• Title/Summary/Keyword: Z generation

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Study on Stable Gait Generation of Quadruped Walking Robot Using Minimum-Jerk Trajectory and Body X-axis Sway (최소저크궤적과 X축-스웨이를 이용한 4족 보행로봇의 안정적 걸음새 연구)

  • Lee, Dong-Goo;Shin, Wu-Hyeon;Kim, Tae-Jung;Lee, Jeong-Ho;Lee, Young-Seok;Hwang, Heon;Choi, Sun
    • The Journal of Korea Institute of Information, Electronics, and Communication Technology
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    • v.12 no.2
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    • pp.170-177
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    • 2019
  • In this paper, three theories for improving the stability of quadruped robot are presented. First, the Minimum-Jerk Trajectory is used to optimize the leg trajectory. Second, we compare the newly proposed sine wave and the conventional LSM in this paper based on the Jerk value. Third, we calculate the optimum stride of the sway through repetitive robot simulation using ADAMS-MATLAB cosimulation. Through the above process, the improvement of the robot walking is compared with the existing theory. First, the average gradient of the point where the leg trajectory changes rapidly was reduced from at least 1.2 to 2.9 by using the Minimum-Jerk targetory for the movement of the body and the end of the leg during the first walk, thereby increasing the walking stability. Second, the average Jerk was reduced by 0.019 on the Z-axis, 0.457 on the X-axis, and 0.02, 3D on the Y-axis by 0.479 using the Sin wave type sways presented in this paper, rather than the LSM(Longitude Stability Margin) method. Third, the length of the optimal stride for walking at least the Jerk value was derived from the above analysis, and the 20cm width length was the most stable.

Induction of apoptotic cell death in human bladder cancer cells by ethanol extract of Zanthoxylum schinifolium leaf, through ROS-dependent inactivation of the PI3K/Akt signaling pathway

  • Park, Cheol;Choi, Eun Ok;Hwangbo, Hyun;Lee, Hyesook;Jeong, Jin-Woo;Han, Min Ho;Moon, Sung-Kwon;Yun, Seok Joong;Kim, Wun-Jae;Kim, Gi-Young;Hwang, Hye-Jin;Choi, Yung Hyun
    • Nutrition Research and Practice
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    • v.16 no.3
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    • pp.330-343
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    • 2022
  • BACKGROUND/OBJECTIVES: Zanthoxylum schinifolium is traditionally used as a spice for cooking in East Asian countries. This study was undertaken to evaluate the anti-proliferative potential of ethanol extracts of Z. schinifolium leaves (EEZS) against human bladder cancer T24 cells. MATERIALS/METHODS: Subsequent to measuring the cytotoxicity of EEZS, the anti-cancer activity was measured by assessing apoptosis induction, reactive oxygen species (ROS) generation, and mitochondrial membrane potential (MMP). In addition, we determined the underlying mechanism of EEZS-induced apoptosis through various assays, including Western blot analysis. RESULTS: EEZS treatment concentration-dependently inhibited T24 cell survival, which is associated with apoptosis induction. Exposure to EEZS induced the expression of Fas and Fas-ligand, activated caspases, and subsequently resulted to cleavage of poly (ADP-ribose) polymerase. EEZS also enhanced the expression of cytochrome c in the cytoplasm by suppressing MMP, following increase in the ratio of Bax:Bcl-2 expression and truncation of Bid. However, EEZS-mediated growth inhibition and apoptosis were significantly diminished by a pan-caspase inhibitor. Moreover, EEZS inhibited activation of the phosphoinositide 3-kinase (PI3K)/Akt pathway, and the apoptosis-inducing potential of EEZS was promoted in the presence of PI3K/Akt inhibitor. In addition, EEZS enhanced the production of ROS, whereas N-acetyl cysteine (NAC), a ROS scavenger, markedly suppressed growth inhibition and inactivation of the PI3K/Akt signaling pathway induced by EEZS. Furthermore, NAC significantly attenuated the EEZS-induced apoptosis and reduction of cell viability. CONCLUSIONS: Taken together, our results indicate that exposure to EEZS exhibits anti-cancer activity in T24 bladder cancer cells through ROS-dependent induction of apoptosis and inactivation of the PI3K/Akt signaling pathway.

Identifying Stress and its Solutions in Nursing Students Using Photovoice (포토보이스를 통한 간호대학생의 스트레스와 해소방안 파악)

  • Hyun-Sun Kim;Eun-Hi Choi;Ji-Yeon Kim;Aeri Jung;Ji Hye Lee;Junha Jung;Jiyeon Jeong;Jaeeun Lee;Mingyeong Jang;Heesu Lee;Jinoh Park;Jaeeun Jeong;Soyeon Jin
    • Journal of the Korean Society of School Health
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    • v.36 no.2
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    • pp.40-51
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    • 2023
  • Purpose: The study aimed to identify the stress levels and their solutions in MZ(Millennials + generation Z) nursing students by using photovoice through the medium of photography. Methods: The study was conducted from November to December 2022 among freshmen to senior nursing students at a major university. Participants were recruited by telephone, email, and social media. Originally, four participants were recruited for each year of nursing school, but it resulted in a total of 19 participants: three freshmen students, nine sophomore students, four junior students, and three senior students. The participants were asked to take pictures of things in their surroundings that bothered them and things that helped them overcome the bothering things and to have group discussions in groups of 4-5 to analyze the results. Results: The results of the study revealed the following themes: 'Difficulties and worries as a nursing student', 'Striving to go beyond yourself', 'Unhealthy factors', 'Ways to relieve stress', and 'Meaning of stress'. For each of the themes, there were five subcategories under 'difficulties and worries as a nursing student', four under 'fighting with oneself', seven under 'ways to relieve stress', five under 'unhealthy factors', and two under 'meaning of stress', resulting in 21 subcategories. Conclusion: Based on the results of the study, firstly, there is a need to educate university students about the factors that contribute to unhealthy behaviors and how to deal with stress in a healthy way. Secondly, it is necessary to provide programs that allow students to have various experiences.

3-Deoxysappanchalcone Inhibits Cell Growth of Gefitinib-Resistant Lung Cancer Cells by Simultaneous Targeting of EGFR and MET Kinases

  • Jin-Young Lee;Seung-On Lee;Ah-Won Kwak;Seon-Bin Chae;Seung-Sik Cho;Goo Yoon;Ki-Taek Kim;Yung Hyun Choi;Mee-Hyun Lee;Sang Hoon Joo;Jin Woo Park;Jung-Hyun Shim
    • Biomolecules & Therapeutics
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    • v.31 no.4
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    • pp.446-455
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    • 2023
  • The mechanistic functions of 3-deoxysappanchalcone (3-DSC), a chalcone compound known to have many pharmacological effects on lung cancer, have not yet been elucidated. In this study, we identified the comprehensive anti-cancer mechanism of 3-DSC, which targets EGFR and MET kinase in drug-resistant lung cancer cells. 3-DSC directly targets both EGFR and MET, thereby inhibiting the growth of drug-resistant lung cancer cells. Mechanistically, 3-DSC induced cell cycle arrest by modulating cell cycle regulatory proteins, including cyclin B1, cdc2, and p27. In addition, concomitant EGFR downstream signaling proteins such as MET, AKT, and ERK were affected by 3-DSC and contributed to the inhibition of cancer cell growth. Furthermore, our results show that 3-DSC increased redox homeostasis disruption, ER stress, mitochondrial depolarization, and caspase activation in gefitinib-resistant lung cancer cells, thereby abrogating cancer cell growth. 3-DSC induced apoptotic cell death which is regulated by Mcl-1, Bax, Apaf-1, and PARP in gefitinib-resistant lung cancer cells. 3-DSC also initiated the activation of caspases, and the pan-caspase inhibitor, Z-VAD-FMK, abrogated 3-DSC induced-apoptosis in lung cancer cells. These data imply that 3-DSC mainly increased mitochondria-associated intrinsic apoptosis in lung cancer cells to reduce lung cancer cell growth. Overall, 3-DSC inhibited the growth of drug-resistant lung cancer cells by simultaneously targeting EGFR and MET, which exerted anti-cancer effects through cell cycle arrest, mitochondrial homeostasis collapse, and increased ROS generation, eventually triggering anti-cancer mechanisms. 3-DSC could potentially be used as an effective anti-cancer strategy to overcome EGFR and MET target drug-resistant lung cancer.

COMPARATIVE STUDY ON THE SHEAR BOND STRENGTH OF ALL-IN-ONE DENTIN BONDING SYSTEM APPLIED TO PRIMARY TEETH (유치에 적용된 All-in-One 상아질 접착 시스템의 전단강도에 관한 비교연구)

  • Kim, Dong-Cheol;Kim, Jong-Soo;Yoo, Seung-Hoon
    • Journal of the korean academy of Pediatric Dentistry
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    • v.34 no.4
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    • pp.560-568
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    • 2007
  • This study was performed to compare the shear bond strength of primary enamel & dentin treated by AQ Bond $Plus^{TM}$ and G $Bond^{TM}$, recently developed 6th generation dentin bonding system, to that of Single $Bond^{TM}$ being widely used. Also by observing the resin tag under scanning electron microscope, Resin tags of each material were also observed under scanning electron microscope and compared to one another. The possibility of clinical application of All-in-One system which has an advantage to reduce chair-time for children with difficult behavior pattern was evaluated. The results obtained are as follows: 1. No statistically significant difference between groups was found in shear bond strength of primary enamel. 2. In primary dentin, the shear bond strength of AQ Bond $Plus^{TM}$ was $1.15\;{\pm}\;0.37\;MPa$, G $Bond^{TM}$ was $1.69\;{\pm}\;0.74\;MPa$ and Single $Bond^{TM}$ was $0.56\;{\pm}\;0.11\;MPa$. There were no statistical difference between AQ Bond $Plus^{TM}$ and G $Bond^{TM}$ and between G $Bond^{TM}$ and Single $Bond^{TM}$, whereas statistically significant difference was found between AQ Bond $Plus^{TM}$ and Single $Bond^{TM}$. 3. Under scanning electron microscope, resin tags observed in AQ Bond $Plus^{TM}$ and G $Bond^{TM}$ were very weak and tangled while strong and thick tags were shown with many lateral branches in Single $Bond^{TM}$. The result of the present study coupled with the advantages of less working time over the previous generation suggests that All-in-One system might be effectively used in adhesive dental procedures for primary teeth.

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The Effect of Aging Treatment for Microleakage within Composite Resin Restoration (시효처리가 복합레진 수복물의 미세누출에 미치는 영향에 관한 연구)

  • Yoo, Seunghoon
    • Journal of the korean academy of Pediatric Dentistry
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    • v.40 no.4
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    • pp.283-295
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    • 2013
  • In this study, researchers tried to find the effect, if any, of aging treatment to the specimens with three different dentin bonding agents using MicroCT. One, 5th generation - [Adper$^{TM}$ Single bond Plus] and two 6th generation [AdheSE$^{(R)}$, Adper$^{TM}$ Prompt$^{TM}$ L-Pop$^{TM}$] dentin bonding agents were used in this study. Specimens were divided into 4 groups according to aging treatment method used. Group I : control group, Group II : thermocycled between $5^{\circ}C$ and $55^{\circ}C$ for 60 seconds dwell time 5,000 times, Group III : aged as Group II and artificially brushed 20,000 times, Group IV : aged as Group III and were stored in artificial saliva for 6 months. With Single bond Plus, Group II showed more microleakage than Group I (p < 0.05). Group II and Group III showed more microleakage than Group IV (p < 0.05). There were no statistically significant differences among the groups using AdheSE$^{(R)}$ and Prompt$^{TM}$ L-Pop$^{TM}$ (p > 0.05). Among Group I, AdheSE$^{(R)}$ showed more microleakage than Single bond Plus and Prompt$^{TM}$ L-Pop$^{TM}$ (p < 0.05). Among Group II, there were no statistically significant differences (p > 0.05). Among Group III, AdheSE$^{(R)}$ showed more microleakage than Single bond Plus and Prompt$^{TM}$ L-Pop$^{TM}$ (p < 0.05). Among Group IV, AdheSE$^{(R)}$ and Prompt$^{TM}$ L-Pop$^{TM}$ showed more microleakage than Single bond Plus (p < 0.05).

Standard Chemotherapy with Excluding Isoniazid in a Murine Model of Tuberculosis (마우스 결핵 모델에서 Isoniazid를 제외한 표준치료의 예비 연구)

  • Shim, Tae Sun;Lee, Eun Gae;Choi, Chang Min;Hong, Sang-Bum;Oh, Yeon-Mok;Lim, Chae-Man;Lee, Sang Do;Koh, Younsuck;Kim, Woo Sung;Kim, Dong Soon;Cho, Sang-Nae;Kim, Won Dong
    • Tuberculosis and Respiratory Diseases
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    • v.65 no.3
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    • pp.177-182
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    • 2008
  • Background: Isoniazid (INH, H) is a key drug of the standard first-line regimen for the treatment of tuberculosis (TB), yet some reports have suggested that treatment efficacy was maintained even though INH was omitted from the treatment regimen. Methods: One hundred forty C57BL/6 mice were infected with the H37Rv strain of M. tuberculosis with using a Glas-Col aerosol generation device, and this resulted in depositing about 100 bacilli in the lung. Four weeks after infection, anti-TB treatment was initiated with varying regimens for 4-8 weeks; Group 1: no treatment (control), Group 2 (4HREZ): 4 weeks of INH, rifampicin (R), pyrazinamide (Z) and ethambutol (E), Group 3: 1HREZ/3REZ, Group 4: 4REZ, Group 5: 4HREZ/4HRE, Group 6: 1HREZ/3REZ/4RE, and Group 7: 4REZ/4RE. The lungs and spleens were harvested at several time points until 28 weeks after infection, and the colony-forming unit (CFU) counts were determined. Results: The CFU counts increased steadily after infection in the control group. In the 4-week treatment groups (Group 2-4), even though the culture was negative at treatment completion, the bacilli grew again at the 12-week and 20-week time points after completion of treatment. In the 8-week treatment groups (Groups 5-7), the bacilli did not grow in the lung at 4 weeks after treatment initiation and thereafter. In the spleens of Group 7 in which INH was omitted from the treatment regimen, the culture was negative at 4-weeks after treatment initiation and thereafter. However, in Groups 5 and 6 in which INH was taken continuously or intermittently, the bacilli grew in the spleen at some time points after completion of treatment. Conclusion: TThe exclusion of INH from the standard first-line regimen did not affect the treatment outcome in a murine model of TB in the early stage of disease. Further studies using a murine model of chronic TB are necessary to clarify the role of INH in the standard first-line regimen for treating TB.

The Historical Study of Headache in Chinese Ming Dynasty (명대의가(明代醫家)들의 두통(頭痛)에 대한 인식변화에 관한 연구)

  • Chun, Duk-Bong;Maeng, Woong-Jae;Kim, Nam-Il
    • The Journal of Korean Medical History
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    • v.24 no.1
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    • pp.43-56
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    • 2011
  • Everyone once in a life experience headaches as symptoms are very common. According to a study in a country of more than a week and as many as those who have experienced a headache amounts to 69.4%. In addition, the high reported prevalence of migraine in 30s for 80% of all migraine sufferers daily life interfere with work or was affected. In Western medicine, the cause of headaches is traction or deformation of pain induced tissue like scalp, subcutaneous tissue, muscle, fascia, extracranial arteriovenous, nerves, periosteum. But it turns out there are not cause why pain induced tissue is being tracted or deformated. Therefore, most of the western-therapy is mainly conducted with regimen for a temporary symptom reduction. Therefore, I examined how it has been developed in Chinese Ming Dynasty, the perception of headache, change in disease stage and an etiological cause. Oriental medicine in the treatment of headache is a more fundamental way to have an excellent treatment. The recognition of head in "素問($s{\grave{u}}$ $w{\grave{e}}n$)" and "靈樞($l{\acute{i}}ng$ $sh{\bar{u}}$)" began to appear in 'Soul-神($sh{\acute{e}}n$) dwelling place' and 'where to gather all the Yang-'諸陽之會($zh{\bar{u}}$ $y{\acute{a}}ng$ $zh{\bar{i}}$ $hu{\grave{i}}$)'. Also, head was recognized as '六腑($li{\grave{u}}f{\check{u}}$) 淸陽之氣($q{\bar{i}}ng$ $y{\acute{a}}ng$ $zh{\bar{i}}$ $q{\grave{i}}$) and 五臟($w{\check{u}}$ $z{\grave{a}}ng$) 精血($j{\bar{i}}ng$ $xu{\grave{e}}$) gathering place'. More specific structures such as the brain is considered a sea of marrow(髓海-$su{\check{i}}$ $h{\check{a}}i$) in "內經($n{\grave{e}}i$ $j{\bar{i}}ng$)" and came to recognized place where a stroke occurs. Accompanying development of the recognition about head, there had been changed about the perception of headache and the recognition of the cause and mechanism of headache. And the recognition of headache began to be completed in Ming Dynasty through Jin, Yuan Dynasty. Chinese Ming Dynasty, specially 樓英($l{\acute{o}}u$ $y{\bar{i}}ng$), in "醫學綱目($y{\bar{i}}xu{\acute{e}}$ $g{\bar{a}}ngm{\grave{u}}$)", first enumerated prescription in detail by separating postpartum headache. and proposed treatment of headache especially due to postpartum sepsis(敗血-$b{\grave{a}}i$ $xu{\grave{e}}$). 許浚($x{\check{u}}$ $j{\grave{u}}n$) accepted a variety of views without impartial opinion in explaining one kind of headache in "東醫寶鑑($d{\bar{o}}ng-y{\bar{i}}$ $b{\check{a}}oji{\grave{a}}n)$" 張景岳($zh{\bar{a}}ng$ $j{\check{i}}ng$ $yu{\grave{e}}$), in "景岳全書($j{\check{i}}ng$ $yu{\grave{e}}$ $qu{\acute{a}}nsh{\bar{u}}$)", established his own unique classification system-新舊表裏($x{\bar{i}}nji{\grave{u}}$ $bi{\check{a}}ol{\check{i}}$)-, and offered a clear way even in treatment. Acupuncture treatment of headache in the choice of meridian has been developed as a single acupuncture point. Using the classification of headache to come for future generation as a way of locating acupoints were developed. Chinese Ming Dynasty, there are special treatments like 導引按蹻法($d{\check{a}}o$ y ${\check{i}}n$ ${\grave{a}}n$ $ji{\check{a}}o$ $f{\check{a}}$), 搐鼻法($ch{\grave{u}}$ $b{\acute{i}}$ $f{\check{a}})$, 吐法($t{\check{u}}$ $f{\check{a}}$), 外貼法($w{\grave{a}}i$ $ti{\bar{e}}$ $f{\check{a}}$), 熨法($y{\grave{u}}n$ $f{\check{a}}$), 點眼法($di{\check{a}}n$ $y{\check{a}}n$ $f{\check{a}}$), 熏蒸法($x{\bar{u}}nzh{\bar{e}}ng$ $f{\check{a}}$), 香氣療法($xi{\bar{a}}ngq{\grave{i}}$ $li{\acute{a}}of{\check{a}}$). Most of this therapy in the treatment of headache, it is not used here, but if you use a good fit for today's environment can make a difference.

Studies on the Morphology and Biology of a Parasitic Mite, Pyemotes tritici L.-F. & M. on the Cigarette Beetle(Lasioderma serricorne F.). (Pyemotes tritici L.-F. & M. 궐련벌레살이주머니응애의 형태(形態)와 생활사(生活史)에 관(關)한 연구(硏究))

  • Oh, M.H.;Kim, S.S.;Boo, K.S.
    • Korean journal of applied entomology
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    • v.24 no.1 s.62
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    • pp.15-18
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    • 1985
  • Studies were made on the morphology and life cycle of the mite, Pyemotes tritici $Lagr{\acute{e}}z$-Fossot & $Montagn{\acute{e}}$ (Trombidiformes; Pyemotidea) ,parasitic on larvae of cigarette beetle, Lasioderma serricorne F., which is one of the most serious pests of stored tobacco, cigar, and cigarette in Korea. One generation time was $20.9{\pm}0.7$ days out of which $9.5{\pm}0.3$ days were spent for feeding and $10.3{\pm}0.8$ days for reproduction of progenies. A female of this insect-parasitic mite produced $56.7{\pm}6.9$ progenies during her reproduction period. The body size of a newly-laid male or female was $280{\mu}m$ long and $85{\mu}m$ wide. As female of this mite sucked on, their abdomen grew larger and larger to reach $825{\mu}m$ in width and $0.346mm^3$ in volume after $9{\sim}10$ days. By sucking the humor of a host, the abdomen of a female mite became almost a global shape in two days. The increase rate of abdominal width was the biggest on the second or the third day of feeding while the volume of abdomen reached to the largest on $6{\sim}8$ days after feeding. The largest number of the daily young produced on 4-th day after a female began to reproduce.

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A Deep Learning Based Approach to Recognizing Accompanying Status of Smartphone Users Using Multimodal Data (스마트폰 다종 데이터를 활용한 딥러닝 기반의 사용자 동행 상태 인식)

  • Kim, Kilho;Choi, Sangwoo;Chae, Moon-jung;Park, Heewoong;Lee, Jaehong;Park, Jonghun
    • Journal of Intelligence and Information Systems
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    • v.25 no.1
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    • pp.163-177
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    • 2019
  • As smartphones are getting widely used, human activity recognition (HAR) tasks for recognizing personal activities of smartphone users with multimodal data have been actively studied recently. The research area is expanding from the recognition of the simple body movement of an individual user to the recognition of low-level behavior and high-level behavior. However, HAR tasks for recognizing interaction behavior with other people, such as whether the user is accompanying or communicating with someone else, have gotten less attention so far. And previous research for recognizing interaction behavior has usually depended on audio, Bluetooth, and Wi-Fi sensors, which are vulnerable to privacy issues and require much time to collect enough data. Whereas physical sensors including accelerometer, magnetic field and gyroscope sensors are less vulnerable to privacy issues and can collect a large amount of data within a short time. In this paper, a method for detecting accompanying status based on deep learning model by only using multimodal physical sensor data, such as an accelerometer, magnetic field and gyroscope, was proposed. The accompanying status was defined as a redefinition of a part of the user interaction behavior, including whether the user is accompanying with an acquaintance at a close distance and the user is actively communicating with the acquaintance. A framework based on convolutional neural networks (CNN) and long short-term memory (LSTM) recurrent networks for classifying accompanying and conversation was proposed. First, a data preprocessing method which consists of time synchronization of multimodal data from different physical sensors, data normalization and sequence data generation was introduced. We applied the nearest interpolation to synchronize the time of collected data from different sensors. Normalization was performed for each x, y, z axis value of the sensor data, and the sequence data was generated according to the sliding window method. Then, the sequence data became the input for CNN, where feature maps representing local dependencies of the original sequence are extracted. The CNN consisted of 3 convolutional layers and did not have a pooling layer to maintain the temporal information of the sequence data. Next, LSTM recurrent networks received the feature maps, learned long-term dependencies from them and extracted features. The LSTM recurrent networks consisted of two layers, each with 128 cells. Finally, the extracted features were used for classification by softmax classifier. The loss function of the model was cross entropy function and the weights of the model were randomly initialized on a normal distribution with an average of 0 and a standard deviation of 0.1. The model was trained using adaptive moment estimation (ADAM) optimization algorithm and the mini batch size was set to 128. We applied dropout to input values of the LSTM recurrent networks to prevent overfitting. The initial learning rate was set to 0.001, and it decreased exponentially by 0.99 at the end of each epoch training. An Android smartphone application was developed and released to collect data. We collected smartphone data for a total of 18 subjects. Using the data, the model classified accompanying and conversation by 98.74% and 98.83% accuracy each. Both the F1 score and accuracy of the model were higher than the F1 score and accuracy of the majority vote classifier, support vector machine, and deep recurrent neural network. In the future research, we will focus on more rigorous multimodal sensor data synchronization methods that minimize the time stamp differences. In addition, we will further study transfer learning method that enables transfer of trained models tailored to the training data to the evaluation data that follows a different distribution. It is expected that a model capable of exhibiting robust recognition performance against changes in data that is not considered in the model learning stage will be obtained.