• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.5
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• pp.466-472
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• 2013

In this paper, we propose a gait generation method for a quadruped robot using the waist joints which can minimize the body shake during the locomotion. In this proposed method, we first calculate the hip coordinate of tilted body using the geometrical model of a quadruped robot, and then move the CoG(Center of Gravity) of a quadruped robot using 2-DOF waist joints to minimizes the body shake. In addition, the gait of a quadruped robot is generated based on the wave gait method. Finally, we verify the effectiveness of the proposed method by comparing with that of the previous method through the computer simulations.

• Applied Chemistry for Engineering
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• v.23 no.4
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• pp.383-387
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• 2012

This paper presents an easy way to prepare carbon dioxide sorbent by using commercially available fumed silica particles (AEROSIL). AEROSIL was impregnated with various concentration of polyethyleneimine (PEI) in methanol and $CO_2$ capture ability was analyzed by thermo gravity analysis (TGA). The $CO_2$ adsorption capacity of 50 wt% PEI-impregnated AEROSIL was 126.2 mg/g-sorbent at $75^{\circ}C$ and this capacity was substantially higher than that of the mesoporous silica such as HMS (101.0 mg/g-sorbent) and MSU-J (66.1 mg/g-sorbent).

• Proceedings of the SCSK Conference
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• 2003.09a
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• pp.672-685
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• 2003

Yew (Taxus cuspidata Sieb.) chose that grow as medicine, food, decorative plant in Korea's Kyong-Gi province surroundings. Extracts of yew extracted leaf of 250 g and stems of 300 g with 1,3-butylene glycol (1,3-BG), propylene glycol (PG) and water. As results, external appearance of leaf extract of yew was slightly brown clear extract. The pH was 5.3$\pm$0.5, and specific gravity was 1.012$\pm$0.05, and refractive index was 1.375$\pm$0.05. Also, appearance of stem's extract was slightly brown clear extract, and the pH was 5.4$\pm$0.5, and specific gravity was 1.016$\pm$0.05, and refractive index was 1.358$\pm$0.05. Oil of yew separated from seeds, and extracted polysaccharide high purity from fruits. As a result, specific gravity of oil was 0.987, and obtained 40％ of yield. Total polyphenols amount of yew extract is detected 0.563％ in leaves, 0.325％ in stems, whereas total tannins amount contained 0.054％ and 0.037％ each in leaves and stems. As effect in cosmetics, the anti-oxidative effect by DPPH method is 75.0％ in leaves, and stems was 64.0％. Collagen synthesis rate was shown high activity by 54.16％ in stem's extract, 33.18％ in leaves' extract. Also, PPE-inhibitory activities were 13.7％ and 23.5％ each in leaves and stems. Anti-inflammatory effect of yew seed oil displayed superior effect of 41 ％ than control. Polysaccharide's molecular weight that is gotten from fruits was 5$\times$10$^4$~ 3$\times$10$^{5}$ dalton, and got 20.0$\pm$5％ of yield.

• Proceedings of the SCSK Conference
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• 2003.09b
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• pp.343-356
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• 2003

Yew (Taxus cuspidata Sieb.) chose that grow as medicine, food, decorative plant in Korea's Kyong-Gi province surroundings. Extracts of yew extracted leaf of 250 g and stems of 300 g with 1,3-butylene glycol (1,3-BG), propylene glycol (PG) and water. As results, external appearance of leaf extract of yew was slightly brown clear extract. The pH was 5.3$\pm$0.5, and specific gravity was 1.012$\pm$0.05, and refractive index was 1.375$\pm$0.05. Also, appearance of stem's extract was slightly brown clear extract, and the pH was 5.4$\pm$0.5, and specific gravity was 1.016$\pm$0.05, and refractive index was 1.358$\pm$0.05. Oil of yew separated from seeds, and extracted polysaccharide high purity from fruits. As a result, specific gravity of oil was 0.987, and obtained 40% of yield. Total polyphenols amount of yew extract is detected 0.563% in leaves, 0.325% in stems, whereas total tannins amount contained 0.054% and 0.037% each in leaves and stems. As effect in cosmetics, the anti-oxidative effect by DPPH method is 75.0% in leaves, and stems was 64.0%. Collagen synthesis rate was shown high activity by 54.16% in stem's extract, 33.18% in leaves' extract. Also, PPE-inhibitory activities were 13.7% and 23.5% each in leaves and stems. Anti-inflammatory effect of yew seed oil displayed superior effect of 41 % than control. Polysaccharide's molecular weight that is gotten from fruits was 5$\times$10$^4$~3$\times$10$^{5}$ dalton, and got 20.0$\pm$5% of yield.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.439-440
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• 2013

• Korean Journal of Applied Biomechanics
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• v.16 no.3
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• pp.1-7
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• 2006

The Primary type of swinging motion in human movement is that which is characteristic of a pendulum. The two types of pendulums are identified as simple and compound. A simple pendulum consist of a small body suspended by a relatively long cord. Its total mass is contained within the bob. The cord is not considered to have mass. A compound pendulum, on the other hand, is any pendulum such as the human body swinging by hands from a horizontal bar. Therefore a compound pendulum depicts important motions that are harmonic, periodic, and oscillatory. In this paper one discusses and compares two algorithms of Newton's method(F = m a) and Euler's method (M = $I{\times}{\alpha}$) in compound pendulum. Through exercise model such as human body with weight(m = 50 kg), body length(L = 1.5m), and center of gravity ($L_c$ = 0.4119L) from proximal end swinging by hands from a horizontal bar, one finds kinematic variables(angle displacement / velocity / acceleration), and simulates kinematic variables by changing body lengths and body mass. BSP by Clauser et al.(1969) & Chandler et al.(1975) is used to find moment of inertia of the compound pendulum. The radius of gyration about center of gravity (CoG) is $k_c\;=\;K_c{\times}L$ (단, k= radius of gyration, K= radius of gyration /segment length), and then moment of inertia about center of gravity(CoG) becomes $I_c\;=\;m\;k_c^2$. Finally, moment of inertia about Z-axis by parallel theorem becomes $I_o\;=\;I_c\;+\;m\;k^2$. The two-order ordinary differential equations of models are solved by ND function of numeric analysis method in Mathematica5.1. The results are as follows; First, The complexity of Newton's method is much more complex than that of Euler's method Second, one could be find kinematic variables according to changing body lengths(L = 1.3 / 1.7 m) and periods are increased by body length increment(L = 1.3 / 1.5 / 1.7 m). Third, one could be find that periods are not changing by means of changing mass(m = 50 / 55 / 60 kg). Conclusively, one is intended to meditate the possibility of applying a compound pendulum to sports(balling, golf, gymnastics and so on) necessary swinging motions. Further improvements to the study could be to apply Euler's method to real motions and one would be able to develop the simulator.

• Journal of Ginseng Research
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• v.32 no.4
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• pp.382-389
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• 2008

To achieve a better understanding of protective effects of water extracts of Panax ginseng against TCDD-induced toxicities, we monitored physiological and clinical changes in rat for 4 weeks after administrations of each Panax Ginseng extract or TCDD, and co-administration of the two materials. For this study, 120 male Sprague-Dawley (SD) rats weighing 190-210 g each (8 weeks old) were divided into four groups: TCDD-administered, co-administered group with TCDD and ginseng extract, ginseng extract-administered, and control group. The TCDD-administered group received single dose of TCDD in a corn oil vehicle ($25\;{\mu}g/kg$ body weight) by intraperitoneal administration on Day 1. The Panax ginseng extracts-administered group received intraperitoneally 100 mg/kg body weight every other day for one month. For the co-administered group with TCDD and ginseng extracts, Panax ginseng extracts were intraperitoneally administered to rats at 100 mg/kg body weight every other day for one month after a single intraperitoneal dose of $25\;{\mu}g$ of TCDD/kg body weight on Day 1. Panax ginseng extracts attenuated the mortality induced by TCDD administration. The extracts also slightly attenuated the TCDD-induced body weight loss. Administration of TCDD alone increased liver weight at 2, 5, and 16 days after administration of TCDD. Administration of Panax ginseng extracts rather decreased liver weight through whole the experimental period, but which was statistically insignificant. Administration of TCDD alone at $25\;{\mu}g/kg$ body weight increased both serum enzyme activities of alanine aminotransferase (ALT) and aspartate aminotransferase (AST) at 32 days, indicating that liver damage occurred maximally at that time. Ginseng extract administration caused insignificant changes in serum ALT, but gradually decreased in AST as the exposure time increased. Coadministration of TCDD and ginseng extracts caused serum AST activity to significant recovery to normal value at 16 days and 32 days after exposure to TCDD. The extracts also significantly decreased the TCDD-induced ALT activity after 16 days of TCDD administration. These results suggest that Panax ginseng extracts may possess a protective effect against TCDD-induced toxicities including hepatotoxicity in rats.

• Journal of the Society of Cosmetic Scientists of Korea
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• v.30 no.2
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• pp.211-219
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• 2004

Yew (Taxus cuspidata Sieb.) chose that grow as medicine, food, decorative plant in Korea's Kyong-Gi province surroundings. Extracts of yew extracted leaf of 250g and stems of 300g with 1,3-butylene glycol (l,3-BG), propylene glycol (PG) and water. As results, external appearance of leaf extract of yew was slightly brown clear extract. The pH was 5.3${\pm}$0.5, and specific gravity was 1.012${\pm}$0.05, and refractive index was l.375${\pm}$0.05. Also, appearance of stem's extract was slightly brown clear extract, and the pH was 5.4${\pm}$0.5, and specific gravity was 1.016${\pm}$0.05, and refractive index was 1.358${\pm}$0.05. Oil of yew separated from seeds, and extracted polysaccharide high purity from fruits. As a result, specific gravity of oil was 0.987, and obtained 40.0% of yield. Total polyphenols amount of yew extract is detected 0.563% in leaves, 0.325% in stems, whereas total tannins amount contained 0.054% and 0.037% each in leaves and stems. As effect in cosmetics, the anti-oxidative effect by DPPH method is 75.0% in leaves, and stems was 64.0%. Collagen synthesis rate was shown high activity by 54.16% in stem's extract, 33.18% in leaves' extract. Also, PPE-inhibitory activities were 13.7% and 23.5% each in leaves and stems. Anti-inflammatory effect of yew seed oil displayed superior effect of 41% than control. Polysaccharide's molecular weight that is gotten from fruits was 5${\times}$10$^4$-3${\times}$10$\^$5/ dalton, and got 20.0${\pm}$5% of yield.

• Journal of the Institute of Electronics and Information Engineers
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• v.49 no.9
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• pp.300-306
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• 2012

In this paper, we propose a vision based hand motion recognition method for an untouchable user interface of smart devices. First, an original color image is converted into a gray scaled image and its spacial resolution is reduced, taking the small memory and low computational power of smart devices into consideration. For robust recognition of hand motions through separation of horizontal and vertical motions, the horizontal principal area (HPA) and the vertical principal area (VPA) are defined respectively. From the difference images of the consecutively obtained images, the center of gravity (CoG) of the significantly changed pixels caused by hand motions is obtained, and the direction of hand motion is detected by defining the least mean squared line for the CoG in time. For verifying the feasibility of the proposed method, the experiments are carried out with a vision system.