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This paper proposes the indirect zero momentum position (ZMP) controller for biped robot systems and proves its disturbance input-to-state stability (ISS). The ZMP control has been used as a standard method for stable walking control of biped robot systems. Since the ZMP information consists of position and acceleration of the center of gravity (COG) for a(More)
The receptor-evoked Ca(2+) signal includes activation of the store-operated channels (SOCs) TRPCs and the Orais. Although both are gated by STIM1, it is not known how STIM1 gates the channels and whether STIM1 gates the TRPCs and Orais by the same mechanism. Here, we report the molecular mechanism by which STIM1 gates TRPC1, which involves interaction(More)
PURPOSE To evaluate the prognostic value of the metabolic tumor volume measured on 18F-fluorodeoxyglucose positron emission tomography (FDG-PET) imaging and other clinical factors in patients treated for locally advanced head-and-neck cancer (HNC) at a single institution. MATERIALS AND METHODS Between June 2005 and August 2008, 59 patients with HNC that(More)
PURPOSE There have been recent studies of the (18)F-fluorodeoxyglucose positron emission tomography and computed tomography ((18)F-FDG PET/CT) in the staging, detection, and follow-up of the breast cancer occurrence and recurrence. There was controversy concerning the use of (18)F-FDG PET/CT for staging primary breast cancer. In this study, we investigated(More)
BACKGROUND This study aimed to evaluate the safety and efficacy of oral fluoropyrimidines and cisplatin therapy in elderly patients with untreated advanced gastric cancer (AGC) retrospectively. In addition, we evaluated the relative activity and toxicity of these agents in this patient population. METHODS Clinical data from 72 patients with previously(More)
A refractory and resistant disease to conventional induction chemotherapy and relapsed disease are considered as the most important adverse prognostic factors for acute myeloid leukemia (AML). Sixty-one patients (median age, 33.6 yr) with relapsed or refractory AML were treated with the FLAG regimen that consisted of fludarabine (30 mg/m(2), days 1-5),(More)
— The disturbance observer (DOB) has been widely utilized for high precision and high speed motion control applications. In this paper, we suggest the robustness measure of DOB, as a criterion to design the robust DOB systems. Also, we suggest its design guidelines especially for second-order systems. Experimental results for an optical disk drive system(More)
Previously, we explored the epidemic pattern and molecular characterization of noroviruses (NoVs) isolated in Chungnam, Korea in 2008, and the present study extended these observations to 2009 and 2010. In Korea, NoVs showed the seasonal prevalence from late fall to spring, and widely detected in preschool children and peoples over 60 years of age.(More)
This paper proposes the walking pattern generation method, the kinematic resolution method of CoM (center of mass) Jacobian with an embedded motion, and the walking controller design method for humanoid robots. First, the walking pattern is generated using the simplified model for bipedal robot. Second, the kinematic resolution of CoM Jacobian with embedded(More)
For a legged robot such as a humanoid, balancing its body during a given motion is natural but the most important problem. Recently, a motion given to a humanoid is more and more complicated, and thus the balancing problem becomes much more critical. This paper suggests a real-time motion generation algorithm that guarantees a humanoid to be balanced during(More)