• Title, Summary, Keyword: oval-wheel-type

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Identification of Blood Cells and Their Physiological Functions in the Scallop, Patinopecten yessoensis (가리비, Patinopecten yessoensis 혈구의 형태학적 동정과 기능)

  • CHANG Young Jin
    • Journal of Aquaculture
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    • v.6 no.1
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    • pp.1-12
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    • 1993
  • Identification of blood cells and their physological functions in the cultured scallop, Patinopecten yessoensis collected from Abashiri Bay, Hokkaido, Japan were studied by electron microscopic structure and histological observations. The physiological function of each blood cell type was studied on the basis of its cytological structure, the lysosome in the blood cell and its phagocytosis. The blood cells were classified as Type I, Type II and Type III. The morphological characteristics of each blood cell type are as follows ; Type I : The cell is oval shaped and its cytoplasm contains comparatively low electron dense materials. The oval nucleus is sometimes ramified into two nuclei. Lumps of tubular smooth endoplasmic reticula and vacuoles are distributed near the nucleus. Type II : The cell appears long and oval shaped, and its cytoplasm contains high electron dense materials. The oval nucleus does not ramify, and large numbers of sac-like smooth endoplasmic reticula and free ribosomes are developed around the nucleus. No vacuoles exist in the cytoplasm Type 1II : The cell is round in shape and the electron density of the cytoplasm is the highest among the three types of cells because of large quantities of rough­surfaced endoplasmic reticula and no vacuoles. Particularly, the nucleus reveals a wheel-like shape owing to lumps of tuberous chromatin. The cells of Type I and II seem to have the role of carrying out phagocytosis on either foreign materials such as bacteria or endogenous old cells and the transport of nutritive materials. The type III cell, which has not been found in any bivalve species of non Pectinidae, may be said to have the function of production and the secretion of protein related to some humoral defense materials.

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Radial Type Locomotive Mechanism with Worm for Robotic Endoscope (내시경 로봇을 위한 웜구동 방사형 이동메커니즘)

  • Kim, Kyoung-Dae;Lee, Seunghak;Kim, Byungkyu;Park, Jong-Oh
    • Journal of Institute of Control, Robotics and Systems
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    • v.8 no.3
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    • pp.220-225
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    • 2002
  • In this paper, we suggest a new locomotive mechanism fur self-propelling robotic endoscope which could substitute conventional endoscope. Many researchers proposed inchworm-like mechanism for self-propelling robotic endoscope. But it could not be commercialized because they did not solve the limitation caused by clamping. Therefore, we suggest a new radial-type locomotive mechanism with worm. It can propel itself in any situation and take passive-steering because of radial type. In addition, it can be miniaturized with worm. In this paper, we evaluate the mechanism in the dead pig colon as well as under various environments, and verify the performance fur robotic endoscope.