This paper proposes a method to simultaneously estimate two degrees of freedom in wrist forces (extension - flexion, adduction - abduction) and one degree of freedom in grasping forces using Electromyography (EMG) signals of the forearms. To correlate the EMG signals with the forces, we applied a multi - layer perceptron(MLP), which is a machine learning method, and used the characteristics of the muscles constituting the forearm to generate learning data. Through the experiments, the similarity between the MLP target value and the estimated value was investigated by applying the coefficient of determination (R2) and root mean square error (RMSE) to evaluate the performance of the proposed method. As a result, the R2values with respect to the wrist flexionextension, adduction - abduction and grasping forces were 0.79, 0.73 and 0.78 and RMSE were 0.12, 0.17, 0.13 respectively.

This study was carried out to investigate the vascular plants of Mt. Nochu (1,322m) from April, 2014 to October, 2015. The vascular plants were summarized as 515 taxa, including 89 families, 304 genera, 448 species, 4 subspecies, 57 varieties and 6 forms. Among the investigated 515 taxa, 11 Korean endemic plants and 14 rare and endangered plants were included. The floristic regional indicator plants found in this area were 11 taxa of grade IV, 30 taxa of grade III. Naturalized plants consisted of 24 taxa that made up 4.6% of the total vascular plants in this area. Medicinal plants of the Korean Pharmacopoeia and Korean Herbal Pharmacopoeia distributed in this area consisted of 67 taxa.

In order to illustrate the flora of vascular plants distributed in the Five West Sea Islands, the authors collected vascular plants intensively in Baengnyeongdo and Socheongdo from May 2015 to August 2015. Also, voucher specimens from the previous investigations (Daecheongdo, Yeonpyeongdo and Soyeonpyeongdo) deposited at the Korean National Arboretum (KH) were re-identified. All of them were comprised of 108 families, 420 genera, 728 species, 6 subspecies, 86 varieties and 14 forms, totally 834 taxa. There were 8 endemic taxa, 19 rare taxa, 27 taxa for floristically specific to Korean floral zone except the species of their 1st and 2nd degree, and 107 naturalized taxa among the collected plants. Owing to their unusual phytogeography and low number of populations, the taxa Rosa maximowicziana Regel, Allium anisopodium Ledeb., Bistorta pacifica (Petrov ex Kom.) Kom., Scorzonera austriaca subsp. glabra (Rupr.) Lipsch. & Krasch. ex Lipsch., Iris dichotoma Pall., Amsonia elliptica (Thunb.) Roem. & Schult. were considered the most important. Based on these results, it is clear that appropriate plants to conserve the natural habitat of the Five West Sea Islands must be made immediately.

In this paper, we introduce an internal pipeline exploration of an in-pipe robot, based on the landmark recognition system. The fittings of pipelines such as elbows and branches are used as the landmarks. The robot recognizes the landmarks with a vision system by using the shadows of the elements, which are generated by the specially designed illuminator on the robot. By using a simple image-processing, the robot can easily detect and distinguish these landmarks while recognizing the direction of the pipeline path. Simultaneously, all information for exploration is continuously recorded and used to reconstruct the map of the pipelines. The effectiveness of the proposed method is verified by real experiments using the in-pipe robot MRINSPECT V for moving inside of the miniature urban 8-inch gas pipeline structure.