• BMB Reports
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• v.31 no.3
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• pp.264-268
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• 1998

Dopamine (DA) acts on swimming motor neurons (SMNs) of Polyorchis penicillatus as an inhibitory neurotransmitter by hyperpolarizing their membrane potentials, which results from the activation of voltagesensitive potassium channels mediated through a $D_2-type$ receptor. In addition, DA, and not the hyperpolarized membrane potential, directly decreased the input resistance of SMNs by ca. 50% from 1.42 to 0.68 $G{\Omega}$. It strongly indicates that DA can shunt other excitatory synaptic signals onto SMNs where DA usually elicited much greater responses in their neurites than soma. All these evidences suggest that DA may operate in this primitive nervous system in dual modes as an inhibitory neurotransmitter and neuromodulator as well.

• ETRI Journal
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• v.37 no.3
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• pp.617-625
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• 2015

In this paper, a steering control system for the path tracking of autonomous vehicles is described. The steering control system consists of a path tracker and primitive driver. The path tracker generates the desired steering angle by using the look-ahead distance, vehicle heading, and a lateral offset. A method for applying an autonomous vehicle to path tracking is an advanced pure pursuit method that can reduce cutting corners, which is a weakness of the pure pursuit method. The steering controller controls the steering actuator to follow the desired steering angle. A servo motor is installed to control the steering handle, and it can transmit the steering force using a belt and pulley. We designed a steering controller that is applied to a proportional integral differential controller. However, because of a dead band, the path tracking performance and stability of autonomous vehicles are reduced. To overcome the dead band, a dead band compensator was developed. As a result of the compensator, the path tracking performance and stability are improved.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.1320-1321
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• 2015

무인항공기(Unmanned Aerial Vehicle, UAV)를 활용하여 넓은 범위를 감시하기 위해서 조종자가 반복적으로 같은 경로를 따라서 UAV를 비행시키는 것은 관리 및 운영에 필요한 비용과 시간 문제가 발생한다. UAV로 넓은 지역을 감시하기 위해서는 UAV의 자율 비행 연구가 필요하다. 전통적인 접근 방법은 GPS를 기반으로 이동할 위치를 연속적으로 설정해서 비행 경로를 설정한다. GPS 기반의 경로 설정은 비행 경로에 장애물이 없을 때 적합하다. 장애물을 고려한 비행을 위해서는 모터프리미티브 기반의 비행 기법이 필요하다. 이 논문에서는 UAV를 자율 비행시키기 위한 모터프리미티브의 구조를 제안한다. UAV의 비행 경로를 설정할 때 비행할 위치를 직접 설정하지 않고 감시할 위치를 설정해서 모터프리미티브를 정의하는 기법을 소개한다. 이와 같은 방법은 UAV가 감시할 위치가 사전에 정의될 때 조종사가 UAV의 경로를 쉽게 설정할 수 있다.

• Proceedings of the Korea Information Processing Society Conference
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• 2012.11a
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• pp.400-402
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• 2012

서비스 로봇이 인간과의 상호작용을 하기 위해서는 상호작용에 필요한 동작들을 학습할 수 있는 방법이 필요하다. 본 연구에서는 서비스 로봇에게 동작 학습을 시키기 위한 모방학습 프레임 워크의 구축에 관한 연구를 진행한다. 모방학습에는 로봇이 행동을 수행하기 위한 모터 프리미티브가 필요하므로 본 연구에서는 선행자가 로봇을 직접 움직여 생성한 모터 프리미티브를 데이터 파일로 저장 하여 로봇에게 전송하면 로봇이 스스로 모터 프리미티브를 수행하도록 하는 모터 프리미티브 생성 시스템을 설계한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2013.05a
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• pp.236-239
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• 2013

사람과 휴모노이드 로봇 간의 상호작용에 대한 연구는 로봇 연구의 핵심이다. 본 논문에서는 휴모노이드 로봇인 나오 로봇을 통해 서비스 로봇과 사람 간의 상호작용 방법을 연구한다. 특히 로봇이 사람에게 서비스를 제공함으로써 발생하는 상호작용에 초점을 둔다. 로봇이 서비스를 제공하기 위해서는 모터 프리미티브와 작업을 사전에 정의하는 것이 필요하다. 본 논문에서는 작업을 생성하기 위하여 필요한 모터 프리미티브 데이터를 생성하는 시스템을 제안한다. 본 연구에서 설계한 시스템은 모터 프리미티브를 생성하는 단계까지이며, 향후 연구에서는 작업을 생성하는 하기 위한 기반 시스템으로 활용될 수 있다.

• International Journal of Advanced Culture Technology
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• v.7 no.1
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• pp.231-236
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• 2019

Background/Objectives: This paper proposes a dual mode feedback-controlled cycling system for children with spastic cerebral palsy to rehabilitate upper extremities. Repetitive upper limb exercise in this therapy aims to both reduce and analyze the abnormal torque patterns of arm movements in three- dimensional space. Methods/Statistical analysis: We designed an exercycle robot which consists of a BLDC motor, a torque sensor, a bevel gear and bearings. Mechanical structures are customized for children of age between 7~13 years old and induces reaching and pulling task in a symmetric circulation. The shafts and external frames were designed and printed using 3D printer. While the child performs active/passive exercise, angular position, angular velocity, and relative torque of the pedal shaft are measured and displayed in real time. Findings: Experiment was designed to observe the features of a cerebral palsy child's exercise. Two children with bilateral spastic cerebral palsy participated in the experiment and conducted an active exercise at normal speed for 3 sets, 15 seconds for each. As the pedal reached 90 degrees and 270 degrees, the subject showed minimum torque, in which the child showed difficulty in the pulling task of the cycle. The passive exercise assisted the child to maintain a relatively constant torque while visually observing the movement patterns. Using two types of exercise enabled the child to overcome the abnormal torque measured in the active data by performing the passive exercise. Thus, this system has advantage not only in allowing the child to perform the difficult task, which may contribute in improving the muscle strength and endurance and reducing the spasticity but also provide customizable system according to the child's motion characteristic. Improvements/Applications: Further study is needed to observe how passive exercise influences the movement characteristics of an active motion and how customized experiment settings can optimize the effect of pediatric rehabilitation for spastic cerebral palsy.

• Korean Journal of Biological Psychiatry
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• v.23 no.4
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• pp.179-184
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• 2016

Objectives This study was conducted to investigate the possibility of neurological soft signs as an endophenotype for schizophrenia by examining neurological soft signs in patients, their unaffected siblings and normal comparison subjects. Methods The study sample consisted of 32 patients, 25 of their unaffected siblings and 30 normal comparison subjects. Neurological soft signs were evaluated using the Cambridge Neurological Inventory Part 2. soft sign assessment. Results The patients were significantly more impaired than normal comparison subjects (p = 0.047) on primitive reflex. The patients were significantly more impaired than siblings (p = 0.004) and normal comparison subjects (p = 0.021) on motor coordination. The siblings performed better on sensory integration than the patients (p = 0.020) and normal comparison subjects (p = 0.036). Conclusions This study suggests that neurological soft signs might be a potential biomarker for schizophrenia, but might not be an endophenotype for schizophrenia.

• Journal of KIISE:Computer Systems and Theory
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• v.32 no.11_12
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• pp.682-691
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• 2005

We present a two-step evolution system that produces controllable virtual creatures in physically simulated 3D environment. Previous evolutionary methods for virtual creatures did not allow any user intervention during evolution process, because they generated a creature's shape, locomotion, and high-level behaviors such as target-following and obstacle avoidance simultaneously by one-time evolution process. In this work, we divide a single system into manageable two sub-systems, and this more likely allowsuser interaction. In the first stage, a body structure and low-level motor controllers of a creature for straight movement are generated by an evolutionary algorithm. Next, a high-level control to follow a given path is achieved by a neural network. The connection weights of the neural network are optimized by a genetic algorithm. The evolved controller could follow any given path fairly well. Moreover, users can choose or abort creatures according to their taste before the entire evolution process is finished. This paper also presents a new sinusoidal controller and a simplified hydrodynamics model for a capped-cylinder, which is the basic body primitive of a creature.

• Applied Microscopy
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• v.29 no.1
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• pp.105-124
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• 1999

Histological and ultrastructural differentiations of the neuroepithelial cells in the mouse embryo during neurulation were observed. The neural plates and grooves consisted of pseudostratified columnar epithelium in the embryonic day (ED) 8 embryo were developed. In the ED 9 embryo, the neural tube was developed in all body length of embryo except both the cephalic and caudal ends. Secondary neurulation was shown at the tail bud of the ED 10 embryo. In the ED 8 embryo, the primitive streak was shown in the posterior end of the embryonic disc. The neuroepithelium, notochord and mesenchyme were well differentiated in the cephalic and cervical portions. In the ED 9 and 10 embryos, the roof plates of neural tubes were constituted of the closing of the surface ectodermal cells in the hindbrain and the neuroepithelial cells in the spinal cord. The floor plate of neural tube were consisted of the low pseudostratified columnar epithelium. The spinal motor nerve fibers were initially differentiated in the ED 10 embryo. According to the electron density of the cell and the differentiation of tell organelles, the neuroepithelial cells in the ED 9 and 10 embryos were classified into three types: dark, intermediate and light types. All types in the ED 9 embryo were observed but the dark cell in the ED 10 embryo was not done. The free ribosomes and polysomes in all neuroepithelial cells were developed. The RER and lipid droplets in the dark cell and the Golgi complex in the intermediate and light cells were observed. Many microfilaments in the cytoplasmic processes of intermediate cell and the microfilaments and microtubules in the light cell processes were observed to be well differentiated.