• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2002.12a
• /
• pp.227-230
• /
• 2002

기존 이동로봇의 활발한 연구와 더불어 다양한 형태의 이동로봇이 등장하였다. 이에 본 논문에서는 8축으로 구성된, 총 16 Degree of Freedom을 가지는 다 관절 뱀 로봇을 제작하였다. 뱀 로봇은 지면과의 진행 마찰력을 고려하여 무동력 바퀴를 사용하였다. 또한 PC Cam과 초음파 센서를 사용하여 각 관절이 움직일 수 있는 Joint Angle을 나타내기 위하여 Target의 색상과 거리를 입력으로 하였다. 뱀 로봇은 머리부분, 몸통 그리고 꼬리부분으로 나뉘어 진행하는 방식을 가지며 PC Cam을 통해 화면에 보여지는 움직이는 특정 목표물에 대하여 진행을 하며, 진행 중 움직이거나 고정되어있는 Obstacle이 포착될 경우 충돌회피를 통하여 Target을 추종하는 방식을 실험적으로 보이고자 한다.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.13 no.1
• /
• pp.70-75
• /
• 2003

There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

• Korean Journal of Environment and Ecology
• /
• v.19 no.4
• /
• pp.342-347
• /
• 2005

This study was carried out to examine the distribution and habitat of Bibarl snake (Sibynophis Collaris) from March 1998 to June 2005 in Jeju island, Korea. 5 individuals of Bibari snake were observed on northern part of JeJu, 1 individual on southern area and 2 individuals on western area during research period. As a result, it was revealed that Bibari snake was found on the whole of Jeju island. Its observation was made from May to October, especially frequent from May to July. The body length of adult Bibari snakes were $406{\~}452mm$ and its tail length $29+{\~}202mm. Considering of number and shape of supralabials and number of temporals, the characters of Bibari snake were similar to those of S. chinensis. Therefore it seems need to reconstruct taxonomic position of Bibari snake. From a vertical viewpoint of Mt. Halla, Biabri snake prefers to stay on the grassland 600m below the sea. Consequently, it Is suggested that grassland be well-reserved for the protection of Bibari snakes.

• Korean Journal of Ichthyology
• /
• v.23 no.1
• /
• pp.46-60
• /
• 2011

A taxonomic review of 6 genera and 10 species in the family Ophichthidae was carried out based on specimens from the adjacent waters of Korea. The number of vertebrae distinguished the species of each genus: Ophisurus macrorhynchos (201~209), Ophichthus rotundus (178~183), Pisodonophis zophistius (179~182), P. cancrivorus (153~164), Echelus uropterus (152~158), Muraenichthys gymnopterus (155~156), Ophichthus evermanni (150~154), Brachysomophis porphyreus (137~148), Ophichthus urolophus (135~138), Ophichthus asakusae (124~134). Snout length in head length distinguished the 6 genera: Ophisurus (27.2~31.2), Echelus (18.0~27.7), Ophichthus (12.3~21.5), Pisodonophis (16.5~20.8), Muraenichthys (11.4~11.9), Brachysomophis (9.1~9.4). A key to the 6 genera and 10 species of the family Ophichthidae from the adjacent waters of Korea is provided.

• Korean Journal of Food Science and Technology
• /
• v.2 no.1
• /
• pp.93-95
• /
• 1970

In this study, total cholesterol was determined in three kinds of Korean snake wine (50V% alcohol extracts of Salmo-Sa, Dok-Sa and Nung-Sa) by Zak's method and was discussed as follows: 1. The snake wines extracted from snakes after winter sleeping were lower content of cholesterol than those extracted from snakes before winter sleeping. 2. The higher content of original snake's lipid was, the higher content of cholesterol isolated into snake wines.

• Korean journal of applied entomology
• /
• v.50 no.1
• /
• pp.65-69
• /
• 2011

Micromus variegatus (Neuroptera: Hemerobiidae) is reported here as new to South Korea. In addition, three other hemerobiid species recorded only the collection data, Hemerobius harmandinus, Sympherobius tessellatus and S. domesticus are also reported with a brief description, images of the adult and wings, and its Korean common name. With four previously reported species in Korea, there are eight species of the family Hemerobiidae from Korea.

• Korean journal of applied entomology
• /
• v.52 no.4
• /
• pp.283-289
• /
• 2013

This study was performed to investigate the biological characteristics of the brown lacewing Micromus angulatus (Stephens) at four different temperatures (15, 20, 25, and $30^{\circ}C$) and $70{\pm}10%$ relative humidity under a photoperiodic regime of 16:8(L:D) h. The developmental threshold and effective accumulative temperature from egg to pupa for M. angulatus were $9.6^{\circ}C$ and 270.3 day-degrees, respectively. The developmental period of egg, larva, and pupa at $25^{\circ}C$ was 4.4, 5.5, and 6.9 days. respectively. The longevity of an adult female M. angulatus was 34.9 days. The oviposition period for M. angulatus was 28.7 days, in which it laid a total number of 515.2 eggs during its life span. The maximum number of eggs laid by a female in a day was 54.8. Daily consumption by M. angulatus at $25^{\circ}C$ was 18.9 $1^{st}$ instars, 47.2 $2^{nd}$ instars, 57.7 $3^{rd}$ instars, and 91.0 adults of the glasshouse potato aphid, Aulacorthum solani. Therefore, M. angulatus could be a promising biological control agent against aphids.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2004.04a
• /
• pp.418-421
• /
• 2004

생체 모방 공학이란 자연의 생명체가 보여 주는 행동이나 구조, 그들이 만들어 내는 물질등을 연구해 모방함으로써 인간 생활에 적용하려는 기술이다 본 논문은 이러한 모방 공학에서 비롯되어 생물학적 뱀이 가지고 있는 특징 중 자유로운 이동 모션이나 좁은 공간을 유연하게 통과하는 성질을 로봇에 응용한다. 연구 목표로서 먼저 뱀의 가장 큰 특징인 사인 파형의 이동모션 원리와 동작방법에 대해 설명하며 실험과 시뮬레이션을 통해 실천 가능성을 검증한다 또한 자율 이동시 센서를 이용 장애물을 회피하며 PDA를 제어기로 사용하여 Snake Robot를 제어한다.

• Nuclear industry
• /
• v.24 no.9 s.259
• /
• pp.52-58
• /
• 2004

• Journal of the korean veterinary medical association
• /
• v.19 no.11
• /
• pp.34-38
• /
• 1983