公开(公告)号：US09193072B2

公开(公告)日：2015-11-24

申请号：US13232374

申请日：2011-09-14

申请人： Myung Hee Kim ,  Kyung Shik Roh ,  Young Bo Shim ,  San Lim

发明人： Myung Hee Kim ,  Kyung Shik Roh ,  Young Bo Shim ,  San Lim

IPC分类号： B25J9/16

CPC分类号： B25J9/1679 ,  B25J9/1612 ,  B25J9/1666 ,  G05B2219/39113 ,  G05B2219/39473 ,  G05B2219/39474 ,  G05B2219/39542

摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes calculating in advance and storing a plurality of grasp poses to generate grasp routes, sensing respective orientations of an object, the robot arms, and an obstacle, selecting one grasp pose from among the plurality of grasp poses by judging a movable angle range of the at least one joint unit, whether or not the object collides with the obstacle, and self-collision between the robot hands based on the sensed respective orientations, and generating grasp routes using the selected grasp pose. In the control method, the plurality of feasible grasp poses is calculated in advance and then stored, thereby rapidly and stably performing grasping of the object.

摘要翻译： 机器人及其控制方法。 机器人具有多个机械手臂，每个具有至少一个关节单元和手，并且该控制方法包括预先计算并存储多个抓握姿势以产生抓握路线，感测物体的各个取向，机器人手臂和 障碍物，通过判断所述至少一个关节单元的可移动角度范围，所述物体是否与障碍物碰撞，以及基于所感测到的机器人手之间的自身碰撞，从所述多个抓握姿态中选择一个抓握姿态 各个取向，并使用所选择的抓握姿势产生抓握路线。 在该控制方法中，预先计算出多个可能抓握姿势，然后存储，由此快速且稳定地执行对象的抓握。

公开(公告)号：US09014854B2

公开(公告)日：2015-04-21

申请号：US13232383

申请日：2011-09-14

申请人： Myung Hee Kim ,  Kyung Shik Roh ,  Young Bo Shim ,  San Lim

发明人： Myung Hee Kim ,  Kyung Shik Roh ,  Young Bo Shim ,  San Lim

IPC分类号： G05B19/04 ,  B25J9/16

CPC分类号： B25J9/1669

摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes dividing an object into target and feasible grasp regions and storing grasp policies respectively corresponding to the grasp regions, sensing respective orientations of the object, the at least one joint unit, and an obstacle, judging whether or not grasping of the target grasp region is feasible after sensing the orientations, generating a grasp route using the grasp policy for the target grasp region, upon judging that grasping of the target grasp region is feasible, and generating a grasp route using the grasp policy for one of the feasible grasp regions, upon judging that grasping of the target grasp region is not feasible, and controlling the at least one joint unit and the hand to trace the generated grasp route.

摘要翻译： 机器人及其控制方法。 机器人具有多个机械手臂，每个机械臂具有至少一个关节单元和一个手，并且该控制方法包括将物体分成目标和可能的把握区域，并分别对应于把持区域存储把握策略，检测物体的各个取向， 至少一个联合单元和障碍物，在判断抓住目标抓取之后，判断抓住目标抓握区域是否可行，在使用抓握方式的抓取策略生成抓取路线之后， 区域是可行的，并且在判断出目标把持区域的抓握不可行时，使用抓握策略生成一个可抓握区域的把握路线，并且控制至少一个关节单元和手来跟踪产生的抓握 路线。

公开(公告)号：US08924016B2

公开(公告)日：2014-12-30

申请号：US13328125

申请日：2011-12-16

申请人： Myung Hee Kim ,  Kyung Shik Roh ,  Young Bo Shim

发明人： Myung Hee Kim ,  Kyung Shik Roh ,  Young Bo Shim

IPC分类号： G01C21/00 ,  B25J9/16

CPC分类号： B25J9/162 ,  B25J9/1664 ,  G05B2219/40244 ,  G05B2219/40476 ,  G05B2219/40477 ,  Y10T74/20329

摘要： A method for planning the robot path includes forming a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot, generating one or more moving paths of the robot within the shape space, and storing the generated moving paths in a database, selecting a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and planning the selected path, enabling the robot to perform motion along the planned path, and pre-planning a path for a next motion of the robot while the robot performs the motion. The apparatus or method for planning the robot path can reduce a time from an end time of one motion to the start time of the next motion, thereby performing a smooth motion.

摘要翻译： 一种用于规划机器人路径的方法包括形成包括起点，目标点和障碍物信息的形状空间，以便生成机器人的移动路径，在形状空间内生成机器人的一个或多个移动路径， 并且将所生成的移动路径存储在数据库中，从存储的移动路径中选择具有机器人的最小操作范围的特定路径和由障碍物引起的最小约束，并且规划所选择的路径，使机器人能够执行运动 沿着计划的路径，并且在机器人执行运动时预先规划机器人的下一个运动的路径。 用于规划机器人路径的装置或方法可以减少从一个运动的结束时间到下一个运动的开始时间的时间，从而执行平滑运动。

公开(公告)号：US20150211016A1

公开(公告)日：2015-07-30

申请号：US14383804

申请日：2013-03-08

申请人： Ryozo IMAI ,  Myung Hee KIM ,  Yozo NAGIRA ,  Naoki TAOKA

发明人： Ryozo Imai ,  Myung Hee Kim ,  Yozo Nagira ,  Naoki Taoka

IPC分类号： C12N15/82 ,  C07K14/415

CPC分类号： C12N15/8273 ,  C07K14/415 ,  C12N15/8261 ,  C12N15/8271

摘要： This invention relates to a plant having high resistance to environmental stress and high seed productivity, and, more particularly, a transformed plant that is genetically modified to overexpress a polyadenylate-binding protein (PABN) gene and has enhanced environmental stress resistance and enhanced seed productivity.

摘要翻译： 本发明涉及具有高耐环境胁迫和高种子生产力的植物，更具体地说，涉及转基因植物，其被遗传修饰以过表达多腺苷酸结合蛋白（PABN）基因，并具有增强的耐环境胁迫性和增强的种子生产力 。

公开(公告)号：US20130330358A1

公开(公告)日：2013-12-12

申请号：US14000849

申请日：2012-02-22

申请人： Jae Jung ,  Hye-Ra Lee ,  Myung Hee Kim ,  Tae-Kwang Oh ,  Jung-Won Hwang

发明人： Jae Jung ,  Hye-Ra Lee ,  Myung Hee Kim ,  Tae-Kwang Oh ,  Jung-Won Hwang

IPC分类号： A61K39/42 ,  A61K38/55

CPC分类号： A61K39/42 ,  A61K38/55 ,  C07K14/005 ,  C07K2299/00 ,  C12N2710/16422 ,  C12Q1/37 ,  G01N33/574 ,  G01N2500/02

摘要： Two vIRF4 (Kaposi's-sarcoma-associated-herpesvirus vIRF4) peptides, vif1, corresponding to aa202-216 of vIRF4, and vif2, corresponding to aa220-236 of vIRF4, are potent and selective HAUSP antagonists. The vif1 and vif2 peptides robustly suppress HAUSP DUB enzymatic activity, ultimately leading to p53-mediated anti-cancer activity. The vif1 and vif2 peptides, along with their homologues, are useful in treating cancer through regulation of p53 activity in a cancer cell. Also disclosed is the crystalline structure of vIRF4-HAUSP TRAF domain complex. The structure is useful in computer aided drug design for identifying an agent that interacts with and inhibits HAUSP, resulting in p53 medicated cell cycle arrest of cancer cells.

摘要翻译： 对应于vIRF4的aa202-216的vIRF4（卡波西 - 肉瘤相关疱疹病毒vIRF4）肽vif1和对应于vIRF4的a220-236的vif2是有效和选择性的HAUSP拮抗剂。 vif1和vif2肽强力抑制HAUSP DUB酶活性，最终导致p53介导的抗癌活性。 vif1和vif2肽及其同源物可用于通过调节癌细胞中p53活性来治疗癌症。 还公开了vIRF4-HAUSP TRAF结构域复合物的晶体结构。 该结构在计算机辅助药物设计中有用，用于鉴定与HAUSP相互作用并抑制HAUSP的药剂，导致癌细胞的p53药物细胞周期停滞。

公开(公告)号：US20130049530A1

公开(公告)日：2013-02-28

申请号：US13643774

申请日：2010-08-24

申请人： Chong Min Koo ,  Soon Man Hong ,  Seung Sang Hwang ,  Kyung Youl Baek ,  Soon Jong Kwak ,  Myung Hee Kim ,  Bo Ri Kim ,  Hee La Kwak ,  Kyung Ho Min ,  Youn Duk Park

发明人： Chong Min Koo ,  Soon Man Hong ,  Seung Sang Hwang ,  Kyung Youl Baek ,  Soon Jong Kwak ,  Myung Hee Kim ,  Bo Ri Kim ,  Hee La Kwak ,  Kyung Ho Min ,  Youn Duk Park

IPC分类号： H02N11/00 ,  B05D5/12 ,  B82Y99/00

CPC分类号： H01L41/193 ,  H01L41/0986 ,  H01L41/45

摘要： The present invention relates to an actuator which is one of the energy conversion devices, and is characterized by improving the ability to convert electrical energy into mechanical energy by way of using a dielectric elastomer composite comprising a filler with an efficient dispersibility. In case of using a conventional resilient dielectric layer, there was a problem in that the operating voltage is high, while advantageously exhibiting a fast response and a high strain. The present invention can provide dielectric elastomer composite actuators that show excellent electromechanical conversion properties, by adding a dispersing agent such as a pyrene derivative or a polymeric compound having an amine end group when preparing the composite wherein carbon-based conductive fillers such as carbon blacks, single-walled carbon nanotubes (SWCNTs), double-walled carbon nanotubes (DWCNTs), multi-walled carbon nanotubes (MWCNTs) and graphenes, or high dielectric fillers such as copper phthalo-cyanine (CuPc), MOFs (metal organic frameworks) and barium titanate (BaTiO3) are comprised in a thermoplastic resilient dielectric layer to enhance the dispersibility of the fillers.

摘要翻译： 本发明涉及作为能量转换装置之一的致动器，其特征在于，通过使用包含具有高分散性的填料的介电弹性体复合材料，提高将电能转换成机械能的能力。 在使用传统的弹性介电层的情况下，存在操作电压高的问题，同时有利地表现出快速响应和高应变。 通过在制备复合材料时，通过添加分散剂如芘衍生物或具有胺端基的聚合化合物，本发明可以提供显示出优异机电转化性能的介电弹性体复合致动器，其中碳基导电填料如炭黑， 单壁碳纳米管（SWCNT），双壁碳纳米管（DWCNT），多壁碳纳米管（MWCNT）和石墨烯，或高介电填料如铜酞菁（CuPc），MOFs（金属有机骨架）和 钛酸钡（BaTiO 3）包含在热塑性弹性介电层中以增强填料的分散性。

公开(公告)号：US20130040124A1

公开(公告)日：2013-02-14

申请号：US13643759

申请日：2011-04-05

申请人： Chong Min Koo ,  Soon Man Hong ,  Seung Sang Hwang ,  Soon Jong Kwak ,  Kyung Youl Baek ,  Kyung Ho Min ,  Youn Duk Park ,  Hee La Kwak ,  Myung Hee Kim ,  Bo Ri Kim ,  Seung Sock Choi ,  Tae Hee Han

发明人： Chong Min Koo ,  Soon Man Hong ,  Seung Sang Hwang ,  Soon Jong Kwak ,  Kyung Youl Baek ,  Kyung Ho Min ,  Youn Duk Park ,  Hee La Kwak ,  Myung Hee Kim ,  Bo Ri Kim ,  Seung Sock Choi ,  Tae Hee Han

IPC分类号： B05D5/12 ,  B32B5/16 ,  B82Y30/00 ,  B82Y40/00

CPC分类号： C09D183/04 ,  C08F222/1006 ,  C08G77/20 ,  C08K3/042 ,  C09D7/70 ,  C09D11/38 ,  C09D11/52 ,  Y10T428/25 ,  C09D183/06

摘要： The present invention relates to transparent antistatic films using graphene, and methods for preparing the same. The films include conductive particles comprising a single-layer or multi-layer graphene, and a binder. The films are prepared by dispersing graphene in a solvent to obtain a graphene dispersion; dissolving a curable binder to a solvent to obtain a binder solution; mixing the graphene dispersion, the binder solution and optionally an additive to obtain a coating solution; applying the coating solution onto a substrate and drying the solution to form a coated film; and curing the coated film. According to the present invention, transparent or semitransparent antistatic films having excellent permeability, abrasion resistance, scratch resistance, chemical stability and dimensional stability can be prepared. The films also have superior adhesion to substrates and applicability, and thus may be advantageously applied to rigid or flexible substrates.

摘要翻译： 本发明涉及使用石墨烯的透明抗静电膜及其制备方法。 膜包括包含单层或多层石墨烯的导电颗粒和粘合剂。 通过将石墨烯分散在溶剂中以获得石墨烯分散体来制备膜; 将可固化粘合剂溶解到溶剂中以获得粘合剂溶液; 将石墨烯分散体，粘合剂溶液和任选的添加剂混合以获得涂布溶液; 将涂布溶液涂布在基材上并干燥该溶液以形成涂膜; 并固化涂膜。 根据本发明，可以制备具有优异的透气性，耐磨性，耐擦伤性，化学稳定性和尺寸稳定性的透明或半透明抗静电膜。 该膜还具有优异的与基材的粘合性和适用性，因此可有利地应用于刚性或柔性基材。