• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2411-2413
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• 2003

A new small humanoid robot system is developed in this paper. The humanoid robot has total 20 DOFs : 6 DOFs in each legs, 3 DOFs in each arms, and 2 DOFs in head, 34cms in height, and 2kgs in weight. The robot has the following characteristics: (1) PDA as host controller (2) network-based joint controller (3) wireless camera attached in robot's head (4) mechanism design by CATIA and high speed laser prototyping (5) graphic MMI(Man-Machine Interface) utilizing the CATIA data. By using ADXL inclination sensor, we implement the rope swing with the robot leg motion as well as walking.

• Journal of the Korea Institute of Military Science and Technology
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• v.7 no.1
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• pp.5-12
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• 2004

This paper includes the comparative study between Cr plating and nitriding process with an aim at improving corrosion, wear and maintainability for KNR(Korean Next Generation Rifle) 5.5mm barrel. The endurance test was conducted to compare the performance of standard barrel, Cr plating barrel and nitriding barrel. Main activities are described as follows; optimal Cr plating and nitriding process set-up for KNR 5.56mm barrel; durability test of each barrel(20,000 rounds); salt water immersion test; dispersion, initial velocity, inner diameter data acquisition. According to the results of this firing test, Cr plating barrel is superior to standard barrel and nitriding barrel in view of corrosion, wear and maintainability.

• Korean Journal of Environmental Biology
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• v.39 no.3
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• pp.289-292
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• 2021

Henricia specimen was collected from the East Sea of Korea using fishing nets. The specimen was identified as Henricia hayashii (Djakonov 1961), belonging to the family Echinasteridae of the order Spinulosida. This species can be distinguished from other Henricia species by slender arms (R/r=7.4), constricted arm base, six to thirty-five slender spinelets, open-meshed, reticulated abactinal skeleton comprising semi-triangular, rod-like form, and small ossicles present inside the papular areas. This species superficially resembles H. reniossa in terms of its body size but differs in the shape and arrangement of the abactinal and actinal plates. To date, two genera of Echinasteridae, Aleutihenricia and Henricia, including a total of 14 species, have been reported in Korea. Herein, the morphological characteristics of H. hayashii are described, and photographs are provided.

• Korean Journal of Environmental Biology
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• v.37 no.1
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• pp.68-71
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• 2019

An asteroid specimen that belongs to the genus Henricia was collected from the waters near Ongpo harbor, Jeju Island using fishing net on 24 January 2017. The specimen was identified as Henricia anomala Hayashi, 1973, which belongs to the family Echinasteridae and order Spinulosida. Henricia anomala was first described by Hayashi, 1973, who captured it from Sagami Bay at a depth of 110-116 m. This species can be distinguished from other Henricia species by short arms (R/r=4), abactinal spines lining the abactinal plates and bearing about two to five spinelets, closely meshed abactinal skeleton, composed of small rod-like and subtriangular plates, a narrow papular area containing one or two papulae, and adambulacral armature composed of five to seven bluntly pointed spinelets. This is the first report of Henricia anomala in Korea.

• Animal Systematics, Evolution and Diversity
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• v.35 no.2
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• pp.84-90
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• 2019

The brittle star, Amphistigma minuta H.L. Clark, 1938, was collected from Munseom Island, Jeju-do, Korea, by SCUBA diving. This species has distinct morphological features, as follows: a small disk with large papillae on the disk margin; slender arms and four arm spines at proximal; and oral parts the same as those of the genus Amphipholis. Additionally, we obtained partial sequences of the cytochrome c oxidase subunit I gene (COI) (513 bp) and compared them with sequences from Australian A. minuta and 13 other species of Amphiuridae. As a result, intraspecific pairwise distance was 0.4% between two Korean individuals and intraspecific distance between the Australian and the Korean populations was 2.6-2.8%, which indicates they should be considered as the same species. Ultimately, 15 species of the family Amphiuridae have currently been recorded in Korea, including A. minuta.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.7
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• pp.78-89
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• 1996

This paper discusses automation of a small-scale hydraulic shovel and its trajectory control. To move an end-effect (grinder) along a desired trajectory, the controller uses PID(proportional-integral- defferential) control and internal pressure of hydraulic cylinder. To apply PID control in the present hydraulic system, the system model is derived physically and its system parameters are obtained by actual measurement. To show the effectiveness of the PID controller and propriety of system model, the computer simulations and experiments are performed. These results of the simulations and experiments indicate that the PID trajectory control of robotic deburring by hydraulic shovel is very effective.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.456-462
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• 2023

In recent years, the use of robot arms has increased rapidly in both industrial and service applications. Unlike production sites, where only one type of gripper is used for productivity, service sites often use a tool changer to replace fingered grippers or vacuum grippers to cover various objects to be grasped. To this end, a tool changer-based pneumatic grasping system was developed in this study. In order to simultaneously use a positive pressure-based pneumatic gripper and a negative pressure-based vacuum gripper, a small vane pump capable of generating positive and negative pressures depending on the direction of rotation was developed. Experiments with actual prototypes have shown that the pneumatic system based on the developed vane pump can effectively realize both pneumatic grippers and vacuum grippers.

• Korean Journal of Environmental Biology
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• v.41 no.4
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• pp.364-369
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• 2023

Two newly recorded sea stars, Henricia densispina (Sladen, 1879) and H. reniossa asiatica Djakonov, 1958, collected from the East Sea of Korea using fishing nets, were described in this study. Morphologically, H. densispina is characterized by the shape (sub-triangular) similarity of the intermarginal plates to the superomarginal plates. Henricia reniossa asiatica Djakonov, 1958, has long and slender arms (R/r=7.2-9.1); clustered abactinal paxillae with 3-13 abactinal spinelets; a denuded abactinal skeleton made up of crescentic, elongated cross-shaped, the presence of small ossicles that divided the papular areas; and an adambulacral armature comprised of 14-17 spinelets. This study provides the first occurrence of H. densispina and H. reniossa asiatica in the Korean fauna and a detailed morphological description of these species' key characteristics is provided.

• Archives of Reconstructive Microsurgery
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• v.25 no.2
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• pp.25-28
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• 2016

Purpose: Reconstruction of small defects of the dorsal fingers and toes is a challenging task. Although adipofascial flap is widely used for these areas, additional refinements are warranted. In this paper, we define the appropriate defect size in the finger and toes that can be treated with the adipofascial flap, refine its surgical indications and present a few surgical tips. Materials and Methods: Twelve patients with dorsal defects of the fingers and toes were treated with a random-type adipofascial turn-over flap and skin graft. If the defect area exceeded the size that could be covered by a conventional design, the flap base was designed in oblique or curvilinear fashion to lengthen the flap. For accurate defect coverage, the width of the flap base was designed in an asymmetrical shape depending on the defect configuration, varying the width from 0.3 to 1.0 cm, as opposed to the standard 0.5 to 1.0 cm width. Moreover, the lateral limit of the flap was defined as the lateral axial line. The size of the defect ranged from $3.0{\times}1.7cm$ to $1.5{\times}1.3cm$. Results: All flaps survived completely. Gliding function of the hand was well preserved and there was no evidence of tendon adhesion. Conclusion: The small defect in the dorsal finger and toe can be defined as less than one phalanx-length, measuring about $3.0{\times}2.0cm$ in size. If the defect exceeds this dimension, it is recommended that a different option be considered. We believe the adipofascial flap is an excellent option for treating small defects.

• Development and Reproduction
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• v.10 no.2
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• pp.135-140
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• 2006

The small octopus(Octopus minor), a species in the cephalopod class spawns the fewer eggs compared with its relatives such as Octopus vulgaris and Octopus ocellatus and exerts special efforts in nursing eggs hiding in the deep cave beneath the mud flat. Correspondingly, its embryogenic process had been hardly observed. In this study, we induced the small octopus to spawn its eggs in the artificial spawning tube and to nurse the developing embryos under the periodical observation. The early embryogenic change in the fertilized eggs was appearance of blastodisc on the animal pole at 4 days after spawning. A mass of rudiments of several organs developed in the middle of the yolk sac at 28-th day and it moved gradually toward the animal pole. At 38 days after spawning, two eyes appeared on the head and the trunk with heart developed on the apical part of the yolk sac. At 45-th day of embryonic development, the trunk and head occupied a half of the egg capsule and consequently the yolk sac was reduced to a half of its original size. Two eyes became prominent at the bottom of the trunk with several spots at day 60. Embryonic development was completed at about 80 days after spawning and the arms stuffed the lower half of egg capsule. The young fry squeezed out of the egg capsules with their long and slender arms first and mantles later. Soon after hatching, it swam actively and squirted ink.