• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.339-342
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• 1996

In this paper, the method for controlling PUMA robot using F/T sensor is described. In the part of the setup automation, robot is used. The F/T sensor is located at robot end-effector and various experiments are executed such as peg in hole, gripping objects, tool changing, etc.

• Asian Pacific Journal of Cancer Prevention
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• 제16권2호
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• pp.741-746
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• 2015

Purpose: To investigate the influence of exogenous p53 upregulated modulator of apoptosis (PUMA) expression on cell proliferation and apoptosis in human non-small cell lung cancer A549 cells and transplanted tumor cell growth in nude mice. Materials and Methods: A549 cells were divided into the following groups: control, non-carrier (NC), PUMA (transfected with pCEP4-(HA) 2-PUMA plasmid), DDP ($10{\mu}g/mL$ cisplatin treatment) and PUMA+DDP (transfected with pCEP4-(HA)2-PUMA plasmid and $10{\mu}g/mL$ cisplatin treatment). The MTT method was used to detect the cell survival rate. Cell apoptosis rates were measured by flow cytometry, and PUMA, Bax and Bcl-2 protein expression levels were measured by Western blotting. Results: Compared to the control group, the PUMA, DDP and PUMA+DDP groups all had significantly decreased A549 cell proliferation (p<0.01), with the largest reduction in the PUMA+DDP group. Conversely, the apoptosis rates of the three groups were significantly increased (P<0.01), and the PUMA and DDP treatments were synergistic. Moreover, Bax protein levels significantly increased (p<0.01), while Bcl-2 protein levels significantly decreased (p<0.01). Finally, both the volume and the weights of transplanted tumors were significantly reduced (p<0.01), and the inhibition ratio of the PUMA+DDP group was significantly higher than in the single DDP or PUMA groups. Conclusions: Exogenous PUMA effectively inhibited lung cancer A549 cell proliferation and transplanted tumor growth by increasing Bax protein levels and reducing Bcl-2 protein levels.

• 정보교육학회논문지
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• 제26권6호
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• pp.567-577
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• 2022

2022 개정 초등학교 교육과정에서 디지털 소양이 강조되면서 인공지능 교육과 소프트웨어 교육에 관심이 높아지고 있다. 초등학교에서 정보 교육을 위해 할당된 수업 시수는 34시간뿐이어서, 학생들의 디지털 소양을 기르는 데 한계가 많다. 따라서 인공지능과 소프트웨어 교육을 위한 수업 시수를 확보하려면 다른 교과와 정보 교육이 융합하는 형태로 이루어져야 한다. 본 연구에서는 S-PUMA 교수법을 활용한 글 읽기 교육이 초등학생의 문학적 상상력에 어떤 영향을 미치는지는 분석하였다. 이 연구를 위해 초등학교 6학년 2개 반을 선정하여 실험 집단과 통제 집단으로 구분하고, 실험집단에만 5차시에 걸쳐 S-PUMA 교수법에 따라 글 읽기 교육을 진행하였다. 그 결과, S-PUMA 교수법을 활용한 글 읽기 교육이 문학적 상상력과 컴퓨팅 사고력을 향상시킨 것으로 분석되었다. 다만, 문학적 상상력의 하위 영역인 창조적 상상력은 모든 집단에서 향상되었기에 S-PUMA 교수법에 의한 효과인지, 교육 내용에 따른 자연적인 효과인지 추가적인 연구가 필요하다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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• pp.980-985
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• 1988

In this paper, a control system of the PUMA 560 robot manipulator using a PC (Personal Computer) is presented. The hardware of the designed control system is composed of IBM-PC/AT, interface board, selection board, interrupt generating circuit, and the servo control unit of the PUMA controller. A robot control library is developed using assembly and C language, and is composed of several low-level functions and arm interface routines, world model routines, arm kinematics routines, and motion command service routines. Using the designed library, joint interpolated motion and Cartesian interpolated motion of the PUMA robot manipulator are realized. In the future, our system is expected to be a very helpful basis and a useful tool for developing various control algorithms of robot manipulator using sensory information.

• International Journal of Precision Engineering and Manufacturing
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• 제8권4호
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• pp.16-21
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• 2007

Robotic applications, such as automatic fish cutting, require online trajectory planning because the material properties of the object, such as the bone or flesh conditions, are not known in advance. Different trajectories are required when the material properties vary. An effective online trajectory-planning algorithm is proposed using quaternions to determine the position and orientation of a robot manipulator with a spherical wrist. Quaternions are free of representation singularities and permit computationally efficient orientation interpolations. To prevent singular configurations, the exact locations of the kinematic singularities of the PUMA 560 manipulator are derived and geometrically illustrated when a forearm offset exists and the third link length is not zero.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.24-29
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• 1991

RCCL(Robot Control C Library) is general purpose robot control language. It is programmed with C language and composed of C library. So it is well portable and supports sensor integration control and high level force control algorithms. We implemented RCCL on PUMA. We developed servo controller of DDC(Direct Digital Control). We used intel 8097BH one chip micro controller as CPU. One digital servo board controls three motors. Host computer is IBM PC 386DX-33 with RCCL.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.892-897
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• 1987

The ability of a robotic manipulator to recognize the shape of an object by feeling its band around the object is useful in many applications. Two-dimensional object contour tracking by force feedback is described. The system consists of IBM PC/AT, PUMA 560 manipulator, PUMA controller and a tip sensor. Position control is accomplished by using VAL command and the unmodified PUMA controller. A contour tracking algorithm is developed and tested on three different types of objects. The experimental results show that the objects' shapes can be successfully identified.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1986년도 하계학술대회논문집
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• pp.89-92
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• 1986

• Asian Pacific Journal of Cancer Prevention
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• 제14권12호
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• pp.7197-7201
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• 2013

Aim: To investigate the effects of diallyl trisulfide (DT) on apoptosis of cisplatin (DDP)-resistant human epithelial ovarian cancer SKOV-3 cells (SKOV-3/DDP), and the role of p53 upregulated modulator of apoptosis (PUMA). Methods: SKOV-3/DDP cells were randomly divided into control, DT, DPP and DPP+DT groups, which were treated with DT or combined DT and DDP. All cells were incubated for 48 h. and apoptosis rates were assessed by flow cytometry. mRNA and protein expression of PUMA, Bax and Bcl-2 was determined by RT-PCR and Western blot assays, respectively. Results: Compared with control group, the apoptosis rates of SKOV-3/DDP cells in DT groups were obviously increased, with dose-dependence (P < 0.05), the mRNA and protein expressions of PUMA, Bax also being up-regulated (P < 0.05), while those of Bcl-2 were down-regulated (P < 0.05). Compared with DT groups, the apoptosis rate in the DDP+DT group was significantly increased (P < 0.05). After knockdown of PUMA with specific siRNA, the apoptosis rate of SKOV-3/DDP cells was obviously decreased (P < 0.05). Conclusion: DT can promote the apoptosis of SKOV-3/DDP cells with PUMA playing a critical role.

• Journal of Mechanical Science and Technology
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• 제20권7호
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• pp.917-928
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• 2006

In recent decades, Artificial Neural Networks (ANNs) have become the focus of considerable attention in many disciplines, including robot control, where they can be used to solve nonlinear control problems. One of these ANNs applications is that of the inverse kinematic problem, which is important in robot path planning. In this paper, a neural network is employed to analyse of inverse kinematics of PUMA 560 type robot. The neural network is designed to find exact kinematics of the robot. The neural network is a feedforward neural network (FNN). The FNN is trained with different types of learning algorithm for designing exact inverse model of the robot. The Unimation PUMA 560 is a robot with six degrees of freedom and rotational joints. Inverse neural network model of the robot is trained with different learning algorithms for finding exact model of the robot. From the simulation results, the proposed neural network has superior performance for modelling complex robot's kinematics.