• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.951-956
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• 2005

Since a snake achieves various movements just by a slender body, the mechanism of it is very amazing Many researches have been focusing on a snake like robot and have done for it on the ground. However the meander motion of the snake not only can be done by ground creatures, but also can be done by a water creature such as a sea snake or an eel. Therefore, the purpose of our research is to develop an autonomous underwater robot like the sea snake. As an approach to this goal, we develop an experimental sea snake-like-robot for examining basic characteristics, including propulsion, a turning and other performance. Our developed robot is composed of the head and 4 bodies. Each body equips one servomotor, which is operated with pulse signal. In the head unit, 1- chip-microcomputer, which generates the servomotor control signal for realizing a snake motion and the battery, is equipped. Our robot is covered with a rubber film for the waterproof. Using our developed robot, characteristics of the snake-like-robot moved in water are examined.

• 한국지능시스템학회논문지
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• 제19권5호
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• pp.661-666
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• 2009

뱀형 모듈라 로봇은 모듈을 일련의 형태로 연결하여 구성한 것으로, 다양한 환경에 대해서 강인성을 가지고 있고, 모듈 일부의 고장에도 이동할 수 있는 장점을 가진다. 그러나 이동 제어 방법이 어렵고, 아직까지 효율적이고 다양한 이동법의 개발이 미비한 편이다. 본 연구에서는 뱀형 로봇의 이동제어를 위하여 GA(Genetic Algorithm)기반의 위상생성 방식과 임의의 궤적 생성방식을 비교하고, 이를 확장하여 일부 모듈만의 선택에 따른 영향을 분석하기 위해서 GA를 통한 모듈 선택 실험을 수행하였다. KMC사의 뱀형 로봇을 대상으로 먼저 webots 시뮬레이터 상에서 모델링 및 시뮬레이션 환경을 구축하고, 위의 GA 기반 이동 생성 실험들을 수행하였다.

• 제어로봇시스템학회논문지
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• 제15권6호
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• pp.604-611
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• 2009

Modular snake-like robots are robust for failure and have flexible locomotion for environments, but are difficult to control. Various phase and evolutionary approaches for modular robots have been studied for many years, but there are few comparisons among these methods. In this paper, Phase, GAps, GA and GP approaches are implemented and compared for flat, stairs, and slope environments. In addition, simulations of the locomotion evolution for modular snake-like robot are executed in Webots environments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.486-491
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• 2005

There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

• Natural Product Sciences
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• 제26권4호
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• pp.259-267
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• 2020

Snakebite is a severe medical, economic, and social problem across the world, mostly in the tropical and subtropical area. These regions of the globe have typical of the world's venomous snakes present where access to prompt treatment is limited or not available. Snake venom is a complex mixture of toxin proteins like neurotoxin and cardiotoxin, and other enzymes like phospholipase A2 (PLA2), haemorrhaging, transaminase, hyaluronidase, phosphodiesterase, acetylcholinesterase, cytolytic and necrotic toxins. Snake venom shows a wide range of biological effects like anticoagulation or platelet aggregation, hemolysis, hypotension and edema. Phospholipase A2 is the principal constituent of snake venom; it catalyzes the hydrolysis of the sn-2 position of membrane glycerophospholipids to liberate arachidonic acid, which is the precursor of eicosanoids including prostaglandins and leukotrienes. The information regarding the structure and function of the phospholipase A2 enzyme may help in treating the snakebite victims. This review article constitutes a brief description of the structure, types, mechanism occurrence, and tests of phospholipase A2 and role of components of medicinal plants used to inhibit phospholipase A2.

• 대한약침학회지
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• 제2권1호
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• pp.73-91
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• 1999

This study was carried out to invastigate the researches of Snake Venom and snakes which used in treatment 1. The fist literature that used the snake for treatment is Shin Nong Ben Cao Jing 2. Composition of Snake Venom is consist of Enzymatic proteins ; Phospholipase A(A1-2), Protease, L-amino acid oxidase etc, and Non-enzymatic proteins ; Crotamine(Cytolysin), Proteolytic factor(Hematoxin), Crotoxin(Neurotoxin) etc. 3. Main toxins in Snake Venom are Hematoxin, Cytolysin, Neurotoxin and Cardiotoxin. Lethal dose 50 value of Agkistrodon brevicaudus is $45.87{\mu}g$/18g, Agkistrodon saxatilis is $10.28{\mu}g$/18g, Agkistrodon ussuriensis is $8.68{\mu}g$/18g, therefore Agkistrodon ussuriensis has strongist Snake Venom of all in Korea. 4. Pharmacological actions of Snake Venom are anticoagulation, thrombolytic function, hypotensor etc. 5. Systemic syndromes and signs after snakebite are Dizziness(25.7%), Vomitting(23.1%), Fever(22%), Visual disturbance(18%), Headache(17.7%) and Dyspnea(17.6%), etc. 6. Local syndrome and sign after snakebite is Discoloration(54.2%), Bleeding(20.2%), Bullae(10.7%), Skinulcer(10.8%), etc. 7. Pathological syndromes after snakebite are WBC increase, Urine protein, Urine sugar, Haematuria and elevation of S-GDT, S-GPT etc. These syndromes are leaded by Hematoxin and Cytolysin. 8. Complication signs after snakebite are Cellulitis, Gastritis, Lympoma, Abscess etc. 9. Common function of Viperidae(Agkistrodon acutus or Zaocys dhumnades etc) is expelling the wind(祛風), removing obstruction in the channels(通絡), antipastic function(止痙). And it is used in order to cure hemiparesis, hemiplegia, facial palsy and CVA disease, etc. 10. Using way of snake for medical treatment is various like Herbal alchol therapy, pill, powder and injection etc. The Study on the Snake Venom should be carried out continuously for using of medical treatment.

• 전기학회논문지
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• 제64권9호
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• pp.1356-1362
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• 2015

Modular snake-like robots are robust for failure and have flexible locomotions for obstacle environment than of walking robot. This requires an adaptation capability which is obtained from a learning approach, but has not been analysed as well. In order to investigate the property of adaptation of locomotion for different terrains, NEAT controllers are trained for a flat terrain and tested for obstacle terrains. The input and output characteristics of the adaptation for the neural network controller are analyzed for different terrains in frequency domain.

• 한국컴퓨터정보학회논문지
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• 제17권12호
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• pp.101-109
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• 2012

TRUS영상에서 전립선에 대한 많은 진단과 치료 과정에서 정확한 전립선 경계의 추출이 요구된다. 여기에는 전립선 경계의 애매함, 반점, 낮은 그레이 레벨로 인하여 많은 어려움이 존재한다. 본 논문에서는 서포트 벡터와 뱀형상 윤곽선을 이용하여 TRUS영상의 자동 전립선 분할에 대한 방법을 제안한다. 이 방법은 전처리, 가버 특성 추출, 학습, 전립선 추출 단계로 구성된다. 텍스처 특성을 추출하기 위하여 가버 필터 뱅크가 사용되며, 학습 과정에서 전립선과 비전립선의 각 특성을 얻기 위하여, SVM이 사용된다. 전립선의 경계는 뱀형상 윤곽 알고리즘에 의해 추출된다. 실험 결과, 제안된 알고리즘은 인간 전문가가 추출한 경계와 비교했을 때 9.3%보다 적은 차이로 전립선 경계를 추출할 수 있었다.

• Journal of Information Processing Systems
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• 제9권1호
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• pp.103-116
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• 2013

Prostate cancer is one of the most frequent cancers in men and is a major cause of mortality in the most of countries. In many diagnostic and treatment procedures for prostate disease accurate detection of prostate boundaries in transrectal ultrasound(TRUS) images is required. This is a challenging and difficult task due to weak prostate boundaries, speckle noise and the short range of gray levels. In this paper a method for automatic prostate segmentation in TRUS images using Gabor feature extraction and snake-like contour is presented. This method involves preprocessing, extracting Gabor feature, training, and prostate segmentation. The speckle reduction for preprocessing step has been achieved by using stick filter and top-hat transform has been implemented for smoothing the contour. A Gabor filter bank for extraction of rotation-invariant texture features has been implemented. A support vector machine(SVM) for training step has been used to get each feature of prostate and nonprostate. Finally, the boundary of prostate is extracted by the snake-like contour algorithm. A number of experiments are conducted to validate this method and results showed that this new algorithm extracted the prostate boundary with less than 10.2% of the accuracy which is relative to boundary provided manually by experts.

• Biomolecules & Therapeutics
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• 제22권2호
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• pp.106-113
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• 2014

In the present study, we investigated anti-cancer effect of snake venom activated NK cells (NK-92MI) in lung cancer cell lines. We used snake venom ($4{\mu}g/ml$) treated NK-92MI cells to co-culture with lung cancer cells. There was a further decrease in cancer cell growth up to 65% and 70% in A549 and NCI-H460 cell lines respectively, whereas 30-40% was decreased in cancer cell growth by snake venom or NK-92MI alone treatment. We further found that the expression of various apoptotic proteins such as that Bax, and cleaved caspase-3 as well as the expression of various death receptor proteins like DR3, DR4 and Fas was also further increased. Moreover, consistent with cancer cell growth inhibition, the DNA binding activity of NF-${\kappa}B$ was also further inhibited after treatment of snake venom activated NK-92MI cells. Thus, the present data showed that activated NK cells could further inhibit lung cancer cell growth.