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We have researched a gondola typed robot system for building facade maintenance. Its main application is to paint on building facade. To apply a robot system to the painting tool,recognition of building wall shape should be preceded. In this paper, we proposed a limit switch module as a mechanical sensor method. As experiments, we applied the proposed module to window and obstac le on wall with attitude reference sensor (ARS) and laser height sensor (distance sensor).

The cell nucleus is three-dimensionally and dynamically organized by nuclear components with high molecular density, such as chromatin and nuclear bodies. The structure and functions of these components are represented by the diffusion and interaction of related factors. Recent studies suggest that the nucleolus can be assessed using various protein probes, as the probes are highly mobile in this organelle, although it is known that they have a densely packed structure. However, physicochemical properties of the nucleolus itself, such as molecular density and volume when cellular conditions are changed, are not yet fully understood. In this study, physical parameters such as the refractive index (RI) and volume of the nucleoli in addition to the diffusion coefficient (D) of fluorescent probe protein inside the nucleolus are quantified and compared by combining label-free optical diffraction tomography (ODT) with confocal laser scanning microscopy (CLSM)-based fluorescence correlation spectroscopy (FCS). 3D evaluation of RI values and corresponding RI images of nucleoli in live HeLa cells successfully demonstrated varying various physiological conditions. Our complimentary method suggests that physical property of the nucleolus in live cell is sensitive to ATP depletion and transcriptional inhibition, while it is insensitive to hyper osmotic pressure when compared with the cytoplasm and nucleoplasm. The result demonstrates that the nucleolus has unique physicochemical properties when compared with other cellular components.

The aim of this study was to determine the potential toxicity of gamma-irradiated Dakgalbi keeping in mind its future use as a space food. Dakgalbi was irradiated at a dose of 30 kGy at . AIN-93G was used as a control diet in the animal study. Both irradiated and non-irradiated Dakgalbi diets were administered to two groups of ICR mice (ten male and ten female mice per group) for 3 months. During the experimental period, we observed that the mice fed the 30 kGy-irradiated Dakgalbi did not show any changes in appearance, behavior, mortality, body weight, organ weight, or food consumption compared to the control mice group. In addition, all biochemical parameters of these mice, including hematology profiles, erythrocyte counts, and serum biochemical values, remained in the normal range. The histopathological examinations of liver and kidney tissues showed no significant differences between the control group and the group fed the 30 kGy-irradiated Dakgalbi. These results indicate that Dakgalbi irradiated at 30 kGy did not cause any toxic effects in mice and therefore it can be considered as safe and hygienic space food.

Non-point source pollutants in down stream of Nakdong river were simulated by SWAT. GIS was utilized to make input data of SWAT such as landuse pattern and soil. Meteorological data of 2007 and 2009 were applied for the calibration and validation of runoff in SWAT. It was difficult to calibrate and validate the runoff and nutrient results since a study area was influenced by the tidal effects. Jindong site was selected to escape from the bias of runoff simulation in the coastal area. values of calibration and validation were 0.8 and 0.79. However, values of water qualities were very low level in comparison to runoff. These resulted from the concentration scale of water qualities such as BOD, T-N and T-P. Additionally, tidal influence could effected on the measurements of nutrients. The simulated annual averages and patterns of BOD, T-N and T-P in SWAT were similar to the measurement data. 80 ~ 96 % of nonpoint source pollutants at Nakbon M site were released from April to August of 2009. The ratio of T-N and T-P from nonpoint source were above 50 % during the rainy season.

The agricultural area was classified into dry and paddy fields in this study using the near-infrared band of Landsat TM to extract land cover classes that need to the application of Expected Mean Concentration (EMC) in nonpoint source works. The accuracy of image classification of the land cover map from Landsat TM image showed 83.61% and 78.41% respectively by comparing with the large and middle scale land cover map of Ministry of Environment. As the result of Soil Conservation Service (SCS) Curve Number (CN) using the land cover map from image classification

E-mail: kyoohyun@inha.ac.krReceived April 12, 2012, Accepted May 1, 2012Key Words : Furoxan, Furazan, Selective reduction, Substitution, Energetic materialEven though novel candidates for high energetic materialshave been synthesized continuously, higher performance andthermal stability are gradually becoming major concerns forpractical high energetic materials. Moreover, to improvehigh energetic material’s safety and survivability for militaryor industrial explosives and propellants, it is required thathigh energetic materials must be insensitive and be capableof withstanding unwanted stimuli such as heat, frictions,impact and shocks.

Recently, smartphone, notebook, PC and other supporting wireless LAN device have come into wide use. By increasing user that use wireless LAN device, wireless traffic also increased. If wireless traffic through one AP is increase, it causes throughput decrease. To solve this problem, wireless LAN service provider install more AP where overload occurred. But this is not enough. Because stations can't know AP's load factor, and APs do nothing for load balancing. In this paper, we propose Multi-Interface Access Point(MIAP) to solve this problem. MIAP operate same as multiple APs with multi-interface, and MIAP measure each interface's load periodically. If MIAP detect overloaded interface, MIAP transfer station from overloaded interface to under-loaded interface. We conducted an experiment for verifying existing problem, and we found this problem occurred. We plan an experiment scenario for a comparison between existing AP and MIAP, and excute these experiment. In the result, we show MIAP with load balancing can improve total throughput about 72% and stabilize delay jitter than existing AP.

Kiosks are widely used in drive-thru systems in parking lots or on the highway to provide various services to drivers. However, the driver must stop at an exact location to access the kiosk, since its panel is fixed. In order to improve the kiosk accessibility, in this study we developed a manipulator that can adjust the position of the kiosk panel. The number of active joints was minimized to lower the cost, whereas a parallelogram mechanism and passive joints were adopted to increase its convenience for the users. Furthermore, a safety mechanism using springs and a cam was designed to ensure the safety of the user in the case of an emergency. The performance of the position controller and the safety mechanism were verified through various tests. In addition, the proposed collision reaction strategy improved the safety performance of the kiosk system.

Despite many reports of animals using visual landmarks for homing, surprisingly little is known about construction of landmarks for the purpose of orientation. Semiterrestrial crabs normally use a path integration method for short-range homing, but active courtship or territorial behavior may introduce errors increasing predation risk. We explored the hypothesis that male fiddler crab Uca lactea may build structures for landmark orientation to compensate for errors during courtship. Males without burrows found an artificial burrow with a semidome from a greater distance than one without a semidome. In addition, courting males retreated to the translocated semidome rather than to the original burrow location more frequently than noncourting males did. Finally, the maximum traveling distance from the burrow and the maximum deviation of the longitudinal body axis from the home vector were greater in males with semidomes than males without semidomes. Our results strongly support the hypothesis that male fiddler crabs build structures for landmark homing. Key words: construction, fiddler crab, homing, orientation, visual landmark. [Behav Ecol]

The fiddler crab, Uca lactea, which lives on intertidal mudflats in Korea, exhibits both burrow mating and surface mating. We observed 17 cases of surface mating that occurred on Ganghwa Island, South Korea. Most surface-mating males did not build semidomes, structures that attract searching females for burrow mating. Based on the conclusion of a previous study that semidome building is condition-dependent, we suggest that food availability may influence the mating tactic of this species. In addition, there was a strong correlation between the carapace size of both sexes that surface-mated, which suggests that males use body size of females as a mating cue.

Agency for Defense Development, Yuseong P.O. Box 35-5 (TRC-3-6), Daejeon 305-600, KoreaReceived February 15, 2013, Accepted March 5, 2013Key Words : Imidazole, Furoxan, Dioxadiazine, Dipolar cyclization, Energetic materialSince TNT and its mixture were introduced into warfaretechnology, various explosives have been continuouslydeveloped. Consequently, there has been remarkable successto synthesize much higher energetic materials such as RDX,HMX, HNIW and so on. However, recent interest in muni-tions system focused on lower sensitivities to impact, shockand friction to reduce accidental initiation, along with higherperformance.

High Energy Material Research Center, Department of Chemistry, Inha University, Incheon 402-751, KoreaReceived August 1, 2011, Accepted August 23, 2011Key Words : Furoxan, Dioxadiazine, Nitro compound, Cycloaddition, Energetic materialNitro and amino 1,2,5-oxadiazoles (furazans) have beenconsidered as explosives and propellants, because they havehigh nitrogen content, good oxygen balance, and highenergy density.

In the effort to develop an efficient chemotherapy drug for the treatment of non-small-cell lung cancer (NSCLC), we analyzed the anti-tumorigenic effects of a novel small molecule targeting the inhibitor of apoptosis (IAPs), HM90822B, on NSCLC cells. HM90822B efficiently decreased IAP expression, especially that of XIAP and survivin, in several NSCLC cells. Interestingly, cells overexpressing epidermal growth factor receptor (EGFR) due to the mutations were more sensitive to HM90822B, undergoing cell cycle arrest and apoptosis when treated. In xenograft experiments, inoculated EGFR-overexpressing NSCLC cells showed tumor regression when treated with the inhibitor, demonstrating the chemotherapeutic potential of this agent. Mechanistically, decreased levels of EGFR, Akt and phospho-MAPKs were observed in inhibitor-treated PC-9 cells on phosphorylation array and western blotting analysis, indicating that the reagent inhibited cell growth by preventing critical cell survival signaling pathways. In addition, gene-specific knockdown studies against XIAP and/or EGFR further uncovered the involvement of Akt and MAPK pathways in HM90822B-mediated downregulation of NSCLC cell growth. Together, these results support that HM90822B is a promising candidate to be developed as lung tumor chemotherapeutics by targeting oncogenic activities of IAP together with inhibiting cell survival signaling pathways.

Simple furoxans containing nitro groups could not be applied for energetic materials because of their poor thermal stability and nucleophilic displacement of the nitro groups. On the other hand, benzofuroxans are far more stable than the furoxans and more favorable for practical applications.

Even though some azoles were insensitive towa rds accidental impact, their performance is often lower than that of RDX, one of the most widely used explosives. Recently 1,1-diamino-2,2- dinitroethylene (FOX-7) was emerging as a potential candidate for insensitive high explosives. FOX-7 has attracted substantial interest because it was expected that its performance was similar and its sensitivity could be much lower in comparison with RDX.

[Purpose] This study compared and analyzed use of an existing ankle ramp and a newly developed ankle ramp for stretching exercises. [Subjects] Fourteen subjects were included; they were stroke patients more than 6 months after onset, with no orthopedic or biological problems in the legs, so independent gait was possible. [Methods] The subjects performed stretching exercises for 5 min with an existing ankle ramp and a newly developed ankle ramp; foot pressure was then measured. [Results] The averaged percentage and kilopascal data for weight bearing and foot pressure on the affected side with the newly developed ankle ramp for stretching exercises were significantly higher than those with the existing ankle ramp. [Conclusion] Our results suggest that stretching exercises using the newly developed ankle ramp more effectively increase foot pressure than the existing ankle ramp.

In this paper we propose a fast adaptive image restoration filter using DCT-based edge-classification for reducing block artifacts in compressed images. In order to efficiently reduce block artifacts, edge direction of each block is classified by using the DCT coefficients, and an adaptive constrained least squares (CLS) filter along the edge direction is used for filtering the corresponding block. The proposed research is based on the observation that degradation due to block artifacts is a nonlinear and many-to-one mapping operator. Then, we propose an approximated version of a constrained optimization technique as a restoration process for removing the nonlinear and space-varying degradation operator. For real-time application, the proposed restoration filter is implemented in the form of a truncated FIR filter, which is suitable for postprocessing the images in real-time video systems such as HDTV or video conferencing systems.

We have researched an automated gondola-typed robot system for building facade maintenance. Our system moves in vertical direction on walls with two endless winders along wire ropes. Because its main function is to paint, the balance of the gondola system should be kept. Two endless winders are controlled in accordance with ARS (Attitude Reference System). With proposed algorithm, input frequency values of winders are continuously updated. In experiment, balance of the gondola system was enough to paint on wall while proposed algorithm was executed.

This paper discusses a torque sensor for robot hands along with its novel calibration method. Recently, there has been increasing interest in service robots which can manipulate various objects to assist humans. A dexterous robot with precise sensors can greatly enhance the performance of such robots. In this study, we propose a joint torque sensor for robot hands and a calibration method, which allows the users to easily calibrate the robot hand without disassembling it.

This paper describe the robot system for maintenance and inspection of blade on offshore wind turbine power system. Because [three-dimensional model of] the blade surface has a variety, the robot attached on the blade to vertical movement is required the flexible structure. The inchworm type robot equipped the flexible mechanism based on the three-dimensional blade lookup table. To detect the exact damage, the minimization clearance between the blade surface and test equipment is guaranteed. For upper reason, robot has the compliance and detail motion control mechanism. The robot can move by itself on the blade surface by inchworm mechanism, which is constructed by two active wheels and two passive wheels that can fix the robot body on the blade, one extendable and contractible actuator. In this paper, we describe our approach of how the inchworm type robot is controlled and inspect. Additionally, we describe the mechanism of robot as well as flexible joint with respect to complex surface of blade.

Exoskeleton robots have been used for rehabilitation in many areas. In order to comprise arm exoskeleton robot, a modular joint unit is proposed. As a module, this unit contains everything for joint actuating. Motor, encoder, harmonic drive, brake, cross roller bearing, and joint torque sensor are included in this unit. Because this unit is applied to exoskeleton robot, the joint torque sensor is important for human machine interface (HMI). Joint torque sensor performance is verified with FEM analysis.

For force control of robot and collision detection with humans, robots that has joint torque sensors have been developed. However, existing torque sensors cannot measure correct torque because of crosstalk error. In order to solve this problem, we proposed a novel torque sensor that can measure the pure torque without crosstalk. The hexaform of the proposed sensor with truss structure increase deformation of the sensor and restoration, and the Wheatstone bridge circuit of strain gauge removes crosstalk error. Sensor performance is verified with FEM analysis.

For a robot hand to make a stable contact with its environment and perform various tasks, it must be equipped with torque sensors to accurately measure its torques. However, conventional torque sensors are too bulky and expensive to be used for a robot hand. To cope with these problems, in this study, we propose a novel 2-DOF torque sensor, which uses the link frame of a robot hand as the torque sensor structure. Through FEM (Finite Element Method) analysis, the size of the sensor was minimized, while its unique structure minimizes cross-talks, thus enabling precise measurement of torques. Its performance was verified using a torque sensor calibration set.

We demonstrate sub-femtosecond timing jitter optical pulse trains generated from passively mode-locked Er-doped fiber lasers. The measured rms timing jitter is 0.84 fs integrated from 10 kHz to 40.6 MHz (Nyquist frequency).

Even though some azoles were insensitive towa rds accidental impact, their performance is often lower than that of RDX, one of the most widely used explosives. Recently 1,1-diamino-2,2- dinitroethylene (FOX-7) was emerging as a potential candidate for insensitive high explosives. FOX-7 has attracted substantial interest because it was expected that its performance was similar and its sensitivity could be much lower in comparison with RDX.

We demonstrate a novel experimental method for improvement of efficiency of structural surface modification of various solids (PMMA, amorphous carbon) achieved by simultaneous action of XUV (21.6 nm), obtained from high-order harmonic generation (HHG), and VIS-NIR (410/820 nm) laser pulses. Although the fluence of each individual pulse was far below the surface ablation threshold, very efficient and specific material modification was observed after irradiation by a single or a few shots of mixed XUV/VIS-NIR radiation. We also report results on comprehensive characterization of ultrafast coherent X-ray beamline at Prague Asterix Laser System (PALS). The beamline is based on 1 kHz, table-top, high-order harmonic generation source capable to deliver fully coherent beam in the 30 nm spectral range. Ti:sapphire (810 nm, 1 kHz) laser pulses with a duration of 35 fs and energy 1.2 mJ have been focused into gas cell containing conversion medium (Ar). To achieve highly efficient HHG we will apply the technique of guided laser pulses. Source parameters were investigated.

We demonstrate a novel experimental method for efficient structural surface modification of various solids (PMMA, amorphous carbon) achieved by simultaneous action of XUV (21.6 nm), obtained from High-order Harmonic Generation (HHG), and Vis-NIR (410/820 nm) laser pulses. Although the fluence of each individual pulse was far below the surface ablation threshold, very efficient and specific material modification was observed after irradiation even by a single shot of mixed XUV/Vis-NIR radiation.

The polarization of high-harmonics from aligned N(2) molecules was measured by observing the visibility of spatial interference between two high-harmonics generated separately. The minimum visibility was observed at an angle of 60 degrees between the polarization of the harmonic generation laser field and the molecular orientation. In this case, the angular shift of harmonic polarization is 15 degrees from the molecular orientation. Our measurement of the visibility variation matches the theoretical prediction based on the harmonic field calculation for aligned N(2) molecules.

We report on the development of ultrafast coherent soft X-ray beamline at the Prague Asterix Laser System (PALS) Research Center intended for interdisciplinary applications such as ablation and controlled surface modification of solid materials for a micro/nano-pattering, soft X-ray interferometry and holography for surface probing with nanometric resolution, and improvement of focusing optics for soft X-ray beams. The beamline is based on 1 kHz, tabletop, high-order harmonic generation (HHG) source capable to deliver fully coherent, tunable beam in the 13 - 40 nm spectral range. Ti:sapphire (810 nm, 1 kHz) laser pulses with a duration of 35 fs and energy 1.5 mJ have been focused into a gas jet or gas cell containing conversion medium (Ar). To achieve highly efficient HHG we will apply the technique of guided laser pulses and the two-color laser field. Results on the optimization of HHG near 21 nm are presented. The beamline consists of a tandem of two vacuum chambers: one for the HHG source and its diagnostics, and second for the application experiments. After completion, access to this new installation will be opened to external users. This table-top system will be complementary to the existing, high energy (~10 mJ) Ne-like Zn soft X-ray laser at 21.2 nm developed at PALS. We will also present the first experimental results on the structural surface modifications of various solid materials (i.e., PMMA - poly(methyl methacrylate); amorphous carbon) caused by a few shot exposure to the focused HHG beam at 21.6 nm.

Currently, the market of multimedia information appliance based on Internet activated by the growth of both multimedia service and access of Internet augment the importance of TCP/IP protocol S/W which can provide the existing standalone embedded systems with Internet service. In this paper we analyze the architecture and function of TCP/IP module to depend on 4.4BSD OS (Operating System) runtime environment and propose the new method against TCP/IP module dependent on 4.4BSD OS runtime environment. And then we implement embedded OS for the network appliance that supports multitasking under its environment to use only physical memory in embedded system.

In order to increase the accuracy in estimating the point spread function (PSF) of out-of-focus blur, we subdivided the input image and then averaged the PSFs from each subimage. The PSF of each subimage is estimated by differentiating the step response along the appropriately estimated edge direction under the assumption that an image usually has a piecewise linear boundary between an object and the background. Once the averaged PSF is obtained we can use any kind of image restoration filter according to specific application requirements, such as computational complexity or processing time.

PANCREAS transplantation has become an accepted form of therapy for insulin-dependent diabetes mellitus (IDDM). In particular, simultaneous pancreas-kidney transplantation (SPK) has become a widely accepted treatment modality for uremic diabetic patients. From 1980 through December 2000, according to the International Pancreas Transplant Registry (IPTR), there were more than 13,000 pancreas transplantations performed worldwide. The number of pancreas transplantations has been increasing continuously over time with improvement of graft survival. However, a couple of problems still need to be solved following pancreas transplantation, namely the surgical complications and immunologic rejection. We analyzed these problem in our pancreas transplant recipients by studying patient and graft survival rates according to the chronological stages.

Lipoprotein lipase (LPL) is known to be attached to the luminal surface of vascular endothelial cells in a complex with membrane-bound heparan sulfate, and released into blood stream by heparin. LPL that catalyzes hydrolysis of triglyceride (TGL) on chylomicron and VLDL into two fatty acids and monoacylglycerol, is also implicated to participate in an enhancement of cholesterol uptake by arterial endothelial cells in vitro. But little is known about the LPL-mediated cholesterol uptake in physiological state. In this study, changes in blood lipid composition and levels of lipoproteins were determined after the injection of heparin in human. The level of LPL in plasma was increased from 0 to 11 mU/ml within 30-40 min post-heparin administration and decreased to the basal level within 2 h. The level of TGL in plasma decreased from 70 mg/dl to 20 mg/dl within 1 h and gradually increased to 80 mg/dl within 4 h. However the level of total cholesterol in plasma remained at 140 mg/dl during an experimental period of 4 h. Analysis of Lipoproteins in plasma by NaBr density gradient ultracentrifugation showed that the level of VLDL decreased from 50 mg/dl to 10 mg/dl within 1-2 h and returned to normal plasm level at 4 h. However there were no significant changes in the level of LDL and HDL. These results suggest that, at least, in normo-lipidemic subjects, increased free plasm LPL acts primarily on VLDL and failed to show any significant uptake of cholesterol-rich lipoproteins in human.

In this paper we propose an iterative image restoration method using block edge classification for reducing block artifact in compressed images. In order to efficiently reduce block artifacts, a block is classified as edge or non-edge block, and the adaptive regularized iterative restoration method is used. The proposed restoration method is based on the observation that the quantization operation in a series of coding propocess is a nonlinear and many-to-one mapping operator. And then we propose an adaptive iterative image restoration algorithm for removing the nonlinear and space-varying degradation. With some minor modifications theproposed image restoration method can be used for postprocessing reconstructed image sequences in HDTV, DVD,or video conferencing systems. Keywords: Image degradation model, Deblocking filter, Adaptive iterative restoration 1. INTRODUCTION As the demand for video communication has grown, various efficient image compression methods have been devel-oped and standardized. Especially, high quality image communication with low bit-rate is gaining growing interestsin applications to video conferencing, videophone, interactive TV, etc.

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Materials processing utilizing ultrashort near-infrared (NIR) laser pulses with duration in the range of tens to hundreds of femtoseconds (1fs = 10 15 s) has attracted a great deal of interest in the scientific and industrial world recently. Unfortunately, a number of materials that often exhibit great technological and scientific importance are transparent in NIR, making it very difficult to process them by laser radiation in this spectral range. Here, we present a new method for the efficient structuring of the surface of materials by applying femtosecond NIR laser pulses simultaneously with a weak extreme ultraviolet (XUV) beam, which leads to very strong radiation-matter interaction, bringing a dramatic increase in the surface processing speed. A laser system providing 5mJ, 820nm, 32fs, 10Hz pulses was used to generate high-order harmonics with the strongest spectral line at 21nm and with a conversion efficiency of 5%. The two beams were focused on the samples by using an off-axis paraboloidal multilayer mirror. As an example, we present the results of the surface nanostructuring of thin films of amorphous carbon and poly(methyl methacrylate) deposited on bulk substrates. We discuss the physical mechanisms that lead to the laser-induced periodic surface structures when our method is used.

Characteristics of high harmonics generated from aligned N2 molecules were investigated by rotating the molecules with respect to the polarization of harmonic generation pulses. The high harmonics in the plateau and the cutoff regions showed distinctive behaviour, which could be explained from the calculation of transition dipole moments between recolliding electron and multi-orbitals of N2 molecule consisting of the highest occupied molecular orbital (HOMO) and the lower-lying orbital below HOMO (HOMO-1). It was also observed that the angular dependence of harmonics from aligned molecules with respect to the polarization of harmonic generation pulses was closely related to the geometrical structure of molecular orbitals, and that the harmonic in the transition region from the plateau to the cutoff was influenced comparably by both HOMO and HOMO-1. These results confirmed that high harmonic generation and molecular structure were closely linked.

We have achieved very efficient high-harmonic generation in a two-color laser field using a long gas jet of He. With the optimization of laser parameters and target conditions, strong harmonics were produced at 2(2n+1)th orders in an orthogonally polarized two-color field. The strongest harmonic at the 38th order (21.6nm) reached an energy of 0.6μJ with a 6mm gas jet, giving a conversion efficiency as high as 2×10−4.

We demonstrate optical pulse trains with sub-100-attosecond high-frequency timing jitter from passively mode-locked, stretched-pulse fiber lasers by operating the lasers at the close-to-zero net cavity dispersion.

We demonstrate sub-100-attosecond timing jitter optical pulse trains generated from free-running, 77.6-MHz repetition-rate, mode-locked Er-fiber lasers. At -0.002(\pm0.001) ps2 net cavity dispersion, the rms timing jitter is 70 as (224 as) integrated from 10 kHz (1 kHz) to 38.8 MHz offset frequency, when measured by a 24-as-resolution balanced optical cross-correlator. To our knowledge, this result corresponds to the lowest rms timing jitter measured from any mode-locked fiber lasers so far. The measured result also agrees fairly well with the Namiki-Haus analytic model of quantum-limited timing jitter in stretched-pulse fiber lasers., 4 pages, 2 figures, to appear in Optics Letters