• Biomedical Science Letters
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• v.18 no.3
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• pp.210-217
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• 2012

Oncolytic viral vectors have shown good candidates for cancer treatment but have many limitations. To improve the therapeutic potential of oncolytic vaccinia virus, we developed a recombinant vaccinia virus expressing the 4-1BBL co-stimulatory molecule or CCL21. 4-1BBL and CCL21 expression was identified by FACS analysis and immunoblotting. rV-4-1BBL vaccination shows significant tumor regression compared to rV-LacZ, but rV-CCL21 shows rapid tumor growth compared to rV-LacZ in the poorly immunogenic B16 murine melanoma model. 4-1BBL expression resulted in the increase of the number of CD8+ T cells and especially the increase of effector (CD62L-CD44+) CD8+ T cells. These data suggest 4-1BBL may be the potential target for enhancement of tumor immunotherapy.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.4
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• pp.446-453
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• 1999

An athlete motion during weightlifting is analyzed based on robotic manipulability, which shows dexterities by changing the position and orientation of the end-effector of robot manipulators arbitrary or along a specified direction. The athlete body is modeled as a highly redundant robot manipulator. The motion of weightlifting is analyzed based on the selected model with a power manipulability. Power manipulability and its geometric characteristics are derived by combining kinematic manipulability and dynamic manipulability. Also, manipulability-based optimal trajectory of weightlifter for given body structure of weightlifter derived through genetic algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.10
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• pp.1119-1127
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• 2012

In this paper, we present an inverse kinematics of a 7-dof Anthropomorphic robot arm using conformal geometric algebra. The inverse kinematics of a 7-dof Anthropomorphic robot arm using CGA can be computed in an easy way. The geometrically intuitive operations of CGA make it easy to compute the joint angles of a 7-dof Anthropomorphic robot arm which need to be set in order for the robot to reach its goal or the positions of a redundant robot arm's end-effector. In order to choose the best solution of the elbow position at an inverse kinematics, optimization techniques have been proposed to minimize an objective function while satisfying the euler-lagrange equation.

• Asian Pacific Journal of Cancer Prevention
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• v.17 no.7
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• pp.3329-3334
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• 2016

Cancer is thought to be a direct result of transcriptional misregulation. Broad analysis of transcriptional regulatory elements in healthy and cancer cells is needed to understand cancer development. Nucleases regulatory domains are recruited to bind and manipulate a specific genomic locus with high efficacy and specificity. TALENs (transcription activator-like effector nuclease) fused to endonuclease FokI have been used widely to target specific sequences to edit several genes in healthy and cancer cells. This approach is promising to target specific cancer genes and for this purpose it is needed to pack such TALENs into viral vectors. There are some considerations which control the success of this approach, targeting appropriate sequences with efficient construction of TALENs being crucial factors. We face some obstacles in construction of TALENs; in this study we made a modification to the method of Cermk et al 2011 and added one step to make it easier and increase the availability of constructs.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.2
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• pp.98-104
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• 2005

A glass transfer robot is used for handling LCDs in the production line of flat panel displays under clean environments. During glass transfer operations of the robot, chattering phenomenon occurs at the robot hand. This deteriorates the accuracy and repeatability of the end-effector of the robot. In this paper, we present the kinematic solution of the robot and then analyze the cause of this chattering phenomenon in view of the mechanism and servo control and propose a practical solution that can reduce the chattering significantly at the robot hand of the glass transfer robot.

• Journal of the Society of Naval Architects of Korea
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• v.48 no.4
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• pp.375-380
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• 2011

Loading/unloading at sea is necessitated as larger container ships are being used. It is also unavoidable to load/unload at sea during military operations. An experimental cable array robot system, which can be used for loading/unloading at sea, consisting of four cables operated by four motors is designed and built. Even though it has simple structure, it has a large pay-load/robot-weight ratio, flexibility and wide workspace and can be easily built at low cost. In order to plan and control the paths of end-effector, two interpolation methods are introduced and compared. Since the robot is entirely based on cable tension, an analysis of tension is also presented for monitoring and planning purpose.

• Proceedings of the IEEK Conference
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• summer
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• pp.263-268
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• 2004

The inverse kinematics problem is to find a set of joint variable values that will place the end effector of a robot manipulator into a given pose. Pieper has shown that a sufficient condition for a manipulator to have a closed form solution is that three adjacent joint axes intersects, hence the six axes robot with spherical wrist allows closed form solution. But many industrial robots have a non-spherical wrist to provide a stronger wrist configuration so that they can handle heavy payloads. Also, the use of a non-spherical wrist can result in a cheap and simple wrist arrangement than when all three axes intersect at a common point. In these cases, closed form solutions cannot be found. Therefore numerical technique must be used to solve the inverse kinematics equations. This paper proposes a new algorithm that can be used for finding inverse kinematics solution of the six axes robot with non-spherical wrist. Computer simulations are provided to prove the usefulness of our method.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.663-665
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• 1998

The purpose of this paper is development of portable cardiovascular signal processing device. Beat-to-beat fluctuation in heart rate, respiration, and blood pressure have been known to be meditated by autonomic nervous system activities convergent on various effector organs. This system consists of data acquisition module, main data processing module and graphic LCD module. The data acquisition module is developed for data aquisition, data multiplexing and interfacing with main data processing system. And, main data processing module is developed for data storing, data processing and interfacing with graphic LCD module. The main processing system is based on 32-bit microprocessor.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.78-85
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• 2017

This paper presents the development of a 3D printer based piezo-driven vertical micro-positioning stage. The stage consists of two flexure bridge structures which amplify and transfer the horizontal motion of the piezo-element into vertical motion of the end-effector. The stage is fabricated with ABS material using a precision 3D printer. This enables a one-body design eliminating the need for assembly, and significantly increases the freedom in design while shortening fabrication time. The design of the stage was optimized using response surface analysis method. Experimental results are presented which demonstrate 100nm stepping in the vertical out-of-plane direction. The results demonstrate the future possibilities of applying 3D printers and ABS material in fabricating linear driven motion stages.

• Journal of the Korea Institute of Military Science and Technology
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• v.10 no.3
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• pp.161-172
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• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.