In this paper, a soft robotic arm which can prevent impact injury during human-robot interaction is introduced. Two degrees of freedom joint are required to realize free movement of the robotic arm. A robotic joint concept with a single degree of freedom is presented using simple inflatable elements, and then extended to form a robotic joint with two degrees of freedom joint using similar manufacturing methods. The robotic joint with a single degree of freedom has a joint angle of 0° bending angle when both chamber are inflated at equal pressures and maximum bending angles of 28.4° and 27.1° when a single chamber if inflated. The robotic joint with two degrees of freedom also has a bending angle of 0° in both direction when all three chambers are inflated at equal pressures. When either one or two chambers were pressurized, the robotic joint performed bending towards the uninflated chambers.

Entropy is a measure of disorder or uncertainty. This terminology is qualitatively used in the understanding of its correlation to pollution in the environmental area. In this research, three different entropies were defined and characterized in order to quantify the qualitative entropy previously used in the environmental science. We are dealing with newly defined distinct entropies E1, E2, and E3 originated from Shannon entropy in the information theory, reflecting concentration of three major green house gases CO2, N2O and CH4 represented as the probability variables. First, E1 is to evaluate the total amount of entropy from concentration difference of each green house gas with respect to three periods, due to industrial revolution, post-industrial revolution, and information revolution, respectively. Next, E2 is to evaluate the entropy reflecting the increasing of the logarithm base along with the accumulated time unit. Lastly, E3 is to evaluate the entropy with a fixed logarithm base by 2 depending on the time. Analytical results are as follows. E1 shows the degree of prediction reliability with respect to variation of green house gases. As E1 increased, the concentration variation becomes stabilized, so that it follows from linear correlation. E2 is a valid indicator for the mutual comparison of those green house gases. Although E3 locally varies within specific periods, it eventually follows a logarithmic curve like a similar pattern observed in thermodynamic entropy.

Recently, the food industry has evolved into a new and innovative trend according to its globalization and change of food consumption patterns. However, it is hard for the traditional food industry in Korea to meet the changing consumers' needs because of its poorer quality control and lower industrialization technology than other advanced industries. Also the knowledges acquired through a lot of time and efforts would be lost after the human resources with tacit knowledges leave by their too much aging. Especially, the 21st century would be called as knowledge based society which means that knowledge be the important contributing factor in the economic growth. In this regard, this study aimed at proposing the knowledge based system for systematically managing or preserving knowledges of Mosisongpyun industry in Yeonggwang County to seek for the sustainable development of the traditional food industry in Korea. The knowledge based system of Mosisongpyun industry in Yeonggwang County is finally proposed as follows; First, hardware is composed with the necessary unit facilities such as interpretive center, learning and experience room, library, etc. And the integrating facilities such as Mosisongpyun theme park, traditional village, and knowledge industrialization support center are proposed. Second, software is composed with the necessary unit softwares such as the preservation manual of traditional knowledge and skill, web-site administrator, development of graded textbooks, development database software, etc. And the integrating softwares such as development of innovation and management ability in Mosisongpyun industry are proposed. Third, humanware is composed with the necessary unit programs such as exhibition, own training program, incubator support system, etc. And the integrating programs such as the farm association corporation, the testing and research institute, the institution of learning and training are proposed.

Although there have been carrying out various rural development projects related with village road improvement, most of village roads in Korea are under much poor condition. However, until now, their actual conditions have not been surveyed at all. So, this study aimed at analysing the actual conditions and characteristics of rural village roads in the general terms to provide the basic information for the proper improvement policy-making. Case study villages were chosen in flat/mountainous/seashore<SUB>urban areas, which be then classified as improved and not. In terms of road length per household, mountainous villages are highly dispersed and suburban ones moderately dispersed, while flat ones aggregated. Road widths in seashore</SUB>suburban/structure improved villages are narrower than flat/mountainous ones. Because about a quarter of road sites are registered as non-road, more positive scheme for transferring non-road sites into road ones.

With rapid development of graphic hardware, researches on Virtual Reality and 3D Games have received more attention than before. For more realistic 3D graphic scene, objects were to be presented with lots of polygons and the number of objects shown in a scene was remarkably increased. Therefore, for effective visualization of large polygon models like this, view-frustum culling method, that visualizes only objects shown in the screen, has been widely used. In general, the bounding boxes that include objects are generated firstly, and the boxes are intersected with view-frustum to check whether object is in the visible area or not. Recently, an algorithm that can check in-out test of objects using OpenGL's selection mode, which is originally used to select the objects in the screen, is suggested. This algorithm is fast because it can use hardware acceleration. In this study, by implementing and applying this algorithm to large polygon models, we showed the efficiency of OpenGL assisted View-Frustum Culling algorithm. If this algorithm is applied to 3D games that have to process more complicated characters and landscapes, performance improvement can be expected.