• Proceedings of the KIEE Conference
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• 2000.11d
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• pp.694-696
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• 2000

In this paper, the Direct Learning Control is applied to robot's trajectory tracking control to solve the problem that lies in the existing Iterative Learning Control(ILC) and the tracking Performance is analyzed and the better approach is searched using computer simulation and experiments. It is assumed that the Direct Learning Control(DLC) is saved onto memory basically after obtaining control input Profiles for several Periodic output trajectories using the ILC. In case the new output trajectory has special relations with the previous output trajectories, there is an advantage that the desired control input profile can be obtained without iterative executions only using the DLC. The robot's tracking control system is comprised of DSP chip. A/D converter, D/A converter and high-speed pulse counter included in the control board and the performance is examined by carrying out the tracking control for the given output trajectory.

• Biomedical Science Letters
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• v.15 no.4
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• pp.355-362
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• 2009

I evaluated the protective effect of N-methyl-D-aspartate (NMDA)/glycine receptor antagonist, 7-chlorokinurenic acid (CKA) on cultured mouse astrocytes damaged by ischemia-like condition (ILC). The protective effect of CKA was assessed by cell viability, lactate dehydrogenase (LDH) activity, superoxide dismutase (SOD)-like activity and lipid peroxidation. To examine the effect of CKA on the cell apoptosis, the expression and the activity of caspase 3 were assessed by Western blotting. CKA increased the cell viability decreased by ILC. CKA also decreased the LDH activity and antioxidative effects such as SOD-like activity and inhibitory activity of lipid peroxidation. In addition, CKA suppressed the expression of caspase 3 associated with apoptosis, and increased the cell viability by the decrease of caspase 3 activity as like the caspase 3 inhibitor, Av-DVED-MED. From these results, these results suggest that ILS induces cell cytotoxicity in cultured astrocytes and CKA, NMDA/glycine receptor antagonist, is effective on the prevention of the cytotoxicity due to ILS by the antioxidative effect and the inhibition of apoptosis.

• Journal of Advanced Marine Engineering and Technology
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• v.36 no.1
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• pp.133-140
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• 2012

In this study, a reliable control scheme with PID combined controller will be considered. The combined controller in this study is PID algorithm with parameters tuned by using ILC (iterative learning control) approach. The controller was applied to the vibration isolator using an induction motor which works as an actuator. This isolator is developed to eliminate the influence of vibration from rotating machineries on the small ship. The NI cRIO real time controller with FPGA is loaded to get or generate control signals. Crank mechanism which converts rotating energy into translational force is adopted and the relation between control force and torque generated from actuator is also analyzed. A Labview program is composed for controlling practice. Experimental results will be described to show the effectiveness of the proposed control schemes.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.3
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• pp.185-190
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• 2009

A scheme of expert system based on iterative learning control is proposed. Iterative learning control can obtain control experience from the historical data to build the knowledge base of expert system. Considering some uncertain factors, a flexible measure is adopted in iterative learning control (ILC). Simulation proves the feasibility and effect of the air conditioning control expert system based on flexible iterative learning control (F-ILC). Finally, a feedback compensation unit is incorporated against irregular heavy disturbance.

• The Journal of Korea Robotics Society
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• v.16 no.1
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• pp.35-40
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• 2021

As the robot industry develops, industrial automation uses industrial robots in many parts of the manufacturing industry. However, rigidity-based conventional robots have a disadvantage in that they are challenging to use in environments where they grab fragile objects or interact with people because of their high rigidity. Therefore, researches on soft robot have been actively conducted. The soft robot can hold or manipulate fragile objects by using its compliance and has high safety even in an atypical environment with human interaction. However, these advantages are difficult to use in dynamic situations and control by the material's nonlinear behavior. However, for the soft robot to be used in the industry, control is essential. Therefore, in this paper, real-time PD control is applied, and the behavior of the soft actuator is analyzed by providing various waveforms as inputs. Also, Iterative learning control (ILC) is applied to reduce errors and select an ILC type suitable for soft actuators.

• Proceedings of the Korean Aquaculture Society Conference
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• 2004.05a
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• pp.393-394
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• 2004

• Proceedings of the Korean Vacuum Society Conference
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• 2006.02a
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• pp.41-41
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• 2006

• Investigative Magnetic Resonance Imaging
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• v.19 no.3
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• pp.137-145
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• 2015

Purpose: To investigate correlations of estrogen receptor (ER), progesterone receptor (PR), and human epidermal growth factor receptor type 2 (HER2) statuses with magnetic resonance imaging (MRI) features and clinicohistological characteristics in patients with invasive lobular carcinoma (ILC). Materials and Methods: Data from 64 histologically confirmed ILCs were analyzed retrospectively. Preoperative breast MRI was reviewed for morphology and dynamic contrast-enhanced kinetics of the tumor. Pathologic reports were reviewed for ER, PR, and HER2 positivity, tumor size, lymph node metastasis, and the number of metastatic lymph nodes. Furthermore, there was an investigation of the MRI features and clinicohistologic characteristics, according to the ER, PR, and HER2 statuses. Results: A significant difference in MRI features and clinicohistological tumor characteristics were observed only in relation to PR status. Of the 64 ILCs, 10 (15.6%) were PR negative. PR negative cancers, compared with PR positive cancers, were more likely to present as non-mass enhancement (P = 0.027); have a significantly larger mean tumor size ($5.00{\pm}1.05cm$ vs. $2.57{\pm}0.21cm$, P = 0.021); and have significantly more metastatic lymph nodes (P = 0.010). Conclusion: PR negative ILC presented more frequently as non-mass enhancement on MRI, with larger tumors and increased numbers of metastatic lymph nodes. Therefore, the PR status plays an important role in determining MRI features and clinicohistological characteristics of ILC.

• Proceedings of the Korean Journal of Food and Nutrition Conference
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• 2000.05a
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• pp.9-11
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• 2000

국민의 영양상태가 크게 향상되어왔고 일부에서는 영양과잉과 운동부족으로 인한 비만에 대한 우려가 고조되고 있지만 최근에도 유아나 성장기 어린이들의 철분부족상태에 대한 문제점이 제기되고 있다. 외국에서는 철분 필요량이 높은 성장기 어린이나 유아들에게 영양학적 품질을 개선한 철분강화제품을 공급하기 위하여 이에 대한 연구가 오래 전부터 진행되어왔으나 여러 실험자에 의하여 행해진 실험조건, 사용된 철분염의 종류가 달라서 정확한 비교평가를 하기에는 미흡하다고 사료된다. 여러 가지 식품에서 특히 우유는 영양학적으로 완전식품이라고 하지만 철분은 거의 함유하고 있지 않아서 효과적으로 철분을 강화할 수 있는 기술은 국민영양개선 효과면에서 매우 유용하다고 사료된다. 본 연구에서는 식품첨가물로서 사용되고 있는 철분염 11종을 우유에 100 ppm수준으로 첨가하고 4$^{\circ}C$에서 저장하면서 pH, 지방산패도, 색도변화를 평가하여 우유에 사용하기 적합한 철분염을 1차적으로 선정하였다. 품질평가 결과를 종합하여 분석할 때 ferric citrate, ferric ammonium citrate, ferrous lactate가 철분강화우유 제조에 적합한 것으로 평가하였다. 또한 지금까지 철분강화식품에 일반적으로 자주 사용하고 있는 ferrous sulfate는 우유에 적합하지 않은 것으로 나타났으나 비교치로 사용하기 위하여 다음 실험에 사용하였다. 이상에서 screening된 철분염을 첨가한 우유를 HTST, LTLT으로 각각 살균하고 저장하면서 품질을 평가한 결과 HTST법이 LTLT법보다 PH, 지방산패도, 색도변화에서 나쁜 것으로 평가되었고, 철분염 종류에 따른 차이는 LTLT, HTST법에서 ferrous lactate가 우수한 것으로 나타났다. 본 연구에서 사용된 철분염 가운데에서는 ferrous lactate, ferric citrate가 유제품에 사용하기에 적합한 것으로 나타났다. 생이용성을 평가하기 위하여 우유에서 low molecular weight components(ILC)를 분리하고 철분과 복합체를 형성시킨 다음, 철분 결핍된 쥐의 소장에서 loop을 형성시켜 ILC-철분 복합체를 injection하여 철분 흡수도를 조사하였다. Ferrous lactate 100ppm에서 약 25.6%흡수되었고 ferric citrate 100ppm은 24.7%, ferrous sulfate는 19.7%흡수되었다. ILC를 첨가하지 않은 100ppm 철분염 용액은 ferrous sulfate를 제외하고는 흡수도가 감소되었다. 철분 결핍된 쥐에게 gavage 방법에 의하여 철분강화우유를 투여하였을 때 철분 25ppm 시료에서는 ferrous sulfate가 12.5%로 가장 높았고 ferrous lactate는 8.1%, ferric citrate는 6.5% 흡수되었다. 철분 100ppm수준에서는 흡수율이 낮아져 ferrous sulfate는 25ppm 시료보다 절반이하 수준이었다. Ferric citrate는 차이가 거의 없었으며 ferrous lactate는 70%수준이었다. 이상의 결과에서 철분강화우유에 사용하기 적합한 철분염은 ferrous lactate, ferric citrate였는데 특히 ferrous lactate는 제품의 이화학적 품질, 생이용성 측면 모두에서 가장 좋은 것으로 나타났다.

• Journal of Animal Reproduction and Biotechnology
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• v.38 no.3
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• pp.89-98
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• 2023

Background: The regulation of maternal immunity is critical for the establishment and maintenance of successful pregnancy. Among many cell types regulating the immune system, innate lymphoid cells (ILCs) are known to play an important role in innate immunity. Although some reports show that ILCs are present at the maternalconceptus interface in humans and mice, the expression and function of ILCs in the endometrium have not been studied in pigs. Methods: Thus, we determined the expression, localization, and regulation of ILC markers, CD127 (a common marker for ILCs), BCL11B (a ILC2 marker), and RORC (a ILC3 marker) at the maternal-conceptus interface in pigs. Results: The expression of BCL11B and RORC, but not CD127, in the endometrium changed during pregnancy in a stage-specific manner and the expression of CD127, BCL11B, and RORC was greatest on Day 15 during pregnancy. CD127, BCL11B, and RORC were also expressed in conceptus tissues during early pregnancy and in chorioallantoic tissues during the later stage of pregnancy. BCL11B and RORC proteins were localized to specific cells in endometrial stroma. The expression of CD127 and BCL11B, but not RORC, was increased by the increasing doses of interferon-γ (IFNG) in endometrial explants. Conclusions: These results suggest that ILCs present at the maternal-conceptus interface may play a role in the establishment and maintenance of pregnancy by regulating the innate immunity in pigs.