• Proceedings of the Computational Structural Engineering Institute Conference
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• 1988.10a
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• pp.18-23
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• 1988

This study on the elasto-plastic analysis of spherical shell by rigia element method is classified into two parts : (1) theoretical consideration on elasto-plastic analysis of spherical shell, (2) elastic and elasto-plastic analysis of spherical shell with the open stiff ring. In 1982, Y. Tsuboi proposed the new analytical method which is called the rigid element method, for analyzing the elasto-plastic behavior of wall-type precast concrete structures by applying the concepts of rigid bodies-sprins model (i．e., when structures reach their ultimate state of leading, they may be yield, collapsed ana crushed into pieces, and each part or piece of structures mar move like a rigid body.). In this paper, for improvement and expansion this rigid element method, it is proposed the adaptation equation of rectangular-shaped spherical element and rectangular-shaped spherical bending element developed by present authors, and the analytical procedure for the elastic and the elasto-plastic increment method of structures.

• Applied Microscopy
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• v.24 no.4
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• pp.86-97
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• 1994

Protein bodies in the endosperm cells of mature red ginseng (Panax ginseng C.A. Meyer) were distributed evenly in the cytoplasm and their size varied from 1 to $8{\mu}m$. Three types of protein bodies were detected and they are spherical or egg-shaped ones containing homogeneous matrix only, spherical ones containing globoids, and irregular shaped ones. Protein bodies degraded in two patterns, one is to start the degration of the body from the surface toward the center, while the other is that the body was broken evenly and then degraded gradually. After degradation, only the limiting membrane remained, that causes the body to be empty. The limiting membranes fused with each other to form a large vacuole. Vicilin and legumin decreased in the endosperm cells as the protein bodies degraded gradually whereas they increased in the umbiliform layers.

• Applied Microscopy
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• v.19 no.1
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• pp.34-48
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• 1989

The oval shaped pericardial cells are clustered along the lateral sides of the heart and irregularly connected with the heart. The cells are bounded by a basement membrane. The basement membranes of the connected two peicardial cells are irregularly linked each other there-fore funnels are formed. The multiple invaginations of the cell membrane are observed and septate junctions develope at the part of enterance of the cell membrane. The coated pits are appeared in the inner side of the invaginated cell membrane. The coated vesicles, tubular and spherical shaped vesicle, Golgi complex containing high electron densed material in the cisternae and mitochondria are observed in the cytoplasm and lysosomes are remarkably well developed. The whirled membrane structures in the multiformed complex bounded by single membrane are linked with low electron densed granules and spherical shaped small granules having high electron density with $0.03{\mu}m$ in diameter are located between the whirled membrane in a row and gradually secretes the granules and then they produced the multilamellar body. The lysosomal regions of cytoplasm of pericardial cell are appeared negative reaction to the acid phosphatase and according to the results of the electrophoresis, lipoproteins having acid phosphatase activity are contained. The axon is contacted with the pericardial cells.

• Applied Microscopy
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• v.18 no.2
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• pp.141-152
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• 1988

The developmental processes of the protein body are studied on endosperm cells of Panax ginseng during seed maturation periods. The spherosome, mitochondria, rough endoplasmic reticulum, and ribosome are observed and then are gradually increased in early endosperm cells. Protein body developed from vesicles produced by the rough endoplasmic reticulum and was formed at the enlarged ends of rough endoplasmic reticulum. Also, vacuole-like protein body was observed in associated with rough endoplasmic reticulum. Golgi complex is observed in associated with vacuole and its vesicles containing proteinaceous granules moved and accumulated to the vacuole. Proteinaceous granules are deposited in the spherical or oval shaped vacuole and gradually, vacuole is surrounded by the multi-membranous structure. Rough endoplasmic reticulum, ribosome, Golgi complex, and vacuole are observed in associated with protein body formation.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1060-1067
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• 2010

In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot.

• Applied Microscopy
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• v.18 no.1
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• pp.1-20
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• 1988

There's been arguments on the different morphological status between the nucleus accumbens septi and nucleus fundus striati of ventral striatum. Authors carried out the comparative study on the neuronal cell types of these nuclei, in the chick and the rat. Results are summarized as follows: In the nucleus accumbens septi of the chick, there found 3 main cell types. Type I cells are oval or spindle-shaped. They are the most abundant cell types, comprising more than 80% of neurons. The pale nucleus is usually indented. The cytoplasm is also pale and contains small amount of mitochondria, rough r-ER and Golgi complexes. This cell has a few symmetric synapses on the cell membrane. Type II cells are pale large cells. They are polygonal or irregularly-shaped. They contain pale spherical nucleus, and the pale cytoplasm with relatively large amount of mitochondria, free ribosomes and well-developed Golgi complexes. Some axo-somatic synapes are found on the cell. Type III cells are oval or spherical-shaped. The nucleus is relatively pale and large, In the dense cytoplasm, well developed. r-ER formed typical Nissl's body, and there found many mitochondria, ribosomes and lysosomes. In the chick fundus striati nucleus, there also found 3 main cell types. Type I cells are small and spindle-shaped. This type is the most abundant one and constitutes more the 80% of the neurons. Morphological features other than it's shape, is generally similar with that of Type I cell in the nucleus accumbens. Type II cells are irregularly shaped large cells. Dense cytoplasm contains large amount of cell organelles. Some axo-somatic synapses are found. Type III cells are small dense cells. This oval cell contains the oval nucleus, and the plentiful cytoplasm with well developed r-ER, ribosomes and mitochondria. In the nucleus accumbens septi of the rat, there found 4 main cell types. Type I cells are small, oval or spherical cells, comprising more than 90% of all the neurons. Spherical nucleus shows typical chromatin rim along the nuclear membrane. Dense cytoplasm contains many ribosomes and mitochondria. Type II cells are large oval cells. The eccentric nucleus is deeply invaginated. Pale cytoplasm contains large amount of ribosomes, Golgi complexes, mitochondria, and dense bodies. Type III cells are pale, large, oval cells. They contain moderate amount of ribosomes and mitochondria, and some scattered stacks of r-ER. Type IV cells are small pale cells. Small oval nucleus is indented and shows chromatin rim. Only small amount of ribosomes and mitochondria can be found. In the nucleus fundus striati of the rat, there also found 4 main cell types. Type I cells are spherical or oval cells, comprising more than 90% of the neurons. The chromatin rim of the spherical nucleus is not so prominent as compared to the rim of type I cell in the nucleus accumbens septi. The cytoplasm contains moderate amount of mitochondria, ribosomes and some scattered r-ER. A few axo-somatic synapses were found. Type II cells are small round or polygonal cells. Golgi complexes are especially well-developed in this cell type. The cytoplasm also contains moderate amount of mitochondria, ribosomes, and dense bodies. Type III cells are small cells. The large nucleus shows prominent chromatin rim. The cytoplasm contains many ribosomes and mitochondria. Type IV cells are large, spheircal or oval cells. The nucleus is deeply indented. The plentiful cytoplasm contains large amount of ribosomes, mitochondria, Golgi complexes, neurotubules, but not r-ER. In the present study, it is clear that the nucleus accumbens septi and the nucleus fundus striati are independant cell groups, according to their cytoarchitectonics and the ultrastructural features of their cell types.

• Animal Systematics, Evolution and Diversity
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• v.25 no.1
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• pp.41-47
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• 2009

Two ciliate species of Blepharisma were collected from the riverine wetland and mountain peak soil in Korea, Blepharisma undulans Stein, 1867 and B. steini Kahl, 1932, which are reported for the first time from Korea. The description was based on the observations of live and protargol impregnation specimens. Diagnostics of these species (Blepharisma undulans vs. B. steini) are as follows. Body length/width ratio in vivo about 6/1 vs. 2/1, shaped in spindle vs. pyriform to ellipsoid and colored in pinkish vs. reddish. Macronuclei 2 vs. 1, with 4-9 vs. 4-7 spherical micronuclei. Adoral zone of membranelles extends from anterior end to 1/3 vs. 1/2-2/3 of body length, with 47-56 vs. 33-45 adoral membranelles. The numbers of somatic kineties are 22-27 vs. 18-22.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.5
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• pp.458-465
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• 2011

UAV-UGV teaming concept has been proposed that can compensate for weak points of each platform by providing carrying, launching, recovery and recharging capability for the VTOL-UAV through the host UGV. The teaming concept can expand the observation envelop of the UGV and extend the operational capability of the UAV through mechanical combination of each system. The spherical-shaped coaxial rotorcraft UAV is suggested to provide flexible and precise interface between two systems. Hybrid navigation solution that included vision-based target tracking method for precision landing is investigated and its experimental study is performed. Feasibility study on length-variable rotor to provide the compact configuration of the loaded rotorcraft platform is also described.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.12 no.3
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• pp.34-41
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• 1990

The pilomatricoma (calcifying epithelioma of Malherbe) is rare benign hard, spherical and freely movable cutaneous tumor, which was differentiated from hair cells, particulary hair cortex cells. It is usually occured as a single, asymptomatic, 0.5 cm to 3.0 cm sized, deep seated, firm nodule, covered by normal or pink skin. It arises chiefly in young people, including children, and most often in the head, neck and upper extrimites. The authers experienced a case of pilomatricoma which occured in preauricular region. This case was summarized as follows. 1. 10 years old female has suffered from hard subepidermal mass on preauricular area and she visited our out patient clinic. So we performed surgical extirpation and the excised specimen was pathologically examined. 2. Grossly the tumor measures 2.0 cm in diameter and firm, bosselated, spherical shaped which covered by a thin layer of fibrous tissue. On cut section, it shows spicular gritty surfaces, well encapsulation, interwoven and keratotic lamellae. 3. Histopathologically, the epithelial masses of the tumor are composed of two type of cells, basophilic cells and shodow cells. The basophilic cells resemble hair matrix cells which posses round or elogated, deeply basophilic nuclei and scanty cytoplasm. The shadow cells show a central, unstained shadow at the site of the lost nucleus. Gradual development of basophilic cells into shadow cells can be observed. Foci of calcification are present within the lobule of shadow cells. The stroma of the tumor shows a considerable foreign body giant cell reaction adjacent to the shadow cells. 4. No recurrence was observed until post-operative 40 months.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.4
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• pp.461-466
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• 2016

In this paper, a capsule body shaped surveillance/monitoring device is developed. The device includes a camera and GPS module to transmit live video data and real time GPS coordinates respectively using the Intel Edison module. A control application is developed for the smart phones and tablets to wirelessly view the live video stream and location of the capsule device and also to switch between the multiple capsule devices installed at different locations. The coordination between the developed device and the smart phone / tablet is done using the wireless function of the Intel Edison module.