• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1079-1085
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• 2012

For precise motion control, S-curve velocity profile is generally used but it has disadvantage of relatively long calculation time for floating-point arithmetics. In this paper, we present a new generating method for velocity profile to reduce delay time of profile generation so that it overcomes such disadvantage and enhances the efficiency of precise motion control. In this approach, the velocity profile is designed based on the gamma correction expression that is generally used in image processing to obtain a smoother movement without any critical jerk. The proposed velocity profile is designed to support both T-curve and S-curve velocity profile. It can generate precise profile by adding an offset to the velocity profile with decimals under floating point that are not counted during gamma correction arithmetic operation. As a result, the operation time is saved and the efficiency is improved. The proposed method is compared with the existing method that generates velocity profile using ring buffer on a 8-bit low-cost MCU. The result shows that the proposed method has no delay in generating driving profile with good accuracy of each cycle velocity. The significance of the proposed method lies in reduction of the operation time without degrading the motion accuracy. Generated driving signal also shows to verify effectiveness of the proposed method.

• Proceedings of the KOSOMBE Conference
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• v.1997 no.11
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• pp.249-254
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• 1997

ABA-type block copolymers composed of poly(L-leucine)(PLL) as the A component and poly(ethylene glycol)(PEG) as the B component were synthesized by ring-opening polymerization of L-leucine N-carboxyanhydride initiated by primary amino group located at both ends of PEG chain. A silver sulfadiazine(AgSD)-impregnated wound dressing of sponge-type was prepared by the lyophilization method. Morphological structure of this wound dressing obtained by scanning electron microscopy(SEM) was composed of a dense skin layer and a macroporous inner sponge layer. Equilibrium water content(EWC) of wound dressing was above 10%. It increased with an increased of PEO content in the block copolymer due to the hydrophilicity of PEO. AgSD release from AgSD- impregnated wound dressing in PBS buffer(pH=7.4) was dependent on PEG composition in the block copolymer. Therefore, EWC and release of AgSD can be control by PEG composition. Antibacterial capacity of AgSD-impregnated wound dressing was examined in agar plate against Pseudmonas aeruginosa and Stapplococus aruous. Cytotoxicity of the wound dressing was evaluated by studing mouse skin fibroblast(L929). From the behavior of antimicrobial releasing and the investigation of the suppression of bacterial proliferation, it was supposed that the wound dressing containing antibiotics could protect the wound surfaces from bacterial invasion to suppress the bacterial proliferation effectively. In cytotoxicity observation, cellular damage was reduced by the control led released of AgSD from the LEL sponge matrix of AgSD-medicated wound dressing. In vivo test, granulous tissue formation and wound contraction or the AgSD and DHEA impregnated wound dressing were aster than any other groups.

• Journal of Society of Preventive Korean Medicine
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• v.8 no.2
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• pp.81-98
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• 2004

1. The cell viability was determined by MTT method. Their cytotoxic activities against three cancer cell lines such as A549, MDA-MB-231 and SNU-C4 cell line were tested. Among them, The methanol extract of Saururus chinensis Baill. showed the strongest cytotoxic effect against SNU-C4 cells. These results suggest that the methanol extract of Saururus Chinensis Baill. possessed a potential antitumorous agent. 2. In vitro the antitoxic activity of ethanol extract of Saururus Chinensis Bail on NIH 3T3 fibroblasts was evaluate by the MTT (3-(4,5-dimethyl- thiazol-2-yl)-2,5-diphenyl-2H-tetra캐lium bromide) and SRB (sulforhodamine B protein) assays. The number of NIH 3T3 fibroblasts were increased and tend to regenerate. These results suggest that Saururus Chinensis Bail extract retains a potential antitoxic activity. 3. Complexation of Cd (II) ion with ligands such as quercetin has been determined by UV-vis spectrophotometric method in tris buffer solution at various pH. It was found that only 1 : 1 Cd-complex is formed by the interaction between catechol moiety in ring B and cadmium [Cd(II)] in aqueous solution. The spectral parameters for Cd-complex were determined by Beer's law at various pH. It has shown that 1 : 1 Cd-complex has a maximum absorbance and red shift by the alkaline pH.

• Analytical Science and Technology
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• v.18 no.4
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• pp.271-277
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• 2005

Urea in blood has been measured as an effective marker for diagnosis of renal function. Urea which is e end-product of nitrogen containing metabolites such as proteins is filtered through glomeruli of kidneys and then excreted as urine. If the renal function is deteriorated, the urea concentration in blood will be increased, from which the healthiness of renal function is judged. In order to improve the confidence of diagnosis results, the results must keep traceability chain to certified reference materials, which was certified by primary reference method. In this study, we proposed isotope dilution-liquid chromatography/mass spectrometry (ID-LC/MS) as a candidate primary method, in which $15^N_2$-urea is used as an internal reference material. The developed method is highly accurate in principle and is convenient as it does not require cumbersome derivatization. 0.1 mmol/L ammonium chloride was selected as a mobile phase for HPLC because it provided low interference in MS analysis of relatively low molecular weighted urea. HPLC and MS were connected with an electrospray ionization (ESI) interface of positive mode, which provided high sensitivity and reproducibility. The developed method was validated with internationally recognized reference materials, and we have obtained satisfactory results in an international ring trial. The expanded uncertainty calculated according to ISO guide was 1.8% at 95% confidence interval. The developed method is being used as a primary reference measurement method such as for certification of serum certified reference materials (CRMs).

• Journal of the Korean Chemical Society
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• v.44 no.5
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• pp.403-409
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• 2000

The formation and dissociation rates of $Zn^{2+}$ Complexes with l,4,7,10-tetraaza-13,16-diox-acyclooctadecane-N,N',N",N'"-tetraacetic acid (1), 1,4,7,10-tetraaza-13,16- dioxacyclooctadecane-N,N',N",N'"-tetramethylacetic acid (2), and 1,4,7,10-tetraaza-13,16- dioxacyclooctadecane-N,N',N",N'"-tetrapropionic acid(3) have been measured by stopped-flow and conventional spectrophotometry. Observations were made at 25.0$\pm$0.1 $^{\circ}C$ and at an ionic strength of 0.10 M NaClO$_4$. The formation reactions of $Zn^{2+}$ ion with 1 and 2 took place by the rapid formation of an intermediate complex (ZnH$_3L^+$) in which the $Zn^{2+}$ ion is incompletely coor-dinated. This might then lead to be a final product in the rate-determining step.ln the pH range 4.76-5.76, the diprotonated (H2L2-) form is the kinetically active species despite of its low concentration. The stability con-stants (log$K_{(ZnH$_3$3$L^+$)}$) and specific water-assisted rate constants (koH) of intermediate complexes have been deter-mined from the kinetic data. The dissociation reactions of $Zn^{2+}$ complexes of 1,2, and 3 were investigated with $Cu^{2+}$ ions as a scavenger in acetate buffer. All complexes exhibit acid-independent and acid-catalyzed con-tributions. The effect of buffer and $Cu^{2+}$ concentration on the dissociation rate has also been investigated. The ligand effect on t dissociation rate of $Zn^{2+}$ complexes is discussed in terms of the side-pendant armsand the chelate ring sizes of the ligands.