Tendon-driven mechanisms have gained prominence in a range of applications, including soft robots, exoskeletons, and prosthetic devices. These mechanism use flexible tendons or cables to transmit force and control joint movement. As the popularity of these mechanisms grows, there is an increasing demand for solutions to enhance stability and safety. The use of brakes is a well-known solution, but existing models are difficult to customize for small soft robots. In this paper, we present a one-way shape memory alloy-based compact brake for tendon-driven mechanisms. The proposed soft brake featured a thin design and was tailored for seamless integration within a tendon-driven mechanism. In addition, the use of the one-way shape memory alloys enabled the design of the brakes that are both compact and powerful. This brake is expected to be widely used in miniaturized tendon-driven robots.

The purpose of this study was to establish basic database on Sorbus alnifolia by investigating, analyzing and comparing characteristics of leaf, and then foster good cultivar on each morphological characteristics - leaf length, leaf width, petiole length, left lateral vein, right lateral vein. Leaf length and leaf width in Osan showed distinct tendency in comparison with the whole mean : 103.4mm and 63.3mm, 86.4mm and 62.9mm, respectively. Populations of Mt. Dukyoo and Mt. Halla showed leaf length of 52.8mm and 58.2mm respectively 32.6% and 39% lower than the mean of ten population. Leaf width of Mt. Gwangyang and Mt. Chink was 52.8mm and 51.9mm, respectively 17.6% and 16.2% lower than whole mean, respectively, and showed the lowest tendency among ten selected populations.

This study used RAPD markers to assume genetic diversity and variation in selected populations of Hovenia dulcis var. koreana. Ratio of polymorphic RAPD markers were 93.4% in selected populations of Hovenia dulcis Thunb., difference of genetic structure among populations and within populations showed 16.45%, 83.55%, respectively in amount of total genetic variation of 4 populations. Total gene diversity(HT) that show genetic diversity appeared 0.313 and coefficient of gene differentiation(GST) that compare genetic differentiation of populations appeared 0.1645, analysis of AMOVA for variation among populations and within populations was significantly different (P〈0.001). Genetic diversity of whole populations showed that 12.44% difference among population and 87.56% difference within populations. As a result, difference within populations was larger than difference among populations in genetic diversity. Nei's genetic distance and cluster analysis appeared that mean genetic distance among populations was 0.076, thus dividing two main groups and geographic relationship did not show in populations.

This study was performed to provide basic information of the development and breeding of new cultivars of Hibiscus syriacus L., which have more beautiful and diverse flowers. Morphological characteristics of the flowers and leaves, and genetic variation of the flowers color of two Jeoktanshim-line cultivars, Bulsae and Pyungsung, were crossed each other. The result of the cross between Bulsae and Pyungsung are as follows: Mean flower height and width were 5.35 cm and 7.69 cm, respectively. Mean length and width of petal were 5.43 cm and 3.80 cm respectively, and mean length and width of flower pistil were 4.67 cm and 0.44 cm, respectively. The flower color of all ten individuals was the color of the Jeoktanshim-line, and Pyungsung, and all flower type were I-c type.

The purpose of this research is to establish basic database on Cornus kousa by way of investigation, analysis and comparison of characteristics of leaf and flower, then fostering good cultivar on each morphological characteristics - leaf length, leaf width, petiole length, left lateral vein, right lateral vein. Leaf length and leaf width in Mt. Jiri shows big tendency which is 83.5 mm, 52.4 mm each in comparison with the whole mean of 72.5 mm, 41.2 mm, whereas populations of Suwon and Mt. Halla has leaf length of 66.0 mm, 65.7 mm - 9.8%, 10.4% lower value in comparison with seven mean population; leaf width is 38.4 mm, 35.3 mm - 7.3%, 16.7% lower than whole mean and shows lowest tendency among seven selected populations. Long width of flower and short width of flower in Boeun shows big tendency which is 99.9mm, 96.5 mm each in comparison with the whole mean of 76.0 mm, 73.6 mm, whereas populations of Mt. Halla has 50.1 mm, 48.2 mm which shows lowest tendency. On petal length, petal width and length of flower petiole, Boeun populations have bigger and Mt. Halla shows little tendency. The measurement result of flower colors on each population by using Spectrum Color Mater shows followings: populations of Mt. Duckyoo and Mt. Halla shows lower lightness than any other populations, but wholly shows higher lightness which is refers brightness in seven selected populations. Thus it shows peculiarities of white flower color.

The objective of this study was to understand the conservation of gene resources and provide information for mass selection' of winter bud characters among the selected populations of Kalopanax septemlobus Koidz using analysis of variance(ANOVA) tests. The obtained results are shown below; 1. Ten populations of K. septemlobus were selected for the study of the variation of winter bud characters in Korea. The results of the analysis of variance(ANOVA) tests shows that there were statistically significant differences in all of the winter bud characters among those populations. 2. Correlation analysis shows that width between Height and DBH(Diameter at breast height) characters have negative relationship with all of the characters, as ABL(Apical branch length), ABW(Apical branch width), AWBL(Apical branch winter bud length), AWBW(Apical branch winter bud width), ABT(Apical branch No. of thorns), ABLB(Apical branch No. of lateral bud) and LBL(Lateral branch length), LBW(Lateral branch width), LBT(Lateral branch No. of thorns), LBLB(Lateral branch No. of lateral bud). 3. The result of principal component analysis(PCA) for winter buds showed that the first principal components(PC' s) to the fourth principal component explains about 78% of the total variation. The first principal component(PC) was correlated with AWBW, LWBW, and LBL and the ratio of ABL/ABW and LBL/LBW out of 16 winter bud characters. The second principal component correlated with ABL, ABW, ABLB, LWBL(Lateral branch winter bud length), and LBW and the ratio of AWBL/AWBW. The third principal component correlated with ABL, ABW, LWBL, LBL, and the ratio of LBL/LBW. The fourth principal component correlated with LBL and the ratio of LWBL/LWBW(Lateral branch winter bud width), LBL/LBW. Therefore, these characters were important to analysis of the variation for winter bud characters among selected populations of K. septemlobus in Korea. 4. Cluster analysis using the average linkage method based on 10 selected populations for the 16 winter bud characters of K. septemlobus in Korea showed a clustering into two groups by level of distance 1.1(Fig. 3). As can be seen in Fig. 3, Group I consisted of three areas(Mt. Sori, Mt. Balwang and Mt. Worak) and Group Ⅱ contisted of seven areas(Suwon, Mt. Chuwang, Mt. Kyeryong, Mt. Kaji, Mt. Jiri, Muan, and Mt. Halla). The result of cluster analysis for winter bud characters corresponded well with principal component analysis, as is shown in Fig. 2.