• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1244-1248
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• 2003

This paper describes visual tracking procedure of the underwater mobile robot for nuclear reactor vessel inspection, which is required to find the foreign objects such as loose parts. The yellowish underwater robot body tends to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color information, yellow and indigo. The center coordinates extraction procedures are as follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences; binarization, labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth.

• Journal of fish pathology
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• v.7 no.2
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• pp.83-94
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• 1994

Bonnierilla namhaesius n, sp, is described based on the specimens recovered from the ascidians, Halocynthia roretzi Von Drasche in Namhae Islands, Korea, This is distinguished from congeners by having a combination of characters : setal formula 3, 17+1 hook, 9+1 aesthete, 5, 3, 2, 2+1 aesthete, 7+1 aesthete respectively on eight segments of antennule, II, 5 on distal segment of the second leg to fourth leg exopod, and 2, 3, I on distal margin of caudal ramus. This is the second record of the male, and first record of the copepodid in the genus Bonnierilla.

• Proceedings of the IEEK Conference
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• 2003.07e
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• pp.2259-2262
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• 2003

This paper describes visual tracking procedure of the underwater mobile robot for nuclear reactor vessel inspection, which is required to find the foreign objects such as loose parts. The yellowish underwater robot body tend to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color informations, yellow and indigo. The center coordinates extraction procedures is as follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences: binarization labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth.

• Journal of Species Research
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• v.1 no.2
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• pp.156-174
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• 2012

Monchenkocyclops gen. nov. was erected to accommodate M. changi sp. nov. from South Korea (type species), M. mirabdullayevi sp. nov. from Kazakhstan, M. biarticulatus (Monchenko, 1972) comb. nov. from Uzbekistan, and M. biwensis (Ishida, 2005) comb. nov. from Japan. The latter species was originally described from surface-water habitats of the ancient Lake Biwa in the genus Diacyclops Kiefer, 1927, while two Central Asian species were previously collected from groundwater habitats and assigned to the genus Acanthocyclops Kiefer, 1927. Monchenkocyclops changi is also found in subterranean waters, and described here in detail. It is morphologically most similar to its Uzbek congener (not to the Japanese one), which rises some interesting zoogeographical questions about the disjunct distribution of this genus. Range fragmentation is a more plausible explanation for this distribution pattern than range expansion, and we emphasize four lines of evidence that support this hypothesis. Four species of Monchenkocyclops share not only the same segmentation of the swimming legs, but also the exact same armature formula of all swimming legs, in addition to many other morphological characters, such as the caudal rami shape and armature, absence of exopod on the antenna, similar shape of the seminal receptacle, fifth leg, etc. They can be distinguished mostly by the relative length of different armature elements, such as the innermost terminal caudal setae, and inner setae and apical spines on the third endopodal segment of the fourth leg. A dichotomous key to species is provided.

• Proceedings of the ESK Conference
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• 1993.04a
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• pp.1-9
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• 1993

A human gait study is required for the biomechanical design of running shoes. A tow-dimensional dynamic model was developed in order to analyze lower extremity kinematics and loadings at the right ankle, knee, and hip joints. The dynamic model consists of three segments, the upper leg, the lower leg, and the foot. Each segment was assumed to be a rigid body with one or two frictionless hinge joints. The lower extremity motion was assumed to be planar in the sagittal plane. A young male subject was involved in the gait test and his anthropometric data were measured for the calculation of segement mass and moment of inertia. The experimental data were obtained from three trials of walking at 1.2m/s. The foot-floor reaction data were measured from a Kistler force plate. The kinematic data were acquired using a three-dimensional motion measurement system (Expert Vision) with six markers, five of which were placed on the right lower extremity segments and the rest one was attached to the force plate. Based on the model and experimental data for the stance phase of the right foot, the calculated vertical forces reached up to 492, 540, and 561 N at the hip, knee, ankle joints, respectively. The flexion-extension moments reached up to 155, 119, and 33 Nm in magnitude at the corresponding joints.

• The Journal of the Korea Contents Association
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• v.7 no.4
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• pp.234-240
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• 2007

The purpose of this paper was to architecture optimal model of the scooped swing in high bar. The scooped swing was modeled to the double pendulum and was simulated with the Lagrange's equation of motion. Lagrange's method based on a energy approaching method was implemented as a equation of motion. The subject was a national man-gymnast(age 18yrs, height 153 cut mass 48 kg) and the high bar of SPIETH company was used to measure the scooped swing. Qualisys system(six MCU-240 cameras, QTM software)was used to capture data for imaging analysis. The solution of a model and data processing were solved in Mathematica5.0. The results were as follows: First model value of maximum bar displacement was longer than experimental value, that is, 0.02 m. Second, both angular pattern of segment1(HAT) had a increasing curve but curve patterns had a different concave and convex me. Third the experimental value of maximum angular angle of segment2(total leg) had larger than model value, that is, $4^{\circ}$. Conclusively, model parameters were quasi-optimized to obtain a quasi-match between simulated and actual performances. It hopes to simulate a human model by means of integrating musculoskeletal and neuromuscular system in the future study.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.23 no.5
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• pp.378-384
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• 1990

A neritic copepod previously known as Acartia clausi Giesbrecht in the Korean waters was taxonomically re-examined, and the species has been identified as Acartia omorii and Acartia hudsonica. These species are easily discriminated by the morphology of the 3rd segment of the 5th right leg in male and by the shape of the genital segment in female. A. omorii occurs along the coast of Korea, and A. hudsonica is restricted to the brackish waters of Pusan area.

• Korean Journal of Applied Biomechanics
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• v.23 no.1
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• pp.19-24
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• 2013

The aim of the study was a quantitative analysis of elite athlete's $540^{\circ}$ Dwihuryeochagi and effects of ground movements to the jumping height and kicking velocity. Eleven elite players(Taekwondo demonstration team) participated in this study. In order to get the kinetic and kinematic variables, ten Vicon cameras and a force plate were used. Foot segment velocity(FSV), vertical ground reaction force(GRF), impulse, ground time(GT) in phase 1, trunk angular velocity(TAV), vertical center of gravity(COG), flight time(FT) in phase 2 and kicking leg segment velocity(KSV) in phase 3 were measured and analyzed. Results indicated that there were similar patterns of variables among phases between subjects. Non-significant correlation(r=.145) between flight time(FT) and impulse was found. Also non-significant correlation(r=.119) between center of gravity(COG) and impulse was found. In conclusions, there were similar strategies in phase 1, phase 2, and phase 3 between subjects.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.29 no.3
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• pp.409-413
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• 1996

Paracalanus parvus and P. indicus collected in Korean coastal waters were redescribed to clarify taxonomical confusion. They showed the significant morphological difference in the $2nd\~4th$ swimming legs. In P. parvus the outer distal edge of 3rd segment of exopod of $2nd\~4th$ swimming legs is not serrated. The 1st basipodite has no spinules on the surface. In P. indicus the outer distal edge of 3rd segment of exopod of End and 3rd swimming legs is serrated, while that of the 4th swimming leg is not. This species has the 1st basipodite with a lot of spinules on the surface.

• Korean Journal of Agricultural Science
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• v.27 no.1
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• pp.20-24
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• 2000

External morphological characteristics of male and female of Degeeria separata, which was endoparasited in adult of the Asian ladybird, were studied by using the scanning electron microscopy (SEM). The antenna of Degeeria separata was consisted of three segment and arista. Aristae were about $750{\mu}m$ length and $30{\mu}m$ in diameter. The surface of antennae was covered with many sensilla. They were long or short, slender or thick, and straight or curved. Each three morphological types of sensilla were observed on the second and third segment of antennae. The mouthpart was sponging type. It was consisted with clypeus, labellum, labium, labrum, and maxillary palp. The labellum is $400{\mu}m$ width and double folded vertically. The leg consist of tarsus, tarsus claw, pulvilli, and empodium.