• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.107-112
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• 2005

Recently proposed stable teleoperation control scheme, base on time domain passivity, is modified to remove several conservatisms. During unconstrained motion and contacting with soft and deformable environments, the two-port time domain passivity approach [21] was excessively dissipating energy even though it was stable without any energy dissipation. The main reason of this conservatism is on the fact that the time domain passivity controller does not include the external energy dissipation elements at the slave manipulator. The measured interaction force between slave and environment allow the time domain passivity observer to include the amount of energy dissipation of the slave manipulator to the monitored energy. With the modified passivity observer, reference energy following idea [24] is applied to satisfy the passivity condition. The feasibility of the developed methods is proved with experiments. Improved performance is obtained in unconstrained motion and contacting with a soft environment.

• Korean Journal of Mathematics
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• v.20 no.4
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• pp.371-379
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• 2012

Let D be an integral domain, $\bar{D}$ be the integral closure of D, * be a star operation of finite character on D, $*_w$ be the so-called $*_w$-operation on D induced by *, X be an indeterminate over D, $N_*=\{f{\in}D[X]{\mid}c(f)^*=D\}$, and $Kr(D,*)=\{0\}{\cup}\{\frac{f}{g}{\mid}0{\neq}f,\;g{\in}D[X]$ and there is an $0{\neq}h{\in}D[X]$ such that $(c(f)c(h))^*{\subseteq}(c(g)c(h))^*$}. In this paper, we show that D is a *-quasi-Pr$\ddot{u}$fer domain if and only if $\bar{D}[X]_{N_*}=Kr(D,*_w)$. As a corollary, we recover Fontana-Jara-Santos's result that D is a Pr$\ddot{u}$fer *-multiplication domain if and only if $D[X]_{N_*} = Kr(D,*_w)$.

• Bulletin of the Korean Chemical Society
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• v.35 no.9
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• pp.2753-2757
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• 2014

INtegrase Interactor 1 protein (INI1/hSNF5) or BRG1-associated factor 47 (BAF47) is a SWI/SNF-related matrix associated actin dependent regulator of chromatin subfamily B member. DNA binding domain of INI1/hSNF5 is cloned into E.coli expression vectors, pET32a and purified as a monomer using size exclusion chromatography. NMR data show that $INI1^{DBD}$ has folded state with high population of ${\alpha}$-helices. By fluorescence-quenching experiments, binding affinities between $INI1^{DBD}$ and two double stranded DNA fragments were determined as $29.9{\pm}2.6{\mu}M$ (GAL4_1) and $258.7{\pm}5.8$ (GAL4_2) ${\mu}M$, respectively. Our data revealed that DNA binding domain of INI1/hSNF5 binds to transcriptional DNA sequences, and it could play an important role as a transcriptional regulator.

• The Korean Journal of Physiology and Pharmacology
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• v.20 no.4
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• pp.433-440
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• 2016

Inositol-1,4,5-triphosphate [$IP_3$] receptors binding protein released with $IP_3$ (IRBIT) was previously reported as an activator of NBCe1-B. Recent studies have characterized IRBIT homologue S-Adenosylhomocysteine hydrolase-like 2 (AHCYL2). AHCYL2 is highly homologous to IRBIT (88%) and heteromerizes with IRBIT. The two important domains in the N-terminus of AHCYL2 are a PEST domain and a coiled-coil domain which are highly comparable to those in IRBIT. Therefore, in this study, we tried to identify the role of those domains in mouse AHCYL2 (Ahcyl2), and we succeeded in identifying PEST domain of Ahcyl2 as a regulation region for NBCe1-B activity. Site directed mutagenesis and coimmunoprecipitation assay showed that NBCe1-B binds to the N-terminal Ahcyl2-PEST domain, and its binding is determined by the phosphorylation of 4 critical serine residues (Ser151, Ser154, Ser157, and Ser160) in Ahcyl2 PEST domain. Also we revealed that 4 critical serine residues in Ahcyl2 PEST domain are indispensable for the activation of NBCe1-B using measurement of intracellular pH experiment. Thus, these results suggested that the NBCe1-B is interacted with 4 critical serine residues in Ahcyl2 PEST domain, which play an important role in intracellular pH regulation through NBCe1-B.

• Bulletin of the Korean Chemical Society
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• v.30 no.5
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• pp.1039-1042
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• 2009

RNA polymerase II C-terminal domain phosphatase 1 containing ubiquitin like domain (UBLCP1) has been identified as a regulatory molecule of RNA polymerase II. UBLCP1 consists of ubiquitin like domain (UBL) and phosphatase domain homologous with UDP and CTD phosphatase. UBLCP1 was cloned into the E.coli expression vectors, pET32a and pGEX 4T-1 with TEV protease cleavage site and purified using both affinity and gel-filtration chromatography. Domains of UBLCP1 protein were successfully purified as 7 mg/500 mL (UBLCP1, 36.78 KDa), 32 mg/500 mL (UBL, 9 KDa) and 8 mg/500 mL (phosphatase domain, 25 KDa) yielded in LB medium, respectively. Isotope-labeled samples including triple-labeled ($^2H/^{15}N/^{13}C$) UBLCP1 were also prepared for hetero-nuclear NMR experiments. $^{15}N-^{1}H$ 2D-HSQC spectra of UBLCP1 suggest that both UBL and phosphatase domain are properly folded and structurally independent each other. These data will promise us further structural investigation of UBLCP1 by NMR spectroscopy and/or X-ray crystallography.

• Journal of the Korean Mathematical Society
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• v.61 no.4
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• pp.659-681
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• 2024

We propose V-cycle multigrid methods for vector field problems arising from the lowest order hexahedral Nédélec finite element. Since the conventional scalar smoothing techniques do not work well for the problems, a new type of smoothing method is necessary. We introduce new smoothers based on substructuring with nonoverlapping domain decomposition methods. We provide the convergence analysis and numerical experiments that support our theory.

• Journal of Broadcast Engineering
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• v.15 no.6
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• pp.853-867
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• 2010

Recently, thumbnail techniques are required to index a high-performance video at digital convergence-based multimedia service like IPTV and DMB. Therefore a thumbnail extraction method in H.264/AVC bitstreams has been proposed. However, thumbnail quality deterioration problem at converting the general equation of spatial domain to frequency domain which is generated by not considering about H.264/AVC transform and quantization processing and rounding-off operation in intra prediction. In this paper, we propose a new thumbnail extraction method in H.264/AVC bitstreams. The proposed scheme is based on H.264/AVC core-transform for a thumbnail extraction in frequency domain, and probability theory, intra rounding-off error compensation. Through the implementation and performance evaluation, the subjective quality difference between the output of our scheme and the output of reference decoder is negligible and better than the conventional method, and moreover PSNR gain by up to 8.66 dB.

• International Journal of Naval Architecture and Ocean Engineering
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• v.9 no.3
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• pp.266-281
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• 2017

Hydroelastic interactions of a deformable floating body with random waves are investigated in time domain. Both hydroelastic motion and structural dynamics are solved by expansion of elastic modes and Fourier transform for the random waves. A direct and efficient structural analysis in time domain is developed. In particular, an efficient way of obtaining distributive loads for the hydrodynamic integral terms including convolution integral by using Fubini theory is explained. After confirming correctness of respective loading components, calculations of full distributions of loads in random waves are expedited by reformulating all the body loading terms into distributed forms. The method is validated by extensive convergence tests and comparisons against the counterparts of the frequency-domain analysis. Characteristics of motion/deformation responses and stress resultants are investigated through a parametric study with varying bending rigidity and types of random waves. Relative contributions of componential loads are identified. The consequence of elastic-mode resonance is underscored.

• Journal of the Korean Magnetic Resonance Society
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• v.20 no.2
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• pp.56-60
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• 2016

Adenylate kinase (AK) enzyme which acts as the catalyst of reversible high energy phosphorylation reaction between ATP and AMP which associate with energetic metabolism and nucleic acid synthesis and signal transmission. This enzyme has three distinct domains: Core, AMP binding domain (AMPbd) and Lid domain (LID). The primary role of AMPbd and LID is associated with conformational changes due to flexibility of two domains. Three dimensional structure of human AK1 has not been confirmed and various mutation experiments have been done to determine the active sites. In this study, AK1R138A which is changed arginine[138] of LID domain with alanine[138] was made and conducted with NMR experiments, backbone dynamics analysis and mo-lecular docking dynamic simulation to find the cause of structural change and substrate binding site. Synthetic human muscle type adenylate kinase 1 (hAK1) and its mutant (AK1R138A) were re-combinded with E. coli and expressed in M9 cell. Expressed proteins were purified and finally gained at 0.520 mM hAK1 and 0.252 mM AK1R138A. Multinuclear multidimensional NMR experiments including HNCA, HN(CO)CA, were conducted for amino acid sequence analysis and signal assignments of $^1H-^{15}N$ HSQC spectrum. Our chemical shift perturbation data is shown LID domain residues and around alanine[138] and per-turbation value(0.22ppm) of valine[179] is consid-ered as inter-communication effect with LID domain and the structural change between hAK1 and AK1R138A.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.8
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• pp.617-622
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• 2000

In this paper proposed is an $H_{\ifty}$ based flow controller for the ATM networks. The round trip time-delay uncertainty is taken into account and robustness of the proposed controller is analyzed. Maximum allowable time-delay uncertainties are computed with different weightings on performance and robustness. And discussed is a time-domain implementation method of the proposed controller. Time domain simulation with realistic environment demonstrates that the performance of the proposed controller is much better than that of conventional one.