• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.6
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• pp.585-592
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• 2014

In this study, a multibody simulator was developed to analyze the bio-mimetic motion of a lizard robot design. A RecurDyn multibody dynamics model of a lizard was created using a micro-computerized tomography scan and motion capture data. The bio-mimetic motion simulator consisted of a trajectory generator, an inverse kinematics module, and an inverse dynamics module, which were used for various walking motion analyses of the developed lizard model. The trajectory generation module produces spinal movements and gait trajectories based on the lizard's speed. Using the joint angle history from an inverse kinematic analysis, an inverse dynamic analysis can be carried out, and the required joint torques can be obtained for the lizard robot design. In order to investigate the effectiveness of the developed simulator, the required joint torques of the model were calculated using the simulator.

• Korean Journal of Environment and Ecology
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• v.20 no.3
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• pp.352-358
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• 2006

We reconsidered the taxonomy of lizards in Korea on the basis of morphological characters of collected specimens and previously published data. A total of 138 specimens were used in this study, which were collected from April 1996 to October 2005, From the observations, we presented keys to classify Korean lizards. Also, we indicated sampling sites for each species on the Korean map. In addition, we added some remarks on the distribution of Gekko japonicus, the study of genus Scincella and the synonym of genus Takydromus. Especially, it was uncertain whether the southern Korean Peninsula is a natural habitat of Takydromus tachydromoides oldi which will be necessary in further study.

• Animal Systematics, Evolution and Diversity
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• v.21 no.1
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• pp.57-66
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• 2005

Tenuidraconema philippinensis, a new species of free-living marine nematode, collected from the shallow subtidal coarse sediments of the Philippines, is described. The new species differs from T. fiersi Decraemer, 1989 and T. koreensis Rho and Kim, 2004, by the following characteristics: the position of 12 cephalic adhesion tubes in both sexes (all 12 cephalic adhesion tubes inserted on the body annules), the number of posterior sublateral adhesion tubes (12 in male and 11 in female) and posterior subventral adhesion tubes (16 in male and 17 in female), and the absence of the intermingled somatic setae in male. This is the first discovery of the genus Tenuidraconema in the Philippines.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.8
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• pp.264-273
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• 2013

The importance of the robots has emerged as the means of minimizing the casualties in the future war, and, thus, the biomimetic robots mimicking the optimized organisms has been actively studied. The robot inspired lizard is suitable for reconnaissance and the surveillance in narrow areas. In this paper, we analyzed the locomotion of a lizard by motion capture system using the infrared markers. We attached 21 markers to the joints of the lizard. By considering the measured data, we analyzed the walking motion of the lizard which trots in a sprawled posture. Moreover, we proposed the 25 dof kinematic model which was able to reproduce the gait of the lizard faithfully. The model was verified by simulations.

• Animal Systematics, Evolution and Diversity
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• v.21 no.1
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• pp.81-91
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• 2005

A new species of draconematid nematode, Paradraconema jejuense n. sp., is described from the shallow sublittoral coarse sediments of Jeju Island, Korea. Paradraconema jejuense n. sp. is most similar to P. antarcticum Allen and Noffsinger, 1978 in having similar habitus (long slender body) and amphideal fovea (doubled elongate spiral in male and circular spiral in female), but is distinguished by the following characteristics: larger number of posterior sublateral adhesion tubes (10 in male and 11-12 in female) and subventral adhesion tubes (16 in male and 17-18 in female), fewer cephalic acathiform setae on rostrum (a pair of small cephalic acathiform setae in both sexes), the absence of eye-spots, and the presence of a differentiated lateral field in mid-body region. This is the first taxonomic report on Paradraconema species from Korea.

• 기계와재료
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• v.23 no.4
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• pp.16-25
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• 2011

본고는 자연모사공학에서 출발하여, 자연계에 존재하는 건식 접착 성질을 이용하기 위한 방법으로서 게코도마뱀의 발바닥 섬모 구조를 모사하기 위한 방안들을 설명하고 그 응용분야를 전망한다. 도마뱀의 섬모 구조가 가지는 네 가지 특징들은 고분자 폴리머 재료와 나노 신장 기술, 2단계 UV 자외선 성형 기술, 전자빔 조사 등과 같은 기술을 통해 구조 및 기능의 모사가 가능하고 실제로 제작된 구조는 좋은 접착 특성을 나타냄을 알 수 있었다. 이를 토대로 다양한 섬모 구조에서의 접착 성능을 분석하고 실제 생활에서 바이오 패치로의 응용 가능성을 제시하였다.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.9
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• pp.136-143
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• 2013

In this paper, a algorithm to find joints of a small animal like a lizard from the multiple-view silhouette images is presented. The proposed algorithm is able to calculate the 3D coordinates so that the locomotion of the lizard is markerlessly reconstructed. The silhouette images of the lizard was obtained by a adaptive threshold algorithm. The skeleton image of the silhouette image was obtained by Zhang-Suen method. The back-bone line, head and tail point were detected with the A* search algorithm and the elimination of the ortho-diagonal connection algorithm. Shoulder joints and hip joints of a lizard were found by $3{\times}3$ masking of the thicked back-bone line. Foot points were obtained by morphology calculation. Finally elbow and knee joint were calculated by the ortho distance from the lines of foot points and shoulder/hip joint. The performance of the suggested algorithm was evaluated through the experiment of detecting joints of a small lizard.

• 기계와재료
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• v.18 no.3 s.69
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• pp.52-58
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• 2006

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.771-772
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• 2010

• Journal of Veterinary Clinics
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• v.26 no.4
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• pp.391-394
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• 2009

An Asian water monitor Varanus salvator with physical wound due to bite which was subsequently infected with bacterium resulting to hemorrhage and pus in the skin blisters, abdominal distention and septicemia. Morganella morganii was isolated and identified from the blood and kidney of the reptile, and confirmed by PCR and biochemical tests. The sensitivity of isolated strains to different groups of antibiotics was also evaluated using the disc diffusion method. Pathogenicity test using M. morganii (SNUFPC-MM01) (1.6 ${\times}$ $10^{11}$CFU/mouse) to suckling and adult mice resulted to the death of all mice. This paper describes the first isolation of M. morganii from Asian water monitor in Korea.