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The humanized anti-hepatocyte growth factor (HGF) monoclonal antibody (mAb) YYB-101 is a promising therapeutic candidate for treating various cancers. In this study, we developed a bioprocess for large-scale production of YYB-101 and evaluated its therapeutic potential for tumor treatment using a xenograft mouse model. By screening diverse chemically defined basal media formulations and by assessing the effects of various feed supplements and feeding schedules on cell growth and antibody production, we established an optimal medium and feeding method to produce 757 mg/l of YYB-101 in flask cultures, representing a 7.5-fold increase in titer compared with that obtained under non-optimized conditions. The optimal dissolved oxygen concentration for antibody production was 70% pO2. A pH shift from 7.2 to 7.0, rather than controlled pH of either 7.0 or 7.2, resulted in productivity improvement in 5 L and 200 L bioreactors, yielding 737 and 830 mg/ml of YYB-101, respectively. The YYB-101 mAb highly purified by affinity chromatography using a Protein A column and two-step ion exchange chromatography effectively neutralized HGF in a cell-based assay and showed potent tumor suppression activity in a mouse xenograft model established with human glioblastoma cells.

Automobile technologies are developing over time, and one of the main aspects of development is about safety, which is about preventing and minimizing the danger of accidents. This paper focuses on one of the most cutting edge automobile safety technologies: Adaptive Cruise Control(ACC), and expands it by using a number of sensors to inspect omni-directions of the vehicle. Three kinds of experiments were conducted to test the results of Omni-directional Adaptive Cruise Control(OACC).

Crack diagnosis inside of the airplane wing is known necessary to prevent a possible breakage of wings. This work proposes a four-legged robotic system which is able to explore the wing and inspect the crack in the rib structure of the wing instead of human operators. A motion planning algorithm of the four-legged robot is described and a computer simulation is performed to corroborate its effectiveness.

Crack diagnosis inside of the airplane wing is known necessary to prevent a further development of the crack. This work proposes a robotic system which is able to explore the wing and inspect the crack at the rib structure of the wing instead of human operators. A double caterpillar type robot system (DCRS) is suggested. Its design concept and components are described and a computer simulation is performed to corroborate its effectiveness.

This paper presents tracking algorithms of a mobile robot that follows a human body moving at high speed in unstructured outdoor environment. The mobile robot, which is a differential-driven wheel type, is equipped with one laser range finder to perform high-speed human tracking and obstacle avoidance. Initially, the waist part of the human body is found the best part of the human body for robust tracking by a laser range finder. Next an obstacle avoidance algorithm considering the relative velocity between the robot and obstacles is proposed. It is shown that the proposed human tracking algorithms based on the Kalman filter performs well even in the case of the target occlusions and temporary losses. These tracking algorithms have been applied to a marathoner following robot that carries the marathoner's personal belongings in many different outdoor environments.

This work presents the kinematic modeling and motion planning algorithm for an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms each of which has one redundant joint as compared to the operational degrees. Initially, the kinematic modeling of this robot is conducted. Next, using such a kinematic redundancy of each chain, several motion planning algorithms are suggested. A localization algorithm of the mobile robot based on odometry is presented and specifically, two-leveled obstacle avoidance scheme, which simultaneously considers both large and small obstacles, is presented. The usefulness of the proposed algorithms is verified through simulation.

As the need of well-being life becomes popular, one of important issues is clean drinking water. Delivery of clean water from the main water fountain to the end user is very crucial. However, typical pipelines are being contaminated by rust and several chemicals. And thus the water being delivered to house is not trustful as the drinking water. Thus, cleaning and inspection of the in-house pipeline becomes an important issue. However, it is hard to find a small-sized motor adequate to the robot for the inspection of the in-house pipeline with diameter of 15 mm. Thus, this paper introduces a new semi-automatic pipeline inspection robotic system for small-sized pipelines. Three different types of inspection robot system were developed, which have different combination of sensors to realize SLAM. The robot system is carried by an extension cable, which is in advance being penetrated into the pipeline by a compressed air. The feasibility of the proposed SLAM using this semi-automatic pipeline inspection robotic system was verified through experimentation.

This paper deals with design and motion planning of a reconfigurable robot that can be used for inspection of 80-100 mm pipelines. This robot consists of two connecting modules and each module consists of three pairs of caterpillar, which is operated by micro DC motor. The robot is foldable by using an embedded four-bar mechanism and compression of a spring connected to the four-bar allows the robot to maintain contact with the wall of pipelines. Controlling the speed of each caterpillar independently provides a steering capability to go through elbow and T-branch. The robot system has been developed and the validity of this mechanism was proved by experimentation.

Recently, many pipeline inspection robot systems have been developed. We develop a reconfigurable robot that can be used for 80~100 mm pipeline. First of all, we derive the kinematics of this mechanism and determine the actuator size by static analysis. The mechanism consists of three pairs of caterpillar, each of which is operated by a micro DC motor. The robot is designed foldable when each chain contacts the wall of pipelines. Thus, the robot can be operated in various sizes of pipeline. Controlling the speed of caterpillar independently provides a steering capability. So it can go through elbow and T-branch. The robot system has been developed and the validity of this mechanism was proved by experimentation.