본 연구는 경북 영양군 포도산(해발 748m, 북위 36˚ 31' 79.1''~36˚ 30' 16.8'', 동경 129˚ 12' 43.8''~129˚ 14' 07.1'')의 관속식물 분포와 유용성을 파악하기 위하여 수행되었다. 2007년 5월부터 2007년 9월까지 총 5회에 걸쳐 채집된 관속식물은 총 88과 267속 384종 4아종 43변종 6품종의 437종류로 정리되었으며, 이들을 유용성에 따라 구분하면 식용 211종류, 약용 229종류, 공업용 85종류, 관상용 71종류, 용도가 밝혀지지 않은 식물 105종 류이었다. 특기할 만한 식물로는 한국특산식물이 9종류, 식물구계학적 특정식물이 III등급 13종류, IV등급 4종류, 귀화식물이 17종류로서 귀화율은 3.9%, 도시화지수는 6.3%로 나타났다.

본 연구는 경북 문경시 공덕산(해발 913m, 북위 36˚ 46' 37.5''~36˚ 43' 61.0'', 동경 128˚ 15' 00.3''~128˚ 17' 57.9'')의 관속식물 분포와 유용성을 파악하기 위하여 수행되었다. 2007년 5월부터 2007년 9월까지 총 5회에 걸쳐 채집된 관속식물은 총 86과 279속 374종 4아종 44변종 7품종의 총 429종류로 정리되었으며, 이들을 유용성에 따라 구분하면 식용 233종류, 약용 297종류, 공업용 113종류, 관상용 111종류, 용도가 밝혀지지 않은 식물 43종이었다. 특기할 만한 식물로는 한국특산식물이 5종류, 환경부지정 법적 보호식물이 1종류, 식물구계학적 특정식물이 III등급 5종류, IV등급 1종류, V등급 1종류, 귀화식물이 15종류로서 귀화율은 3.5%, 도시화지수는 5.5%로 나타났다.

Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and any instruments. Also, the developed mobile agent can perform diverse tests simultaneously based on its cooperative and distributed ability. The driving circuits for the mobile agent are embedded in the robot, and each mobile agent communicates with other agents by using Bluetooth communication. The RFID system is used to recognize patient information. Also, the magnetic hall sensor is embedded to remove and compensate the cumulated error of locomotion at the bottom of mobile agent. The proposed mobile agent can be easily used for various applications because it is designed to be compatible with general software development tools. The Mobile agents are manufactured, and feasibility of the robot and localization of the agents using magnetic hall sensor are validated by preliminary experiments.

The docking and recharging system for a mobile robot must guarantee the ability of the mobile robot to perform its tasks continuously without human intervention. In this paper, two docking mechanisms are proposed with localization error-compensation capability for the auto recharging system. Friction forces or magnetic forces are used between the docking parts of the docking module and those of the docking station. In addition, an auto recharging system is developed to control the power. Since the system is modularized, it can easily be adapted to other robots.

In this research, a comprehensive study is performed upon the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. From these, it is known that the forelimbs just play the role of supportingtheir body anbd help vault forward, while most of the propulsive force is generated by hind limbs. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller, though it is simple, provides a useful framework for controlling a quadruped walking robot. In particular, introduction of a new rhythmic pattern generator relieves the heavy computational burden because it does not need any computation on kinematics. Finally, the proposed method is validated via dynamic simulations and implementing in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment)

Tactile sensation is one of the most important sensory functions for human perception of objects. Recently, there have been many technical challenges in the field of tactile display as well as tactile sensing. In this paper, we propose an innovative tactile display device based on soft actuator technology with ElectroActive Polymer(EAP). This device offers advantageous features over existing devices with respect to intrinsic flexibility, softness, ease of fabrication and miniaturization, high power density, and cost effectiveness. In particular, it can be adapted to various geometric configurations because it possesses structural flexibility, so it can be worn on any part of the human body such as finger, palm, and arm etc. It can be extensively applied as a wearable tactile display, a Braille device for the visually disabled, and a human interface in the future. A new design of the flexible actuator is proposed and its basic operational principles are discussed. In addition, a wearable tactile display device with 4x5 actuator array(20 actuator cells) is developed and its effectiveness is confirmed

구조물이 손상을 받으면 그 구조물의 동적특성인 고유진동수, 감쇠비, 모드형상 등이 변한다. 본 논문에서는 구조물이 손상을 받을 때 고유진동수의 감소율에 대한 특성을 알아보고 그 감소율을 이용한 구조물의 손상평가를 다룬다. 손상의 유무뿐만 아니라 손상의 위치와 정도까지도 고유진동수의 감소율만으로 파악하고자 하였으며 인공신경망을 이용하였다. 신경망에 사용되는 자료는 다른 연구와 달리 해석 자료로부터 얻어지는 오차 없는 자료뿐만 아니라 실측자료를 가상하여 오차를 포함하는 자료를 대상으로 하였으며, 고유진동수의 감소율로 훈련된 인공신경망을 활용하여 구조물의 손상 위치와 정도를 파악할 수 있었다.