• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.1
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• pp.1-7
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• 2012

This paper introduces the mechanical design, fabrication, and control of a biomimetic fish robot whose driving motions resemble a real fish's flexibility and movement. This robot uses two motors create flexible movement like that of a fish. Several schemes, such as neutral buoyancy, fast underwater swimming, and direction changes, are introduced. The tail of the fish robot is made of a polymer material for flexible movement. The interior of the tail contains a joint and a wire. A sine wave command was applied to the tail to produce motion resembling a real fish swimming, and a buoy control device was installed. The up and down motion of the robot fish was controlled using this device.

• Clinical and Experimental Reproductive Medicine
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• v.26 no.1
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• pp.89-96
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• 1999

Some of the information concerning sexual function in the male diabetes has been focused upon the problems of endocrine or semen parameters. However, the characteristics of acrosome reaction and spermatozoa concentration at the epididymis and vas deferens have scarcely been studied, and the causes of the infertility has not been critically identified. So, we designed to inspect the spermatozoa concentration and the characteristics of acrosome reaction at epididymis and vas deferens of diabetic Wistar rat induced by streptozotocin (STZ, 70 mg/kg, ip). Experimental animal was sacrificed at 3 days and 14 days after the STZ injection. In the diabetes-induced rat, the levels of insulin and glucose had a pattern of inverse proportion. The spermatozoa concentrations in caput and corpus epididymis were significantly decreased in all diabetic condition. In cauda epididymis, however, there was significant decrease in sperm concentration at 14 days onward. In diabetic rat, the spontaneous reaction rate of spermatozoa of cauda and vas deferens were significantly higher than the control group. The ARIC (acrosome reaction to ionophore challenge) value of caudal sperm was 28.7 at control, 22.1 at 3 days, and 8.3 at 14 days. In the present study the spermatozoa concentration was decreased and the spontaneous reaction rate was increased by diabetes. In ARIC-test, it is revealed that the fertility of spermatozoa of 14 days group was lower than control or 3 days group. Diabetes mellitus may be provoke the decreased fertilization rate and subsequent infertility and subsequent infertility.