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Biomimetic Quadruped Robot with a Spinal Joint and Optimal Spinal Motion via Reinforcement Learning

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Journal of Bionic Engineering 2021年第6期18卷 1280-1290页

作者： young kook kim Woojin Seol Jihyuk Park LV R&D Team Electro-technology R&D CenterLS Electric Co.LtdCheongju28437Republic of Korea Digital Innovation Unit Korea Hydro&Nuclear Power Co.Ltd1312-gil YuseongdaeroYusung-guDaejeon34101Republic of Korea Department of Automotive Engineering College of Mechanical and IT EngineeringYeungnam University280 Daehak-roGyeongsanGyeongbuk38541Republic of Korea

Feline animals can run quickly using spinal joints as well as the joints that make up their four *** paper describes the development of a quadruped robot including a spinal joint that biomimics feline *** developed robot platform consists of four legs with a double 4-bar linkage type and one simplified rotary *** addition,Q-learning,a type of machine learning,was used to find the optimal motion profile of the spinal *** bounding gait was implemented on the robot system using the motion profile of the spinal joint,and it was confirmed that using the spinal joint can achieve a faster Center of Mass(CoM)forward speed than not using the spinal *** the motion profile obtained through Q-learning did not exactly match the spinal angle of a feline animal,which is more multiarticular than that of the developed robot,the tendency of the actual feline animal spinal motion profile,which is sinusoidal,was similar.

关键词： Quadruped robot system Bioinspired methods Legged robots Machine learning Q-learning

The Role of Relative Spinal Motion during Feline Galloping for Speed Performance

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Journal of Bionic Engineering 2014年第4期11卷 517-528页

作者： young kook kim Jongwon Park Byungho Yoon Kyung-Soo kim Soohyun kim Robotics Program Korea Advanced Institute of Science and Technology (KAIST) Daejeon 305-701 Republic of Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology (KAIST) Daejeon 305-701 Republic of Korea

Felines use their spinal column to increase their running speed at rapid locomotion performance. However, its motion profile behavior during fast gait locomotion has little attention. The goal of this study is to examine the relative spinal motion profile during two different galloping gait speeds. To understand this dynamic behavior trend, a dynamic motion of the feline animal （Felis catus domestica） was measured and analyzed by motion capture devices. Based on the experiments at two different galloping gaits, we observed a significant increase in speed （from 3.2 m.s-1 to 4.33 m.s-1） during the relative motion profile synchronization between the spinal （range： 118.86~ to 168.00~） and pelvic segments （range： 46.35~ to 91.13~） during the hindlimb stance phase （time interval： 0.495 s to 0.600 s）. Based on this discovery, the relative angular speed profile was applied to understand the possibility that the role of the relative motion match during high speed locomotion generates bigger ground reaction force.

关键词： feline galloping galloping gait pattern relative spinal motion speed performance phase match

Changes of tear film lipid layer thickness by 3% diquafosol ophthalmic solutions in patients with dry eye syndrome

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International Journal of Ophthalmology(English edition) 2019年第10期12卷 1555-1560页

作者： Dong-Hyun Kang Yong-Woo Lee Kyu-Yeon Hwang Kyung-Min Koh young-A Kwon Byung-Yeop kim Sang-Wroul Song kook-young kim Myung-Gok Eye Research Institute Department of Ophthalmology Kim’s Eye Hospital Konyang University College of Medicine

AIM: To evaluate the quantitatively changes in lipid layer thickness(LLT) when 3% diquafosol eye drop is used for dry eye patients using the tear film interferometer. METHODS: A total 124 participants(32 males, 92 females;mean age, 28.9 y) diagnosed with dry eye disease(DED) received topical instillation of 4 ophthalmic solutions in one eye: diquafosol, normal saline, 0.1% sodium hyaluronate and 0.3% gatifloxacin, in a masked manner. LLT was measured using an interferometer at baseline and 20 min after the instillation of each ophthalmic ***: Changes of LLT after instillation(nm, mean± standard error) were as follows: 12.6±2.0 for diquafosol(P<0.001), 1.2±2.2 for normal saline(P=0.301), 1.5±2.0 for hyaluronate(P=0.495), and 0.5±3.2 for gatifloxacin(P=0.884).CONCLUSION: Topical instillation of diquafosol increases tear film LLT in DED patients. Diquafosol 3% eye drop might be effective treatment option of evaporative DED with meibomian gland dysfunction.

关键词： diquafosol ophthalmic solutions dry eye syndrome tear film lipid layer thickness

A New Encryption Mechanism Supporting the Update of Encrypted Data for Secure and Efficient Collaboration in the Cloud Environment

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Computer Modeling in Engineering & Sciences 2025年第1期142卷 813-834页

作者： Chanhyeong Cho Byeori kim Haehyun Cho Taek-young Youn Department of Cyber Security Dankook UniversityYongin16890Republic of Korea Department of Software Soongsil UniversitySeoul07027Republic of Korea

With the rise of remote collaboration,the demand for advanced storage and collaboration tools has rapidly ***,traditional collaboration tools primarily rely on access control,leaving data stored on cloud servers vulnerable due to insufficient *** paper introduces a novel mechanism that encrypts data in‘bundle’units,designed to meet the dual requirements of efficiency and security for frequently updated collaborative *** bundle includes updated information,allowing only the updated portions to be reencrypted when changes *** encryption method proposed in this paper addresses the inefficiencies of traditional encryption modes,such as Cipher Block Chaining(CBC)and Counter(CTR),which require decrypting and re-encrypting the entire dataset whenever updates *** proposed method leverages update-specific information embedded within data bundles and metadata that maps the relationship between these bundles and the plaintext *** utilizing this information,the method accurately identifies the modified portions and applies algorithms to selectively re-encrypt only those *** approach significantly enhances the efficiency of data updates while maintaining high performance,particularly in large-scale data *** validate this approach,we conducted experiments measuring execution time as both the size of the modified data and the total dataset size *** show that the proposed method significantly outperforms CBC and CTR modes in execution speed,with greater performance gains as data size ***,our security evaluation confirms that this method provides robust protection against both passive and active attacks.

关键词： Cloud collaboration mode of operation data update efficiency

High mobility group box 1 in the central nervous system:regeneration hidden beneath inflammation

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Neural Regeneration Research 2025年第1期20卷 107-115页

作者： Hanki kim Bum Jun kim Seungyon Koh Hyo Jin Cho Xuelian Jin Byung Gon kim Jun young Choi Department of Brain Science Ajou University School of MedicineSuwonSouth Korea Department of Biomedical Sciences Ajou University Graduate School of MedicineSuwonSouth Korea Department of Neurology Ajou University School of MedicineSuwonSouth Korea Department of Geriatrics The Affiliated Suqian First People’s Hospital of Nanjing Medical UniversitySuqianJiangsu ProvinceChina

High-mobility group box 1 was first discovered in the calf thymus as a DNA-binding nuclear protein and has been widely studied in diverse fields,including neurology and ***-mobility group box 1 in the extracellular space functions as a pro-inflammatory damage-associated molecular pattern,which has been proven to play an important role in a wide variety of central nervous system disorders such as ischemic stroke,Alzheimer’s disease,frontotemporal dementia,Parkinson’s disease,multiple sclerosis,epilepsy,and traumatic brain *** drugs that inhibit high-mobility group box 1 as a damage-associated molecular pattern,such as glycyrrhizin,ethyl pyruvate,and neutralizing anti-high-mobility group box 1 antibodies,are commonly used to target high-mobility group box 1 activity in central nervous system *** it is commonly known for its detrimental inflammatory effect,high-mobility group box 1 has also been shown to have beneficial pro-regenerative roles in central nervous system *** this narrative review,we provide a brief summary of the history of high-mobility group box 1 research and its characterization as a damage-associated molecular pattern,its downstream receptors,and intracellular signaling pathways,how high-mobility group box 1 exerts the repair-favoring roles in general and in the central nervous system,and clues on how to differentiate the pro-regenerative from the pro-inflammatory *** targeting high-mobility group box 1 in the central nervous system may benefit from differentiating between the two functions rather than overall suppression of high-mobility group box 1.

关键词： central nervous system damage-associated molecular pattern ethyl pyruvate glycyrhizzin high mobility group box 1 inflammation neural stem cells neurodevelopment oligodendrocyte progenitor cells redox status regeneration

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Maximizing biomass utilization: An integrated strategy for coproducing multiple chemicals

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Journal of Energy Chemistry 2025年第1期100卷 180-191页

作者： Byeongchan Ahn Sua Jo Jonggeol Na J.Jay Liu young-Ju kim Wangyun Won Department of Chemical and Biological Engineering Korea University Department of Chemical Engineering (Integrated process) Kyung Hee University Department of Chemical Engineering and Materials Science Ewha Womans University Department of Chemical Engineering Pukyong National University Resources Engineering Plant Research Department Korea Institute of Geoscience and Mineral Resources

Lignocellulosic biomass is one of the viable solutions to alleviate the global warming. However, the limited utilization of biomass majorly focused on cellulose and hemicellulose restricts the economic and environmental feasibilities. To cope with this issue, we proposed an integrated process of co-producing 1,6-hexanediol（1,6-HDO） with tetrahydrofuran and adipic acid from biomass, referred to as Strategy A. To compare the impacts of lignin upgrading and feedstock, Strategy B, which co-produces tetrahydrofuran alone, and Strategy C, which is the traditional route to produce 1,6-HDO from fossil fuels, were used. Heat networks are also designed to reduce operating costs and indirect carbon emissions due to energy consumption, saving 87% and 83% of the heat and cooling requirements, respectively, in Strategy A. The market competitiveness of Strategy A was evaluated by determining the minimum selling price through techno-economic analysis, and sustainability was thoroughly investigated by quantifying the environmental impacts through both midpoint and endpoint life-cycle assessments（LCAs）.Strategy A was found to be the most favorable both economically（USRDSCHARDOLLAR3,402/ton） and environmentally（-26.9 kg CO2eq.）. This indicates that lignin valorization is not only economically but also environmentally preferred. Finally, changes in economic and environmental feasibilities depending on economic, process, and environmental parameters were investigated using sensitivity and uncertainty analyses. The results of these analyses provide valuable insight into bio-based chemical production.

关键词： Carbon capture and utilization

A Rapid Adaptation Approach for Dynamic Air‑Writing Recognition Using Wearable Wristbands with Self‑Supervised Contrastive Learning

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Nano-Micro Letters 2025年第2期17卷 417-431页

作者： Yunjian Guo Kunpeng Li Wei Yue Nam‑young kim Yang Li Guozhen Shen Jong‑Chul Lee Department of Electronic Convergence Engineering Kwangwoon UniversitySeoul 01897South Korea Radio Frequency Integrated Circuit(RFIC)Bio Centre Kwangwoon UniversitySeoul 01897South Korea Department of Electronic Engineering Kwangwoon UniversitySeoul 01897South Korea School of Microelectronics Shandong UniversityJinan 250101People’s Republic of China State Key Laboratory of Integrated Chips and Systems Fudan UniversityShanghai 200433People’s Republic of China School of Integrated Circuits and Electronics Beijing Institute of TechnologyBeijing 100081People’s Republic of China

Wearable wristband systems leverage deep learning to revolutionize hand gesture recognition in daily *** existing approaches that often focus on static gestures and require extensive labeled data,the proposed wearable wristband with selfsupervised contrastive learning excels at dynamic motion tracking and adapts rapidly across multiple *** features a four-channel sensing array composed of an ionic hydrogel with hierarchical microcone structures and ultrathin flexible electrodes,resulting in high-sensitivity capacitance *** wireless transmission from a Wi-Fi module,the proposed algorithm learns latent features from the unlabeled signals of random wrist ***,only few-shot labeled data are sufficient for fine-tuning the model,enabling rapid adaptation to various *** system achieves a high accuracy of 94.9%in different scenarios,including the prediction of eight-direction commands,and air-writing of all numbers and *** proposed method facilitates smooth transitions between multiple tasks without the need for modifying the structure or undergoing extensive task-specific *** utility has been further extended to enhance human–machine interaction over digital platforms,such as game controls,calculators,and three-language login systems,offering users a natural and intuitive way of communication.

关键词： Wearable wristband Self-supervised contrastive learning Dynamic gesture Air-writing Human-machine interaction

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Apolipoprotein A-I binding protein-mediated neuroprotection in glaucomatous neuroinflammation and neurodegeneration

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Neural Regeneration Research 2025年第5期20卷 1414-1415页

作者： Sinwoo Hwang Seunghwan Choi Soo-Ho Choi Keun-young kim Yury I.Miller Won-Kyu Ju Hamilton Glaucoma Center and Shiley Eye Institute The Viterbi Family Department of OphthalmologyUniversity of California San DiegoLa JollaCAUSA Department of Medicine University of California San DiegoLa JollaCAUSA National Center for Microscopy and Imaging Research Department of NeurosciencesUniversity of California San DiegoLa JollaCAUSA

Glaucoma is a multifactorial eye disorder that can cause vision loss and irreversible blindness,affecting individ uals aged 40 to 80 yea rs *** to the aging population,it is expected that the number of people affected by glaucoma will surpass 111 million by 2040 as the disease becomes more *** primarily contributes to optic nerve axon loss and the progressive degeneration of retinal ganglion cells (RGCs),subsequently leading to vision impairment.

关键词： irreversible pass primarily

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Clonal evolution of hepatitis B virus polymerase gene mutations during lamivudine-adefovir combination treatment

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World Journal of Gastroenterology 2012年第44期18卷 6437-6446页

作者： Soon young Ko Byung kook kim So young Kwon Kyun-Hwan kim Jeong Han kim Won Hyeok Choe Chang Hong Lee Department of Internal Medicine Konkuk University School of MedicineSeoul 143-729South Korea Department of Pharmacology Konkuk University School of MedicineSeoul 143-729South Korea

AIM:To identify hepatitis B virus polymerase gene mutations during antiviral therapy using lamivudineadefovir sequential monotherapy followed by lamivudine-adefovir combination ***:The patient cohort included four adult chronic hepatitis B patients who had undergone sequential monotherapy,first with lamivudine(LMV) and then,after developing viral breakthrough,with adefovir(ADV) *** of the patients had non-response or viral breakthrough after LMV-ADV sequential monotherapy,which resulted in the switching of their antiviral regimen to LMV-ADV combination *** serum samples from the four patients who showed non-response to rescue LMV-ADV combination therapy were collected sequentially at a time before the antiviral treatment and then during the LMV monotherapy,ADV monotherapy,and LMV-ADV combination *** the genotypic analysis,the whole 1310-bp polymerase gene region was amplified,cloned and ***:All patients had been previously treated with 100 mg of LMV once daily for a 15-to 26-mo *** emergence of resistance mutations to LMV,such as rtM204V/I and/or rtL180M,were found in all *** antiviral regimens were switched to ADV monotherapy as the second line *** patients had viral breakthrough or non-response after the LMV-ADV sequential ***-resistant mutations were detected after 13 to 19 mo of LMV-ADV sequential *** rtA181V/T mutations were predominantly identified during the ADV treatment in the LMV-resistant ***-seven of 38 clones were combined with an amino acid change at rt181;three clones had mutations in rt236 and one clone had a combined *** rtA181V/T mutations were not suppressed by the LMV-ADV combination ***-nine of 64 clones showed an rtA181V/T mutation and six clones showed combined mutations in rt181 and *** in rt204 re-emerged during the combination *** rt181 and rt204 mutations did not co-exist in one clon

关键词： Hepatitis B virus Lamivudine Adefovir Mutation Drug resistance