• Molecules and Cells
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• 제39권9호
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• pp.654-662
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• 2016

Almost all eukaryotic proteins are subject to post-translational modifications during mitosis and cell cycle, and in particular, reversible phosphorylation being a key event. The recent use of high-throughput experimental analyses has revealed that more than 70% of all eukaryotic proteins are regulated by phosphorylation; however, the mechanism of dephosphorylation, counteracting phosphorylation, is relatively unknown. Recent discoveries have shown that many of the protein phosphatases are involved in the temporal and spatial control of mitotic events, such as mitotic entry, mitotic spindle assembly, chromosome architecture changes and cohesion, and mitotic exit. This implies that certain phosphatases are tightly regulated for timely dephosphorylation of key mitotic phosphoproteins and are essential for control of various mitotic processes. This review describes the physiological and pathological roles of mitotic phosphatases, as well as the versatile role of various protein phosphatases in several mitotic events.

• 제어로봇시스템학회논문지
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• 제12권8호
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• pp.810-817
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• 2006

This paper presents a rotational motion estimation and correction technique for digital image stabilization. An equivalent rotation model is derived so as to accommodate a combined rotational and the translational motion. Thanks to this simplification, the suggested estimation algorithm can directly find the rotational center using geometric characteristic of local motion vectors instead of using searching method. And we also present recursive version of frame to reference algorithm(FRA) for the real time implementation. The proposed DIS system does not require time consuming parameter searching process, while showing comparatively good performance compared with the previous ones. To show the effectiveness of the DIS scheme, the algorithm has been implemented on the DSP based hardware system and experimental results are also discussed.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.678-687
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• 2005

This paper describes a relative localization algorithm using odometry data and consecutive local maps. The purpose of this paper is the odometry error correction using the area matching of two consecutive local maps. The local map is built up using a sensor module with dual laser beams and USB camera. The range data form the sensor module is measured using the structured lighting technique (active stereo method). The advantage in using the sensor module is to be able to get a local map at once within the camera view angle. With this advantage, we propose the AVS (Aligned View Sector) matching algorithm for. correction of the pose error (translational and rotational error). In order to evaluate the proposed algorithm, experiments are performed in real environment.

• 제어로봇시스템학회논문지
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• 제13권6호
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• pp.560-567
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• 2007

The objective of this research is to optimize the designing parameters of the parallel manipulator with large orientation workspace at the boundary position of the constant orientation workspace (COW). The method uses a simple genetic algorithm(SGA) while considering three different kinematic performance indices: COW and the global conditioning index(GCI) to evaluate the mechanism's dexterity for translational motion of an end-effector, and orientation workspace of two angle of Euler angles to obtain the large rotation angle of an end-effector at the boundary position of COW. Total fifteen cases divided according to the combination of the sphere radius of COW and rotation angle of orientation workspace are studied, and to decide the best model in the total optimized cases, the fuzzy inference system is used for each case's results. An optimized model is selected as a best model, which shows better kinematic performances compared to the basis of the pre-existing model.

• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.94-102
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• 2012

There have been many homing navigation algorithms for robotic system. In this paper, we suggest a bio-inspired navigation model. It builds path integration based on optical flow. We consider two factors on robot movements, translational movement and rotational movement. For each movement, we found distinguishable optical flows. Based on optical flow, we estimate ego-centric robot movement and integrate the path optimally. We can determine the homing direction and distance. We test this algorithm and evaluate the performance of homing navigation for robotic system.

• Molecules and Cells
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• 제40권2호
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• pp.83-89
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• 2017

Error-free replication and repair of DNA are pivotal to organisms for faithful transmission of their genetic information. Cells orchestrate complex signaling networks that sense and resolve DNA damage. Post-translational protein modifications by ubiquitin and ubiquitin-like proteins, including SUMO and NEDD8, are critically involved in DNA damage response (DDR) and DNA damage tolerance (DDT). The expression of interferon-stimulated gene 15 (ISG15), the first identified ubiquitin-like protein, has recently been shown to be induced under various DNA damage conditions, such as exposure to UV, camptothecin, and doxorubicin. Here we overview the recent findings on the role of ISG15 and its conjugation to target proteins (e.g., p53,$ {\Delta}Np63{\alpha}$, and PCNA) in the control of cellular responses to genotoxic stress, such as the inhibition of cell growth and tumorigenesis.

• International Journal of Aeronautical and Space Sciences
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• 제14권2호
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• pp.152-161
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• 2013

This paper presents a control effectiveness analysis of the hawkmoth Manduca sexta. A multibody dynamic model of the insect that considers the time-varying inertia of two flapping wings is established, based on measurement data from the real hawkmoth. A six-degree-of-freedom (6-DOF) multibody flight dynamics simulation environment is used to analyze the effectiveness of the control variables defined in a wing kinematics function. The aerodynamics from complex wing flapping motions is estimated by a blade element approach, including translational and rotational force coefficients derived from relevant experimental studies. Control characteristics of flight dynamics with respect to the changes of three angular degrees of freedom (stroke positional, feathering, and deviation angle) of the wing kinematics are investigated. Results show that the symmetric (asymmetric) wing kinematics change of each wing only affects the longitudinal (lateral) flight forces and moments, which implies that the longitudinal and lateral flight controls are decoupled. However, there are coupling effects within each plane of motion. In the longitudinal plane, pitch and forward/backward motion controls are coupled; in the lateral plane, roll and side-translation motion controls are coupled.

• 한국해양공학회지
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• 제17권1호
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• pp.1-7
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• 2003

Autonomous underwater vehicles (AUVs) are unmanned, underwater vessels that are used to investigate sea environments in the study of oceanography. Docking systems are required to increase the capability of the AUVs, to recharge the batteries, and to transmit data in real time for specific underwater works, such as repented jobs at sea bed. This paper presents a visual :em control system used to dock an AUV into an underwater station. A camera mounted at the now center of the AUV is used to guide the AUV into dock. To create the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and deriver a state equation for the visual servo AUV. Further, this paper proposes a discrete-time MIMO controller, minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servo AUV simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• 한국소음진동공학회논문집
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• 제14권5호
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• pp.385-393
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• 2004

This paper proposes a swing-arm type dual-stage actuator, which consists of a PZT actuator for fine motion and a VCM(voice coil motor) for coarse motion, for an SFF ODD(small form factor optical disk drive), in order to achieve fast access speed and precise track-following control. Over the past few decades there have been a lot of researches related to the VCM and dual-stage actuator. In this paper, we focus our attention on the design and control of the PZT actuator. Due to the dual cantilever structure. the PZT actuator can generate precise translational tracking motion at its tip to which an optical pickup is attached. and the effect of hysteric behavior of the PZT element is reduced. The dynamic model of the PZT actuator is derived by using the Hamilton's principle, and verified by comparing it with the experimental frequency response. The sliding mode control is designed in order to be robust against modeling uncertainties. Simulations and experimental results confirm the effectiveness of the suggested control scheme.

• Structural Monitoring and Maintenance
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• 제3권2호
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• pp.175-194
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• 2016

Based on the change of traditional viscoelastic damper structure, a brand-new damper is designed to control simultaneously the translational vibration and the rotational vibration for platforms. Experimental study has been carried out on the mechanical properties of viscoelastic material and on its multi-dimensional seismic response control effect of viscoelastic damper. Three types of viscoelastic dampers with different shapes of viscoelastic material are designed to test the influence of excited frequency, strain amplitude and ambient temperature on the mechanical property parameters such as circular dissipation per unit, equivalent stiffness, loss factor and storage shear modulus. Then, shaking table tests are done on a group of single-storey platform systems containing one symmetric platform and three asymmetric platforms with different eccentric forms. Experimental results show that the simulation precision of the restoring force model is rather good for the shear deformation of viscoelastic damper and is also satisfied for the torsion deformation and combined deformations of viscoelastic damper. The shaking table tests have verified that the new-type viscoelastic damper is capable of mitigating the multi-dimensional seismic response of offshore platform.