• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.163-172
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• 2007

A swarm-bot docking with two independent robots aiming at overcoming obstacles or climbing up/down stairs is introduced how it can be manufactured and controlled. Utilizing the fast mobility of the vehicle robot and cooperating between robots expands the applications of the robot. An algorithm for identifying the partner robot and its generic mechanism enabling the docking of two robots are addressed. The designed swarm-bot has advantages in terms of overcoming obstacle or stair climbing which is not easily implemented by a single robot, increasing the adaptability to the environment.

• Journal of the Korea Safety Management & Science
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• v.7 no.1
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• pp.137-146
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• 2005

크로스도킹은 물류센터의 운영 개념으로써 입고트럭에 의해 배달된 물품이 재고로써 보관됨이 없이 즉시 고객의 수요에 따라 재분류되어 출고트럭에 적재되어 고객에게 배달되는 프로세스로 구성된다. 본 연구에서는 임시보관 장소를 보유한 크로스도킹 시스템의 총 운영시간을 최소화하기 위한 입고 트럭과 출고 트럭의 일정계획 수립을 위한 수학적 모델을 개발하였다. 본 연구에서 개발한 모델의 적용으로 물류센터 내에서의 자재 취급 빈도 및 시간이 감소하여 제품 손상을 최소화 시키는 효과가 기대된다.

• Radiation Oncology Journal
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• v.9 no.1
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• pp.123-130
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• 1991

A docking intraoperative electron beam applicator system, which is easily docking in the collimator for a linear accelerator after setting a sterilized transparent cone on the tumor bearing area in the operation room, has been designed to optimize dose distribution and to improve the efficiency of radiation treatment method with linear accelerator. This applicator system consisted of collimator holder with shielded metals and docking cone with transparent acrylic cylinder, A number of technical innovations have been used in the design of this system, this dooking cone gives a improving latral dose coverage at therapeutic volume. The position of $90\%$ isodose curve under suface of 8 cm diameter cone was extended $4\sim7$ mm at 12 MeV electron and the isodose measurements beneath the cone wall showed hot spots as great as $106\%$ for acrylic cone. The leakage radiation dose to tissues outside the cone wall was reduced as $3\sim5\%$ of output dose. A comprehensive set of dosimetric characteristics of the intraoperative radiation therapy applicator system is presented.

• Journal of Microbiology and Biotechnology
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• v.23 no.2
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• pp.218-224
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• 2013

The aldo-keto reductases catalyze reduction reactions using various aliphatic and aromatic aldehydes/ketones. Most reductases require NADPH exclusively as their cofactors. However, NADPH is much more expensive and unstable than NADH. In this study, we attempted to change the five amino acid residues that interact with the 2'-phosphate group of the adenosine ribose of NADPH. These residues were selected based on a docking model of the YOL151W reductase and were substituted with other amino acids to develop NADH-utilizing enzymes. Ten mutants were constructed by site-directed mutagenesis and expressed in Escherichia coli. Among them, four mutants showed higher reductase activities than wild-type when using the NADH cofactor. Analysis of the kinetic parameters for the wild type and mutants indicated that the $k_{cat}/K_{m}$ value of the Asn9Glu mutant toward NADH increased 3-fold. A docking model was used to show that the carboxyl group of Glu 9 of the mutant formed an additional hydrogen bond with the 2'-hydroxyl group of adenosine ribose. The Asn9Glu mutant was able to produce (R)-ethyl-4-chloro-3-hydroxyl butanoate rapidly when using the NADH regeneration system.

• Nuclear Engineering and Technology
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• v.40 no.4
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• pp.319-326
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• 2008

To transport process wastes efficiently from the Advanced Spent Fuel Conditioning Pyro-process Facility (ACPF) at the Korea Atomic Energy Research Institute (KAERI), a new hot cell cask has been designed based on an existing hot cell padirac transport cask, with not only a neutron absorber for improved shielding capability, but also a docking facility for an easy docking system. In the new hot cell cask, two kinds of materials have been considered as shielding materials, polyethylene and resin. To verify the transport compatibility of the waste and spent fuel for the ACPF, neutron and photon shielding calculations were performed using the MCNPX code. The source term was evaluated by the ORIGEN-ARP code system based on spent PWR fuel. From the calculation, it was found that the maximum surface dose rates of the hot cell cask with the two candidates were estimated within the limit (2 mSv/hr).

• Journal of the Korea Society of Computer and Information
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• v.25 no.6
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• pp.109-117
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• 2020

An edutainment system aims to help learners to recognize problems effectively, grasp and classify important information needed to solve the problems and convey the contents of what they have learned. Edutainment contents can be usefully applied to education and training in the both scientific and industrial areas. Our present work proposes an edutainment system that can be applied to a drug discovery process including virtual screening by using intuitive multi-modal interfaces. In this system, a stereoscopic monitor is used to make three-dimensional (3D) macro-molecular images, with supporting multi-modal interfaces to manipulate 3D models of molecular structures effectively. In this paper, our system can easily solve a docking simulation function, which is one of important virtual drug screening methods, by applying gaming factors. The level-up concept is implemented to realize a bio-game approach, in which the gaming factor depends on number of objects and users. The quality of the proposed system is evaluated with performance comparison in terms of a finishing time of a drug docking process to screen new inhibitors against target proteins of human immunodeficiency virus (HIV) in an e-drug discovery process.

• The Korean Journal of Physiology and Pharmacology
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• v.27 no.4
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• pp.365-374
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• 2023

Crohn's disease (CD) is a chronic inflammatory illness of the digestive system with unknown etiology, and its incidence is increasing worldwide. However, there are currently no effective treatments or medications available for individuals with CD. Therefore, novel therapeutic strategies are urgently needed. The bioactive compounds and targets associated with compounds of Qinghua Xiaoyong Formula (QHXYF) were examined using The Traditional Chinese Medicine Systems Pharmacology database, and 5 disease target databases were also used to identify CD-related disease targets. A total of 166 overlapping targets were identified from QHXYF-related and CD-related disease targets and they were found to be enriched in oxidative stress-related pathways and the PI3K/AKT signaling pathway. Molecular docking was then used to predict how the bioactive compounds would bind to the hub targets. It was found that quercetin could be the core bioactive compound and had good binding affinity to the top 5 hub targets. Finally, animal experiments were performed to further validate the findings, and the results revealed that QHXYF or quercetin inhibited 2,4,6-trinitrobenzenesulfonic acid-induced inflammation and oxidative stress processes by inhibiting the PI3K/AKT pathway, thereby improving CD symptoms. These findings suggest that QHXYF and quercetin may be potential novel treatments for CD.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.5
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• pp.383-389
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• 2016

In this paper, we present the hull blasting machine with vision-based weld bead recognition device for cleaning shipment exterior wall. The purpose of this study is to introduce the mechanism design of the high efficiency hull blasting machine using the vision system to recognize the weld bead. Therefore, we have developed a robot mechanism and drive controller system of the hull blasting robot. And hull blasting characteristics such as the climbing mechanism, vision system, remote controller and CAN have been discussed and compared with the experimental data. The hull blasting robots are able to remove rust or paint at anchor, so the re-docking is unnecessary. Therefore, this can save time and cost of undergoing re-docking process and build more vessels instead. The robot uses sensors to navigate safely around the hull and has a filter system to collect the fouling removed. We have completed a pilot test of the robot and demonstrated the drive control and CAN communication performance.

• Journal of Astronomy and Space Sciences
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• v.35 no.4
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• pp.263-277
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• 2018

This paper presents a vision-based relative pose estimation algorithm and its validation through both numerical and hardware experiments. The algorithm and the hardware system were simultaneously designed considering actual experimental conditions. Two estimation techniques were utilized to estimate relative pose; one was a nonlinear least square method for initial estimation, and the other was an extended Kalman Filter for subsequent on-line estimation. A measurement model of the vision sensor and equations of motion including nonlinear perturbations were utilized in the estimation process. Numerical simulations were performed and analyzed for both the autonomous docking and formation flying scenarios. A configuration of LED-based beacons was designed to avoid measurement singularity, and its structural information was implemented in the estimation algorithm. The proposed algorithm was verified again in the experimental environment by using the Autonomous Spacecraft Test Environment for Rendezvous In proXimity (ASTERIX) facility. Additionally, a laser distance meter was added to the estimation algorithm to improve the relative position estimation accuracy. Throughout this study, the performance required for autonomous docking could be presented by confirming the change in estimation accuracy with respect to the level of measurement error. In addition, hardware experiments confirmed the effectiveness of the suggested algorithm and its applicability to actual tasks in the real world.

• Proceedings of the Korea Water Resources Association Conference
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• 2016.05a
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• pp.578-578
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• 2016

In the past decade, many countries developed varies promising theories, methodologies and technologies for water resources management, such as Smart Water in Korea, eWater in Australia, Intelligent Water in Untied States, and Internet of Water in China. It is no exaggeration to say that Smart Water Management(SWM) will have a major role to play in addressing the global water challenges in the background of climate change, population growth and rapid urbanization. As a result, we can see major shifts taking place in the structure of the water industry, with a need for new approaches, skills, and water management policies. All these point towards a brighter future for the smart water sector and a new water paradigm, with applications and potential throughout the water cycle. However, each countries have their technology and industry standard system which may swift similar innovation and technology into different channels. In that sense, developing a common performance index and standard docking adapter for assessing Smart Water Management Initiatives(SWMI) is crucial for drawing a linkage of SWMI and SWMs to a way to implement advanced technology across Asia and Pacific. The performance index and standard docking adapter will facilitate quantitative and qualitative effects of utilized SWM techniques.