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윤재훈(JaeHum Yun),당 반 치엔(Dang Van Chien),트란 트렁 틴(Tran Trung Tin),김종욱(Jong-Wook Kim) 한국지능시스템학회 2014 한국지능시스템학회논문지 Vol.24 No.4
휴머노이드 로봇은 인간-로봇 상호작용에 가장 효과적인 로봇 플랫폼이지만 20개 이상의 관절로 구성되어 있을 만큼 복잡한 구조여서 전통적인 역기구학적 방법으로 안정되면서도 정교한 자세를 생성하기가 어렵다. 본 논문에서는 고속 연산최적화 기법인 Particle Swarm Optimization 기법을 사용해서 앞쪽 지면에 놓인 물체를 단측지지 상태로 상체를 굽혀서 왼팔이나 오른팔로 집는 고난도의 자세를 생성하고, 이를 상용 휴머노이드 로봇 플랫폼에 적용하여 검증함으로써 제안 된 방법의 적용 가능성을 확인한다. Humanoid robot is the most suitable robot platform for effective human and robot interaction. However, the robot’s complicated body structure containing more than twenty joint actuators makes it difficult to generate stable and elaborate postures using the conventional inverse kinematic method. This paper proposes an alternative approach to generate difficult postures of touching an object placed in front of the foot by the left or right hand with its torso bent forward in single support phase using the fast computational optimization method, particle swarm optimization. The simulated postures are also applied to a commercial humanoid robot platform, which validates the feasibility of the proposed approach.
A-Jin Lee,Sang-Gyung Kim,Jun Yeb Nam,Jaehum Yun,류헌모,Sung Hwa Bae 대한혈액학회 2021 Blood Research Vol.56 No.4
Background JAK2 mutation status is a well-known risk factor for thrombosis in patients with myeloproliferative neoplasms. However, the clinical usefulness of JAK2 V617F allele burden is under investigation. Methods We retrospectively evaluated the impact of the JAK2 V617F allele burden on clinical characteristics and outcomes of JAK2 V617F-positive polycythemia vera (PV) and essential thrombocythemia (ET). The JAK2 V617F allele burden was measured using sequencing. Results Altogether, 127 patients with JAK2 V617F mutation (PV, N=61; ET, N=66) were included in this study. JAK2 V617F allele burdens were positively correlated with white blood cell counts, hemoglobin values, lactate dehydrogenase levels, and platelet counts. The median values of JAK2 V617F allele burden in patients with PV and ET were 58% and 30%, respectively. A JAK2 V617F allele burden of ≥30%, older age, and a higher hemoglobin level were risk factors for thrombotic events in ET. In patients with PV, older age was the only thrombotic risk factor. The 8-year probabilities of overall survival (OS) were 82.9% in all patients. A high JAK2 V617F allele burden (≥58%) was associated with poor OS in patients with PV. For the patients with ET, the difference in 8-year OS based on the JAK2 V617F allele burden was not significant. Conclusion The JAK2 V617F allele burden was correlated with hematologic parameters and clinical outcomes. Assessing the JAK2 V617F allele burden can be helpful in predicting the thrombotic risk and disease course in patients with JAK2 V617F-positive PV and ET.