• Bulletin of the Korean Chemical Society
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• v.34 no.11
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• pp.3429-3443
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• 2013

Chemokine receptor (CCR2) is a G protein-coupled receptor that contains seven transmembrane helices. Recent pharmaceutical research has focused on the antagonism of CCR2 and candidate drugs are currently undergoing clinical studies for the treatment of diseases like arthritis, multiple sclerosis, and type 2 diabetes. In this study, we analyzed the time dependent behavior of CCR2 docked with a potent 4-azetidinyl-1-aryl-cyclohexane (4AAC) derivative using molecular dynamics simulations (MDS) for 20 nanoseconds (ns). Homology modeling of CCR2 was performed and the 4AAC derivative was docked into this binding site. The docked model of selected conformations was then utilized to study the dynamic behavior of the 4AAC enzyme complexes inside lipid membrane. MDS of CCR2-16b of 4AAC complexes allowed us to refine the system since binding of an inhibitor to a receptor is a dynamic process and identify stable structures and better binding modes. Structure activity relationships (SAR) for 4AAC derivatives were investigated and reasons for the activities were determined. Probable binding pose for some CCR2 antagonists were determined from the perspectives of binding site. Initial modeling showed that Tyr49, Trp98, Ser101, Glu291, and additional residues are crucial for 4AAC binding, but MDS analysis showed that Ser101 may not be vital. 4AAC moved away from Ser101 and the hydrogen bonding between 4AAC and Ser101 vanished. The results of this study provide useful information regarding the structure-based drug design of CCR2 antagonists and additionally suggest key residues for further study by mutagenesis.

• Journal of the Korea Society for Simulation
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• v.20 no.1
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• pp.51-59
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• 2011

This paper is concerned with locomotion of dog-like quadruped robots that can adapt to various terrains, mainly dealing with implementation methods and characteristics of static and dynamic gaits. To this end, a 12-DOF robot is built in house, motional trajectories of its body and feet are generated mimicking biological life, and the corresponding leg joint angles are analytically obtained by inverse kinematics. Such joint angle data are then applied to the robot's ADAMS model for computer simulations so that the planned walk and trot gaits are both confirmed dynamically stable. However, contrary to the simulation results, previous trot patterns showed unstable behavior during experiments. This problem led us to analyze the reason, and in the course we discovered the importance of maximally utilizing the concept of WSM rather than ZMP and therefore reducing the gait period to secure the stability of dynamic gaits such as trot.

• Journal of the Institute of Convergence Signal Processing
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• v.13 no.2
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• pp.113-118
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• 2012

Most of the existing multiped walking robots are biomimetic, i.e. they are designed to have the shapes of living things such as animals or insects. Even though those robots are familiar to us, they have some drawbacks in the view point of walking efficiency such as stability and walking speed. In this paper, we introduce a quadruped walking robot that can perform fast and stable walking by virtue of its distinctive leg positions. The proposed quadruped robot has a foreleg, a hindleg, a left leg, and a right leg. In the conventional robots, dynamic walking is needed to increase walking speed. Dynamic walking is difficult to be accomplished and is apt to be unstable. The proposed robot can move its legs in a manner that its center of gravity is always laid in the supporting polygon, so it can perform fast and stable walking without dynamic walking.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.56-61
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• 2002

In this paper we describe an approach to coordinating the motion of a human with a mobile robot moving in a populated, continuously changing. natural environment. Our test application is a wheelchair accompanying a person through the concourse of a railway station moving side by side with the person. Our approach is based on a method for motion planning amongst moving obstacles known as Velocity Obstacle approach. We extend this method by a method for tracking a virtual target which allows us to vary the robot's heading and velocity with the locomotion of the accompanied person and the state of the surrounding environment.

• Journal of Ship and Ocean Technology
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• v.11 no.2
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• pp.1-9
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• 2007

This paper describes the design and development of a hovering AUV constructed at Cheju National University and analyses the dynamic performance of the vehicle using simulation programs. The main purpose of this AUV is to carry out fundamental tests in its station keeping, attitude control, and desired position tracking. Its configuration is similar to the general ROV appearance for underwater works and its dimensions are 0.75m*0.5m*0.5m. It has 4 thrusters of 450 watts for longitudinal/lateral/vertical propulsion and is equipped with a pressure sensor for measuring water depth and a magnetic compass for measuring heading angle. The navigation of the vehicle is controlled by an on-board Pentium III-class computer, which runs with the help of the Windows XP operating system. These give us an appropriate environment for developing various algorithms needed for developing and advancing Hovering AUV.

• Proceedings of the KSME Conference
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• 2007.05b
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• pp.3015-3020
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• 2007

An experimental study of the dynamic characteristics of the free rising oblate spherical bubble is investigated. As noted by Saffman, the characteristics of the spiral motion are defined with parameters of the spiral frequency, spiral radius, and rising velocity. High speed camera recorded every detail information of free rising bubble. The spiral number, the bubble rise velocity, and the angular velocities were measured for the bubble size between 1.0mm to 20.0mm in diameter. In order to make clear trajectory, we employed the Fast Fourier Transformation for the normal digital camera data to synchronize with the high speed camera data. It was found that the spiral number suggested here was monotonically decreased as the bubble size increases. The present observation, however tells us that previous Saffman's formulation shows a good agreement with the trend, but over estimated spiral number. Therefore, it is recommended that Saffman's theoretical study is needed to be improved.

• Korean Journal of Computational Design and Engineering
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• v.20 no.2
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• pp.93-103
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• 2015

In this study, we organize and explain various ways to construct 3D models in the 2D plane using Geogebra, mathematical education software that enables us to visualize dynamically the interaction between algebra and geometry. In these ways, we construct three unit vectors for 3 dimensions at a point on the Cartesian coordinates, on the basis of which we can build up the 3D models by putting together basic mathematical objects like points, lines or planes. We can apply the ways of constructing the 3 dimensions on the Cartesian coordinates to modeling of various structures in the real world, and have chances to translate, rotate, zoom, and even animate the structures by means of slider, one of the very important functions in Geogebra features. This study suggests that the visualizing and dynamic features of Geogebra help for sure to make understood and maximize learning effectiveness on mechanical modeling or the 3D CAD.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1110-1115
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• 2004

Water covers two-thirds of the earth and has a great influence on the future existence of all human being. Thailand has extensive coastline and near shore water that contain vast biological and mineralogical resources. The rivers and canals can be found around the country especially in the Bangkok, which once called the Venice of the East. Autonomous underwater robot (AUR) will be soon a tool to help us better understand water resources and other environmental issues. This paper presents the design and basic control of a six-degree of freedom AUR "Chalawan", which was constructed to be used as a testbed for shallow. It is a simple low cost open-frame design, which can be modified easily to supports various research areas in the underwater environment. It was tested with a conventional proportional-integral-derivative (PID) controller. After fine-tuning of the controller gains, the results showed the controller's good performances. In the future, the dynamic model of the robot will be analyzed and identified. The advanced control algorithm will be implemented based on the obtained model.

• Coupled systems mechanics
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• v.5 no.3
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• pp.255-267
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• 2016

To investigate the surface effects on vibration of embedded circular curved nanosize beams, nonlocal elasticity model is used in combination with surface properties including surface elasticity, surface tension and surface density for modeling the nano scale effect. The governing equations are determined via the energy method. Analytically Navier method is utilized to solve the governing equations for simply supported at both ends. Solving these equations enables us to estimate the natural frequency for circular curved nanobeam including Winkler and Pasternak elastic foundations. The results determined are verified by comparing the results by available ones in literature. The effects of various parameters such as nonlocal parameter, surface properties, Winkler and Pasternak elastic foundations and opening angle of circular curved nanobeam on the natural frequency are successfully studied. The results reveal that the natural frequency of circular curved nanobeam is significantly influenced by these effects.

• The Bulletin of The Korean Astronomical Society
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• v.38 no.2
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• pp.92.2-92.2
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• 2013

We revisit the 1.3-year (yr) signals observed on the Sun, in the interplanetary space, and in the Earth's magnetosphere to study the coupling among signals from the three regions for about forty years (1970--2007) covering three solar cycles 21, 22, and 23. For this, we make dynamic spectra of datasets including three different regions. From this, we estimate the peak frequency around 1.3 yr for each region and the corresponding band power. We found that coherent power only appears during 1987-1995 and the coherent behavior is found only in the interplanetary space and Earth, not in the Sun. Although the solar surface magnetic field shows significant power around 1.3 yr, their peak frequencies are statistically different from those of the outer regions, which make us to dismiss the existence of coherence among the three regions. But it is notable that the peaks in band power corresponding to the 1.3-yr period are clearly simultaneous in the interplanetary space and Earth.