• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.564-566
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• 1998

A robot manipulator is a nonlinear time varying MIMO system. Therefore, when a robot manipulator operates at high speeds, the performance of pursuing its trace becomes worse due to the increased nonlinearity of system. Several nonlinear control methods are introduced for solving this problem. But, these methods need a large amount of calculations, so it is necessary to use the controller equipped with a faster and more efficient processing ability. In this paper, we designed the Rhino XR-3 Robot Controller which controls five joints concurrently. To reduce the size of the controller and to control 6 dc-servo motors in real time, we use the TMS320c31, the high-speed digital signal processor.

• Bulletin of the Korean Chemical Society
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• v.31 no.2
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• pp.365-371
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• 2010

The multiconfiguration molecular mechanics (MCMM) algorithm was used to generate potential and vibrationally adiabatic energy surfaces for excited-state tautomerization in the 1:1 7-azaindole:$H_2O$ complex. Electronic structures and energies for reactant, product, transition state were computed at the CIS/6-31G(d,p) level of theory. The potential and vibrationally adiabatic energies along the reaction coordinate were generated step by step by using 16 high-level Shepard points, which were computed at the CIS/6-31G(d,p) level. This study shows that the MCMM method was applied successfully to make quite reasonable potential and adiabatic energy curves for the excited-state double proton transfer reaction. No stable intermediates are present in the potential energy curve along the reaction coordinate of the excited-state double proton transfer in the 1:1 7-azaindole:$H_2O$ complex, indicating that these two protons are transferred concertedly. The change in the bond distances along the reaction coordinate shows that two protons move very asynchronously to make an $H_3O^+$-like moiety at the transition state.

• The Journal of Korean Physical Therapy
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• v.31 no.6
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• pp.346-350
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• 2019

Purpose: The purpose of this study was to investigate the effects of calf tightness on gait, plantar pressure, and balance in adults. Methods: A total of 60 participants were divided into a normal group of 30 subjects with normal dorsiflexion angle (20-25 degrees) and an experimental group of 30 subjects with limited dorsiflexion angle (0-15 degrees) due to calf tightness. Gait ability and foot pressure of the subjects was measured with a treadmill, and the balance ability was measured by PROKIN system. Results: A significant difference in COP length, loading response, and single limb support was observed between groups. The COP length and single limb support ratio in the normal group was greater than in the experimental group, but the experimental group showed a higher ratio for loading response in the gait ratio. Conclusion: Our results indicated that calf tightness was negative effects on balance and gait ability, so assessment of the muscle tightness should be considered during exercise and treatment.

• Bulletin of the Korean Chemical Society
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• v.31 no.10
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• pp.2854-2860
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• 2010

Synthesis of a new series of pyrimidinyl-imidazo[2,1-b]thiazole derivatives is described. Their antiproliferative activity against A375 human melanoma cell line was tested and the effect of substituents on the pyrimidinyl ring side chain was investigated. The biological results indicated that most of the newly synthesized compounds showed moderate activity against A375, compared with Sorafenib. Among all of these derivatives, the cyclic sulfamide derivatives IIIa, IIIb, and IIIe showed the most potent antiproliferative activity against A375 human melanoma cell line. The IC50 values of compounds IIIa,b were in nanomolar scale. In addition, compound IIIe ($IC_{50}=1.9\;{\mu}M$) also demonstrated more potent antiproliferative activity compared with Sorafenib ($IC_{50}=5.6\;{\mu}M$).

• Food Science of Animal Resources
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• v.29 no.2
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• pp.151-156
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• 2009

The prevalence of food allergies was investigated using questionnaires with 300 subjects whose ages ranged from 19 to 24 years old and the causative food allergens was analyzed using immunological analysis with serum of the subjects who answered that they have/had food allergy. The questionnaire showed that 11.33% of subjects have/had experience of food hypersensitivity, where the main causative foods were fish, beef, chicken, milk, egg, and pork in order. The meat allergy shared 4.65% (2.33% for beef, 1.66% for chicken, 0.66% for pork) in the prevalence of food allergies. The causative beef allergens were investigated with the serum of 6 subjects who have had beef allergy. Western blots were carried out with the serum of P6 subject who showed a positive reaction to beef extract in ELISA. The two specific bands were detected in beef extract on the PVDF membrane, and no band was detected in extracts of pork and chicken. A calculation of the distance of migration by SDS-PAGE enabled the molecular masses of the two bands to be estimated as 67kDa and 31kDa, respectively. The 67kDa was revealed as bovine serum albumin (BSA) which is one of the important beef allergens as reported previously though an analysis of the N-terminal amino acid sequence. However we could not identify the sequence of 31kDa, probably because they comprised several subunits and were modified proteins such as glycoprotein that were unlikely to be easily degraded by the Edman method. The 31kDa band were dyed with the PAS (periodic acid-schiff reagent), suggesting that it might be a glycoprotein. These results suggested that the 31kDa might be considered as a novel potential beef allergen which is not reported previously, although further studies are needed.

• Journal of Korean Society on Water Environment
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• v.31 no.6
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• pp.625-631
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• 2015

In this study, low cost bio-flocculants, chitosan, cationic starch and Mg-sericite, were used as a flocculant to harvest freshwater microalgae, Chlorella vulgaris. Chitosan, cationic starch and Mg-sericite separated successfully >98% of C. vulgaris at following optimal parameters: 90 mg/L chitosan at pH 6-7, 70 mg/L cationic starch at pH 9-10 and 50 mg/L Mg-sericite at pH 4-5. A relatively high correlation coefficient (R²) of 0.9993 for chitosan, 0.9971 for catonic starch and 0.9924 for Mg-sericite was obtained. The investigated flocculants amount increased linearly with increasing the microalgae amount. The biopolymer, Mg-sericite, was more effective than that of other investigated flocculants. These results indicated that a bio-flocculants, chitosan, cationic starch and Mg-sericite, could prove to be an effective flocculant for economical production of microalgae biomass. In addition, Mg-sericite was more effective comparing to the other investigated flocculants.

• Tuberculosis and Respiratory Diseases
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• v.44 no.3
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• pp.583-591
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• 1997

The functional derangement of skeletal muscles which may be attributed to chronic hypoxia has been accepted as a possible mechanism of exercise impairment in patients with chronic obstructive pulmonary disease (COPD). The metabolic changes in skeletal muscle in patients with COPD are characterized by impaired oxidative phosphorylation, early activation of anaerobic glycolysis and excessive lactate and hydrogen ion production with exercise. But the cause of exercise limitation in patients with chronic lung disease without hypoxia has not been known. In order to evaluate the change in the skeletal muscle metabolism as a possible cause of the exercise limitation in chronic lung disease patients without hypoxia, we compared the muscular metabolic data of seven male patients which had been derived from noninvasive $^{31}P$ magnetic resonance spectroscopy(MRS) with those of five age-matched normal male control persons. $^{31}P$ MRS was studied during the sustained isometric contraction of the dominant forearm flexor muscles up to the exhaustion state and the recovery period. Maximal voluntary contraction(MVC) force of the muscle was measured before the isometric exercise, and the 30% of MVC force was constantly loaded to each patient during the isometric exercise. There were no differences of intracellular pH (pHi) and inorganic phosphate/phosphocreatine(Pi/PCr) at baseline, exhaustion state and recovery period between two groups. But pHi during the exercise was lower in patients group than the control group (p < 0.05). Pi/PCr during the exercise did not show significant difference between two groups. These results suggest that the exercise limitation in chronic lung disease patients without hypoxia also could be attributed to the abnormalities in the skeletal muscle metabolism.

• Bulletin of the Korean Chemical Society
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• v.31 no.5
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• pp.1283-1288
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• 2010

A novel polyaminopolycarboxylate ligand with many coordination sites, N,N,$N^1,N^1,N^2,N^2$-[( 2,4,6-tri(aminomethyl)-pyridine]hexakis(acetic acid) (TPHA), was designed and synthesized and its lanthanide complexes $Na_6Tb_2$(TPHA)$Cl_6{\cdot}14H_2O$, $Na_6Eu_2$(TPHA)$Cl_6{\cdot}8H_2O$, $Na_6Gd_2$(TPHA)$Cl_6{\cdot}11H_2O$ and $Na_6Sm_2$(TPHA)$Cl_6{\cdot}9H_2O$ were successfully prepared. The ligand and the complexes were characterized by elemental analysis, IR, mass, NMR and TG-DTA. The TG-DTA studies indicated that the complexes had a high thermal stability, whose initial decomposition temperature was over $270^{\circ}C$. The luminescence properties of the complexes in solid state were investigated and the results suggested that $Tb^{3+}$ and $Eu^{3+}$ ions could be sensitized efficiently by the ligand, especially the Tb(III) complex displayed a very strong luminescence intensity (> 10000) and only displayed characteristic metal-centered luminescence. Also, the correlative comparison between the structure of ligand and luminescence properties showed how the number of the coordination atoms of ligand can be a prominent factor in the effectiveness of ligand-to-metal energy transfer.

• Korean Journal of Ichthyology
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• v.17 no.2
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• pp.123-130
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• 2005

The ichthyofauna of Lake Cheongpyeong was investigated from April 2003 to November 2004. During the surveyed period 31 species belonging to nine families were collected. Dominant species in numbers was Hemibarbus labeo (relative abundance: 29.9%), subdominant was Acanthorhodeus gracilis (22.8%). Erythroculter erythropterus (14.6%) and Cyprinus auratus (6.3%) were also numerous. There were nine Korean endemic species belonging to three families, including Acheilgnathus yamatsutae. We need close observation on population fluctuations of Micropterus salmoides, an exotic carnivorous fish from North America, and Hemibarbus labeo and Erythroculter erythropterus, the dominant species by biomass in Lake Cheongpyeong.

• The korean journal of orthodontics
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• v.17 no.2
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• pp.299-310
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• 1987

The purpose of this study was to examine soft tissue and hardtissue changes following orthognathic surgery in patients with mandibular prognathism lateral cephalometric films were obtained immediate before surgery, 48 hours following surgery, and 6 months following surgery. 18 patients were selected (10 men, and 6 women) for this study, who had received orthognathic surgery. Statistical analysis for the each time interval differences were performed with the SPSS package The results were as follows, *In the cases of mandibular sagittal split osteotomy 1 LI point was moved backward (average 7.55mm) 48 hours following surgery. 6 months later, it was returned forward (average 1.1mm) Relapse rate was 14.6% 2 Pog was moved backward (average 8.3mm) 48 hours following surgery The ratio of horizontal change of soft tissue to hard tissue at pog is 0.95 1 *In the cases of maxillary Le-Fort I osteotomy & mandibular sagittal split osteotomy. 3. A point was moved forward (average 3.31mm) 48 hours following surgery. 6 months later, it was returned backward (average 0.31) Relapse rate was 9 4% 4 6 months later, the ratio of facial convexity angle change of soft tissue to hard tissue is 0.63 1.