• 한국정밀공학회지
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• 제20권7호
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• pp.105-113
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• 2003

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for stably grasping an unknown object. In order to safely grasp an unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor may be used for robot's gripper.

• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.313-320
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• 2011

Multi-axle driving vehicles that are used in special environments require high driving performance, steering performance, and stability. Among these vehicles, 6WS/6WD vehicles with middle wheels have structural safety by distributing the load and reducing the pitch angle during rapid acceleration and braking. 6WS/6WD vehicles are favored for military use in off road operations because of their high maneuverability and mobility on extreme terrains and obstacles. 6WD vehicles that using in-wheel motor can generate the independent wheel torque without other mechanical parts. Conventional vehicles, however, cannot generate an opposite driving force at each side wheel. Using an independent steering and driving system, six-wheel vehicles can show better performance than conventional vehicles. Using of independent steering and driving system, the 6 wheel vehicle can improve a performance better than conventional vehicle. This vehicle enhances the maneuverability under low speed and the stability at high speed. This paper describes an independent 6WS/6WD vehicle, consists of three parts; Vehicle Model, Control Algorithm for 6WS/6WD and Simulation. First, vehicle model is application of TruckSim software for 6WS and 6WD. Second, control algorithm describes the optimum tire force distribution method in view of energy saving. Last is simulation and verification.

• Animal cells and systems
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• 제13권3호
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• pp.331-337
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• 2009

Twenty-eight Anopheles species has been so-far identified in Iran, while only 8 species was proved as malaria vector. In this study, we principally examined the cuticular hydrocarbon (CHC) potency in identification of Iranian vectors of malaria and then differentiation of vector and non-vector species of Anopheles. Seven species of malaria vectors and the non-vector species, Anopheles claviger were collected throughout Iran. Female extracts were made out of every five conspecific specimens by surface immersion in pure n-hexane. Each sample was injected into a FID-GC instrument along with the known concentrations of standards. CHC profiles of the eight Anopheles species indicated no qualitative difference. The average mass of each eluted CHC were compared using Repeated ANOVA and Mann-Whitney tests. Results confirmed a significant difference in mass of each single CHC at a specific retention time (RT). Statistical comparison of CHC mass in An. sacharovi, An. stephensi, An. culicifacies and An. fluviatilis at RT 39.6 indicated significant differences (P<0.05) among these species. Analysis of CHC mass of An. dthali, An. superpictus & An. sacharovi at RT 28.5, An. stephensi & An. sacharovi at RT 30.7 and An. sacharovi & An. claviger at RT 30.6 similarly indicated significant differences (P<0.05). An. sacharovi could be distinguished from other species, which showed only trace, by integratable peaks at retention times of 29.7, 31 and 32.6. Similarly, An. claviger could be distinguished from the other species with a trace peak at RT 30.6. In order to separate An. stephensi from the five other species, the integratable peak at RT 30.7 was used. An. dthali could be identified at RT 26.2 by an integratable peak v.s. the trace peaks of other species. An. superpictus had indicator peaks at RTs 27.4 & 28.5 v.s. trace peaks of other species. An. maculipennis with its trace peak at RT 39.6 could be easily differentiated from An. fluviatilis & An. culicifacies. This study proved that all of the examined species of Anopheles could be well identified based on their quantitative differences in CHCs, except for An. fluviatilis & An. culicifacies for which no CHC indicator peak was detected.

• 디지털콘텐츠학회 논문지
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• 제12권1호
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• pp.11-21
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• 2011

최근 MIPV6 대신에 각광을 받고 있는 PMIPv6 기법은 서버의 자원 활용과 네트워크의 대역폭에 대한 비용 면에서 유리하다. 본 논문에서는 효율적인 멀티미디어 서비스를 위하여 핸드오버, 멀티캐스트 조인 스케줄링 등 PMIPv6 환경에서 효율적인 멀티캐스트 서비스 스케줄링정책을 제안한다. 더하여, MAG의 상태에 따라 멀티캐스트 참여 여부를 동적으로 수행하여 좀 더 효율적인 멀티캐스트 서비스가 가능하도록 하였다. 본 논문의 성능 평가를 위하여 본 논문은 핸드오버지연 및 조인 비용의 비용이 유사성을 가진 기법과 비교하여 약 13 ~ 35%의 성능의 향상을 보여 주었다.

• Journal of Community Nutrition
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• 제7권2호
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• pp.79-84
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• 2005

A vitamin B-6 (B-6) intake higher than the current Recommended Dietary Allowance (RDA) has been found to provide an improvement in immune system. Seven premenopausal women consumed their usual diet with the exception of foods relatively high in vitamin B-6 for a total of 27 d. After 7 d, all subjects received a multivitamin supplement containing 2mg B-6 and 4 subjects were given an additional 50mg of B-6 supplement for 20 d. Lymphocyte response to phytohemagglutinin (PHA) was measured before and after the supplementation. To determine the effect of different forms of B-6 on lymphocyte proliferation, cell culture media supplemented with pyridoxal (PL) and PLP, as well as B-6 free media, were tested. A 50mg B-6 supplement significantly increased vitamin B-6 status. There was no further enhancement on lymphocyte proliferation when subjects were taking an additional 50mg of vitamin B-6 supplement. In general, lymphocyte proliferation in media with either PLP or PL did not show any prominent difference. These [m-dings suggest that there may be no further benefits of a B-6 dose beyond twice that of the current RDA on lymphocyte proliferation. Further studies are necessary to examine the effect of the B-6 intake level on activities of enzymes involved in cellular B-6 metabolism in lymphocytes to provide substantial insight into the mechanisms underlying the role of B-6 in the lymphocyte proliferation.

• 동의생리병리학회지
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• 제25권6호
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• pp.1085-1088
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• 2011

This study aims to investigate the effect of acupuncture on PC6 for preventing opioid-induced nausea and vomiting under circumstance whether the participants are conscious or non-conscious. 143 patients receiving intravenous patient controlled analgesia(PCA) with fentanyl were assigned to three groups. Two groups were given acupuncture on PC6 before anesthesia(PreAN) or after anesthesia(PoAN) respectively. One group was control group without acupuncture treatment(NC). Assessment of nausea and vomiting was obtained from all patients for 48hours after surgery. The incidence of nausea and vomiting was significantly lower in the PreAN group and PoAN group than in the NC group. The severity of nausea was the lowest in PreAN group, second to in PoAN group, and the highest in NC group. This results show that acupuncture on PC6 even without patients' consciousness has effect on preventing PONV.

• 대한의생명과학회지
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• 제18권3호
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• pp.307-309
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• 2012

(S)-(+)-3(3,4-dihydroxy-phenyl)-acrylic acid 2,2-dimethyl-8-oxo3,4-dihydro-2H,8H-pyrano[3,2-g]Chromen-3-yl-ester (Compound 6, C6) is synthesized from (S)-(+)-decursin and attenuates the pathophysiologic progression of asthma in a ovalbumin-induced asthmatic mouse model. In the present study, we examined the effect of C6 on spontaneous apoptosis of eosinophils and neutrophils of normal and asthmatic subjects. C6 increased the apoptosis of asthmatic eosinophils in a dose-dependent manner, but it inhibited neutrophil apoptosis. C6 has no effect on apoptosis of normal eosinophils and neutrophils. LY294002, an inhibitor of PI3K, rottlerin, an inhibitor of $PKC{\delta}$, Ro-31-8425, an inhibitor of classical PKC inhibitor, PD98059, an inhibitor of MEK, and BAY 11-7085, an inhibitor of NF-${\kappa}B$, blocked the inhibitory effect on apoptosis of asthmatic neutrophils due to C6. These results indicate that C6 may be valuable as a therapeutic agent for the treatment of asthma.

• BMB Reports
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• 제34권1호
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• pp.33-38
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• 2001

The human PTK6 (also known as Brk) polypeptide, which is deduced from its full-length cDNA, represents a non-receptor protein tyrosine kinase (PTK). It contains SH3, SH2, and tyrosine kinase catalytic domains that are closely related to Src family members. We generated an antihuman PTK6 antibody by immunizing rabbits with a PTK6-specific oligopeptide conjugated to BSA, which corresponds to 11 amino acid residues near the C-terminus. An immunoblot analysis with the antibody detected an expected 52-kDa band in various mammalian transformed cell lines. Immunoprecipitation and immunoblot analyses demonstrated that PTK6 is phosphorylated on the tyrosine residues) and interacts with approximately a 23-kDa tyrosine-phosphorylated polypeptide (most likely a substrate of PTK6) in breast carcinoma T-47D cells. An immunofluorescence analysis demonstrated that PTK6 is localized throughout the cytoplasm of T-47D cells. These results support a possible role for PTK6 in the intracellular signal transduction through tyrosine phosphorylation.

• Applied Microscopy
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• 제38권3호
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• pp.205-212
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• 2008

6-aminonicotinamide (6-AN)의 햄스터 정소에 미치는 영향을 확인하기 위해 실험군에는 체중 kg 당 10 mg의 6-AN을, 대조군에는 동량의 생리식염수를 격일로 복강 투여한 후 정소의 변화를 광학 및 투과전자현미경을 이용하여 관찰하였다. 최초 6-AN 투여 당시의 체중에 비해 7회 투여군부터 유의하게 체중이 감소하였으며, 정소 중량의 감소는 5회 투여시 크게 감소하여 이후 비슷한 양상을 보였다. 정세관상피의 퇴행변화는 5회 투여군부터 나타나기 시작하여 9회 투여군부터는 대부분의 정세관이 심하게 손상을 받은 것으로 나타났다. 손상을 받은 정세관에서 정세관상피를 이루는 정자발생세포 및 지지세포 모두 심한 공포화에 따른 세포의 파괴를 뚜렷하게 관찰할 수 있었으며, 다핵거대세포가 출현하였다. 사이질조직의 부종은 관찰할 수 없었으며, 사이질세포 역시 비교적 온전하게 보존되어 있었다. 따라서 6-AN은 햄스터 정소에서 정자발생세포, 지지세포 등에는 영향을 미치나 사이질세포에는 영향을 주지 않는 것으로 사료된다.

• 한국동물학회지
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• 제35권1호
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• pp.23-28
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• 1992

The effects of an antimetabolite, 6-aminonicotinamide (6-AU) on the levels of glucose, glycogen, catechoamines and mucleotides in mice brain were investigated. The level of glucose in the blood starts increasing from 3 h after administration of 6-AU while those in the brain tissue start increasing from 9 h after administration of 6-AN. The concentration of brain glvcogen remained unchanged at all time points except 11h. The level of epinephrine in the brain was found to reach maximum value at initial 3 h following 6-AU administration, after urhich it started dec$\ulcorner$easing si역서cantle. The Brvel of brain norepinephrine remained virtually unchanged before 24 h time point at which it starts decreasing significantly. ATP, CTP, UMP and UTP levels were significantly reduced but AMP and CMP levels urere not affected.