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Search Results: 1 - 10 of 22558 matches for " Sang Bong Kim "
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Path Tracking Controller of Quadruped Robot for Obstacle Avoidance Using Potential Functions Method
Giang Hoang,Hak Kyeong Kim,Sang Bong Kim
International Journal of Science and Engineering , 2013,
Abstract: This paper proposes a tracking controller for obstacle avoidance of a quadruped robot using potential functions method. The followings are done for this task. At first, a ceiling-mounted camera system is installed for image processing. The goal point and obstacles are separated and recognized by a color recognition method. Second, a path planning algorithm using potential functions method is proposed to generate the path to avoid obstacles and to plan a path for the quadruped robot to reach from start point to goal point. Third, a quadruped robot is chosen as the mobile platform for this study and the kinematic model for the robot is presented. Fourth, a tracking controller is designed for the quadruped robot to track the trajectory based on the backstepping method using Lyapunov function. Finally, the simulation results are presented to show the effectiveness of the proposed trajectory planning algorithm and the tracking controller.
Flow cytometric investigation on degradation of macro-DNA by common laboratory manipulations  [PDF]
Hee-Bong Yoo, Hyuk-Min Lim, Inchul Yang, Sook-Kyung Kim, Sang-Ryoul Park
Journal of Biophysical Chemistry (JBPC) , 2011, DOI: 10.4236/jbpc.2011.22013
Abstract: The degree and characteristics of physical degradation of macro-DNA molecules by common laboratory manipulations are reported. With linearized lambda-phage viral DNA as the model DNA, fragmentation of macro-DNA by various indispensable laboratory manipulations were investigated using a high sensitivity flow cytometric setup. Investigated manipulations included pipetting, vortexing, rocking, freeze-thawing, ultrasonication and ultrafiltration. “Exhaustive counting” of the intact lambda DNA molecules following such manipulations enabled a quantitative assessment of the resulting fragmentation, which also revealed the type of degradation reflected in the fragmentation patterns. The use of high sensitivity flow cytometry was especially suited to investigate the degradation of dilute DNA solutions that may not be suitable for analysis using traditional methods. Notable findings of this study included: the boarderline-size of DNA chains in terms of susceptibility to shear stresses by such manipulations; discernable instability of nicked DNAs; shattering-fragmentation of DNAs by freeze-thawing or ultrasonication; effectiveness of some protection media; marked “self-protection effect” of concentrated DNA solutions. These findings support and refine our traditional knowledge on how to maintain the physical integrity of macro-DNA molecules against inevitable laboratory manipulations.
A case of colon perforation due to enteropathy-associated T-cell lymphoma
Jun Bong Kim,Seong Hwan Kim,Young Kwan Cho,Sang Bong Ahn
World Journal of Gastroenterology , 2013, DOI: 10.3748/wjg.v19.i11.1841
Abstract: Enteropathy-associated T-cell lymphoma (EATL) is an extremely rare disease, which is often related to gluten-sensitive enteropathy. It is an uncommon intestinal lymphoma with very poor prognosis and high mortality rate. In the absence of specific symptoms or radiological findings, it is difficult to diagnose early. Major complications of EATL have been known as intestinal perforation or obstruction, and only 5 cases of EATL are reported in South Korea. In this study, we report a case of 71-year-old male with symptoms of diarrhea, which later it progressed into cancer perforation of the colon. The initial colonoscopic findings were normal and computed tomography scan demonstrated a segmental wall thickening of the distal ascending colon with nonspecific multiple small lymphnodes, along the ileocolic vessels, but no signs of mass or obstruction. The histologic findings of resected specimen confirmed EATL type II. Patient expired two weeks after the operation. Therefore, we emphasize the need of random biopsy in the presence of normal mucosa appearance on colonoscopy for the early diagnosis of EATL.
Electron orbital valves made of multiply connected armchair carbon nanotubes with mirror-reflection symmetry: tight-binding study
Gunn Kim,Sang Bong Lee,Hoonkyung Lee,Jisoon Ihm
Physics , 2006, DOI: 10.1088/0953-8984/19/2/026217
Abstract: Using the tight-binding method and the Landauer-B\"{u}ttiker conductance formalism, we demonstrate that a multiply connected armchair carbon nanotube with a mirror-reflection symmetry can sustain an electron current of the $\pi$-bonding orbital while suppress that of the $\pi$-antibonding orbital over a certain energy range. Accordingly, the system behaves like an electron orbital valve and may be used as a scanning tunneling microscope to probe pairing symmetry in d-wave superconductors or even orbital ordering in solids which is believed to occur in some transition-metal oxides.
Moving Object Tracking and Avoidance Algorithm for Differential Driving AGV Based on Laser Measurement Technology
Pandu Sandi Pratama,Sang Kwun Jeong,Soon Sil Park,Sang Bong Kim
International Journal of Science and Engineering , 2013,
Abstract: This paper proposed an algorithm to track the obstacle position and avoid the moving objects for differential driving Automatic Guided Vehicles (AGV) system in industrial environment. This algorithm has several abilities such as: to detect the moving objects, to predict the velocity and direction of moving objects, to predict the collision possibility and to plan the avoidance maneuver. For sensing the local environment and positioning, the laser measurement system LMS-151 and laser navigation system NAV-200 are applied. Based on the measurement results of the sensors, the stationary and moving obstacles are detected and the collision possibility is calculated. The velocity and direction of the obstacle are predicted using Kalman filter algorithm. Collision possibility, time, and position can be calculated by comparing the AGV movement and obstacle prediction result obtained by Kalman filter. Finally the avoidance maneuver using the well known tangent Bug algorithm is decided based on the calculation data. The effectiveness of proposed algorithm is verified using simulation and experiment. Several examples of experiment conditions are presented using stationary obstacle, and moving obstacles. The simulation and experiment results show that the AGV can detect and avoid the obstacles successfully in all experimental condition.
Anonymous Authorship Control for User-Generated Content
Suk-Bong LEE,Sang-Gyoo SIM,Yeo-Jin KIM,Yun-Sang OH
Journal of Systemics, Cybernetics and Informatics , 2007,
Abstract: User-Generated Content (UGC) is opening up new large market in content services, and more and more people are visiting web sites to share and enjoy UGCs. These trends make many authors to move into online. Authors want to conserve their authorship and expect to publish their UGC anonymously in cases. To meet the requirements, we propose a new authorship control model based on watermarking and metadata. Authors can embed their authorship into their UGC with identities or with anonym. Even though an author publishes his UGC anonymously, he can prove his authorship without unveiling his identity via 5 methods utilizing the proposed authorship model. The proposed model and methods need no TTP and are robust even based on fragile underlying watermarking scheme.
C16 Saturated Fatty Acid Induced Autophagy in A549 Cells through Topoisomerase I Inhibition  [PDF]
Sandeep Karna, Won Bong Lim, Ji Sun Kim, Sang Woo Kim, Kum Hue Bae, Min Sung Cho, Hee Kyun Oh, Ok Su Kim, Hong Ran Choi, Ok Joon Kim, Hui Zheng
Food and Nutrition Sciences (FNS) , 2012, DOI: 10.4236/fns.2012.39160
Abstract: C16 saturated fatty acid (Palmitic acid) is one of the most common dietary fatty acids which played an important role in the cellular biological functions. Palmitic acid (PA) was tested for potential inhibition of DNA topoisomerase I (topo I) and it exhibited inhibitory activity in the nanomolar range. Treatment of lung adenocarcinoma cell line A549 with PA resulted in a decrease in cell viability in a concentration-dependent manner, and PA showed cytotoxicity with an IC50 value of 150 μM. DNA fragmentation assay and caspase activity indicated that PA does not induce apoptotic cell death in A549 cells. Finally, we found that PA was able to cause an increase in autophagic flux in a time-dependent manner, evidenced by the accumulation of LC3 through monodansylcadaverine (MDC) staining. More importantly, inhibition of autophagy by blocking autophagosome formation via the inhibition of type III Phosphatidylinositol 3-kinases (PI-3K), by 3-Methyladenine (3-MA) was able to effectively suppress PA-induced autophagy. We showed that inhibition of autophagy sensitized the cells signal to PA-induced apoptosis, suggesting the pro-survival function of autophagy induced by PA. Taken together, results from this study reveal that PA as a topo I inhibitor induced autophagic cell death in A549 cells.
Fano Resonance and Orbital Filtering in Multiply Connected Carbon Nanotubes
Gunn Kim,Sang Bong Lee,Tae-Suk Kim,Jisoon Ihm
Physics , 2004, DOI: 10.1103/PhysRevB.71.205415
Abstract: We investigate the electron transport in multiply connected metallic carbon nanotubes within the Landauer-B\"{u}ttiker formalism. Quasibound states coupled to the incident $\pi^{*}$ states give rise to energy levels of different widths depending on the coupling strength. In particular, donorlike states originating from heptagonal rings are found to give a very narrow level. Interference between broad and narrow levels produces Fano-type resonant backscattering as well as resonant tunneling. Over a significantly wide energy range, almost perfect suppression of the conduction of $\pi^{*}$ electrons occurs, which may be regarded as filtering of particular electrons ($\pi$-pass filter).
Spinal deformity
Moon Myung-Sang,Lee Bong-Jin,Kim Sung-Soo
Indian Journal of Orthopaedics , 2010,
Abstract:
Robust Control of Welding Robot for Tracking a Rectangular Welding Line
Manh Dung Ngo,Vo Hoang Duy,Nguyen Thanh Phuong,Sang Bong Kim
International Journal of Advanced Robotic Systems , 2008,
Abstract: This paper highlights a welding robot (WR) for its end effector to track a rectangular welding line (RWL). The WR includes five actuators which use a DC motor as a power source. Two controllers are proposed to control the WR's end effector: a main controller and a servo controller. Firstly, based on WR's kinematic equations and its feedback errors using backstepping method the main controller is proposed to design the reference-inputs for the WR's actuators in order that the WR's end effector tracks the RWL. Secondly, based on the dynamic equation of WR's actuator, the servo controller is designed using an active disturbance rejection control method. Finally, a control system incorporated with the main controller and the servo controllers make the WR's end effector robustly track a RWL in the presence of the modeling uncertainty and disturbances during the welding process. In experiment, the main controller which has a function as a master of the control system links to the five servo controllers which have a function as a slave via I2C communication. The effectiveness of the proposed control system is proven through the simulation and experimental results.
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