Earticle

최근 로봇공학은 규칙 기반 제어에서 범용 AI 기반 제어로 전환되고 있다. VLA(Vision-Language-Action) 모델은 시 각 정보와 자연어 명령을 이해해 행동을 생성하는 엔드투엔드 멀티모달 학습을 가능하게 하며, 차세대 물리적 인공지능 핵심 기 술로 주목받는다. 실제 적용을 위해서는 ROS와의 통합이 필수적이다. 본 논문은 RoboNeuron, RT-2, OpenVLA, CoT-VLA 등의 사례를 중심으로 시스템 구조와 데이터 흐름을 비교·분석하고, 물류·제조·서비스 분야 적용 사례를 검토했다. 또한 실시간성, 데이터 부족, 추론 오류, 통합 복잡성 등 기술적 과제를 도출하고, 모델 양자화, Sim-to-Real 전이, 자가 피드백 루프, 모듈형 브리지 구조 등을 대응 방안으로 제시하였다. 이를 통해 규칙 기반 로봇에서 VLA–ROS 기반 멀티모달 지능, 범용 물리적 인공지능으로 발전하는 기술·산업적 로드맵을 제시한다.

Recent robotics research is shifting from rule-based control to general-purpose AI-driven control. Vision-Language-Action (VLA) models enable end-to-end multimodal learning by interpreting visual inputs and natural language commands to generate actions and are emerging as a core technology for next-generation Physical AI. Integration with the Robot Operating System (ROS) is essential for real-time sensing, motor control, and simulation-based validation. This paper analyzes representative frameworks including RoboNeuron, RT-2, OpenVLA, and CoT-VLA, comparing system architectures and data flows, and reviews applications across logistics, manufacturing, and service robotics. Key challenges such as real-time constraints, data scarcity, inference errors, and integration complexity are identified, along with proposed solutions such as model quantization, Sim-to-Real transfer, self-feedback loops, and modular bridge structures. A roadmap from rule-based robots to VLA–ROS multimodal intelligence and general-purpose Physical AI is presented, offering technical and industrial insights.

Iron is an important element which takes part in several biological processes. The role of iron in porcine oocyte maturation and early embryo development was still unknown. In the present study, iron was depleted by deferoxamine (DFM), a specific iron chelator, during in vitro maturation (IVM) and in vitro culture (IVC) period respectively. Results showed that, oocytes were matured with 1 μM DFM for 44 h followed by parthenogenetic activation (PA) displayed higher (p<0.05) blastocyst rate compared to without DFM in IVM medium. Another hand, supplemented with 0.5 μM DFM to the IVC medium for 7 days enhanced blastocyst formation both in PA and in vitro fertilization (IVF) groups (p<0.05). Although there was no difference in total cell number in IVF-derived blastocysts between control and iron depleted group, apoptotic index was significantly (p<0.05) decreased following iron depletion. ROS content in MII oocyte and blastocyst was significantly (p<0.05) decreased after iron depletion. For clarify the mechanism of the phenomenon, expressions of apoptotic- and ROS-related genes in the blastocyst were checked. Iron depletion reduced the expression of Caspase 3 and increased Bcl-xL in blastocyst (p<0.05), but there was no significanly differenc in m-RNA expression of Nox4. Mitochondrial membrane potential was increased both in MII oocytes and blastocysts after DFM treatment. In conclusion, iron depletion decreased ROS in oocytes and embryos developing in vitro, further enhanced mitochondrial activity and reduced the apoptosis in blastosyst, resulted in enhancement of the developmental capacity in porcine early embryos.

In this study, synergic effects of MEM vitamins (MEMv) and beta-mercaptoethanol (bME) supplemented to porcine maturation medium on reactive oxygen species (ROS) of oocytes and embryos, and apoptosis of blastocysts were determined. Cumulus-oocyte- complexes (COCs) were allocated into four treatment groups: 0.05X MEMv, 25 uM bME, 0.05X MEMv + 25 uM bME or a group without MEMv + bME. In experiment 1, COCs were cultured in four respective treatment groups based on NCSU-23 medium for 44 h at 39℃ in a 5% CO2 atmosphere. We evaluated ROS of oocytes. In experiment 2, COCs were cultured in four respective treatment groups and then were fertilized in vitro (IVF) or activated by chemical or electrical method. We determined ROS of early stage embryos (2 cell-4 cells) and apoptosis of blastocysts. DCHFDA for ROS level and TdT-mediated dUTP nick end labelling (TUNEL) for apoptosis were used. As a result, ROS level of oocytes was not significant difference among experimental groups. In early stage embryos produced by IVF, MEMv + bME group showed significantly lower ROS level than that of control group (p<0.05). Level of apoptosis in blastocysts of the MEMv + bME group was significantly lower than that of the control group (p<0.05). In early stage embryos produced by chemical activation, ROS level of MEMv + bME group was significantly lower than that of bME group (p<0.05) without significant difference with those of control and MEMv group. Level of apoptosis in blastocysts in the MEMv + bME group was significantly lower than that of the control group (p<0.05). In early stage embryos produced by electrical activation, ROS level of MEMv + bME group was significantly lower than that of control (p<0.05). However, apoptosis level of blastocyst was not significant difference among experimental groups. In conclusion, the present study indicates that the addition of MEM vitamins and betamercaptoethanol during in vitro maturation is able to alleviate the production of ROS and apoptosis.

본 연구는 친환경적인 소독제의 대안으로 대기압 플라즈마 제트 방식의 방전을 이용하여 생성된 플라즈마 활성수(PAW)에 대한 화학 특성과 살균 효과를 분석하였다. 플라즈마 처리 시간에 따라 PAWT의 경우 PAWD에 비해서 동일 조건 대비 초기에 생성되는 반응성 산화 및 질소종의 농도는 낮은 값을 나타냈으나, 시간이 경과됨에 따라 생성되는 RONS의 농도가 비슷해지는 경향을 보였으며, PAWT는 PAWD에 비해 초기 pH 저하반응 및 속도가 지연되었으나 지속적인 과산화수소, 질산, peroxynitrite의 축적으로 인해 pH가 강산성으로 저하되는 화학적 특성을 나타내었다. 살균 시험에서는 증류수(PAWD), 수돗물(PAWT) 모두 99[%] 이상 살균 효과를 나타내었다. 수돗물을 이용한 PAW는 실생활에서 활용도와 편의성이 높은 친환경적인 대체 살균·소독수로서의 적용 가능성을 확인하였다.

This study analyzed the chemical characteristics and sterilization effects of plasma-activated water (PAW) generated by discharge using an atmospheric-pressure plasma jet as an eco-friendly alternative disinfectant. Depending on the plasma treatment time, PAWT, which was produced using tap water, showed lower initial concentrations of reactive oxygen and nitrogen species (RONS) than PAWD, which was produced using distilled water, under the same treatment and reaction conditions. However, as time elapsed, the concentrations of RONS generated in PAWT tended to become similar to those in PAWD. In addition, PAWT showed a delayed initial pH decrease and a slower pH reduction rate compared with PAWD. Nevertheless, due to the continuous accumulation of hydrogen peroxide, nitric acid, and peroxynitrite, PAWT exhibited chemical characteristics in which the pH decreased to a strongly acidic level. In the sterilization test, both PAWD and PAWT demonstrated sterilization efficiencies of more than 99%. These results confirmed that PAW produced using tap water has potential as an eco-friendly alternative sterilizing and disinfecting water with high practicality and convenience for daily use.

연꽃(Nelumbo nucifera)은 전통 의학 및 기능성 식품의 원료로 널리 사용되어 왔으며, 특히 종피에는 다 양한 생리활성물질이 함유되어 있다. 본 연구에서는 연꽃 종피 추출물이 가지는 항산화 및 항염증 활성을 평가하 고자 하였다. 70% 에탄올로 추출한 연꽃 종피 추출물의 항산화 능력은 2,2-diphenyl-1-picrylhydrazyl radical (DPPH) 및 2,2'-azino-bis(3-ethylbenzothiazoline-6-sulfonic acid) (ABTS) 라디칼 소거능 분석을 통해 확인하 였다. 또한, RAW 264.7 대식세포를 이용하여 세포 독성을 평가하고, lipopolysaccharide (LPS)로 유도된 염증 반 응에 대한 억제 효과를 검증하였다. 실험 결과, 연꽃 종피 추출물은 농도 의존적으로 우수한 라디칼 소거 활성을 나타냈다. 최대 200 μg/mL 농도까지 RAW 264.7 세포에 대한 독성을 보이지 않았으며, LPS 처리에 의해 증가된 산화질소(NO), 염증성 사이토카인(TNF-α, IL-6) 및 세포 내 활성산소(ROS) 생성을 유의하게 억제하였다. 이러 한 결과는 연꽃 종피 추출물이 항산화 및 항염증 효능을 지닌 천연 소재로서, 기능성 식품이나 피부염 완화용 화 장품 원료로 활용될 수 있는 잠재력을 시사한다.

The lotus (Nelumbo nucifera) has been widely used as a raw material in traditional medicine and functional foods, with its seed coat in particular containing various bioactive compounds. This study aimed to evaluate the antioxidant and anti-inflammatory activities of N. nucifera seed coat extract. The antioxidant capacity of the 70% ethanol extract of lotus seed coat was determined through DPPH and ABTS radical scavenging assays. Furthermore, its cytotoxicity was assessed using RAW 264.7 macrophages, and its inhibitory effect on the inflammatory response induced by lipopolysaccharide (LPS) was examined. The results showed that the lotus seed coat extract exhibited excellent, concentration-dependent radical scavenging activity. It showed no cytotoxicity to RAW 264.7 cells at concentrations up to 200 μg/mL and significantly inhibited the LPS-induced production of nitric oxide (NO), inflammatory cytokines (TNF-α, IL-6), and intracellular reactive oxygen species (ROS). These findings suggest that lotus seed coat extract, as a natural material with antioxidant and anti-inflammatory efficacy, has the potential for application as an ingredient in functional foods or in cosmetics for alleviating dermatitis.

본 연구에서는 수중 연면방전(Surface Discharge)에 기반한 대기압 플라즈마 제트 방식의 방전을 이용하 여 증류수와 수돗물에서 동일한 처리 시간대의 플라즈마 활성수(PAW)에 대한 화학적 특성과 살균 효과를 비교하 였다. 플라즈마 처리 시간 30분 후 수돗물에 의한 PAW(PAWT)와 증류수에 의한 PAW(PAWD)에서 모두 고농 도의 RONS가 생성되었다. PAWD의 pH는 5분 이후에 3 이하로 측정되었고, PAWT는 10분 이후 3～4로 측정되었다.

In this study, the chemical characteristics and sterilization effect of plasma activated water(PAW) have been compared in distilled water and tap water at the same treatment time using the atmosphere pressure plasma jet discharge based on surface discharge in water. After 30 minutes of plasma treatment, All PAW made from tap water(PAWT) and distilled water(PAWD) contained RONS of high concentrations. The pH of PAWD was measured 3 after 5 minutes, and the pH of PAWT was measured 3 to 4 after 10 minutes.

본 연구에서는 P. rhoeas의 미세먼지에 의한 세포 사멸, ROS 생성 및 콜라겐 분해에 대한 억제능을 측 정하였다. 먼저 P. rhoeas 추출물의 세포 독성을 측정하였다. 세포 독성 측정은 HEKa와 CCD-986sk를 이용하여 측정하였다. 세포독성은 12.5-200 μg/mL의 구간에서 세포독성을 나타내지 않았다. 미세먼지에 의한 세포 사멸 억 제 효과를 측정하기 위해 HEKa를 사용하였다. 이에 P. rhoeas 추출물이 PM2.5, PM10 (PAHs), PM10 (metal) 모두에 의한 세포 사멸을 억제함을 확인할 수 있었다. 미세먼지에 의한 ROS 억제 효과를 측정하기 위해 CCD-986sk를 사용하였다. 이에 처리된 모든 미세먼지에서 ROS을 억제함을 확인할 수 있었다. 미세먼지에 의한 콜라겐 분해 억제 효과를 측정하기 위해 CCD-986sk를 사용하였다. 이에 처리된 모든 미세먼지에서 콜라겐 분해 를 억제함을 확인할 수 있었다. 한편 본 연구의 모든 연구에서 PM10 (metal)의 부정적 영향은 가장 적었으며, PM2.5의 부정적 영향이 가장 컸다. 동시에 P. rhoeas 추출물을 처리했을 때 PM10으로 유도된 부정적인 영향은 대조군과 유사한 수준으로 감소된 반면 PM2.5는 비교적 낮은 개선율을 보였다.

In this study, we determined the inhibitory activity of P. rhoeas against particulate matter-induced cell death, ROS production, and collagen degradation. First, the cytotoxicity of P. rhoeas extract was determined. The cytotoxicity was measured using HEKa and CCD-986sk. The cytotoxicity did not show cytotoxicity in the range of 12.5-200 μg/mL. HEKa was used to measure the inhibitory effect of P. rhoeas on PM2.5 and PM10-induced cell death. It was found that P. rhoeas extract inhibited PM2.5, PM10 (PAHs), and PM10 (metals)-induced cell death. CCD-986sk was used to measure the effect of ROS inhibition by particulate matter. It was found that P. rhoeas extract reduce particulate matter-induced ROS. CCD-986sk was used to measure the effect of inhibiting collagen degradation by particulate matter. It was found that P. rhoeas extract reduce particulate matter-induced collagen degradation. In all the studies in this study, PM10 (metal) had the least negative effect, while PM2.5 had the most negative effect. At the same time, when P. rhoeas extract was treated, the negative effects induced by PM10 were reduced to a level similar to the control, while PM2.5 showed a relatively low improvement rate.

Lipopolysaccharide (LPS) is an endotoxin factor present in the cell wall of Gram-negative bacteria and induces various immune responses to infection. Recent studies have reported that LPS induces cellular stress in various cells including oocytes and embryos. Melatonin (N-acetyl-5-methoxytryptamine) is a regulatory hormone of circadian rhythm and a powerful antioxidant. It has been known that melatonin has an effective function in scavenging oxygen free radicals and has been used as an antioxidant to reduce the cytotoxic effects induced by LPS. However, the effect of melatonin on LPS treated early embryonic development has not yet been confirmed. In this study, we cultured mouse embryos in medium supplemented with LPS or/and melatonin up to the blastocyst stage in vitro and then evaluated the developmental rate. As a result of the LPS-treatment, the rate of blastocyst development was significantly reduced compared to the control group in all the LPS groups. Next, in the melatonin only treated group, there was no statistical difference in embryonic development and no toxic effects were observed. And then we found that the treatment of melatonin improved the rates of compaction and blastocyst development of LPS-treated embryos. In addition, we showed that melatonin treatment decreased ROS levels compared to the LPS only treated group. In conclusion, we demonstrated the protective effect of melatonin on the embryonic developmental rate reduced by LPS. These results suggest a direction to improve reproduction loss that may occur due to LPS exposure and bacterial infection through the using of melatonin during in vitro culture.

Recently, as the field of use of MAVs in modern society has become wider, research on MAV flight control is attracting more attention. In environmental monitoring, the diversity of its forms and applications is gradually widening, such as terrain modeling based on aerial digital image data, surveillance of private protection facilities, aerial surveillance for military purposes, and utilization of delivery services in the commercial sector. Among related studies, proposals related to autonomous flight, which can follow a number of pre-determined route points and perform missions without human intervention, have increased. The importance of the aircraft electrical system fault detection is also growing because of mounting equipment and aircraft demand has increased significantly to an increase in facility that use electricity as large and modernize. This paper estimates the qualitative fault possible cause through previous studies of the actual fault cases that do not have external power Boeing 737 aircraft supply, were detected fault through experimentation, validation with the electrical system fault detection via ground and aircraft equipped inspection the study was carried out.

Skin is the largest organ of humans. Overexposure to ultraviolet (UV) is the primary environmental factor that causes skin damage. The compound, (-)-loliode, isolated from the brown seaweed Sargassum horneri, showed strong antioxidant and anti-inflammatory activities in in vitro and in vivo models. To further explore the potential of (-)-loliode in cosmetics, in the present study, we investigated the photoprotective effect of (-)-loliode in vitro in skin cells and in vivo in zebrafish. The results indicated that (-)-loliode significantly reduced intracellular reactive oxygen species (ROS) level, improved cell viability, and suppressed apoptosis of UVB-irradiated human keratinocytes. In addition, (-)-loliode remarkably attenuated oxidative damage, improved collagen synthesis, and inhibited matrix metalloproteinases expression in UVB-irradiated human dermal fibroblasts. Furthermore, the in vivo test demonstrated that (-)-loliode effectively and dose-dependently suppressed UVB-induced zebrafish damage displayed in decreasing the levels of ROS, nitric oxide, lipid peroxidation, and cell death in UVB-irradiated zebrafish. These results indicate that (-)-loliode possesses strong photoprotective activities and suggest (-)-loliode may an ideal ingredient in the pharmaceutical and cosmeceutical industries.