• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.10
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• pp.1029-1037
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• 2009

Recently, the technologies of mobile robots have been growing rapidly in the fields such as cleaning robot, explosive ordnance disposal robot, patrol robot, etc. However, the researches about the autonomous underwater robots have not been done so much, and they still remain at the low level of technology. This paper describes a model of 3-joint (4 links) fish robot type. Then we calculate the dynamic motion equation of this fish robot and use Singular Value Decomposition (SVD) method to reduce the divergence of fish robot's motion when it operates in the underwater environment. And also, we analysis response characteristic of fish robot according to the parameters of input torque function and compare characteristic of fish robot with 3 joint and fish robot with 2 joint. Next, fish robot's maximum velocity is optimized by using the combination of Hill Climbing Algorithm (HCA) and Genetic Algorithm (GA). HCA is used to generate the good initial population for GA and then use GA is used to find the optimal parameters set that give maximum propulsion power in order to make fish robot swim at the fastest velocity.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.1019-1022
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• 2002

Pipe-cutting machines have been used in many fields. Recently, an automatic pipe-cutting machine that uses magnet has born developed. In this paper, a magnetic-type automatic pipe-cutting machine that attaches itself and performs unmanned cutting process is proposed. It is designed that there is a room at the bottom of its body to contain a magnet. And it uses magnetic force between the magnet and the pipe surface to prevent slip and to attach the machine to the pipe against gravity. Also the magnetic force is adjustable by changing the gap between the magnet and the pipe. This machine is, however, necessary to control cutting velocity for the elevation of work efficiency and the adjustable faculties. During pipe cutting process, the gravity acting on the pipe-cutting machine widely varies. That is, the cutting machine gets fast when moving from the top to the bottom of the pipe and slow when moving from the bottom to the top. Actually the system is kind of a non-linear system where the gravity is function of climbing angle of the cutting machine along the pipe. Especially jerking motion is critical. Therefore, authors design the non-linear controller that estimates the current position of the machine along the pipe and compensates the effect of gravity in this paper. It receives the feed back signal from the encoder.

• Korean Journal of Environment and Ecology
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• v.3 no.1
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• pp.95-106
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• 1989

This paper presented the baseline data to establish visitor management strategy for Kayasan National Park by examining visitor's socio-economic charateristics and use pattern. The user's composition showed that high school or more graduated twenties(20-29 ages) males were respectively domainant. Their activities were, in main, multi-purpose type participated in climbing, camping or picnic, after visiting to the Haein temple. In use pattern, summer visitors were mainly concentrated in and around Haein temple and Hongnyudong valley. But autumn visitors were especially concentrated in Haein temple area.

• Korean Journal of Plant Resources
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• v.16 no.2
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• pp.147-154
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• 2003

Agronomic characters of the 361 Korean adzuki beans(Vigna angularis (Willd.) Ohwi & Ohashi) collected in Korea were examined. Korean adzuki beans had predominantly up right growth habit types, followed by the intermediate types (15.3%) and the climbing types (6.9%). Round leaf type was the majority among the collections and followed by elliptical and xiphoid leaf type. Adzuki beans with yellow, light yellow and dark yellow flowers were 89.5％, 9.4％ and 1.1％, respectively. The 60.6% of the collections had red seeds and 26.9% had gray seeds. And collections with green seeds, white seeds mixed with gray spot, brown spots on red seeds, black spots on red seeds and dark gray spots on black seeds were also observed. Korean adzuki beans whose number of days from planting to flowering were 69∼75 days were the majority among 361 Korean adzuki beans. The number of days from flowering to majority were 41∼50 days and the number of days from planting to maturity were 111-120days. Adzuki beans having the stem length of 41-60 cm, the pod number per plant of 16-20 and the 100 seed weight of 8∼10 g were 50.2％, 40.2% and 30.5％ of collections, respectively.

• Journal of Korean Society of Forest Science
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• v.106 no.1
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• pp.54-62
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• 2017

This study was carried to develop the chip-harvester and to analysis the operation productivity and cost for effective collection and forwarding of forest biomass. Main target specification of chip-harvester is speed of 8km/h, maximum climbing capacity of $30^{\circ}$ and maximum load capability of 2000 kg. Body structure is articulate type to reduce turning radius. Driving equipment is six-wheel drive, and a rear wheel is tandem bogie type to increase grip force. As a result of the driving test about developed chip-harvester, driving speed was 6.9 km/hr and 8.1 km/hr in ${\pm}10%$ slope with loaded and 7.3 km/hr and 7.9 km/hr in ${\pm}10%$ slope without load. As a result of the operation productivity and cost, operation productivity of grinding and forwarding was approximately $10m^3$ per day, and operation cost was 393,126 won per day.

• Journal of IKEEE
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• v.26 no.4
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• pp.602-613
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• 2022

This paper proposes an algorithm for correcting indirect situations resulting from the wheelchair moving the stairs with wheel-type caterpillar and seat position variable. For analyzing the Yawing movement model, the change of Yaw value was estimated using Roll, Pitch, and Yaw in the driving environment, and it was used as a control variable and the information of the wheel drive controller. The verification confirmed the correction of about 10° of Yawing movement within about 7 seconds. It was confirmed that the angular velocity was reduced by 47.5% in seat position change.

• Analytical Science and Technology
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• v.11 no.2
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• pp.79-87
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• 1998

Consumers have recently preferred to purchase extensive UV intercepting products, which are waterproof and free from side effects on skin. During the testing of cytotoxicity (in-vitro) in neutral red (NR) method, cell survival ratio of UV-B interceptors decreased to just above 0.08 w/v%, and it was observed that the UV-A interceptors the ratio also decreased to just above 0.06 w/v%. In addition patch-tests of inorganic UV interceptors resulted in no skin irritation even below 10.0 and 11.25. In absorption curves, UV-B was most suitable for octyl methoxycinnamate (OMC) and UV-A for butyl methoxy dibenzoylmethane (BMDM). For this reason, $Nylonpoly^{TM}$ UVA/UVB the material of OMC and BMDM coated with Nylon & polyethylene, was used as the organic UV interceptor. Zinc oxide (ZnO) and titanium dioxide ($TiO_2$) was used as inorganic UV interceptors. The appropriate mixture ratio of ZnO and $TiO_2$ was 6 to 4:6% of ZnO, 4% of $TiO_2$ and 5% of $Nylonpoly^{TM}$ UVA/UVB were all combined and added to our sunscreen cream. The SPF value of in-vitro was 38.9. In practical application, each sun protection factor (SPF) duration of oil-in-water (O/W) emulsion and water-in-silicone (W/S) emulsion containing sunscreen cream of the same content showed that W/S type of sunscreen cream was 5 times as durable as the other. Therefore, this product is fit for use in swimming, climbing or skiing. This research is to minimize skin trouble caused by UV interceptors and to make one with proper softness, skin safety and UV intercepting efficiency.

• Journal of Korean Society of Forest Science
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• v.104 no.1
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• pp.98-103
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• 2015

This study was conducted to analyze the running stability of a semi-crawler type mini-forwarder. The running stability analysis was performed by using a dynamic analysis program, RecurDyn. Physical properties of the semi-crawler type mini-forwarder was performed by using 3D CAD modeler, AutoCAD 3D. As a result from the computer simulation of stationary sideways overturning, it was found that the semi-crawler type mini-forwarder runs safely on a road with a slope not bigger than $20^{\circ}$ regardless whether it is empty or loaded, but in case of a road with a slope bigger than $20^{\circ}$, it is assumed that it is difficult for the car to run safely due to some dangers. In addition, it was found that the critical slope of its sideways overturning gets much smaller when empty since the location of its gravity center is elevated and much higher when it is loaded. As a result from the computer simulation of its hill-climbing ability, since the running speed is unstable in case of a road with a vertical slope not smaller than $28^{\circ}$, it is assumed that it is safe to drive it on a road with a slope not bigger than $28^{\circ}$. Taking a look at the result from an analysis of the running safety when it passes an obstacle, it was observed that a front tire comes off the ground when the running speed of the car is 5 and 4 km per hour respectively when it is empty and loaded while the gravity center of the front tire is watched. When taking a look at the changes in the location of the gravity center of the rear wheel crawler shaft, it was not found that the shaft comes off the ground at the test speeds both when it is empty and loaded.

• Korean Journal of Environment and Ecology
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• v.18 no.4
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• pp.359-368
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• 2004

The purpose of this study is to examine distribution and damages of the trails of inquiry of urban natural parks. Those parks were located at south-north green corridor at Incheon being mountainous type of urban natural parks that were core area of urban ecosystem preservation to of urban natural parks that citizens recently made use of them as nature experience type of leisure and recreation place from time to time, and to supply basic material deciding on the ways to improve the trails of nature preservation type. The survey sites included Geyang Park, Baekma Park, Yaksa Park, Munhak Park and Cheongryang Park. The number of main trails was 42 at Geyang Park, 43 at Baekma Park, 9 at Yaksa Park, 28 at Munhak Park, and 22 at Cheongryang Park, and it was excessively more than optimum needed: The number of branch trails of the parks seemed to increase. The bared trail width in average of the roads was 3.5m, while maximum depth in average was 21.3cm. The trails were thought to be deteriorated rapidly without systematic maintenance. The 5th and 6th grade of the impact rating class that required restoration because of serious deterioration occupied 19.6∼78.0%. Based on the findings, the study suggested ways to improve and manage the trails of inquiry of urban natural parks that were placed at south-north green corridor at Incheon.

• Journal of the Korean Applied Science and Technology
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• v.37 no.3
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• pp.409-417
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• 2020

The purpose of this study was to investigate the effects of different types of exercise training on ẞ-Amyloid, Brain-Derived Nerurotrophic Factor(BDNF) and cognitive function in mice with Diabetes Mellitus Group(DM.G). 24 male C57BL/6 mice were randomly assigned to the control (C.G. n = 6) and Diabetes Mellitus Group(DM.G. n = 18) groups. After the Diabetes Mellitus induction period, the DM group was subdivided into DM.G. + sedentary (DM.G., n = 6), DM.G. + endurance exercise (A.G, n = 6), and DM.G. + resistance exercise (R.G., n = 6). The A.G. and R.G performed treadmill and ladder climbing exercises 5 times per week for 8 weeks, respectively. After 8 weeks the results are as follows: ẞ-Amyloid showed higher levels of DM.G. than in A.G., R.G., and C.G., but was not statistically significant(p>.05). BDNF was significantly lower in DM.G. than in C.G., A.G., and R.G.(p <0.05). The Y-maze task performance for cognitive function was significantly lower in DM.G. than in C.G., A.G., and R.G.(p <0.05). These results predict that diabetes can negatively affect ẞ-Amyloid, BDNF and cognitive function. It can also be predicted that low-intensity exercise can positively improve ẞ-Amyloid, BDNF and cognitive function regardless of the type of exercise.