• 한국지능시스템학회논문지
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• 제8권3호
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• pp.95-103
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• 1998

접촉센서가 제공하는 tactile영상을 이용하여 접촉면의 형태를 인식할 때 영상의 모양은 접촉면에 가해지는 힘의 크기에 따라 변화된다. 따라서 많은 노력에도 부루하고 tactile 센서만을 이용하여 접촉면의 형태를 완전히 인식하는 것은 매우 어려운 일로 인식되고 있다. 본 논문에서는 이러한 문제를 해결하기 위해 tactile 영상이 얻어지는 때의 힘을 동시에 측정하고 힘에 따라 변화하는 영상의 모양을 퍼지융합 알고리즘을 이용하여 인식하는 방법을 제안한다. 접촉센서의 tactile 영상은 eigen vector해석 방벅을 적용하여 장축과 단축의 길이로 표현된다. 이들은 접촉 시에 가해지는 힘의 분포에 따른 경계선의 변호를 측정하여 만들어진 소속함수에 의해 퍼지화되며 Averaged Minkowski's distance를 이용하여 융합된다. 제안된 알고리즘은 다중센서시스템에 구현하여 실험하였으며 측정 시에 가해지는 힘의 크기 및 측정면의 종류에 고르게 86% 이상의 인식률을 보여 주었다. 제안된 알고리즘은 복수개의 손가락을 갖는 로봇의 손에 구현하면 작은 힘에도 변형되는 물체의 정밀한 조자이나 인식에 응용될 수 있다.

• Journal of Biosystems Engineering
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• 제40권1호
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• pp.78-88
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• 2015

Purpose: The objective of this study is to review researches regarding factors that potentially affect adolescent calcium (Ca) metabolism, and to suggest a potential modeling approach for optimizing gastrointestinal Ca absorption and peak bone mass. Background: Optimal gastrointestinal Ca absorption is a key to maximizing peak bone mass in adolescents. Urine Ca excretion in adolescents rises only after bone accretion is saturated, indicating that higher intestinal Ca absorption and bone retention is necessary to ensure maximum bone accretion. Hence, maximizing peak bone mass is possible by controlling the factors influencing gastrointestinal Ca absorption and bone accretion. However, a mechanism that explains the unique adolescent Ca metabolism has not yet been elucidated. Review: Dietary factors that enhance gastrointestinal Ca absorption may increase the available Ca pool usable for bone accretion, and a specific hormone may direct optimal Ca utilization to maximize peak bone mass. IGF-1 is an endocrine hormone whose levels peak during adolescence and increase fractional Ca absorption and bone Ca accretion. Prebiotics, generally obtained from dietary sources, have been reported to exert a beneficial effect on Ca absorption via microbiota activity. We selected and reviewed three candidates that could be used to propose a comprehensive Ca metabolic model for optimal Ca absorption and peak bone mass in adolescents. Modeling: Modeling has been used to investigate Ca metabolism and its regulators. Herein, we reviewed previous Ca modeling studies. Based on this review, we proposed a method for developing a comprehensive model that includes regulatory effectors of IGF-1 and prebiotics.

• The Korean Journal of Physiology and Pharmacology
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• 제4권6호
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• pp.507-513
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• 2000

ErbB3/HER3 is a cell surface receptor which belongs to the ErbB/HER subfamily of receptor protein tyrosine kinases. When expressed in NIH/3T3 cells, ErbB3 can form heterodimeric coreceptor with endogenous ErbB2. Among known intracellular effectors of the ErbB2/ErbB3 are mitogen-activated protein kinase (MAPK) and phosphoinositide (PI) 3-kinase. In the present study, we studied relative contributions of above two distinct signaling pathways to the heregulin-induced mitogenic response via activated ErbB3. For this, clonal NIH-3T3 cell lines expressing wild-type ErbB3 and ErbB3 mutants were stimulated with $heregulin{\beta}_1$. While cyclin D1 level was markedly high and further increased by treatment of heregulin in cells expressing wild-type ErbB3, the elimination of either Shc binding or PI 3-kinase binding lowered both levels. This result was supported by the reduction of cyclin $D_1$ expression by preteatment with MAPK kinase inhibitor or PI 3-kinase inhibitor before stimulation with heregulin. In accordance with the cyclin $D_1$ expression, elimination of either Shc binding or PI 3-kinase binding reduced the heregulin-induced DNA synthesis and cell growth rate. Our results obtained by the comparison of wild-type and ErbB3 mutants indicate that the full induction of the cell cycle progression through $G_1/S$ phase by ErbB3 activation is dependent on both Shc/MAPK and PI 3-kinase signal transduction pathways.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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• pp.621-631
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• 1996

It is said that robot can be used for multi-purpose use by changing end effector or/and visual sensor with its software. In this study, it was investigated what multi-purpose robot for fruit-production was using a tomato harvesting robot and a robot to work in vineyard. Tomato harvesting robot consisted of manipulator, end-effector, visual sensor and traveling device. Plant training system of larger size tomato is similar with that of cherry-tomato. Two end-effectors were prepared for larger size tomato and cherry-tomato fruit harvesting operations, while the res components were not changed for the different work objects. A color TV camera could be used for the both work objects, however fruit detecting algorithm and extracted features from image should be changed. As for the grape-robot , several end-effector for harvesting , berry thinning , bagging and spraying were developed and experimented after attaching each end-effector to manipulator end. The manipulator was a polar coordinate type and had five degrees of freedom so that it could have enough working space for the operations. It was observed that visual sensor was necessary for harvesting, bagging and berry-thinning operations and that spraying operation requires another sensor for keeping certain distance between trellis and end-effector. From the experimental results, it was considered that multi-operations by the same robot could be appropriately done on the same or similar plant training system changing some robot components . One of the important results on having function of multi-operation was to be able to make working period of the robot longer.

• Journal of Microbiology and Biotechnology
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• 제15권3호
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• pp.551-559
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• 2005

The recent rapid increase in genomic data related to many microorganisms and the development of computational tools to accurately analyze large amounts of data have enabled us to design several kinds of simulation approaches for the complex behaviors of cells. Among these approaches, dFBA (dynamic flux balance analysis), which utilizes FBA, differential equations, and regulatory events, has correctly predicted cellular behaviors under given environmental conditions. However, until now, dFBA has centered on substrate concentration, cell growth, and gene on/off, but a detailed hierarchical structure of a regulatory network has not been taken into account. The use of Boolean rules for regulatory events in dFBA has limited the representation of interactions between specific regulatory proteins and genes and the whole transcriptional regulation mechanism with environmental change. In this paper, we adopted the operon as the basic structure, constructed a hierarchical structure for a regulatory network with defined fundamental symbols, and introduced a weight between symbols in order to solve the above problems. Finally, the total control mechanism of regulatory elements (operons, genes, effectors, etc.) with time was simulated through the linkage of dFBA with regulatory network modeling. The lac operon, trp operon, and tna operon in the central metabolic network of E. coli were chosen as the basic models for control patterns. The suggested modeling method in this study can be adopted as a basic framework to describe other transcriptional regulations, and provide biologists and engineers with useful information on transcriptional regulation mechanisms under extracellular environmental change.

• 한국균학회소식:학술대회논문집
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• 한국균학회 2015년도 추계학술대회 및 정기총회
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• pp.26-26
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• 2015

Phytophthora infestans is the causal agent of potato and tomato late blight, one of the most devastating plant diseases. P. infestans secretes effector proteins that are both modulators and targets of host plant immunity. Among these are the so-called RXLR effectors that function inside plant cells and are characterized by a conserved motif following the N-terminal signal peptide. In contrast, the effector activity is encoded by the C terminal region that follows the RXLR domain. Recently, I performed in planta functional profiling of different RXLR effector alleles. These genes were amplified from a variety of P. infestans isolates and cloned into a Potato virus X (PVX) vector for transient in planta expression. I assayed for R-gene specific induction of hypersensitive cell death. The findings included the discovery of new effector with avirulence activity towards the Solanum bulbocastanum Rpi-blb2 resistance gene. The Rpi-blb2 encodes a protein with a putative CC-NBS-LRR (a coiled-coil-nucleotide binding site and leucine-rich repeat) motif that confers Phytophthora late blight disease resistance. We examined the components required for Rpi-blb2-mediated resistance to P. infestans in Nicotiana benthamiana. Virus-induced gene silencing was used to repress candidate genes in N. benthamiana and to assay against P. infestans infections. NbSGT1 was required for disease resistance to P. infestans and hypersensitive responses (HRs) triggered by co-expression of AVRblb2 and Rpi-blb2 in N. benthamiana. RAR1 and HSP90 did not affect disease resistance or HRs in Rpi-blb2-transgenic plants. To elucidate the role of salicylic acid (SA) in Rpi-blb2-mediated resistance, we analyzed the response of NahG-transgenic plants following P. infestans infection. The increased susceptibility of Rpi-blb2-transgenic plants in the NahG background correlated with reduced SA and SA glucoside levels. Furthermore, Rpi-blb2-mediated HR cell death was associated with $H_2O_2$, but not SA, accumulation. SA affects basal defense and Rpi-blb2-mediated resistance against P. infestans. These findings provide evidence about the roles of SGT1 and SA signaling in Rpi-blb2-mediated resistance against P. infestans.

• Journal of Microbiology and Biotechnology
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• 제9권4호
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• pp.429-435
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• 1999

An adenosine 5'-monophosphate deaminase (AMP aminohydrolase, EC 3.5.4.6) was purified to homogeneity from the cell-free extract of Saccharomyces cerevisiae DKCTC7248. The molecular mass of subunit was estimated to be 80 kDa on SDS-PAGE, and that of the holoenzyme was shown to be 240 kDa by gel filtration. The isoelectric point of the enzyme (AMP deaminase D) was determined to be 6.2. The AMP deaminase D was specific towards AMP with an apparent $K_m$ value of 4.1 mM and a Hill coefficient, $n_H$, of 2.2. Both ATP and ADP were positive allosteric effectors of the AMP deaminase D: The apparent $K_{m}$ was decreased to 1.6 mM and 3.3 mM in the presence of 0.1 mM ATP and ADP, respectively, lowering $n_{H}$ to 1.0. Univalent cations like $K^+, Na^+ and Li^ +$ activated the enzyme but some divalent cations such as $Cu^{ 2+} and Cd^{2+}$ showed strong inhibitory effects. This enzyme displayed optimum activity at $30^{\circ}C$ and pH 7.0. In addition, it was stable up to $45^{\circ}C$ and over a wide pH range(pH 5.5-9.0). Amino acid sequences of its N-terminal region were analyzed to be ADYKMQMFADDA.

• 약학회지
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• 제47권4호
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• pp.234-238
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• 2003

Linarin is a main compound from Chrysanthemum zawadskii var, latilobum. However, the biological mechanisms of these activities are unclear. Because of this wide diversity of effects, it is believed that they may be exerted through pluripotent effectors of linarin. In our previous screening study, the effects of linarin on the mouse macrophages cell line, RAW 264.7 cells, were investigated. It was found that linarin could stimulate macrophages activation by the production of tumor necrosis factor (TNF). The linarin (6.25∼12.5 $\mu\textrm{g}$/mι) inhibited the production of NO in LPS-activated RAW 264.7 cells and linarin became an useful candidates for the development of new drug to treat endotoxemia and inflammation accompanied by the overproduction of NO. However, linarin-treated total lymphocyte showed cytotoxicity in a dose dependent manner between 20 $\mu\textrm{g}$/mι and 40 $\mu\textrm{g}$/mι. In this study, linarin derivative (acetylated linarin) was synthesized in order to obtain less-cytotoxicity of linarin and evaluated for their in vitro cytotoxic activity aganist mouse total lymphocyte. There was no cytotoxic activity in a dose dependent manner (20∼40 $\mu\textrm{g}$/mι) of acetylated linarin whereas linarin showed. The production of NO, however, was not the case by this modified linarin. The cell morphological change was not significantly changed in response to acetylated linarin alone and these effects were potentiated by the addition of LPS. These results suggest that acetylated linarin may be developed to be a promising new drug candidate without cytotoxicity on the basis of its activity of macrophage activation.

• 생물환경조절학회지
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• 제18권2호
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• pp.87-94
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• 2009

본 연구는 식물체 캘러서의 접종공정을 자동화하기 위한 로봇개발을 위하여 수행되었으며, 본 보에서는 로봇의 주요구성부인 엔드이펙터 및 전체 로봇시스템의 성능에 대한 연구결과를 소개하였다. 이에 본 보에서 소개한 연구결과를 요약하면, 캘러스 접종을 위하여 흡인식 엔드이펙터와 기계식 엔드이펙터를 제작하였으며, 흡인식은 분리 및 치상의 겸용, 기계식은 분리 분할 치상용으로 각각 분리하여 제작하였으며, 흡인식 엔드이펙터의 성능시험 결과, 평균 8.2kPa의 흡인압에서 캘러스가 깨끗이 분리되었으며 분리된 캘러스를 새배지로 치상 고정히는데 소요되는 적정 배출압은 12kPa로 나타났다. 또한 기계식 엔드이펙터를 이용한 접종공정 자동화 시스템의 성능시험으로서 분할, 파지, 이송 및 치상 작업 성능을 시험한 결과 분할에서는 97%, 분할된 캘러는 모두 정확하게 파지되었으나, 치상하기 위하여 새로운 배양용기로 이송하는 과정에서는 일부 미끄러지는 현상이 발생하여 95%의 성능을 보였고 이송된 캘러스는 모두 정확하게 치상이 기능하였다. 따라서 분할하여 치상할 총 80개의 캘러스 가운데 74개가 정확하게 작업되는 것으로 나타나 전체 성공율은 92%였다. 또한 식물 조직 배양 자동화 공정에 사용되는 로봇에 있어서 엔드 이펙터를 장착하게 되는 매니퓰레이터로서는 6자유도의 매니퓰레이터를 선정하였다.

• BMB Reports
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• 제52권12호
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• pp.706-711
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• 2019

Cisplatin (Cis-DDP) is one of the most widely used anti-cancer drugs. It is applicable to many types of cancer, including lung, bladder, and breast cancer. However, its use is now limited because of drug resistance. p90 ribosomal S6 kinase (p90RSK) is one of the downstream effectors in the extracellular signal-regulated protein kinases 1 and 2 (ERK1/2) pathway and high expression of p90RSK is observed in human breast cancer tissues. Therefore, we investigated the role of p90RSK in the Cis-DDP resistance-related signaling pathway and epithelial-mesenchymal transition (EMT) in breast cancer cells. First, we discovered that MDA-MB-231 cells exhibited more Cis-DDP resistance than other breast cancer cells, including MCF-7 and BT549 cells. Cis-DDP increased p90RSK activation, whereas the inactivation of p90RSK using a small interfering RNA (siRNA) or dominant-negative kinase mutant plasmid overexpression significantly reduced Cis-DDP-induced cell proliferation and migration via the inhibition of matrix metallopeptidase (MMP)2 and MMP9 in MDA-MB-231 cells. In addition, p90RSK activation was involved in EMT via the upregulation of mRNA expression, including that of Snail, Twist, ZEB1, N-cadherin, and vimentin. We also investigated NF-κB, the upstream regulator of EMT markers, and discovered that Cis-DDP treatment led to NF-κB translocation in the nucleus as well as its promoter activity. Our results suggest that targeting p90RSK would be a good strategy to increase Cis-DDP sensitivity in triple-negative breast cancers.