• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1922-1927
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• 2005

This paper describes the mechanism of a new biped machine capable of doing human-robot cooperation work. The biped machine, WABIAN-2 is made of two seven degrees of freedom (DOF) legs, a two DOF waist and no DOF trunk. Its leg system consists of two three DOF ankles, two one DOF knees and two three DOF hips to deal with various walk motions. Its height is about 1.2[m], and its weight is 40[kg]. It is designed with large movable range as a human. Also, a knee stretch walk pattern generation for the biped machine to perform natural walk like a human is discussed in this paper. Its leg motion is compensated by using the motion of its waist. Basic knee stretch walk experiments using WABIAN-2 are conducted on the plane, and the validity of its mechanism and walk pattern generator is verified.

• Animal cells and systems
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• v.3 no.4
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• pp.355-358
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• 1999

Three novel species, Philodromus daoxianen n. sp., P. ganxiensis n. sp., and P. longitibiacus n. sp., are described based on the specimens collected from Hunan Province, China. P. daoxianen is similar to P. rufus, but its spermathecae is calabash-shaped, that of the latter spherical. It is also similar to P. kendrabatai, but differs in the form of atrium, distance between two spermathecae and dorsal markings of the abdomen. P. ganxiensis differs from other species of the genus Philodromus in eplgynum by a pair of sword-shaped apophyses, palpal organ with slightly wider distal end of a tibial apophysis, and knife-shaped membranous median apophysis. P. longitibiacus differs from other related species in long and thin palps and legs especially tibia of palps, which is about 4.5 times as long as the cybium and basal portion of embolus strongly sclerotized.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.534-538
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• 2017

There are three types of robots that move on the ground classified as drivetrain. Wheels, tracks and Legs. Wheels and tracks are much easier to construct and control, but they have problems passing through obstacles like people. This paper discusses the design of line tracing using Theo Jansen, one of multi-legged walking mechanism. In order to increase the moving speed, the Jansen mechanism is designed by maximizing the objective variable as GL (Ground Length), GAC (Ground Angle Coefficient). In this project, only three sensors were attached and Arduino was used for optimal control of the motor using the sensor values.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2433-2435
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• 2002

The purpose of this paper is to introduce a case study of developing a miniature biped robot. The biped robot has a total of twenty-one degrees of freedom(DOF) ; There are two legs which have six DOF each, two arms which have three DOF each and a waist which has three DOF. RC servo-motors were used as actuators. We have developed motor controller, sensor controller and ISA-interface card. Motor controller, PWM generator, can control eight motors Sensor controller is connected to eight FSR(Force Sensing Resistors). For high level controller communicate with low level controller, ISA-interface card has developed. For the stable walking, CMAC(Cerebellar Model Articulation Controller) neural network algorithm is applied to our system CMAC is robust at noise.

• Animal Systematics, Evolution and Diversity
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• v.35 no.2
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• pp.49-56
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• 2019

A new marine halacarid species of the genus Agauopsis Viets, 1927 (Acari: Halacaridae) is recorded from Jeju Island, Korea. Agauopsis tetrasetosa n. sp. belongs to the microrhyncha group in sharing one ventral and three ventromedial spines on tibia of leg I, of which two ventromedial ones are adjacent to each other, with its 20 congeneric members. Agauopsis tetrasetosa n. sp. is most similar to A. miliaris Bartsch, 2005 and A. similis Bartsch, 1979 in sharing the similar chaetotaxy of legs I-IV, positions of the second and fourth dorsal setae, and non 'H'- or 'M'-shaped costae on anterior dorsal plate. However, the new species is distinguished from them by four pairs of perigenital setae in female, the relatively anterior location of gland pores on posterior dorsal plate, and three ventral spines on the tibia of leg II. We describe the new species herein, with detailed illustrations under a differential interference contrast microscope. We also make some brief comments on the affinities between the congeneric species of the microrhyncha group and the new species, based on a tabular key to species of the group.

• Korean Journal of Acupuncture
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• v.37 no.1
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• pp.1-13
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• 2020

Objectives : To analyze the contents of ≪Lingshu·Jingjin≫ and study the standard posture in context of Korean Medicine. Methods : Analyzed the terms related to the name, body region and orientation of Three Yin and Three Yang used in ≪Lingshu·Jingjin≫ to deduce the standard posture of the description. ≪Lingshu·Jingmai≫ was used as supplementary data. Results : The term "Three Yin and Three Yang" in ≪Lingshu·Jingjin≫ is used to indicate regions of the human body, and based on this, terms with orientation were used. Just like 'anatomical position', there is a standard posture in Korean Medicine, and it may seem to be similar overall, but there is a difference in posture in the upper extremity. In ≪Lingshu·Jingjin≫, Greater Yang is the dorsal region, Lesser Yang is the lateral surface region, Yang Brightness is the anterior surface region of the human body. In the body trunk, Three Yin refers to the inner parts of the human body. However, in the lower extremity, Three Yin refers to the medial surface of the legs. The name of the individual Meridian-muscle was given following the region corresponding to Three Yin and Three Yang. In ≪Lingshu·Jingjin≫, there is a basic posture that became the standard posture derived from the description. In an upright standing position, the feet face forward, the fingers naturally extended, and the back of the hand faces outward. The fact that the posture of the thumb is naturally extended is especially reflected in ≪Lingshu·Jingjin≫. This is clearly different from the "anatomical position" and as it can be the base of all areas of acupuncture, it is suggested that it be defined as the "Standard Position of Acupuncture Medicine". Conclusions : Based on our analysis, we suggest the "Standard Position of Acupuncture Medicine" as an upright standing position, with the feet facing forward, the fingers naturally extended, the back of the hand facing outward, and the thumb naturally extended.

• International Journal of Safety
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• v.11 no.1
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• pp.22-25
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• 2012

Scoliosis can be biomechanically described as a three dimensional deformity of the spine, with deviations from the physiologic curves in the sagittal and frontal planes, usually combined with intervertebral rotation. Various factors are suspected such as genetic defects, uneven growth of the vertebrae, hormonal effects, abnormal muscular activity, postural problems, or a mix of some of these elements, but its initial cause is known in only 15-20% cases. The screening test for diagnosing scoliosis is called the Adams Forward Bend Test. During the experiment, the subjects were asked to bend over, with arms dangling, until a curve could be observed. The Scoliometer was placed on the back of the subjects and used to measure the difference between the left and right apex of the curve in the thoracic, thoracolumbar and lumbar area. Then, the subjects were asked to perform Maximum Voluntary Contractions (MVCs) using the digital back muscle dynamometer in three different postures: (1) 0o (sagittally symmetric); (2) 30o from the mid-sagittal plane (clockwise); and (3) 30o from the mid-sagittal plane (counterclockwise). In addition to the experimental data, subject-dependent variables including Body Mass Index (BMI), percentage of body fat and muscle mass of left/right arms and legs were employed to reveal the cause of difference among three MVC conditions. All those variables were tested using statistical methods.

• Korean journal of applied entomology
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• v.32 no.3
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• pp.317-322
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• 1993

Morphological investigations of the abdominal lateral lobes in females and the unguitractor p plates in the tarsi of legs in male and female N. lugens among the three Korean N. lugeηs bio-types revealed that the three biotypes varied from one another. The presence of a distinct ‘cut’ on the lateral lobes in brachypterous females distinguished Biotype 2 from Biotypes 1 and 3. The highest frequency of inserted unguitractor plates in fore-and mid-tarsal segments was exhibited by Biotype 2 in both sexes of each morphs.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.7
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• pp.834-841
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• 2004

Experimental study on the three-dimensional topology of hairpin packet structures in turbulent boundary layers were carried out. Two different Reynolds number based on momentum thickness, Re$\sub$$\theta$/=514 and 934 were generated in a blowing type wind tunnel under the condition of zero pressure gradient. Simultaneous measurements of velocity fields at a wall-normal plane and wall-parallel plane by a plane PIV and a Stereo-PIV systems. The two Nd:Yag laser systems and three CCD cameras were synchronized to obtain instantaneous velocity fields at the same time. To avoid optical noise at the crossing line by the two laser light sheets, a new optical arrangement using polarization was applied. The obtained velocity fields show the existence of hairpin packet structure vividly and the idealized hairpin vortex signature is confirmed by experiment. Two counter-rotating vortex pair which reflects the cutting plane of hairpin legs are found both side of a strong streaky structure when the wall-normal plane cuts the hairpin head.

• Animal Systematics, Evolution and Diversity
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• v.38 no.4
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• pp.167-198
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• 2022

Ten species of copepods, including nine new species, associated with compound ascidians are recorded from Korean waters. Nine new species can be characterized by their major diagnostic features, as follows: Botryllophilus pentamerus n. sp. by having a five-annulated abdomen; B. paucisetatus n. sp. by the presence of four and three setae on the exopods of right and left leg 1, respectively; Haplostoma quadridens n. sp. by the presence of four lobes on the labrum and one seta plus four spines on the exopods of legs 1-4; H. paucidens n. sp. by the presence of only two spines on the distal segment of the antenna; Enterocola horridus n. sp. by having five setae on the antenna, no seta on the caudal ramus, and two setae on leg 5; E. longicaudatus n. sp. by having long caudal rami which are more than three times as long as wide; Thoracodelphys bisetata n. sp. by the presence of only two setae on the basis of the maxillule; T. cerasta n. sp. by the presence of a large, horn-like process on the distal margin of the basis of leg 2; and Unimeria hirsuta n. sp. by having three setae on the terminal segment of the maxilla. Zygomolgus didemni (Gotto, 1956) previously known only from European waters is reported from Korean waters, with a redescription and illustrations.