• 한국정밀공학회지
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• 제15권6호
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• pp.107-115
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• 1998

A path planning using potential field method is very useful for the real-time navigation of mobile robots. However, the method needs high modeling cost to calculate the potential field because of complex preprocessing, and mobile robots may get stuck into local minima. In this paper, An efficient path planning algorithm for multiple mobile robots, based on the potential field method, was proposed. In the algorithm. the concepts of subgoals and obstacle priority were introduced. The subgoals can be used to escape local minima, or to design and change the paths of mobile robots in the work space. In obstacle priority, all the objects (obstacles and mobile robots) in the work space have their own priorities, and the object having lower priority should avoid the objects having higher priority than it has. In this paper, first, potential based path planning method was introduced, next an efficient collision-avoidance algorithm for multiple mobile robots, moving in the obstacle environment, was proposed by using subgoals and obstacle priority. Finally, the developed algorithm was demonstrated graphically to show the usefulness of the algorithm.

• Journal of applied mathematics & informatics
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• 제18권1_2호
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• pp.171-182
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• 2005

An analysis of the non-homogeneous term involved in the free surface condition for second order wave diffraction on a pair of cylinders is presented. In the computations of the nonlinear loads on offshore structures, the most challenging task is the computation of the free surface integral. The main contribution to this integrand is due to the non-homogeneous term present in the free surface condition for second order scattered potential. In this paper, the free surface condition for the second order scattered potential is derived. Under the assumption of large spacing between the two cylinders, waves scattered by one cylinder may be replaced in the vicinity of the other cylinder by equivalent plane waves together with non-planner correction terms. Then solving a complex matrix equation, the first order scattered potential is derived and since the free surface term for second order scattered potential can be expressed in terms of the first order potentials, the free surface term can be obtained using the knowledge of first order potentials only.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.256-256
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• 2000

In this parer, we present a real-time path planning algorithm which is integrated the artificial potential field(APF) and simulated annealing(SA) methods for mobile robot. The APF method in path planning has gained popularity since 1990's. It doesn't need the modeling of the complex configuration space of robot, and is easy to apply the path planning with simple computation. However, there is a major problem with APF method. It is the formation of local minima that can trap the robot before reaching its goal. So, to provide local minima recovery, we apply the SA method. The effectiveness of the proposed algorithm is verified through simulation.

• 대한기계학회논문집A
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• 제27권9호
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• pp.1477-1485
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• 2003

The displacement vector field can be represented in terms of a scalar potential ${\phi}$ and a vector potential ${\phi}$. The scalar potential ${\phi}$ is related to dilatational waves and the vector potential ${\phi}$ is related to rotational waves. Using these two complex displacement potentials, the stress and displacement fields for steadily growing interface cracks in dissimilar materials are obtained. The energy release rate for steadily growing interface cracks in dissimilar materials are also obtained. And with photoelastic isochromatic patterns simulated by computer graphics, the stress intensity factors are discussed.

• Journal of the Optical Society of Korea
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• 제16권4호
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• pp.425-431
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• 2012

Utilizing the three-dimensional Snyder-Mitchell model with a PT-symmetric potential, we study the influence of PT symmetry on beam propagation in strongly nonlocal nonlinear media. The complex Coulomb potential is used as the PT-symmetric potential. A localized spatiotemporal accessible soliton solution of the model is obtained. Specific values of the modulation depth for different soliton parameters are discussed. Our results reveal that in these media the localized solitons can exist in various shapes, such as single-layer and multi-layer disk-shaped structures, as well as vortex-ring and necklace patterns.

• 문화기술의 융합
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• 제9권1호
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• pp.717-724
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• 2023

사플라워와 마더워트 등 에탄올복합추출물(SEC)을 lipopolysaccharide(LPS)로 유도된 마우스 대식세포주인 RAW264.7 세포와 마우스 폐포 대식세포주인 MH-S 세포에서 사플라워와 마더워트 등 에탄올복합추출물((SEC)의 항균과 항염증 활성 효과를 조사하였다. 그 결과 SEC(500 ㎍/mL)의 전처리 LPS 자극 세포에서 iNOS 단백질 및 염증성 사이토카인 mRNA 발현을 크게 억제하였다. 사플라워와 마더워트 등 에탄올복합추출물(SEC)에 의한 항염증활성 효과는 다음과 같이 관찰되었다. 사플라워와 마더워트 등 에탄올복합추출물(SEC)은 IκB-α 인산화의 억제를 통해 시토졸에서 핵으로의 NF-κB의 전좌를 억제하고 또한 LPS로 자극된 NF-κB 전사 활성을 억제하였다. 이러한 결과는 사플라워와 마더워트 등 에탄올복합추출물(SEC)이 항염증 작용을 발휘 하고 사플라워와 마더워트 등 에탄올복합추출물(SEC)의 잠재적인 치료 가치성 및 기본 메커니즘을 규명 할 수 있었다. 결론적으로 사플라워와 마더워트 등 에탄올복합추출물(GRP)이 다양한 항염증 활성성분 함유 및 천연 항염증제의 잠재적 공급원으로 활용 가능성이 있음을 시사 하였다.

• Journal of Pharmaceutical Investigation
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• 제39권5호
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• pp.339-343
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• 2009

Recently, co-delivery of drug and gene has been attempted for higher therapeutic effects of anticancer agents. In this study, cationic liposomes were prepared using 1,2-dioleoyl-3-trimethylammoniopropane (DOTAP) as a cationic lipid to investigate the effect of drug loading on the physicochemical characteristics of cationic liposomes/DNA complexes. The complex formation between cationic liposomes and negatively charged plasmid DNA was confirmed and the protection from DNase was observed. Particle size of complexes was reduced not by drug loading, but by the increased ratio of cationic lipid to plasmid DNA. Meanwhile, zeta potential of complex was increased by the addition of cationic liposomes to complexes and the effect of drug loading on the zeta potential was not much higher than on particle size. Gel retardation of complexes was indicated when the complexation weight ratios of cationic lipid to plasmid DNA were higher than 24:1 for drug free complexes and 20:1 for drug loaded ones, respectively. Agarose gel retardation showed the similar complexation between plasmid DNA and drug free liposomes or drug loaded liposomes. Both complexes protected plasmid DNA from DNase independent of complexation temperature. From the results, drug loading may affect not the complex formation of cationic liposomes and plasmid DNA, but the particle size of complex.

• Genomics & Informatics
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• 제14권2호
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• pp.53-61
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• 2016

Toxoplasma gondii is an intracellular Apicomplexan parasite and a causative agent of toxoplasmosis in human. It causes encephalitis, uveitis, chorioretinitis, and congenital infection. T. gondii invades the host cell by forming a moving junction (MJ) complex. This complex formation is initiated by intermolecular interactions between the two secretory parasitic proteins-namely, apical membrane antigen 1 (AMA1) and rhoptry neck protein 2 (RON2) and is critically essential for the host invasion process. By this study, we propose two potential leads, NSC95522 and NSC179676 that can efficiently target the AMA1 hydrophobic cleft, which is a hotspot for targeting MJ complex formation. The proposed leads are the result of an exhaustive conformational search-based virtual screen with multilevel precision scoring of the docking affinities. These two compounds surpassed all the precision levels of docking and also the stringent post docking and cumulative molecular dynamics evaluations. Moreover, the backbone flexibility of hotspot residues in the hydrophobic cleft, which has been previously reported to be essential for accommodative binding of RON2 to AMA1, was also highly perturbed by these compounds. Furthermore, binding free energy calculations of these two compounds also revealed a significant affinity to AMA1. Machine learning approaches also predicted these two compounds to possess more relevant activities. Hence, these two leads, NSC95522 and NSC179676, may prove to be potential inhibitors targeting AMA1-RON2 complex formation towards combating toxoplasmosis.

• 지구물리와물리탐사
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• 제26권1호
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• pp.1-7
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• 2023

이 논문에서는 타원 기둥에 대한 벡터 중력과 중력 변화율 텐서 반응식을 유도하였다. 임의의 3차원 이상체에 대한 벡터 중력은 이상체의 모양에 따른 3중 적분이 포함된 인력 포텐셜을 각 축 방향으로 미분하여 구한다. 축 대칭성을 가진 이상체에 의한 벡터 중력은 먼저 축방향으로 적분하여 2중 적분 형태로 축약한다. 켤레 복소수를 도입한 복소 그린 정리를 이용하면 2중 적분은 1차원 폐곡선 선적분 형태로 변환된다. 최종적으로 타원 기둥에 의한 벡터 중력은 타원 기둥 단면의 경계를 폐곡선의 매개변수로 설정하여 1차원 수치적분으로 유도된다. 같은 방식으로 타원 기둥에 의한 중력 변화율 텐서는 인력 퍼텐셜을 2차 미분하여 3중 적분으로 표현된 중력 변화율 텐서를 구한 후, 수직 축 방향으로 적분하여 2중 적분으로 축약한다. 벡터 중력에서 적용한 방법과 동일한 복소 평면에서의 그린 정리를 도입하여 타원 기둥에 의한 중력 변화율 텐서 반응식의 모든 성분을 유도한다.

• 한국통신학회논문지
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• 제30권9C호
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• pp.913-921
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• 2005

일반적인 bandpass sampling 방법인 real bandpass sampling 기법은 하향변환(downconversion)을 시행할 때 음의 주파수 대역의 RF 신호와의 에일리어싱(aliasing) 현상을 피해야 하므로 신중한 sampling 주파수 선택이 요구된다. 더욱이 다중신호(multiple signals)가 하향변환 될 경우에 이 sampling 방법은 더욱 많은 제약이 따르게 된다. 그러나 Hilbert 변환을 사용하는 complex bandpass sampling 방법은 음의 주파수 영역의 신호를 제거함으로써, real bandpass sampling 기법보다 유연하고 넓은 sampling 주파수 범위를 제공하며, 또한 더욱 낮은 sampling 주파수를 얻을 수 있는 장점이 있다. 본 논문에서는 이러한 complex bandpass sampling의 특징을 사용하여, 다중 신호를 하나의 통신 기기에서 동시에 하향 변환하는 수신기의 구조를 제시한다. 그리고 하나 또는 2개 신호의 하향변환에 관한 내용으로 제한하지 않고 N개의 신호로 확장하여 유효 sampling 주파수 영역 및 보호대역(guard-band)이 고려된 sampling 가능 최소 주파수에 관한 수식들을 일반화한다. 또한 모의실험을 통해 유도된 수식들을 증명한다.