박인원 교수

The lung is highly vulnerable during sepsis, yet its functional deterioration accompanied by disturbances in the pulmonary microcirculation is poorly understood. This study aimed to investigate how the pulmonary microcirculation is distorted in sepsis-induced acute lung injury (ALI) and reveal the underlying cellular pathophysiologic mechanism.Using a custom-made intravital lung microscopic imaging system in a murine model of sepsis-induced ALI, we achieved direct real-time visualisation of the

This paper proposes a novel systematic technique to estimate entire kinematic parameter errors of robot manipulator. Small errors always exist in link length and link twist for physical manipulators, which affect the precision in kinematic equations leading to calculate wrong joint angle values in inverse kinematic equations. In order to solve these problems, the proposed technique employs a structured laser module (SLM), a stationary camera, the Jacobian matrices, and an extended Kalman filter

We are developing impedance controlled twisted string actuators (TSA) for use in tensegrity robots, as an alternative to traditional spooled cable actuation. Tensegrity robots are composed of continuous tension and discontinuous compression elements, with no rigid joints between elements, which give them unique force distribution properties. The use of tensegrity robots is strongly motivated by biological examples, and they are capable of locomotion and manipulation by changing lengths of their

Direct intravital imaging of an endothelial surface layer (ESL) in pulmonary microcirculation could be a valuable approach to investigate the role of a vascular endothelial barrier in various pathological conditions. Despite its importance as a marker of endothelial cell damage and impairment of the vascular system, <i>in vivo</i> visualization of ESL has remained a challenging technical issue. In this work, we implemented a pulmonary microcirculation imaging system integrated to a custom-design

This paper presents the design and control of the 3-DOF compliant perching arm for the free-flying Astrobee robots that will operate inside the International Space Station (ISS). The robots are intended to serve as a flexible platform for future guest scientists to use for zero-gravity robotics research—thus, the arm is designed to support manipulation research. It provides a 1-DOF underactuated tendon-driven gripper capable of enveloping a range of objects of different shapes and sizes. Co-loca

Longitudinal imaging of murine pancreas is technically challenging due to the mechanical softness of the tissue influenced by peristalsis. Here, we report a novel pancreatic imaging window for long-term stabilized cellular-level observation of the islets in the pancreas <i>in vivo</i>. By spatially separating the pancreas from the bowel movement and physiologic respiration with a metal plate integrated in the imaging window, we successfully tracked the pancreatic islets up to three weeks and vis

This paper presents the design and development of a transport and placement robot that demonstrates autonomous assembly of structural building blocks. The robots are intended to serve as a critical component of automated structural assembly and maintenance systems. The Scaling Omni-directional Lattice Locomoting Explorer (SOLL-E) uses a 5-DoF bipedal inchworm locomotion architecture with locking foot and cargo grippers. The locomotion system employs large magnet gap diameter BLDC motors with mod

Introduction: This study was performed to investigate the predictors of 1-year mortality at discharge in sepsis survivors. Methods: This study was a retrospective analysis of patients with sepsis and septic shock at a single center. Patients who survived hospitalization for sepsis or septic shock between January 2016 and December 2017 were included in this study. Age, sex, body mass index, laboratory results such as blood cell count, C-reactive protein (CRP) and albumin levels, the Sequential Or

This paper proposes a multi-objective evolutionary algorithm-based optimal posture controller to generate an optimal trajectory of humanoid robots against external disturbance using an iterative linear quadratic regulator (ILQR) and concurrently optimize multiple performance criteria. As the dimensionality of nonlinear system increases, it is difficult to find the weighting matrices of cost function in ILQR. In the proposed method, this problem is solved by employing a multi-objective quantum-in

This paper proposes a novel kinematic calibration technique to estimate entire geometric parameter errors of robot manipulator. There always exist small errors in link length and link twist for physical manipulators. These errors eventually affect the precision in kinematic equations, and cause inverse kinematic equations to calculate joint angle values having errors. In order to solve these problems, the proposed kinematic calibration technique employs a laser module and a stationary camera. Th

This paper proposes a method to generate an optimal trajectory of nonlinear dynamical system and concurrently optimize multiple performance criteria. As the dimensionality of system increases, it is difficult to find values of cost/reward function of conventional optimal controllers. In order to solve this problem, the proposed method employs iterative linear quadratic regulator and multi-objective quantum-inspired evolutionary algorithm to generate various optimal trajectories that satisfy mult

Immunoreactive dynamics of tumor-infiltrating lymphocytes (TILs) within the tumor microenvironment in breast cancer are not well understood. This study aimed to investigate the spatiotemporal cellular dynamics of TILs in breast cancer models. Breast cancer cells were implanted into the dorsal skinfold chamber of BALB/c nude mice, and T lymphocytes were adoptively transferred. Longitudinal intravital imaging was performed, and the spatiotemporal dynamics of TILs were assessed. In the 4T1 model, T

Despite the accumulation of cisplatin in proximal tubules, direct visualization of the surrounding peritubular microcirculation, including its change in cisplatin-induced acute kidney injury (AKI), is lacking. Here, using fluorescence and cellular angiography through video-rate high-resolution intravital microscopy, progressive disturbance of peritubular microcirculation in cisplatin-induced AKI in mice was demonstrated. Fluorescence angiography revealed increasing perfusion defects, with a step