• 제어로봇시스템학회논문지
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• 제13권11호
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• pp.1082-1091
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• 2007

In this paper, we developed a new hybrid mobile robot which can climb stairs and go over thresholds by crawl gait with embedded real-time control software. This robot is also categorized into hybrid robot that has advantages of wheeled mobile robot and legged mobile robot, but adopts gait feature of crocodile named belly crawl. We imitated the belly crawl using four legs of 2 DOF, four omni-directional wheels, and embedded control software which controls legs and wheels. This software is developed using RTAI/Linux, real-time drivers. As a result, the new hybrid mobile robot has crawl gait. Using this feature, the new hybrid mobile robot can climb stairs and go over thresholds just by path planning of each leg with size of stairs and thresholds, and computing the movement distance of robot body center without considering stability. The performance of our new hybrid mobile robot is verified via experiments.

• Journal of Microbiology and Biotechnology
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• 제28권6호
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• pp.1007-1021
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• 2018

Cancer represents one of the most significant threats to human health on a global scale. Hence, the development of effective cancer prevention strategies, as well as the discovery of novel therapeutic agents against cancer, is urgently required. In light of this challenge, this research aimed to evaluate the effects of several potent bioactive peptides and proteins contained in crocodile white blood cell extract (cWBC) against LU-1, LNCaP, PC-3, MCF-7, and CaCo-2 cancer cell lines. The results demonstrate that 25, 50, 100, and $200{\mu}g/ml$ cWBC exhibits a strong cytotoxic effect against all investigated cell lines ($IC_{50}$ $70.34-101.0{\mu}g/ml$), while showing no signs of cytotoxicity towards noncancerous Vero and HaCaT cells. Specifically, cWBC treatment caused a significant reduction in the cancerous cells' colony forming ability. A remarkable suppression of cancerous cell migration was observed after treatment with cWBC, indicating potent antimetastatic properties. The mechanism involved in the cancer cell cytotoxicity of cWBC may be related to apoptosis induction, as evidenced by typical apoptotic morphology features. Moreover, certain cWBC concentrations induced significant overproduction of ROS and significantly inhibited the $S-G_2/M$ transition in the cancer cell. The molecular mechanisms of cWBC in apoptosis induction were to decrease Bcl-2 and XIAP expression levels and increase the expression levels of caspase-3, caspase-8, and p53. These led to a decrease in the expression level of the cell cycle-associated gene cyclin-B1 and the arrest of cell population growth. Consequently, these findings demonstrate the prospect of the use of cWBC for cancer therapy.

• Genomics & Informatics
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• 제13권4호
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• pp.102-111
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• 2015

The karyotypes of most species of crocodilians were studied using conventional and molecular cytogenetics. These provided an important contribution of chromosomal rearrangements for the evolutionary processes of Crocodylia and Sauropsida (birds and reptiles). The karyotypic features of crocodilians contain small diploid chromosome numbers (30~42), with little interspecific variation of the chromosome arm number (fundamental number) among crocodiles (56~60). This suggested that centric fusion and/or fission events occurred in the lineage, leading to crocodilian evolution and diversity. The chromosome numbers of Alligator, Caiman, Melanosuchus, Paleosuchus, Gavialis, Tomistoma, Mecistops, and Osteolaemus were stable within each genus, whereas those of Crocodylus (crocodylians) varied within the taxa. This agreed with molecular phylogeny that suggested a highly recent radiation of Crocodylus species. Karyotype analysis also suggests the direction of molecular phylogenetic placement among Crocodylus species and their migration from the Indo-Pacific to Africa and The New World. Crocodylus species originated from an ancestor in the Indo-Pacific around 9~16 million years ago (MYA) in the mid-Miocene, with a rapid radiation and dispersion into Africa 8~12 MYA. This was followed by a trans-Atlantic dispersion to the New World between 4~8 MYA in the Pliocene. The chromosomes provided a better understanding of crocodilian evolution and diversity, which will be useful for further study of the genome evolution in Crocodylia.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1926-1930
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• 2004

We suggest a turning gait planning of a quadruped walking robot with an articulated spine. Robot developer has tried to implement a gait more similar to that of natural animals with high stability margin. Therefore, so many types of walking robot with reasonable gait have been developed. But there is a big difference with a natural animal walking motion. A key point is the fact that natural animals use their waist-oint(articulated spine) to walk. For example, a crocodile which has short legs relative to a long body uses their waist to walk more quickly and to turn more effectively. The other animals such as tiger, dog and so forth, also use their waist. Therefore, this paper proposes discontinuous turning gait planning for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. Turning gait is very important as same as straight gait. All animals need a turning gait to avoid obstacle or to change walking direction. Turning gait has mainly two types of gaits; circular gait and spinning gait. We apply articulated spine to above two gaits, which shows the majority of an articulated spine more effectively. Firstly, we describe a kinematic relation of a waist-joint, the hip, and the center of gravity of body, and then apply a spinning gait. Next, we apply a waist-joint to a circular gait. We compare a gait stability margin with that of a conventional single rigid body walking robot. Finally, we show the validity of a proposed gait with simulation.

• 한방안이비인후피부과학회지
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• 제31권4호
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• pp.42-64
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• 2018

Objectives : The purpose of this study was to investigate the non-surgical treatment of peripheral facial paralysis sequelae such as bell's palsy and Ramsay-hunt syndrome during last 10 years. Methods : We searched articles in the RISS, MEDLINE, CAJ from January, 2008 to June, 2018. Articles on the non-surgical treatment of bell's palsy and Ramsay-hunt syndrome sequelae were included. We extracted data about treatments, characteristics of intervention, outcomes from the included studies and classified in to 4 categories such as case studies, RCTs, nRCTs, literature reviews. Results : 132 potentially relevant studies were identified, of which 60 studies met our inclusion criteria. Of 60 included studies, 30 were case reports, 22 were RCTs, 4 were nRCTs, and 4 were reviews. China (81.8%) were the most common by country, bell's palsy(81.7%) by disease, and case reports(50%) by study type were the most common. Symptoms were lagophthalmos, asymmetry, contracture, spasm, dacryorrhea, synkinesis, paresthesia, crocodile tears mostly in the order of frequency, and these symptoms occurred at least one month after the onset of symptoms. The most common method of treatment was acupuncture, which was used in 49 studies. As the evaluation variables, the effective rate was the highest in 25, House-Brakmann grading system in 17, and Sunnybrook facial grading system in 7. In 95% of the studies, after-treatment was reported to be cured, but objectivity is low. Conclusions : This study suggests that Korean medicine such as acupuncture can play a valid role in the non-surgical treatment of peripheral facial paralysis sequelae. In the future, a systematic and well-designed clinical study is needed for treatment of peripheral facial paralysis sequelae.

• Journal of Acupuncture Research
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• 제24권4호
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• pp.209-223
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• 2007

Objectives : Facial Nerve Paralysis is one kind of common diseases and it can be treated by natural therapy and the efficiency of treatment is relatively high. In clinical trial, it is not difficult to find patients who were not completely recovered from Facial Nerve Paralysis, so the symptoms are fixed permanently. This leads many doctors and patients to have interests in the progress and prognosis of the disease, so this study was to analyze clinical prognosis factors and verify the effects of Electrodiagnostic Test. Methods : The 378 subjects were chosen from 987 patients who were suffering from Peripheral Facial Palsy, diagnosed with Bell's palsy and Ramsay Hunt Syndrome and had admission treatment. They got Oriental-Western Medicine Treatment within two weeks after outbreaks of the disease and treated at least over 3 weeks using Oriental-Western Medicine Treatment. Results : 1. There was a significant difference in the results of treatment according to gender, age, types of Facial Palsy, existence of Post Auricular Pain, existence of Labyrinth Symptom, HBGS, and existence of onsets of recovery as clinical prognosis factors of Peripheral Facial Palsy, However, a statistically significant difference was not shown in the results of treatment according to the position of Facial Palsy(left or right), existence of a relapse, and diabetes, hypertension. 2. As a result of overall treatment, 77.2% of patients were recovered almost entirely and 22.8% were not, and the quelae of incomplete recovery were Synkinesis, facial contracture, facial spasm, crocodile tears and scheroma in order of frequency. 3. The results of electrodiagnostic test represented useful correlation to predict the final effects of treatment. Conclusion : Based on the above results, the prognosis factors, the degree of recovery, and the sequelae of incomplete recovery were analysed and the effects of electrodiagnostic test was verified.

• 대한한의학회지
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• 제23권1호
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• pp.100-111
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• 2002

Objectives : In order to obtain the clinical type of facial palsy sequelae and try to make the treatment protocols for each, I observed patients who visited Gunpo-Wonkwang oriental medicine center with Bell’s palsy sequelae that were treated over three months. Methods : I make the value standard of muscle paralysis, contraction, synkinesis and acquired the results as follows. Results and Conclusions : 1. The distribution of age and sex was as follows : females of 41-50 years were the most common demographic, females of 51-60 years and males of 31-40 years were the second, males of 51-60 years were the third, females of 21-30 years and males of over 60 years were the fourth, and males of 41-50 years were the fifth. 2. The distributions of period of disease were as follows : 3-6 months was the most, 12-18 months was the second, 6-12 months and over 24 months was the third, and 18-24 months was the fourth. 3. The sequelae distributions of disease were as follows. In the group of 3-6 months, 12 persons (80%) showed palsy and atrophy, 10 persons (66.6%) showed synkinetics. In the group of over 6 months, all patients showed muscle palsy, muscle atrophy and synkinetics. All groups showed lower sensitivity of muscles, but the group of 18-24 months and the group of over 24 months showed more. Tinnitus was shown by the groups of 12-18 months and 3-6 months. Facial muscle pain was shown by the group of3-6 months only, Crocodile's tear was shown by the groups of 18-24 months and over 24 months. 4. The total palsy rates of sequela patients and palsy rates by muscle for disease period were as follows. The total palsy rate was 27.94%; the palsy rates for the group of 6-12 months and the group of over 24 months was lower than the total palsy rate. The rates of the groups of 3-6, 12-18, 18-24 months were higher than the total palsy rate. The palsy rate of zygomatic minor, levator labii superior muscle was higher than the total palsy rate for all groups. 5. Synkinetics manifestation rates by disease period were as follows. Total synkinetics manifestation rate was 73.81 %; the manifestation rate of the group of 6-12 months was lower than total synkinetics manifestation rate. For the groups of 12-18, 18-24, and over 24 months it was more than the total synkinetics manifestation rate. The group of over 24 months, total synkinetics induced by orbicularis oculi muscle and orbicularis oris muscle. 6. Facial muscle atrophy rates by disease period were as follows. Total atrophy rate was 5.26%; in the groups of 6-12, 18-24, over 24 months, the atrophy rates were higher than the total atrophy rate. The groups of 3-6 and 12-18 months showed lower than the total atrophy rates, while the atrophy of the levator palpebrae superioris muscle and levator palpebrae inferioris muscle was higher than in other groups.