxyase expression in those areas. Conclusions: In previous studies, a great deal of results suggest that fluoxetine negatively influence the dopaminergic systems indirectly via serotonergic activation such as inhibition of dopamine synthesis or transport system. Although our results are obtained from rodents, we suggest that fluoxetine directly and positively enhance the dopamine system in the substantia nigra, VTA, caudate & putamen. The chronic adminstration of fluoxetine may be helpful to dopamine-depleted condition in clinical situations. We anticipate the replication studies of our findings and well-controlled clinical trial.